Method, apparatus, and electronic equipment for determining warehouse robot avoidance schemes.

Abstract

The method, apparatus, and electronic equipment for determining warehouse robot avoidance methods determine whether a collision zone exists based on the height and position information of the first warehouse robot in the first planned path and the height and position information of the second warehouse robot in the second planned path. If a collision zone exists, the method acquires the time information of the first warehouse robot passing through the collision zone and the time information of the second warehouse robot passing through the collision zone. Based on the time information corresponding to the first warehouse robot and the time information corresponding to the second warehouse robot, the method determines whether avoidance is necessary. If avoidance is necessary, the method determines the collision type based on the position information of the first and second planned paths, and determines the avoidance method based on the robot types and collision types of the two warehouse robots. This improves the avoidance efficiency of the warehouse robots when collision zones are accurately detected.

Description

【Technical Field】 , 【0005】 , , , 【0001】 This invention claims priority based on a Chinese patent filed with the Chinese Patent Office on December 3, 2024, with the invention name "Method, Apparatus, and Electronic Device for Determining a Warehouse Robot Avoidance Method", and the application number 202411764423.0, and all its contents are incorporated into this invention by reference. 【0002】 This invention relates to the field of warehouse storage logistics, and particularly to a method, apparatus, and electronic device for determining a warehouse robot avoidance method. 【Background Art】 【0003】 In the scenario of warehouse storage, the transportation of goods by warehouse robots is an efficient logistics solution. However, when multiple warehouse robots operate simultaneously, the warehouse robots are required to have collision avoidance capabilities to ensure safe movement in a complex warehouse environment. Currently, a commonly used method is to recognize whether different warehouse robots pass through the same passing point within a preset time, determine a congestion area based on the same passing point through which different warehouse robots pass, and select a route that does not pass through the congestion area or passes through an area that is less congested as much as possible from multiple planned routes of the warehouse robots. However, this method only considers collisions in the same plane. In fact, a robot passing through a congestion area does not necessarily collide with other robots passing through the congestion area, and in addition, this method may not be able to re-route in some cases. 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 The objective of the embodiments of this invention is to provide a method, apparatus, and electronic device for determining a warehouse robot avoidance method that can improve the avoidance efficiency of warehouse robots when a collision area is accurately detected. The specific technical solutions are as follows. 【Means for Solving the Problems】 【0005】 In a first aspect, an embodiment of the present invention provides a method for determining a warehouse robot avoidance method, and the method is To acquire height and position information for the first warehouse robot along its first planned path, and height and position information for the second warehouse robot along its second planned path, Based on the height and position information of the first and second planned routes, it is determined whether or not a collision zone exists. If a collision zone exists, the system acquires time information of the first warehouse robot passing through the collision zone and time information of the second warehouse robot passing through the collision zone. Based on the time information corresponding to the first warehouse robot and the time information corresponding to the second warehouse robot, it is determined whether or not avoidance is necessary. If avoidance is necessary, the collision type will be determined based on the positional information in the first and second planned routes. This includes determining an avoidance method based on the robot types of the two warehouse robots and the collision type. 【0006】 In one possible embodiment, determining whether or not a collision area exists based on height information and position information in the first and second planned routes is: If there is an overlap between the height information of the first planned route and the height information of the second planned route, the intersection of the position information of the first planned route and the position information of the second planned route is determined. The process includes determining the collision area, which includes the positional information of the first planned route and the positional information of the second planned route, upon intersection. 【0007】 In one possible embodiment, determining whether avoidance is necessary based on time information corresponding to the first warehouse robot and time information corresponding to the second warehouse robot includes determining that avoidance is necessary if there is an overlap in the times when the first warehouse robot and the second warehouse robot enter and exit the collision area. 【0008】 In one possible embodiment, if avoidance is necessary, the collision type is determined based on the positional information in the first and second planned paths. Based on the position information of the first planned path and the position information of the second planned path in the collision area, the first path vector of the first warehouse robot in the collision area is determined. 【number】 and the second path vector of the second warehouse robot in the collision area 【number】 To confirm and First path vector 【number】 and the second path vector 【number】 If the angle formed by is obtuse, the collision type is a head-on collision. First path vector 【number】 and the second path vector 【number】 The collision type is a codirectional collision if the angle formed by is not obtuse. 【0009】 In one possible embodiment, the collision types include opposing collisions and collisions in the same direction. Determining the avoidance method based on the robot type of the two warehouse robots and the collision type is: If both warehouse robots are ordinary warehouse robots and the collision type is a collision in the same direction, the system includes determining the order in which the two warehouse robots enter the collision area, allowing the warehouse robot that enters the collision area first to proceed normally, and having the warehouse robot that enters the collision area later to wait. The ordinary warehouse robot is a warehouse robot whose height does not change during the running process. 【0010】 In one possible embodiment, the collision type includes head-on collision and same-direction collision. Based on the robot types of the two warehouse robots and the collision type, determining the avoidance method means that when both of the two warehouse robots are ordinary warehouse robots, and the collision type is head-on collision, and neither of the two warehouse robots is located in the collision area, determining the order in which the two warehouse robots enter the collision area, normally running the warehouse robot that enters the collision area first, and making the warehouse robot that enters the collision area later wait. when both of the two warehouse robots are ordinary warehouse robots, and the collision type is head-on collision, and there is a warehouse robot in the collision area, making the warehouse robot located in the collision area search for a first candidate route to avoid the collision area and run according to the first candidate route. The ordinary warehouse robot is a warehouse robot whose height does not change during the running process. 【0011】 In one possible embodiment, the collision type includes head-on collision and same-direction collision. Based on the robot types of the two warehouse robots and the collision type, determining the avoidance method means that when there is an aerial container transfer robot among the two warehouse robots, and the collision type is same-direction collision, determining the order in which the two warehouse robots enter the collision area, normally running the warehouse robot that enters the collision area first, and making the warehouse robot that enters the collision area later wait. The aerial container transfer robot is a warehouse robot whose height can change along the vertical direction during the running process and moves horizontally along the rail. 【0012】 In one possible embodiment, the collision type includes head-on collision and same-direction collision. Determining the avoidance method based on the robot type of the two warehouse robots and the collision type is: If an aerial container transport robot is present among two warehouse robots, and the collision type is an oncoming collision, and neither of the two warehouse robots is located in the collision zone, the order in which the two warehouse robots enter the collision zone is determined, the warehouse robot that enters the collision zone first is made to travel normally, and the warehouse robot that enters the collision zone later is made to wait. The two warehouse robots include an aerial container transport robot, the collision type is an oncoming collision, and if a warehouse robot is present in the collision area, the aerial container transport robot is made to adjust its own height to avoid the non-aerial container transport robot, and this includes: The aforementioned aerial container transport robot is a warehouse robot that can change its height vertically during its travel and moves horizontally along rails. 【0013】 In one possible embodiment, the aerial container transport robot can avoid non-aerial container transport robots by adjusting its own height. The aerial container transport robot determines the height update information based on the height information of the non-aerial container transport robot and a preset height value. This includes having an aerial container transport robot raise its own height based on height update information to avoid non-aerial container transport robots, The above method further, If the height update information is greater than the maximum height of the aerial container transport robot, the non-aerial container transport robot is instructed to search for a candidate planned path that avoids the collision area. This includes making a non-aerial container transport robot travel along a candidate planned route. 【0014】 In a second aspect, the present invention provides a device for determining a warehouse robot avoidance method, and the device is An acquisition module that acquires height information and position information for the first planned path of the first warehouse robot and height information and position information for the second planned path of the second warehouse robot, A collision zone determination module that determines whether or not a collision zone exists based on height information and position information in the first and second planned routes, A time information acquisition module that acquires time information of the first warehouse robot passing through the collision zone and time information of the second warehouse robot passing through the collision zone when a collision zone exists, An avoidance module that determines whether or not avoidance is necessary based on time information corresponding to the first warehouse robot and time information corresponding to the second warehouse robot, If avoidance is necessary, a collision type determination module determines the collision type based on the positional information in the first and second planned routes, The system includes an avoidance method determination module that determines an avoidance method based on the robot types of the two warehouse robots and the collision type. 【0015】 In a third aspect, the present invention provides an electronic device, the electronic device being, Memory for running computer programs, The system includes a processor that, when it executes a program stored in memory, implements a method for determining the warehouse robot avoidance method described in any of the above. 【0016】 An embodiment of the present invention provides a computer program product including instructions, and when the computer program product is run on a computer, the computer executes a method for determining a warehouse robot avoidance scheme as described in any of the above. [Effects of the Invention] 【0017】 An embodiment of the present invention provides a method for determining a warehouse robot avoidance method, which involves acquiring height information and position information for a first warehouse robot in a first planned path and height information and position information for a second warehouse robot in a second planned path, determining whether a collision zone exists based on the height information and position information for the first and second planned paths, and if a collision zone exists, acquiring time information for when the first warehouse robot passes through the collision zone and time information for when the second warehouse robot passes through the collision zone, determining whether avoidance is necessary based on the time information corresponding to the first warehouse robot and the time information corresponding to the second warehouse robot, and if avoidance is necessary, determining the collision type based on the position information for the first and second planned paths, and determining the avoidance method based on the robot types of the two warehouse robots and the collision type. This makes it possible to improve the avoidance efficiency of the warehouse robot when a collision zone is accurately detected. 【0018】 Of course, implementing any of the products or methods of the present invention does not necessarily have to achieve all of the above advantages simultaneously. [Brief explanation of the drawing] 【0019】 The drawings described herein are provided for a further understanding of the present invention and constitute part of the present invention. The schematic embodiments and descriptions thereof are used only for interpretation of the present invention and do not constitute an unreasonable limitation of the present invention. 【0020】 To more clearly explain the embodiments of the present application or the prior art, the drawings used in the embodiments or the prior art will be briefly described below. However, it will be apparent to those skilled in the art that the drawings described below are merely some embodiments relating to the present application, and that other embodiments can be obtained based on these drawings. 【0021】 [Figure 1] Figure 1 is a flowchart of one method for determining a warehouse robot avoidance system provided in an embodiment of the present invention. 【0022】 [Figure 2] Figure 2 is a schematic diagram of an aerial container transport robot. 【0023】 [Figure 3] Figure 3 is a schematic diagram of one collision zone. 【0024】 [Figure 4] Figure 4 is a schematic diagram of one warehouse robot avoidance system confirmation device provided in an embodiment of the present invention. 【0025】 [Figure 5] Figure 5 is a schematic diagram of one electronic device provided in an embodiment of the present invention. [Modes for carrying out the invention] 【0026】 The following describes the technical aspects of embodiments of the present invention clearly and completely with reference to the drawings of the embodiments of the present invention. However, it is clear that the embodiments described are only a part of the present invention and not all embodiments. Based on the embodiments of the present invention, all other embodiments that a person skilled in the art can obtain based on the present invention are within the scope of the protection of the present invention. 【0027】 In warehouse storage scenarios, cargo transport by warehouse robots is a highly efficient logistics solution. However, when multiple warehouse robots operate simultaneously, collision avoidance capabilities are required to ensure safe movement in complex warehouse environments. Currently, a common method involves identifying whether different warehouse robots will pass through the same waypoints within a predetermined time frame, determining congested areas based on the same waypoints passed by different warehouse robots, and selecting a route from multiple planned paths that avoids congested areas or passes through areas that are as uncongested as possible. However, this method only considers collisions on the same plane, and in reality, robots passing through congested areas do not necessarily collide with other robots passing through congested areas, and this method may not always be able to reroute. 【0028】 Therefore, as a first aspect of the present invention, a method for determining a warehouse robot avoidance method is provided, and referring to Figure 1, the method includes the following steps. 【0029】 S101 acquires height and position information for the first warehouse robot along its first planned path, and height and position information for the second warehouse robot along its second planned path. 【0030】 The overlapping space formed spatially by the first and second planned paths is called the collision zone. It should be understood that collisions between warehouse robots are only possible when at least two warehouse robots are present in the warehouse environment, and therefore collisions must be avoided through collision countermeasures. Generally, the collision zone is the overlapping space formed by the planned paths of two warehouse robots. If there are three warehouse robots, A, B, and C, each with their own planned paths, then collision zone detection would involve overlap detection between A's planned path and B's planned path, then between A's planned path and C's planned path, and finally between B's planned path and C's planned path. 【0031】 The planned path includes not only the horizontal path of the warehouse robot but also height information during the robot's journey. Generally, this height information refers to the height of the cargo the robot is carrying, and includes the robot's own height information and the height information of the cargo. 【0032】 S102, based on height and position information for the first and second planned routes, it is determined whether or not a collision zone exists. 【0033】 In general, location information refers to the positions that a warehouse robot moves through on a horizontal plane, and this location information reflects the path the warehouse robot takes on the horizontal plane. 【0034】 S103, If a collision zone exists, the time information of the first warehouse robot passing through the collision zone and the time information of the second warehouse robot passing through the collision zone are acquired. 【0035】 To determine whether two warehouse robots will collide, it is insufficient to simply know that a collision zone exists. For example, if the planned paths of two warehouse robots are exactly the same, but one operates during the day and the other at night, these two warehouse robots will not collide at all and therefore do not need to avoid a collision. In the embodiment of the present invention, it is necessary not only to determine whether a collision zone exists, but also whether avoidance is necessary. For this reason, it is necessary to acquire time information corresponding to the warehouse robots in the collision zone and determine whether the two warehouse robots are likely to collide based on the time information corresponding to the first warehouse robot and the time information corresponding to the second warehouse robot in the collision zone. 【0036】 By acquiring time information at each point the warehouse robot passes through, time information corresponding to the warehouse robot in the collision zone can be obtained, namely the time the warehouse robot enters the collision zone and the time it leaves the collision zone. Alternatively, the time and speed at which the warehouse robot enters the collision zone can be acquired. Since the planned path of the warehouse robot is known, the time the warehouse robot leaves the collision zone can be estimated, and the time the warehouse robot enters the collision zone and the time it leaves the collision zone can be obtained. 【0037】 S104, based on the time information corresponding to the first warehouse robot and the time information corresponding to the second warehouse robot, it is determined whether or not avoidance is necessary. 【0038】 S105, if avoidance is necessary, the collision type is determined based on the positional information in the first and second planned routes. 【0039】 If avoidance is necessary, that is, if the two warehouse robots are spatially guaranteed to collide, it is also necessary to determine the type of collision based on the positional information in the first and second planned paths. 【0040】 S106, Based on the robot types of the two warehouse robots and the collision type, the avoidance method is determined. 【0041】 The robot types include ordinary warehouse robots and aerial container transport robots (Sky Transfer Units, STUs). When ordinary warehouse robots are in operation, their height does not change, and the height at which they are positioned is related to the load on the ordinary warehouse robot. When planning the path of an ordinary warehouse robot, if it is determined whether a certain position is passable, the height condition is taken into consideration, and if the height is higher than the allowable passable height on the map, the area on the map cannot be passed. Aerial container transport robots can move only within a certain plane, and specifically referring to Figure 2, the direction of movement of the aerial container transport robot is horizontal movement along rails. The mechanism 201 for transporting cargo moves up and down along the vertical direction. 【0042】 An embodiment of the present invention provides a method for determining a warehouse robot avoidance method. This method involves acquiring height and position information for a first warehouse robot in a first planned path and height and position information for a second warehouse robot in a second planned path, determining whether a collision zone exists based on the height and position information in the first and second planned paths, and if a collision zone exists, acquiring time information for when the first warehouse robot passes through the collision zone and time information for when the second warehouse robot passes through the collision zone. Based on the time information corresponding to the first warehouse robot and the time information corresponding to the second warehouse robot, it is determined whether avoidance is necessary. If avoidance is necessary, the collision type is determined based on the position information in the first and second planned paths, and the avoidance method is determined based on the robot types of the two warehouse robots and the collision type. This improves the avoidance efficiency of the warehouse robots when a collision zone is accurately detected. 【0043】 In one example, step S102 described above may specifically include the following steps: 【0044】 Step 1: If there is an overlap between the height information of the first planned route and the height information of the second planned route, determine the intersection of the position information of the first planned route and the position information of the second planned route. 【0045】 If there is an overlap between the height information in the first planned path and the height information in the second planned path, it indicates that the height of the cargo being carried by the two warehouse robots is approximately the same. Since such two warehouse robots are prone to collision, it is necessary to further determine the intersection of these two warehouse robots in the horizontal plane. Specifically, the intersection of these two warehouse robots in the horizontal plane can be determined by observing whether or not the position information in the first planned path and the position information in the second planned path intersect. 【0046】 If the height information for the first planned route and the height information for the second planned route do not overlap, the system determines that the two warehouse robots do not overlap spatially, and no further processing is performed. 【0047】 Step 2: If an intersection occurs, determine the collision area, including the position information of the first planned route and the position information of the second planned route. 【0048】 The collision zone is the area obtained by taking the common portion of the positional information from both the first planned route and the second planned route. 【0049】 In one example, step S104 described above may specifically include the following steps: 【0050】 If there is an overlap in the time when the first warehouse robot and the second warehouse robot enter and exit the collision area, it is determined that avoidance is necessary. 【0051】 If there is an overlap in the times when the two warehouse robots enter and exit the collision zone, it indicates a high probability of the two warehouse robots colliding, and in this case, countermeasures must be taken to avoid the collision. 【0052】 In one example, step S105 described above may specifically include the following steps: 【0053】 Step A: Based on the position information of the first planned path and the position information of the second planned path in the collision area, the first path vector of the first warehouse robot in the collision area is calculated. 【number】 and the second path vector of the second warehouse robot in the collision area 【number】 Confirm that. 【0054】 Referring to Figure 3, in collision zone 101, the first path vector 【number】 and the second path vector 【number】 The included angle formed between and appears to be θ, and the range of the included angle θ seems to be 0° ≤ θ ≤ 180°. 【0055】 Step B, the first path vector 【number】 and the two preceding path vectors 【number】 Based on the angle formed by the collision, the collision type is determined, and the first path vector 【number】 and the two preceding path vectors 【number】 If the angle formed by is obtuse, the collision type is determined to be an oncoming collision. The first path vector 【number】 and the two preceding path vectors 【number】 If the resulting angle is not obtuse, the collision type is determined to be a collision in the same direction. 【0056】 First path vector 【number】 and the second path vector 【number】 The angle between and is θ, 【number】 If cos(θ)≧0, the collision type is a collision in the same direction. If cos(θ) < 0, the collision type is an oncoming collision. 【0057】 In one example, step S106 described above may specifically include the following steps: 【0058】 If both warehouse robots are ordinary warehouse robots and the collision type is a collision in the same direction, the order in which the two warehouse robots enter the collision zone is determined, the warehouse robot that enters the collision zone first is made to move normally, and the warehouse robot that enters the collision zone second is made to wait. The aforementioned ordinary warehouse robot is a warehouse robot whose height does not change during the process of moving. 【0059】 If both warehouse robots are ordinary warehouse robots and the collision type is a same-direction collision, after determining the order in which the two warehouse robots enter the collision zone, a policy is adopted in which the first to arrive passes through first. The warehouse robot that enters the collision zone first can travel normally according to the planned path, and the warehouse robot that enters the collision zone later waits for a predetermined time before entering the collision zone. The predetermined time may be set based on the time it takes for the warehouse robot that enters the collision zone first to pass through the collision zone, and its purpose is to prevent the warehouse robot that enters the collision zone later from colliding with the warehouse robot that enters the collision zone first. 【0060】 In one example, step S106 described above may specifically include the following steps: 【0061】 If both warehouse robots are standard warehouse robots, the collision type is an oncoming collision, and neither warehouse robot is located in the collision zone, the order in which the two warehouse robots enter the collision zone is determined, the warehouse robot that enters the collision zone first is made to move normally, and the warehouse robot that enters the collision zone second is made to wait. If both warehouse robots are ordinary warehouse robots, the collision type is an oncoming collision, and a warehouse robot is present in the collision zone, the warehouse robot located in the collision zone is instructed to search for a first candidate path that avoids the collision zone and to travel according to the first candidate path. The aforementioned ordinary warehouse robot is a warehouse robot whose height does not change during the process of moving. 【0062】 If both warehouse robots are standard warehouse robots, the collision type is an oncoming collision, and neither warehouse robot is located in the collision zone, the policy of the first to arrive passing through first will still be applied. 【0063】 If both warehouse robots are ordinary warehouse robots, the collision type is an oncoming collision, and a warehouse robot is present in the collision zone, the warehouse robot located in the collision zone will perform an avoidance maneuver. The warehouse robot located in the collision zone may be either the first warehouse robot or the second warehouse robot. The warehouse robot located in the collision zone will search for a first candidate path that avoids the collision zone and travel according to the first candidate path. If the warehouse robot located in the collision zone cannot find a candidate path that avoids the collision zone, it may choose to abandon its current planned path and stop moving. 【0064】 If both warehouse robots are standard warehouse robots, the collision type is an oncoming collision, and both the first and second warehouse robots are located in the collision zone, the lower-priority warehouse robot will actively attempt to avoid the collision, search for a candidate path to avoid the collision zone, and travel along that path, while the higher-priority warehouse robot can continue traveling along its original planned path. If the two warehouse robots have the same priority, at most one warehouse robot will perform avoidance at a time, so either warehouse robot may be selected to actively attempt avoidance. If avoidance is not possible, a warning will be issued. 【0065】 In one example, step S106 described above may specifically include the following steps: 【0066】 If an aerial container transport robot is present among two warehouse robots, and the collision type is a same-direction collision, the order in which the two warehouse robots enter the collision zone is determined, the warehouse robot that enters the collision zone first is made to proceed normally, and the warehouse robot that enters the collision zone second is made to wait. The aforementioned aerial container transport robot is a warehouse robot that can change its height vertically during its travel and moves horizontally along rails. 【0067】 If there is an aerial container transport robot inside two warehouse robots, and the collision type is a same-direction collision, the measure will still be that the robot that arrives first passes first. 【0068】 In one example, step S106 described above may specifically include the following steps: 【0069】 If there is an aerial container transport robot (which is also a warehouse robot) among two warehouse robots, and the collision type is an oncoming collision, and neither of the two warehouse robots is located in the collision zone, the order in which the two warehouse robots enter the collision zone is determined, the warehouse robot that enters the collision zone first is made to move normally, and the warehouse robot that enters the collision zone later is made to wait. If an aerial container transport robot is present among two warehouse robots, the collision type is an oncoming collision, and a warehouse robot is present in the collision zone, the aerial container transport robot will adjust its own height to avoid the non-aerial container transport robot. The aforementioned aerial container transport robot is a warehouse robot that can change its height vertically during its travel and moves horizontally along rails. 【0070】 If an aerial container transport robot is present among two warehouse robots, the collision type is an oncoming collision, and neither of the two warehouse robots is located in the collision zone, the measure of the robot that arrives first passing through first will still be adopted. 【0071】 If an aerial container transport robot is present among two warehouse robots, the collision type is an oncoming collision, and there is a warehouse robot located in the collision zone, the aerial container transport robot will determine height update information based on the height information of the non-aerial container transport robot and a preset height value, and will raise its own height according to the height update information to avoid the non-aerial container transport robot. 【0072】 Here, the preset height value is a fixed value obtained from experience and may be 50 mm, for example. Based on the height information of the non-aerial container transport robot and the preset height value, the height update information obtained by the aerial container transport robot is a height value greater than the sum of the height information of the non-aerial container transport robot and the preset height value. 【0073】 In one example, the method further includes the following steps: 【0074】 If the height update information is greater than the maximum height of the aerial container transport robot, the non-aerial container transport robot is instructed to search for a candidate planned path that avoids the collision zone. The non-aerial container transport robot is made to travel along a proposed planned route. 【0075】 If the minimum height update information obtainable by the aerial container transport robot is determined to be greater than the maximum limit 202 of the aerial container transport robot (203 in the figure is the minimum limit of the aerial container transport robot), the non-aerial container transport robot may select a candidate path to avoid the collision zone. If avoidance is not possible, the non-aerial container transport robot may choose to abandon its current planned path and stop moving. 【0076】 In the embodiments of the present invention, collisions between aerial container transport robots are not included. This is because spatial interference between the aerial container transport robots can be completely avoided in the layout, eliminating the need to consider how to handle spatial collisions between them. 【0077】 In a second aspect, the present invention provides a device for determining warehouse robot avoidance, and referring to Figure 4, the device is An acquisition module 301 that acquires height information and position information for the first planned path of the first warehouse robot and height information and position information for the second planned path of the second warehouse robot, A collision zone determination module 302 determines whether or not a collision zone exists based on height information and position information in the first and second planned routes, If a collision zone exists, a time information acquisition module 303 acquires time information of the first warehouse robot passing through the collision zone and time information of the second warehouse robot passing through the collision zone. An avoidance module 304 determines whether or not avoidance is necessary based on time information corresponding to the first warehouse robot and time information corresponding to the second warehouse robot, If avoidance is necessary, a collision type determination module 305 determines the collision type based on the position information in the first and second planned routes, The system includes an avoidance method determination module 306 that determines an avoidance method based on the robot types of the two warehouse robots and the collision type. 【0078】 In one possible embodiment, the collision area determination module specifically determines the intersection of position information in the first planned route and position information in the second planned route if there is an overlap between height information in the first planned route and height information in the second planned route, and if there is an intersection, determines a collision area including position information in the first planned route and position information in the second planned route. 【0079】 In one possible embodiment, the avoidance module specifically determines that avoidance is necessary if there is an overlap in the time when the first warehouse robot and the second warehouse robot enter and exit the collision area. 【0080】 In one possible embodiment, the collision type determination module specifically, Based on the position information of the first planned path and the position information of the second planned path in the collision area, the first path vector of the first warehouse robot in the collision area is determined. 【number】 and the second path vector of the second warehouse robot in the collision area 【number】 And confirm, The first path vector 【number】 and the two preceding path vectors 【number】 Based on the angle formed by the collision, the collision type is determined, and the first path vector 【number】 and the two preceding path vectors 【number】 If the angle formed by is obtuse, the collision type is determined to be an oncoming collision. The first path vector 【number】 and the two preceding path vectors 【number】 If the resulting angle is not obtuse, the collision type is determined to be a collision in the same direction. 【0081】 In one possible embodiment, the collision types include opposing collisions and collisions in the same direction. Specifically, the avoidance method determination module determines the order in which the two warehouse robots enter the collision area when both are ordinary warehouse robots and the collision type is a collision in the same direction, allowing the warehouse robot that enters the collision area first to proceed normally, and having the warehouse robot that enters the collision area later to wait. The aforementioned ordinary warehouse robot is a warehouse robot whose height does not change during the process of moving. 【0082】 In one possible embodiment, the collision types include opposing collisions and collisions in the same direction. The aforementioned avoidance method determination module specifically, If both warehouse robots are ordinary warehouse robots, the collision type is an oncoming collision, and neither warehouse robot is located in the collision zone, the order in which the two warehouse robots enter the collision zone is determined, the warehouse robot that enters the collision zone first is made to move normally, and the warehouse robot that enters the collision zone later is made to wait. If both warehouse robots are ordinary warehouse robots, and the collision type is an oncoming collision, and a warehouse robot is present in the collision area, the warehouse robot located in the collision area is instructed to search for a first candidate path that avoids the collision area, and to travel according to the first candidate path. The aforementioned ordinary warehouse robot is a warehouse robot whose height does not change during the process of moving. 【0083】 In one possible embodiment, the collision types include opposing collisions and collisions in the same direction. Specifically, the avoidance method determination module determines the order in which the two warehouse robots enter the collision area when there is an aerial container transport robot, which is a warehouse robot, among two warehouse robots, and the collision type is a collision in the same direction. It allows the warehouse robot that enters the collision area first to proceed normally, and the warehouse robot that enters the collision area later to wait. The aforementioned aerial container transport robot is a warehouse robot that can change its height vertically during its travel and moves horizontally along rails. 【0084】 In one possible embodiment, the collision types include opposing collisions and collisions in the same direction. The aforementioned avoidance method determination module specifically, If an aerial container transport robot is present among two warehouse robots, and the collision type is an oncoming collision, and neither of the two warehouse robots is located in the collision zone, the order in which the two warehouse robots enter the collision zone is determined, the warehouse robot that enters the collision zone first is made to travel normally, and the warehouse robot that enters the collision zone later is made to wait. If an aerial container transport robot is present among two warehouse robots, and the collision type is an oncoming collision, and a warehouse robot is present in the collision area, the aerial container transport robot will adjust its own height to avoid the non-aerial container transport robot. The aforementioned aerial container transport robot is a warehouse robot that can change its height vertically during its travel and moves horizontally along rails. 【0085】 In one possible embodiment, an aerial container transport robot can avoid a non-aerial container transport robot by adjusting its own height. The aerial container transport robot determines the height update information based on the height information of the non-aerial container transport robot and a preset height value. This includes having an aerial container transport robot raise its own height based on height update information to avoid non-aerial container transport robots, The aforementioned device further, If the height update information is greater than the maximum height of the aerial container transport robot, a pathfinding module causes a non-aerial container transport robot to search for a candidate planned path that avoids the collision area, Includes a control module that controls a non-aerial container transport robot to travel along a candidate planned path. 【0086】 The embodiment of the present invention further provides an electronic device, as shown in Figure 5, the electronic device is Memory 401 for storing computer programs, The system includes a processor 402 that executes a program stored in memory 401 to implement the method for determining the warehouse robot avoidance method described in any of the above. 【0087】 Furthermore, the electronic device may also include a communication bus and / or a communication interface, and the processor 402, the communication interface, and the memory 401 communicate with each other via the communication bus. 【0088】 The communication bus mentioned in the above-mentioned electronic devices may be a PCI (Peripheral Component Interconnect, PCI) bus or an EISA (Extended Industry Standard Architecture) bus, etc. This communication bus may be divided into an address bus, data bus, control bus, etc. For the sake of visual clarity, it is shown with thick lines in the diagram, but this does not mean that there is only one bus or only one type of bus. 【0089】 The communication interface is used for communication between the above-mentioned electronic devices and other devices. 【0090】 The memory may include random access memory (RAM), non-volatile memory (NVM), and, for example, at least one disk memory. Preferably, the memory may be a storage device located away from at least one of the processors. 【0091】 The above-mentioned processor may be a general-purpose processor including a Central Processing Unit (CPU), a Network Processor (NP), etc., and may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware assembly. 【0092】 Another embodiment provided by the present invention is a computer-readable storage medium in which a computer program is stored, and the computer program is executed by a processor to realize the steps of any of the above-described methods for determining a warehouse robot avoidance scheme. 【0093】 Another embodiment provided by the present invention provides a computer program product including instructions, which, when run on a computer, causes the computer to perform a method for determining one of the warehouse robot avoidance methods in the above embodiment. 【0094】 In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the instructions of the computer program are loaded into a computer and executed, all or part of them implement the flow or function described in the embodiments of the present invention. The computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, radio, microwave, etc.) method. The computer-readable storage medium may be any available medium accessible to the computer, or it may be a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, tapes), optical media (e.g., DVDs), or solid-state drives (Solid State Disks, SSDs). 【0095】 In this specification, relational terms such as "first" and "second" are used solely to distinguish one entity or execution from another entity or execution, and do not necessarily require or imply that such an actual relationship or order exists between these entities or executions. Furthermore, "includes," "incorporates," or any other variation means non-exclusive inclusion, and therefore a process, method, article or equipment that includes a set of elements includes not only those elements but also other elements not expressly enumerated, or elements specific to such process, method, article or equipment. Unless otherwise specified, an element limited by the term "includes one..." does not preclude the existence of other identical elements in a process, method, article or equipment that includes the said element. 【0096】 Each embodiment in this specification is described in a manner relevant to its own context, and common parts between embodiments should be referenced from one another. Each embodiment is described primarily in terms of its differences from the others. In particular, the apparatus embodiments are basically similar to the method embodiments, and therefore the description is relatively straightforward; relevant points should be referred to in part of the description of the method embodiments. 【0097】 The foregoing description represents preferred embodiments of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are also included within the scope of protection of the present invention.

Claims

[Claim 1] To acquire height and position information for the first warehouse robot along its first planned path, and height and position information for the second warehouse robot along its second planned path, Based on the height and position information of the first and second planned routes, it is determined whether or not a collision zone exists. If a collision zone exists, the system acquires time information for the first warehouse robot passing through the collision zone and time information for the second warehouse robot passing through the collision zone. Based on the time information corresponding to the first warehouse robot and the time information corresponding to the second warehouse robot, it is determined whether or not avoidance is necessary. If avoidance is necessary, the collision type will be determined based on the positional information in the first and second planned routes. This includes determining an avoidance method based on the robot types of the two warehouse robots and the collision type, A method for determining a warehouse robot avoidance system, characterized by the following features. [Claim 2] Determining whether or not a collision zone exists based on the height information and position information in the first and second planned routes is: If there is an overlap between the height information of the first planned route and the height information of the second planned route, the intersection of the position information of the first planned route and the position information of the second planned route will be determined. In the event of an intersection, this includes determining the collision area, which includes the positional information of the first planned route and the positional information of the second planned route. A method for determining the warehouse robot avoidance method according to feature 1. [Claim 3] Determining whether or not avoidance is necessary based on the time information corresponding to the first warehouse robot and the time information corresponding to the second warehouse robot is: This includes determining that avoidance is necessary if there is an overlap in the time when the first warehouse robot and the second warehouse robot enter and exit the collision area, A method for determining the warehouse robot avoidance method according to feature 1. [Claim 4] If avoidance is necessary, the collision type can be determined based on the positional information in the first and second planned routes. Based on the position information of the first planned path and the position information of the second planned path in the collision area, the first path vector of the first warehouse robot in the collision area is determined. [Number 28] and the second path vector of the second warehouse robot in the collision area [Number 29] To confirm and First path vector [Number 30] and the second path vector [Number 31] If the angle formed by is obtuse, the collision type is a head-on collision. First path vector [Number 32] and the second path vector [Number 33] If the angle formed by is not obtuse, the collision type is a codirectional collision, and includes the following: A method for determining the warehouse robot avoidance method according to feature 1. [Claim 5] The aforementioned collision types include opposing collisions and collisions in the same direction. Determining the avoidance method based on the robot type of the two warehouse robots and the collision type is: If both warehouse robots are ordinary warehouse robots and the collision type is a collision in the same direction, the system includes determining the order in which the two warehouse robots enter the collision area, allowing the warehouse robot that enters the collision area first to proceed normally, and having the warehouse robot that enters the collision area later to wait. The aforementioned ordinary warehouse robot is a warehouse robot whose height does not change during the process of travel. A method for determining the warehouse robot avoidance method according to feature 1. [Claim 6] The aforementioned collision types include oncoming collisions and collisions in the same direction. Determining the avoidance method based on the robot type of the two warehouse robots and the collision type is: If both warehouse robots are ordinary warehouse robots, the collision type is an oncoming collision, and neither of the two warehouse robots is located in the collision zone, the order in which the two warehouse robots enter the collision zone is determined, the warehouse robot that enters the collision zone first is made to travel normally, and the warehouse robot that enters the collision zone later is made to wait. The two warehouse robots are both ordinary warehouse robots, the collision type is an oncoming collision, and a warehouse robot is present in the collision area, and the warehouse robot located in the collision area is instructed to search for a first candidate path that avoids the collision area, and to travel according to the first candidate path, The aforementioned ordinary warehouse robot is a warehouse robot whose height does not change during the process of travel. A method for determining the warehouse robot avoidance method according to feature 1. [Claim 7] The aforementioned collision types include oncoming collisions and collisions in the same direction. Determining the avoidance method based on the robot type of the two warehouse robots and the collision type is: When an aerial container transport robot is present among two warehouse robots, and the collision type is a collision in the same direction, the system includes determining the order in which the two warehouse robots enter the collision area, allowing the warehouse robot that enters the collision area first to proceed normally, and having the warehouse robot that enters the collision area later to wait, The aforementioned aerial container transport robot is a warehouse robot that can change its height vertically during its travel and moves horizontally along rails. A method for determining the warehouse robot avoidance method according to feature 1. [Claim 8] The aforementioned collision types include oncoming collisions and collisions in the same direction. Determining the avoidance method based on the robot type of the two warehouse robots and the collision type is: If an aerial container transport robot is present among two warehouse robots, and the collision type is an opposing collision, and neither of the two warehouse robots is located in the collision zone, the order in which the two warehouse robots enter the collision zone is determined, the warehouse robot that enters the collision zone first is allowed to proceed normally, and the warehouse robot that enters the collision zone later is made to wait. When an aerial container transport robot is present among two warehouse robots, the collision type is an oncoming collision, and a warehouse robot is present in the collision area, the aerial container transport robot is made to adjust its own height to avoid the non-aerial container transport robot, and this includes: The method for determining a warehouse robot avoidance method according to claim 1, characterized in that the aerial container transport robot is a warehouse robot whose height can change along the vertical direction during the process of travel and which moves horizontally along rails. [Claim 9] By having the aforementioned aerial container transport robot adjust its own height, it is possible to avoid non-aerial container transport robots. The aerial container transport robot determines the height update information based on the height information of the non-aerial container transport robot and a preset height value. This includes having an aerial container transport robot raise its own height based on height update information to avoid non-aerial container transport robots, The method for determining the warehouse robot avoidance method is further as follows: If the height update information is greater than the maximum height of the aerial container transport robot, the non-aerial container transport robot is instructed to search for a candidate planned path that avoids the collision area. This includes making a non-aerial container transport robot travel along a proposed planned route, The method for determining the warehouse robot avoidance method according to feature 8. [Claim 10] An acquisition module that acquires height information and position information for the first warehouse robot along its first planned path and height information and position information for the second warehouse robot along its second planned path, A collision zone determination module that determines whether or not a collision zone exists based on height information and position information in the first and second planned routes, A time information acquisition module that acquires time information of the first warehouse robot passing through the collision zone and time information of the second warehouse robot passing through the collision zone when a collision zone exists, An avoidance module that determines whether or not avoidance is necessary based on time information corresponding to the first warehouse robot and time information corresponding to the second warehouse robot, If avoidance is necessary, a collision type determination module determines the collision type based on the position information in the first and second planned routes, Includes an avoidance method determination module that determines the avoidance method based on the robot types of the two warehouse robots and the collision type, A device for determining warehouse robot avoidance methods, characterized by the above. [Claim 11] It is an electronic device, Memory for storing computer programs, A processor that, when a program stored in memory is executed, realizes a method for determining a warehouse robot avoidance scheme as described in any one of claims 1 to 9, An electronic device characterized by the following features.

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