Return of carrier to warehouse

Abstract

To provide a method of returning a carrier, and to provide an apparatus and a device thereof.SOLUTION: According to one example of the present invention, the method comprises the steps of: determining whether or not a condition under which feature information about a target carrier returns to an original position of a warehouse is satisfied, when it is determined that a task of returning to the warehouse needs to be executed for the target carrier; selecting an initial placement position at a carrier placement site of the target carrier as a target placement position of the target carrier, when the condition is satisfied; and selecting the target placement position of the target carrier from a plurality of placement positions, based on a level-deciding degree of the target carrier, and other level-deciding degrees at each of the plurality of placement positions at the carrier placement site, when the condition is not satisfied. In this manner, delivery efficiency and warehousing efficiency of warehouse management can be improved by rationally using the placement positions.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to the field of warehouse logistics technology, and in particular to a method, an apparatus, and a device for returning carriers to a warehouse. [Background Art]

[0002] Warehouse management refers to the management of warehouses and articles (e.g., commodities) stored in warehouses. As a building or site for storing articles, a warehouse has the function of storing and protecting articles. To implement warehouse management, mobile robots (e.g., forklifts, automated guided vehicles, bin robots) automatically transport carriers (e.g., bins, shelves, pallets), which are used for carrying articles. The carriers transfer articles from a workbench to a carrier storage area (e.g., a carrier storage area of a warehouse) to complete article warehousing, or transfer articles from the carrier storage area to the workbench to complete article retrieval.

[0003] In the article warehousing process, after articles are loaded onto a carrier from a workbench, it is necessary to move the carrier from the workbench to a carrier storage area. In the article retrieval process, after articles are moved from the carrier storage area to the workbench by the carrier, the articles need to be unloaded from the carrier onto the workbench, and the carrier needs to be returned from the workbench to the carrier storage area.

[0004] In short, carriers need to be moved to a carrier storage area in both the article warehousing process and the article retrieval process. In the related art, when moving a carrier to a carrier storage area, the carrier is usually moved to an arbitrary position in the carrier storage area, which results in low warehouse management efficiency and cannot make rational use of storage area positions. [Summary of the Invention] [Means for Solving the Problem]

[0005] The present invention provides a method for returning a carrier to a warehouse, comprising the steps of: determining whether characteristic information of the target carrier satisfies the conditions for returning to its original location in the warehouse, where the characteristic information includes at least one of the work type of the target carrier, the transport tool type of the target carrier, and the item type of the target carrier; if so, selecting the initial location of the target carrier as the target location, where the initial location is the location in the carrier storage area before the target carrier performs an inbound or outbound task; if so, selecting the target location from the multiple locations based on the temperature of the target carrier and the temperatures of the multiple locations in the carrier storage area; and controlling a mobile robot to move the target carrier to the target location.

[0006] The present invention provides a device for returning a carrier to a warehouse, comprising: a determination module for determining whether the characteristic information of a target carrier satisfies the conditions for returning the target carrier to its original location in a warehouse, when it is determined that a task of returning the target carrier to a warehouse needs to be performed; the characteristic information comprising at least one of the work type of the target carrier, the transport tool type of the target carrier, and the item type of the target carrier; an acquisition module for selecting the initial placement position of the target carrier as the target placement position of the target carrier if the characteristic information satisfies the conditions for returning the target carrier to its original location in a warehouse, and selecting the target placement position of the target carrier from a plurality of placement positions in a carrier storage area based on the temperature of the target carrier and the temperatures of a plurality of placement positions in a carrier storage area, when it is determined that a task of returning the target carrier to a warehouse needs to be performed; an acquisition module for selecting the initial placement position of the target carrier from a plurality of placement positions in a carrier storage area, when the characteristic information satisfies the conditions for returning the target carrier to its original location in a warehouse, the initial placement position being the placement position in the carrier storage area before the target carrier performs an inbound or outbound task; and a control module for controlling a mobile robot to move the target carrier to the target placement position.

[0007] The present invention provides an electronic device comprising a processor and a machine-readable storage medium. The machine-readable storage medium stores machine-executable instructions that can be executed by the processor, and the processor is used to execute the machine-executable instructions and carry out the method of returning the carrier of the above example of the present invention to the warehouse.

[0008] As can be seen from the above technical proposal, in the embodiment of the present invention, when it is necessary to perform a return task to the warehouse on a target carrier, if the characteristic information of the target carrier satisfies the conditions for returning to its original position in the warehouse, the initial placement position of the target carrier is set as the target placement position of the target carrier, where the initial placement position is the placement position in the carrier storage area before the target carrier performs an inbound or outbound task. If this condition is not met, the target placement position is selected based on the temperature of the target carrier and the temperatures of multiple placement positions in the carrier storage area. In this way, when returning a target carrier to the carrier storage area, the target placement position in the carrier storage area can be rationally selected, improving the efficiency of warehouse management. Rational use of placement positions can improve work efficiency and improve outbound and inbound efficiency.

[0009] To more clearly explain the embodiments of the present invention or the technical concepts in the prior art, the following briefly introduces the drawings that are necessary for describing the embodiments of the present invention or the prior art. However, it is clear that the drawings in the following description are only a few embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings of embodiments of the present invention. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic flowchart illustrating a method for returning a carrier to a warehouse according to one embodiment of the present invention. [Figure 2] This is a schematic diagram of a system according to one embodiment of the present invention. [Figure 3] This is a schematic flowchart illustrating a method for returning a carrier to a warehouse according to one embodiment of the present invention. [Figure 4]This is a schematic flowchart illustrating a method for returning a carrier to a warehouse according to one embodiment of the present invention. [Figure 5] This is a schematic flowchart illustrating a method for returning a carrier to a warehouse according to one embodiment of the present invention. [Figure 6] This is a schematic diagram of a device for returning a carrier to a warehouse according to one embodiment of the present invention. [Figure 7] This is a hardware structure diagram of an electronic device according to one embodiment of the present invention. [Modes for carrying out the invention]

[0011] The terminology used in the embodiments of this invention is merely for the purpose of describing specific embodiments and does not limit the invention. The singular forms “one kind,” “the said,” and “the” used in this invention and the claims are also intended to include the plural form unless the context clearly indicates otherwise. Furthermore, it should be understood that the term “and / or” used in this invention means any or all possible combination of one or more related enumerated items.

[0012] The embodiments of the present invention may use terms such as first, second, third, etc., to describe various types of information, but it should be understood that this information is not limited to these terms. These terms are used solely to distinguish the same type of information. For example, without departing from the scope of the present invention, first information may be called second information, and similarly, second information may be called first information. Also, depending on the context, the word "…case" used may be interpreted as "…and," "…when," or "in response to a decision."

[0013] Embodiments of the present invention provide a method for returning a carrier to a warehouse, and as shown in Figure 1, the method may include the following steps 101 to 104.

[0014] If, in step 101, it is determined that a return task to the warehouse needs to be performed on the target carrier, the characteristic information of the target carrier is used to determine whether the return condition to the original warehouse location is met. The characteristic information of the target carrier may include, but is not limited to, at least one of the target carrier's work type, target carrier's transport tool type, or target carrier's item type. If the condition is met, step 102 may be performed; otherwise, step 103 may be performed.

[0015] For example, the target carrier may be a shelf, a bin, a box, a pallet on a shelf, or any other type of container for holding goods. In this embodiment, the target carrier is an example of a carrier in the form of a bin, a box, or a pallet.

[0016] In step 102, the initial position of the target carrier is selected as the target position of the target carrier. This initial position may be the position of the target carrier before it performs an inbound or outbound task.

[0017] In step 103, a target placement location for the target carrier is selected from the multiple placement locations in the carrier placement area based on the temperature of the target carrier and the temperatures of the multiple placement locations in the carrier placement area.

[0018] For example, step 104 may be performed after step 102 or 103.

[0019] In step 104, the mobile robot is controlled to move the target carrier to the target placement position.

[0020] In one possible embodiment, when the feature information of the target carrier includes the work type of the target carrier, the step of determining whether the feature information of the target carrier satisfies the condition for returning to the original position in the warehouse includes, but is not limited to: the step of determining that the work type satisfies the condition for returning to the original position in the warehouse when the work type of the target carrier includes a warehouse switching type, and the warehouse switching type indicates that the warehouse where the target carrier is located is under switching; the step of determining that the work type satisfies the condition for returning to the original position in the warehouse when the work type of the target carrier includes a warehouse service type, and the warehouse service type indicates that the target carrier is performing sampling quality inspection service; or the step of determining that the work type satisfies the condition for returning to the original position in the warehouse when the work type includes a warehouse restriction type, and the warehouse restriction type indicates that the warehouse where the target carrier is located restricts the maximum height of goods.

[0021] In one possible embodiment, when the feature information of the target carrier includes a conveyance tool type (that is, the type of mobile robot for conveying the target carrier), the step of determining whether the feature information of the target carrier satisfies the condition for returning to the original position in the warehouse may include, but is not limited to, the step of determining that the conveyance tool type satisfies the condition for returning to the original position in the warehouse when the conveyance tool type of the target carrier indicates that the conveyance tool of the target carrier is a target-type mobile robot. Here, when the target-type mobile robot conveys the target carrier, the warehouse where the target carrier is located restricts the maximum height of goods. Here, the target-type mobile robot may include, but is not limited to, a forklift-type mobile robot.

[0022] In one possible embodiment, in a case where the characteristic information of the target carrier includes an article type (that is, the type of an article carried on the target carrier), the step of determining whether the characteristic information of the target carrier satisfies the condition for returning to the original position in the warehouse may include, but is not limited to, the step of determining that the article type satisfies the condition for returning to the original position in the warehouse when the article type of the target carrier indicates that an article of a specified type is carried on the target carrier. Here, the article of the specified type may be an article having requirements for the environment of the placement place, and the initial placement position of the target carrier meets the environmental requirements of the article of the specified type.

[0023] In one possible embodiment, determining that it is necessary to execute a task of returning the target carrier to the warehouse may include, but is not limited to: when a warehousing task is obtained, controlling the mobile robot to move the target carrier from the initial placement position in a carrier storage area to a workbench, and after loading the article to be warehoused onto the target carrier from the workbench, determining that it is necessary to execute the task of returning the target carrier to the warehouse; or when a delivery task is obtained, controlling the mobile robot to move the target carrier carrying the article to be delivered from the initial placement position in the carrier storage area to the workbench, and after unloading the article to be delivered from the target carrier to the workbench, determining that it is necessary to execute the task of returning the target carrier to the warehouse.

[0024] In one possible embodiment, after controlling the mobile robot to leave the initial placement position in the carrier storage area, it may further be determined whether the characteristic information of the target carrier satisfies the condition for returning to the original position in the warehouse; if the condition is satisfied, carriers other than the target carrier are prohibited from moving to the initial placement position; if the condition is not satisfied, carriers other than the target carrier are allowed to move to the initial placement position.

[0025] In one possible embodiment, the step of selecting a target location for a target carrier from a plurality of locations based on the heat (heat / frequency) of the target carrier and the heat of a plurality of locations in the carrier storage area is to determine the target number of times each carrier to be returned to the warehouse will carry the goods, and to determine the heat of the carrier to be returned to the warehouse based on the target number of times, wherein the target number of times is the sum of a first number of times and a second number of times, where the first number of times is the number of times the goods move from the workbench to the carrier to be returned to the warehouse, and the second number of times is the number of times the goods move from the carrier to be returned to the warehouse to the workbench, and the larger the target number of times, the greater the heat of the carrier to be returned to the warehouse, and the carrier storage area A step of determining the temperature of each empty storage location, wherein the temperature of the empty storage location increases as the distance between the empty storage location and the workbench decreases; a step of sorting all carriers to be returned to each warehouse based on the temperature of each carrier to be returned to each warehouse, and determining a first sort position in the carrier sequence to be returned to the warehouse of the target carrier; a step of sorting all empty storage locations based on the temperature of each empty storage location, determining a second sort position in the empty storage location sequence that matches the first sort position, and selecting one empty storage location as the target storage location of the target carrier based on the second sort position, which may include, but is not limited to, these steps.

[0026] As can be seen from the above technical proposals, in the embodiments of the present invention, when it is necessary to perform a task of returning a target carrier to the warehouse, if the characteristic information of the target carrier satisfies the conditions for returning it to its original position in the warehouse, the initial placement position is set as the target placement position. If it does not satisfy the conditions, the target placement position is selected based on the temperature of the target carrier and the temperature of the placement position. In this way, when returning a target carrier to the carrier storage area, the target placement position in the carrier storage area can be rationally selected, improving the efficiency of warehouse management. Rational use of the placement position improves work efficiency and can improve both outbound and inbound efficiency.

[0027] The following describes the technical proposals for embodiments of the present invention, with reference to specific application scenarios.

[0028] Embodiments of the present invention provide a method for returning a carrier to a warehouse. As shown in Figure 2, the method may be performed by an intelligent warehouse management system 210, a center management system 220, and a robot control server 230 working together. The intelligent warehouse management system 210, the center management system 220, and the robot control server 230 may be located on the same device, i.e., the intelligent warehouse management system, the center management system, and the robot control server function as functional modules of that device. Alternatively, the intelligent warehouse management system 210, the center management system 220, and the robot control server 230 may be located on different devices, i.e., the intelligent warehouse management system, the center management system, and the robot control server may each function as independent devices, but are not limited thereto.

[0029] The intelligent warehouse management system 210 is used to implement functions such as managing item batches, inventory management, managing incoming and outgoing orders, counting, and sorting. The center management system 220 is used to notify the robot control server 230 to move a carrier from one location to another by decomposing the task after acquiring a task order. The robot control server 230 is used to schedule and control the mobile robot 240 to move from one location to another. Of course, the above is merely a brief description of the functions of the intelligent warehouse management system, center management system, and robot control server, and is not limited thereto.

[0030] Here, the mobile robot 240 is a robot that transports a carrier to a specific location as a carrier transport tool, and may also be called an Autonomous Mobile Robot (AMR). The mobile robot may be a forklift, an automated guided vehicle, a bin robot, etc., and is not limited to these.

[0031] Figure 2 shows a schematic diagram of a system according to an embodiment of the present invention. The intelligent warehouse management system 210 is used to manage information such as inventory, orders, goods, and shippers. It receives inbound / outbound order tasks and count order tasks transmitted from the upstream system and can trigger the AMR to transport carriers. The center management system 220 is used to manage the warehouse map and equipment (e.g., AMRs, charging stations, etc.). It receives order tasks transmitted from the intelligent warehouse management system 210 and can convert these order tasks into outbound and return tasks for carriers. The robot control server 230, after receiving carrier transport tasks from the center management system 220, is used to break down the carrier transport tasks and schedule the AMR to transport carriers to corresponding locations using algorithms such as route planning and task assignment. The AMR is an autonomous mobile robot 240, which receives commands from the robot control server 230 and is used to transport carriers accordingly.

[0032] Embodiments of the present invention provide a method for returning carriers to a warehouse, which is applicable to an goods receiving process that moves goods from a workbench to a carrier storage area via carriers. Here, the workbench is also called a workstation and is a workbench for warehouse work on which tasks such as outbound, inbound, counting, and sorting can be performed. The carrier storage area is a warehouse storage area for placing carriers, that is, a warehouse storage area is used to place carriers.

[0033] Figure 3 is a schematic flowchart of a method for returning the carrier to the warehouse, which may include the following steps 301 to 306.

[0034] In step 301, if a receiving task is acquired, the mobile robot is controlled to move the target carrier from its initial position in the carrier storage area to the workbench, and the items to be received are placed from the workbench onto the target carrier.

[0035] For example, a receiving task may be used to instruct the receiving of an item, which may be called the item to be received, and a carrier for which the item to be received is selected, which may be called the target carrier. One standby carrier may be randomly selected as the target carrier for the item to be received, or one standby carrier may be selected as the target carrier for the item to be received based on a predetermined selection policy, but is not limited to this. The target carrier may be of a type such as a bin, shelf, or pallet, but is not limited to this type of carrier.

[0036] For example, after selecting a target carrier, the mobile robot may be controlled to move to the initial position where the target carrier is located, and then the target carrier may be placed on the mobile robot from the initial position.

[0037] For example, a carrier storage area may include multiple storage locations, one carrier may be placed in one storage location, or multiple carriers may be placed in one storage location; however, it is not limited to these. To facilitate distinction, the storage location for a target carrier may be called the initial storage location of the target carrier. If the carrier storage area includes 100 storage locations such as storage location A1, storage location A2, ..., storage location A100, and the target carrier is placed in storage location A10, then the initial storage location of the target carrier is storage location A10.

[0038] After obtaining the initial position of the target carrier, the mobile robot may be controlled to move to the initial position where the target carrier is located. For example, the mobile robot may be controlled to move to position A10 in the carrier storage area, and the target carrier may be placed on the mobile robot from position A10.

[0039] For example, the target carrier may be moved from its initial position in the carrier storage area to the workbench by first placing the target carrier on the mobile robot, and then controlling the mobile robot to move it to the workbench. After the target carrier is moved to the workbench, the items to be stored can be placed from the workbench onto the target carrier, that is, the items to be stored can be transferred from the workbench to the target carrier.

[0040] In step 302, after placing the items to be stored from the workbench onto the target carrier, it is determined that a return task to the warehouse must be performed on the target carrier, that is, the target carrier must be returned to the carrier storage area.

[0041] In step 303, it is determined whether the target carrier's characteristic information satisfies the conditions for returning it to its original location in the warehouse. If it does, step 304 is performed; otherwise, step 305 is performed.

[0042] Exemplary, the characteristic information of the target carrier may include, but is not limited to, at least one of the target carrier's work type, target carrier's transport tool type, and target carrier's item type. Here, the target carrier's work type is used to indicate what mode of operation the target carrier operates in, and the mode of operation may be an operating mode relevant to an actual scenario. The target carrier's transport tool type is used to indicate what transport tool the target carrier operates with, i.e., the type of mobile robot used to transport the target carrier, such as a forklift, automated guided vehicle, or bin robot. The target carrier's item type is used to indicate the type of item placed on the target carrier, such as fruit, water, meat, or alcohol.

[0043] If the target carrier's characteristic information includes the target carrier's work type, the return condition to the warehouse's original location is a condition related to the target carrier's work type and may be arbitrarily set by the user according to actual needs. If the target carrier's characteristic information includes the target carrier's transport tool type, the return condition to the warehouse's original location is a condition related to the target carrier's transport tool type and may be arbitrarily set by the user according to actual needs. If the target carrier's characteristic information includes the target carrier's item type, the return condition to the warehouse's original location is a condition related to the target carrier's item type and may be arbitrarily set by the user according to actual needs.

[0044] For example, the following case is used to determine whether the characteristic information of the target carrier satisfies the condition for returning it to its original location in the warehouse.

[0045] Case 1: If the characteristic information of the target carrier includes the work type of the target carrier, and the work type of the target carrier includes a warehouse changeover type, then it is determined that the work type satisfies the condition for returning the warehouse to its original location when the warehouse changeover type indicates that the warehouse where the target carrier is located is undergoing a changeover, and that the work type does not satisfy the condition for returning the warehouse to its original location when the warehouse changeover type indicates that the warehouse where the target carrier is located is not undergoing a changeover.

[0046] For example, the warehouse changeover type is a work type that indicates whether the warehouse where the target carrier is located is undergoing a changeover, or whether the warehouse where the target carrier is located is not undergoing a changeover.

[0047] The warehouse transition type indicates that the warehouse where the target carrier is located is undergoing a transition if the warehouse hardware (e.g., hardware at each location in the carrier storage area, mobile robots, workbench hardware, etc., but not limited to these) is undergoing a software or hardware upgrade, i.e., the warehouse is being upgraded. Alternatively, the warehouse transition type indicates that the warehouse where the target carrier is located is undergoing a transition if the old warehouse is being decommissioned and a new warehouse is being added, i.e., the old warehouse is being decommissioned and the new warehouse is being activated. Or, the warehouse transition type indicates that the warehouse where the target carrier is located is undergoing a transition if a new warehouse is being added, i.e., the new warehouse is being activated. Of course, the above are just some examples of what it means for a warehouse to be undergoing a transition, and are not limited to these.

[0048] If the warehouse where the target carrier is located is undergoing a switchover (for example, a service scenario switching from an old warehouse to a new warehouse), it is necessary to return the target carrier to its initial location to prevent disturbances in the carrier's position, anomalies in system data, effectively reduce the risk of going online, and improve the system's fault tolerance. Therefore, "the warehouse where the target carrier is located is undergoing a switchover" can be used as a condition for returning the target carrier to its original location. In this way, if the warehouse where the target carrier is located is undergoing a switchover, the target carrier can be returned to its initial location, i.e., its location can not be changed, preventing disturbances in the carrier's position due to the switchover operation.

[0049] The warehouse switchover type indicates that the warehouse where the target carrier is located is not undergoing a switchover.

[0050] Regarding warehouse switching types, the condition for returning a warehouse to its original location may be that the warehouse where the target carrier is located is in the process of switching. In other words, if the warehouse where the target carrier is located is in the process of switching, the condition for returning the warehouse to its original location is met. In summary, if a warehouse switching type indicates that the warehouse where the target carrier is located is in the process of switching, the warehouse switching type satisfies the condition for returning the warehouse to its original location. If a warehouse switching type indicates that the warehouse where the target carrier is located is not in the process of switching, the warehouse switching type does not satisfy the condition for returning the warehouse to its original location.

[0051] Case 2: If the characteristic information of the target carrier includes the work type of the target carrier, and the work type of the target carrier includes a warehouse service type, then it may be determined that the work type satisfies the return condition to the warehouse if the warehouse service type indicates that the target carrier is performing a sampling quality inspection service, and that the work type does not satisfy the return condition to the warehouse if the warehouse service type indicates that the target carrier is not performing a sampling quality inspection service.

[0052] For example, the warehouse service type is a work type that indicates whether the target carrier is performing a sampling quality inspection service (which belongs to the work mode) or not.

[0053] If the warehouse service type indicates that the target carrier is performing sampling quality inspection services, it means that the items stored in the target carrier are either items that need quality inspection or items that have already been quality inspected. Conversely, if the warehouse service type indicates that the target carrier is not performing sampling quality inspection services, it means that the items stored in the target carrier are not items that need quality inspection.

[0054] If the target carrier is performing a sampling quality inspection service, it is necessary to ensure that its position before the service matches its position after the service. To prevent disturbances in the carrier's position and system data anomalies, the target carrier must be returned to its initial position. Therefore, "the target carrier is performing a sampling quality inspection service" is set as the condition for returning it to its original position in the warehouse. In this way, if the target carrier is performing a sampling quality inspection service, it is possible to return the target carrier to its initial position, i.e., to ensure that its position does not change.

[0055] Regarding warehouse service types, the condition for returning the warehouse to its original location may also be that the target carrier is performing a sampling quality inspection service; that is, if the target carrier is performing a sampling quality inspection service, the condition for returning the warehouse to its original location is met. In summary, if a warehouse service type indicates that the target carrier is performing a sampling quality inspection service, then the warehouse service type satisfies the condition for returning the warehouse to its original location. Alternatively, if a warehouse service type indicates that the target carrier is not performing a sampling quality inspection service, then the warehouse service type does not satisfy the condition for returning the warehouse to its original location.

[0056] Case 3: If the characteristic information of the target carrier includes the work type of the target carrier, and the work type of the target carrier includes a warehouse restriction type, then if the warehouse restriction type indicates that the warehouse where the target carrier is located limits the maximum height of the goods, then it is determined that the work type satisfies the return condition to the warehouse's original location; if the warehouse restriction type indicates that the warehouse where the target carrier is located does not limit the maximum height of the goods, then it is determined that the work type does not satisfy the return condition to the warehouse's original location.

[0057] For example, a warehouse restriction type is a work type that indicates whether the warehouse where the target carrier is located has a limit on the maximum height of the goods, or whether the warehouse where the target carrier is located does not have a limit on the maximum height of the goods.

[0058] When a warehouse restriction type indicates that the warehouse where the target carrier is located limits the maximum height of the goods, it means that if a carrier storage area limits the maximum height of the goods, the maximum heights of the goods at different storage locations within the carrier storage area may be the same or different, and the goods at these locations must not exceed the maximum height of the goods corresponding to those locations.

[0059] If the warehouse where the target carrier is located limits the maximum height of the goods, it is necessary to ensure that the target carrier's position does not change. This eliminates the need to remeasure the target carrier's height, simplifies operations, and prevents repeated receiving problems. If the initial position of the target carrier limits the maximum height of the goods to A1, and another position limits the maximum height to A2, then when the target carrier is returned to its initial position, since the target carrier has moved out of that initial position, its height will satisfy the A1 limit, and there is no need to measure the target carrier's height. Conversely, when the target carrier is returned to another position, it is necessary to remeasure whether the target carrier's height satisfies the A2 limit.

[0060] The warehouse restriction type indicates that the warehouse where the target carrier is located does not restrict the maximum height of the items, meaning that if the carrier storage area does not restrict the maximum height of the items, then the height of the items at each storage location is not restricted.

[0061] Regarding warehouse restriction types, the condition for returning a warehouse to its original location may be that the warehouse where the target carrier is located limits the maximum height of the goods; that is, if the warehouse limits the maximum height of the goods, the condition for returning the warehouse to its original location is met. In summary, if a warehouse restriction type indicates that the warehouse where the target carrier is located limits the maximum height of the goods, the warehouse restriction type satisfies the condition for returning the warehouse to its original location. If a warehouse restriction type indicates that the warehouse where the target carrier is located does not limit the maximum height of the goods, the warehouse restriction type does not satisfy the condition for returning the warehouse to its original location.

[0062] As described above, if the warehouse where the target carrier is located limits the maximum height of the goods, the target carrier needs to be returned to its initial position. Therefore, "the warehouse where the target carrier is located limits the maximum height of the goods" is used as the condition for returning the warehouse to its original position. In this way, if the warehouse where the target carrier is located limits the maximum height of the goods, the target carrier can be returned to its initial position, that is, its position can be kept unchanged.

[0063] Case 4: If the characteristic information of the target carrier includes the type of transport tool of the target carrier (i.e., the type of mobile robot used to transport the target carrier, such as a forklift, automated guided vehicle, or bin robot), and the transport tool type indicates that the transport tool of the target carrier is a mobile robot of the target type, then it is determined that the transport tool type satisfies the return condition to the original location in the warehouse; and if the transport tool type indicates that the transport tool of the target carrier is not a mobile robot of the target type, then it is determined that the transport tool type does not satisfy the return condition to the original location in the warehouse.

[0064] In this case, when a target-type mobile robot transports a target carrier, the warehouse where the target carrier is located limits the maximum height of the items. The target-type mobile robot may include, but is not limited to, a forklift-type mobile robot, and will be explained using a forklift-type mobile robot as an example from now on.

[0065] The transport tool type indicates which type of mobile robot will transport the target carrier. For example, if the target carrier is transported by a forklift, the transport tool type indicates that the transport tool for the target carrier is a forklift-type mobile robot; if the target carrier is transported by an automated guided vehicle (AGV), the transport tool type indicates that the transport tool for the target carrier is an AGV-type mobile robot; and if the target carrier is transported by a bin robot, the transport tool type indicates that the transport tool for the target carrier is a bin robot-type mobile robot. Of course, the above are just some examples of transport tool types and are not limited to them.

[0066] When using a forklift-type mobile robot, it is necessary to ensure that the target carrier's position does not change, thereby eliminating the need to remeasure the target carrier's height, simplifying operations, and preventing repeated warehousing problems. For example, when transporting a target carrier with a forklift, the warehouse where the target carrier is located usually limits the maximum height of the goods, i.e., it is necessary to ensure that the target carrier's position does not change. Based on this, when transporting a target carrier with a forklift, it is necessary to return the target carrier to its initial position. Thus, "forklift-type transport tool" can be used as a condition for returning to the original position in the warehouse. If the transport tool type indicates that the transport tool for the target carrier is a forklift-type mobile robot, the target carrier can be returned to its initial position, i.e., its position does not change.

[0067] Regarding the transport tool type, the condition for returning to the warehouse's original position may be met even if the transport tool is a forklift type; that is, a forklift type transport tool satisfies the condition for returning to the warehouse's original position. In summary, if the transport tool type indicates that the target carrier's transport tool is a forklift type mobile robot, then the transport tool type satisfies the condition for returning to the warehouse's original position. If the transport tool type indicates that the target carrier's transport tool is not a forklift type mobile robot, then the transport tool type does not satisfy the condition for returning to the warehouse's original position.

[0068] Case 5: If the characteristic information of the target carrier includes the item type of the target carrier (i.e., the type of item placed on the target carrier), and the item type indicates that the target carrier is loaded with an item of a specified type, then it is determined that the item type satisfies the return condition to its original location in the warehouse; if the item type indicates that the target carrier is loaded with an item of a type not specified, then it is determined that the item type does not satisfy the return condition to its original location in the warehouse. Here, the item of the specified type may be an item that has environmental requirements for its storage location, and the initial storage location of the target carrier satisfies the environmental requirements of the item of the specified type.

[0069] The item type indicates the type of item placed on the target carrier, and all item types can be divided into designated types and undesignated types. If an item of item type A has requirements regarding the environment of its location, for example, if it needs to be placed in an electrostatic environment, item type A is designated. If an item of item type B has requirements regarding the environment of its location, item type B is designated. If an item of item type C does not have requirements regarding the environment of its location, item type C is undesignated.

[0070] When an item of item type A is placed on the target carrier, i.e., when the item type of the target carrier is item type A, item type A indicates that an item of the specified type is placed on the target carrier. When an item of item type B is placed on the target carrier, i.e., when the item type of the target carrier is item type B, item type B indicates that an item of the specified type is placed on the target carrier. When an item of item type C is placed on the target carrier, i.e., when the item type of the target carrier is item type C, item type C indicates that an item of a type not specified is placed on the target carrier.

[0071] When a specified type of item is placed on a target carrier, it is necessary to ensure that the target carrier's position does not change. This simplifies operations by eliminating the need to detect whether other positions meet the environmental requirements for the specified type of item's location. A specified type of item has environmental requirements for its location, and while the initial position of the target carrier may meet these requirements, other positions may not. Based on this, to ensure that the location for the specified type of item meets the environmental requirements, when a specified type of item is placed on the target carrier, the target carrier must be returned to its initial position. Thus, "a specified type of item being placed on the target carrier" can be used as a condition for returning the carrier to its original position in the warehouse. If the item type indicates that a specified type of item will be placed on the target carrier, the target carrier can be returned to its initial position, i.e., its position does not change.

[0072] Regarding item types, the condition for returning items to their original location in the warehouse may be that an item of the specified type is placed on the target carrier; that is, if an item of the specified type is placed on the target carrier, the condition for returning items to their original location in the warehouse is met. In summary, if an item type indicates that an item of the specified type (i.e., an item with environmental requirements for its storage location) is placed on the target carrier, the item type satisfies the condition for returning items to their original location in the warehouse. If an item type indicates that an item of a type not specified is placed on the target carrier, the item type does not satisfy the condition for returning items to their original location in the warehouse.

[0073] Case 6: If the characteristic information of the target carrier includes the target carrier's warehouse changeover type, target carrier's warehouse service type, target carrier's warehouse restriction type, target carrier's transport tool type, and target carrier's item type, it may be determined that the return condition for the warehouse to its original location is met if at least one of the following conditions is met, and it may be determined that the return condition for the warehouse to its original location is not met if none of the following conditions are met. 1) The warehouse switchover type indicates that the warehouse where the target carrier is located is undergoing a switchover. 2) The warehouse service type indicates that the target carrier is performing sampling quality inspection services. 3) The warehouse restriction type indicates that the warehouse where the target carrier is located has a limit on the maximum height of the goods. 4) The transport tool type indicates that the transport tool of the target carrier is a mobile robot of the target type. 5) The item type indicates that the target carrier will carry items of the specified type.

[0074] For example, if the characteristic information of the target carrier includes at least two of the target carrier's warehouse changeover type, target carrier's warehouse service type, target carrier's warehouse restriction type, target carrier's transport tool type, and target carrier's item type, the implementation method is similar to that of Case 6 and will not be explained here.

[0075] Of course, the above are just a few examples of how to determine whether the conditions for returning the target carrier to its original location in the warehouse are met based on the target carrier's characteristic information. As those skilled in the art will understand, users may set the target carrier's characteristic information and the conditions for returning the warehouse to its original location according to their actual needs, and the present invention is not limited thereto.

[0076] In step 304, the initial position of the target carrier is selected as the target position of the target carrier.

[0077] For example, if a receiving task is acquired, and it is necessary to control the mobile robot to move the target carrier from its initial placement location in the carrier storage area (e.g., placement location A10) to the workbench and then perform a return task to the warehouse on the target carrier, the initial placement location of the target carrier may also be the target placement location of the target carrier, that is, the target placement location of the target carrier may be placement location A10.

[0078] In one possible embodiment, after the mobile robot is controlled to move away from the initial position of the carrier storage area to set the initial position of the target carrier as the target position of the target carrier (see step 301), the characteristic information of the target carrier may be used to determine whether the conditions for returning to the original position in the warehouse are met. The specific determination method can be found in step 303 and is therefore omitted here.

[0079] If the characteristic information of the target carrier satisfies the conditions for returning it to its original position in the warehouse, other carriers are prohibited from moving to the target carrier's initial position. In this way, the target carrier's initial position is not occupied by other carriers, and the target carrier can return to its initial position.

[0080] If the characteristic information of the target carrier does not satisfy the conditions for returning it to its original location in the warehouse, allow other carriers to move to the initial location of the target carrier, and use each location reasonably.

[0081] In step 305, a target placement location for the target carrier is selected from the multiple placement locations in the carrier placement area based on the temperature of the target carrier and the temperatures of the multiple placement locations in the carrier placement area.

[0082] For example, you may select the target placement for your target career in steps 3051 to 3054 below.

[0083] In step 3051, the target number of times each carrier to be returned to the warehouse will transport the goods is determined. Here, the target number may be the sum of a first number and a second number, where the first number is the number of times the goods move from the workbench to the carrier to be returned to the warehouse, and the second number is the number of times the goods move from the carrier to be returned to the warehouse to the workbench.

[0084] For example, a return task to the warehouse may be performed on multiple carriers, each of which can be a target carrier. For each target carrier, if its characteristic information does not satisfy the conditions for returning it to its original location in the warehouse, then that target carrier should be returned to the warehouse. If the characteristic information of that target carrier does satisfy the conditions for returning it to its original location in the warehouse, then that target carrier should not be returned to the warehouse. This allows for obtaining multiple carriers that should be returned to the warehouse.

[0085] For each carrier to be returned to a warehouse, a target number of times the carrier must transport goods to that warehouse may be determined, and this target number may be the sum of a first number and a second number. For example, the number of times goods move from the workbench to the carrier to be returned to the warehouse (i.e., the number of times goods are received in the logistics) may be counted and recorded as the first number. The number of times goods move from the carrier to be returned to the warehouse to the workbench (i.e., the number of times goods are dispatched in the logistics) may be counted and recorded as the second number. In this way, the sum of the first number and the second number is set as the target number.

[0086] In step 3052, for each carrier to be returned to a warehouse, the "heat" of the carrier to be returned to the warehouse is determined based on the target number of times the carrier will carry goods to that warehouse. Here, the larger the target number, the higher the heat of the carrier to be returned to the warehouse, and the smaller the target number, the lower the heat of the carrier to be returned to the warehouse.

[0087] For example, a function may be pre-defined, where the input to the function is the target number of repetitions, the output is the temperature, and the function can represent a positive correlation, meaning that the temperature increases as the target number of repetitions increases. Based on this, the temperature of the carrier to be returned to the warehouse can be obtained by substituting the target number of repetitions into the function.

[0088] Furthermore, for example, a curve may be set in advance, where the horizontal coordinate of the curve is the target number of repetitions and the vertical coordinate is the heat level, and the curve can represent a positive correlation, that is, the heat level increases as the target number of repetitions increases. Based on this, the heat level of the carrier to be returned to the warehouse can be obtained by querying the curve with the target number of repetitions.

[0089] Of course, the above is merely an example and does not limit the method of determining heat.

[0090] In step 3053, the temperature of each available storage location in the carrier storage area is determined.

[0091] For example, for each empty storage space in the carrier storage area, the smaller the distance between the empty storage space and the workbench, the higher the temperature of the empty storage space, and the larger the distance between the empty storage space and the workbench, the lower the temperature of the empty storage space.

[0092] For example, a function may be predefined, the input of which is the distance between the empty storage location and the workbench, and the output of which is the thermal energy. This function can represent a negative correlation, meaning that the greater the distance between the empty storage location and the workbench, the lower the thermal energy. Based on this, the thermal energy of the empty storage location can be obtained by substituting the distance between the empty storage location and the workbench into the function.

[0093] Alternatively, for example, a curve may be predefined, where the horizontal coordinate of the curve is the distance between the empty storage location and the workbench, and the vertical coordinate is the heat intensity. The curve can represent a negative correlation, meaning that the greater the distance between the empty storage location and the workbench, the lower the heat intensity. Based on this, the heat intensity of the empty storage location can be obtained by querying the curve using the distance between the empty storage location and the workbench.

[0094] Of course, the above is merely an example and does not limit the method of determining heat.

[0095] In step 3054, based on the temperature of the carriers to be returned to each warehouse, all carriers to be returned to each warehouse are sorted to obtain a carrier sequence to be returned to the warehouses, and the first sort position of the target carrier in the carrier sequence to be returned to the warehouse is determined. Based on the temperature of each empty storage space, all empty storage spaces are sorted to obtain an empty storage space sequence, and a second sort position in the empty storage space sequence that matches the first sort position is determined. Based on the second sort position, one empty storage space is selected as the target storage position for the target carrier.

[0096] For example, if the carriers to be returned to the warehouse include carrier X1, carrier X2, and carrier X3, when selecting a target location for carrier X1, carrier X1 is designated as the target carrier; when selecting a target location for carrier X2, carrier X2 is designated as the target carrier; and when selecting a target location for carrier X3, carrier X3 is designated as the target carrier.

[0097] For example, based on the temperature of the carriers to be returned to each warehouse, all carriers to be returned to each warehouse are sorted in descending order of temperature. Based on the temperature of each empty storage location, all empty storage locations are sorted in descending order of temperature. Alternatively, based on the temperature of the carriers to be returned to each warehouse, all carriers to be returned to each warehouse are sorted in descending order of temperature to obtain a sequence of carriers to be returned to warehouses. Based on the temperature of each empty storage location, all empty storage locations are sorted in descending order of temperature to obtain a sequence of empty storage locations. If the sort position of the target carrier in the sequence of carriers to be returned to warehouses (i.e., the first sort position above) is N, and N may be a positive integer, that is, if the target carrier is the Nth carrier after sorting, then the sort position of the storage location that matches the target carrier in the sequence of empty storage locations (i.e., the second sort position above) should also be N. In this way, the Nth empty storage location after sorting may be the target storage location of the target carrier.

[0098] For example, step 306 is performed after step 304, and step 306 is performed after step 305.

[0099] In step 306, the mobile robot is controlled to move the target carrier to the target placement position.

[0100] For example, the mobile robot may be controlled to move from the workbench to the target placement location in the carrier storage area and place the target carrier at the target placement location, completing the return of the target carrier to the warehouse. Alternatively, the items to be stored may be unloaded at the target placement location, completing the storage of the items to be stored.

[0101] Embodiments of the present invention provide a method for returning a carrier to a warehouse, which is applicable to an item retrieval process that moves items from a carrier storage area to a workbench via a carrier. Figure 4 is a schematic flowchart of the method for returning a carrier to a warehouse, which may include the following steps.

[0102] In step 401, if a dispatch task is acquired, the mobile robot is controlled to move the target carrier from its initial position in the carrier storage area to the workbench, and the items to be dispatched are unloaded from the target carrier onto the workbench.

[0103] For example, a dispatch task is used to instruct a certain item to be dispatched, and this item is called the item to be dispatched. The carrier on which the item to be dispatched is placed is called the target carrier. A mobile robot may be controlled to move to an initial position where the target carrier is located, and the target carrier may be placed on the mobile robot from the initial position.

[0104] After placing the target carrier on the mobile robot from its initial position, the mobile robot can be controlled to move it to the workbench, thereby moving the target carrier from its initial position in the carrier storage area to the workbench. After moving the target carrier to the workbench, the items to be shipped can be unloaded from the target carrier onto the workbench to complete the shipment of items.

[0105] In step 402, after the items to be shipped have been unloaded from the target carrier onto the workbench, it is determined that a return task to the warehouse must be performed on the target carrier, that is, the target carrier must be returned to the carrier storage area.

[0106] In step 403, it is determined whether the target carrier's characteristic information satisfies the conditions for returning it to its original location in the warehouse. If it does, step 404 is executed; otherwise, step 405 is executed.

[0107] In step 404, the initial position of the target carrier is selected as the target position of the target carrier.

[0108] In step 405, a target placement location for the target carrier is selected from the multiple placement locations in the carrier placement area based on the temperature of the target carrier and the temperatures of the multiple placement locations in the carrier placement area.

[0109] For illustrative purposes, steps 403 to 405 are similar to steps 303 to 305, and therefore their explanation will be omitted here.

[0110] In step 406, the mobile robot is controlled to move the target carrier to the target placement position.

[0111] For example, the mobile robot may be controlled to move from the workbench to the target placement location in the carrier storage area and place the target carrier at the target placement location, completing the return of the target carrier to the warehouse.

[0112] In one possible embodiment, Figure 5 is a schematic flowchart of a method for returning the carrier to the warehouse.

[0113] In step 501, the intelligent warehouse management system receives an order task and saves the order task.

[0114] In step 502, the intelligent warehouse management system queries the order task in the client interface and clicks to execute it.

[0115] In step 503, the intelligent warehouse management system generates a shelf relocation task and sends the shelf relocation task to the central management system.

[0116] In step 504, the center management system analyzes the shelf relocation task and transmits the shelf relocation task to the robot control server.

[0117] In step 505, the robot control server breaks down the shelf moving task into atomic movements of the AMR (i.e., movements that the AMR can perform) and controls the AMR based on these atomic movements to transport the target carrier.

[0118] For example, you may log in to the client interface, click the document outbound menu, and then click Start Transport, which sends the task to the center management system (i.e., steps 502-503). The AMR transports the carrier from its location in the warehouse, and after the carrier arrives at the workbench, the client interface jumps (i.e., step 505). After the interface jumps, you may scan the code to verify the items, enter the quantity, and click Execute. The inventory is deducted by the intelligent warehouse management system, and the remaining items are returned to the warehouse.

[0119] In step 506, after the transport of the target carrier is complete, the return of the target carrier to the warehouse is triggered. For the process of returning the target carrier to the warehouse, the center management system requests the intelligent warehouse management system to locate the target carrier's return location to the warehouse.

[0120] In step 507, the intelligent warehouse management system determines the return location of the target carrier to the warehouse and transmits this return location to the central management system. For example, when determining the return location of the target carrier to the warehouse, if the target carrier's characteristic information satisfies the return condition to its original location in the warehouse, the return location of the target carrier to the warehouse (i.e., the aforementioned target placement location) is the target carrier's initial placement location. If the target carrier's characteristic information does not satisfy the return condition to its original location in the warehouse, the return location of the target carrier to the warehouse is determined based on the temperature of the target carrier and the temperatures of multiple placement locations in the carrier storage area.

[0121] In step 508, the center management system generates a return task to the warehouse based on the return location to the warehouse and sends it to the robot control server.

[0122] In step 509, the robot control server breaks down the return task to the warehouse into atomic actions of the AMR (i.e., actions that the AMR can perform) and controls the AMR based on these atomic actions to transport the target carrier to the return position in the warehouse.

[0123] In one possible embodiment, the policy configuration of the intelligent warehouse management system may include, but is not limited to, a shelving policy (or retrieval policy), allocation policy, wave policy, and system policy. Here, the shelving policy may include, but is not limited to, shelving to an empty storage location, shelving to an existing storage location of the item, shelving to a storage location adjacent to an existing storage location of the item, shelving to a designated storage location, etc. The allocation policy may include, but is not limited to, using a piece-by-piece picking storage location at a designated storage location to obtain the remaining quantity, piece-by-piece stock allocation based on the designated storage location of the item, and segment picking according to the number of boxes using a box-by-box picking storage location at a designated storage location. The wave policy is used to group different orders into a single wave according to certain criteria and guide a single picking, i.e., to classify and pick orders.

[0124] The system policy is used to set the return policy to the warehouse. If the return policy is to return the target carrier to its original location in the warehouse, the initial location of the target carrier is set as the return location to the warehouse for that target carrier. If the return policy is to return the target carrier to a new location in the warehouse, the return location to the warehouse for that target carrier is determined based on the temperature of the target carrier and the temperatures of multiple locations in the carrier storage area.

[0125] If the return policy to the warehouse is a return policy to the appropriate location in the warehouse, then for each target carrier, if the characteristic information of the target carrier satisfies the return condition to the original location in the warehouse, the initial placement location of the target carrier is set as the return location to the warehouse for the target carrier. If the characteristic information of the target carrier does not satisfy the return condition to the original location in the warehouse, the return location to the warehouse for the target carrier is determined based on the temperature of the target carrier and the temperatures of multiple placement locations in the carrier storage area.

[0126] As can be seen from the above technical proposals, in the embodiments of the present invention, when it is necessary to perform a task of returning a target carrier to the warehouse, if the characteristic information of the target carrier satisfies the conditions for returning it to its original position in the warehouse, the initial placement position is set as the target placement position. If it does not satisfy the conditions, the target placement position is selected based on the temperature of the target carrier and the temperature of the placement position. In this way, when returning a target carrier to the carrier storage area, the target placement position in the carrier storage area can be rationally selected, improving the efficiency of warehouse management. Rational use of the placement position improves work efficiency, simplifies work processes, and improves outbound and inbound efficiency.

[0127] Based on the same concept as the above method, an embodiment of the present invention provides a device for returning a carrier to a warehouse, Figure 6 being a schematic diagram of the device, which may include a determination module 61, an acquisition module 62, and a control module 63.

[0128] Here, if the decision module 61 determines that a return task to the warehouse needs to be performed on the target carrier, the characteristic information of the target carrier is used to determine whether the conditions for returning to the original location in the warehouse are met. The characteristic information includes at least one of the work type of the target carrier, the transport tool type of the target carrier, and the item type of the target carrier.

[0129] The acquisition module 62 is used to select the initial placement position of the target carrier as the target placement position of the target carrier if the characteristic information of the target carrier satisfies the condition for returning to the original position in the warehouse, and to select the target placement position of the target carrier from the multiple placement positions in the carrier storage area based on the temperature of the target carrier and the temperature of the multiple placement positions in the carrier storage area if the characteristic information of the target carrier does not satisfy the condition for returning to the original position in the warehouse, wherein the initial placement position is the placement position in the carrier storage area before the target carrier performs an inbound task or outbound task.

[0130] The control module 63 is used to control the mobile robot to move the target carrier to the target placement position.

[0131] Exemplary, if the characteristic information of the target carrier includes a work type, the determination module 61 determines whether the characteristic information of the target carrier satisfies the return condition to the original warehouse location. Specifically, if the work type includes a warehouse changeover type and the warehouse changeover type indicates that the warehouse where the target carrier is located is undergoing a changeover, the module determines that the work type satisfies the return condition to the original warehouse location. If the work type includes a warehouse service type and the warehouse service type indicates that the target carrier is performing a sampling quality inspection service, the module determines that the work type satisfies the return condition to the original warehouse location. If the work type includes a warehouse restriction type and the warehouse restriction type indicates that the warehouse where the target carrier is located is limiting the maximum height of the goods, the module uses the module 61 to determine that the work type satisfies the return condition to the original warehouse location.

[0132] For example, if the feature information of the target carrier includes the transport tool type (i.e., the type of mobile robot used to transport the target carrier), when the determination module 61 determines whether the feature information of the target carrier satisfies the return condition to the original location in the warehouse, specifically, if the transport tool type indicates that the transport tool of the target carrier is a target-type mobile robot, the transport tool type is used to determine that the return condition to the original location in the warehouse is satisfied. When the target carrier is transported by the target-type mobile robot, the warehouse in which the target carrier is located limits the maximum height of the items.

[0133] For example, if the characteristic information of the target carrier includes an item type, when the determination module 61 determines whether the characteristic information of the target carrier satisfies the return condition to its original location in the warehouse, specifically, if the item type indicates that an item of a specified type (i.e., an item of a specified type) is placed on the target carrier, the item type is used to determine that the return condition to its original location in the warehouse is satisfied. The item of the specified type has environmental requirements for its location, and the initial location of the target carrier satisfies the environmental requirements for the item of the specified type.

[0134] For example, when the decision module determines that a return task to the warehouse needs to be performed on a target carrier, it is used to determine that, if an inbound task is acquired, it is necessary to control a mobile robot to move the target carrier from its initial position in the carrier storage area to a workbench, place the items to be inbound from the workbench onto the target carrier, and then perform a return task to the warehouse on the target carrier; or, if an outbound task is acquired, it is used to determine that, if an outbound task is acquired, it is necessary to control a mobile robot to move the target carrier carrying the items to be outbound from its initial position in the carrier storage area to a workbench, unload the items to be outbound from the target carrier onto the workbench, and then perform a return task to the warehouse on the target carrier.

[0135] For example, after controlling the mobile robot to move away from its initial position in the carrier storage area, the decision module 61 is used to further determine whether the characteristic information of the target carrier satisfies the conditions for returning to the original position in the warehouse. If it does, it prohibits carriers other than the target carrier from moving to the initial position; otherwise, it allows carriers other than the target carrier to move to the initial position.

[0136] For example, when the acquisition module 62 selects a target placement location for the target carrier from the multiple placement locations based on the temperature of the target carrier and the temperature of the multiple placement locations in the carrier storage area, it specifically determines the target number of times each carrier to be returned to the warehouse will carry the goods, and determines the temperature of the carrier to be returned to the warehouse based on the target number of times, the target number of times is the sum of a first number of times and a second number of times, the first number of times is the number of times the goods move from the workbench to the carrier to be returned to the warehouse, and the second number of times is the number of times the goods move from the carrier to be returned to the warehouse to the workbench, the larger the target number of times The system is used to determine the temperature of carriers that should be returned to the warehouse, to determine the temperature of each empty storage space in the carrier storage area, and to determine the temperature of an empty storage space as the distance between the empty storage space and the workbench decreases. Based on the temperature of each carrier that should be returned to the warehouse, all carriers that should be returned to the warehouse are sorted, a first sort position for the target carrier is determined, all empty storage spaces are sorted based on the temperature of each empty storage space, a second sort position that matches the first sort position is determined, and one empty storage space is selected as the target storage position for the target carrier based on the second sort position.

[0137] Based on the same concept as described above, embodiments of the present invention provide an electronic device, which may include a processor 71 and a machine-readable storage medium 72, as shown in Figure 7. The machine-readable storage medium 72 stores machine-executable instructions that can be executed by the processor 71, and the processor 71 is used to execute the machine-executable instructions and carry out the method disclosed in the above examples of the present invention for returning a carrier to a warehouse.

[0138] Based on the same concept as described above, embodiments of the present invention further provide a machine-readable storage medium in which several computer instructions are stored, and when the computer instructions are executed by a processor, a method for returning the carrier disclosed in the above examples of the present invention to the storage can be implemented.

[0139] Here, the machine-readable storage medium may be an electronic, magnetic, optical, or other physical storage device capable of storing or remembering information such as executable instructions and data. For example, the machine-readable storage medium may be RAM (Random Access Memory), volatile memory, non-volatile memory, flash memory, storage drives (e.g., hard disk drives), solid-state drives, any type of storage disk (e.g., optical discs, DVDs, etc.), or similar storage media, or a combination thereof.

[0140] The systems, devices, modules, or units described in the above embodiments may be specifically implemented by computer entities or products having some function. A typical implementing device is a computer, and the specific form of the computer may be a personal computer, laptop computer, mobile phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email sending and receiving device, game console, tablet, wearable device, or any combination of these devices.

[0141] For the sake of clarity, the above-mentioned device will be described by dividing it into various units according to their function. Of course, when implementing the present invention, it is also possible to realize the functions of each unit using the same or multiple software and / or hardware.

[0142] As those skilled in the art will see, embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention may be provided in the form of embodiments consisting only of hardware, embodiments consisting only of software, or embodiments combining software and hardware. Furthermore, embodiments of the present invention may take the form of computer program products implemented on one or more computer-usable storage media (including, but not limited to, magnetic disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.

[0143] The present invention will be described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, a dedicated computer, an embedded processor, or another programmable data processing device to generate a machine, thereby generating a device for implementing one or more flows in a flowchart and / or one or more blocks in a block diagram, through instructions executed by the processor of the computer or other programmable data processing device.

[0144] Furthermore, these computer program instructions may be stored in computer-readable memory that can instruct a computer or other programmable data processing device to work in a specific manner, resulting in the creation of a product that includes an instruction unit that implements a function specified in one or more flows of a flowchart and / or one or more blocks of a block diagram using the instructions stored in the computer-readable memory.

[0145] These computer program instructions may be loaded into a computer or other programmable data processing device, so that a series of operational steps are executed on the computer or other programmable device, thereby generating processing to be performed by the computer, and so that the instructions executed on the computer or other programmable device provide steps to realize one or more flows in a flowchart and / or one or more blocks in a block diagram.

[0146] The above are merely examples of the present invention and are not intended to limit the invention. Those skilled in the art can make various modifications and changes to the present invention. Any modifications, equivalent substitutions, or improvements made without departing from the spirit and principles of the present invention should be included within the scope of the claims. [Explanation of Symbols]

[0147] 61 Decision Module 62 modules to acquire 63 Control Module 71 processors 72 Machine-readable storage media Steps 101-104 210 Intelligent Warehouse Management Systems 220 Center Management System 230 Robot control server 240 Autonomous Mobile Robots Steps 301-306 Steps 401-406 Steps 501-509

Claims

1. If it is determined that a task of returning a target carrier to the warehouse needs to be performed, the step of determining whether the characteristic information of the target carrier satisfies the conditions for returning to its original location in the warehouse, wherein the characteristic information includes at least one of the work type of the target carrier, the transport tool type of the target carrier, and the item type of the target carrier, If the condition is met, the step of selecting the initial placement position of the target carrier as the target placement position of the target carrier, wherein the initial placement position is the placement position in the carrier storage area before the target carrier performs an inbound task or an outbound task, If the condition is not met, the step of selecting a target placement location for the target carrier from the multiple placement locations based on the thermal temperature of the target carrier and the thermal temperatures of the multiple placement locations in the carrier placement area, The steps include controlling a mobile robot to move the target carrier to the target placement position, A method for returning a carrier to a warehouse, characterized by the following features.

2. If the characteristic information includes the work type, the step of determining whether the characteristic information of the target carrier satisfies the conditions for returning to the original location in the warehouse is: If the work type of the target carrier includes a warehouse changeover type, and the warehouse changeover type indicates that the warehouse where the target carrier is located is undergoing a changeover, then the step of determining that the work type satisfies the condition for returning the warehouse to its original location, If the work type of the target carrier includes a warehouse service type, and the warehouse service type indicates that the target carrier is performing a sampling quality inspection service, then the step of determining that the work type satisfies the return condition to the original location in the warehouse, or The work type of the target carrier includes a warehouse restriction type, and the warehouse restriction type indicates that the warehouse in which the target carrier is located limits the maximum height of the goods, and the work type includes one of the steps of determining that the work type satisfies the condition for returning to the original location in the warehouse, The method according to feature 1.

3. If the characteristic information includes the transport tool type, the step of determining whether the characteristic information of the target carrier satisfies the conditions for returning to the original location in the warehouse is: If the transport tool type of the target carrier indicates that the transport tool of the target carrier is a target-type mobile robot, the step includes determining that the transport tool type satisfies the return condition to the original position in the warehouse, and if the target carrier is transported by the target-type mobile robot, the warehouse in which the target carrier is located limits the maximum height of the goods. The method according to feature 1.

4. If the characteristic information includes the item type, the step of determining whether the characteristic information of the target carrier satisfies the conditions for returning to its original location in the warehouse is: If the item type indicates that an item of a specified type will be placed on the target carrier, the step includes determining that the item type satisfies the conditions for returning to its original location in the warehouse, wherein the item of the specified type has environmental requirements for its location, and the initial location on the target carrier satisfies the environmental requirements for the item of the specified type. The method according to feature 1.

5. The decision to perform a return task to the warehouse for the target carrier is, When a receiving task is acquired, the mobile robot is controlled to move the target carrier from its initial position in the carrier storage area to the workbench, and after the items to be received are placed from the workbench onto the target carrier, it is determined that a task to return the target carrier to the warehouse needs to be performed, or When a dispatch task is acquired, the mobile robot is controlled to move the target carrier, which is carrying the items to be dispatched, from its initial position in the carrier storage area to the workbench, and after the items to be dispatched are unloaded from the target carrier onto the workbench, it is determined that a return task to the warehouse must be performed on the target carrier. The method according to any one of claims 1 to 4.

6. After controlling the mobile robot to move away from its initial position in the carrier storage area, further, The steps include determining whether the characteristic information of the target carrier satisfies the conditions for returning it to its original location in the warehouse, If the condition is met, the step of prohibiting carriers other than the target carrier from moving to the initial placement position, If the condition is not met, the step of allowing carriers other than the target carrier to move to the initial position includes, The method according to feature 5.

7. The step of selecting a target placement location for the target carrier from the multiple placement locations based on the thermal temperature of the target carrier and the thermal temperatures of the multiple placement locations in the carrier placement area is: A step of determining the target number of times a carrier to be returned to a warehouse will transport goods, and determining the temperature of the carrier to be returned to a warehouse based on the target number of times, wherein the target number of times is the sum of a first number of times and a second number of times, where the first number of times is the number of times goods move from the workbench to the carrier to be returned to the warehouse, and the second number of times is the number of times goods move from the carrier to be returned to the warehouse to the workbench, and the larger the target number of times, the greater the temperature of the carrier to be returned to the warehouse. A step of determining the temperature of each of the multiple available storage locations in the carrier storage area, wherein the temperature of the available storage location increases as the distance between the storage location and the workbench decreases. The steps include sorting all the carriers to be returned to the aforementioned warehouses based on the temperature of each carrier to be returned to the aforementioned warehouse, and determining the first sort position of the target carrier, The process includes the steps of sorting all of the aforementioned empty storage locations based on the temperature of each of the aforementioned empty storage locations, determining a second sorting location that matches the first sorting location, and selecting one empty storage location as the target storage location for the target carrier based on the second sorting location. The method according to any one of claims 1 to 4.

8. When it is determined that a return task to the warehouse needs to be performed on a target carrier, the determination module for determining whether the characteristic information of the target carrier satisfies the conditions for returning to its original location in the warehouse, wherein the characteristic information includes at least one of the work type of the target carrier, the transport tool type of the target carrier, and the item type of the target carrier, An acquisition module for selecting the initial placement position of the target carrier as the target placement position of the target carrier if the characteristic information satisfies the condition for returning to the original position in the warehouse, and selecting the target placement position of the target carrier from the multiple placement positions in the carrier placement area based on the temperature of the target carrier and the temperature of the multiple placement positions in the carrier placement area if the characteristic information does not satisfy the condition for returning to the original position in the warehouse, wherein the initial placement position is the placement position in the carrier placement area before the target carrier performs an inbound task or outbound task, A control module for controlling a mobile robot to move the target carrier to the target placement location, A device for returning carriers to a warehouse, characterized by the following features.

9. An electronic device comprising a processor and a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that can be executed by the processor, and the processor is used to execute machine-executable instructions and carry out the method according to any one of claims 1 to 4. An electronic device characterized by the following features.

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