Methods, devices, electronic equipment, and computer-readable storage media for adjusting inventory locations.

Abstract

To provide a stock place adjustment method, a device and electronic apparatus that improve the efficiency that a robot having a plurality of storage grids has in returning bottles, and improve the processing efficiency of the entire warehouse system.SOLUTION: A stock place adjustment method includes: instructing a target robot to load a bottle to be warehoused; and determining binding relation between the bottle to be warehoused and a warehousing place for the bottle to be warehoused. The target robot has a plurality of storage grids. The method also instructs the target robot to load the bottle to be shipped in an empty storage grid when there is the empty storage grid in the target robot in a process in which the target robot returns the bottle to be warehoused, instructs the target robot to move the bottle to be warehoused which is currently loaded to a specified stock place after the target robot moves the bottle to be shipped from the specified stock place to its empty storage grid, and also resets the binding relation between the bottle to be warehoused and the warehousing place for the bottle to be warehoused.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This application relates to the field of intelligent warehouse technology, and particularly to an inventory location adjustment method, apparatus, and electronic device.

Background Art

[0002] With the rapid development of robot technology, robots are widely applied in various industries and have become an important part contributing to the development of enterprises.

[0003] In the field of intelligent warehouses, it has generally become common for robots to carry goods instead of humans. In a warehouse system, many bins are installed in the warehouse for storing goods, and the bins loaded with goods are stored at inventory locations in the shelf area. Robots can carry bins from the shelf area to the workbench and sort them manually according to orders to complete the outbound of goods. Robots can also return the bins from the workbench to the inventory locations in the shelf area to complete the inbound of goods. Currently, there is a problem that the flexibility of robots to return goods is low, and the processing efficiency of the entire system is low.

Summary of the Invention

[0004] Embodiments of this application aim to provide an inventory location adjustment method, apparatus, and electronic device to improve the efficiency of a robot with multiple storage grids in returning bins and further improve the processing efficiency of the entire warehouse system. The specific technical solutions are as follows.

[0005] In the first aspect, embodiments of this application provide an inventory location adjustment method, the method comprising: Instructing a target robot to load a bin waiting for inbound, and determining a binding relationship between the bin waiting for inbound and the inbound location of the bin waiting for inbound, wherein the target robot is a robot having multiple storage grids; In the process of the target robot returning the bottles awaiting storage, if there are empty storage cells available for the target robot, the target robot is instructed to load the bottles awaiting dispatch into the empty storage cells. The process includes: after the target robot moves the bins awaiting retrieval from the designated storage location to its own empty storage grid, instructing the target robot to move the bins currently loaded and awaiting target entry to the designated storage location, and releasing the binding relationship between the bins awaiting target entry and the storage location for those bins.

[0006] Preferably, in one specific implementation, instructing the target robot to move the bins currently loaded and awaiting target storage to the designated storage location is: This includes identifying a target bin among the bins currently loaded by the target robot that is awaiting storage and that is suitable for the designated storage location, and instructing the target robot to move the target bin to the designated storage location.

[0007] Preferably, in one specific implementation, the method further includes: The aforementioned target robot includes detecting whether or not it satisfies pre-set bin return conditions, The aforementioned pre-set bottle return conditions include the number of bottles awaiting storage that the target robot is carrying reaching a pre-set bottle loading capacity, or the target robot is carrying bottles awaiting storage and there are no bottles to be loaded within the storage area for each bottle awaiting storage, If the pre-set bottle return conditions are met, the target robot is instructed to return the loaded bottles awaiting storage.

[0008] Preferably, in one specific implementation, determining the binding relationship between the bins awaiting storage and the storage location for those bins awaiting storage is: Determine an available storage location that is suitable for the bottles awaiting storage as the storage location for the bottles awaiting storage, and establish a binding relationship between the bottles awaiting storage and the available storage location. or This includes determining, for each bottle awaiting receipt, whether there is an available stock space that is compatible with the bottle awaiting receipt and where a bottle awaiting shipment is located; if such a space exists, determining the available stock space as the receipt location for the bottle awaiting receipt and obtaining a binding relationship between the bottle awaiting receipt and the available stock space; and if such a space does not exist, determining an available stock space that is compatible with the bottle awaiting receipt as the receipt location for the bottle awaiting receipt and obtaining a binding relationship between the bottle awaiting receipt and the available stock space.

[0009] Preferably, in one specific embodiment, if the target robot has an empty storage grid, instructing the target robot to load bins awaiting retrieval into the empty storage grid is: If the target robot has an empty storage grid, the method includes instructing the target robot to load the bins awaiting retrieval from the target inventory location into the empty storage grid. The target inventory location includes at least one of the following: an inventory location on the movement path by which the target robot returns the bottles awaiting storage, and an inventory location where the distance from the storage location for the bottles awaiting storage is less than a predetermined distance.

[0010] Preferably, in one specific implementation, after releasing the binding relationship between the target bin awaiting storage and the storage location of the target bin awaiting storage, the method further: This includes releasing the binding relationship between the bins awaiting dispatch and the designated storage location, and establishing a binding relationship between the bins awaiting target arrival and the designated storage location.

[0011] Preferably, in one specific implementation, the method further includes: This includes instructing the target robot to move to the outbound area for placing the bottles awaiting out after the target robot has returned all the bottles awaiting in.

[0012] Preferably, in one specific embodiment, before instructing the target robot to move to the dispensing area for placing the bins awaiting dispensing, the method further: The target robot detects whether or not there are empty storage cells. If there are empty storage cells at the target robot, the target robot is instructed to load each of the bins awaiting dispatch until there are no more empty storage cells, and the target robot is instructed to move to the dispatch area for placing the bins awaiting dispatch. If there are no available storage cells for the target robot, the step of instructing the target robot to move to the retrieval area for placing the bins awaiting retrieval is performed.

[0013] In a second aspect, an embodiment of the present application provides an inventory location adjustment device, the device is A relationship determination module used to instruct a target robot to load bins awaiting storage and to determine the binding relationship between the bins awaiting storage and the storage location for the bins awaiting storage, wherein the target robot is a robot having multiple storage grids, A first instruction module is used to instruct the target robot to load the bottles awaiting retrieval into an empty storage grid if the target robot has an empty storage grid during the process of the target robot returning the bottles awaiting retrieval. The system includes a second instruction module used to instruct the target robot to move the bins awaiting retrieval from the designated storage location to its own empty storage grid, and then to move the bins currently loaded and awaiting target entry to the designated storage location, and to release the binding relationship between the bins awaiting target entry and the storage location for those bins.

[0014] Preferably, in one specific implementation, the second instruction module specifically, This is used to identify the target bins awaiting storage that are suitable for the designated storage location from among the bins currently loaded by the target robot, and to instruct the target robot to move the target bins awaiting storage to the designated storage location.

[0015] Preferably, in one specific embodiment, the apparatus further comprises: A first detection module used to detect whether the target robot satisfies a preset bin return condition, wherein the preset bin return condition includes the number of bins awaiting storage that the target robot is carrying reaches a preset bin load, or the target robot is carrying bins awaiting storage and there are no bins to be loaded within the storage area for each bin awaiting storage, and the first detection module triggers a third instruction module when the condition is met. The system comprises a third instruction module used to instruct the target robot to return the loaded bins awaiting storage.

[0016] Preferably, in one specific implementation, the relationship-determining module is, specifically, Determine an available storage location that is suitable for the bottles awaiting storage as the storage location for the bottles awaiting storage, and establish a binding relationship between the bottles awaiting storage and the available storage location. or This system is used to determine, for each bin awaiting receipt, whether there is an available storage location that is compatible with the bin awaiting receipt and where a bin awaiting shipment is located; if such a location exists, the available storage location is determined as the receiving location for the bin awaiting receipt, and a binding relationship is obtained between the bin awaiting receipt and the available storage location; and if such a location does not exist, an available storage location that is compatible with the bin awaiting receipt is determined as the receiving location for the bin awaiting receipt, and a binding relationship is obtained between the bin awaiting receipt and the available storage location.

[0017] Preferably, in one specific implementation form, the first instruction module specifically is used to instruct the target robot to load the bins waiting for outbound in the target inventory location into the empty storage grids when there are empty storage grids in the target robot. The target inventory location includes at least one of an inventory location on the movement path where the target robot returns the bins waiting for inbound and an inventory location where the distance from the inventory location of the bins waiting for inbound is less than a preset distance.

[0018] Preferably, in one specific implementation form, the device further includes a relationship establishment module used to release the binding relationship between the target bin waiting for inbound and the inbound location of the target bin waiting for inbound, then release the binding relationship between the bin waiting for outbound and the designated inventory location, and establish the binding relationship between the target bin waiting for inbound and the designated inventory location.

[0019] Preferably, in one specific implementation form, the device further includes a fourth instruction module used to instruct the target robot to move to the outbound area for placing the bin waiting for outbound after the target robot has returned all the bins waiting for inbound.

[0020] Preferably, in one specific implementation form, the device further is a second detection module used to detect whether there are empty storage grids in the target robot before instructing the target robot to move to the outbound area for placing the bin waiting for outbound. When there are empty storage grids in the target robot, it triggers the fifth instruction module, and when there are no empty storage grids in the target robot, it triggers the fourth instruction module. The system includes a fifth instruction module used to perform the steps of instructing the target robot to load each of the bins awaiting retrieval that have not yet been retrieved until there are no empty storage cells, and instructing the target robot to move to a retrieval area for placing the bins awaiting retrieval.

[0021] In a third aspect, the present invention provides an electronic device, the electronic device being, Memory used to store computer programs, The system includes a processor used to implement the steps of any of the above-described method embodiments, which executes a program stored in memory.

[0022] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium in which a computer program is stored, and the computer program, when executed by a processor, realizes the steps of any one of the above method embodiments.

[0023] In a fifth aspect, an embodiment of the present invention provides a computer program product including instructions, which, when running on a computer, causes the computer to perform the steps of any one of the above-described method embodiments.

[0024] The embodiments of this invention have the following beneficial effects. As can be seen from the above, by applying the technical solution provided by the embodiment of the present invention, when returning bins using a robot having multiple storage grids, first, the target robot can be instructed to load bins awaiting receipt, and the binding relationship between the bins awaiting receipt and their storage location can be determined. Subsequently, in the process of the target robot returning the bins awaiting receipt, if the target robot has an empty storage grid, the target robot can be instructed to load bins awaiting delivery into the empty storage grid. Next, after the target robot moves the bins awaiting delivery from the designated storage location to its own empty storage grid, the target robot can be instructed to move the target bins awaiting receipt that it is currently loading to the designated storage location, and the binding relationship between the target bins awaiting receipt and their storage location can be released.

[0025] Based on the above, by applying the technical solution provided by the embodiment of the present invention, when a robot having multiple storage grids returns bins awaiting receipt, if the robot is instructed to load bins awaiting delivery into its own empty storage grid, the inventory location in the shelf area where the bins awaiting delivery are placed becomes an available inventory location, and this available inventory location can be used to place the bins awaiting receipt that the robot is loading. In this case, the robot does not need to move to the inventory location bound to the bins awaiting receipt, and can use that inventory location to place the bins awaiting receipt that it is loading. In this way, by designating a new available inventory location in the shelf area as the receiving location for bins awaiting receipt, flexibility in inventory location allocation is achieved. This saves the total process and time required for the robot to return bins awaiting receipt, improves the efficiency of the robot returning bins awaiting receipt, and improves the overall processing efficiency of the warehouse system. Furthermore, by instructing the robot to load bins awaiting delivery during the process of returning bins, the overall processing efficiency of the warehouse system is further improved. [Brief explanation of the drawing]

[0026] To more clearly explain the embodiments of this application or the prior art, the necessary drawings for the embodiments or the prior art are briefly described below. Note that the following drawings represent only some embodiments of this application, and those skilled in the art can obtain other drawings based on these. [Figure 1] Figure 1 is a schematic diagram of the process of the inventory location adjustment method provided by an embodiment of the present invention. [Figure 2(a)] Figures 2(a) and 2(b) are schematic diagrams of specific examples of the inventory location adjustment method provided by the embodiment of the present invention. [Figure 2(b)] Figures 2(a) and 2(b) are schematic diagrams of specific examples of the inventory location adjustment method provided by the embodiment of the present invention. [Figure 3] Figure 3 is a schematic diagram of the process of another inventory location adjustment method provided by an embodiment of the present invention. [Figure 4] Figure 4 is a schematic diagram of the process of a further inventory location adjustment method provided by an embodiment of the present invention. [Figure 5] Figure 5 is a schematic diagram of the process of a further inventory location adjustment method provided by an embodiment of the present invention. [Figure 6] Figure 6 is a schematic diagram of the structure of the inventory location adjustment device provided by an embodiment of the present invention. [Figure 7] Figure 7 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. [Modes for carrying out the invention]

[0027] The technical concepts in the embodiments of this application will be described clearly and completely below with reference to the drawings of the embodiments. Of course, the embodiments described are only a part of the embodiments of this application, not all of them. All other embodiments that a person skilled in the art can obtain based on the embodiments of this application are all within the scope of protection of this application.

[0028] In the field of intelligent warehousing, it has become common for robots to handle goods instead of human labor. In warehouse systems, many bins are installed within the warehouse to store goods, and the bins filled with goods are stored in inventory locations in the shelving area. Robots can carry bins from the shelving area to workbenches, sort them by hand according to orders, and complete the shipment of goods. Robots can also return bins from the workbenches to inventory locations in the shelving area, completing the shipment of goods. Currently, there is a challenge in that robots returning goods have low flexibility and the overall processing efficiency of the system is low.

[0029] To solve the above technical problems, an embodiment of the present invention provides a method for adjusting inventory locations.

[0030] Herein, this method can be applied to various application scenarios where it is necessary to return bins using a robot with multiple storage grids. For example, in a factory, a robot with multiple storage grids is used to return each bin for storing raw materials to its corresponding storage location in a shelf area. A parcel sorting center uses a robot with multiple storage grids to return each bin for storing parcels to its corresponding storage location in a storage area. Furthermore, this method can be applied to the robot with multiple storage grids itself, for example, by equipping it with a control module to execute the method. It can also be applied to electronic equipment for communicating with and controlling the robot with multiple storage grids, such as a robot management server. Based on this, embodiments of the present invention do not limit the application scenarios or implementers of the method.

[0031] The inventory location adjustment method provided in the embodiment of this application is The process involves instructing a target robot to load bins awaiting storage, determining the binding relationship between the bins awaiting storage and their storage locations, wherein the target robot is a robot having multiple storage grids. In the process of the target robot returning the bottles awaiting storage, if there are empty storage cells available for the target robot, the target robot is instructed to load the bottles awaiting dispatch into the empty storage cells. The process includes: after the target robot moves the bins awaiting retrieval from the designated storage location to its own empty storage grid, instructing the target robot to move the bins currently loaded and awaiting target entry to the designated storage location, and releasing the binding relationship between the bins awaiting target entry and the storage location for those bins.

[0032] As can be seen from the above, by applying the technical solution provided by the embodiment of the present invention, when returning bins using a robot having multiple storage grids, first, the target robot can be instructed to load bins awaiting receipt, and the binding relationship between the bins awaiting receipt and their storage location can be determined. Subsequently, in the process of the target robot returning the bins awaiting receipt, if the target robot has an empty storage grid, the target robot can be instructed to load bins awaiting delivery into the empty storage grid. Next, after the target robot moves the bins awaiting delivery from the designated storage location to its own empty storage grid, the target robot can be instructed to move the target bins awaiting receipt that it is currently loading to the designated storage location, and the binding relationship between the target bins awaiting receipt and their storage location can be released.

[0033] Based on the above, by applying the technical solution provided by the embodiment of the present invention, when a robot having multiple storage grids returns bins awaiting receipt, if the robot is instructed to load bins awaiting delivery into its own empty storage grid, the inventory location in the shelf area where the bins awaiting delivery are placed becomes an available inventory location, and this available inventory location can be used to place the bins awaiting receipt that the robot is loading. In this case, the robot does not need to move to the receipt location bound to the bins awaiting receipt, and can use the inventory location to place the bins awaiting receipt that it is loading. In this way, by designating a new available inventory location in the shelf area as the receipt location for bins awaiting receipt, flexibility in inventory location allocation is achieved. This saves the total process and time required for the robot to return bins awaiting receipt, improves the efficiency of the robot returning bins awaiting receipt, and improves the overall processing efficiency of the warehouse system. Furthermore, by instructing the robot to load bins awaiting delivery during the process of returning bins, the overall processing efficiency of the warehouse system is further improved.

[0034] The method for adjusting inventory locations provided by the embodiment of this application will be described in detail below with reference to the drawings.

[0035] Figure 1 is a schematic diagram of the process of the inventory location adjustment method provided by an embodiment of the present invention, and as shown in Figure 1, the method includes the following steps S101 to S103.

[0036] Step S101: Instruct the target robot to load the bins awaiting storage and determine the binding relationship between the bins awaiting storage and their storage locations. Here, the target robot is a robot with multiple storage grids.

[0037] Typically, in the field of intelligent warehousing, goods transported from various locations are first concentrated in a designated pre-warehousing area where they undergo pre-warehousing procedures such as inspection and disinfection. For example, each container is left in the cargo sorting area of ​​a logistics center for inspection.

[0038] Once pre-receiving processing is complete, each item is placed in its respective bin and returned to its storage location in the shelving area along with the bin. Typically, the shelving area contains various types of bins, and each bin is stored in various types of storage locations. For example, the shelving area may have multiple shelves for different types of bins, and each shelf may have multiple grid openings, so that each grid opening can be a single storage location.

[0039] Accordingly, when shipping goods, each bin can be taken from its respective storage location in the shelving area, transported to a workbench, and sorted.

[0040] Taking the logistics industry as an example, a logistics center can receive cargo from various locations, sort and organize each received cargo, and then distribute it to its respective destination. Typically, after receiving cargo from various locations, a logistics center can leave each received cargo in a cargo sorting area, where sorting tasks such as cleaning and classification can be performed. After sorting is complete, robots can transport each cargo from the sorting area to a workbench, where they can place each cargo into a bin and return each bin to its respective storage location in the shelf area. Next, before transporting the cargo, robots can retrieve each bin from its storage location in the shelf area, transport each bin to a workbench, manually sort it according to the order, and complete the cargo dispatch. In this way, each sorted cargo can be loaded onto a vehicle and then transported to its respective destination.

[0041] Based on this, each bin left in its respective inventory location within the shelving area and transported to a workbench is called a bin awaiting dispatch, and bins returned to their respective inventory locations within the shelving area are called bins awaiting receipt.

[0042] To return each bottle awaiting delivery, the system can first instruct the robot to load the bottles, determine a storage location for the bottles in the shelving area, and then instruct the robot to return the bottles to that storage location.

[0043] Furthermore, to improve the efficiency of receiving bottles awaiting storage, a robot with multiple storage grids can be used to perform the process of returning bottles awaiting storage.

[0044] In other words, in the embodiment of the present invention, when returning bins using a robot having multiple storage grids, the target robot is first instructed to load the bins awaiting storage, and the binding relationship between the bins awaiting storage and the storage location for those bins can be determined.

[0045] Preferably, the robot management server can store a list of bins awaiting receipt, where this list of bins awaiting receipt includes the bin identifier of each bin awaiting receipt and the binding relationship between that bin awaiting receipt and its storage location. For each bin awaiting receipt in this list, the robot management server can generate a bin return task with the bin identifier and binding relationship of that bin awaiting receipt and send this bin return task to the target robot. In this way, when the target robot receives this bin return task, it can determine the binding relationship between the bin awaiting receipt and its storage location, and further use this to return the bin awaiting receipt.

[0046] Preferably, the robot management server can store a list of bins awaiting receipt, where this list of bins awaiting receipt includes the bin identifier of each bin awaiting receipt and the binding relationship between the bin awaiting receipt and its receiving location. For each bin awaiting receipt in this list, the robot management server can generate a bin return task with the bin identifier and binding relationship of the bin awaiting receipt. When instructing the target robot to load each bin awaiting receipt, the identifier of the bin awaiting receipt can be obtained. This allows detection of whether a bin return task exists for this bin awaiting receipt in each generated bin return task, and if a bin return task for this bin awaiting receipt is detected, the binding relationship is sent to the target robot, instructing the target robot to execute the bin return task for this bin awaiting receipt.

[0047] Furthermore, since different bins awaiting delivery may have different sizes, types, and storage conditions, different bins awaiting delivery can be returned to different storage locations in the shelving area. Based on this, for each bin awaiting delivery, a storage location can be assigned to that bin in each storage location in the shelving area, based on bin information such as the bin's size, weight, type, and storage conditions, and a binding relationship can be established between the bin awaiting delivery and its delivery location.

[0048] When assigning a storage location to each bin awaiting receipt, the assigned storage location is a currently available storage location within the shelf area. Furthermore, the storage location information, such as the storage location type and size, of the assigned storage location matches the bin information of the bin awaiting receipt. In other words, the storage location assigned to this bin awaiting receipt satisfies the storage conditions of that bin.

[0049] For example, if the destination of each shipment stored in bin A awaiting receipt is city B, then among the various storage locations on the shelves for storing shipments destined for city B, storage location C can be assigned as the receiving location for bin A awaiting receipt.

[0050] Furthermore, for example, if the size of bin D awaiting storage is 0.5m*0.6m*0.3m, then storage location E, which has dimensions of 0.7m*0.7m*0.5m*, can be assigned to bin D as the storage location for bin D awaiting storage.

[0051] Therefore, the statement that the aforementioned storage location is currently available may mean that the storage location is empty, or that the bottles currently stored in the storage location are bottles awaiting dispatch.

[0052] Preferably, to prevent one storage location from being assigned to multiple bins awaiting receipt, after assigning one storage location to one bin awaiting receipt, that storage location can be locked, and by setting its status to unused, that storage location can no longer be assigned to other bins awaiting receipt.

[0053] Preferably, if multiple bins can be placed in one storage location, the availability status of that storage location can be updated after it has been assigned to one bin awaiting receipt. That is, the number of bins awaiting receipt to which the storage location can be assigned can be updated to make it easier to determine later whether the storage location can be assigned to other bins awaiting receipt.

[0054] As can be seen from the above, if you want to return each bottle that is awaiting storage, first instruct the target robot to load each bottle that is awaiting storage, and then determine the binding relationship between each bottle that is awaiting storage and its storage location.

[0055] Preferably, when the implementing entity of the embodiment of the present invention is the target robot itself, the target robot can store available inventory locations and inventory location information such as the size and type of each available inventory location. Therefore, after loading each bin awaiting receipt, the target robot can acquire the bin information of that bin, and then, based on the inventory location information of the available inventory locations and the bin information of the bins awaiting receipt, it can assign an inventory location to that bin and establish a binding relationship between that bin and the assigned inventory location.

[0056] Preferably, when the implementing entity of the embodiment of the present invention is the target robot itself, the robot management server can store inventory location information such as a list of bins awaiting receipt, available inventory locations on shelves, and the size and type of each available inventory location. Thus, after loading the bins awaiting receipt, the target robot can send a request to the robot management server to assign an inventory location with the bin identifier of the bin awaiting receipt. In this way, the robot management server can determine the bin information of the bin awaiting receipt based on the bin identifier of the bin awaiting receipt, and further assign an inventory location to the bin awaiting receipt based on the inventory location information of each available inventory location and the bin information of the bin awaiting receipt, establish a binding relationship between the bin awaiting receipt and the assigned inventory location, and then transmit the binding relationship to the target robot.

[0057] Preferably, when the implementing entity of the embodiment of the present invention is a robot management server, the robot management server can store inventory location information such as a list of bins awaiting receipt, available inventory locations on shelves, and the size and type of each available inventory location. Therefore, the robot management server can assign one inventory location to each bin awaiting receipt in the list of bins awaiting receipt, based on the bin information of that bin, and establish a binding relationship between the bin awaiting receipt and the assigned inventory location. Subsequently, it generates a receiving task with the above binding relationship for this bin awaiting receipt and transmits this receiving task to the target robot. In this way, the target robot can receive the receiving task and acquire the above binding relationship.

[0058] Of course, the specific implementations described above are merely examples of how binding relationships can be established and how the target robot can determine the binding relationships between each bin awaiting receipt and its storage location; they are not intended to be limiting.

[0059] Based on this, when the target robot returns bins awaiting storage, the target robot is first instructed to load each bin awaiting storage, and the binding relationship between each bin awaiting storage and its storage location is determined. In this way, the target robot can be instructed to return the bins awaiting storage according to the binding relationship described above to the storage location to which the bins awaiting storage are bound.

[0060] Step S102: In the process of the target robot returning bins awaiting storage, if there are empty storage cells available, the target robot is instructed to load bins awaiting dispatch into the empty storage cells.

[0061] During the process of the target robot returning bottles awaiting storage, the target robot can be instructed to sequentially return each bottle awaiting storage to its designated storage location.

[0062] For example, the target robot can be instructed to load each bin awaiting receipt in the order in which it loads them, prioritizing the return of the bins that were loaded first. Alternatively, the target robot can be instructed to prioritize the return of bins that are closer to the target robot, based on the distance between the target robot and the storage location to which each bin is bound. Furthermore, the target robot's movement path can be predetermined based on the bin information of each bin awaiting receipt and the location information of the bound storage location, and the target robot can be instructed to return each bin awaiting receipt in order along the predetermined movement path. Of course, the above examples only illustrate and are not intended to limit the scope to cases where the target robot is instructed to return each bin awaiting receipt according to a predetermined rule.

[0063] In the process of the target robot returning bins awaiting storage, there may still be empty storage bins even after the target robot has loaded the bins awaiting storage into the receiving area, and there may be empty storage bins even after the target robot has left some of the bins awaiting storage that it loaded into the bound inventory location. Therefore, in order to increase the utilization rate of the target robot, in the process of the target robot returning bins awaiting storage, it is possible to load bins awaiting dispatch using the empty storage bins of the target robot.

[0064] Based on this, in the process of a target robot returning bins awaiting receipt, and in the process of a target robot moving from its current position to the inventory location bound with the next bin awaiting receipt, if there is an empty storage grid and bins awaiting receipt in the shelf area, the target robot can be instructed to load the bins awaiting receipt.

[0065] For example, if a target robot has 10 bins and loads 6 bins awaiting loading into the receiving area, the target robot will have 4 empty storage cells remaining. In this way, if there are bins awaiting loading in the shelf area during the process of the target robot returning the bins awaiting loading, the target robot can be instructed to load the bins awaiting loading.

[0066] For example, suppose a target robot has 10 bins and has loaded 10 bins awaiting storage into the receiving area. In the process of returning the bins awaiting storage, after the target robot returns 3 bins awaiting storage, 3 empty storage cells remain. In this way, if there are bins awaiting dispatch in the inventory area the target robot passes through, it can be instructed to load 3 bins awaiting dispatch.

[0067] Here, preferably, in one specific implementation, step S102 includes the following step 11. Step 11: If the target robot has an empty storage cell, instruct the target robot to load the bins awaiting retrieval from the target inventory location into the empty storage cell. Here, the target inventory location includes at least one of the following: an inventory location on the path the target robot takes to return bins awaiting storage, and an inventory location where the distance from the storage location of the bins awaiting storage is less than a predetermined distance.

[0068] In this specific implementation, during the process in which the target robot returns bins awaiting storage, if there are empty storage cells available for the target robot, the target robot can be instructed to load the bins awaiting retrieval at the target position into the empty storage cells.

[0069] Here, the target inventory location includes at least one of the following: an inventory location on the path the target robot takes to return bins awaiting storage, and an inventory location where the distance from the storage location of the bins awaiting storage is less than a predetermined distance.

[0070] In other words, in the process of the target robot returning bins awaiting storage, the target storage location can be any storage location located along the path the target robot takes to return the bins awaiting storage, and / or any storage location where the distance from the bins awaiting storage is less than a predetermined distance. Here, the predetermined distance can be set to a reasonable distance such as 1 meter or 5 meters as needed, and is not specifically limited in the embodiments of this application.

[0071] Furthermore, during the process of the target robot returning bottles awaiting retrieval, if there are empty storage cells available at the target robot, the target robot can be instructed to load bottles awaiting retrieval from the target inventory location into the empty storage cells.

[0072] Preferably, during the process of the target robot returning bins awaiting storage, it is possible to detect whether there are empty storage cells for the target robot and whether there is a target inventory location in the shelf area where bins awaiting dispatch are placed. Furthermore, if the above detection results both detect the presence of empty storage cells for the target robot and the presence of bins awaiting dispatch in the target inventory location, the target robot can be instructed to load the bins awaiting dispatch from the target inventory location into the empty storage cells.

[0073] Preferably, when the entity executing the inventory location adjustment method provided by the embodiment of the present invention is the target robot itself, the target robot can determine a movement path based on its current position and the location of the receiving location bound to the next bin awaiting receipt. Furthermore, if it detects that it has an empty storage grid, it can send a request to the robot management server to acquire a bin awaiting receipt along the above movement path. In this way, the robot management server receives the request to acquire a bin awaiting receipt, identifies the bin awaiting receipt that lies on the above movement path among the bins awaiting receipt that it stores, and then sends the receiving location identifier of the identified bin awaiting receipt to the target robot. This allows the target robot to load the bin awaiting receipt.

[0074] Preferably, when the entity executing the inventory location adjustment method provided by the embodiment of the present invention is a robot management server, the robot management server can detect in real time whether or not there are empty inventory locations at the target robot. If it detects that there are empty inventory locations at the target robot, it can determine whether or not there are bins waiting to be shipped at each inventory location where the distance from the inventory location bound to a bin waiting to be shipped that the target robot recently left unattended is less than or equal to a preset distance. If there are, it can transmit the receiving location identifier of the bin waiting to be shipped to the target robot, thereby causing the target robot to load the bin waiting to be shipped.

[0075] Step S103: After the target robot moves the bins awaiting retrieval from the designated storage location to its own empty storage grid, the target robot is instructed to move the bins currently loaded and awaiting target inbound storage to the designated storage location, and the binding relationship between the target inbound cargo and the corresponding inbound storage location is released.

[0076] After the target robot moves the bottles awaiting retrieval from the designated storage location to its own empty storage cell, the designated storage location for these bottles becomes empty because they have already been removed.

[0077] Therefore, to improve the robot's work efficiency, the bins currently loaded and awaiting target storage can be placed closer to the designated storage location. In this way, since the storage task for these target bins has been completed, the target robot no longer needs to move to the storage location for these bins, thus saving the movement required for the target robot during the bin return process.

[0078] Furthermore, since the bins awaiting delivery are already stored in their designated storage locations within the shelf area, there is no longer a need to place these bins awaiting delivery into their bound storage locations. Therefore, the binding relationship between these bins awaiting delivery and their respective storage locations can be released. In this way, after releasing the binding relationship, the storage location to which the bins awaiting delivery were originally bound can be assigned to other bins awaiting delivery.

[0079] Preferably, after the target robot moves the bins awaiting retrieval from the designated storage location to its own empty storage grid, the target robot identifies the target bin awaiting receipt from among the bins currently loaded awaiting receipt. After locking this designated storage location and instructing the target robot to move the currently loaded target bin awaiting receipt to the designated storage location, the binding relationship between the target bin awaiting receipt and the corresponding storage location is released, and the storage location to which the target bin awaiting receipt was bound is unlocked.

[0080] Preferably, in one specific implementation, step S103 includes the following step 21. Step 21: The target robot identifies the target bins awaiting storage that are suitable for the designated storage location from among the bins currently loaded by the target robot, and instructs the target robot to move the target bins awaiting storage to the designated storage location.

[0081] In this specific implementation, after the target robot moves the bins awaiting retrieval from the designated inventory location to its own empty storage grid, the target robot can identify the target bins awaiting receipt that are suitable for the designated inventory location from among the bins currently loaded and awaiting receipt, and then instruct the target robot to move the target bins awaiting receipt to the designated inventory location.

[0082] Here, a target bin awaiting receipt that fits the designated storage location may be a bin awaiting receipt bound to the designated storage location, or the bin information may match this designated storage location information. That is, the designated storage location satisfies the storage requirements for its bin awaiting receipt, and can place that bin awaiting receipt in the bin awaiting receipt of that designated storage location.

[0083] For example, if the designated storage location is for storing fragile goods, and each incoming bin loaded by the target robot is for storing fragile goods, then it can be determined that there are no target incoming bins among the incoming bins loaded by the target robot that can be placed in this designated storage location.

[0084] Furthermore, for example, if the designated storage location is a square with sides of 50 centimeters, and among the bins awaiting storage loaded onto the target robot, there is one bin with sides of 40 centimeters, this bin can be identified as a target bin awaiting storage that can be placed in the designated storage location.

[0085] Furthermore, if there is a target bin awaiting storage that matches the designated storage location among the bins currently loaded by the target robot, the target robot can be instructed to move the target bin to this designated storage location.

[0086] In this way, after the target robot places the target bins that are loaded and suitable for its designated storage location into that location, the target robot no longer needs to place the target bins back into the storage location to which they were originally bound, thus saving the total steps and time required for the target robot to return the bins.

[0087] Furthermore, if there are no target bins among the bins currently loaded by the target robot that are suitable for the designated storage location, the target robot can be instructed to ignore the designated storage location and continue returning each bin that is awaiting storage.

[0088] For example, as shown in Figures 2(a) and 2(b), a robot can be instructed to load bin A, which is awaiting storage, into its storage grid A. Subsequently, by assigning a storage location A in the shelf area to bin A and establishing a binding relationship between bin A and storage location A, the robot can be instructed to return bin A.

[0089] As the robot moves to storage location A, there is an empty storage cell B for the robot, and there is a bin B waiting to be picked up in storage location B, which the robot will pass through. Therefore, the robot can be instructed to load bin B into the empty storage cell B. As a result, after bin B is moved to storage cell B, storage location B returns to an empty state. Bin A, which the robot is currently loading, is compatible with the above-mentioned storage location B, so the robot can be instructed to move bin A to storage location B. Since bin A has already been transported to storage location B, there is no need to move bin A to storage location A, so the binding relationship between bin A and storage location A can be released, and storage location A can be returned to an available storage location.

[0090] Preferably, in one specific implementation, as shown in Figure 3, after releasing the binding relationship between the target bin awaiting receipt and the storage location of the target bin awaiting receipt in step S103, the inventory location adjustment method provided by the embodiment of the present invention further includes the following step S104.

[0091] Step S104: Release the binding relationship between the bins awaiting dispatch and the designated storage location, and establish a binding relationship between the bins awaiting target incoming goods and the designated storage location.

[0092] In this specific implementation, after releasing the binding relationship between the bins awaiting target arrival and their receiving location, the bins awaiting dispatch are removed from the designated inventory location, thus allowing the binding relationship between the bins awaiting dispatch and the designated inventory location to be released. Furthermore, since the bins awaiting target arrival have already been transported to this designated inventory location, meaning this designated inventory location is the receiving location for the bins awaiting target arrival, a binding relationship between the bins awaiting target arrival and the designated inventory location can be established. As a result, the designated inventory location always establishes a binding relationship with any unattended bins, and the bins awaiting target arrival can always establish a binding relationship with their receiving location.

[0093] In this way, by utilizing the designated storage locations mentioned above, we can flexibly adjust the storage locations for bottles awaiting target arrival and improve the efficiency of bottle returns.

[0094] Preferably, in one specific implementation, as shown in Figure 4, the inventory location adjustment method provided by the embodiment of the present invention further includes the following step S105. Step S105: After the target robot has returned all the bins waiting to be received, instruct the target robot to move to the outbound area to place the bins waiting to be out.

[0095] The target robot loads each bottle waiting to be dispatched during the process of returning bottles waiting to be received. Therefore, after the target robot has left all the bottles waiting to be received, all the bottles it is currently carrying are bottles waiting to be dispatched. Furthermore, the target robot can be instructed to move to the dispatch area where each bottle waiting to be dispatched will be placed in order to dispatch it.

[0096] Here, the above-mentioned outbound area may differ from the above-mentioned shelf area; it may be an inbound area, or it may not be any other area different from the inbound area.

[0097] For example, as shown in Figure 2(b), when bin A is returned, the robot is loaded only with bin B, which is awaiting dispatch. This allows the robot to be instructed to move to the dispatch area where bin B will be placed.

[0098] Preferably, in one specific embodiment, before instructing the target robot to move to the outbound area for placing bins awaiting out in step S105, the inventory location adjustment method provided by the embodiment of the present invention further includes the following steps 31-32. Step 31: Detect whether there are any empty storage cells at the target robot. If there are empty storage cells, perform step 32. If there are no empty storage cells, perform step S107. Step 32: The target robot is instructed to load each bin awaiting dispatch until there are no empty storage cells, and then the target robot is instructed to move to the dispatch area to place the bins awaiting dispatch.

[0099] In this specific implementation, even after the target robot has returned all the bins awaiting storage, there may still be empty storage cells for that target robot. Therefore, in order to improve the utilization rate of the target robot, the target robot can be loaded with bins awaiting dispatch and move to the dispatch area, and after the target robot has returned all the bins awaiting storage, each of its storage cells can be detected. Furthermore, if it is detected that there are still empty storage cells for this target robot, the target robot can be instructed to continue using the empty storage cells, and will continue to load bins awaiting dispatch onto the shelf area until it is detected that there are no more empty storage cells for the target robot. In this case, the target robot can be instructed to move to the dispatch area to place the bins awaiting dispatch, thereby enabling the target robot to perform full-load storage and full-load dispatch, and thus improving the utilization rate of the target robot.

[0100] If there are empty storage cells at the target robot, it can detect whether there are bins waiting to be picked up in the shelf area. If there are bins waiting to be picked up in the shelf area, the target robot is instructed to continue loading the bins waiting to be picked up into the shelf area until it is detected that there are no empty storage cells at the target robot. This allows the target robot to be instructed to move to the pick-up area to place the bins waiting to be picked up.

[0101] Preferably, when the entity executing the inventory location adjustment method provided by the embodiment of the present invention is the target robot itself, when an empty storage cell is detected, the target robot detects bins awaiting retrieval within the shelf area and, based on the specified number of empty storage cells and the distance between each bin awaiting retrieval and the target robot, prioritizes loading the bins closest to the target robot, from closest to farthest, until it detects that there are no empty storage cells available for the target robot. In this way, the target robot can achieve full load as quickly as possible.

[0102] Preferably, if the entity executing the inventory location adjustment method provided by the embodiment of the present invention is the target robot itself, when it detects the existence of an empty storage grid, the target robot can detect bins awaiting retrieval within the shelf area and, based on the specified number of empty storage grids and the issuance time of the retrieval task for each bin awaiting retrieval, can preferentially load the bins awaiting retrieval in order of task issuance time until it is detected that there are no empty storage grids.

[0103] Preferably, when the entity executing the inventory location adjustment method provided by the embodiment of the present invention is the target robot itself, if it detects the existence of an empty storage cell, the target robot sends a request to the robot management server to acquire an outbound task with the number of empty storage cells, and when it receives an outbound task sent from the robot management server, it can execute each outbound task in order.

[0104] Preferably, if the entity executing the inventory location adjustment method provided by the embodiment of the present invention is a robot management server, when the management server detects that there are empty storage cells at the target robot, it can select a specified number of bins awaiting retrieval in the shelf area that are close to the target robot, based on the specified number of empty storage cells, and instruct the target robot to prioritize loading each of the selected bins awaiting retrieval.

[0105] Preferably, if the entity executing the inventory location adjustment method provided by the embodiment of the present invention is a robot management server, when the robot management server detects that there are empty storage cells at the target robot, it can select a specified number of early issuance tasks in the shelf area based on the specified number of empty storage cells, according to the issuance times of the out-of-stock tasks, and instruct the target robot to execute each out-of-stock task in order.

[0106] Conversely, if it is detected that there are no empty storage cells for the target robot, it can be determined that the target robot is fully loaded. This allows the target robot to be directly instructed to move to the outbound area to place bins awaiting retrieval.

[0107] As can be seen from the above, by applying the technology provided by the embodiment of the present invention, when a robot having multiple storage grids returns bins awaiting receipt, if the robot is instructed to load bins awaiting delivery into its own empty storage grid, the inventory location in the shelf area where the bins awaiting delivery are placed becomes an available inventory location, and this available inventory location may further be used to place the bins awaiting receipt that the robot is loading. In this case, the robot does not need to move to the location bound to the bins awaiting receipt, and can use the inventory location to place the bins awaiting receipt that it is loading. In this way, by making the new available inventory location in the shelf area the location for the bins awaiting receipt, flexibility in inventory location allocation is achieved, saving the total process and time required for the robot to return the bins awaiting receipt, improving the efficiency of the robot's bin return process, and improving the overall processing efficiency of the warehouse system. Furthermore, by instructing the robot to load bins awaiting delivery during the process of returning bins, the overall processing efficiency of the warehouse system is further improved.

[0108] In some cases, there is a storage area in the shelf area where bins awaiting dispatch are stored, and this storage area is called a waiting storage area. To increase the utilization rate of storage areas, these waiting storage areas where bins awaiting dispatch are stored can be assigned to suitable bins awaiting receipt. In this way, when the target robot returns bins awaiting receipt, for each bin awaiting receipt that is bound to the waiting storage area where each bin awaiting dispatch was left, the target robot can first move the bins awaiting dispatch that were left in the waiting storage area to its own empty storage cell, and then move the bins awaiting receipt to that waiting storage area.

[0109] Based on this, preferably in one specific implementation, determining the binding relationship between the bins awaiting storage and the storage location of the bins awaiting storage in step S101 includes the following step 41. Step 41: Determine the available inventory location that matches the bins awaiting receipt as the receiving location for the bins awaiting receipt, and establish a binding relationship between the bins awaiting receipt and the available inventory location.

[0110] In this specific implementation, for each bin awaiting delivery, it is possible to determine an available storage location within the shelf area that is suitable for that bin. Subsequently, the available storage location suitable for the bin awaiting delivery is designated as the delivery location for the bin awaiting delivery, thereby establishing a binding relationship between the bin awaiting delivery and the available storage location.

[0111] In this specific implementation, the process of returning a bin awaiting receipt to an empty storage location that is bound to that bin includes the process of moving the bin awaiting receipt to the empty storage location bound to that bin. In other words, when the target robot returns a bin awaiting receipt, it can first move to the empty storage location bound to that bin, and then transfer that storage location to the empty storage location.

[0112] Preferably, in one specific implementation, determining the binding relationship between the bins awaiting storage and the storage location of the bins awaiting storage in step S101 includes the following steps 42-43. Step 42: For each bin awaiting receipt, determine whether there is an available storage space that matches the bin awaiting receipt and where a bin awaiting delivery is located. If there is, perform Step 43; otherwise, perform Step 41. Step 43: Determine the location of the pending inventory as the receiving location for the pending bin, and obtain the binding relationship between the pending bin and the pending inventory location.

[0113] In this embodiment, for each bottle awaiting delivery, it is possible to first determine whether there is an empty storage space in the shelf area that matches the bottle awaiting delivery and where the bottle awaiting delivery has been left unattended.

[0114] If there is an empty storage space in the shelf area that is suitable for bins awaiting delivery and where bins awaiting delivery have been left unattended, the empty storage space can be assigned to the bins awaiting delivery, that is, the empty storage space can be determined as the delivery location for the bins awaiting delivery, thereby determining the binding relationship between the bins awaiting delivery and the empty storage space.

[0115] If there are no available storage locations in the shelf area that match the incoming bins and have bins waiting to be shipped, then it is possible to determine which of the available storage locations in the shelf area matches the incoming bins. By assigning the determined available storage location to the incoming bins, that is, by determining the determined available storage location as the receiving storage location corresponding to the incoming bins, the binding relationship between the incoming bins and their available storage locations is established.

[0116] In this specific implementation, the process of returning a bin awaiting receipt to a bin bound to an empty inventory location includes the process of moving the bin awaiting receipt to an empty inventory location bound to that bin. In other words, when the target robot returns a bin awaiting receipt, if there is an empty storage grid available for the target robot, it can first move to the empty inventory location bound to that bin awaiting receipt, move any bins awaiting delivery that were left in that empty inventory location to its own empty storage grid, and then move the incoming bin to the aforementioned empty inventory location.

[0117] In this implementation, if an empty storage grid exists for the target robot during the process of returning bins awaiting receipt, the designated inventory location for the bins awaiting receipt that the target robot has loaded into the empty storage grid is different from the empty inventory location bound to the bins awaiting receipt that the target robot loaded into. In other words, if the inventory location bound to the bins awaiting receipt loaded into the target robot is an empty inventory location for bins awaiting receipt, then during the process of the target robot moving to the empty inventory location, if an empty storage grid exists for the target robot, and after moving the bins awaiting receipt from the designated inventory location to its own empty storage grid, it is not necessary to move to the empty inventory location bound to these bins awaiting receipt, and the bins awaiting receipt can be moved to the designated inventory location. This saves the bin return path and improves the efficiency of returning these bins awaiting receipt.

[0118] Furthermore, in order to reduce the frequency with which each target robot travels back and forth between different spaces and to improve the efficiency of each target robot in returning bins awaiting storage, it is expected that when each target robot leaves the storage area where it places each bin awaiting storage, it will have loaded many bins awaiting storage and will be able to load even more.

[0119] Based on this, pre-set bin return conditions can be set, and the target robot can be instructed to leave the receiving area for each bin awaiting storage and return each bin awaiting storage to its respective storage location if the pre-set return conditions are met.

[0120] Here, the pre-set bin return conditions described above are that the number of bins awaiting storage that the target robot is carrying reaches a pre-set bin loading capacity, or that the target robot is carrying bins awaiting storage and there are no bins to be loaded within the storage area for each bin awaiting storage.

[0121] Furthermore, since the specifications, types, and performance parameters of the robots may differ, the number of storage grids that the robots have may vary, and the pre-set bin loading capacity may also vary from robot to robot.

[0122] Preferably, for each robot, the preset bin load capacity of that robot can be set according to the actual needs. For example, if each robot is expected to leave the receiving area fully loaded, this preset bin load capacity is equal to the total amount of storage cells included in that robot.

[0123] Preferably, if the weight of each bin awaiting storage is large, when the robot is fully loaded, the loaded weight may exceed the robot's preset bin load capacity, potentially damaging the robot. Therefore, the preset bin load capacity can be set based on the bin information of the bins awaiting storage, and may be a portion of the total storage grid capacity included in the robot, for example, half, two-thirds, etc. Alternatively, it may be a fixed value, for example, 5, 10, etc. Both are reasonable and are not specifically limited in the embodiments of this application.

[0124] In this way, when instructing the target robot to load bottles awaiting storage into the storage area, it is possible to determine whether the target robot meets the pre-set bottle return conditions described above.

[0125] Based on this, preferably in one specific implementation, as shown in Figure 5, the inventory location adjustment method provided by the embodiment of the present application further includes the following steps S106 to S107. Step S106: The system detects whether the target robot meets the pre-set bin return conditions, and if it does, it executes step S107. Here, the pre-set conditions for returning the bins are that the number of bins awaiting storage that the target robot is carrying reaches a pre-set bin loading capacity, or that the target robot is carrying bins awaiting storage and there are no bins to be loaded within the storage area for each bin awaiting storage. Step S107: Instruct the target robot to return the loaded bottles awaiting storage.

[0126] In this specific implementation, before instructing the target robot to load the bins awaiting storage into the storage area for each bin awaiting storage, or before instructing the target robot to return each bin it has loaded, it is possible to detect whether the target robot has met the pre-set conditions for returning the waiting bins.

[0127] Here, the pre-set bin return conditions include the number of bins awaiting storage that the target robot is carrying reaching a pre-set bin loading capacity, or the target robot being loaded with bins awaiting storage and there being no bins to be loaded within the storage area for each bin awaiting storage.

[0128] If the pre-set bottle return condition is that the number of bottles awaiting storage loaded onto the target robot reaches a pre-set bottle load capacity, then when the target robot satisfies the pre-set bottle return condition, the number of bottles awaiting storage loaded onto the target robot will reach the pre-set bottle load capacity, and therefore, the target robot can be instructed to return the loaded bottles awaiting storage.

[0129] If the pre-set bin return condition is that the target robot is carrying bins awaiting storage and there are no bins awaiting storage to be loaded within the storage area for each bin awaiting storage, then when the target robot satisfies the pre-set bin return condition, the target robot will be carrying bins awaiting storage and there will be no bins awaiting storage to be loaded within the storage area; that is, bins awaiting storage will be loaded into some of the target robot's storage grids, and there will be no other bins awaiting storage temporarily within this storage area. Therefore, in order to improve the work efficiency of the target robot, it is possible to instruct the target robot to return the loaded bins awaiting storage.

[0130] If the pre-set bottle return condition is that the number of bottles awaiting storage loaded onto the target robot reaches a pre-set bottle loading capacity, and the target robot does not meet the pre-set bottle return condition, the target robot can be instructed to continue loading other bottles awaiting storage into the storage area because the number of bottles awaiting storage loaded onto the target robot has not reached a pre-set bottle loading capacity, and the target robot can be instructed to return the loaded bottles awaiting storage until it is detected that the target robot has met the pre-set bottle return condition.

[0131] If the pre-set bottle return conditions are met when the target robot is loading bottles awaiting storage and there are no other bottles awaiting storage to be loaded in the storage area, the target robot may be instructed to wait for other bottles awaiting storage to be loaded in the storage area, or the target robot may be instructed to continue loading other bottles awaiting storage in the storage area and return the loaded bottles awaiting storage until it is detected that the target robot has met the pre-set bottle return conditions.

[0132] Based on a similar inventive concept, and corresponding to the inventory location adjustment method shown in Figure 1 provided by the above-described embodiment of the present application, the embodiment of the present application further provides an inventory location adjustment device.

[0133] Figure 6 is a schematic diagram of the structure of the inventory location adjustment device provided by an embodiment of the present invention, and as shown in Figure 6, this device is A relationship determination module 610 is used to instruct a target robot to load bins awaiting storage and to determine the binding relationship between the bins awaiting storage and the storage location for the bins awaiting storage, wherein the target robot is a robot having a plurality of storage grids. In the process of the target robot returning the bottles awaiting storage, if there are empty storage cells available for the target robot, a first instruction module 620 is used to instruct the target robot to load the bottles awaiting dispatch into the empty storage cells, The system includes a second instruction module 630 used to instruct the target robot to move the bins awaiting retrieval from the designated storage location to its own empty storage grid, and then to move the bins currently loaded and awaiting target retrieval to the designated storage location, and to release the binding relationship between the bins awaiting target retrieval and the retrieval location for those bins.

[0134] As can be seen from the above, by applying the technology provided by the embodiment of the present invention, when a robot having multiple storage grids returns bins awaiting receipt, if the robot is instructed to load bins awaiting delivery into its own empty storage grid, the inventory space in the shelf area where the bins awaiting delivery are located becomes an available inventory space, and this available inventory space can be used to place the bins awaiting receipt that the robot is loading. In this case, the robot does not need to move to the location bound to the bins awaiting receipt, and can use the inventory space to place the bins awaiting receipt that it is loading. In this way, by making the new available inventory space in the shelf area the storage location for bins awaiting receipt, flexibility in inventory space allocation can be achieved. This saves the total process and time required for the robot to return bins awaiting receipt, improves the efficiency of the robot returning bins awaiting receipt, and improves the overall processing efficiency of the warehouse system. Furthermore, by instructing the robot to load bins awaiting delivery during the process of returning bins, the overall processing efficiency of the warehouse system is further improved.

[0135] Preferably, in one specific implementation, the second instruction module 630 is, specifically, This is used to identify the target bins awaiting storage that are suitable for the designated storage location from among the bins currently loaded by the target robot, and to instruct the target robot to move the target bins awaiting storage to the designated storage location.

[0136] Preferably, in one specific embodiment, the apparatus is A first detection module used to detect whether the target robot satisfies a preset bin return condition, wherein the preset bin return condition includes the number of bins awaiting storage that the target robot is carrying reaches a preset bin load, or the target robot is carrying bins awaiting storage and there are no bins to be loaded within the storage area for each bin awaiting storage, and the first detection module triggers a third instruction module when the condition is met. The system further comprises a third instruction module used to instruct the target robot to return the loaded bins awaiting storage.

[0137] Preferably, in one specific implementation, the relationship-determining module 610 is, specifically, Determine an available storage location that is suitable for the bottles awaiting storage as the storage location for the bottles awaiting storage, and establish a binding relationship between the bottles awaiting storage and the available storage location. or This system is used to determine, for each bin awaiting receipt, whether there is an available storage location that is compatible with the bin awaiting receipt and where a bin awaiting shipment is located; if such a location exists, the available storage location is determined as the receiving location for the bin awaiting receipt, and a binding relationship is obtained between the bin awaiting receipt and the available storage location; and if such a location does not exist, an available storage location that is compatible with the bin awaiting receipt is determined as the receiving location for the bin awaiting receipt, and a binding relationship is obtained between the bin awaiting receipt and the available storage location.

[0138] Preferably, in one specific implementation, the first instruction module 620 is, specifically, If the target robot has an empty storage grid, this is used to instruct the target robot to load the bins awaiting retrieval from the target inventory location into the empty storage grid. The target inventory location includes at least one of the following: an inventory location on the movement path by which the target robot returns the bottles awaiting storage, and an inventory location where the distance from the storage location for the bottles awaiting storage is less than a predetermined distance.

[0139] Preferably, in one specific embodiment, the apparatus is The system further includes a relationship establishment module used to establish a relationship between the target bins awaiting entry and the designated storage location, after releasing the binding relationship between the bins awaiting exit and the designated storage location.

[0140] Preferably, in one specific embodiment, the apparatus is The system further comprises a fourth instruction module used to instruct the target robot to move to an outbound area for placing the remaining bins after the target robot has returned all the bins waiting to be received.

[0141] Preferably, in one specific embodiment, the apparatus is A second detection module used to detect whether there is an empty storage grid for the target robot before instructing the target robot to move to the dispensing area for placing the bins awaiting dispensing, the second detection module triggers a fifth instruction module if there is an empty storage grid for the target robot, and triggers a fourth instruction module if there is no empty storage grid for the target robot, The system further comprises a fifth instruction module used to perform the steps of instructing the target robot to load each of the unreleased bins until there are no empty storage cells, and instructing the target robot to move to a release area for placing the bins awaiting release.

[0142] Embodiments of the present invention further provide an electronic device, as shown in Figure 7, wherein the electronic device is Memory 701 used to store computer programs, The present invention includes a processor 702 that, when a program stored in memory 701 is executed, is used to realize a step of any of the inventory location adjustment methods provided by the above embodiment of the present invention.

[0143] Furthermore, the electronic device may be equipped with a communication bus and / or a communication interface, and the processor 702, the communication interface, and the memory 701 communicate with each other via the communication bus.

[0144] The communication bus in the above-mentioned electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of visual convenience, the bus is shown with a single thick line in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0145] The communication interface is used by the server mentioned above to communicate with other devices.

[0146] The memory may include random access memory (RAM), non-volatile memory (NVM), and, for example, at least one magnetic disk device. Preferably, the memory may be at least one storage device located away from the processor.

[0147] The above-mentioned processor may be a general-purpose processor including a Central Processing Unit (CPU), a Network Processor (NP), or it may be a Digital Signal Processing (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component.

[0148] In another embodiment provided by the embodiments of the present application, a computer-readable storage medium is further provided, wherein a computer program is stored in the computer-readable storage medium and the computer program is executed by a processor, thereby realizing the steps of any of the above method embodiments.

[0149] In another embodiment provided by the embodiments of the present application, a computer program product including instructions is further provided, which, when running on a computer, causes the computer to perform the steps of any of the above-described method embodiments.

[0150] In the embodiments described above, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, computer, server, or data center to another website, computer, server, or data center via a wired connection (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless connection (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium accessible by a computer, or a data storage device such as a server or data center that integrates one or more available media. The above-mentioned usable media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), etc.

[0151] In this specification, relational terms such as those in the first and second paragraphs are used solely to distinguish one entity or action from another, and it is not necessarily the case that such an actual relationship or order exists between these entities or actions. Furthermore, the terms “encompassing,” “including,” or other variations thereof are intended to imply non-exclusive inclusion, meaning that a process, method, article, or device containing a set of elements includes not only those elements but also other elements not expressly enumerated, or elements inherent to such a process, method, article, or device. Unless otherwise specified, the elements limited by “including one…” do not preclude the process, method, article, or device containing such elements from having yet other identical elements.

[0152] Although the embodiments described herein are described in a manner that is interrelated, identical or similar parts between embodiments may be referenced to one another, and the focus of the explanation will be on the differences between each embodiment and the others. In particular, embodiments of apparatus, electronic devices, computer-readable storage media, and computer program products are substantially similar to embodiments of methods, so their explanation is simple, and relevant parts may be referenced to the embodiments of methods.

[0153] The above description is merely a preferred embodiment of the present application and does not limit the scope of protection. Any amendments, equivalent substitutions, modifications, etc., made within the spirit and principles of the present application shall all be included within the scope of protection.

Claims

1. A method for adjusting inventory locations, The process involves instructing a target robot to load bins awaiting storage, determining the binding relationship between the bins awaiting storage and their storage locations, wherein the target robot is a robot having multiple storage grids. In the process of the target robot returning the bottles awaiting storage, if there are empty storage cells at the target robot, the target robot is instructed to load the bottles awaiting dispatch from the target inventory location into the empty storage cells, wherein the target inventory location includes at least one of the following: an inventory location on the movement path by which the target robot returns the bottles awaiting storage, and an inventory location where the distance between this location and the storage location of the bottles awaiting storage is less than a predetermined distance. The process includes: after the target robot moves the bins awaiting retrieval from the designated storage location to its own empty storage grid, instructing the target robot to move the bins currently loaded and awaiting target entry to the designated storage location, and releasing the binding relationship between the bins awaiting target entry and the storage location for those bins. A method for adjusting inventory locations, characterized by the following features.

2. Instructing the target robot to move the bins currently loaded and awaiting target storage to the designated storage location is: This includes identifying a target bin among the bins currently loaded by the target robot that is suitable for the designated storage location, and instructing the target robot to move the target bin to the designated storage location. The method for adjusting inventory locations according to claim 1, characterized in that it is a method for adjusting inventory locations according to claim 1.

3. The aforementioned method for adjusting inventory locations further includes: This includes detecting whether the target robot satisfies the pre-set bin return conditions, The aforementioned pre-set bottle return conditions include the number of bottles awaiting storage that the target robot is carrying reaching a pre-set bottle loading capacity, or the target robot is carrying bottles awaiting storage and there are no bottles to be loaded within the storage area for each bottle awaiting storage, If the aforementioned pre-set bottle return conditions are met, the target robot is instructed to return the loaded bottles awaiting storage. The method for adjusting inventory locations according to claim 1, characterized in that it is a method for adjusting inventory locations according to claim 1.

4. Determining the binding relationship between the bins awaiting storage and the storage location for those bins awaiting storage is, Determine an available storage location that is suitable for the bottles awaiting storage as the storage location for the bottles awaiting storage, and establish a binding relationship between the bottles awaiting storage and the available storage location. or This includes determining, for each bin awaiting receipt, whether there is an available storage location that is compatible with the bin awaiting receipt and where a bin awaiting shipment is located; if such a location exists, determining the available storage location as the receiving location for the bin awaiting receipt and obtaining a binding relationship between the bin awaiting receipt and the available storage location; and if such a location does not exist, determining an available storage location that is compatible with the bin awaiting receipt as the receiving location for the bin awaiting receipt and obtaining a binding relationship between the bin awaiting receipt and the available storage location. The method for adjusting inventory locations according to claim 1, characterized in that it is a method for adjusting inventory locations according to claim 1.

5. After releasing the binding relationship between the target bins awaiting storage and the storage location for those bins, the inventory location adjustment method further: This includes releasing the binding relationship between the bins awaiting dispatch and the designated storage location, and establishing a binding relationship between the bins awaiting target arrival and the designated storage location. A method for adjusting inventory locations according to any one of claims 1 to 4, characterized in that

6. The aforementioned method for adjusting inventory locations further includes: This includes instructing the target robot to move to the outbound area for placing the outbound bins after the target robot has returned all the bins waiting to be received. A method for adjusting inventory locations according to any one of claims 1 to 4, characterized in that

7. Before instructing the target robot to move to the dispatch area for placing the bins awaiting dispatch, the inventory location adjustment method further: The system detects whether or not there are empty storage cells in the target robot. If there are empty storage cells at the target robot, the target robot is instructed to load each of the bins awaiting dispatch until there are no more empty storage cells, and the target robot is instructed to move to the dispatch area for placing the bins awaiting dispatch. If there are no available storage cells for the target robot, the step of instructing the target robot to move to the retrieval area for placing the bins awaiting retrieval is performed. The method for adjusting inventory locations according to claim 6, characterized in that it is a method for adjusting inventory locations according to claim 6.

8. A stock location adjustment device, A relationship determination module used to instruct a target robot to load bins awaiting storage and to determine the binding relationship between the bins awaiting storage and the storage location for the bins awaiting storage, wherein the target robot is a robot having multiple storage grids, In the process of the target robot returning the bottles awaiting storage, if there are empty storage cells at the target robot, the first instruction module is used to instruct the target robot to load the bottles awaiting retrieval from the target inventory location into the empty storage cells, and the target inventory location includes at least one of the following: an inventory location on the movement path by which the target robot returns the bottles awaiting storage, and an inventory location where the distance from the storage location of the bottles awaiting storage is less than a preset distance. The system includes a second instruction module used to instruct the target robot to move the bins awaiting retrieval from the designated inventory location to its own empty storage grid, and then to move the bins currently loaded and awaiting target entry to the designated inventory location, and to release the binding relationship between the bins awaiting target entry and the storage location for those bins. A stock location adjustment device characterized by the following features.

9. The second instruction module is, This is used to identify the target bins awaiting storage that are suitable for the designated storage location from among the bins currently loaded by the target robot, and to instruct the target robot to move the target bins awaiting storage to the designated storage location. The inventory location adjustment device according to claim 8, characterized in that

10. The aforementioned inventory location adjustment device further, A first detection module used to detect whether the target robot satisfies a preset bin return condition, wherein the preset bin return condition includes the number of bins awaiting storage that the target robot is carrying reaches a preset bin load, or the target robot is carrying bins awaiting storage and there are no bins to be loaded within the storage area for each bin awaiting storage, and the first detection module triggers a third instruction module when the preset bin return condition is met. The third instruction module is used to instruct the target robot to return the loaded bins awaiting storage. The inventory location adjustment device according to claim 8, characterized in that

11. The aforementioned relationship determination module is Determine an available storage location that is suitable for the bottles awaiting storage as the storage location for the bottles awaiting storage, and establish a binding relationship between the bottles awaiting storage and the available storage location. or This method is used to determine, for each bin awaiting receipt, whether there is an available storage location that is compatible with the bin awaiting receipt and where a bin awaiting shipment is located; if such a location exists, the available storage location is determined as the receiving location for the bin awaiting receipt, and a binding relationship is obtained between the bin awaiting receipt and the available storage location; and if such a location does not exist, an available storage location that is compatible with the bin awaiting receipt is determined as the receiving location for the bin awaiting receipt, and a binding relationship is obtained between the bin awaiting receipt and the available storage location. The inventory location adjustment device according to claim 8, characterized in that

12. The aforementioned inventory location adjustment device further, The system includes a relationship establishment module used to release the binding relationship between the target bin awaiting entry and the location where the target bin awaiting entry is received, release the binding relationship between the bin awaiting exit and the designated inventory location, and then establish a binding relationship between the target bin awaiting entry and the designated inventory location. The inventory location adjustment device according to any one of claims 8 to 11, characterized in that

13. The aforementioned inventory location adjustment device further, The system includes a fourth instruction module used to instruct the target robot to move to the outbound area for placing the remaining bins after the target robot has returned all the bins waiting to be received. The inventory location adjustment device according to any one of claims 8 to 11, characterized in that

14. The aforementioned inventory location adjustment device further, A second detection module used to detect whether there is an empty storage grid for the target robot before instructing the target robot to move to the dispensing area for placing the bins awaiting dispensing, the second detection module triggers a fifth instruction module if there is an empty storage grid for the target robot, and triggers a fourth instruction module if there is no empty storage grid for the target robot, The fifth instruction module is used to perform the steps of instructing the target robot to load each of the bins awaiting retrieval that have not yet been retrieved until there are no empty storage cells, and to instruct the target robot to move to a retrieval area for placing the bins awaiting retrieval. The inventory location adjustment device according to claim 13, characterized in that it is a stock location adjustment device.

15. Electronic equipment, said electronic equipment is Memory used to store computer programs, The system includes a processor used to implement the inventory location adjustment method described in any one of claims 1 to 4, which executes a program stored in memory. An electronic device characterized by the following features.

16. A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and the computer program, when executed by a processor, realizes the inventory location adjustment method described in any one of claims 1 to 4.

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