WAREHOUSE MANAGEMENT METHOD, APPARATUS, DEVICE, MEDIUM, PROGRAM PRODUCT, AND SYSTEM

Abstract

The present disclosure provides a method, device, equipment, medium, program product, and system for warehouse management. In the method disclosed herein, before sending task information each time by the warehouse management system, the first operation parameter for completing the current task can be accurately calculated by learning the historical data records of past tasks, and the target robot for executing the current task operates according to the first operation parameter, and the current task can be smoothly completed without the need for error correction or with only simple correction, thereby improving the task execution efficiency and greatly improving the efficiency of loading and unloading the goods in the smart warehouse system.

Description

[Technical field]

[0001] This disclosure claims priority to a Chinese patent application, application number 202011599986.0, entitled "Warehouse management method, apparatus, device, medium, program product and system," filed with the China Patent Office on December 29, 2020, the entire contents of which are incorporated herein by reference.

[0002] The present invention relates to the technical field of smart warehouses, and in particular to a method, apparatus, device, medium, program product and system for warehouse management. [Background technology]

[0003] In a smart warehouse system, in the work of conventional robots, the location information of a storage location is usually transmitted to the robot, and the robot moves to the corresponding location to perform operations such as putting in and taking out boxes. Summary of the Invention [Problem to be solved by the invention]

[0004] Since there are differences between different racks, the arrangement angles of each box on the rack, the height of the box, etc., when the robot takes in or takes out a package, there is an error between the position of the fork and the actual position of the storage location or the target box in the storage location, and the robot cannot complete the operation of taking in or taking out the package until it has corrected the error. It takes a certain amount of time for the robot to correct the error, which leads to a decrease in the efficiency of the robot taking in and taking out the package. Means to solve the problem

[0005] The present disclosure provides a warehouse management method, device, equipment, medium, program product, and system for solving the problem of low efficiency of loading and unloading of goods by a robot. A warehouse management method provided as a first aspect of the present disclosure is a warehouse management method applied to a warehouse management system, and includes the steps of: acquiring a history data record corresponding to a current task based on first task information of the current task before transmitting task information; determining a first operation parameter of the current task based on the history data record; and transmitting task information including the first operation parameter to a target robot of the current task.

[0006] In one optional embodiment, the first task information of the current task includes information on one or more of the following: first target robot information, first target box information, and first target storage location information.

[0007] In one optional embodiment, after the step of transmitting task information including the first operation parameter to a target robot for the current task, the method further includes a step of recording a data record for the current task, wherein the data record includes a second operation parameter for the current task, the first operation parameter, and information on one or more aspects of the second target robot information, the second target box information, and the second target storage location information.

[0008] In one alternative embodiment, prior to the step of recording a data record of the current task, the method further includes the step of receiving a second operating parameter of the current task transmitted from the target robot.

[0009] In one optional embodiment, the step of recording the data records of the current task includes a step of recording second information of a target robot if a second operation parameter of a different robot for the same box in the same storage location does not converge based on data of past tasks within a certain period of time.

[0010] In one optional embodiment, if the second operating parameters of a different robot for the same box in the same storage location do not converge based on data from past tasks within a certain period of time, the step of recording the data records for the current task includes a step of recording second information of the target robot, wherein if the second operating parameters of a different type of robot for the same box in the same storage location do not converge based on data from past tasks within a certain period of time, the step of recording the data records for the current task includes a step of recording the type of the target robot.

[0011] In one optional embodiment, if the second operation parameters of a different robot for the same box in the same storage location do not converge based on data from past tasks within a certain period of time, the step of recording the data records for the current task includes a step of recording second information of the target robot, wherein if the second operation parameters of a different robot of the same type for the same box in the same storage location do not converge based on data from past tasks within a certain period of time, the step of recording the data records for the current task includes a step of recording the type and ID information of the target robot.

[0012] In one optional embodiment, the step of recording the data record of the current task includes, based on data of past tasks within a certain period of time, if a second operation parameter when the same robot operates a different box does not converge to the first expected operation parameter, the step of recording the data record of the current task includes a step of recording second information of the target box, wherein the second information of the target box includes at least one of a type, a size, a volume, and a weight of the box.

[0013] In one optional embodiment, the step of recording the data records of the current task includes, based on data of past tasks within a certain period of time, if the second operation parameter when the same robot operates the same box in a different storage location does not converge to the second expected operation parameter, the step of recording the data records of the current task includes a step of recording second information of the target storage location.

[0014] In one optional embodiment, the step of determining a first operation parameter for the current task based on the historical data records includes, if the current task is removing a box, determining a first operation parameter for removing the target box from the target storage location based on a second operation parameter of a first task that placed the target box of the current task in the target storage location and other historical data records.

[0015] In one optional embodiment, the step of determining a first operating parameter for the current task based on the historical data record includes, if the current task is putting away a box, determining a first operating parameter for putting a target box for the current task into a target storage location based on the historical data record.

[0016] In one optional embodiment, the step of obtaining a historical data record corresponding to the current task based on the first task information of the current task includes the steps of obtaining historical data records of all past tasks, and selecting from the historical data records of all past tasks a historical data record that matches at least one aspect of information among the target storage location, target box, and target robot performing the current task of the current task based on at least one aspect of information, and in which operation parameter information including the second operation parameter and / or the first operation parameter in the historical data record matches any mathematical distribution law, and setting the selected historical data record as the historical data record corresponding to the current task.

[0017] In one optional embodiment, the information on the target storage location, target box, and target robot performing the current task includes at least one of location information of the target storage location, the type, size, volume, and weight of the target box, and the type and ID information of the target robot.

[0018] In one optional embodiment, determining a first operating parameter for the current task based on the historical data record includes obtaining operating parameter information in the historical data record, the operating parameter information including a second operating parameter and / or a first operating parameter, and calculating a first operating parameter for the current task based on the operating parameter information.

[0019] In one optional embodiment, the step of calculating a first operating parameter of the current task based on the operating parameter information includes the steps of determining weight information corresponding to the operating parameter information, calculating a weighted average value of the operating parameter information based on the weight information, and setting the weighted average value as the first operating parameter of the current task.

[0020] In one optional embodiment, the step of determining weight information corresponding to the operational parameter information includes the step of determining weight information corresponding to the operational parameter information based on an execution time of the operational parameter information, and monotonically increasing the weight information corresponding to the operational parameter information in order from early to late execution time.

[0021] In one optional embodiment, the step of calculating a first operation parameter of a current task based on the operation parameter information includes the steps of identifying operation parameter information which appears most frequently among the operation parameter information, and setting the operation parameter information which appears most frequently as a first operation parameter of a current task.

[0022] In one optional embodiment, the step of calculating a first operating parameter for the current task based on the operating parameter information includes the steps of: determining a mean value and a standard deviation of the operating parameter information using a maximum likelihood estimation method when the operating parameter information is identified as following a normal distribution; and determining the mean value as the first operating parameter for the current task when the standard deviation is smaller than a standard deviation threshold.

[0023] In one optional embodiment, if a history data record cannot be selected that matches at least one aspect of information among the target storage location and target box of the current task, and the target robot performing the current task, and the operation parameter information in the history data record matches any mathematical distribution law, the method further includes setting the first operation parameter of the current task to a predetermined parameter value.

[0024] In an optional embodiment, the predetermined parameter value is Null, or the predetermined parameter value is a setting parameter corresponding to the first task information of the current task.

[0025] A warehouse management method provided as a second aspect of the present disclosure is a warehouse management method applied to a robot, comprising the steps of receiving task information including a first operation parameter transmitted from a warehouse management system, and executing a current task based on the first operation parameter.

[0026] In one alternative embodiment, executing the current task based on the first operational parameter includes executing the current task based on a configuration parameter if the first operational parameter is null.

[0027] In one optional embodiment, after the step of executing the current task based on the first operational parameters, the method further includes the step of transmitting second operational parameters used to execute the current task to a warehouse management system.

[0028] A warehouse management device provided as a third aspect of the present disclosure is a warehouse management device applied to a warehouse management system, and includes: a data acquisition module for acquiring a historical data record corresponding to a current task based on first task information of the current task before transmitting task information; an operation parameter determination module for determining a first operation parameter of the current task based on the historical data record; and a task transmission module for transmitting task information including the first operation parameter to a target robot of the current task.

[0029] A warehouse management apparatus provided as a fourth aspect of the present disclosure is a warehouse management apparatus applied to a robot, and includes a task receiving module for receiving task information including a first operation parameter transmitted from a warehouse management system, and a task execution module for executing a current task based on the first operation parameter.

[0030] A warehouse management system provided as a fifth aspect of the present disclosure includes a processor, a memory, and a computer program stored in the memory and executed by the processor, and when the processor executes the computer program, any one of the warehouse management methods in the first aspect above is realized.

[0031] The robot provided as a sixth aspect of the present disclosure includes a processor, a memory, and a computer program stored in the memory and executed by the processor, and when the processor executes the computer program, any one of the warehouse management methods in the second aspect above is realized.

[0032] A smart warehouse system provided as a seventh aspect of the present disclosure includes the warehouse management system described in the fifth aspect and the robot described in the sixth aspect.

[0033] A computer-readable storage medium provided as an eighth aspect of the present disclosure stores a computer program, and when the computer program is executed by a processor, any one of the warehouse management methods in the first or second aspect described above is realized.

[0034] A ninth aspect of the present disclosure provides a computer program product including a computer program, which, when executed by a processor, realises any one of the methods in the first or second aspect. Effect of the Invention

[0035] According to the warehouse management method, apparatus, device, medium, program product, and system provided in the present disclosure, before the warehouse management system sends task information each time, it can learn historical data records of past tasks, thereby accurately calculating the first operation parameters for completing the current task, and the target robot for performing the current task operates in accordance with the first operation parameters, and can smoothly complete the current task without the need for error correction or with only simple correction, thereby improving task execution efficiency and significantly improving the efficiency of loading and unloading luggage in the smart warehouse system. [Brief description of the drawings]

[0036] [Figure 1] FIG. 1 is a flowchart of a method for warehouse management provided in the first embodiment of the present disclosure. [Diagram 2] FIG. 2 is a flowchart of a method for warehouse management provided in Example 2 of the present disclosure. [Diagram 3] FIG. 3 is a structural schematic diagram of a warehouse management device provided in the third embodiment of the present disclosure. [Figure 4] FIG. 4 is a structural schematic diagram of a warehouse management device provided in Example 4 of the present disclosure. [Diagram 5] FIG. 5 is a structural schematic diagram of a warehouse management device provided in Example 5 of the present disclosure. [Figure 6]FIG. 6 is a structural schematic diagram of a warehouse system provided in the sixth embodiment of the present disclosure. [Figure 7] FIG. 7 is a structural schematic diagram of the robot provided in Example 7 of the present disclosure.

[0037] The above figures show clear examples of the present disclosure, which will be described in more detail below. These figures and written description are not intended to limit the scope of the concept of the present disclosure in any way, but to explain the concept of the present disclosure to those skilled in the art by referring to specific examples. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0038] Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the drawings. When referring to the drawings in the following description, the same reference numerals in different drawings refer to the same or similar elements unless otherwise stated. The embodiments described in the following exemplary embodiments are not representative of all embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the claims.

[0039] The terms "first", "second", "third", etc. in the present disclosure are used for descriptive purposes only and should not be understood to indicate or imply the relative importance or quantity of the technical features. In the following description of each embodiment, unless otherwise expressly and specifically limited, "plurality" refers to two or more.

[0040] The following specific examples are used to describe in detail the technical means of the present disclosure and how the technical means of the present disclosure solves the above technical problems. The following specific examples can be combined with each other, and the same or similar concepts or processes may not be repeated in some examples. The following examples are described in detail in conjunction with the drawings.

[0041] Example 1 1 is a flow chart of the method for warehouse management provided in the first embodiment of the present disclosure. As shown in FIG. 1, the specific steps of the method are as follows:

[0042] In step S101, before sending task information, the warehouse management system obtains history data records corresponding to the current task based on the first task information of the current task.

[0043] The first task information includes information related to the current task that may affect the operation parameters of the task, and may include one or more types of related information in multiple aspects, such as a target box that needs to be operated in the current task, a target storage location where the target box is stored or retrieved, and a target robot that performs the current task.

[0044] For example, box information may include the type, size, volume, weight, and whether or not the box is deformed; storage location information may include the location of the storage location; and robot information may include the robot type and ID.

[0045] In this embodiment, before sending a task to the robot, the warehouse management system obtains a history data record related to the current task as a history data record corresponding to the current task based on the first task information of the current task, where the current task may be a box picking task or a box putting away task.

[0046] The historical data record is a record of relevant data of past tasks, and may include relevant information such as boxes, robots, storage locations, etc. in the past tasks, operation parameters sent by the warehouse management system for reference, and actual operation parameters when the past tasks were performed.

[0047] In step S102, the warehouse management system determines a first operating parameter for the current task based on the historical data records.

[0048] The first operation parameter refers to an operation parameter for the current task calculated based on the historical data record, and the first operation parameter is included in task information and transmitted to the robot that will execute the current task, and the robot executes the current task based on the first operation parameter.

[0049] In this embodiment, based on the related operation records of the past tasks, a first operation parameter for performing the current task can be calculated, and the first operation parameter is an actual operation parameter or is very close to the actual operation parameter.

[0050] In step S103, the warehouse management system transmits task information including the first operation parameter to the target robot of the current task.

[0051] After the first operation parameter of the current task is determined, task information is transmitted to the target robot that is to execute the current task. The task information includes the calculated first operation parameter of the current task, and the target robot is caused to execute the current task based on the first operation parameter.

[0052] In step S104, the target robot receives task information including the first operation parameter transmitted from the warehouse management system.

[0053] After receiving the task information sent from the warehouse management system, the target robot can extract a first operation parameter from the task information.

[0054] In step S105, the target robot executes the current task based on the first operation parameters.

[0055] The target robot performs a corresponding operation based on the first operation parameter to execute the current task.

[0056] In this embodiment, the target robot performs a corresponding operation in accordance with the first operation parameters, and can smoothly complete the current task without the need for error correction or with only simple correction required.

[0057] In an embodiment of the present disclosure, before sending task information each time, the warehouse management system can learn the historical data records of past tasks, so as to accurately calculate the first operation parameters for completing the current task. The target robot for performing the current task operates in accordance with the first operation parameters, and can smoothly complete the current task without the need for error correction or with only simple correction, thereby improving task execution efficiency and greatly improving the efficiency of loading and unloading luggage in the smart warehouse system.

[0058] Example 2 FIG. 2 is a flow chart of a warehouse management method provided in the second embodiment of the present disclosure. Based on the above first embodiment, in this embodiment, the warehouse management system records the data record of the current task as the history data record of the subsequent task, and in the subsequent task, determines the operation parameters of the task by learning the history data record. As shown in FIG. 2, the specific steps of the method are as follows:

[0059] In step S201, before sending task information, the warehouse management system obtains history data records corresponding to the current task based on the first task information of the current task.

[0060] The first task information of the current task includes information on one or more aspects of the first target robot information, the first target box information, and the first target storage location information.

[0061] The historical data record is a record of relevant data of past tasks, and may include relevant information such as boxes, robots, storage locations, etc. in the past tasks, operation parameters sent by the warehouse management system for reference, and actual operation parameters when the past tasks were performed.

[0062] For example, the first target robot information may include information such as a robot type, ID, fork information, etc. The first target box information may include information such as a box type, size, volume, weight, whether it is deformed, etc. The first target storage location information may include information such as a location of the target storage location, etc.

[0063] In this embodiment, before sending a task to the robot, the warehouse management system obtains a history data record related to the current task as a history data record corresponding to the current task based on the first task information of the current task, where the current task may be a box picking task or a box putting away task.

[0064] In an optional embodiment, obtaining the history data record corresponding to the current task based on the first task information of the current task can be realized in the following manner: namely, obtaining the history data records of all past tasks; and selecting, from the history data records of all past tasks, a history data record that matches at least one aspect of the information of the target storage location, the target box, and the target robot performing the current task based on at least one aspect of the information, and the operation parameter information in the history data record matches any mathematical distribution law. Here, the operation parameter information includes the second operation parameter and / or the first operation parameter. The selected history data record is the history data record corresponding to the current task.

[0065] The information on the target storage location and target box of the current task and the target robot that will execute the current task includes at least one of the location information of the target storage location, the type, size, volume, and weight of the target box, and the type and ID information of the target robot.

[0066] The first operating parameter refers to an operating parameter calculated based on the historical data record, and the first operating parameter is included in task information and transmitted to a robot that executes a task, and the robot executes the task based on the first operating parameter. Each past task has a first operation parameter.

[0067] The second operation parameters are the actual operation parameters when the robot executes a task, and each past task has a second operation parameter. After the current task is executed, the second operation parameters of the current task are also recorded.

[0068] In addition, if a history data record cannot be selected that matches at least one aspect of the information on the target storage location and target box of the current task, and the target robot performing the current task, and in which the operation parameter information in the history data record matches any of the mathematical distribution laws, the first operation parameter of the current task is set to a predetermined parameter value.

[0069] The predetermined parameter values ​​may be set and adjusted as required in an actual application scenario, and therefore the present embodiment is not specifically limited thereto.

[0070] Optionally, the predetermined parameter value may be null, i.e., if the first operation parameter included in the task information is null, the robot executes the current task in a conventional manner.

[0071] Optionally, the predetermined parameter value may be a setting parameter corresponding to the first task information of the current task, where unique operation parameters corresponding to different storage locations, different robots, and different boxes may be preset and stored.

[0072] For example, there may be specific operational parameters corresponding to the altitude of the target storage location, parameters of the forks of the target robot, and the size of the target box.

[0073] In another optional embodiment, after obtaining the historical data records of all past tasks, a historical data record that matches at least one aspect of the information of the target storage location, the target box, and the target robot performing the current task for the current task based on at least one aspect of the information may be selected from the historical data records of all past tasks, and this may be used as the historical data record corresponding to the current task.

[0074] For example, among the historical data records of all past tasks, historical data records of past tasks performed by the same robot on a similarly sized box in the same storage location may be selected based on the target storage location, target robot, and target box of the current task.

[0075] In practical application, if the selected historical data records do not conform to any mathematical distribution law, the first operating parameter of the current task calculated based on the historical data records may have a relatively large error, whereas if the selected historical data records conform to any mathematical distribution law, the first operating parameter of the current task calculated based on the historical data records should be very accurate.

[0076] The history data record corresponding to the current task obtained in this embodiment is the history data that needs to be learned when calculating the first operation parameter of the current task, and the learning scope of the current task is determined.

[0077] After obtaining the history data record corresponding to the current task, when the warehouse management system determines the first operation parameter of the current task based on the history data record, if the current task is to take out a box, execute step S202, and if the current task is to put away a box, execute step S203.

[0078] In step S202, if the current task is to remove a box, the warehouse management system determines a first operation parameter for removing the target box from the target storage location based on a second operation parameter of a first task that placed the target box of the current task in the target storage location and other historical data records.

[0079] According to the current task information, if the current task is to pick up a box, the warehouse management system needs to determine a first operation parameter for picking up the target box from the target storage location.

[0080] In practical application, when the current task is to pick up a box, the operation parameters actually used by the previous robot when the target box was placed in the target storage location have great reference value. In this step, the second operation parameters of the first task for placing the target box of the current task in the target storage location are selected from the history data records, and the first operation parameters for picking up the target box from the target storage location are determined based on the second operation parameters of the first task for placing the target box of the current task in the target storage location and other history data records.

[0081] In this step, determining the first operation parameter of the current task based on the history data record can be specifically achieved by obtaining operation parameter information including the second operation parameter and / or the first operation parameter in the history data record, and determining the first operation parameter of the current task based on the operation parameter information.

[0082] Exemplarily, the second operating parameter refers to the actual operating parameter when the robot executes the task, and when determining the first operating parameter for the current task based on the historical data record, the first operating parameter for the current task can be calculated by referring to the actual operating parameter in the historical data record.

[0083] Exemplarily, the first operating parameter refers to an operating parameter calculated based on the historical data record, which is consistent with or very close to the actual operating parameter. When determining the first operating parameter of the current task based on the historical data record, the first operating parameter of the current task may be calculated with reference to the first operating parameter in the historical data record.

[0084] For example, when determining the first operating parameter of the current task based on the historical data record, the first operating parameter and the second operating parameter in the historical data record may be simultaneously referred to to calculate the first operating parameter of the current task.

[0085] Furthermore, after determining the operation parameter information that needs to be learned, calculating the first operation parameter of the current task based on the operation parameter information can be realized in any one of the following ways.

[0086] In an optional embodiment, calculating the first operating parameter of the current task based on the operating parameter information can be achieved by determining weight information corresponding to the operating parameter information, calculating a weighted average value of the operating parameter information based on the weight information, and using the weighted average value as the first operating parameter of the current task.

[0087] In this embodiment, the first operation parameter of the current task is determined by calculating a weighted average value of the operation parameter information.

[0088] Optionally, the weight information corresponding to the operational parameter information can be determined based on the execution time of the operational parameter information, where the weight information corresponding to the operational parameter information is monotonically increased according to the order of execution time from earlier to later.

[0089] Furthermore, when the current task is picking up a box, when calculating the first operation parameter of the current task based on the operation parameter information, the second operation parameter of the first task by which the previous robot placed the target box of the current task in the target storage location, i.e., the actual operation parameter by which the previous robot placed the target box in the target storage location, may be primarily used as reference.

[0090] Optionally, when determining weight information corresponding to the operation parameter information, the weight set for the second operation parameter of the first task that placed the target box of the current task in the target storage location can be set to the maximum value among the weights of all the operation parameter information.

[0091] In another optional embodiment, calculating the first operation parameter of the current task based on the operation parameter information may be achieved by identifying the operation parameter information that appears most frequently among the operation parameter information, and setting the operation parameter information that appears most frequently as the first operation parameter of the current task.

[0092] In this embodiment, the operation parameter information that appears most frequently is determined as the first operation parameter of the current task by taking the most frequent value.

[0093] In another optional embodiment, calculating the first operating parameter of the current task based on the operating parameter information may be achieved by using a maximum likelihood estimation method to determine a mean value and a standard deviation of the operating parameter information if the operating parameter information is determined to follow a normal distribution, and if the standard deviation is less than a standard deviation threshold, determining the mean value as the first operating parameter of the current task.

[0094] If the standard deviation is smaller than the standard deviation threshold, it means that the normal distribution is stable, so even if the average value is used as the first operation parameter for the current task, there is no error in the first operation parameter or the error is small.

[0095] If the standard deviation is equal to or greater than the standard deviation threshold, this means that the normal distribution is unstable. Therefore, by not using the average value as the first operating parameter for the current task, it is possible to avoid the presence of a large error in the determined first operating parameter.

[0096] The standard deviation threshold value can be set and adjusted according to the actual application scene, so there is no specific limitation here.

[0097] In step S203, if the current task is to put away a box, the warehouse management system determines, based on the historical data records, a first operation parameter for putting the target box of the current task into the target storage location.

[0098] According to the current task information, if the current task is to put away a box, the warehouse management system needs to determine a first operation parameter for putting the target box into the target storage location.

[0099] In this step, calculating the first operation parameter of the current task based on the operation parameter information can be achieved by any one of the methods provided in step S202 above, so it will not be described again here.

[0100] In step S204, the warehouse management system transmits task information including the first operation parameter to the target robot of the current task.

[0101] After determining the first operation parameter for the current task, the warehouse management system includes the first operation parameter for the current task in task information and transmits it to the target robot, and causes the target robot to execute the current task based on the first operation parameter.

[0102] In step S205, the target robot receives task information including the first operation parameter transmitted from the warehouse management system.

[0103] After receiving the task information sent from the warehouse management system, the target robot can extract a first operation parameter from the task information.

[0104] In step S206, the target robot executes the current task based on the first operation parameters.

[0105] In one selectable application scenario, when there are few historical data records of past tasks, the historical data records of past tasks may not be related to the current task, and the first operating parameter of the current task cannot be accurately calculated based on the historical data records, so the first operating parameter may be null.

[0106] If the first operation parameter is null, the current task is executed according to the conventional method.

[0107] Optionally, when the first operation parameter is null, the robot can execute the current task based on the setting parameters. The setting parameters are operation parameters associated with the information of the three aspects of the target robot, the target box, and the target storage location of the current task. If the information of the three aspects of the storage location, the robot, and the box is different, the associated operation parameters are also different, which can be set and stored in advance.

[0108] In this embodiment, the target robot performs a corresponding operation in accordance with the first operation parameters, and can smoothly complete the current task without the need for error correction or with only simple correction required.

[0109] The first operation parameters include the height, angle, and coordinate position of the fork.

[0110] In step S207, the second operation parameters used by the target robot to execute the current task are transmitted to the warehouse management system.

[0111] In this embodiment, the first operation parameters and the actual second operation parameters when the target robot executes the current task may match or may differ from each other.

[0112] After completing the current task, the target robot sends the second operation parameters used to perform the current task to the warehouse management system so that the warehouse management system can record the actual operation parameters used to perform the task.

[0113] In step S208, the warehouse management system receives the second operation parameters for the current task transmitted from the target robot.

[0114] After receiving the second operation parameter of the current task transmitted from the target robot, the warehouse management system can record the second operation parameter of the current task so as to learn the second operation parameter of the current task in a subsequent task.

[0115] In step S209, the warehouse management system records the data record of the current task.

[0116] The data record includes the second operation parameter of the current task, the first operation parameter, and information on one or more of the second target robot information, the second target box information, and the second target storage location information.

[0117] For example, the second target robot information may include information such as a robot type, ID, fork information, etc. The second target box information may include information such as a box type, size, volume, weight, whether it is deformed, etc. The second target storage location information may include information such as a location of the target storage location, etc.

[0118] In this embodiment, after each task is executed, the warehouse management system will record the data record of the current task, and the data record of the current task can be used as the historical data record of the subsequent task and can be provided as reference data for calculating the operation parameters of the subsequent task.

[0119] The data record for each task may include the calculated first operating parameters, the second operating parameters actually used in the successfully executed task, and related information of the target robot, target box, and target storage location of the task.

[0120] When recording the data of this task, the aspects of data that need to be recorded can be set and adjusted based on the actual application situation of the smart warehouse system.

[0121] Regarding data on the robot side, if the operation parameters of different robots for the same box in the same storage location do not converge, it means that the operation parameters for the different robots are not stable enough, and it is necessary to distinguish between different robots and record the operation parameters of each robot separately.On the other hand, if the operation parameters of different robots for the same box in the same storage location converge, it is sufficient to record the operation parameters with which the robots operated the box in the storage location, and there is no need to distinguish between the robots, and there is no need to record the robot information.

[0122] In one optional embodiment, if a second operating parameter of a different robot for the same box in the same storage location does not converge based on data of past tasks within a certain period of time, recording the data record of the current task includes recording second information of the target robot.

[0123] The fact that the second operation parameters of different robots for the same box in the same storage location do not converge means that there is a large difference between the second operation parameters of different robots for the same box in the same storage location.

[0124] Determining whether the second operating parameters of multiple different robots for the same box in the same storage location have converged can be achieved by any method in the prior art for determining whether a group of data has converged, so this will not be described here.

[0125] In addition, since an actual smart warehouse system may include multiple different types of robots (e.g., storage and transport robots, container robots, etc.), it is necessary to consider whether the second operation parameters of different types of robots for the same box in the same storage location have converged, and whether the second operation parameters of different robots of the same type for the same box in the same storage location have converged.

[0126] Optionally, if the second operating parameters for a different type of robot for the same box in the same storage location do not converge based on data of past tasks within a period of time, recording the data record of the current task includes recording the type of target robot.

[0127] Optionally, if the second operating parameters for a different robot of the same type for the same box in the same storage location do not converge based on data of past tasks within a period of time, recording the data record of the current task includes recording the type and ID information of the target robot.

[0128] For example, the differences in the operation data of different robots can be recorded, and a relationship can be established between each robot and the same type of box and the same type of storage location, and the data records can be recorded as shown in Table 1 below. Here, the boxes of the same type can be the same boxes or boxes with the same box side information, such as cardboard boxes of the same size. The storage locations of the same type refer to the same storage locations or storage locations with the same storage location side information, such as storage locations at the same altitude.

[0129] [Table 1]

[0130] According to Table 1, when robot B operates box b in storage location Y, Historical Data RecordingUsing the above, the first operation parameter in the current task can be calculated as (d+delta3*delta2 / delta1). Here, an example of a simple correspondence is given for easy understanding. This embodiment calculates the first operation parameter in the current task based on a large amount of operation parameter information that shows a mathematical distribution law.

[0131] Regarding data on boxes, in actual application scenarios, multiple different types of boxes, such as containers, cardboard boxes, etc., may be used in the smart warehouse system. Boxes of the same type may have different attribute information. For example, cardboard boxes may have attribute information such as size, volume, and whether or not they are deformed, and containers may have attribute information such as different weights.

[0132] If the operation parameters of a robot operating boxes of different types or boxes of the same type but with different attribute information (e.g., boxes of different sizes, volumes, weights, etc.) do not converge to the first expected operation parameters, it means that the operation parameters for the different boxes are not stable enough, so the effects of the different box information on the robot's operation need to be recorded and used for learning.

[0133] For example, when the first robot uses a fork to take in or out a box a weighing 10 kilograms, if the box is always biased to the right by a certain distance, the angle of the fork needs to be fine-tuned to move the fork to the left by a certain distance. When the first robot uses a fork to take in or out a box b weighing 5 kilograms, if the box is always biased to the left by a certain distance, the angle of the fork needs to be fine-tuned to move the fork to the right by a certain distance. If there is no other attribute information of the box that affects the angle of the fork other than the weight, the operation parameter called the fork angle is an operation parameter that has a certain rule and can be learned and recorded. The operation parameter is recorded through the first robot's multiple tasks of putting in and taking out luggage from the box. Next, when the first robot needs to put in or take out a box, the fork angle for this task is determined by learning the recorded past operation parameters. If the robot does not have a characteristic element that causes a difference in the fork angle, other robots can also fine-tune the fork angle when putting in or taking out a box by using such a learning method.

[0134] In one optional embodiment, if the second operation parameter does not converge to the first expected operation parameter when the same robot operates a different box based on data of past tasks within a certain period of time, recording the data record of the current task includes recording second information of the target box, where the second information of the target box includes at least one of a type, a size, a volume, and a weight of the box.

[0135] The first anticipated operation parameter may be set and adjusted according to the needs of an actual application scenario, and is not specifically limited here.

[0136] In addition, since the determination of whether the second operation parameter converges to the first expected operation parameter when the same robot operates a different box can be achieved by any method in the prior art for determining whether a group of data converges to a specified numerical value, it will not be explained here.

[0137] Regarding data on storage locations, if the operation parameters when the same robot takes the same box in and out of different storage locations do not converge to the second expected operation parameters, it means that the operation parameters for different storage locations are not stable enough, and it is necessary to record and learn the operation parameters for each storage location separately. For example, the operation parameters when the same robot operates the same box in multiple different storage locations are as shown in Table 2.

[0138] [Table 2]

[0139] As shown in Table 2, when robot A operates box a in the first storage location and the third storage location, the operation parameters are the same, when robot A operates box a in the second storage location and the fourth storage location, the operation parameters are different, and also the operation parameters are different in the first storage location and the third storage location. If the difference between D1, D2, D3, etc. is not large, that is, when the same robot operates the same box in different storage locations, the difference in the operation parameters is not large, it means that the operation parameters for different storage locations are relatively stable, and it is not necessary to record the information on the storage location. If the difference between D1, D2, D3, etc. is large, that is, when the same robot operates the same box in different storage locations, the difference in the operation parameters is large, it means that the operation parameters for different storage locations are not stable enough, and it is necessary to record the information on the storage location.

[0140] In one optional embodiment, recording the data record of the current task includes recording second information of the target storage location if a second operation parameter when the same robot operates the same box in a different storage location based on data of past tasks within a certain period of time does not converge to a second expected operation parameter.

[0141] The second anticipated operation parameter can be set and adjusted according to the needs of the actual application scenario, and is not specifically limited here.

[0142] In addition, since the determination of whether the operation parameters when the same robot puts and takes out the same box in different storage locations converge to the second expected operation parameters can be achieved by any method in the prior art for determining whether a group of data converges to a specified numerical value, it will not be explained here.

[0143] In the embodiment of the present disclosure, the first operation parameter, the second operation parameter, and one or more aspects of the robot, the box, and the storage location of each task are recorded to generate a data record of the task, which provides learning base data for calculating the first operation parameter in the subsequent task. Before sending task information each time, the historical data records of the past tasks are learned, so that the first operation parameter for completing the current task can be accurately calculated, and the target robot for performing the current task operates according to the first operation parameter, and can smoothly complete the current task without the need for error correction or with only a simple correction, thereby improving task execution efficiency and greatly improving the efficiency of loading and unloading the goods in the smart warehouse system.

[0144] Example 3 3 is a structural schematic diagram of a warehouse management device provided in the third embodiment of the present disclosure. The warehouse management device provided in the third embodiment of the present disclosure can execute the process flow provided in the warehouse management method embodiment. As shown in FIG. 3, the warehouse management device 30 includes a data acquisition module 301, an operation parameter determination module 302, and a task sending module 303.

[0145] Specifically, the data obtaining module 301 is used for obtaining the history data records corresponding to the current task based on the first task information of the current task before sending the task information.

[0146] The operating parameter determination module 302 is used to determine a first operating parameter for the current task based on the historical data records.

[0147] The task transmission module 303 is used to transmit task information including the first operation parameter to the target robot of the current task.

[0148] The apparatus provided in the embodiments of the present disclosure can be specifically used to execute the method flow performed by the warehouse management system in the method embodiment provided in the above Example 1, and the specific functions will not be described again here.

[0149] In an embodiment of the present disclosure, before sending task information each time, the warehouse management system can learn the historical data records of past tasks, so as to accurately calculate the first operation parameters for completing the current task. The target robot for performing the current task operates in accordance with the first operation parameters, and can smoothly complete the current task without the need for error correction or with only simple correction, thereby improving task execution efficiency and greatly improving the efficiency of loading and unloading luggage in the smart warehouse system.

[0150] Example 4 4 is a structural schematic diagram of a warehouse management device provided in the fourth embodiment of the present disclosure. Based on the above third embodiment, in this embodiment, the first task information of the current task includes information on one or more aspects of the first target robot information, the first target box information, and the first target storage location information.

[0151] In an alternative embodiment, as shown in FIG. 4, the warehouse management device 30 further includes a data record management module 304 .

[0152] The data record management module 304 is used for recording data records of the current task after sending task information including the first operation parameters to the target robot of the current task, the data records including the second operation parameters of the current task, the first operation parameters, and one or more aspects of information of the second target robot information, the second target box information, and the second target storage location information of the current task.

[0153] In an alternative embodiment, the data record management module is further adapted to receive a second operating parameter of the current task transmitted from the target robot before recording the data record of the current task.

[0154] In an optional embodiment, the data record management module is further used for recording data records of the current task, including second information of the target robot, when a second operation parameter of a different robot for the same box in the same storage location does not converge based on data of past tasks within a certain period of time.

[0155] In an optional embodiment, the data record management module is further used to record data records of the current task, including the type of target robot, if the second operating parameters of a different type of robot for the same box in the same storage location do not converge based on data of past tasks within a certain period of time.

[0156] In an optional embodiment, the data record management module is further used for recording data records of the current task, including type and ID information of the target robot, when the second operation parameter of a different robot of the same type for the same box in the same storage location does not converge based on data of past tasks within a certain period of time.

[0157] In an optional embodiment, the data record management module is further used for recording a data record of the current task including second information of the target box when the second operation parameter does not converge to the first expected operation parameter when the same robot operates a different box based on data of past tasks within a certain period of time, and the second information of the target box includes at least one of a type, a size, a volume, and a weight of the box.

[0158] In an optional embodiment, the data record management module is further used for recording a data record of the current task, including second information of the target storage location, when a second operation parameter does not converge to a second expected operation parameter when the same robot operates the same box in a different storage location based on data of past tasks within a certain period of time.

[0159] In an optional embodiment, the operation parameter determination module is further used for determining, when the current task is to pick up a box, a first operation parameter for picking up the target box from the target storage location based on a second operation parameter of a first task that placed the target box of the current task in the target storage location and other historical data records.

[0160] In an optional embodiment, the operation parameter determination module is further used for determining, when the current task is storing a box, a first operation parameter for storing the target box of the current task into the target storage location based on the historical data records.

[0161] In an optional embodiment, the data acquisition module is further used to acquire historical data records of all past tasks, and select from the historical data records of all past tasks a historical data record that matches at least one aspect of information among the target storage location and target box of the current task and the target robot performing the current task based on at least one aspect of information, and in which operation parameter information including the second operation parameter and / or the first operation parameter in the historical data record matches any mathematical distribution law, and the selected historical data record is used as the historical data record corresponding to the current task.

[0162] In one optional embodiment, the information on the target storage location, target box, and target robot performing the current task includes at least one of location information of the target storage location, the type, size, volume, and weight of the target box, and the type and ID information of the target robot.

[0163] In an optional embodiment, the operating parameter determination module is further used to obtain operating parameter information including the second operating parameter and / or the first operating parameter in the historical data record, and calculate the first operating parameter of the current task based on the operating parameter information.

[0164] In an optional embodiment, the operation parameter determination module is further used for determining weight information corresponding to the operation parameter information, calculating a weighted average value of the operation parameter information based on the weight information, and setting the weighted average value as the first operation parameter of the current task.

[0165] In an alternative embodiment, the operation parameter determination module is further used to determine weight information corresponding to the operation parameter information based on an execution time of the operation parameter information, and to monotonically increase the weight information corresponding to the operation parameter information according to the order of execution time from earlier to later.

[0166] In an optional embodiment, the operation parameter determination module is further used for identifying the operation parameter information that occurs most frequently among the operation parameter information, and setting the operation parameter information that occurs most frequently as a first operation parameter for the current task.

[0167] In an alternative embodiment, the operational parameter determination module further determines a mean and a standard deviation of the operational parameter information using a maximum likelihood estimation method if the operational parameter information is determined to follow a normal distribution, and if the standard deviation is less than a standard deviation threshold, uses the mean value as the first operational parameter for the current task.

[0168] In an optional embodiment, the operation parameter determination module is further used to set the first operation parameter of the current task as a predetermined parameter value when a history data record cannot be selected that matches at least one aspect of information among the target storage location and target box of the current task and the target robot performing the current task, and the operation parameter information in the history data record matches any mathematical distribution law.

[0169] In an alternative embodiment, the predetermined parameter value is Null, or the predetermined parameter value is a setting parameter corresponding to the first task information of the current task.

[0170] The apparatus provided in the embodiments of the present disclosure can specifically be used to execute the method flow performed by the warehouse management system in the method embodiment provided in the above Example 2, and the specific functions will not be described again here.

[0171] The embodiment of the present disclosure records the first operation parameters, the second operation parameters, and information on one or more areas of the robot, the box, and the storage location for each task, thereby generating a data record of the task, and providing learning base data for calculating the first operation parameters in the subsequent tasks. Before sending task information each time, the historical data records of the past tasks are learned, so that the first operation parameters for completing the current task can be accurately calculated, and the target robot for performing the current task operates according to the first operation parameters, and can smoothly complete the current task without the need for error correction or with only simple correction, thereby improving task execution efficiency and greatly improving the efficiency of loading and unloading the goods in the smart warehouse system.

[0172] Example 5 5 is a structural schematic diagram of a warehouse management device provided in the fifth embodiment of the present disclosure. The warehouse management device provided in the fifth embodiment of the present disclosure can execute the process flow provided in the warehouse management method embodiment. As shown in FIG. 5, the warehouse management device 50 includes a task receiving module 501 and a task executing module 502.

[0173] Specifically, the task receiving module 501 is used to receive task information including a first operation parameter sent from the warehouse management system.

[0174] The task execution module 502 is used to execute the current task based on the first operation parameters.

[0175] In an alternative embodiment, the task execution module 502 is further adapted to execute the current task based on the configuration parameters if the first operation parameter is Null.

[0176] In an alternative embodiment, the task execution module 502 is further adapted to send a second operation parameter for executing the current task to the warehouse management system.

[0177] The apparatus provided in the embodiments of the present disclosure can specifically be used to execute the method flow performed by the robot in the method embodiments provided in Example 1 or Example 2 above, and the specific functions will not be described again here.

[0178] In an embodiment of the present disclosure, before sending task information each time, the warehouse management system can learn the historical data records of past tasks, so as to accurately calculate the first operation parameters for completing the current task. The target robot for performing the current task operates in accordance with the first operation parameters, and can smoothly complete the current task without the need for error correction or with only simple correction, thereby improving task execution efficiency and greatly improving the efficiency of loading and unloading luggage in the smart warehouse system.

[0179] Example 6 Fig. 6 is a structural schematic diagram of a warehouse system provided in the sixth embodiment of the present disclosure. As shown in Fig. 6, the warehouse management system 100 includes a processor 1001, a memory 1002, and a computer program stored in the memory 1002 and executable on the processor 1001. When the processor 1001 executes the computer program, the method flow performed by the warehouse management system in any one of the above method embodiments is realized.

[0180] In an embodiment of the present disclosure, before sending task information each time, the warehouse management system can learn the historical data records of past tasks, so as to accurately calculate the first operation parameters for completing the current task. The target robot for performing the current task operates in accordance with the first operation parameters, and can smoothly complete the current task without the need for error correction or with only simple correction, thereby improving task execution efficiency and greatly improving the efficiency of loading and unloading luggage in the smart warehouse system.

[0181] Example 7 7 is a structural schematic diagram of a robot provided in Example 7 of the present disclosure. As shown in FIG. 7, the robot 110 includes a processor 1101, a memory 1102, and a computer program stored in the memory 1102 and executable on the processor 1101. When the processor 1101 executes the computer program, a process flow performed by the robot in any one of the above method embodiments is realized.

[0182] In an embodiment of the present disclosure, before sending task information each time, the warehouse management system can learn the historical data records of past tasks, so as to accurately calculate the first operation parameters for completing the current task. The target robot for performing the current task operates in accordance with the first operation parameters, and can smoothly complete the current task without the need for error correction or with only simple correction, thereby improving task execution efficiency and greatly improving the efficiency of loading and unloading luggage in the smart warehouse system.

[0183] An embodiment of the present disclosure further provides a smart warehouse system, including the warehouse management system provided in the above embodiment 6 and the robot provided in the above embodiment 7.

[0184] An embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored therein, the computer program being executable by a processor. And any one of the method embodiments provided above. is realized. .

[0185] An embodiment of the present disclosure further provides a computer program product, the program product including a computer program, the computer program being stored in a readable storage medium, the computer program being readable from the readable storage medium by at least one processor of an electronic device, and the computer program being executed by the at least one processor to cause the electronic device to perform the method provided in any one of the method embodiments above.

[0186] It is understood that the apparatus and method disclosed in some embodiments provided by the present disclosure can be realized in other forms. For example, the above-mentioned apparatus embodiments are merely exemplary, and the division of the units is a kind of division of logical functions, and other division methods may be used in actual implementation. For example, multiple units or assemblies may be combined or integrated into another system, or some features may be omitted or not implemented. Note that the couplings, direct couplings, or communication connections between the indicated or discussed mutually may be indirect couplings or communication connections via some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0187] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, and may be located in one place or distributed among multiple network units. Some or all of the units may be selected to achieve the purpose of the scheme of the present embodiment according to practical needs.

[0188] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, each unit may exist physically independent, or two or more units may be integrated into one unit. The integrated units may be realized in the form of hardware, or may be realized using a form in which a software functional unit is added to hardware.

[0189] The integrated unit realized in the form of the above software function unit may be stored in a computer-readable storage medium. The above software function unit is stored in a storage medium and includes some instructions for making a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor execute some steps of the method of each embodiment of the present disclosure. The above storage medium includes various media that can store program code, such as U disk, mobile hard disk, ROM (Read-Only Memory), RAM (Random Access Memory), magnetic disk, or optical disk.

[0190] As will be obvious to those skilled in the art, for the sake of simplicity and ease of explanation, only the above-mentioned division of each functional module is described as an example, but in actual application, the above-mentioned distribution of functions may be completed by different functional modules as necessary. That is, the internal structure of the device may be divided into different functional modules to complete all or part of the above-mentioned functions. The specific operation process of the device described above can be referred to the corresponding process in the above-mentioned method embodiment, and will not be described again here.

[0191] Those skilled in the art will be able to readily devise other implementations of the present disclosure from a study of the specification and practice of the invention disclosed herein. The present disclosure is intended to cover all modifications, changes in application, or adaptations of the present disclosure made in accordance with the general principles of the present disclosure and including common knowledge or customary technical means in the art not disclosed herein. The specification and examples are considered to be merely exemplary, with the true scope and spirit of the present disclosure being indicated by the appended claims.

[0192] It will be understood that the present disclosure is not limited to the precise construction described above and illustrated in the drawings, and that various modifications and variations are possible without departing from the scope of the present disclosure, which is limited only by the claims.

Claims

1. A method of warehouse management applied to a warehouse management system, comprising: Before sending the task information, obtain a history data record corresponding to the current task according to first task information of the current task; determining a first operation parameter of a current task, which is an operation parameter of the current task, calculated based on the relevant information of the box, the robot, and the storage location of the past task included in the history data record, the operation parameter sent by the warehouse management system for reference, and the operation parameter during the execution of the past task; transmitting task information including a first operation parameter of the current task to a target robot of the current task; After the step of transmitting task information including a first operation parameter of the current task to a target robot of the current task, Recording data records for the current task; The data record includes a second operation parameter of a current task, which is an operation parameter when a current task is executed, among second operation parameters that are actual operation parameters when the robot executes a task and exist for each past task, a first operation parameter of the current task, and one or more pieces of information among second information on a target robot, second information on a target box, and second information on a target storage location; The step of recording a data record of the current task includes: Recording second information of a target robot when a second operation parameter of a current task of a different robot for the same box in the same storage location does not converge based on data of past tasks within a certain period of time; or Recording second information of the target box when the second operation parameter of the current task does not converge to the first expected operation parameter when the same robot operates a different box based on data of past tasks within a certain period of time; or and recording second information of the target storage location when a second operation parameter of a current task does not converge to a second expected operation parameter when the same robot operates the same box in a different storage location based on data of past tasks within a certain period of time. Warehouse management methods.

2. A method of warehouse management applied to a warehouse management system, comprising: Before sending the task information, obtain a history data record corresponding to the current task according to first task information of the current task; determining a first operation parameter of a current task, which is an operation parameter of the current task, calculated based on the relevant information of the box, the robot, and the storage location of the past task included in the history data record, the operation parameter sent by the warehouse management system for reference, and the operation parameter during the execution of the past task; transmitting task information including a first operation parameter of the current task to a target robot of the current task; The step of determining a first operation parameter of a current task, which is an operation parameter of the current task, is calculated based on the relevant information of the box, the robot, and the storage location of the past task included in the history data record, the operation parameters sent by the warehouse management system for reference, and the operation parameters during the execution of the past task; When the current task is picking up a box, when calculating a first operation parameter of the current task based on the operation parameter information, determining a first operation parameter of the current task of picking up the target box from the target storage location based on a second operation parameter of a first task in which the previous robot put the target box of the current task into the target storage location and the history data record; or When the current task is storing a box, the method includes a step of determining a first operation parameter of the current task, which is an operation parameter of the current task, for storing a target box of the current task in a target storage location, the first operation parameter being calculated based on the relevant information of the box, the robot, and the storage location in the past task included in the history data record, the operation parameter sent by the warehouse management system for reference, and the operation parameter at the time of performing the past task; Warehouse management methods.

3. A method of warehouse management applied to a warehouse management system, comprising: Before sending the task information, obtain a history data record corresponding to the current task according to first task information of the current task; determining a first operation parameter of a current task, which is an operation parameter of the current task, calculated based on the relevant information of the box, the robot, and the storage location of the past task included in the history data record, the operation parameter sent by the warehouse management system for reference, and the operation parameter during the execution of the past task; transmitting task information including a first operation parameter of the current task to a target robot of the current task; The step of determining a first operation parameter of a current task, which is an operation parameter of the current task, is calculated based on the relevant information of the box, the robot, and the storage location of the past task included in the history data record, the operation parameters sent by the warehouse management system for reference, and the operation parameters during the execution of the past task; acquiring operation parameter information including a second operation parameter of a past task and / or a first operation parameter of a past task, which are operation parameters when a past task was executed in the history data record, and calculating a first operation parameter of a current task based on the operation parameter information; Warehouse management methods.

4. After the step of transmitting task information including a first operation parameter of the current task to a target robot of the current task, Recording data records for the current task; The data record includes a second operation parameter of the current task, a first operation parameter of the current task, and one or more of target robot second information, target box second information, and target storage location second information. A method of warehouse management according to claim 1 or 2.

5. and prior to the step of recording the data records of the current task, receiving a second operation parameter of the current task transmitted from the target robot; A method of warehouse management according to claim 4.

6. After the step of transmitting task information including a first operation parameter of the current task to a target robot of the current task, Recording data records for the current task; the data record of the current task includes a second operation parameter of the current task, a first operation parameter of the current task, and one or more of target robot second information, target box second information, and target storage location second information; and prior to the step of recording the data records of the current task, receiving a second operation parameter of the current task transmitted from the target robot; The step of recording the second information of the target robot when the second operation parameter of the current task of the different robot for the same box in the same storage location does not converge based on the data of the past task within a certain period of time, Recording the type of the target robot when the second operation parameter of the current task for the same box in the same storage location of a different type of robot does not converge based on the data of the past tasks within a certain period of time; or recording the type and ID information of a target robot when a second operation parameter of a current task for a different robot of the same type for the same box in the same storage location does not converge based on data of past tasks within a certain period of time; 2. The method of warehouse management according to claim 1.

7. The step of calculating a first operation parameter of the current task based on the operation parameter information includes: determining weight information corresponding to the operation parameter information, calculating a weighted average value of the operation parameter information according to the weight information, and setting the weighted average value as a first operation parameter of the current task; or Identifying the most frequently occurring operation parameter information from among the operation parameter information, and setting the most frequently occurring operation parameter information as a first operation parameter for the current task; or if it is determined that the operational parameter information follows a normal distribution, determining an average value and a standard deviation of the operational parameter information using a maximum likelihood estimation method, and if the standard deviation is smaller than a standard deviation threshold, determining the average value as a first operational parameter of the current task; A method of warehouse management according to claim 3.

8. The step of determining weight information corresponding to the operational parameter information further comprises: determining weight information corresponding to the operation parameter information based on an execution time of the operation parameter information, and monotonically increasing the weight information corresponding to the operation parameter information in order from the beginning to the end of the execution time; A method of warehouse management according to claim 7.

9. Further comprising a step of setting the first operation parameter of the current task to a predetermined parameter value when a history data record that matches at least one of information on a target storage location, a target box, and a target robot that executes the current task cannot be selected; A method of warehouse management according to any one of claims 1 to 8.

10. the predetermined parameter value is Null, or The predetermined parameter value is a setting parameter corresponding to the first task information of the current task. A method of warehousing according to claim 9.

11. 1. A method of warehouse management applied to a robot, comprising: receiving task information including a first operation parameter of the current task, the first operation parameter being an operation parameter in the current task, transmitted from the warehouse management system; executing the current task based on a first operating parameter of the current task; The first operation parameter of the current task is calculated by the warehouse management system based on the relevant information of the box, the robot, and the storage location in the past task included in the history data record, the operation parameters sent by the warehouse management system for reference, and the operation parameters during the execution of the past task, and the history data record is obtained by the warehouse management system based on the first task information of the current task before sending the task information; After the step of transmitting task information including a first operation parameter of the current task to a target robot of the current task, Recording data records for the current task; The data record includes a second operation parameter of a current task, which is an operation parameter when the current task is executed, among second operation parameters that are actual operation parameters when the robot executes a task and exist for each past task, the first operation parameter, and one or more pieces of information among second information on a target robot, second information on a target box, and second information on a target storage location; The step of recording data records of the current task includes: Recording second information of a target robot when a second operation parameter of a current task of a different robot for the same box in the same storage location does not converge based on data of past tasks within a certain period of time; or Recording second information of the target box when the second operation parameter of the current task does not converge to the first expected operation parameter when the same robot operates a different box based on data of past tasks within a certain period of time; or and recording second information of the target storage location when a second operation parameter of a current task does not converge to a second expected operation parameter when the same robot operates the same box in a different storage location based on data of past tasks within a certain period of time. Warehouse management methods.

12. 1. A method of warehouse management applied to a robot, comprising: receiving task information including a first operation parameter of the current task, the first operation parameter being an operation parameter for the current task, transmitted from the warehouse management system; executing the current task based on a first operating parameter of the current task; The first operation parameter of the current task is calculated by the warehouse management system based on the relevant information of the box, the robot, and the storage location in the past task included in the history data record, the operation parameters sent by the warehouse management system for reference, and the operation parameters during the execution of the past task, and the history data record is obtained by the warehouse management system based on the first task information of the current task before sending the task information; The step of determining a first operation parameter of a current task, which is an operation parameter of the current task, is calculated based on the relevant information of the box, the robot, and the storage location of the past task included in the history data record, the operation parameters sent by the warehouse management system for reference, and the operation parameters during the execution of the past task; When the current task is picking up a box, when calculating a first operation parameter of the current task based on the operation parameter information, determining a first operation parameter of the current task of picking up the target box from the target storage location based on a second operation parameter of a first task in which the previous robot put the target box of the current task into the target storage location and the history data record; or When the current task is storing a box, the method includes a step of determining a first operation parameter of the current task, which is an operation parameter of the current task, for storing a target box of the current task in a target storage location, the first operation parameter being calculated based on the relevant information of the box, the robot, and the storage location in the past task included in the history data record, the operation parameter sent by the warehouse management system for reference, and the operation parameter at the time of performing the past task; Warehouse management methods.

13. 1. A method of warehouse management applied to a robot, comprising: receiving task information including a first operation parameter of the current task, the first operation parameter being an operation parameter in the current task, transmitted from the warehouse management system; executing the current task based on a first operating parameter of the current task; The first operation parameter of the current task is calculated by the warehouse management system based on the relevant information of the box, the robot, and the storage location in the past task included in the history data record, the operation parameters sent by the warehouse management system for reference, and the operation parameters during the execution of the past task, and the history data record is obtained by the warehouse management system based on the first task information of the current task before sending the task information; The step of determining a first operation parameter of a current task, which is an operation parameter of the current task, is calculated based on the relevant information of the box, the robot, and the storage location of the past task included in the history data record, the operation parameters sent by the warehouse management system for reference, and the operation parameters during the execution of the past task; acquiring operation parameter information including a second operation parameter of a past task and / or a first operation parameter of a past task, which are operation parameters when a past task was executed in the history data record, and calculating a first operation parameter of a current task based on the operation parameter information; Warehouse management methods.

14. said step of executing a current task based on a first operating parameter of the current task comprises: If the first operation parameter of the current task is null, executing the current task based on a set parameter; A method of warehousing according to any one of claims 11 to 13.

15. after the step of executing the current task based on the first operating parameter of the current task, transmitting a second operation parameter of the current task to the warehouse management system after executing the current task; A method of warehousing according to any one of claims 11 to 14.

16. The first operation parameter of the current task is obtained by the warehouse management system based on operation parameter information in the history data record, and the operation parameter information includes a second operation parameter of a past task and / or a first operation parameter of a past task. A warehouse management method according to any one of claims 11 to 15.

17. A processor, a memory, and a computer program stored in the memory and executed by the processor, When the processor executes the computer program, the warehouse management method according to any one of claims 1 to 10 is realized. Warehouse management system.

18. A processor, a memory, and a computer program stored in the memory and executed by the processor, When the processor executes the computer program, the warehouse management method according to any one of claims 11 to 16 is realized. robot.

19. A warehouse management system according to claim 17 and a robot according to claim 18. Smart warehouse system.

20. When a computer program is stored and executed by a processor, the warehouse management method according to any one of claims 1 to 16 is realized. A computer-readable storage medium.

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