Route allocation method and route allocation device

Abstract

Embodiments of the present application provide a route assignment method and a route assignment device relating to the field of data processing technology. The route assignment method includes determining the destination of a target robot when the target robot is unloaded, assigning a route to the destination to the target robot based on a target aisle where the space below the shelf is not occupied by a robot, and transmitting the assigned route to the target robot. By applying the technical proposal provided by embodiments of the present application, the probability of robot congestion in a warehouse can be reduced.

Description

Technical Field

[0001] This application claims priority based on a Chinese patent application filed with the China National Intellectual Property Administration on June 9, 2023, with an application number of 202310686802.1 and an invention title of "Path Allocation Method and Path Allocation Device". Here, all of its content is incorporated herein by reference.

[0002] This application relates to the field of data processing technology, and particularly to a path allocation method and a path allocation device.

Background Art

[0003] With the development of robot technology, the application of robots in the scenario of intelligent warehouse storage is becoming increasingly widespread. For example, robots can perform tasks such as unloading, picking, and inventory checking in the warehouse, and realize the automation of warehouse management.

[0004] When a robot executes a task in the warehouse, the scheduling device needs to allocate a path for the robot to the task location based on the area where the goods are not placed. Thereby, the robot can arrive at the task location along the allocated path and execute the task.

[0005] Although the scheduling device can allocate a path for the robot using the above method, different robots executing tasks in the warehouse will share the above area where the goods are not placed. When the number of robots is relatively large, the paths allocated by the scheduling device to different robots are likely to conflict, and traffic jams of robots are likely to occur in the warehouse.

Summary of the Invention

[0006] The embodiments of this application aim to provide a path allocation method and a path allocation device for reducing the probability of robot traffic jams in the warehouse. The specific technical solutions are as follows.

[0007] In a first aspect, an embodiment of the present application provides a route assignment method. The route assignment method is If the target robot is unloaded, the destination of the target robot is determined, Based on the target aisle where the space below the shelf is not occupied by the robot, the target robot is assigned a route to the destination, This includes transmitting the assigned route to the target robot.

[0008] In one embodiment of the present invention, assigning a route to the destination to the target robot based on a target passage where the space below the shelf is not occupied by the robot is, In accordance with a method for prioritizing the selection of a target aisle, a pathway is selected from passable pathways that include the target aisle and areas where shelves are not placed. This includes assigning a route to the target robot to the destination based on the selected path.

[0009] In one embodiment of the present invention, assigning a route to the destination to the target robot based on a target passage where the space below the shelf is not occupied by the robot is, Based on the aforementioned destination, the target waiting area from which the target robot will depart from the space below the shelf is determined, from the robot waiting area corresponding to the target passage. Based on the aforementioned target path, a first sub-path to the target waiting area is assigned to the target robot, This includes assigning a second sub-path to the target robot from the target waiting area to the destination, based on areas where shelves are not located.

[0010] In one embodiment of the present invention, assigning a second sub-path from the target waiting area to the destination to the target robot based on the area where the shelf is not located is: After confirming that the target robot has arrived at the target waiting location, the system includes assigning the target robot a second sub-route from the target waiting location to the destination based on areas where shelves are not located.

[0011] In one embodiment of the present invention, based on the destination, determining the target waiting area from which the target robot departs from the space below the shelf, from a robot waiting area corresponding to the target passage, is: This includes determining the target waiting location that is closest to the destination and from the space below the shelf where the target robot will depart, based on the robot waiting locations corresponding to the target aisle.

[0012] In one embodiment of the present invention, assigning a route to the destination to the target robot based on a target passage where the space below the shelf is not occupied by the robot is, Assigning a third sub-path to the target robot based on the target passage where the space below the shelf is not occupied by the robot, This includes assigning a fourth sub-path to the target robot from the endpoint of the first sub-path to the destination, based on areas where no shelves are located.

[0013] In one embodiment of the present application, the method described above is If the target robot is fully loaded, a route to the destination is assigned to the target robot based on the area where no shelves are located. This includes transmitting the assigned route to the target robot.

[0014] In one embodiment of the present invention, the area where shelves are not installed includes a predetermined passageway within the warehouse and a lane storage area where shelves are not installed.

[0015] In a second aspect, the present invention provides a route allocation device. The route allocation device is When the target robot is unloaded, a destination determination module for determining the destination of the target robot, A first route assignment module for assigning a route to the destination to the target robot based on a target passage where the space below the shelf is not occupied by the robot, The system includes a first route transmission module for transmitting an assigned route to the target robot.

[0016] In one embodiment of the present invention, the first route assignment module specifically selects a route from passable routes, including the target route and areas where no shelves are placed, in accordance with a method of preferentially selecting the target route, and assigns a route to the target robot to the destination based on the selected route.

[0017] In one embodiment of the present invention, the first route allocation module is: Based on the aforementioned destination, a target waiting location determination submodule for determining the target waiting location from which the target robot will depart from the space below the shelf, from a robot waiting location corresponding to the target passage, A first route assignment submodule for assigning a first sub-route to the target robot to the target waiting location based on the target path, The system includes a second route assignment submodule for assigning a second sub-route to the target robot from the target waiting area to the destination, based on areas where shelves are not located.

[0018] In one embodiment of the present invention, the second route assignment submodule is specifically for assigning the target robot a second subroute from the target waiting location to the destination based on areas where shelves are not located, after determining that the target robot has arrived at the target waiting location.

[0019] In one embodiment of the present invention, the target waiting location determination submodule is specifically for determining the target waiting location that is closest to the destination and from which the target robot departs from the space below the shelf, based on the robot waiting locations corresponding to the target passage.

[0020] In one embodiment of the present application, specifically, the first path allocation module allocates a third sub-path to the target robot based on a target passage where the space below the shelf is not occupied by the robot, and allocates a fourth sub-path from the end point of the third sub-path to the destination to the target robot based on an area where no shelf is arranged.

[0021] In one embodiment of the present application, the path allocation device When the target robot is in a fully loaded state, a second path allocation module for allocating a path to the destination to the target robot based on an area where no shelf is arranged, and a second path transmission module for transmitting the allocated path to the target robot.

[0022] In one embodiment of the present application, the area where no shelf is arranged includes a preset passage in the warehouse and a lane storage area where no shelf is arranged.

[0023] As a third aspect, an embodiment of the present application provides an electronic device. The electronic device includes a memory for storing a computer program, and a processor for realizing the method described in the first aspect when executing the program stored in the memory.

[0024] As a fourth aspect, an embodiment of the present application provides a computer-readable storage medium. A computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method described in the first aspect is realized.

[0025] As a fifth aspect, an embodiment of the present application provides a computer program product including instructions. When the computer program product is executed on a computer, the computer is caused to realize the method described in the first aspect.

[0026] As can be seen from the above, when assigning a path to a robot by applying the technical solution provided by the embodiment of the present application, the destination of the robot in an unloaded state can be determined, and a path to the destination can be assigned to the target robot based on the target aisle where the space below the shelf is not occupied by the robot. As a result, the target robot can smoothly arrive at the destination along the assigned path.

[0027] Here, the target aisle is an aisle where shelves are located and which is not occupied by robots, and the path assigned to the target robot is determined based on the target aisle. In this way, when the target robot travels along the path assigned based on the target aisle, it can pass through the space at the bottom of the shelves. Compared to directly assigning paths to target robots based on areas where no shelves are located, this reduces the traffic pressure in areas without shelves, decreases the number of robots traveling in areas without shelves, and thereby reduces the occurrence of competition for robot travel paths and reduces the probability of robot congestion in the warehouse.

[0028] Of course, any product or method implementing this application is not necessarily required to achieve all of the above advantages simultaneously. [Brief explanation of the drawing]

[0029] To more clearly explain the embodiments of the present application or the prior art, the drawings necessary for describing the embodiments or the prior art are briefly described below. Clearly, the drawings described below represent only some embodiments of the present application, but those skilled in the art can obtain other embodiments based on these drawings.

[0030] [Figure 1] Figure 1 is a schematic flowchart of the first route assignment method according to an embodiment of the present application. [Figure 2] Figure 2 is a schematic diagram of the warehouse area according to an embodiment of the present application. [Figure 3]Figure 3 is a schematic diagram of a robot passage scenario according to an embodiment of the present invention. [Figure 4] Figure 4 is a schematic diagram of the route allocation flow according to an embodiment of the present application. [Figure 5] Figure 5 is a schematic diagram of a robot travel path in the conventional technology. [Figure 6] Figure 6 is a schematic diagram of the first robot travel path according to an embodiment of the present application. [Figure 7] Figure 7 is a schematic diagram of a second robot travel path according to an embodiment of the present application. [Figure 8] Figure 8 is a schematic flowchart of the second route assignment method according to an embodiment of the present application. [Figure 9] Figure 9 is a schematic diagram of the structure of a route allocation device according to an embodiment of the present application. [Figure 10] Figure 10 is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. [Modes for carrying out the invention]

[0031] The technical concepts in the embodiments of this application will be described clearly and completely below with reference to the drawings of the embodiments. Clearly, the embodiments described are only a selection of the embodiments of this application, not all of them. All other embodiments that a person skilled in the art could obtain based on the embodiments of this application are all within the scope of protection of this application.

[0032] First, we will describe the implementer in the technical proposal provided by the embodiments of this application.

[0033] The implementer of the technical solution provided by the embodiments of this application is any one electronic device having functions such as data processing and data storage. Specifically, the electronic device may be a scheduling device for assigning routes to robots in a warehouse.

[0034] Next, we will describe the application scenarios of the technical proposal provided by this application.

[0035] The application scenario for the technical invention provided by this application is one in which a robot performs a task in a warehouse where shelves are arranged.

[0036] In one case, a dedicated passage called the main aisle is reserved within the warehouse for robots to travel through. Shelves are arranged sequentially in storage areas for each row, and no additional passages are reserved between the areas of each row. The above storage areas for each row may be called lane storage areas. A direct explanation of lane storage areas will be provided later in the explanation of Figure 2, but will be omitted here. The above scenario may be called an automated warehouse dense storage scenario.

[0037] In another case, in addition to the main aisle, an aisle can be reserved between two rows of lane storage areas, but to increase storage density, aisles are generally reserved only between some lane storage areas. For example, if there are lane storage areas 1 through 10, an aisle is reserved between lane storage area 3 and lane storage area 4, an aisle is reserved between lane storage area 7 and lane storage area 8, and no aisles are reserved between the remaining lane storage areas.

[0038] In the above scenario, there are relatively many storage lane areas within the warehouse, and relatively few reserved, dedicated lanes for robots to use. Thus, when there are many robots, the routes that the scheduling device assigns to different robots using the reserved lanes are likely to be in conflict, leading to robot congestion within the warehouse.

[0039] In light of the above circumstances, the embodiment of the present invention provides a proposed route assignment method for reducing the probability of robot congestion in a warehouse.

[0040] The proposed route assignment provided by the embodiments of this application will be described in detail below.

[0041] Referring to Figure 1, Figure 1 is a schematic flowchart of a first route assignment method according to an embodiment of the present application. This method includes the following steps S101 to S103.

[0042] Step S101: If the target robot is unloaded, determine the target robot's destination.

[0043] In intelligent warehouse storage scenarios, there are typically multiple robots performing tasks such as storing, picking, and inventorying goods within the warehouse, but each robot may be in a different loading state. For example, a robot may be empty or fully loaded.

[0044] The fully loaded state described above indicates that the robot is loading transported items, and the empty state described above indicates that the robot is not loading transported items. Herein, the embodiments of the present invention do not limit the transported items or the method by which the robot loads the transported items. For example, the transported items may be the articles themselves or the shelves in which the articles are stored. The method by which the robot loads the transported items may be to lift them from the bottom of the shelf and then lift the shelf and transport it, or the like.

[0045] The target robot described above may be any single robot in the warehouse that is empty.

[0046] For example, the target robot described above may be a robot that has just been received into storage and is not assigned a task, and is in an empty state; or it may be a robot that has completed the previous unloading task and is switching from a fully loaded state to an empty state; or it may be a robot that is switching from a target task, such as collecting item information, which does not require loading transported items, to a transport task.

[0047] In this case, if the robot is performing a transport task, it is transporting shelves or items to the task location and is not in an empty state; therefore, it is not the target robot in an empty state.

[0048] In one case, the robot can detect its own load status. If the robot detects that it is unloaded, it can send a task assignment request to the scheduling device. The scheduling device can then obtain the device identifier included in the task assignment request after receiving it, or obtain the device identifier received along with the task assignment request, and identify the robot corresponding to the device identifier as the target robot.

[0049] In one embodiment of the present invention, the robot detects its own loading state and obtains a first detection result, then sends a request to a scheduling device to obtain a second detection result from the scheduling device, which detects whether the robot is loaded or not, and verifies the first detection result obtained by itself based on the second detection result. If the loading state indicated by the second detection result matches the loading state indicated by the first detection result, the robot can confirm that the first detection result detected by itself is accurate, that is, it can confirm that its own loading state is the loading state indicated by the first detection result.

[0050] In another case, the scheduling device can determine the target robot for the task to be executed based on the distance between the empty robot in the warehouse and the task location, from among the empty robots.

[0051] The task to be executed mentioned above may be any single task in the task pool maintained by the scheduling device.

[0052] For example, the robot closest to the task location and in an unloaded state is identified as the target robot. Alternatively, for example, a robot whose distance from the task location is less than a preset distance threshold is identified from among the unloaded robots, and a robot is randomly selected from these identified robots as the target robot.

[0053] Here, the scheduling device can acquire images or videos of the robots in the warehouse and detect whether the robots in the warehouse are fully loaded or empty through image or video analysis. The specific methods of the above image or video analysis will not be explained in detail here.

[0054] In one embodiment of the present invention, the scheduling device obtains a second detection result that detects whether the robot is loaded, then obtains a first detection result that detects the robot's own loading state, and verifies the second detection result obtained by itself based on the first detection result. If the loading state indicated by the first detection result matches the loading state indicated by the second detection result, the scheduling device can confirm that the second detection result is accurate, that is, it can confirm that the robot's loading state is the loading state indicated by the second detection result.

[0055] The following explains the above destination.

[0056] In one embodiment, the destination may be the task location of any task to be executed, and specifically can be set by a scheduling device according to actual demand, but is not limited to this in the present application.

[0057] For example, if items need to be stored at location A, location A is the task location, and location A can be designated as the destination for the target robot. If items need to be picked at location B, location B is the task location, and location B can be designated as the destination for the target robot. If inventory needs to be taken at location C, location C is the task location, and location C can be designated as the destination for the target robot.

[0058] In another embodiment, the destination may be a waiting area near the task location.

[0059] Specifically, the above-mentioned waiting area may be any location near the task location, for example, an area where the closest shelf to the task location is not located.

[0060] In one embodiment of the present invention, the area where shelves are not installed may include pre-defined aisles within the warehouse and lane storage areas where shelves are not installed. The details will be described later, but will not be explained in detail here.

[0061] The following explains how to determine your destination, using this as an example.

[0062] In one embodiment, the scheduling device can randomly select a target task location from among the task locations and determine the target task location as the destination of the target robot.

[0063] In another embodiment, the scheduling device can acquire the current position of the target robot, and then, based on the acquired current position and the position of each task location, select a target task location from each task location and confirm the target task location as the destination of the target robot.

[0064] For example, the distance between each task location and the current position of the target robot may be calculated, and the target task location with the smallest corresponding distance may be selected and confirmed as the destination. Alternatively, a target task location whose corresponding distance is smaller than the first preset distance may be selected, and the above destination may be confirmed from among the target task locations.

[0065] As can be seen from the above description, in one case the destination may be a waiting area near the task location. In view of this, in one embodiment of the present invention, first a target task location can be selected using the above embodiment, and then a waiting area near the target task location can be determined as the destination.

[0066] Here, the waiting location near the target task location may be any location whose distance from the target task location is less than the second preset distance.

[0067] The first and second preset distances described above can be set by the operator according to their experience, but the embodiments of this application do not limit their specific values.

[0068] Step S102: Based on the target aisle where the space below the shelf is not occupied by the robot, assign a path to the destination for the target robot.

[0069] The target passage described above is a passage where shelves are placed and the space below the shelves is not occupied by robots.

[0070] The following explanation, in combination with Figure 2, will provide a more intuitive description of the target pathway.

[0071] Figure 2 is a schematic diagram of the warehouse area provided by the embodiment of the present application, showing the warehouse area at a certain point in time.

[0072] In Figure 2, each small rectangle represents an area where shelves are located. Here, each column area composed of each small rectangle in the vertical direction is the lane storage area described above, and the blank areas indicated by dashed lines represent areas where shelves are not located. Here, white rectangles indicate that the space below the shelves located in that area is not occupied by a robot at that time, and dark rectangles indicate that the space below the shelves located in that area is occupied by a robot at that time. Here, the fact that the space below the shelves is occupied by a robot means that the robot is in the space below the shelves. For example, when a robot attempts to pick an item from a shelf, at that time the robot enters the space below the shelf and lifts the shelf upwards.

[0073] As can be seen, in Figure 2, with the exception of the areas shown by the dark rectangles, all the pathways consisting of each white rectangle and the gaps between each white rectangle are target pathways.

[0074] Furthermore, the occupancy status of the space below the shelves changes dynamically while each robot is performing its task in the warehouse. For example, for a single shelf, the space below it may be occupied by a robot at time 1, and may not be occupied by a robot at time 2.

[0075] The following describes how to assign a path to a target robot based on the target pathway.

[0076] In one embodiment, a target robot can be assigned a path that includes only the target passage.

[0077] In this embodiment, a route including only the target path can be assigned to the target robot without considering areas other than the target path. Taking Figure 2 as an example, when assigning a route to the target robot, a route including only the target path can be assigned to the target robot by considering only the target path, which consists of the white rectangle and the gap between the white rectangles, without considering the areas indicated by the dark rectangle and the dashed frame.

[0078] Specifically, the concrete route assignment methods in this embodiment will be described below on a case-by-case basis.

[0079] In one case, the current position of the target robot can be determined, and the shortest path from the current position to the destination can be assigned to the target robot from within the target pathway.

[0080] Here, the shortest path from the current location to the destination can be determined based on a pre-configured algorithm. The algorithm may be a depth-first search algorithm or Dijkstra's algorithm, but their explanation will be omitted here.

[0081] In another case, the current position of the target robot can be determined, each possible path from the current position to the destination can be determined from the target path, the distance of each possible path can be determined, and a path to assign to the robot can be selected based on the distance corresponding to each possible path.

[0082] For example, first, a path can be selected from the passable paths where the corresponding distance is less than a third preset distance, and then a path can be randomly selected from the selected paths to be assigned to the robot. The above third preset distance can be set by the operator according to their experience, but in the embodiment of this application, its specific value is not limited.

[0083] In yet another case, the current position of the target robot can be determined, each possible route from the current position to the destination can be obtained, then the distance and difficulty characteristics of each possible route can be determined, and based on the distance and difficulty characteristics of each possible route, the route to be assigned to the robot from each possible route can be determined.

[0084] For example, by weighting the distance and difficulty of the passable routes, the resulting weighted calculation combines two-dimensional information—distance and difficulty—to represent the quality of the passable routes. This allows for the selection of a route to assign from among the passable routes based on the calculation results. For instance, based on the calculation results, a passable route that is both close and has a low difficulty of passage can be selected as the route to assign.

[0085] Here, the characteristic values ​​of the difficulty of passage described above can be determined based on the real-time traffic conditions of each passable route.

[0086] Since each passable route is determined, the scheduling device can acquire real-time traffic conditions for each passable route and determine characteristic values ​​for the difficulty of travel on each route based on these real-time traffic conditions. The real-time traffic conditions mentioned above may include the degree of road congestion on the passable route and the presence or absence of obstacles on the passable route, but these details will be omitted here. Here, the degree of road congestion on the passable route can be explained using the number of robots traveling on the passable route.

[0087] In this embodiment, when assigning a path to a target robot that is unloaded, only the areas where shelves are located are considered, but areas where shelves are not located are not considered.

[0088] Here, only robots in an empty state can pass through areas where shelves are placed, while robots in both empty and fully loaded states can pass through areas where shelves are not placed. As can be seen, areas without shelves are accessible to robots in any loaded state and are relatively "valuable".

[0089] Therefore, in this embodiment, when assigning a path to an unloaded target robot, only areas with shelves are considered, without considering areas without shelves. This reduces the frequency of unloaded target robots occupying areas without shelves, lowers traffic pressure in those areas, and is advantageous for improving the traffic efficiency of fully loaded robots in areas without shelves.

[0090] In another embodiment, a pathway can be selected from among the passable pathways according to a method that preferentially selects the target pathway, and a route to the destination can be assigned to the target robot based on the selected pathway.

[0091] Here, the above-mentioned passable passage includes the target passage and the area where no shelves are placed.

[0092] The areas where shelves are not installed may include all areas within the warehouse where shelves are not installed, and include the reserved main aisles mentioned above, the lane storage areas where shelves are temporarily not installed, and other pre-defined areas not used for storing goods.

[0093] Using Figure 2 as an example, the area shown by the white rectangle is the target passageway, and the area within the dashed line frame indicates an area where no shelves are placed. Therefore, both the area shown by the white rectangle and the area within the dashed line frame are passable passageways.

[0094] In some cases, selecting only the target path may not allow the robot to determine its route from its current position to its destination. In such cases, a method that prioritizes the selection of the target path can be used to select a path from among the available paths, and based on the selected path, the target robot can be assigned a route to its destination.

[0095] Here, the passable passages include the target passage and areas where shelves are not placed, and a passage is selected from the passable passages according to a method that prioritizes the selection of the target passage. In other words, the final determined route includes the target passage and areas where shelves are not placed, and the target passage is given priority when determining the route.

[0096] Prioritizing the target route when determining the route can be understood as ensuring that the length of the road section located along the target route in the determined route is as long as possible.

[0097] In this case, since the passable pathways include the target pathway and areas where shelves are not placed, assigning a route to the target robot based on the passable pathways is equivalent to assigning a route to the target robot based on the target pathway and areas where shelves are not placed. This reduces the occurrence of situations where it is not possible to assign a route to the destination to the target robot when only the target pathway is selected.

[0098] The specific method for assigning routes based on passable pathways is similar to the method described above for assigning routes based solely on target pathways, but the difference is that it simply prioritizes the selection of target pathways. A brief explanation follows.

[0099] In one embodiment, a third subpath can be assigned to a target robot based on a target passage where the space below the shelf is not occupied by the robot, and then a fourth subpath can be assigned to the target robot from the endpoint of the third subpath to the destination based on the area where no shelves are located.

[0100] For example, based on the target path, a third sub-path can be selected whose endpoint is closest to the destination. Then, based on areas where shelves are not placed, a fourth sub-path from the endpoint of the third sub-path to the destination can be assigned to the target robot using an algorithm such as a shortest path algorithm.

[0101] Thus, if selecting only the target path does not allow the robot to determine the route from its current position to the destination, a third sub-path is first determined based on the target path, and then a fourth sub-path is assigned to the target robot from the endpoint of the third sub-path to the destination, based on the area where no shelves are placed. This allows the robot to directly reach the endpoint of the third sub-path and then reach the destination via the fourth sub-path from that endpoint. In other words, the robot can successfully reach the destination via the two assigned sub-paths without having to wait along the way, thus avoiding situations where it is not possible to assign a route to the destination when selecting only the target path, and improving the rationality and success rate of route assignment.

[0102] As can be seen, the technical solution provided by the embodiment of the present invention can select a passage from among passable passages according to a method of preferentially selecting a target passage, and assign a route to the destination to the target robot based on the selected passage. In this way, the assigned route can be made to include the longest possible target passage. That is, the target passage has a relatively high priority for selection, which is advantageous in that, as the robot travels along the assigned route to the destination, the length of the route traveling along the target passage is relatively long, and the length of the route traveling through areas without objects is relatively short, thereby reducing the pressure on passage through areas without objects. On the other hand, because more areas are considered when determining the route, it is possible to avoid situations where it is not possible to assign a route to the destination to the target robot when only the target passage is selected, thereby improving the rationality and success rate when assigning routes.

[0103] In yet another embodiment, a first sub-path to the target robot can be assigned to the target waiting area based on the target passage where the space below the shelf is not occupied by the robot, and a second sub-path from the target waiting area to the destination can be assigned to the target robot based on the area where the shelf is not located. Details of specific embodiments will not be explained in detail here, but refer to steps S802 to S804 in the embodiment shown in Figure 8, which will be described later.

[0104] In one embodiment of the present invention, a path is assigned to a target robot based on a target passage where the space below the shelf is not occupied by the robot and is not locked.

[0105] In one case, the scheduling device can assign a route to the robot to its destination and then lock that route. At this time, the areas included in this route are locked. Once it is confirmed that the robot is traveling along this route, the lock on the areas included in the route the robot has traveled is released.

[0106] As can be seen from this, the area below the shelf that is not occupied by the robot and is included in the target passage is the area other than the area below the shelf that is not occupied by the robot and is locked.

[0107] In this way, before a robot reaches its destination along its assigned path, the areas included in that path become unavailable for other robots to use for assigning paths. In other words, when assigning paths to other robots, areas included in that path are avoided, reducing the probability of conflicts occurring in the robots' travel paths within the warehouse.

[0108] In one embodiment of the present invention, as the target robot travels along its assigned path, the lock status of areas within the warehouse can be detected in real time, and based on the detection results, the target passages that are not occupied by the robot and are not locked can be updated in real time. If a more appropriate route to the destination is determined based on the updated target passages, the route assigned to the target robot is updated.

[0109] Here, a more appropriate route to the destination may refer to a shorter route for the target robot to travel from its current location to the destination, or a route with a lower difficulty feature value for travel from the target robot to the destination.

[0110] For example, if it is detected at time t1, when the target robot is traveling along its assigned path, that area 1 has been unlocked, it is confirmed that area 1 is included in the updated target path, and based on the updated target path, each possible path for the target robot from its current position to its destination can be determined. If there is a more suitable path among the determined possible paths, the target robot's path is updated to the more suitable path.

[0111] In this way, as the target robot travels along its assigned path, a more appropriate path for the target robot can be updated in real time based on the lock status of areas within the warehouse, which is advantageous in improving the task execution efficiency of the target robot.

[0112] In one embodiment of the present invention, considering that the occupancy status of the space below the shelves changes dynamically as each robot in the warehouse performs a task, when assigning a path to a target robot, a first estimated time length during which the space below the shelves is occupied is estimated, a second estimated time length required for the target robot to reach the target area is estimated, and if it is determined that the first and second estimated time lengths satisfy the target conditions, a path can be assigned to the target robot based on a target aisle where the space below the shelves is not occupied by a robot and an area where the space below the shelves is not occupied by a robot.

[0113] Here, the first estimated time length described above may be set by the worker based on their experience. Alternatively, the task to be performed by the robot occupying the target area may be determined, and the first estimated time length corresponding to the task may be determined based on the correspondence between the task and the first estimated time length. For example, the item transport task corresponds to the first estimated time length 1, and the item information collection task corresponds to the first estimated time length 2.

[0114] The second estimated time length described above can be determined based on the target robot's movement speed and the distance of the space below the shelf from an area not occupied by the robot.

[0115] The above target condition may also be that the first estimated time length is equal to or greater than the second estimated time length during which the target area is occupied.

[0116] Thus, if the above target conditions are met, the target area will no longer be occupied when the target robot arrives in the target area. Therefore, in this case, in addition to target passages where the space below the shelves is not occupied by the robot, it is also possible to assign a route to the target robot based on additional areas where the space below the shelves is not occupied by the robot, thereby increasing the areas considered when assigning a route and improving the success rate of route assignment.

[0117] The method for assigning a path to the target robot is not limited to the method described in the above embodiment, but those skilled in the art can obtain more path assignment methods according to their actual needs, and such methods are omitted here.

[0118] Step S103: Send the assigned route to the target robot.

[0119] The scheduling device can determine the route to be assigned to the target robot and then transmit the assigned route to the target robot. In this way, the target robot can reach its destination along the assigned route.

[0120] As can be seen from the above, in the technical solution provided by the embodiment of the present application, the path assigned to the target robot includes a target passage in which the space below the shelves is not occupied by the robot. When the target robot travels along the assigned path, it can freely pass through the space below the shelves in the target passage.

[0121] The following explanation will be more intuitive, in conjunction with Figure 3.

[0122] Referring to Figure 3, Figure 3 is a schematic diagram of a robot passage scenario according to an embodiment of the present invention.

[0123] As can be seen from Figure 3, the height of the target robot is less than the height of the space below the shelf. Also, the rotation diameter of the target robot is slightly less than the maximum inscribed circle diameter of the space below the shelf, and the width of the target robot is also less than the entry / exit space in the length and width directions of the shelf. In this way, the target robot can rotate freely 360 degrees in the space below the shelf, thereby allowing it to move freely through the space below the shelf. The entry / exit space in the width direction can be understood as the widthwise dimension of the space for robot entry and exit below the shelf, and may be, for example, the minimum pitch of the shelf legs in the width direction. The entry / exit space in the length direction can be understood as the lengthwise dimension of the space for robot entry and exit below the shelf, and may be, for example, the minimum pitch of the shelf legs in the length direction.

[0124] As can be seen from the above, when assigning a path to a robot by applying the technical solution provided by the embodiment of the present application, the destination of the robot in an unloaded state can be determined, and a path to the destination can be assigned to the target robot based on the target passage where the space below the shelf is not occupied by the robot, thereby enabling the target robot to smoothly arrive at the destination along the assigned path.

[0125] Here, the target aisle is an aisle where shelves are placed and the space below the shelves is not occupied by robots, and the path assigned to the target robot is determined based on the target aisle. In this way, when the target robot travels along the path assigned based on the target aisle, it can pass through the space at the bottom of the shelves. Compared to directly assigning paths to target robots based on areas where no shelves are placed, this reduces the traffic pressure in areas without shelves, decreases the number of robots traveling in areas without shelves, and thereby reduces the occurrence of competition for robot travel paths and reduces the probability of robot congestion in the warehouse.

[0126] Furthermore, the target aisle is the area where shelves are placed, and only the space below the placed shelves is not occupied by the robot. Therefore, assigning a route to the target robot based on the target aisle is in fact equivalent to assigning a route to the target robot based on the area where shelves are placed. As can be seen from this, the technical solution provided by the embodiment of the present application can, when the area of ​​the area where shelves are not placed is relatively small, additionally assign a route to the target robot based on the target aisle where the space below the shelves is not occupied by the robot; in other words, additionally assign a route to the target robot based on the area where shelves are placed. As a result, when the robot arrives at its destination along the assigned route, it may pass through the area where shelves are not placed or through the area where shelves are placed. Consequently, even when the area of ​​the area where shelves are not placed is relatively small, high robot travel efficiency can still be maintained. Moreover, compared to the prior art where many aisles are reserved to increase travel efficiency, the technical solution provided by the embodiment of the present application can additionally utilize the area where shelves are placed to assign a route. Therefore, the technical solution provided by the embodiment of the present application can reduce the number of aisles while ensuring travel efficiency. Since the reserved aisles mentioned above are areas where shelves are not placed, reducing the number of these aisles is equivalent to reducing the area where shelves are not placed, thereby improving the utilization rate of warehouse storage space.

[0127] In one embodiment of the present invention, the area where shelves are not installed may include a pre-defined passageway within the warehouse and a lane storage area where shelves are not installed.

[0128] The pre-configured passages mentioned above are areas exclusively for robot passage and do not have shelves, while the lane storage areas are pre-configured areas for storing goods.

[0129] If shelves are not placed in the lane storage area, the area can be flexibly used as a shelf-free area so that robots can pass through. This increases the area of ​​shelf-free areas that robots can pass through, which is advantageous in improving the efficiency of robot movement.

[0130] In one embodiment of the present invention, the route assignment method described in the embodiment shown in Figure 1 above is: If the target robot is fully loaded, the system further includes assigning a route to the target robot to its destination based on areas where no shelves are located, and transmitting the assigned route to the target robot.

[0131] As stated above, it can be seen that areas without shelves may include pre-defined aisles within the warehouse and lane storage areas without shelves.

[0132] In this step, the current position of the target robot may be determined, and the shortest path from the current position to the destination may be assigned to the target robot based on the area where no shelves are placed. Alternatively, the current position of the target robot may be determined, each possible path from the current position to the destination may be obtained based on the area where no shelves are placed, the distance of each possible path may be determined, and a path to be assigned to the robot may be selected based on the distance corresponding to each possible path. A specific embodiment is similar to the path assignment method described in step S102 of the embodiment shown in Figure 1 above, but the only difference is that the target passage is simply replaced with an area where no shelves are placed, so the explanation is omitted here.

[0133] As can be seen, a fully loaded robot cannot travel through a target aisle where the space below the shelves is not occupied by the robot, but it can travel through areas where there are no shelves. Therefore, a route to the destination can be assigned to the target robot based on the areas where there are no shelves.

[0134] The route allocation flow provided by the embodiment of this application will be described in general terms below, in conjunction with Figure 4.

[0135] Referring to Figure 4, Figure 4 is a schematic diagram of the route assignment flow according to an embodiment of the present invention. The above flow includes the following steps S401 to S406.

[0136] Step S401: Determine whether the target robot is fully loaded. If so, perform step S402; otherwise, perform step S404.

[0137] Specifically, upon receiving a task assignment request from the target robot, it can be determined that the target robot is unloaded; otherwise, it can be determined that the target robot is fully loaded.

[0138] Step S402: Identify the areas where shelves are not placed.

[0139] The meaning of areas where shelves are not placed has already been explained in the above-described embodiment shown in Figure 1.

[0140] Specifically, information such as the location and size of areas where shelves are not installed is recorded in the scheduling device and can be updated in real time by the operator. In this way, the scheduling device can determine areas where shelves are not installed based on the above information.

[0141] Step S403: Assign a route to the target robot to its destination based on the areas where shelves are not placed.

[0142] Step S404: Identify a target passage where the space below the shelf is not occupied by the robot.

[0143] Specifically, the scheduling device can acquire the current position of robots in the warehouse in real time and, based on the acquired position, can determine a target aisle where the space below the shelves is not occupied by a robot.

[0144] Step S405: Assign a route to the destination to the target robot based on the target path.

[0145] The route assignment method in steps S403 and S405 above can be obtained based on the route assignment method described in the embodiment shown in Figure 1, so its explanation is omitted here.

[0146] Step S406: Send the assigned route to the target robot.

[0147] As can be seen here, when assigning a route to a robot by applying the technical solution provided by the embodiments of the present application, different route assignment strategies can be used to assign a route to the robot depending on the different loading states of the robot. Specifically, when the robot is fully loaded, a route to the destination can be assigned to the robot based on areas where no shelves are placed, and when the robot is unloaded, a route to the destination can be assigned to the robot based on target aisles where the space below the shelves is not occupied by the robot.

[0148] Here, the target aisle is an aisle where shelves are located and the space below the shelves is not occupied by robots, and the path assigned to the target robot is determined based on the target aisle. In this way, when the target robot travels along the path assigned based on the target aisle, it can pass through the space at the bottom of the shelves. Compared to assigning a path to the target robot based directly on an area where no shelves are located, this reduces the traffic pressure on the aisle, decreases the number of robots traveling along the aisle, and thereby reduces the occurrence of competition for robot travel paths and reduces the probability of robot congestion in the warehouse.

[0149] In summary, the technology provided by the embodiment of the present invention flexibly determines the route assignment method based on the loading state of the robot, and when the robot is unloaded, it can assign a route to the robot using target passages that are not occupied by the robot in the space below the shelves. Compared to assigning a route to the robot using only areas without shelves, without considering areas where shelves are located, the robot can not only pass through areas without shelves but also through areas with shelves, significantly improving the efficiency of robot movement within the warehouse and reducing the probability of robot congestion within the warehouse.

[0150] The differences between the proposed solution provided by the embodiment of this application and the prior art will be explained in detail below, using Figures 5 and 6 as an example of performing two tasks consecutively.

[0151] Here, the first task is to store the items, and to perform the first task, it is necessary to travel to destination 1. The second task is to pick the items, and to perform the second task, it is necessary to travel to destination 2.

[0152] First, we will explain the route allocation method in conventional technology.

[0153] Referring to Figure 5, Figure 5 is a schematic diagram of a robot travel path in the conventional technology.

[0154] The meaning of the white rectangles in Figure 5 is the same as in Figure 2: the circles represent target robots, the dashed lines indicate a single lane storage area, the area between the two solid arrows indicates a reserved passage, the triangles indicate waiting areas at intersections within the passage, the rectangle labeled "1" indicates destination 1, the rectangle labeled "2" indicates destination 2, and the two dashed arrows indicate the routes to destination 1 and destination 2 assigned to the robots, respectively.

[0155] As can be seen in Figure 5, after assigning a path to the target robot according to the conventional technology, the fully loaded target robot first arrives at destination 1 along the reserved aisle and the area where no shelves are placed (in Figure 5, the area where no shelves are placed is the lane storage area where no shelves are placed), and after completing the storage of goods at destination 1, it becomes empty. At this time, since shelves are placed on both sides of the lane storage area, the target robot arrives at destination 2 along only the area where no shelves are placed and the reserved aisle, and performs the next task.

[0156] Furthermore, in the above scenario, if a robot performing a task is present within a lane storage area, the target robot must wait at the intersection waiting area until the robot has completed its task and left the lane storage area, so as not to affect the robot's departure from the lane storage area after completing its task. Only then should the target robot enter the lane storage area and reach its destination. Thus, if picking and storing items simultaneously is performed in multiple lane storage areas, multiple robots will be concentrated at the intersection waiting area, leading to severe congestion.

[0157] Referring to Figure 6, Figure 6 is a schematic diagram of the first robot travel path according to an embodiment of the present application.

[0158] The meaning of each symbol in Figure 6 is the same as in Figure 5. As can be seen, after assigning a path to the target robot according to the technical proposal provided by the embodiment of the present invention, the fully loaded target robot first arrives at destination 1 along the reserved aisle and area where no shelves are located, and after completing the storage of goods at destination 1, it becomes empty. At this point, the empty robot arrives at destination 2 by passing through the space at the bottom of the shelves not occupied by the robot along the path assigned by the scheduling device and performs the next task.

[0159] As can be seen from the comparison, compared to the conventional technology, after applying the technology provided by the embodiment of the present invention and assigning a path to the target robot, when an unloaded target robot arrives at destination 2 and performs the second task, it does not need to travel along areas without shelves and reserved aisles to reach destination 2, but can directly pass through the space at the bottom of shelves that are not occupied by robots to reach destination 2. In this way, the passage pressure in areas without shelves and reserved aisles is reduced, and the number of robots traveling in areas without shelves is reduced, thereby reducing the occurrence of competition for robot travel paths and reducing the probability of robot congestion in the warehouse. On the other hand, detours can be reduced and the length of the path when the robot arrives at destination 2 can be shortened, so power consumption when the target robot performs the task can be saved.

[0160] Furthermore, since an unloaded robot can travel directly to its next destination along the space below the shelves, even if a robot performing a task is already present in the lane storage area, the target robot does not need to wait at the intersection waiting area until the aforementioned robot completes its task and leaves the lane storage area. Instead, it can enter the lane storage area directly and reach its destination. This reduces the need for multiple robots to wait at intersection waiting areas, which is advantageous in alleviating congestion.

[0161] In some cases, based on the embodiment shown in Figure 1, selecting only the target pathway may not allow the robot to be assigned a path to the destination. In such cases, a first sub-path can be assigned to the target robot based on the target pathway, from the space below the shelf to the target waiting area. Then, a second sub-path can be assigned to the target robot from the target waiting area to the destination, based on the area where no shelves are located.

[0162] The above scenario will be explained below in conjunction with Figure 7.

[0163] Referring to Figure 7, Figure 7 is a schematic diagram of a second robot travel path according to an embodiment of the present application.

[0164] The meanings of the dark and white rectangles in Figure 7 are the same as in Figure 2 above. A white rectangle with a circle inside indicates the robot's current position, a triangle indicates the target waiting area, a white rectangle with a checkmark inside indicates the destination, and bidirectional arrows indicate pre-set pathways within the warehouse. Here, a dashed arrow from the current position to the target waiting area indicates the first sub-path, and a dashed arrow from the target waiting area to the destination indicates the second sub-path.

[0165] Here, the method for selecting a destination is shown in the example in Figure 8 below, but the details are omitted here.

[0166] As can be seen, the route to the destination assigned to the target robot by the scheduling device may include a first sub-path and a second sub-path. Here, the first sub-path is selected based on the target pathway and is the route to the target waiting area, and the second sub-path is selected based on areas where shelves are not placed and is the route to the destination. In this way, the robot can reach its destination by traveling along the first sub-path and the second sub-path.

[0167] In light of the above circumstances, the embodiment of the present application provides a second route assignment method.

[0168] Referring to Figure 8, Figure 8 is a schematic flowchart of a second route assignment method according to an embodiment of the present application, and the above method includes the following steps S801 to S805.

[0169] Step S801: If the target robot is unloaded, determine the target robot's destination.

[0170] Step S801 described above is the same as step S101 in the embodiment shown in Figure 1 above, so its explanation is omitted here.

[0171] Step S802: Based on the destination, determine the target waiting area from which the target robot will depart from the space below the shelf, based on the robot waiting area corresponding to the target aisle.

[0172] Here, the robot waiting area corresponding to the target aisle may be a pre-set area adjacent to the target aisle within an area where no shelves are placed.

[0173] Taking Figure 7 as an example, the robot waiting area corresponding to the target passage shown by the dashed line frame is the area shown by the triangle in the figure, and this area is a portion of the pre-configured passages within the warehouse that are adjacent to the target passage.

[0174] Each target aisle has a corresponding robot waiting area, and since there are usually multiple robot waiting areas, the target waiting area from which the target robot departs from the space below the shelf can be determined from the waiting area.

[0175] The following explains how to determine the target waiting location mentioned above.

[0176] In one embodiment, a target waiting area can be randomly selected from the robot waiting area.

[0177] In another embodiment, the target waiting location can be determined from each robot waiting location based on the location of the robot waiting location and the location of the destination.

[0178] The embodiments of this application do not limit the specific method for determining the target waiting location based on the above position, but will be explained below with examples.

[0179] In one case, the distance between each robot waiting location and the destination can be calculated first, then a waiting location is selected from the robot waiting locations if the corresponding distance is less than a fourth preset distance, and the destination from which the target robot departs from the space below the shelf can be determined. Since the above fourth preset distance can be set by the operator according to their experience, the embodiment of the present invention does not limit its specific value.

[0180] In another case, after calculating the distance between each robot waiting location and the destination, the target waiting location closest to the destination and from which the target robot will depart from the space below the shelf can be determined from the robot waiting locations.

[0181] As can be seen, for the target robot, this determined target waiting location is the closest to the destination, meaning the second sub-path from the target waiting location to the destination can be the shortest. Since the second sub-path is selected based on areas without shelves, the areas without shelves that the robot passes through when traveling along the second sub-path can be minimized, thereby significantly reducing traffic pressure in areas without shelves and further reducing the probability of robot congestion in the warehouse.

[0182] In yet another embodiment, the task execution efficiency of all robots in the warehouse can be comprehensively considered, and the target waiting area from which the target robot departs from the space below the shelves can be determined so that the overall travel efficiency of all robots is high.

[0183] The embodiments of this application do not limit the specific method for determining the target waiting location based on the method described above, but an example will be given below.

[0184] In one case, the distance between each robot's destination and its waiting location can be calculated for each robot in the warehouse. The candidate waiting location closest to the destination is determined from the robot waiting locations. Then, it is determined whether the candidate waiting location meets the requirements, which may include the number of robots currently assigned to the candidate waiting location being less than or equal to a predetermined number. If the result of the determination is negative, the robot waiting location closest to the destination other than the candidate waiting location is determined as a new candidate waiting location, and the process returns to the step of determining whether the candidate waiting locations meet the requirements until a candidate waiting location that meets the requirements is determined as the target waiting location.

[0185] Assigning the same target waiting location to multiple robots can cause robots to congregate at that location, leading to congestion and reduced efficiency.

[0186] As can be seen, using the above method, it is possible to place the designated target waiting area for the robots as close to the destination as possible, while simultaneously ensuring that the number of robots assigned to the target waiting area is relatively small. This reduces the probability of congestion caused by multiple robots at the target waiting area, improves the overall travel efficiency of all robots in the warehouse, and is advantageous for overall optimizing the route planning of all robots in the warehouse.

[0187] In another case, using an equal division method, the target waiting area, which starts from the space below the shelf, can be assigned to all robots from among the robot waiting areas, so that the number of robots assigned to each robot waiting area is the same.

[0188] This reduces the probability of too many robots being assigned to a particular waiting area, and improves the overall efficiency of all robots within the warehouse.

[0189] Step S803: Based on the target path, assign the target robot a first subpath to the target waiting area.

[0190] In this step, the specific method for determining the first sub-path based on the target path is similar to the method for assigning a path to the destination to the target robot based on the target path, as described in step S102 of the embodiment shown in Figure 1 above. However, the only difference is that the destination is replaced with the target waiting location, so the explanation is omitted here.

[0191] Step S804: Based on the areas where no shelves are placed, assign a second sub-path to the target robot from the target waiting area to the destination.

[0192] In this step, the specific method for determining the second sub-path based on areas where shelves are not placed is similar to the method for assigning a path to the destination to the target robot based on the target pathway described in step S102 of the embodiment shown in Figure 1 above. The only difference is that the robot's current location is replaced with the target waiting location, and the target pathway is replaced with areas where shelves are not placed. Therefore, the explanation is omitted here.

[0193] In one case, the scheduling device may perform this step after confirming that the target robot has arrived at the target waiting location and assigns the target robot a second sub-path from the target waiting location to the destination based on the area where no shelves are placed.

[0194] After determining the first sub-path, the scheduling device can first transmit the first sub-path to the target robot, and after confirming that the target robot has arrived at the target waiting location based on the first sub-path, it can then assign the second sub-path to the target robot.

[0195] Specifically, after the target robot arrives at the target waiting location, it can send notification information to the scheduling device indicating its arrival at the target waiting location. After receiving the notification information, the scheduling device can confirm that the target robot has arrived at the target waiting location.

[0196] The scheduling device can schedule multiple robots simultaneously, and since each robot may have a different model number, the task execution efficiency of each robot will differ. Therefore, a situation may arise where the target robot has not yet arrived at the target waiting location, and a robot closer to the destination is idle. In such a case, it is clearly more efficient to schedule the robot closer to the destination to arrive there.

[0197] In this case, another robot will arrive at the destination, allowing the target robot to be reassigned to a new destination. This invalidates the second subpath from the target waiting area assigned to the target robot to the original destination, wasting computational resources that would have been used to assign the second subpath.

[0198] As can be seen, assigning a second sub-route to the destination to the target robot after confirming that it has arrived at the target waiting location prevents the assigned second sub-route from becoming invalid when the destination changes, which is advantageous in reducing wasted computing resources and increasing the flexibility of route assignment proposals.

[0199] Step S805: Send the assigned route to the target robot.

[0200] Step S805 described above is the same as step S103 in the embodiment shown in Figure 1, and therefore its explanation is omitted here.

[0201] As can be seen from the above, when assigning a path to a robot by applying the technical solution provided by the embodiment of the present application, a first sub-path can be assigned to the target robot from the space below the shelf to the target waiting area based on the target aisle, and a second sub-path can be assigned to the target robot from the target waiting area to the destination based on the area where the shelf is not located. In this way, the target robot can successfully reach the destination by traveling along the first sub-path and the second sub-path.

[0202] The first sub-path is determined based on the target pathway, and the second sub-path is determined based on areas where no shelves are placed. In this way, when the robot travels along the first sub-path, it can arrive at the target waiting area along the target pathway, that is, by passing through the space below the shelves, and when it travels along the second sub-path, it can arrive at the destination by passing through areas where no shelves are placed. As can be seen, if selecting only the target pathway does not allow the robot to be assigned a path to the destination, combining the first sub-path determined based on the target pathway and the second sub-path determined based on areas where no shelves are placed allows the target robot to be assigned a path to the destination, thereby increasing the success rate of path assignment.

[0203] Furthermore, since the first sub-path is the path to the target waiting area, after the target robot arrives at the target waiting area along the first sub-path, the scheduling device can determine whether the target robot waits at the target waiting area or continues traveling along the second sub-path, based on the current warehouse environment, the degree of congestion, and other factors. This reduces the probability of the target robot competing with other robots when traveling along the second sub-path, thereby reducing the probability of robot congestion within the warehouse.

[0204] In accordance with the route allocation method described above, the embodiment of the present application further provides a route allocation device.

[0205] Referring to Figure 9, Figure 9 is a schematic diagram of the structure of a route allocation device provided by an embodiment of the present application. The above route allocation device comprises the following modules 901 to 903.

[0206] The destination determination module 901 is used to determine the destination of the target robot when the target robot is unloaded.

[0207] The first route assignment module 902 is for assigning a route to the target robot to the destination based on a target aisle where the space below the shelf is not occupied by the robot.

[0208] The first route transmission module 903 is for transmitting the assigned route to the target robot.

[0209] As can be seen from the above, when assigning a path to a robot by applying the technical solution provided by the embodiment of the present application, the destination of the robot in an unloaded state can be determined, and a path to the destination can be assigned to the target robot based on the target aisle where the space below the shelf is not occupied by the robot. As a result, the target robot can smoothly arrive at the destination along the assigned path.

[0210] Here, the target aisle is an aisle where shelves are placed and the space below the shelves is not occupied by robots. The path assigned to the target robot is determined based on the target aisle. In this way, when the target robot travels along the path assigned based on the target aisle, it can pass through the space at the bottom of the shelves. Compared to assigning paths to target robots based directly on areas where no shelves are placed, this reduces the traffic pressure in areas without shelves, decreases the number of robots traveling in areas without shelves, and thereby reduces the occurrence of competition for robot travel paths and reduces the probability of robot congestion in the warehouse.

[0211] Furthermore, since the target aisle is the area where shelves are placed, and only the space below the placed shelves is not occupied by the robot, assigning a route to the target robot based on the target aisle is in fact equivalent to assigning a route to the target robot based on the area where shelves are placed. As can be seen, the technical solution provided by the embodiment of the present application can, when the area of ​​the area where shelves are not placed is relatively small, additionally assign a route to the target robot based on the target aisle where the space below the shelves is not occupied by the robot; in other words, additionally assign a route to the target robot based on the area where shelves are placed. As a result, when the robot arrives at its destination along the assigned route, it may travel through the area where shelves are not placed or through the area where shelves are placed. Moreover, even when the area of ​​the area where shelves are not placed is relatively small, high robot travel efficiency can be maintained. Furthermore, compared to the prior art where many aisles are reserved to increase travel efficiency, the technical solution provided by the embodiment of the present application can additionally utilize the area where shelves are placed to assign a route. Therefore, the technical solution provided by the embodiment of the present application can reduce the number of aisles while ensuring travel efficiency. Since the reserved aisles mentioned above are areas where shelves are not installed, reducing the number of these aisles is equivalent to reducing the area where shelves are not installed, thereby improving the utilization rate of warehouse storage space.

[0212] In one embodiment of the present invention, the first route assignment module 902 specifically selects a route from passable routes, including the target route and areas where no shelves are located, in accordance with a method of preferentially selecting the target route, and assigns a route to the target robot to the destination based on the selected route.

[0213] As can be seen from the above, the technical solution provided by the embodiment of the present application can select a passage from among passable passages according to a method of preferentially selecting a target passage, and assign a route to the destination to the target robot based on the selected passage. In this way, the assigned route can be made to include the longest possible target passage, thereby, in the process of the robot traveling along the assigned route to the destination, the length of the route traveling along the target passage is relatively long, and the length of the route traveling through areas without objects is relatively short, which is advantageous in reducing the passage pressure in areas without objects. On the other hand, it is possible to avoid situations in which it is not possible to assign a route to the destination to the target robot when only a target passage is selected, and improve the rationality and success rate when assigning a route.

[0214] In one embodiment of the present invention, the first route allocation module 902 is Based on the aforementioned destination, a target waiting location determination submodule for determining the target waiting location from which the target robot will depart from the space below the shelf, from a robot waiting location corresponding to the target passage, A first route assignment submodule for assigning a first sub-route to the target robot to the target waiting location based on the target path, The system includes a second route assignment submodule for assigning a second sub-route to the target robot from the target waiting area to the destination, based on areas where shelves are not located.

[0215] As can be seen from the above, when assigning a path to a robot by applying the technical solution provided by the embodiment of the present application, a first sub-path can be assigned to the target robot from the space below the shelf to the target waiting area based on the target aisle, and a second sub-path can be assigned to the target robot from the target waiting area to the destination based on the area where the shelf is not located. In this way, the target robot can successfully reach the destination by traveling along the first sub-path and the second sub-path.

[0216] The first sub-path is determined based on the target pathway, and the second sub-path is determined based on areas where no shelves are placed. In this way, when the robot travels along the first sub-path, it can arrive at the target waiting area along the target pathway, that is, by passing through the space below the shelves, and when it travels along the second sub-path, it can arrive at the destination by passing through areas where no shelves are placed. As can be seen, if selecting only the target pathway does not allow the robot to be assigned a path to the destination, combining the first sub-path determined based on the target pathway and the second sub-path determined based on areas where no shelves are placed allows the target robot to be assigned a path to the destination, thereby increasing the success rate of path assignment.

[0217] Furthermore, since the first sub-path is the path to the target waiting area, after the target robot arrives at the target waiting area along the first sub-path, the scheduling device can determine whether the target robot waits at the target waiting area or continues traveling along the second sub-path, based on the current warehouse environment, the degree of congestion, and other factors. This reduces the probability of the target robot competing with other robots when traveling along the second sub-path, thereby reducing the probability of robot congestion within the warehouse.

[0218] In one embodiment of the present invention, the second route assignment submodule is specifically for assigning the target robot a second subroute from the target waiting location to the destination based on areas where shelves are not located, after determining that the target robot has arrived at the target waiting location.

[0219] As can be seen, assigning a second sub-route to the destination to the target robot after confirming that it has arrived at the target waiting location prevents the assigned second sub-route from becoming invalid when the destination changes, which is advantageous in reducing wasted computing resources and increasing the flexibility of route assignment proposals.

[0220] In one embodiment of the present invention, the target waiting location determination submodule is specifically for determining the target waiting location that is closest to the destination and from which the target robot departs from the space below the shelf, based on the robot waiting locations corresponding to the target passage.

[0221] As can be seen, the determined target waiting area is closest to the destination, meaning the second sub-path from the target waiting area to the destination can be made the shortest. Since the second sub-path is selected based on areas without shelves, the areas without shelves that the robot passes through when traveling along the second sub-path can be minimized, thereby significantly reducing traffic pressure in areas without shelves and further reducing the probability of robot congestion in the warehouse.

[0222] In one embodiment of the present invention, the first route assignment module specifically assigns a third sub-route to the target robot based on a target passage where the space below the shelf is not occupied by the robot, and assigns a fourth sub-route to the target robot from the endpoint of the third sub-route to the destination based on an area where no shelves are located.

[0223] Thus, if selecting only the target path makes it impossible to determine the route from the robot's current position to the destination, a third sub-path is first determined based on the target path, and then a fourth sub-path is assigned to the target robot from the endpoint of the third sub-path to the destination based on areas where shelves are not placed. This avoids situations where it is impossible to assign a route to the destination to the target robot when only the target path is selected, thereby improving the rationality and success rate of route assignment.

[0224] In one embodiment of the present application, the apparatus is If the target robot is fully loaded, a second route assignment module for assigning a route to the destination to the target robot based on areas where shelves are not located, The system further comprises a second route transmission module for transmitting the assigned route to the target robot.

[0225] As can be seen, a fully loaded robot cannot travel through a target aisle where the space below the shelves is not occupied by the robot, but it can travel through areas where there are no shelves. Therefore, a route to the destination can be assigned to the target robot based on the areas where there are no shelves.

[0226] In one embodiment of the present invention, the area where shelves are not installed includes a predetermined passageway within the warehouse and a lane storage area where shelves are not installed.

[0227] If shelves are not placed in the lane storage area, the area can be flexibly used as a shelf-free area so that robots can pass through. This is advantageous in increasing the area of ​​shelf-free areas that robots can pass through and improving the efficiency of robot movement.

[0228] In the proposed technology of this application, all operations such as acquisition, storage, use, processing, transmission, provision, and disclosure of such user personal information are performed only with the user's permission.

[0229] Embodiments of the present application further provide electronic equipment. As shown in Figure 10, the electronic equipment is Memory 1001 for storing computer programs, The system includes a processor 1002 for implementing the above-described route allocation method, which executes a program stored in memory 1001.

[0230] Furthermore, the electronic device may include a communication bus and / or a communication interface. The processor 1002, the communication interface, and the memory 1001 communicate with each other via the communication bus.

[0231] The communication bus in the above-mentioned electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of visual convenience, the bus is shown with a single thick line in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0232] The communication interface is for the electronic device to communicate with other devices.

[0233] The memory may include random access memory (RAM), non-volatile memory (NVM), and, for example, at least one disk memory. Selectively, the memory may be at least one storage device located away from the processor.

[0234] The above-mentioned processor may be a general-purpose processor including a Central Processing Unit (CPU), a Network Processor (NP), a Digital Signal Processing (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, or discrete hardware components.

[0235] In another embodiment provided by the present application, a computer-readable storage medium is further provided, wherein a computer program is stored in the computer-readable storage medium, and the above-described route allocation method is realized when the computer program is executed by a processor.

[0236] In another embodiment provided by the present application, a computer program product including instructions is further provided, which, when executed on a computer, causes the computer to execute the above-described route allocation method.

[0237] In the embodiments described above, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented by 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 computer program instructions are loaded into a computer and executed, all or part of the processes or functions described in the embodiments of this application are implemented. The computer may be a general-purpose computer, an application-specific 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 via a wired connection (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless connection (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium described above can be any available medium accessible by a computer, or a data storage device including a server, data center, etc., that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), etc.

[0238] In this text, relational terms such as those in Sections 1 and 2 are used solely to distinguish one entity or action from another, and do not necessarily imply that such an actual relationship or order exists between these entities or actions. Furthermore, the terms “encompassing,” “including,” or other variations thereof are intended to imply non-exclusive inclusion, meaning that a process, method, article, or device containing a set of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such a process, method, article, or device. Unless otherwise specified, the elements limited by “including one…” do not preclude the process, method, article, or device containing such elements from having yet other identical elements.

[0239] Although the embodiments described herein are presented in a manner that is interrelated, identical or similar parts between embodiments should be referenced to one another, and the focus of the explanation will be on the differences between each embodiment and the others. In particular, the embodiments of apparatus, electronic equipment, and storage media are substantially similar to the embodiments of methods, so their explanation is simple, and relevant parts should be referenced to the embodiments of methods.

[0240] The above description is merely a preferred embodiment of the present application and does not limit the scope of protection. Any amendments, equivalent substitutions, modifications, etc., made within the spirit and principles of the present application shall all be included within the scope of protection.

Claims

1. A route allocation method, If the target robot is unloaded, the destination of the target robot is determined, Based on the target aisle where the space below the shelf is not occupied by the robot, the target robot is assigned a route to the destination, This includes transmitting the assigned route to the target robot, A route allocation method characterized by the following:

2. Assigning a route to the destination to the target robot based on a target passage where the space below the shelf is not occupied by the robot is: In accordance with a method for prioritizing the selection of a target aisle, a pathway is selected from passable pathways that include the target aisle and areas where shelves are not placed. This includes assigning a route to the target robot to the destination based on the selected path, The route assignment method according to feature 1.

3. Assigning a route to the destination to the target robot based on a target passage where the space below the shelf is not occupied by the robot is: Based on the aforementioned destination, the target waiting area from which the target robot will depart from the space below the shelf is determined, from the robot waiting area corresponding to the target passage. Based on the aforementioned target path, a first sub-path to the target waiting area is assigned to the target robot, This includes assigning a second sub-path to the target robot from the target waiting area to the destination, based on areas where shelves are not located. The route assignment method according to feature 1.

4. Assigning a second sub-path from the target waiting area to the destination to the target robot based on the area where the shelf is not located is: After confirming that the target robot has arrived at the target waiting location, the system includes assigning the target robot a second sub-route from the target waiting location to the destination based on areas where shelves are not located. The route assignment method according to feature 3.

5. Based on the aforementioned destination, determining the target waiting area from which the target robot will depart from the space below the shelf, based on the robot waiting area corresponding to the target passage, This includes determining the target waiting location that is closest to the destination and from which the target robot departs from the space below the shelf, based on the robot waiting location corresponding to the target aisle. The route assignment method according to feature 3.

6. Assigning a route to the destination to the target robot based on a target passage where the space below the shelf is not occupied by the robot is: Assigning a third sub-path to the target robot based on a target passage where the space below the shelf is not occupied by the robot, This includes assigning a fourth subpath to the target robot from the endpoint of the third subpath to the destination, based on areas where shelves are not located. The route assignment method according to feature 1.

7. If the target robot is fully loaded, a route to the destination is assigned to the target robot based on the area where no shelves are located. The further includes transmitting the assigned route to the target robot, The route assignment method according to any one of claims 1 to 6.

8. The area where shelves are not installed includes pre-defined passages within the warehouse and lane storage areas where shelves are not installed. The route assignment method according to any one of claims 2 to 6.

9. Route allocation device, When the target robot is unloaded, a destination determination module for determining the destination of the target robot, A first route assignment module for assigning a route to the target robot to the destination based on a target aisle where the space below the shelf is not occupied by the robot, The system comprises a first route transmission module for transmitting an assigned route to the target robot, A route allocation device characterized by the following features.

10. The first route assignment module specifically selects a route from passable routes, including the target route and areas where shelves are not placed, in accordance with a method that preferentially selects the target route, and assigns a route to the target robot to the destination based on the selected route. or The first route allocation module is, The system comprises: a target waiting location determination submodule for determining a target waiting location from which the target robot departs from the space below the shelf, based on the destination, from a robot waiting location corresponding to the target passage; a first route assignment submodule for assigning a first sub-route to the target waiting location to the target robot based on the target passage; and a second route assignment submodule for assigning a second sub-route from the target waiting location to the destination to the target robot based on an area where no shelves are located. or The second route assignment submodule, specifically, after confirming that the target robot has arrived at the target waiting location, assigns the target robot a second sub-route from the target waiting location to the destination based on areas where shelves are not located. or The aforementioned target waiting location determination submodule is specifically for determining the target waiting location that is closest to the destination and from the space below the shelf where the target robot will depart, based on the robot waiting locations corresponding to the target passage. or The first route assignment module specifically assigns a third sub-route to the target robot based on a target passage where the space below the shelf is not occupied by the robot, and assigns a fourth sub-route to the target robot from the endpoint of the third sub-route to the destination based on an area where no shelves are located. or The route assignment device further comprises a second route assignment module for assigning a route to the destination to the target robot based on areas where shelves are not located when the target robot is fully loaded, and a second route transmission module for transmitting the assigned route to the target robot. or The area where shelves are not installed includes pre-defined passages and lane storage areas where shelves are not installed within the warehouse. The route allocation device according to feature 9.

11. It is an electronic device, Memory for storing computer programs, A processor for implementing the route allocation method described in any one of claims 1 to 8, which executes a program stored in memory, An electronic device characterized by the following features.

12. A computer-readable storage medium, A computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the route allocation method described in any one of claims 1 to 8 is realized. A computer-readable storage medium characterized by the following features.

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