ROBOT, LUGGAGE CONVEYING METHOD, SERVER AND WAREHOUSE SYSTEM

Abstract

The present application provides a robot, a package transport method, a server, and a warehouse system. The robot provided in this embodiment includes a mobile chassis, a robot rack, a lifting device, and an item transport device, the robot rack is attached to the mobile chassis, and the mobile chassis is configured to move to a first target position included in a first transport task and to a second target position included in a second transport task, one of the first transport task and the second transport task is a baggage pick-up task and the other is a baggage return task, the lifting device and the item transport device are attached to the robot rack, and the robot performs the second transport task while performing the first transport task. This allows for flexible configuration of transport policies and enables baggage to be picked up and returned during transport, effectively improving baggage transport efficiency.

Description

[Technical field]

[0001] This application claims priority to a Chinese patent application, application number 202010725040.8, entitled "ROBOT, LUGGAGE CONVEYING METHOD, SERVER AND WAREHOUSE SYSTEM" filed with the China Patent Office on July 24, 2020, the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the technical field of smart warehouses, and in particular to a robot, a baggage transport method, a server, and a warehouse system. [Background technology]

[0003] With the emergence and rapid development of e-commerce and online shopping, there are huge development opportunities for intelligent warehouse logistics. In recent years, the technology of warehouse robots for transporting goods has become increasingly mature. Summary of the Invention [Problem to be solved by the invention]

[0004] In the conventional technology, a warehouse robot must carry a container to an operation console, operate the container, and then return the container to the rack area. Warehouse robots that can carry multiple containers at once generally adopt a "first return, last pick up" policy. That is, the robot first places all the containers that need to be returned to the rack area at once, and then executes the task of carrying the containers to the operation console.

[0005] However, the above-mentioned transport system is not flexible enough, and the efficiency of transporting luggage is low.

[0006] The present application provides a robot, a luggage transport method, a server, and a warehouse system that can flexibly set transport policies and improve luggage transport efficiency. [Means for solving the problem]

[0007] In a first aspect, the present application provides a robot including a mobile chassis, a robot rack, a lifting device, and an item transport device, wherein the robot rack is attached to the mobile chassis, and the mobile chassis is configured to move to a first target position included in a first transport task and to a second target position included in a second transport task, one of the first transport task and the second transport task is a luggage pick-up task and the other is a return task, the lifting device and the item transport device are attached to the robot rack, and the lifting device is configured to drive the item transport device to move it up and down relative to the robot rack, the item transport device is configured to transport a first target between the robot rack and the first target position and to transport a second target between the robot rack and the second target position, and the robot performs the second transport task while performing the first transport task.

[0008] In some optional embodiments, when the second transport task is a return task, the mobile chassis reaches the return position while traveling toward the first target position, and the item transport device and the lifting device cooperate to transport the second target from the robot rack to the return position.

[0009] In some optional embodiments, the return location is one of the initial storage location of the second object, the location of an empty storage space, and the location of the first object, and if the return location is the location of the first object, the item transport device transports the first object to the robot rack and then transports the second object to the location of the first object.

[0010] In some alternative embodiments, the item transport device includes at least one transport mechanism attached to the robot rack and used to transport objects in and out of the robot rack.

[0011] In some alternative embodiments, the article transport device includes a suction fork unit and / or a clamping robotic arm.

[0012] In some optional embodiments, when the article transport device includes at least two transport mechanisms, the at least two transport mechanisms are installed in parallel or at different stages along the lifting direction.

[0013] In some alternative embodiments, when the at least two transport mechanisms are installed in parallel, the at least two transport mechanisms are located in the robot rack, and the at least two transport mechanisms are of an integral structure.

[0014] In some optional embodiments, when the at least two transport mechanisms are installed in parallel, the robot rack includes three or more pillars located in the same vertical plane and mounted on a moving chassis, and each transport mechanism is mounted between two adjacent pillars and moves up and down relative to the pillars, and is installed so that relative movement between each of the transport mechanisms is allowed or not allowed.

[0015] In some optional embodiments, when the at least two transport mechanisms are installed in parallel, the lifting device includes two lifting units, the two lifting units are respectively attached to opposite sides of the robot rack, and both ends of the item transport device are respectively connected to the two lifting units, and the two lifting units guide the item transport device to move up and down relative to the robot rack.

[0016] In some optional embodiments, when the at least two transport mechanisms are installed at different stages along the lifting direction, they are installed so that relative movement between the transport mechanisms is permitted or so that relative movement is not permitted.

[0017] In some optional embodiments, when the at least two transport mechanisms are installed at different stages along the lifting direction, the at least two transport mechanisms are located in the robot rack, and the at least two transport mechanisms are of an integral structure.

[0018] In some optional embodiments, when the at least two transport mechanisms are installed at different stages along the lifting direction, the lifting device includes two lifting units, the two lifting units are respectively attached to opposite sides of the robot rack, and both ends of the transport mechanism are respectively connected to the two lifting units, and the two lifting units guide each of the transport mechanisms to move up and down relative to the robot rack.

[0019] In some optional embodiments, when there are two transport mechanisms, one transport mechanism is used to transport objects on the warehouse rack to the robot rack, and the other transport mechanism is used to transfer objects on the robot rack to the warehouse rack.

[0020] In some optional embodiments, when the robot performs a luggage pick-up task, the robot travels to a luggage pick-up position for a first object, and one of the transport mechanisms of the item transport device moves to the luggage pick-up position for the first object by the lifting device, picks up the first object from a warehouse rack, and places it on the robot rack.

[0021] In some optional embodiments, after completing the luggage pick-up task for the first object, one of the transport mechanisms of the item transport devices moves the second object on the robot rack to the luggage pick-up position for the first object using the lifting device, and sends the second object to the luggage pick-up position for the first object.

[0022] In some optional embodiments, when the robot performs a return task, the robot travels to a return position for a second object, and one of the transport mechanisms of the item transport devices moves the second object on the robot rack to the return position for the second object using the lifting device, and sends the second object to the return position for the second object.

[0023] In some alternative embodiments, the robot rack is provided with at least two storage locations for storing objects.

[0024] In some optional embodiments, the transport mechanism includes a temporary storage plate and two telescopic arms arranged parallel and opposite to the temporary storage plate, an inner arm of the telescopic arm includes a transport unit, and the transport unit includes a push rod unit and / or a clamping unit.

[0025] As a second aspect, a luggage transport method provided by the present application is a luggage transport method to which the robot described in any one of the first aspect is applied, the method including the steps of acquiring a transport task sequence to execute a first transport task, and executing the second transport task during execution of the first transport task, one of the first transport task and the second transport task being a luggage pick-up task and the other being a return task, and the second transport task being acquired during execution of the first transport task, or the second transport task being included in the acquired transport task sequence.

[0026] In some alternative embodiments, the robot periodically or irregularly reports at least one of location information and free slot information to the server.

[0027] In some alternative embodiments, when the robot receives a request from the server, it reports at least one of location information and free slot information to the server.

[0028] In some optional embodiments, when the second transport task is a return task, the step of executing the second transport task during execution of the first transport task includes a step of obtaining a first target position from the first transport task and a return position of a second target from the second transport task, a step of reaching the return position of the second target while traveling toward the first target position and executing the return task, and a step of traveling to the first target position and executing a luggage pick-up task.

[0029] In some optional embodiments, the return location of the second object in the second transport task includes an initial storage location of the second object, or a location of an empty storage space, or a location of the first object.

[0030] In some selectable embodiments, the step of obtaining a return location of a second target object from the second transport task includes obtaining a location corresponding to U vacant storage locations from the second transport task, wherein a distance between the location corresponding to the U vacant storage locations and a luggage pick-up route of the robot is within a first predetermined range, and / or a distance between the location corresponding to the U vacant storage locations and the robot is within a second predetermined range, U is a natural number greater than 0, and the luggage pick-up route is generated based on the location information and a first target object location included in the first transport task.

[0031] In some selectable embodiments, the step of obtaining a return position of the second target from the second transport task includes a step of obtaining a position corresponding to U vacant storage locations from the second transport task, wherein a first increase in time incurred when the robot returns the luggage according to the position corresponding to the U vacant storage locations is less than or equal to a first predetermined threshold, and / or a first increase in travel distance incurred when the robot returns the luggage according to the position corresponding to the U vacant storage locations is less than or equal to a second predetermined threshold, where U is a natural number greater than 0.

[0032] In some optional embodiments, when the second conveyance task is a baggage pick-up task, the step of executing the second conveyance task during execution of the first conveyance task includes a step of obtaining a first target position from the first conveyance task and obtaining a baggage pick-up position of the second target from the second conveyance task, a step of reaching the baggage pick-up position of the second target while traveling toward the first target position and executing the baggage pick-up task, and a step of traveling to the first target position and executing a return task.

[0033] In some optional embodiments, the step of obtaining a return location of the second target from the second transport task includes obtaining N luggage pick-up locations of the second target from the second transport task, wherein a distance between the N luggage pick-up locations of the second target and the return route is within a third predetermined range, and / or a distance between the N luggage pick-up locations of the second target and the robot is within a fourth predetermined range, N is a natural number greater than 0, and the return route is generated based on the location information and the first target location included in the first transport task.

[0034] In some selectable embodiments, the step of obtaining a luggage pick-up position of the second target from the second transport task includes a step of obtaining N luggage pick-up positions of the second target from the second transport task, wherein a second increase in time incurred when the robot picks up the luggage in accordance with the luggage pick-up positions of the N second target is less than or equal to a third predetermined threshold, and / or a second increase in movement distance incurred when the robot picks up the luggage in accordance with the luggage pick-up positions of the N second target is less than or equal to a fourth predetermined threshold, where N is a natural number greater than 0.

[0035] In some alternative embodiments, the first transport task and the second transport task are associated with one or more constraints including a total travel time for the robot to complete the luggage pick-up task and the luggage return task, a total number of luggage pick-up and return operations performed by the robot to complete the luggage pick-up task and the luggage return task, a total travel distance for the robot to complete the luggage pick-up task and the luggage return task, and a loading rate for the robot to complete the luggage pick-up task and the luggage return task.

[0036] In some optional embodiments, when a rack for placing luggage has two or more storage positions in the rack depth direction, and the target position indicated in the luggage pick-up task or the luggage return task is the second or subsequent position among the storage positions, the method further includes the steps of transporting non-target luggage to an empty slot of the robot before placing it at the target position, executing the pick-up task or return task for the target position, and returning the non-target luggage to its original storage position in the rack or returning the non-target luggage to an empty storage position, the empty storage position belonging to the same rack as the target position or a different rack.

[0037] In some selectable embodiments, the method further includes the steps of receiving a luggage sorting task assigned from a server and executing the luggage sorting task, wherein the luggage sorting task includes performing luggage sorting on a target object and / or adjusting a storage position of the target object, and the timing of execution of the luggage sorting task includes any one of the following situations: before the first transport task and the second transport task, between the first transport task and the second transport task, after the first transport task and the second transport task, and during the execution of any one of the tasks in a task sequence consisting of the first transport task and the second transport task.

[0038] As a third aspect, the present application further provides a server including a processor and a memory storing instructions executable by the processor, the processor being configured to execute the executable instructions to assign a first transport task and a second transport task to a robot described in any one of the first aspect.

[0039] As a fourth aspect, the present application further provides a warehouse system including a robot described in any one of the first aspect, a server described in the third aspect, a rack, and an operation platform, wherein the robot and the server are communicatively connected, the server assigns the first transport task and the second transport task to the robot, and the robot executes the luggage transport method described in any one of the second aspect to realize luggage transport between the rack and the operation platform.

[0040] As a fifth aspect, the present application further provides a storage medium having a computer program stored therein, the method for transporting luggage according to any one of the second aspects being realized when the program is executed by a processor.

[0041] As a sixth aspect, the present application provides a luggage transport method, comprising the steps of: acquiring position information and available slot information of a robot; and allocating a second transport task to the robot based on the position information, the available slot information, and a first target position included in a first transport task, wherein one of the first transport task and the second transport task is a luggage pick-up task and the other is a luggage return task.

[0042] In some alternative embodiments, the second transport task is allocated at any one of a time before, during, or after the execution of the first transport task.

[0043] In some optional embodiments, the second transport task is selectively inserted before, during, or after the execution of the first transport task by predicting changes in available slot information when the robot executes the first task.

[0044] In some optional embodiments, when the second transport task is a return task, the step of assigning the second transport task to the robot includes a step of determining a return position of a second object in the second transport task based on the position information and a first object position included in the first transport task.

[0045] In some optional embodiments, the step of determining a return location of the second object in the second transport task includes a step of determining the return location to be an initial storage location of the second object, or a step of determining the return location to be a location of an empty storage space, or a step of determining the return location to be a location of the first object.

[0046] In some optional embodiments, when the return location is the location of the vacant storage location, the step of determining a return location of the second target in the second conveyance task based on the location information and the first target location included in the first conveyance task includes a step of generating a luggage pick-up route based on the location information and the first target location included in the first conveyance task, a step of determining a location corresponding to U vacant storage locations whose distance from the luggage pick-up route is within a first predetermined range as the return location of the second target, and / or a step of determining a location corresponding to U vacant storage locations whose distance from the robot is within a second predetermined range as the return location of the second target based on the location information, where U is a natural number greater than 0.

[0047] In some selectable embodiments, when the return location is the location of the vacant storage location, the step of determining a return location of the second target in the second transfer task based on the location information and the first target location included in the first transfer task includes the steps of: generating a baggage pick-up route based on the location information and the first target location included in the first transfer task; predicting a first total time consumed by the robot to reach each of the locations corresponding to V vacant storage locations and return the baggage and pick up the first target in accordance with the baggage pick-up route; determining a difference between the first total time consumed and the time consumed by the robot to pick up the first target in accordance with the baggage pick-up route as a first increased time; and determining, as the return location of the second target, an vacant storage location that is U among the V vacant storage locations and has a first increased time equal to or less than a first predetermined threshold, where V is a natural number greater than or equal to U and U is a natural number greater than 0.

[0048] In some optional embodiments, when the return location is the vacant storage location, the step of determining a return location of a second target in the second transfer task based on the position information and a first target location included in the first transfer task includes the steps of: generating a luggage pick-up route based on the position information and the first target location included in the first transfer task; predicting a first movement distance that is increased by the robot reaching each of positions corresponding to V vacant storage locations to return the luggage and pick up the first target in accordance with the luggage pick-up route; and determining, as the return location of the second target, an vacant storage location that is U among the V vacant storage locations and whose increased first movement distance is equal to or less than a second predetermined threshold, where V is a natural number greater than or equal to U and U is a natural number greater than 0.

[0049] In some optional embodiments, when the second transport task is a luggage removal task and the total number of available slots indicated by the robot's available slot information is zero, the method further includes a step of allocating at least one first transport task before executing the second transport task.

[0050] In some optional embodiments, when the second transport task is a luggage pick-up task and the free slot information of the robot indicates that the total number of free slots is greater than zero, the step of allocating the second transport task to the robot includes a step of determining a luggage pick-up position of a second object in the second transport task based on the position information, the free slot information, and a first object position included in the first transport task.

[0051] In some optional embodiments, determining a luggage pick-up location for a second object in the second transport task includes determining N luggage pick-up locations for the second object based on the location information and the first object location included in the first transport task, where N is a natural number greater than 0 and less than or equal to the total number of available slots indicated by the available slot information.

[0052] In some selectable embodiments, the step of determining N luggage pick-up positions for the second target based on the position information and the first target position included in the first conveying task includes a step of generating a return route based on the position information and the first target position included in the first conveying task, a step of determining N luggage pick-up positions for the second target whose distance from the return route is within a third predetermined range, and / or a step of determining N luggage pick-up positions for the second target whose distance from the robot is within a fourth predetermined range based on the position information.

[0053] In some selectable embodiments, the step of determining N luggage pick-up locations for the second target based on the position information and the first target location included in the first conveyance task includes the steps of: generating a return route based on the position information and the first target location included in the first conveyance task; predicting a second total time consumed by the robot to reach each of the M luggage pick-up locations, pick up the luggage, and return the first target according to the return route; determining a second increased time as the difference between the second total time consumed and the time consumed by the robot to return the first target according to the return route; and determining N luggage pick-up locations among the M luggage pick-up locations for which the second increased time is equal to or less than a third predetermined threshold as luggage pick-up locations for the second target, where M is a natural number greater than or equal to N.

[0054] In some selectable embodiments, the step of determining N luggage pick-up locations for the second target based on the position information and the first target location included in the first conveyance task includes the steps of: generating a return route based on the position information and the first target location included in the first conveyance task; predicting a second movement distance that is increased by the robot reaching each of the M luggage pick-up locations, picking up the luggage, and returning the first target according to the return route; and determining N luggage pick-up locations among the M luggage pick-up locations for which the increased second movement distance is less than or equal to a fourth predetermined threshold as the luggage pick-up location for the second target, where M is a natural number greater than or equal to N.

[0055] In some optional embodiments, before allocating a second transport task to the robot, the method further includes a step of determining whether a planned route corresponding to the second transport task satisfies a booking condition, the booking condition including no robot traveling on the planned route within a specified time.

[0056] In one optional embodiment, the method further includes a step of reassigning the second transportation task if the planned route does not satisfy the booking condition.

[0057] In some optional embodiments, the method further includes a step of receiving a transport task cancellation request or a transport task addition request sent from a client terminal, and a step of newly allocating the second transport task in response to the transport task cancellation request or the transport task addition request.

[0058] In some optional embodiments, when allocating the first transport task and the second transport task, one or more of the following constraints are taken into consideration: the total travel time required for the robot to complete the luggage pick-up task and the luggage return task, the total number of luggage pick-up and return operations performed by the robot to complete the luggage pick-up task and the luggage return task, the total travel distance required for the robot to complete the luggage pick-up task and the luggage return task, and the loading rate required for the robot to complete the luggage pick-up task and the luggage return task.

[0059] In some optional embodiments, when a rack for placing luggage has two or more storage positions in the rack depth direction, and the target position indicated in the luggage pick-up task or the luggage return task is the second or subsequent position among the storage positions, the method further includes the steps of instructing the robot to transport non-target luggage to an empty slot of the robot before placing it at the target position, instructing the robot to perform a pick-up task or a return task for the target position, and instructing the robot to return the non-target luggage to its original storage position in the rack or to an empty storage position, the empty storage position belonging to the same rack as the target position or a different rack.

[0060] In some selectable embodiments, the method further includes a step of assigning a luggage sorting task to the robot, the luggage sorting task including sorting luggage with respect to a target object and / or adjusting a storage position of the target object, and the timing of execution of the luggage sorting task includes any one of the following situations: before the first transport task and the second transport task, between the first transport task and the second transport task, after the first transport task and the second transport task, and during the execution of any one of the tasks in a task sequence consisting of the first transport task and the second transport task.

[0061] As a seventh aspect, the present application provides a luggage transport method comprising the steps of: acquiring a transport task sequence for executing a first transport task; and executing the second transport task during execution of the first transport task, wherein one of the first transport task and the second transport task is a luggage pick-up task and the other is a return task, and the second transport task is acquired during execution of the first transport task or the second transport task is included in the acquired transport task sequence.

[0062] In some optional embodiments, the method further includes a step of the robot reporting at least one of location information and free slot information to the server on a regular or irregular basis, and / or a step of the robot reporting at least one of location information and free slot information to the server when the robot receives a request from the server.

[0063] In some optional embodiments, when the second transport task is a return task, the step of executing the second transport task during execution of the first transport task includes a step of obtaining a first target position from the first transport task and obtaining a return position of a second target from the second transport task, a step of reaching the return position of the second target while traveling toward the first target position and executing a return task, and a step of traveling to the first target position and executing a luggage pick-up task.

[0064] In some optional embodiments, the return location of the second object in the second transport task includes an initial storage location of the second object, or a location of an empty storage space, or a location of the first object.

[0065] In some selectable embodiments, the step of obtaining a return location of a second target object from the second transport task includes obtaining a location corresponding to U vacant storage locations from the second transport task, wherein a distance between the location corresponding to the U vacant storage locations and a luggage pick-up route of the robot is within a first predetermined range, and / or a distance between the location corresponding to the U vacant storage locations and the robot is within a second predetermined range, U is a natural number greater than 0, and the luggage pick-up route is generated based on the location information and a first target object location included in the first transport task.

[0066] In some selectable embodiments, the step of obtaining a return location of the second target from the second transport task includes a step of obtaining a location corresponding to an empty storage location at U from the second transport task, wherein a first increased time generated when the robot returns the luggage according to a location corresponding to the empty storage location at U is less than or equal to a first predetermined threshold, U being a natural number greater than 0, and / or a step of obtaining a location corresponding to an empty storage location at U from the second transport task, wherein a first increased movement distance generated when the robot returns the luggage according to a location corresponding to the empty storage location at U is less than or equal to a second predetermined threshold, U being a natural number greater than 0.

[0067] In some optional embodiments, when the second conveyance task is a baggage pick-up task, the step of executing the second conveyance task during execution of the first conveyance task includes a step of obtaining a first target position from the first conveyance task and obtaining a baggage pick-up position of a second target from the second conveyance task, a step of reaching the baggage pick-up position of the second target while traveling toward the first target position and executing the baggage pick-up task, and a step of traveling to the first target position and executing a return task.

[0068] In some selectable embodiments, the step of obtaining a return location of the second object from the second transport task includes obtaining N luggage pick-up locations of the second object from the second transport task, where a distance between the N luggage pick-up locations of the second object and a return route is within a third predetermined range, and the return route is generated based on the position information and the first object location included in the first transport task, and / or includes obtaining N luggage pick-up locations of the second object from the second transport task, where a distance between the N luggage pick-up locations of the second object and the robot is within a fourth predetermined range, and the return route is generated based on the position information and the first object location included in the first transport task.

[0069] In some selectable embodiments, the step of obtaining a luggage pick-up position of the second target from the second transport task includes a step of obtaining N luggage pick-up positions of the second target from the second transport task, wherein a second increased time incurred when the robot picks up the luggage in accordance with the luggage pick-up positions of the N second target is less than or equal to a third predetermined threshold, N being a natural number greater than 0, and / or a step of obtaining N luggage pick-up positions of the second target from the second transport task, wherein a second increased movement distance incurred when the robot picks up the luggage in accordance with the luggage pick-up positions of the N second target is less than or equal to a fourth predetermined threshold, N being a natural number greater than 0.

[0070] In some alternative embodiments, the first transport task and the second transport task are associated with one or more constraints including a total travel time for the robot to complete the luggage pick-up task and the luggage return task, a total number of luggage pick-up and return operations performed by the robot to complete the luggage pick-up task and the luggage return task, a total travel distance for the robot to complete the luggage pick-up task and the luggage return task, and a loading rate for the robot to complete the luggage pick-up task and the luggage return task.

[0071] In some optional embodiments, when a rack for placing luggage has two or more storage positions in the rack depth direction, and the target position indicated in the luggage pick-up task or the luggage return task is the second or subsequent position among the storage positions, the method further includes the steps of transporting non-target luggage to an empty slot of the robot before placing it at the target position, executing the pick-up task or return task for the target position, and returning the non-target luggage to its original storage position in the rack or returning the non-target luggage to an empty storage position, the empty storage position belonging to the same rack as the target position or a different rack.

[0072] In some selectable embodiments, the method further includes the steps of receiving a luggage sorting task assigned from a server and executing the luggage sorting task, wherein the luggage sorting task includes performing luggage sorting on a target object and / or adjusting a storage position of the target object, and the timing of execution of the luggage sorting task includes any one of the following situations: before the first transport task and the second transport task, between the first transport task and the second transport task, after the first transport task and the second transport task, and during the execution of any one of the tasks in a task series consisting of the first transport task and the second transport task.

[0073] As an eighth aspect, a luggage transporting apparatus provided by the present application is an apparatus for executing the luggage transporting method described in any one of the first aspect, the apparatus including an acquisition module for acquiring position information and available slot information of a robot, and a processing module for allocating a second transport task to the robot based on the position information, the available slot information, and a first target position included in a first transport task, one of the first transport task and the second transport task being a luggage pick-up task and the other being a luggage return task.

[0074] As a ninth aspect, a luggage transport device provided by the present application is an apparatus for executing the luggage transport method described in any one of the second aspects, the apparatus including a transmission module that acquires a transport task sequence to execute a first transport task, and an execution module that executes the second transport task during execution of the first transport task, one of the first transport task and the second transport task is a luggage pick-up task and the other is a return task, and the second transport task is acquired during execution of the first transport task, or the second transport task is included in the acquired transport task sequence.

[0075] As a tenth aspect, the present application further provides a server comprising a processor and a memory storing instructions executable by the processor, the processor being configured to execute the executable instructions to thereby perform the luggage conveying method described in any one of the sixth aspect.

[0076] As an eleventh aspect, the present application further provides a robot including a robot body, the robot body including a memory and a processor, the memory storing executable instructions for a processor, and the processor being configured to execute the executable instructions to perform the luggage conveying method described in any one of the seventh aspects.

[0077] In some selectable embodiments, the robot body includes a moving chassis, a robot rack, a lifting device, and an item transport device, the robot rack is attached to the moving chassis, the lifting device and the item transport device are attached to the robot rack, the lifting device drives the item transport device to move up and down relative to the robot rack, and the item transport device includes at least one transport mechanism on the robot rack, and the transport mechanism is used to insert and remove objects.

[0078] In some alternative embodiments, the article transport device includes a suction fork unit.

[0079] In some alternative embodiments, the article transport device includes a clamping robotic arm.

[0080] In some alternative embodiments, when the article transport device includes at least two transport mechanisms, the at least two transport mechanisms are installed in parallel on the robot rack.

[0081] In some alternative embodiments, the at least two transport mechanisms are located on the same level of the robot rack, and the at least two transport mechanisms are of an integral structure.

[0082] In some optional embodiments, the robot rack includes three or more columns located on the same vertical plane and mounted on a moving chassis, and each transport mechanism is mounted between two adjacent columns and moves up and down relative to the columns, with no relative movement between transport mechanisms located on the same level.

[0083] In some optional embodiments, when there are two transport mechanisms, one of the transport mechanisms is used to transport an object on the warehouse rack to the robot rack, and the other transport mechanism is used to transfer the object on the robot rack to the warehouse rack.

[0084] In some alternative embodiments, the transport mechanism includes a temporary storage plate and an extendable arm attached to the temporary storage plate, the temporary storage plate temporarily storing the target object, and the extendable arm delivering the target object on the temporary storage plate to the warehouse rack and the robot rack, or delivering the target object on the warehouse rack or the robot rack to the temporary storage plate.

[0085] In some alternative embodiments, the number of the telescopic arms is two, and the two telescopic arms are installed on the temporary storage plate in parallel and opposite directions.

[0086] In some optional embodiments, the telescopic arm includes an outer arm, an inner arm, and a transport unit, the outer arm is attached to the temporary storage plate, the inner arm is attached to the outer arm, the transport unit is attached to the inner arm, and the inner arm is movable relative to the outer arm, such that the transport unit can push and move the target object.

[0087] In some optional embodiments, the transport unit is a push rod unit, the push rod unit includes a first push rod and a second push rod, the first push rod is attached to the tip surface of the inner arm and can rotate to a horizontal or vertical position with respect to the tip surface of the inner arm, so that the first push rod can send the target object on the warehouse rack to the temporary storage plate or send the target object on the temporary storage plate to the warehouse rack, and the second push rod is attached to the rear end surface of the inner arm and can rotate to a horizontal or vertical position with respect to the rear end surface of the inner arm, so that the second push rod can send the target object on the temporary storage plate to the robot rack or send the target object on the robot rack to the temporary storage plate.

[0088] In some optional embodiments, the push unit further includes a drive member connected to the first push rod and the second push rod, respectively, and the drive member rotates the first push rod and the second push rod relative to an end surface of the inner arm, thereby rotating the first push rod and the second push rod to a horizontal or vertical position.

[0089] In some optional embodiments, the transport unit is a clamping unit, which is installed inside the inner arm and performs a clamping or releasing operation on the target object by adjusting the force acting on the clamping unit or the opposing side of the telescopic arm.

[0090] In some optional embodiments, the telescopic arm further includes at least one middle arm, the middle arm being attached between the inner arm and the outer arm and connected to the inner arm and the outer arm, the middle arm being movable relative to the outer arm, and the inner arm being movable relative to the middle arm.

[0091] In some selectable embodiments, the lifting device includes two lifting units, the two lifting units are mounted opposite each other on opposite sides of the robot rack, and both ends of the item transport device are connected to the two lifting units respectively, and the two lifting units guide the item transport device to move up and down relative to the robot rack.

[0092] In some optional embodiments, the lifting unit includes a driving wheel, a driven wheel, and a transmission belt, the driving wheel is attached to the lower end of the robot rack, the driven wheel is attached to the top end of the robot rack, the transmission belt is fitted between the driving wheel and the driven wheel, the driving wheel rotates to guide and move the transmission belt, and the transmission belt guides the two conveying mechanisms to move up and down relative to the robot rack.

[0093] In some alternative embodiments, the robot rack is provided with at least two storage locations for storing objects.

[0094] In some optional embodiments, when the transport robot performs a return task, the transport robot travels to a return position of a second object, and one transport mechanism of the item transport device moves the second object on the robot rack to the return position of the second object using the lifting device, and sends the second object to the return position of the second object.

[0095] In some optional embodiments, when the transport robot performs a luggage pick-up task, the transport robot travels to a luggage pick-up position for a first object, and one transport mechanism of the item transport device moves to the luggage pick-up position for the first object by the lifting device, picks up the first object from a warehouse rack, and places it on the robot rack.

[0096] In some optional embodiments, after completing the luggage pick-up task for the first object, one of the transport mechanisms of the item transport devices moves the second object on the robot rack to the luggage pick-up position for the first object using the lifting device, and sends the second object to the luggage pick-up position for the first object.

[0097] In some alternative embodiments, the robot rack includes at least two transport mechanisms attached to the robot rack, each of the transport mechanisms being installed at a different stage along the lifting direction, and each of the transport mechanisms being used to take in and take out objects.

[0098] In some alternative embodiments, there are two transport mechanisms, one of which is used to transport objects on the warehouse rack to the robot rack, and the other of which is used to transfer objects on the robot rack to the warehouse rack.

[0099] In some alternative embodiments, the transport mechanism includes a temporary storage plate and an extendable arm attached to the temporary storage plate, the temporary storage plate temporarily storing the target object, and the extendable arm delivering the target object on the temporary storage plate to the warehouse rack and the robot rack, or delivering the target object on the warehouse rack or the robot rack to the temporary storage plate.

[0100] In some alternative embodiments, the number of the telescopic arms is two, and the two telescopic arms are installed on the temporary storage plate in parallel and opposite directions.

[0101] In some optional embodiments, the telescopic arm includes an outer arm, an inner arm, and a push unit, the outer arm is attached to the temporary storage plate, the inner arm is attached to the outer arm, the push unit is attached to the inner arm, and the inner arm is movable relative to the outer arm, such that the push unit can push and move the target object.

[0102] In some optional embodiments, the push rod unit includes a first push rod and a second push rod, the first push rod is attached to the tip surface of the inner arm and can rotate to a horizontal or vertical position with respect to the tip surface of the inner arm, so that the first push rod can send an object on the warehouse rack to the temporary storage plate or send an object on the temporary storage plate to the warehouse rack, and the second push rod is attached to the rear end surface of the inner arm and can rotate to a horizontal or vertical position with respect to the rear end surface of the inner arm, so that the second push rod can send an object on the temporary storage plate to the robot rack or send an object on the robot rack to the temporary storage plate.

[0103] In some optional embodiments, the push unit further includes a drive member connected to the first push rod and the second push rod, respectively, and the drive member rotates the first push rod and the second push rod relative to an end surface of the inner arm, thereby rotating the first push rod and the second push rod to a horizontal or vertical position.

[0104] In some optional embodiments, the telescopic arm further includes at least one middle arm, the middle arm being attached between the inner arm and the outer arm and connected to the inner arm and the outer arm, the middle arm being movable relative to the outer arm, and the inner arm being movable relative to the middle arm.

[0105] In some alternative embodiments, the at least two transport mechanisms are fixedly connected together by a connecting plate.

[0106] In some selectable embodiments, the lifting device includes two lifting units, the two lifting units are mounted opposite each other on opposite sides of the robot rack, and both ends of each of the transport mechanisms are connected to the two lifting units, respectively, and the two lifting units guide each of the transport mechanisms to move up and down relative to the robot rack.

[0107] In some optional embodiments, the lifting unit includes a driving wheel, a driven wheel, and a transmission belt, the driving wheel is attached to the lower end of the robot rack, the driven wheel is attached to the top end of the robot rack, the transmission belt is fitted between the driving wheel and the driven wheel, the driving wheel rotates to guide and move the transmission belt, and the transmission belt guides the two conveying mechanisms to move up and down relative to the robot rack.

[0108] In some alternative embodiments, the robot rack is provided with at least two storage locations for storing objects.

[0109] In some alternative embodiments, the system further includes a support beam, the support beam being attached to the robot rack and movable up and down relative to the robot rack, and each of the transport mechanisms being attached to the support beam.

[0110] In some optional embodiments, the system further includes a mounting frame and a rotation unit attached to the mounting frame, each transport mechanism is attached to the rotation unit, the mounting frame is attached to the support beam, and the rotation unit guides each transport mechanism to rotate in a plane perpendicular to the lifting and lowering direction of the support beam.

[0111] In some selectable embodiments, the mounting frame includes two mounting plates installed opposite each other and a carry beam connecting the two mounting plates, the two mounting plates being connected to the support beam, the rotating unit includes a loading plate on the carry beam, a rotating plate installed at a distance from the loading plate, and a cross bearing for connecting the loading plate and the rotating plate, a first sprocket is connected to the cross bearing, the rotating plate is provided with a second sprocket and a motor for driving and rotating the second sprocket, the first sprocket and the second sprocket are connected by a chain, and when the motor drives and rotates the second sprocket, the second sprocket guides and rotates the first sprocket via the chain, and when the first sprocket rotates, each of the conveying mechanisms located on the rotating plate rotates around the axis of the first sprocket.

[0112] In some optional embodiments, when the transport robot performs a return task, the transport robot travels to a return position for a second object, and one transport mechanism moves the second object on the robot rack to the return position for the second object using the lifting device, and sends the second object to the return position for the second object.

[0113] In some optional embodiments, when the transport robot performs a luggage pick-up task, the transport robot travels to a luggage pick-up position for a first object, and one transport mechanism moves to the luggage pick-up position for the first object by the lifting device, picks up the first object from a warehouse rack, and places it on the robot rack.

[0114] In some optional embodiments, after completing the luggage pick-up task for the first object, one transport mechanism moves the second object on the robot rack to the luggage pick-up position of the first object using the lifting device, and sends the second object to the luggage pick-up position of the first object.

[0115] As a twelfth aspect, the present application further provides a warehouse system including a transport robot, a server, a rack, and an operation platform, the transport robot and the server being communicatively connected, the server executing the luggage transport method described in any one of the sixth aspect, and the transport robot executing the luggage transport method described in any one of the seventh aspect to realize luggage transport between the rack and the operation platform.

[0116] As a thirteenth aspect, a storage medium further provided by an embodiment of the present application is a storage medium having a computer program stored therein, and when the program is executed by a processor, any one of the luggage transport methods in the sixth aspect is realized.

[0117] As a fourteenth aspect, a storage medium further provided by an embodiment of the present application is a storage medium having a computer program stored therein, and when the program is executed by a processor, any one of the luggage transport methods in the seventh aspect is realized. Effect of the Invention

[0118] In the robot, luggage transport method, server and warehouse system provided by the present application, a robot including a mobile chassis, a robot rack, a lifting device and an item transport device is installed, the robot rack is attached to the mobile chassis, and the mobile chassis is configured to move to a first target position included in a first transport task and to a second target position included in a second transport task, one of the first transport task and the second transport task is a luggage pick-up task and the other is a return task, the lifting device and the item transport device are attached to the robot rack, and the robot performs the second transport task while performing the first transport task. This allows the transportation policy to be flexibly set to allow the robot to pick up and return luggage while at the same time improving the rationality of route planning, reducing the robot's total working time and travel distance, and not only saving energy consumption but also effectively improving the efficiency of luggage transportation. [Brief description of the drawings]

[0119] In order to more clearly describe the technical means in the embodiments of the present application or the prior art, the following will briefly introduce the drawings used in the description of the embodiments or the prior art. It is obvious that the drawings below are only a part of the embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without any creative effort.

[0120] [Figure 1] FIG. 1 is a diagram showing an application scene of a luggage conveying method according to an embodiment of the present application. [Diagram 2] FIG. 2 is a flowchart of a baggage conveying method according to a first embodiment of the present invention. [Diagram 3]FIG. 3 is a flowchart of a baggage conveying method according to a second embodiment of the present invention. [Figure 4] FIG. 4 is a flowchart of a luggage conveying method according to a third embodiment of the present invention. [Diagram 5] FIG. 5 is a flowchart of a baggage conveying method according to a fourth embodiment of the present invention. [Figure 6] FIG. 6 is a schematic diagram showing the structure of a luggage conveying device according to a fifth embodiment of the present invention. [Figure 7] FIG. 7 is a structural schematic diagram of a luggage conveying device according to a sixth embodiment of the present invention. [Figure 8] FIG. 8 is a structural schematic diagram of a server according to a seventh embodiment of the present invention. [Figure 9] FIG. 9 is a schematic diagram of the structure of the robot provided in the present embodiment. [Figure 10] FIG. 10 is a schematic diagram of a first structure of the robot provided in this embodiment. [Figure 11] FIG. 11 is a schematic diagram of a second structure of the robot provided in this embodiment. [Figure 12] FIG. 12 is a schematic diagram of a third structure of the robot provided in this embodiment. [Figure 13] FIG. 13 is a schematic diagram of a fourth structure of the robot provided in this embodiment. [Figure 14] FIG. 14 is a schematic diagram of a fifth structure of the robot provided in this embodiment. [Figure 15] FIG. 15 is a schematic diagram of a sixth structure of the robot provided in this embodiment.

[0121] The symbols in Figs. 10 to 15 will be explained. 1: Moving chassis 2: Robot rack 21:Storage position 3: Lifting unit 31: Main drive wheel 32: Driven wheel 33: Transmission belt 4: Transport mechanism 41: Temporary storage plate 42: Extendable arm 421: Inner Arm 422: Middle Arm 423: Outer Arm 43: Push rod unit 431: 1st push rod 432: 2nd push rod DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0122] In order to make the purpose, technical means and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described below in a clear and comprehensive manner in combination with the drawings in the embodiments of the present application. Of course, the described embodiments are only a part of the embodiments of the present application, and are not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without the need for inventive or creative efforts are all within the scope of protection of the present application.

[0123] With the emergence and rapid development of e-commerce and online shopping, it has brought huge development opportunities for smart warehouse logistics. In recent years, the technology of cargo transportation by warehouse robots is becoming more and more mature. In the conventional technology, warehouse robots need to transport containers to the operation station, operate them, and then return the containers to the rack area. Warehouse robots that can transport multiple containers at once generally adopt a policy of "first return, last pick up". That is, first, the containers that need to be returned to the rack area are placed at once, and then the task of transporting the containers to the operation station is performed. However, the above transportation method is not flexible enough, and the efficiency of cargo transportation is low.

[0124] In response to the above technical problems, the present application provides a luggage transport method and warehouse system that can flexibly set transport policies and improve luggage transport efficiency.

[0125] FIG. 1 is a diagram of an application scene of a luggage transport method according to an embodiment of the present application. As shown in FIG. 1, the system includes a server 10 and a robot 20, and the robot 20 and the server 10 are connected to each other for communication. The robot 20 receives a command issued by the server 10 and transports luggage between a rack and an operation platform. The robot 20 can perform a return task and a luggage pick-up task at the same time. The return position corresponding to at least one return task of the transport robot 20 includes any one of the initial storage position of the luggage to be returned, a position corresponding to an empty storage space, and a storage position corresponding to the luggage to be picked up. The server 10 in this embodiment generates an initial planned route based on the current position of the robot 20, the return position corresponding to at least one return task of the robot 20, and the return order. Then, it is determined whether or not a luggage pick-up task can be inserted into the return task of the robot 20, and if a predetermined condition is satisfied, it determines at least one target object from the luggage to be picked up and generates a desired planned route. The robot 20 receives the target planned route transmitted by the server 10, travels along the planned route, and executes the baggage pick-up task and the baggage return task.

[0126] In addition, in this embodiment, the server can communicate with multiple robots, simultaneously obtain the positions and task lists of multiple robots, create corresponding target planned routes, and send the target planned routes to the corresponding robots.

[0127] 2 is a flow chart of the luggage conveying method according to the first embodiment of the present application. As shown in FIG. 2, the luggage conveying method provided in this embodiment may include the following steps:

[0128] In step S101, a transport task sequence for executing a first transport task is obtained.

[0129] In this embodiment, the server can be connected to multiple robots through wireless signal communication. The server assigns a first transfer task to the robot, and after the robot receives the first transfer task, it reports its real-time location information and free slot information to the server. In this embodiment, the first transfer task is not limited, and the first transfer task can be a baggage pick-up task or a baggage return task.

[0130] In this embodiment, the server may simultaneously assign the second transport task to multiple different robots, and the robots receive the second transport task via their own communication devices.

[0131] In step S102, a second transport task is executed during the execution of the first transport task, one of which is a baggage pick-up task and the other is a baggage return task.

[0132] In step S102, the second transport task is acquired during the execution of the first transport task, or the acquired transport task sequence includes the second transport task. Exemplarily, there are two situations. In the first situation, the first transport task is a baggage pick-up task, and the second transport task is a baggage return task. In the second situation, the first transport task is a baggage return task, and the second transport task is a baggage pick-up task. The first and second situations are described in detail below.

[0133] For example, when the second transport task is a return task, the robot first acquires the first target position from the first transport task and acquires the return position of the second target from the second transport task. Then, while traveling toward the first target position, the robot reaches the return position of the second target and executes the return task. Finally, the robot travels to the first target position and executes the baggage pick-up task. Note that the return position of the second target in the second transport task may be any one of the initial storage position of the second target, the position of an empty storage space, and the position of the first target.

[0134] In a first optional embodiment, the robot obtains positions corresponding to U vacant storage locations from the second transfer task, where the distance between the positions corresponding to the U vacant storage locations and the robot's baggage pick-up route is within a first predetermined range, U is a natural number greater than 0, and the baggage pick-up route is generated based on the position information and a first target position included in the first transfer task.

[0135] In this embodiment, vacant storage locations that satisfy the conditions are screened based on the distance between the vacant storage location and the baggage pick-up route, and a location corresponding to the vacant storage location that is within a predetermined distance from the baggage pick-up route is set as the return location for the second target. This allows the robot to select a vacant storage location that is relatively close to return the baggage, thereby reducing the distance traveled by the robot when performing the second transport task.

[0136] In a second optional embodiment, the robot obtains a position corresponding to U vacant storage locations from the second transport task, where the distance between the robot and the position corresponding to the U vacant storage locations is within a second predetermined range, U is a natural number greater than 0, and the baggage pick-up route is generated based on the position information and the first target location included in the first transport task.

[0137] In a third optional embodiment, the robot obtains a position corresponding to U vacant storage locations from the second transport task, where a first increased consumption time caused when the robot returns the package according to the position corresponding to the U vacant storage locations is equal to or less than a first predetermined threshold, and U is a natural number greater than 0.

[0138] In this embodiment, an empty storage location is selected based on the time consumed by the robot to reach each empty storage location and execute the return task and the baggage pick-up task according to the baggage pick-up route. A location corresponding to an empty storage location where the increased time consumed is within a predetermined range is set as the return location for the second target. This allows the robot to select an empty storage location that consumes a relatively short time to return the baggage, thereby reducing the time consumed by the robot when executing the second transport task.

[0139] In a fourth optional embodiment, the robot acquires a position corresponding to U vacant storage locations from the second transport task, where a first movement distance increased when the robot returns the package according to the position corresponding to the U vacant storage locations is equal to or less than a second predetermined threshold, and U is a natural number greater than 0.

[0140] In this embodiment, the number of return tasks is not limited, and the robot can execute multiple return tasks simultaneously. When executing a return task, multiple policies can be set for the return location. One policy is "return to the place where it was taken out", and each type of luggage corresponds to one fixed storage location. This method is convenient for warehouse management. Therefore, when executing a return task, the return location is the initial storage location of the luggage to be returned. Another policy is "put in an empty location", and the luggage to be returned can be placed in any empty storage location. This method has greater flexibility. Therefore, when executing a return task, the return location is a location corresponding to an empty storage location. This method also has a special case in which the luggage pick-up task and the return task can be combined to exchange the storage locations of the luggage to be returned and the luggage to be picked-up. In this case, the return location is the storage location corresponding to the luggage to be picked-up.

[0141] For example, when the second transport task is a baggage pick-up task, the robot first acquires the first target position from the first transport task, and acquires the baggage pick-up position of the second target from the second transport task. Then, while traveling toward the first target position, the robot reaches the baggage pick-up position of the second target and executes the baggage pick-up task. Finally, the robot travels to the first target position and executes the return task.

[0142] In a first alternative embodiment, the robot obtains N baggage pick-up positions of the second target from the second transport task, where the distance between the N baggage pick-up positions of the second target and the return route is within a third predetermined range, and the return route is generated based on the position information and the first target positions included in the first transport task.

[0143] In this embodiment, the baggage pick-up positions that satisfy the conditions are screened according to the distance between the baggage pick-up position of the baggage to be picked and the return route, and the baggage pick-up position that is within a predetermined range of the distance from the return route is set as the baggage pick-up position of the second target object. This allows the robot to take on a baggage pick-up task that is relatively close in distance, and reduces the distance that the robot travels when performing the second transport task.

[0144] In a third alternative embodiment, the robot acquires N baggage pick-up positions of the second target from the second transport task. However, a second increased consumption time caused when the robot acquires the baggage according to the baggage pick-up positions of the N second target is Third is equal to or smaller than a predetermined threshold, and N is a natural number greater than 0.

[0145] In a third alternative embodiment, the robot acquires N load pick-up positions for the second target from the second transport task, where a second increased time consumption caused when the robot acquires the load according to the N load pick-up positions for the second target is equal to or less than a second predetermined threshold, and N is a natural number greater than 0.

[0146] In this embodiment, the robot selects a baggage pick-up location based on the increased time consumed by the robot reaching each baggage pick-up location and executing the baggage pick-up task and the return task according to the return route. The baggage pick-up location where the increased time consumed is within a predetermined range is set as the baggage pick-up location for the second target object. This allows the robot to take on a pick-up task that consumes a relatively short amount of time, thereby reducing the time consumed by the robot when executing the second transport task.

[0147] In a fourth optional embodiment, the robot acquires N baggage pick-up positions for the second target objects from the second transport task, where a second movement distance increased when the robot acquires the baggage according to the N baggage pick-up positions for the second target objects is equal to or less than a fourth predetermined threshold, and N is a natural number greater than 0.

[0148] Specifically, when the first transport task is a baggage pick-up task and the second transport task is a baggage return task, the server generates a baggage pick-up route based on the robot's current position and the baggage pick-up location where the robot will now execute. Then, one or more return tasks are inserted during the process of executing the baggage pick-up task to realize the "acquire and return" operation. In the specific operation, all vacant storage locations within a predetermined range of distance from the baggage pick-up route are acquired, and the most convenient vacant storage location with the shortest consumption time is determined as the return location corresponding to the baggage to be returned. This method has a special case in which the baggage pick-up location is also changed to a vacant storage location after the baggage pick-up task is executed. Therefore, when the robot acquires the baggage, if it still has a vacant slot, it can directly perform the baggage pick-up operation, and after completing the baggage pick-up, it can return the baggage to be returned that it holds to the vacant storage location where the baggage pick-up task has just been completed, that is, the storage locations of these two bags can be exchanged. At this time, the robot does not need to make an extra movement, and the second increased consumption time is minimized. If the robot does not have an empty slot, it first finds an empty storage location and returns one piece of luggage, at which point an empty slot is created on the robot, and the robot can then swap the storage locations of the luggage to be removed and the luggage to be returned based on the above embodiment.

[0149] For example, the first and second transport tasks performed by the robot have one or more constraints, such as "the total travel time required for the robot to complete the baggage pick-up task and the baggage return task," "the total number of baggage pick-up and return operations performed by the robot to complete the baggage pick-up task and the baggage return task," "the total travel distance required for the robot to complete the baggage pick-up task and the baggage return task," and "the loading rate required for the robot to complete the baggage pick-up task and the baggage return task."

[0150] Specifically, when the server generates a planned route corresponding to the first transport task and the second transport task, it can generate an optimal route based on the travel time, the total number of baggage pick-up and return operations, the travel distance, the loading rate, etc. Since the baggage is stored in a three-dimensional warehouse, not only the planar position needs to be considered, but also the altitude (baggage position). When planning a route, both the route travel time and the fork lifting and lowering time need to be taken into account, but the fork can adjust its altitude simultaneously while the robot is traveling, so that the overall time consumed by the robot to reach the target rack position and the fork to reach the designated position is minimized. If a more optimal route (e.g., a route with a shorter distance or shorter travel time) is found, the current route is updated and a new planned route is generated.

[0151] For example, when a rack for placing luggage has two or more storage positions in the rack depth direction, and the target position specified in the luggage pick-up task or return task is the second or subsequent position among the storage positions, the robot moves the non-target luggage to an empty slot of the robot before placing it in the target position, then executes the pick-up task or return task for the luggage in the target position, and finally returns the non-target luggage to its original storage position in the rack, or returns the non-target luggage to an empty storage position, which may belong to the same rack as the target position or to a different rack.

[0152] The technical scheme in the above embodiment is applied when there are multiple storage positions in the depth direction of the rack, i.e., multiple targets can be placed at the same position indicated in the vertical and horizontal directions of the rack. In the above embodiment, the server or the robot can measure the storage position in the depth position of the rack. That is, when the robot performs the baggage pick-up task and / or return task, it can accurately locate the established target position in three directions (horizontal, vertical, and depth directions), and then perform the baggage pick-up task and / or return task for the target position.

[0153] For example, the server may further assign a luggage organization task to the robot, the luggage organization task including organizing a target object and / or adjusting a storage position of the target object.

[0154] In the above embodiment, the server can further assign to the robot a luggage sorting task for sorting the targets and / or adjusting the storage position of the targets. For example, the number and position of the targets are checked. Note that this embodiment does not limit the specific execution timing of the luggage sorting task by the robot. The execution timing of the luggage sorting task includes any one of the following situations: "before the first transport task and the second transport task", "between the first transport task and the second transport task", "after the first transport task and the second transport task", and "during the execution of any one task in the task series consisting of the first transport task and the second transport task".

[0155] In this embodiment, while the first transport task is being executed, the location information and free slot information are reported to the server, and the second transport task allocated from the server is received, and one of the first transport task and the second transport task is a baggage pick-up task and the other is a return task, and the second transport task is executed while the first transport task is being executed. This allows the transport policy to be flexibly set, and the baggage can be picked up while being returned during transport, effectively improving the efficiency of baggage transport.

[0156] 3 is a flow chart of a luggage conveying method according to a second embodiment of the present application. As shown in FIG. 3, the luggage conveying method provided in this embodiment may include the following steps:

[0157] In step S201, the robot position information and available slot information are obtained.

[0158] In this embodiment, the server can be connected to multiple robots through wireless signal communication. The server assigns a first transfer task to the robot, and after the robot receives the first transfer task, it reports its real-time location information and free slot information to the server. In this embodiment, the first transfer task is not limited, and the first transfer task can be a baggage pick-up task or a baggage return task.

[0159] In this embodiment, the timing of allocating the second transfer task is not limited. The server can allocate the second transfer task to the robot at any one of the points before, during, or after the execution of the first transfer task.

[0160] In the first situation, the server first assigns a first transport task and a second transport task to the robot based on the position information and free slot information of the robot. At this time, a task series is generated first. The task series includes the first transport task and the second transport task alternately. After receiving the task series, the robot executes the first transport task and the second transport task in sequence according to the task series.

[0161] In the second situation, the server dynamically allocates the second transport task to the robot, i.e., when the robot executes the first transport task, it inserts one second transport task before the first transport task, and the robot executes the second transport task on the way to execute the first transport task.

[0162] In a third situation, the server dynamically assigns a second transport task to the robot, and the robot continues to execute the second transport task after completing the first transport task.

[0163] In step S202, the second transfer task is assigned to the robot based on the position information, the free slot information, and the first target position included in the first transfer task.

[0164] The second destination location included in the second transport task is adjacent or near the first destination location.

[0165] In this embodiment, after receiving the position information and free slot information reported by the robot, the server generates a planned route for the first transport task based on the position information, the free slot information, and the first target position included in the first transport task. Then, based on a luggage pick-up request or luggage return request transmitted from the client terminal, the server assigns a second transport task to the robot. Note that one of the first transport task and the second transport task is a luggage pick-up task, and the other is a luggage return task. In other words, the robot can pick up the luggage while returning it during transport, effectively improving the luggage transport efficiency.

[0166] For example, when the second transport task is a return task, the server determines a return position of the second target in the second transport task based on the position information and the first target position included in the first transport task. The return position of the second target may be any one of the initial storage position of the second target, the position of an empty storage space, and the position of the first target.

[0167] In a first selectable embodiment, when the return location is the location of an empty storage location, the server first generates a baggage pick-up route based on the location information and the first target location included in the first transport task, and determines a location corresponding to U empty storage locations whose distance from the baggage pick-up route is within a first predetermined range as the return location of the second target, where U is a natural number greater than 0.

[0168] In a second optional embodiment, when the return location is a location of an empty storage space, the server determines a location corresponding to U empty storage spaces whose distance from the robot is within a second predetermined range as the return location of the second target object, where U is a natural number greater than 0.

[0169] In this embodiment, vacant storage locations that satisfy the conditions are screened based on the distance between the vacant storage location and the baggage pick-up route, and a location corresponding to the vacant storage location that is within a predetermined distance from the baggage pick-up route is set as the return location for the second target. This allows the robot to select a vacant storage location that is relatively close to return the baggage, thereby reducing the distance traveled by the robot when performing the second transport task.

[0170] In a third selectable embodiment, when the return location is the location of an empty storage location, the server first generates a baggage pick-up route based on the location information and the first target location included in the first transport task. Then, a first total time consumed by the robot to reach each of the locations corresponding to V empty storage locations to return the baggage and pick up the first target according to the baggage pick-up route is predicted. V is a natural number equal to or greater than U, and U is a natural number greater than 0. Then, the difference between the first total time consumed and the time consumed by the robot to pick up the first target according to the baggage pick-up route is set as a first increase time, and an empty storage location U among the V empty storage locations, whose first increase time is equal to or less than a first predetermined threshold, is determined as the return location for the second target.

[0171] In this embodiment, an empty storage location is selected based on the time consumed by the robot arriving at each empty storage location and executing the return task and the baggage pick-up task along the baggage pick-up route. A location corresponding to an empty storage location where the increased time consumed is equal to or less than a first predetermined threshold is set as the return location for the second target. This allows the robot to select an empty storage location where the time consumed is relatively short for the robot to return the baggage, thereby reducing the time consumed by the robot when executing the second transport task.

[0172] In a fourth selectable embodiment, when the return location is an empty storage location, the server first generates a baggage pick-up route based on the location information and the first target location included in the first transport task, and predicts a first movement distance that is increased by the robot reaching each of the locations corresponding to V empty storage locations to return the baggage and pick up the first target according to the baggage pick-up route. V is a natural number equal to or greater than U, and U is a natural number greater than 0. Then, among the V empty storage locations, an empty storage location U where the increased first movement distance is equal to or less than a second predetermined threshold is determined as the return location for the second target.

[0173] In this embodiment, an empty storage location is selected based on a first movement distance that is increased by the robot reaching each empty storage location and executing the return task and the baggage pick-up task according to the baggage pick-up route. A position corresponding to an empty storage location where the increased first movement distance is equal to or less than a second predetermined threshold is set as a return position for the second target. This allows an empty storage location with a relatively short travel distance for the robot to be selected to return the baggage, thereby reducing the distance traveled by the robot when executing the second transport task.

[0174] In this embodiment, the number of return tasks is not limited, and the robot can execute multiple return tasks simultaneously. When executing a return task, multiple policies can be set for the return location. One policy is "return to the place where it was taken out", and each type of luggage corresponds to one fixed storage location. This method is convenient for warehouse management. Therefore, when executing a return task, the return location is the initial storage location of the luggage to be returned. Another policy is "put in an empty location", and the luggage to be returned can be placed in any empty storage location. This method has greater flexibility. Therefore, when executing a return task, the return location is a location corresponding to an empty storage location. This method also has a special case in which the luggage pick-up task and the return task can be combined to exchange the storage locations of the luggage to be returned and the luggage to be picked-up. In this case, the return location is the storage location corresponding to the luggage to be picked-up.

[0175] For example, when the second transport task is a baggage pick-up task and the total number of free slots indicated by the free slot information of the robot is zero, the server needs to allocate the first transport task at least once before executing the second transport task. For example, when the robot is currently in a full load state and the tasks allocated to the robot by the server include the first transport task and the second transport task, before executing the second transport task, the robot needs to execute the first transport task at least once to obtain a free slot for placing the second target object to be picked up in the second transport task.

[0176] If the second transport task is a luggage unloading task and the robot's free slot information indicates that the total number of free slots is greater than zero, the server determines a luggage unloading position for the second object in the second transport task based on the position information, the free slot information, and the first object position included in the first transport task.

[0177] Exemplarily, the server determines N baggage pick-up positions for the second target based on the position information and the first target position included in the first transportation task, where N is a natural number greater than 0 and less than or equal to the total number of empty slots indicated by the empty slot information.

[0178] In a first selectable embodiment, the server first generates a return route based on the location information and the location of a first target object included in the first transportation task, and determines N luggage pick-up locations whose distances to the return route are within a third predetermined range as luggage pick-up locations for the second target object.

[0179] In this embodiment, the baggage pick-up positions that satisfy the conditions are screened according to the distance between the baggage pick-up position of the baggage to be picked and the return route, and the baggage pick-up position that is within a predetermined range of the distance from the return route is set as the baggage pick-up position of the third target object. This allows the robot to take on a pick-up task that is relatively close in distance, and reduces the distance that the robot travels when performing the second transport task.

[0180] In a second alternative embodiment, the server determines N baggage pick-up locations that are within a fourth predetermined distance range from the robot as baggage pick-up locations for the second target object.

[0181] In a third optional embodiment, the server first generates a return route based on the position information and the first target position included in the first transport task, and predicts a second total time consumed by the robot to reach each of M luggage pick-up positions, pick up the luggage, and return the first target according to the return route, where M is a natural number equal to or greater than N. Thereafter, the difference between the second total time consumed and the time consumed by the robot to pick up the first target according to the return route is determined as a second increased time, and N luggage pick-up positions among the M luggage pick-up positions, the second increased time of which is equal to or less than a third predetermined threshold, are determined as luggage pick-up positions for the second target.

[0182] In this embodiment, the robot selects a baggage pick-up location based on the time consumed by the robot reaching each baggage pick-up location and executing the baggage pick-up task and the return task along the return route. The baggage pick-up location where the increased time consumed is within a predetermined range is set as the baggage pick-up location for the second target object. This allows the robot to take on a pick-up task that consumes a relatively short amount of time, thereby reducing the time consumed by the robot when executing the second transport task.

[0183] In a fourth optional embodiment, the server generates a return route based on the position information and the first target position included in the first transport task, and predicts a second movement distance that is increased by the robot reaching each of M baggage pick-up positions to pick up the baggage and return the first target according to the return route, where M is a natural number equal to or greater than N. Then, the server determines, among the M baggage pick-up positions, N baggage pick-up positions for which the increased second movement distance is equal to or less than a fourth predetermined threshold as baggage pick-up positions for the second target.

[0184] In this embodiment, a baggage pick-up location is selected based on a second movement distance that is increased by the robot reaching each baggage pick-up location and executing the baggage pick-up task and the return task according to the return route. A location corresponding to a baggage pick-up location where the increased second movement distance is equal to or less than a second predetermined threshold is set as a return location for the second target. This allows the robot to select a baggage pick-up location with a relatively short travel distance to return the baggage, thereby reducing the distance traveled by the robot when executing the second transport task.

[0185] Specifically, when the first transport task is a baggage take-out task and the second transport task is a return task, a baggage take-out route can be generated based on the robot's current position and the baggage take-out location where the robot is about to execute. Then, one or more return tasks are inserted in the process of executing the baggage take-out task, thereby realizing the "acquire and return" operation. In the specific operation, all vacant storage locations within a predetermined range of distance from the baggage take-out route are acquired, and then the most convenient vacant storage location with the shortest consumption time is determined as the return location corresponding to the baggage to be returned. This method has a special case in which the baggage take-out location is also changed to a vacant storage location after the baggage take-out task is executed. Therefore, when the robot acquires the baggage, if it still has a vacant slot, it can directly perform the baggage take-out operation, and after completing the baggage take-out, it can return the baggage to be returned that it holds to the vacant storage location where the baggage take-out task has just been completed, that is, the storage locations of these two bags can be exchanged. At this time, the robot does not need to make an extra movement, and the second increased consumption time is minimized. If the robot does not have an available slot, it first finds an available storage location and returns one piece of luggage, at which point an available slot is created on the robot, after which the storage locations of the luggage to be removed and the luggage to be returned can be swapped based on the above embodiment.

[0186] For example, when the server generates the first transport task and the second transport task, it may further take into account one or more of the following constraint elements: "the total travel time for the robot to complete the baggage pick-up task and the baggage return task," "the total number of baggage pick-up operations and return operations performed by the robot to complete the baggage pick-up task and the baggage return task," "the total travel distance for the robot to complete the baggage pick-up task and the baggage return task," and "the loading rate for the robot to complete the baggage pick-up task and the baggage return task."

[0187] Specifically, when generating planned routes corresponding to the first and second transport tasks, an optimal route can be generated based on the travel time, the total number of baggage pick-up and return operations, the travel distance, the loading rate, etc. Since the baggage is stored in a three-dimensional warehouse, not only the planar position needs to be considered, but also the altitude (baggage position). When planning a route, both the route travel time and the time it takes for the forks to rise and fall need to be taken into account, but the forks can be adjusted in altitude simultaneously while the robot is traveling, so that the overall time consumed by the robot to reach the target rack position and the forks to reach the designated position is minimized. If a more optimal route (e.g., a route with a shorter distance or shorter travel time) is found, the current route is updated and a new planned route is generated.

[0188] In this embodiment, while the robot is executing the first transport task, the robot's position information and free slot information are acquired, and the robot is assigned the second transport task based on the position information, free slot information, and the first target position included in the first transport task. One of the first transport task and the second transport task is a baggage pick-up task, and the other is a return task. This allows the transport policy to be flexibly set, and the baggage can be picked up while being returned during transport, effectively improving the efficiency of baggage transport.

[0189] 4 is a flow chart of a luggage conveying method according to a third embodiment of the present application. As shown in FIG. 4, the luggage conveying method provided in this embodiment may include the following steps:

[0190] In step S301, the robot position information and available slot information are obtained.

[0191] In step S302, a second transport task is generated based on the position information, the free slot information, and the first target position included in the first transport task.

[0192] In step S303, it is determined whether or not the planned route corresponding to the second transportation task satisfies the booking condition. If YES, step S304 is executed, and if NO, the process returns to step S302 and executes step S302.

[0193] In step S304, a second transport task is assigned to the robot.

[0194] The specific implementation process and implementation principle of steps S301 and S302 in this embodiment can be referred to the relevant description of steps S201 and S202 shown in FIG. 3, so they will not be described again here.

[0195] In step S303, after generating the second transportation task, the server needs to determine whether the planned route corresponding to the second transportation task satisfies a booking condition, which includes that no robot travels on the planned route during a predetermined time period.

[0196] The booking mechanism described above can avoid collisions while the robot is running. Only when the booking is successful can the robot run on the corresponding route, and other robots are not allowed to run on the booked route.

[0197] In this embodiment, before issuing a second transport task, it is determined whether or not the planned route corresponding to the second transport task satisfies the booking condition, and only when the planned route satisfies the booking condition, the server allows the robot to allocate the second transport task. This makes it possible to avoid collisions while the robot is moving and ensure the safety of the robot.

[0198] 5 is a flow chart of a luggage conveying method according to a fourth embodiment of the present application. As shown in FIG. 5, the luggage conveying method provided in this embodiment may include the following steps:

[0199] In step S401, the robot position information and available slot information are obtained.

[0200] In step S402, a second transport task is generated based on the position information, the free slot information, and the first target position included in the first transport task.

[0201] The specific implementation process and implementation principle of steps S401 and S402 in this embodiment can be referred to the relevant description of steps S201 and S202 shown in FIG. 3, so they will not be described again here.

[0202] In step S403, a transport task cancellation request or a transport task addition request transmitted from a client terminal is received.

[0203] In step S404, a second transport task is newly allocated in response to a transport task cancellation request or a transport task addition request.

[0204] In this embodiment, the server can further receive a task change request sent from the client terminal and newly allocate a second transport task. The task change request includes a transport task cancellation request and a transport task addition request. The transport task cancellation request is a request to delete a return task and / or a baggage pick-up task. The transport task addition request is a request to add a return task and / or a baggage pick-up task.

[0205] For example, when a transport task cancellation request sent from a client terminal is received, the server deletes the return task and / or the luggage pick-up task in response to the transport task cancellation request, and then generates a planned route corresponding to a second transport task based on the route optimization parameters, the current position of the robot, the return location corresponding to the remaining return task, and the storage location corresponding to the remaining target object, and issues the planned route corresponding to the second transport task to the robot.

[0206] For example, when a transport task addition request sent from a client terminal is received, the server adds a return task and / or a luggage pick-up task in response to the transport task addition request, and then generates a planned route corresponding to a second transport task based on the route optimization parameters, the current position of the robot, the return position corresponding to the added return task, and the storage position corresponding to the added target object, and issues the planned route corresponding to the second transport task to the robot.

[0207] In this embodiment, after receiving a task change request sent from a client terminal, a new second transport task is generated, thereby dynamically adjusting the transport task and improving luggage transport efficiency.

[0208] Fig. 6 is a structural schematic diagram of a luggage transport device according to a fifth embodiment of the present application. As shown in Fig. 6, the luggage transport device provided in this embodiment may include an acquisition module 51 that acquires position information and free slot information of a robot, and a processing module 52 that assigns a second transport task to a robot based on the position information, the free slot information, and the first target position included in the first transport task. One of the first transport task and the second transport task is a luggage pick-up task, and the other is a luggage return task.

[0209] Illustratively, when the second transport task is a return task, the processing module 52 determines the return position of the second object in the second transport task based on the position information and the first object position included in the first transport task.

[0210] In some alternative embodiments, the processing module 52 specifically determines the return location to be the original storage location of the second object, or determines the return location to be the location of an empty storage space, or determines the return location to the location of the first object.

[0211] In some selectable embodiments, the processing module 52 specifically generates a baggage pick-up route based on the position information and the first target position included in the first transport task, and determines a position corresponding to U vacant storage locations whose distance from the baggage pick-up route is within a first predetermined range as a return position of the second target, where U is a natural number greater than 0.

[0212] In some selectable embodiments, the processing module 52 specifically determines, as the return location of the second target, a location corresponding to U vacant storage locations whose distance from the robot is within a second predetermined range, where U is a natural number greater than 0.

[0213] In some selectable embodiments, the processing module 52 specifically generates a baggage removal route based on the position information and the first target position included in the first transport task, predicts a first total time consumed by the robot to reach each of the positions corresponding to V vacant storage locations to return the baggage and remove the first target according to the baggage removal route, determines a difference between the first total time consumed and the time consumed by the robot to remove the first target according to the baggage removal route as a first increase time, and determines an empty storage location U among the V vacant storage locations, the first increase time of which is equal to or less than a first predetermined threshold, as a return location for the second target. V is a natural number equal to or greater than U, and U is a natural number greater than 0.

[0214] In some selectable embodiments, the processing module 52 specifically generates a baggage pick-up route based on the position information and the first target position included in the first transport task, predicts a first movement distance that is increased by the robot reaching each of the positions corresponding to V vacant storage locations to return the baggage and pick up the first target according to the baggage pick-up route, and determines, among the V vacant storage locations, a U vacant storage location where the increased first movement distance is equal to or less than a second predetermined threshold, as the return position for the second target. V is a natural number equal to or greater than U, and U is a natural number greater than 0.

[0215] In some selectable embodiments, when the second transport task is a baggage removal task and the robot's free slot information indicates that the total number of free slots is zero, the processing module specifically allocates at least one first transport task before executing the second transport task. In some selectable embodiments, when the second transport task is a baggage removal task and the robot's free slot information indicates that the total number of free slots is greater than zero, the processing module 52 specifically determines a baggage removal position of the second target in the second transport task based on the position information, the free slot information, and the first target position included in the first transport task.

[0216] In some alternative embodiments, determining a baggage pick-up position for the second object in the second transport task includes determining N baggage pick-up positions for the second object based on the position information and the first object positions included in the first transport task, where N is a natural number greater than 0 and less than or equal to the total number of empty slots indicated by the empty slot information.

[0217] In some optional embodiments, the processing module 52 specifically generates a return route based on the location information and the location of a first target object included in the first transport task, and determines N luggage pick-up locations as luggage pick-up locations for the second target object, the distance between which is within a third predetermined range from the return route.

[0218] In some selectable embodiments, the processing module 52 specifically determines N luggage pick-up locations whose distance to the robot is within a fourth predetermined range as return locations for the second target object.

[0219] In some selectable embodiments, the processing module 52 specifically generates a return route based on the position information and the first target position included in the first transport task, predicts a second total time consumed by the robot to reach each of the M baggage pick-up positions and pick up the baggage and return the first target according to the return route, determines a difference between the second total time consumed and the time consumed by the robot to return the first target according to the return route as a second increased time, and determines N baggage pick-up positions among the M baggage pick-up positions, the second increased time of which is equal to or less than a third predetermined threshold, as the return positions of the second target, where M is a natural number equal to or greater than N.

[0220] In some selectable embodiments, the processing module 52 specifically generates a return route based on the position information and the first target position included in the first transport task, predicts a second movement distance that is increased by the robot reaching each of the M baggage pick-up positions to pick up the baggage and returning the first target according to the return route, and determines N baggage pick-up positions among the M baggage pick-up positions where the increased second movement distance is equal to or less than a fourth predetermined threshold as baggage pick-up positions for the second target, where M is a natural number equal to or greater than N.

[0221] In some selectable embodiments, the system further includes an identification module 53 for identifying whether the planned route corresponding to the second transport task satisfies a booking condition. The booking condition includes that no robot travels on the planned route within a predetermined time.

[0222] In some optional embodiments, the processing module 52 further reassigns a second transport task if the planned route does not satisfy the booking condition.

[0223] In some optional embodiments, the processing module 52 further receives a transport task cancellation request or a transport task addition request sent from the client terminal, and newly allocates a second transport task in response to the transport task cancellation request or the transport task addition request.

[0224] In some optional embodiments, when allocating the first transport task and the second transport task, one or more of the following constraints are taken into consideration: "the total travel time required for the robot to complete the baggage pick-up task and the baggage return task," "the total number of baggage pick-up and return operations performed by the robot to complete the baggage pick-up task and the baggage return task," "the total travel distance required for the robot to complete the baggage pick-up task and the baggage return task," and "the loading rate required for the robot to complete the baggage pick-up task and the baggage return task."

[0225] The luggage conveying apparatus provided in this embodiment can be used to implement the technical schemes of the method embodiments shown in Figures 2, 3 and 4, and the realization principles and technical effects thereof are similar, so they will not be described again here.

[0226] In this embodiment, the position information and free slot information of the robot are acquired, and the second transport task is assigned to the robot based on the position information, the free slot information, and the first target position included in the first transport task. One of the first transport task and the second transport task is a baggage pick-up task and the other is a return task. This allows the robot to flexibly set the transport policy to pick up the baggage while returning it, improve the rationality of the route plan, reduce the total work time and travel distance of the robot, and not only save energy consumption but also effectively improve the efficiency of transporting the baggage.

[0227] 7 is a structural schematic diagram of a luggage transport device according to a sixth embodiment of the present application. As shown in FIG. 7, the luggage transport device provided in this embodiment may include a sending module 61 that reports location information and free slot information to a server and acquires a transport task sequence to execute a first transport task, and an execution module 62 that executes a second transport task during execution of the first transport task. One of the first transport task and the second transport task is a luggage pick-up task and the other is a return task. The second transport task is acquired during execution of the first transport task, or the second transport task is included in the acquired transport task sequence.

[0228] In some optional embodiments, when the second conveying task is a return task, the execution module 62 specifically obtains a first target position from the first conveying task and obtains a return position of the second target from the second conveying task, and while traveling toward the first target position, reaches the return position of the second target and executes the return task, and travels to the first target position and executes the luggage pick-up task.

[0229] In some alternative embodiments, the return location of the second object in the second transport task includes an initial storage location of the second object, or a location of an empty storage location, or a location of the first object.

[0230] In some selectable embodiments, the execution module 62 specifically obtains a position corresponding to U vacant storage locations from the second transport task, where the distance between the position corresponding to the U vacant storage locations and the luggage pick-up route of the robot is within a first predetermined range, U is a natural number greater than 0, and the luggage pick-up route is generated based on the position information and the first target position included in the first transport task.

[0231] In some selectable embodiments, the execution module 62 specifically obtains a position corresponding to the U empty storage locations from the second transport task, where the distance between the position corresponding to the U empty storage locations and the robot is within a second predetermined range, U is a natural number greater than 0, and the baggage pick-up route is generated based on the position information and the first target position included in the first transport task.

[0232] In some selectable embodiments, the execution module 62 specifically obtains a position corresponding to U vacant storage locations from the second transport task, where a first increased consumption time caused when the robot returns the package according to the position corresponding to the U vacant storage locations is equal to or less than a first predetermined threshold, and U is a natural number greater than 0.

[0233] In some selectable embodiments, the execution module 62 specifically acquires a position corresponding to the U vacant storage locations from the second transport task, where a first movement distance increased when the robot returns the package according to the position corresponding to the U vacant storage locations is equal to or less than a second predetermined threshold, and U is a natural number greater than 0.

[0234] In some optional embodiments, the execution module 62 specifically obtains a first target location from a first conveyance task and obtains a luggage pick-up location of a second target from a second conveyance task, and while traveling toward the first target location, reaches the luggage pick-up location of the second target, executes the luggage pick-up task, and travels to the first target location and executes the return task.

[0235] In some selectable embodiments, the execution module 62 specifically obtains the baggage pick-up positions of the N second targets from the second transportation task, where the distance between the baggage pick-up positions of the N second targets and the return route is within a predetermined range, and the return route is generated based on the position information and the first target position included in the first transportation task.

[0236] In some selectable embodiments, the execution module 62 specifically obtains N baggage pick-up positions of the second target from the second transport task, where a second increased consumption time caused when the robot picks up the baggage according to the N baggage pick-up positions of the second target is equal to or less than a third predetermined threshold, and N is a natural number greater than 0.

[0237] In some selectable embodiments, the execution module 62 specifically obtains the baggage pick-up positions of the N second targets from the second transport task, where the distance between the baggage pick-up positions of the N second targets and the robot is within a fourth predetermined range, and the return route is generated based on the position information and the first target position included in the first transport task.

[0238] In some optional embodiments, the first transport task and the second transport task are associated with one or more constraints including "the total travel time for the robot to complete the baggage pick-up task and the baggage return task," "the total number of baggage pick-up and return operations performed by the robot to complete the baggage pick-up task and the baggage return task," "the total travel distance for the robot to complete the baggage pick-up task and the baggage return task," and "the loading rate for the robot to complete the baggage pick-up task and the baggage return task."

[0239] The luggage conveying apparatus provided in this embodiment can be used to implement the technical scheme of the method embodiment shown in FIG. 5, and the realization principle and technical effect thereof are similar, so they will not be described again here.

[0240] In this embodiment, the location information and free slot information are reported to the server during the execution of the first transport task, and the second transport task allocated from the server is received, one of the first transport task and the second transport task is a baggage pick-up task and the other is a return task, and the second transport task is executed during the execution of the first transport task. This allows the transport policy to be flexibly set to allow the robot to pick up baggage while returning it, improves the rationality of route planning, reduces the total work time and travel distance of the robot, and not only saves energy consumption but also effectively improves the efficiency of transporting baggage.

[0241] Fig. 8 is a structural schematic diagram of a server according to a seventh embodiment of the present application. As shown in Fig. 8, a server 70 provided in this embodiment includes a processor 71 and a memory 72 for storing instructions executable by the processor, which may be a flash memory (registered trademark). The processor 71 is configured to execute the executable instructions to perform each step in the above method. For details, please refer to the related description in the above method embodiment.

[0242] Optionally, the memory 72 may be separate or integrated with the processor 71 .

[0243] If the memory 72 is an independent device external to the processor 71 , the server 70 may further include a bus 73 connecting the processor 71 and the memory 72 .

[0244] The server provided in this embodiment can be used to implement the technical schemes of the method embodiments shown in Figures 2, 3 and 4, and the realization principles and technical effects thereof are similar, so they will not be described again here.

[0245] In this embodiment, while the robot is performing the first transport task, the position information and free slot information of the robot are acquired, and the second transport task is assigned to the robot based on the position information, the free slot information, and the first target position included in the first transport task. One of the first transport task and the second transport task is a baggage pick-up task, and the other is a return task. This allows the robot to flexibly set the transport policy to pick up the baggage while returning it, improve the rationality of the route plan, reduce the total work time and travel distance of the robot, and not only save energy consumption but also effectively improve the efficiency of transporting the baggage.

[0246] The present embodiment further provides a robot. The robot includes a robot body and a plurality of slots disposed on the robot body and used for placing luggage. The robot body further includes a memory and a processor, the memory storing executable instructions for the processor. The processor is configured to execute the executable instructions to perform the luggage transport method shown in FIG. 5.

[0247] The present embodiment further provides a warehouse system. The warehouse system includes a robot, a server, a rack, and an operation platform, and the robot and the server are communicatively connected. The server executes the baggage transport method shown in Figures 2, 3, and 4. The robot executes the baggage transport method shown in Figure 5 to realize the baggage transport between the rack and the operation platform.

[0248] FIG. 9 is a structural schematic diagram of a robot provided in an embodiment of the present application. As shown in FIG. 9, a robot 80 includes a robot body 81, a base 83, a conveying device 84, an adjustment unit 85, and a plurality of slots 82 installed on the robot body 81. The adjustment unit 85 drives the conveying device 84 to move up and down, and aligns the conveying device 84 with any one of the slots 82 of the robot body 81 or a storage location on a warehouse rack where a corresponding target exists. The conveying device 84 can be aligned with the slot 82 or the storage location on the warehouse rack by rotating around a vertical axis to adjust its orientation. The conveying device 84 is used to load or unload the target, and transports the target between the warehouse rack and the slot.

[0249] The robot 80 in the above embodiment can implement the load transfer method shown in FIG. 5 to realize load transfer between the rack and the operation platform.

[0250] For example, the robot 80 receives a transport task transmitted from a server and determines a travel route based on the position of a target object in the transport task. For example, while traveling toward a first target object position, the robot 80 first arrives at a second target object position and executes a transport task, and then travels to the first target object position and executes a transport task. The transport task may be a baggage pick-up task or a baggage return task.

[0251] For example, when the robot 80 executes a return task, the return location of the target may be the initial storage location of the target of the return task, or the location of an empty storage space, or the storage location of the target of the baggage retrieval task.

[0252] For example, in the process of executing a luggage pick-up task by the robot 80, the robot 80 moves to a storage position of the target of the luggage pick-up task, and cooperates with the transport device 84 via the adjustment unit 85 to transport the target of the luggage pick-up task from a storage location on the rack to one of the empty slots of the robot body 81.

[0253] For example, in the process of executing the return task of the robot 80, the robot 80 moves to a storage position corresponding to the return position, and cooperates with the transport device 84 via the adjustment unit 85 to transport the object from the slot of the robot body 81 to a storage location on the rack. Note that the storage location on the rack may be the initial storage location of the target object or an empty storage location.

[0254] For example, when the target object does not need to be returned to its original storage location, one method of increasing efficiency is to take the target object to be returned from the slot of the robot body 81, and then control the transport device 84 with the adjustment unit 85 to place the target object to be returned in the warehouse location that was vacated when the baggage pick-up task was completed. In other words, the storage location corresponding to the baggage pick-up task and the storage location corresponding to the return task are the same storage location. This method can reduce the total distance traveled by the robot to perform the transport task, and at the same time, reduce the total time consumed by the robot to perform the transport task.

[0255] Fig. 10 is a structural schematic diagram of a robot provided in an embodiment of the present application. As shown in Fig. 10, the robot provided in the embodiment of the present application includes a mobile chassis 1, a robot rack 2, a lifting device, and an article transport device. The mobile chassis 1 is a support structure for the robot and is used to support and carry other components and / or devices of the robot while traveling. In this embodiment, the mobile chassis 1 moves within a warehouse area while carrying the robot rack 2 and a target stored in the robot rack 2.

[0256] Exemplarily, the robot rack 2 is attached to a mobile chassis 1. The mobile chassis 1 is configured to move to a first target position included in a first transport task and to move to a second target position included in a second transport task. One of the first transport task and the second transport task is a baggage pick-up task, and the other is a return task. The lifting device and the item transporting device are attached to the robot rack. The lifting device is configured to drive the item transporting device to move up and down relative to the robot rack. The item transporting device is configured to transport the first target between the robot rack and the first target position, and to transport the second target between the robot rack and the second target position. Note that the robot executes the second transport task while executing the first transport task.

[0257] By way of example, when the second transport task is a return task, the mobile chassis 1 reaches a return position while traveling toward the first target position, and the item transport device and the lifting device work together to transport the second target from the robot rack to the return position.

[0258] Exemplarily, the return location is one of the initial storage location of the second target, the location of an empty storage space, and the location of the first target, and if the return location is the location of the first target, the item transport device transports the first target to the robot rack and then transports the second target to the location of the first target.

[0259] Illustratively, the article transport apparatus includes at least one transport mechanism that is attached to the robotic rack and used to transport objects in and out of the robotic rack.

[0260] Illustratively, the article handling device includes a suction fork unit and / or a clamping robotic arm.

[0261] Exemplarily, when the article transport apparatus includes at least two transport mechanisms, the at least two transport mechanisms are installed in parallel or at different stages along the lifting direction.

[0262] Exemplarily, when the at least two transport mechanisms are installed in parallel, the at least two transport mechanisms are located in a robot rack, and the at least two transport mechanisms are of an integral structure.

[0263] For example, when at least two transport mechanisms are installed in parallel, the robot rack includes three or more columns located in the same vertical plane and mounted on a moving chassis, and each transport mechanism is mounted between two adjacent columns and moves up and down relative to the columns, and the transport mechanisms are installed so that they can move relative to each other or cannot.

[0264] For example, when at least two transport mechanisms are installed in parallel, the lifting device includes two lifting units, which are respectively mounted on opposite sides of the robot rack, and both ends of the article transport device are respectively connected to the two lifting units, and the two lifting units guide the article transport device to move up and down relative to the robot rack.

[0265] This embodiment does not specifically limit the structure of the robot rack 2. For example, in one possible embodiment, as shown in Fig. 10, the robot rack 2 includes two support columns installed vertically on the moving chassis 1, and each transport mechanism 4 is attached between the two support columns so as to be movable up and down relative to the support columns.

[0266] Optionally, the robot rack 2 includes three or more columns located on the same vertical plane and mounted on the mobile chassis 1, and each transport mechanism 4 is mounted between two adjacent columns and moves up and down relative to the columns. Note that two transport mechanisms on the same level can be designed as an integral structure, i.e., two transport mechanisms on the same level do not move relative to each other.

[0267] For example, when at least two transport mechanisms are installed at different stages along the lifting direction, the transport mechanisms are installed so that relative movement between them is permitted or is not permitted.

[0268] Exemplarily, when the at least two transport mechanisms are installed at different stages along the lifting direction, the at least two transport mechanisms are located in a robot rack, and the at least two transport mechanisms are of an integral structure.

[0269] For example, when at least two transport mechanisms are installed at different stages along the lifting direction, the lifting device includes two lifting units, which are respectively mounted on opposite sides of the robot rack, and both ends of each transport mechanism are respectively connected to the two lifting units, which guide each transport mechanism to move up and down relative to the robot rack.

[0270] Illustratively, when there are two transport mechanisms, one transport mechanism is used to transport objects on the warehouse rack to the robot rack, and the other transport mechanism is used to transfer objects on the robot rack to the warehouse rack.

[0271] For example, when the robot performs a luggage pick-up task, the robot travels to a luggage pick-up position for a first object, and one of the transport mechanisms of the item transport device moves to the luggage pick-up position for the first object by means of a lifting device, picks up the first object from a warehouse rack, and places it on the robot rack.

[0272] Illustratively, after completing the luggage pick-up task for the first object, a transport mechanism of one of the item transport devices moves a second object on the robot rack to a luggage pick-up position for the first object using a lifting device, and sends the second object to the luggage pick-up position for the first object.

[0273] For example, when the robot performs a return task, the robot travels to a return position for the second object, and one of the transport mechanisms of the item transport device moves the second object on the robot rack to the return position for the second object using the lifting device, and sends the second object to the return position for the second object.

[0274] Illustratively, the robot rack is provided with at least two storage locations for storing objects.

[0275] Exemplarily, the transport mechanism includes a temporary storage plate and two telescopic arms arranged parallel to and facing the temporary storage plate, an inner arm of the telescopic arms includes a transport unit, and the transport unit includes a push rod unit and / or a clamping unit.

[0276] The robot in this embodiment includes a moving chassis, a robot rack, a lifting device, and an item transport device, and the robot rack is attached to the moving chassis, and the moving chassis is configured to move to a first target position included in a first transport task and to a second target position included in a second transport task. One of the first transport task and the second transport task is a baggage pick-up task, and the other is a return task. The lifting device and the item transport device are attached to the robot rack. The robot executes the second transport task while executing the first transport task. This allows the transport policy to be flexibly set, and the baggage can be picked up while being returned during transport, effectively improving the efficiency of baggage transport.

[0277] 11 is a schematic diagram of a second structure of the robot provided in the embodiment of the present application. As shown in FIG 11, the robot rack 2 includes four support columns vertically installed on the moving chassis 1, and the four support columns surround a cubic space. A number of partition plates are installed between the four support columns, and the multiple partition plates divide the cubic space into a number of storage positions 21 for storing objects, and each storage position 21 can hold one or more objects.

[0278] The lifting device and the article transport device are attached to the robot rack 2, and the lifting device drives the article transport device to move up and down relative to the robot rack 2, allowing the article transport device to transport objects at different altitudes.

[0279] Specifically, the lifting unit 3 includes a driving wheel 31, a driven wheel 32, and a transmission belt 33. The driving wheel 31 is attached to the lower end of the robot rack 2, and the driven wheel 32 is attached to the top end of the robot rack 2. , Transmission The feed belt 33 is fitted to the driving wheel 31 and the driven wheel 32. The driving wheel 31 can be connected to the output shaft of a motor, which drives the driving wheel 31 to rotate, the driving wheel 31 guides the transmission belt 33 to move, and the transmission belt 33 guides the article conveying device to move up and down. When the motor rotates forward or backward, the motor drives the driving wheel 31 to rotate forward or backward, and the transmission belt 33 guides the article conveying device to move up or down. This allows the article conveying device to pick up objects located at different positions or heights, or to place objects in storage locations at different positions or heights on the warehouse rack.

[0280] Specifically, the lifting unit 3 includes a driving wheel 31, a driven wheel 32, and a transmission belt 33, the driving wheel 31 is attached to the lower end of the robot rack 2, the driven wheel 32 is attached to the top end of the robot rack 2, and the transmission belt 33 located at 32 is fitted to the driving wheel 31 and the driven wheel 32. The driving wheel 31 can be connected to the output shaft of a motor, the motor drives the driving wheel 31 to rotate, the driving wheel 31 guides the transmission belt 33 to move, and the transmission belt 33 guides the article conveying device to move up and down. When the motor rotates forward or backward, the motor drives the driving wheel 31 to rotate forward or backward, and the transmission belt 33 guides the article conveying device to move up or down. This allows the article conveying device to pick up objects located at different positions or heights, or to place the objects in storage locations at different positions or heights on the warehouse rack.

[0281] For example, the driving wheel 31 and the driven wheel 32 are both belt pulleys, and the transmission belt 33 is a flat belt, an open-loop flat belt, etc. In this way, the article transport device can be driven by the belt to move up and down relative to the robot rack 2, and the structure is simple.

[0282] Based on the above embodiment, in order to improve the efficiency of transportation, the article transportation device includes at least two transportation mechanisms 4, which are installed on the same level, connected together and attached to the robot rack 2. Each transportation mechanism 4 is used to take in and out the target object.

[0283] It should be noted that "at least two transport mechanisms 4" means that the number of transport mechanisms 4 is two or more than two.

[0284] Exemplarily, the article transport device includes two transport mechanisms 4 installed on the same level and connected together. For ease of explanation, in this embodiment, the two transport mechanisms 4 are referred to as a first transport mechanism and a second transport mechanism, and the first transport mechanism and the second transport mechanism are installed on the same level, connected together, and attached to the robot rack 2. The first transport mechanism and the second transport mechanism can be connected by a mounting plate or the like so that the first transport mechanism and the second transport mechanism do not move relative to each other.

[0285] Selectively, when performing the transport task, the first transport mechanism and the second transport mechanism may be used to simultaneously remove different objects from the warehouse rack, thereby realizing a transport policy of simultaneous removal, or may be used to simultaneously store multiple objects in different storage locations on the warehouse rack, thereby realizing a transport policy of simultaneous storage. Alternatively, the first transport mechanism may be used to remove objects from the warehouse rack, and the second transport mechanism may be used to store objects to be stored in vacant storage locations on the warehouse rack, thereby realizing a transport policy of storing while removing. Note that the vacant storage locations on the warehouse rack include vacant storage locations that have been emptied by removing objects from the first transport mechanism. In this way, the robot can simultaneously perform multiple removal tasks, multiple storage tasks, or removal and storage tasks, thereby increasing the transport efficiency of the robot and reducing the time consumed by the robot when removing and removing objects.

[0286] For example, when the transport tasks of the first transport mechanism and the second transport mechanism are both baggage pick-up tasks, a baggage pick-up route for the first transport mechanism or the second transport mechanism is generated based on the current position of the robot and the position of the target object to be picked up. Then, one or more baggage pick-up tasks of another transport mechanism 4 are inserted into the baggage pick-up route, thereby realizing the purpose of picking up multiple targets simultaneously, improving the transport efficiency of the robot, and reducing the time consumed in picking up the targets.

[0287] Alternatively, if the transport tasks of the first transport mechanism and the second transport mechanism are both to store the target object in an empty storage location on the warehouse rack, a storage route for the first transport mechanism or the second transport mechanism is generated based on the current position of the robot and the position of the empty storage location on the warehouse rack corresponding to the storage of the target object. Then, by inserting one or more storage tasks of another transport mechanism 4 into the route, the purpose of storing multiple targets simultaneously can be realized, the transport efficiency of the robot can be increased, and the time consumed in storing the targets can be reduced.

[0288] Alternatively, if the transport task of the first transport mechanism is a pick-up task and the transport task of the second transport mechanism is a storage task, a luggage pick-up route is generated based on the current position of the robot and the position of the target object to be picked up by the first transport mechanism, and then one or more luggage pick-up tasks of the second transport mechanism are inserted into the luggage pick-up route, thereby realizing a transport policy of storing while picking up, thereby increasing the transport efficiency of the robot and reducing the time spent putting in and taking out the target objects.

[0289] In addition, the transport task of the first transport mechanism may be a storage task and the transport task of the second transport mechanism may be a luggage unloading task. In that case, the transport principle is the same as in the above embodiment, so it will not be described separately again here.

[0290] In one embodiment, the transport task of the first transport mechanism is a baggage removal task, and the transport task of the second transport mechanism is a storage task, and after the first transport mechanism removes the target object, the second transport mechanism stores the target object to be stored in the empty storage space that became vacant after the first transport mechanism removed the baggage. At this time, the robot moves horizontally and only needs to align the second transport mechanism with the empty storage space that became vacant after the first transport mechanism removed the baggage, and there is no need to move on other unnecessary routes, so the time consumed in storing the target object is minimized and transport efficiency is maximized.

[0291] Furthermore, the conveying mechanism 4 includes a temporary storage plate 41 and an extendable arm 42 attached to the temporary storage plate 41, and the temporary storage plate 41 is used to temporarily store luggage to be moved between the warehouse rack and the robot rack 2. The temporary storage plate 41 may be a horizontally arranged metal plate, a non-metal plate, or other structure. The extendable arm 42 is attached to the temporary storage plate 41 and is movable along the extension direction, so that the extendable arm 42 can pull out a target object on the warehouse rack or the robot rack 2 to the temporary storage plate 41, or push out a target object on the temporary storage plate 41 to the warehouse rack or the robot rack 2.

[0292] Optionally, there are two telescopic arms 42, which are installed parallel and opposite to each other on both sides of the temporary storage plate 41, and the two telescopic arms 42 jointly pull out a target object on the warehouse rack or the robot rack 2 to the temporary storage plate 41, or push out a target object on the temporary storage plate 41 to an empty storage space on the warehouse rack or a storage position 21 on the robot rack 2.

[0293] In one possible embodiment, the telescopic arm 42 includes an outer arm 423, an inner arm 421 and a transport unit. Optionally, the transport unit can be a push rod unit 43. The outer arm 423 is attached to the temporary storage plate 41, the inner arm 421 is attached to the outer arm 423, and the push rod unit 43 is attached to the inner arm 421. The inner arm 421 is movable relative to the outer arm 423. In this way, the inner arm 421 guides and moves the push rod unit 43, so that the push rod unit 43 can push and move the target object.

[0294] That is, on each of the opposing sides of the temporary storage plate 41, an outer arm 423, an inner arm 421 attached to the outer arm 423, and a push rod unit 43 attached to the inner arm 421 are provided.

[0295] The push rod unit 43 includes a first push rod 431, which is attached to the tip surface of the inner arm 421. The tip of the inner arm 421 is one end that approaches the warehouse rack. There are two telescopic arms 42, which are installed parallel and opposite to each other on the temporary storage plate 41, so there are also two inner arms, which are installed parallel and opposite to each other, and a first push rod 431 is provided on each tip surface of the two inner arms 421. The two first push rods 431 can rotate to a horizontal position simultaneously and are installed opposite to each other, or the two first push rods 431 can rotate to a vertical position simultaneously.

[0296] Alternatively, the transport unit may be a clamping unit. The target object is transported by combining the clamping of the target object and the inner arm 421 guiding and moving the transport unit. The clamping units are mounted on the inner side of the inner arm 421 so as to be extendable and retractable facing each other. Alternatively, the telescopic arms 42 are designed to be extendable and retractable facing each other, forming a structure capable of clamping or releasing the target object. In the example corresponding to the structure of the robot of the present application, the transport unit may be applied to the design of a similar or similar transport mechanism such as, but not limited to, the push rod unit 43, the clamping unit, the clamping robot arm, the suction cup fork unit, etc.

[0297] When it is necessary to take out a target object on a warehouse rack, the article transport device first moves up and down until the temporary storage plate 41 and the storage location of the target object are flush with each other, and the inner arm 421 moves toward the target object. At this time, the first push rod 431 on the inner arm 421 is in a vertical state, but when the tip of the inner arm 421 moves to the rear end of the target object, the first push rod 431 rotates to a horizontal state, and the first push rod 431 abuts against the rear end surface of the target object. When the inner arm 421 moves toward the temporary storage plate 41, the first push rod 431 moves toward the temporary storage plate 41 while pushing the target object, thereby transporting the target object from the warehouse rack onto the temporary storage plate 41. When it is necessary to store the target object on the temporary storage plate 41 in the warehouse rack, the first push rod 431 pushes the tip of the target object, and the inner arm 421 moves toward the warehouse rack to send the target object to an empty storage location on the warehouse rack. The leading end of the target is the end closest to the temporary storage plate 41, and the end opposite to the leading end of the target is the trailing end of the target.

[0298] Further, the push rod unit 43 includes a second push rod 432. The second push rod 432 is attached to the rear end surface of the inner arm 421 and can rotate to a horizontal or vertical position with respect to the rear end surface of the inner arm 421, and the second push rod 432 delivers a target object on the temporary storage plate 41 to the robot rack 2, or delivers a target object on the robot rack 2 to the temporary storage plate 41.

[0299] Specifically, when a target object on the storage position 21 corresponding to the robot rack 2 needs to be transported to the temporary storage plate 41, the second push rod 432 first becomes vertical, and the inner arm 421 moves toward the robot rack 2. When the tip surface of the inner arm 421 moves to the rear end surface of the target object, the second push rod 432 rotates to a horizontal state, and the second push rod 432 abuts against the rear end surface of the target object. At this time, the inner arm 421 moves toward the temporary storage plate 41, and the second push rod 432 pushes the target object and moves toward the temporary storage plate 41, thereby moving the target object to the temporary storage plate 41. When a target object on the temporary storage plate 41 needs to be transported to the storage position 21 corresponding to the robot rack 2, the second push rod 432 abuts against the tip of the target object, and the inner arm 421 guides the second push rod 432 to move toward the storage position 21 of the robot rack 2, thereby sending the target object on the temporary storage plate 41 to the corresponding storage position 21.

[0300] Based on the above embodiment, in order to extend the telescopic route of the telescopic arm 42, the telescopic arm 42 further includes at least one middle arm 422. The middle arm 422 is attached between the inner arm 421 and the outer arm 423, and is connected to the inner arm 421 and the outer arm 423. The middle arm 422 is movable relative to the outer arm 423, and the inner arm 421 is movable relative to the middle arm 422. Depending on the telescopic length, multiple middle arms 422 can be installed between the inner arm 421 and the outer arm 423 to extend the movement route of the telescopic arm, thereby realizing the insertion and removal of large-sized objects.

[0301] Furthermore, the push unit further includes a driving member, which is respectively connected to the first push rod 431 and the second push rod 432, and the driving member rotates the first push rod 431 and the second push rod 432 relative to the end face of the inner arm 421, thereby rotating the first push rod 431 and the second push rod 432 to a horizontal or vertical position.

[0302] In the robot provided in the embodiments of the present application, the item transport device includes at least two transport mechanisms, each of which is installed on the same level and connected together. When the robot is used to perform transport operations, these transport mechanisms simultaneously perform multiple transport tasks to realize a transport policy of simultaneous removal, simultaneous storage, or removal and storage, thereby improving transport efficiency and reducing the time consumed in taking in and out the target objects.

[0303] FIG. 12 is a schematic diagram of a third structure of the robot provided in the embodiment of the present application. As shown in FIG. 12, the robot provided in the embodiment of the present application includes a mobile chassis 1, a robot rack 2, a lifting device, and at least two article transport devices 4. The mobile chassis 1 is a support structure of the robot and is used to support and carry other members and / or devices of the robot while traveling. In this embodiment, the robot rack 2 is attached to the mobile chassis 1. In this manner, the mobile chassis 1 can move within a warehouse area while carrying the robot rack 2 and the target stored in the robot rack 2.

[0304] This embodiment does not specifically limit the structure of the robot rack 2. For example, in one possible embodiment, as shown in Fig. 10, the robot rack 2 includes two support columns installed vertically on the moving chassis 1, and each transport mechanism 4 is attached between the two support columns so as to be movable up and down relative to the support columns.

[0305] 13 is a schematic diagram of a fourth structure of the robot provided in the embodiment of the present application. As shown in FIG 13, the robot rack 2 includes four support columns vertically installed on the moving chassis 1, and the four support columns surround a cubic space. A number of partition plates are installed between the four support columns, and the multiple partition plates divide the cubic space into a number of storage positions 21 for storing objects, and each storage position 21 can hold one or more objects.

[0306] Note that at least two transport mechanisms 4 indicates that there are two or more transport mechanisms 4. In one embodiment, there are two transport mechanisms 4, and the two transport mechanisms 4 can be connected together by a connecting plate.

[0307] The lifting device and two or more transport mechanisms 4 are attached to the robot rack 2, and the lifting device drives each transport mechanism 4 to move up and down relative to the robot rack 2, so that each transport mechanism 4 can transport objects at different heights. Optionally, the lifting device usually includes two lifting units 3. The two lifting units 3 are attached opposite each other on both sides of the robot rack 2. For example, they are attached to two opposing columns on the side approaching the warehouse rack. Each transport mechanism 4 is located between the two lifting units 3, and both ends of each transport mechanism 4 are connected to the two lifting units 3, respectively. The lifting units guide each transport mechanism 4 to move up and down relative to the robot rack 2.

[0308] Specifically, the lifting unit 3 includes a driving wheel 31, a driven wheel 32, and a transmission belt 33, the driving wheel 31 is attached to the lower end of the robot rack 2, the driven wheel 32 is attached to the top end of the robot rack 2, and the transmission belt 33 is fitted to the driving wheel 31 and the driven wheel 32. The driving wheel 31 can be connected to the output shaft of a motor, the motor drives the driving wheel 31 to rotate, the driving wheel 31 guides the transmission belt 33 to move, and the transmission belt 33 guides the article conveying device to move up and down. When the motor rotates forward or backward, the motor drives the driving wheel 31 to rotate forward or backward, and the transmission belt 33 guides each conveying mechanism 4 to move up or down. This allows each conveying mechanism 4 to pick up targets located at different positions or altitudes, or place the targets in storage locations at different positions or altitudes of the warehouse rack.

[0309] Based on the above embodiment, two or more transport mechanisms 4 are installed on different stages along the lifting direction to improve transport efficiency. When using the robot to perform transport work, these transport mechanisms simultaneously execute multiple transport tasks to realize a transport policy of simultaneous take-out, simultaneous storage, or take-out and storage, thereby improving transport efficiency and reducing the time consumed for taking in and out the target object.

[0310] By way of example, there are two transport mechanisms 4, and the two transport mechanisms 4 are installed on different stages along the lifting direction. For ease of explanation, in this embodiment, the two transport mechanisms 4 are referred to as a first transport mechanism and a second transport mechanism, respectively. The first transport mechanism and the second transport mechanism are installed on different stages on the robot rack 2 along the lifting direction.

[0311] When performing the transport task, the first transport mechanism and the second transport mechanism may be used to simultaneously remove different objects from the warehouse rack, or may be used to simultaneously store multiple objects in different storage locations on the warehouse rack. Alternatively, the first transport mechanism may be used to remove objects from the warehouse rack, and the second transport mechanism may be used to store the objects to be stored in vacant storage locations on the warehouse rack. The vacant storage locations on the warehouse rack include vacant storage locations that have been vacated by the first transport mechanism removing objects. In this way, the robot can simultaneously perform multiple removal tasks, multiple storage tasks, or removal and storage tasks, thereby improving the transport efficiency of the robot and reducing the time consumed by the robot when removing and inserting objects.

[0312] For example, when the transport tasks of the first transport mechanism and the second transport mechanism are both baggage pick-up tasks, a baggage pick-up route for the first transport mechanism or the second transport mechanism is generated based on the current position of the robot and the position of the target object to be picked up. Then, one or more baggage pick-up tasks of another transport mechanism 4 are inserted into the baggage pick-up route, thereby realizing the purpose of picking up multiple targets at once, improving the transport efficiency of the robot, and reducing the time consumed in picking up the targets.

[0313] Alternatively, if the transport tasks of the first transport mechanism and the second transport mechanism are both to store the target object in an empty storage location on the warehouse rack, a storage route for the first transport mechanism or the second transport mechanism is generated based on the current position of the robot and the location of the empty storage location on the warehouse rack corresponding to the storage of the target object. Then, by inserting one or more storage tasks of another transport mechanism 4 into the route, the purpose of storing multiple targets at one time can be realized, the transport efficiency of the robot can be increased, and the time consumed in storing the targets can be reduced.

[0314] Alternatively, if the transport task of the first transport mechanism is a pick-up task and the transport task of the second transport mechanism is a storage task, a luggage pick-up route is generated based on the current position of the robot and the position of the target object to be picked up by the first transport mechanism, and then one or more luggage pick-up tasks of the second transport mechanism are inserted into the luggage pick-up route, thereby realizing a transport policy of storing while picking up, thereby increasing the transport efficiency of the robot and reducing the time spent putting in and taking out the target objects.

[0315] In addition, the transport task of the first transport mechanism may be a storage task and the transport task of the second transport mechanism may be a luggage unloading task. In that case, the transport principle is the same as in the above embodiment, so it will not be described separately again here.

[0316] In one embodiment, the transport task of the first transport mechanism is a baggage pick-up task, and the transport task of the second transport mechanism is a storage task, and after the first transport mechanism picks up the target object, the second transport mechanism stores the target object to be stored in the vacant storage space that became vacant after the first transport mechanism picked up the baggage. At this time, the second transport mechanism only needs to move along the lifting direction, and the robot does not need to move on other unnecessary routes, so the time consumed in storing the target object is minimized and transport efficiency is maximized.

[0317] Furthermore, the transport mechanism 4 includes a temporary storage plate 41 and an extendable arm 42 attached to the temporary storage plate 41, and the temporary storage plate 41 is used to temporarily store luggage to be moved between the warehouse rack and the robot rack 2. The temporary storage plate 41 may be a horizontally arranged metal plate, a non-metallic plate, or other structure. The extendable arm 42 is attached to the temporary storage plate 41 and is movable toward or away from a target object, so that the extendable arm 42 can pull out a target object on the warehouse rack or the robot rack 2 to the temporary storage plate 41, or push out a target object on the temporary storage plate 41 to the warehouse rack or the robot rack 2.

[0318] Optionally, there are two telescopic arms 42, which are installed opposite each other on both sides of the temporary storage plate 41, and the two telescopic arms 42 jointly pull out a target object on the warehouse rack or the robot rack 2 to the temporary storage plate 41, or push out the target object on the temporary storage plate 41 to an empty storage space on the warehouse rack or a storage position 21 on the robot rack 2.

[0319] In one possible embodiment, the telescopic arm 42 includes an outer arm 423, an inner arm 421 and a push rod unit 43, the outer arm 423 is attached to the temporary storage plate 41, the inner arm 421 is attached to the outer arm 423, and the push rod unit 43 is attached to the inner arm 421. The inner arm 421 is movable relative to the outer arm. In this way, the inner arm 421 guides and moves the push rod unit 43, so that the push rod unit 43 can push and move an object.

[0320] The push rod unit 43 includes a first push rod 431, which is attached to the tip surface of the inner arm 421. The tip of the inner arm 421 is one end that approaches the warehouse rack. Of the two telescopic arms installed in parallel and facing each other, a first push rod 431 is provided on each tip surface of the two opposing inner arms 421. The two first push rods 431 can rotate simultaneously to a horizontal position and are installed opposite each other, or the two first push rods 431 can rotate simultaneously to a vertical position.

[0321] When it is necessary to take out a target object on the warehouse rack, each transport mechanism first moves up and down along the lifting direction following the lifting unit until the temporary storage plate 41 and the storage location of the target object are flush with each other, and the inner arm 421 moves toward the target object. At this time, the first push rod 431 on the inner arm 421 is in a vertical state, but when the tip of the inner arm 421 moves to the rear end of the target object, the first push rod 431 rotates to a horizontal state, and the first push rod 431 abuts against the rear end surface of the target object. When the inner arm 421 moves toward the temporary storage plate 41, the first push rod 431 moves toward the temporary storage plate 41 while pushing the target object, thereby transporting the target object from the warehouse rack onto the temporary storage plate 41. When it is necessary to store the target object on the temporary storage plate 41 in the warehouse rack, the first push rod 431 pushes the tip of the target object, and the inner arm 421 moves toward the warehouse rack to push the target object into an empty storage location on the warehouse rack. The leading end of the target is the end closest to the temporary storage plate 41, and the end opposite to the leading end of the target is the trailing end of the target.

[0322] Further, the push rod unit 43 includes a second push rod 432. The second push rod 432 is attached to the rear end surface of the inner arm 421 and can rotate to a horizontal or vertical position with respect to the rear end surface of the inner arm 421, and the second push rod 432 pushes a target object on the temporary storage plate 41 to the robot rack 2, or pushes a target object on the robot rack 2 to the temporary storage plate 41.

[0323] Based on the above embodiment, in order to extend the telescopic route of the telescopic arm 42, the telescopic arm 42 further includes at least one middle arm 422. The middle arm 422 is attached between the inner arm 421 and the outer arm 423, and is connected to the inner arm 421 and the outer arm 423. Connected , the middle arm 422 is movable relative to the outer arm 423, and the inner arm 421 is movable relative to the middle arm 422. Depending on the extension length of the telescopic arm 42, a plurality of middle arms 422 can be installed between the inner arm 421 and the outer arm 423 so that the telescopic arm 42 can send a target object to a more distant position, or can send a target object from a more distant position to the temporary storage plate 41 or the robot rack 2.

[0324] Based on the above embodiment, in order to extend the telescopic route of the telescopic arm 42, the telescopic arm 42 further includes at least one middle arm 422. The middle arm 422 is attached between the inner arm 421 and the outer arm 423, and the middle arm 422 is movable relative to the inner arm 421 and the outer arm 423, and the inner arm 421 is movable relative to the middle arm 422. Depending on the telescopic length, the telescopic arm 42 can be provided with a plurality of middle arms 422 between the inner arm 421 and the outer arm 423, so that the telescopic arm 42 can send a target object to a more distant position, or can send a target object from a more distant position to the temporary storage plate 41 or the robot rack 2.

[0325] Furthermore, the push unit 43 further includes a driving member, which is respectively connected to the first push rod 431 and the second push rod 432, and the driving member rotates the first push rod 431 and the second push rod 432 relative to the end face of the inner arm 421, thereby rotating the first push rod 431 and the second push rod 432 to a horizontal or vertical position.

[0326] Fig. 14 is a schematic diagram of a fifth structure of the robot provided in the embodiment of the present application, and Fig. 15 is a schematic diagram of a sixth structure of the robot provided in the embodiment of the present application. Based on the above embodiments, the robot provided in the embodiment of the present application further includes a support beam, which is attached to the robot rack 2 and can move up and down relative to the robot rack 2. Each transport mechanism 4 is attached to the support beam and moves up and down relative to the robot rack 2 following the support beam.

[0327] The mounting frame consists of two opposing mounting Board and a carry beam connecting the two mounting plates, the two mounting plates being connected to the support beam. The rotating unit includes a loading plate on the carry beam, a rotating plate spaced apart from the loading plate, and a cross bearing for connecting the loading plate and the rotating plate. A first sprocket is connected to the cross bearing, and a second sprocket and a motor for driving and rotating the second sprocket are provided on the rotating plate. The first sprocket and the second sprocket are connected by a chain, and when the motor drives and rotates the second sprocket, the second sprocket guides and rotates the first sprocket via the chain, and when the first sprocket rotates, each conveying mechanism 4 on the rotating plate is moved and rotates around the axis of the first sprocket, rotating at least two conveying mechanisms 4 in different directions within a plane perpendicular to the lifting and lowering direction of the support beam.

[0328] The mounting frame further includes a carrying beam connecting the two mounting plates installed opposite to each other, and the two mounting plates are connected to the support beam. The rotating unit includes a loading plate on the carrying beam, a rotating plate installed at a distance from the loading plate, and a cross bearing for connecting the loading plate and the rotating plate. A first sprocket is connected to the cross bearing, and a second sprocket and a motor for driving and rotating the second sprocket are provided on the rotating plate. The first sprocket and the second sprocket are connected by a chain, and when the motor drives and rotates the second sprocket, the second sprocket guides and rotates the first sprocket via the chain, and when the first sprocket rotates, each conveying mechanism 4 on the rotating plate is moved and rotates around the axis of the first sprocket, causing at least two conveying mechanisms 4 to rotate in different directions within a plane perpendicular to the lifting and lowering direction of the support beam.

[0329] The robot provided in the embodiment of the present application includes a robot rack and two or more transport mechanisms attached to the robot rack, and these transport mechanisms are installed on different stages along the lifting direction. When the robot is used to perform a transport task, these transport mechanisms simultaneously perform multiple transport tasks to realize a transport policy of simultaneous take-out, simultaneous storage, or take-out and store, thereby improving transport efficiency and reducing the time consumed for taking in and out the target object.

[0330] This embodiment further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by at least one processor of the server, the server executes the method provided in each of the above embodiments.

[0331] This embodiment further provides a program product, which includes a computer program, and the computer program is stored in a readable storage medium. At least one processor of a server can read the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the server to perform the method provided in each of the above embodiments.

[0332] Finally, the above examples are used only to explain the technical scheme of the present application, and are not intended to be limiting. Although the present application has been described in detail with reference to the above examples, those skilled in the art can understand that the technical scheme described in the above examples can be further modified or equivalently substituted for some or all of the technical features. However, these modifications or substitutions do not cause the essence of the technical scheme to depart from the scope of the technical scheme of each example of the present application.

Claims

1. A robot including a moving chassis, a robot rack, a lifting device, and an article transport device, the robot rack is mounted on a moving chassis; The moving chassis is configured to move to a first target location included in a first transport task and to a second target location included in a second transport task; the first target position and the second target position are different; One of the first transport task and the second transport task is a baggage pick-up task and the other is a baggage return task, and the second transport task is a task inserted into an execution process of the first transport task; the lifting device and the item transport device are attached to the robot rack, and the lifting device is configured to drive the item transport device to move up and down relative to the robot rack; the article transport device is configured to transport a first object between the robot rack and the first object location and to transport a second object between the robot rack and the second object location; the robot executes the second transport task while executing the first transport task; The robot periodically or irregularly reports to the server information including at least the empty slot information among the position information and the empty slot information, or when the robot receives a request from the server, reports to the server information including at least the empty slot information among the position information and the empty slot information, the article transport device includes at least two transport mechanisms attached to the robot rack for loading and unloading objects; The at least two transport mechanisms are arranged in parallel along a direction perpendicular to a lifting direction, or are arranged at different stages along the lifting direction; When the at least two transport mechanisms are installed in parallel, the robot rack includes three or more support columns located in the same vertical plane and mounted on the moving chassis, each transport mechanism is mounted between two adjacent support columns and moves up and down relative to the support columns, and is installed so that relative movement between the transport mechanisms is allowed or not allowed, or When the at least two transport mechanisms are installed in parallel, the lifting device includes two lifting units, the two lifting units are respectively attached to opposite sides of the robot rack, and both ends of the item transport device are respectively connected to the two lifting units, and the two lifting units guide the item transport device to move up and down relative to the robot rack; When the at least two transport mechanisms are installed at different stages along the lifting direction, the transport mechanisms are installed so that relative movement between them is permitted or so that relative movement between them is not permitted, or When the at least two transport mechanisms are installed at different stages along a lifting direction, the lifting device includes two lifting units, the two lifting units are respectively attached to opposite sides of the robot rack, and both ends of each of the transport mechanisms are respectively connected to the two lifting units, and the two lifting units guide each of the transport mechanisms to move up and down relative to the robot rack. robot.

2. When the second transportation task is a return task, the second target position is a return position, the moving chassis reaches the return position while traveling toward the first target position, and the item transport device and the lifting device cooperate to transport the second target from the robot rack to the return position. The robot according to claim 1.

3. The return location is one of an initial storage location of the second target and a location of an empty storage space. The robot according to claim 2.

4. When there are two transport mechanisms, one transport mechanism is used to transport the object on the warehouse rack to the robot rack, and the other transport mechanism is used to transfer the object on the robot rack to the warehouse rack. The robot according to claim 1.

5. When the first transport task is the baggage pick-up task and the robot executes the first transport task, the robot travels to the first object position, which is an object pick-up position for a first object, and one transport mechanism of the item transport device moves to the object pick-up position for the first object by the lifting device, picks up the first object from a warehouse rack, and places it on the robot rack; or When the second transport task is a return task and the robot executes the second transport task, the robot travels to the second target position which is a return position of the second target, and one transport mechanism of the item transport devices moves the second target in the robot rack to the return position of the second target by the lifting device, and sends out the second target to the return position of the second target. The robot according to claim 1.

6. A method for transporting luggage performed by the robot according to claim 1, comprising: Obtaining a transport task sequence for executing a first transport task; executing a second transport task during execution of the first transport task; the first transport task includes a first target location, the second transport task includes a second target location, the first target location and the second target location are different, one of the first transport task and the second transport task is a baggage pick-up task and the other is a baggage return task; the second transport task is a task inserted into an execution process of the first transport task, The robot periodically or irregularly reports to the server information including at least the empty slot information among the position information and the empty slot information, or the robot reports to the server information including at least the empty slot information among the position information and the empty slot information when a request is received from the server. Luggage transport method.

7. When the second transport task is a return task, the step of executing the second transport task during the execution of the first transport task includes: acquiring a first target position from the first transport task and acquiring a return position of a second target from the second transport task; while traveling toward the first object location, arriving at a return location of the second object and executing a return task; and traveling to the first target location to perform a baggage pickup task. The method for transporting luggage according to claim 6.

8. The return position of the second target in the second transport task is the initial storage location of the second object or the location of an empty storage space; The method for transporting luggage according to claim 7.

9. The step of acquiring a return position of a second target from the second transport task includes: acquiring positions corresponding to U empty storage locations from the second transport task; A distance between a position corresponding to the empty storage space in the U location and a luggage pick-up route of the robot is within a first predetermined range, and / or a distance between the position corresponding to the empty storage space in the U location and the robot is within a second predetermined range; U is a natural number greater than 0, The baggage pick-up route is generated based on the position information and a first target position included in the first transportation task. The method for transporting luggage according to claim 8.

10. The step of acquiring a return position of a second target from the second transport task includes: acquiring positions corresponding to U empty storage locations from the second transport task; a first increase in time that occurs when the robot returns the luggage to a position corresponding to the empty storage space of the U location is equal to or less than a first predetermined threshold, and / or a first increase in moving distance that occurs when the robot returns the luggage to a position corresponding to the empty storage space of the U location is equal to or less than a second predetermined threshold, U is a natural number greater than 0. The method for transporting luggage according to claim 8.

11. When the second transportation task is a baggage pick-up task, the step of executing the second transportation task during the execution of the first transportation task includes: acquiring a first target position from the first transport task and acquiring a load unloading task position of a second target from the second transport task; while traveling toward the first target location, arriving at a baggage pick-up location of the second target and executing a baggage pick-up task; and traveling to the first object location to perform a return task. The method for transporting luggage according to claim 6.

12. The step of acquiring a baggage pick-up position of a second object from the second transportation task includes: acquiring N locations of baggage pick-up positions of second objects from the second transportation task; a distance between the N second target object baggage pick-up locations and the return route is within a third predetermined range, and / or a distance between the N second target object baggage pick-up locations and the robot is within a fourth predetermined range; N is a natural number greater than 0, The return route is generated based on the position information and a first target position included in the first transportation task. The method for transporting luggage according to claim 11.

13. The step of acquiring a baggage pick-up position of a second object from the second transportation task includes: acquiring N locations of baggage pick-up positions of second objects from the second transportation task; a second increase in time when the robot retrieves the luggage according to the luggage retrieval positions of the N second targets is equal to or less than a third predetermined threshold, and / or a second increase in movement distance when the robot retrieves the luggage according to the luggage retrieval positions of the N second targets is equal to or less than a fourth predetermined threshold, N is a natural number greater than 0. The method for transporting luggage according to claim 11.

14. The first transport task and the second transport task include The total travel time for the robot to complete the baggage pick-up and return tasks; and The total number of baggage pick-up and return operations that the robot performs to complete the baggage pick-up and return tasks; and The total distance traveled by the robot to complete the baggage pick-up task and the baggage return task; and and a loading rate for the robot to complete the baggage pick-up task and the baggage return task. The method for transporting luggage according to claim 6.

15. When a rack for placing luggage has two or more storage positions in a rack depth direction, and the target object position specified in the luggage pick-up task or the luggage return task is a second position or a position behind the second position of the storage positions, the luggage transport method further includes: transporting non-target loads to an open slot of the robot prior to placing the loads at the target locations; executing a pick or return task for the target location; returning the non-target load to its original storage location on the rack or returning the non-target load to an empty storage location; The free storage location belongs to the same rack as the target location or to a different rack. The method for transporting luggage according to claim 6.

16. receiving an assigned luggage sorting task from a server; and executing the luggage sorting task. The luggage arrangement task includes performing luggage arrangement on a target object and / or adjusting a storage position of the target object; The timing of executing the luggage sorting task is as follows: before the first transport task and the second transport task; Between the first transport task and the second transport task; After the first transport task and the second transport task, and during execution of any one task in a task sequence consisting of the first transport task and the second transport task. The method for transporting luggage according to claim 6.

17. A processor; a memory storing instructions executable by the processor; The processor is configured to execute the executable instructions to realize the method of transporting luggage according to any one of claims 6 to 16. server.

18. A robot according to any one of claims 1 to 5, a server according to claim 17, a rack, and an operation platform, The robot and the server are communicatively connected, the server allocates the first transport task and the second transport task to the robot; The robot performs the luggage transport method according to any one of claims 6 to 16 to realize luggage transport between the rack and the operation platform. Warehouse system.

19. A storage medium on which a computer program is stored, When the program is executed by a processor, the luggage conveying method according to any one of claims 6 to 16 is realized. storage medium.

20. A method for transporting luggage comprising the steps of: A computer executable program.

Images