Warehousing handling device management method and apparatus, device and storage medium

Abstract

The present application relates to the field of intelligent warehousing, and provides a warehousing handling device management method and apparatus, a device, and a storage medium. The method comprises: a first system acquiring a first request message, wherein the first request message is used for requesting to suspend task allocation to a target warehousing handling device, and the first request message comprises identification information of the target warehousing handling device; and in response to the first request message, suspending task allocation to the target warehousing handling device.

Description

Management methods, devices and equipment, and storage media for warehousing and handling equipment

[0001] This application is based on and claims priority to Chinese Patent Application No. 202411621751.5, filed on November 13, 2024, entitled “Management Method, Apparatus and Equipment, and Storage Medium for Warehouse Handling Equipment”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of intelligent warehousing technology, and in particular to a management method, apparatus and equipment, and storage medium for warehousing and handling equipment. Background Technology

[0003] In smart warehousing, when pausing task allocation for a single robot, business tasks will no longer be allocated to all robots in the warehouse. In other words, all robots in the warehouse will no longer receive business tasks. Although this pausing method can solve the problem of pausing task allocation for a single robot, it will affect the progress of business task allocation for other robots, thereby affecting the normal task allocation in the warehouse system and reducing the task execution efficiency of the warehouse system. Summary of the Invention

[0004] This application provides a management method, apparatus, equipment, and storage medium for warehouse handling equipment, including the following technical solutions:

[0005] A first aspect of this application provides a method for managing warehouse handling equipment, applied to a first system, comprising: obtaining a first request message, the first request message being used to request a suspension of task allocation to a target warehouse handling equipment, the first request message including identification information of the target warehouse handling equipment; and suspending task allocation to the target warehouse handling equipment in response to the first request message.

[0006] A second aspect of this application provides a management device for warehouse handling equipment, comprising: an acquisition module configured to acquire a first request message, the first request message being used to request a suspension of task allocation to a target warehouse handling equipment, the first request message including identification information of the target warehouse handling equipment; and a processing module configured to suspend task allocation to the target warehouse handling equipment in response to the first request message.

[0007] A third aspect of this application provides an electronic device, including: a processor and a memory, wherein the memory is configured to store computer-executable instructions; and the processor is configured to read instructions from the memory and execute the instructions to implement the method in any of the embodiments of the first aspect described above.

[0008] A fourth aspect of this application provides a computer-readable storage medium storing computer instructions configured to cause the computer to perform the methods in any of the embodiments of the first aspect.

[0009] A fifth aspect of this application provides a computer program product including a computing program stored on a computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform the method in any of the embodiments of the first aspect described above. Attached Figure Description

[0010] Figure 1 is a schematic diagram of a warehousing system provided in an exemplary embodiment of this application;

[0011] Figure 2 is a flowchart illustrating a method for managing warehousing and handling equipment provided in an exemplary embodiment of this application;

[0012] Figure 3 is a schematic diagram of the task suspension assignment process for a target warehousing and handling equipment provided in an exemplary embodiment of this application;

[0013] Figure 4A is a schematic diagram of a map display interface triggering a pause in task allocation, provided in an exemplary embodiment of this application.

[0014] Figure 4B is a schematic diagram of triggering recovery task allocation provided in an exemplary embodiment of this application;

[0015] Figure 4C is a schematic diagram of a map display interface provided in an exemplary embodiment of this application;

[0016] Figure 5 is a structural schematic diagram of a management device for warehouse handling equipment provided in an exemplary embodiment of this application;

[0017] Figure 6 is a schematic diagram of the structure of an electronic device for implementing a management method for warehouse handling equipment, provided in an exemplary embodiment of this application. Detailed Implementation

[0018] Many specific details are set forth in the following description to provide a full understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this application; therefore, this application is not limited to the specific embodiments disclosed below.

[0019] The terminology used in one or more embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the scope of one or more embodiments of this application. The singular forms “a,” “the,” and “the” used in one or more embodiments of this application and in the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” used in one or more embodiments of this application refers to and includes any or all possible combinations of one or more associated listed items.

[0020] The following describes the solutions of the embodiments of this application with reference to examples.

[0021] Figure 1 is a schematic diagram of a warehousing system provided in an embodiment of this application. As shown in Figure 1, the warehousing system 100 includes a first system 101 and at least one warehousing and handling device 102.

[0022] The storage and handling equipment 102 can be intelligent storage equipment in a storage system, such as automated guided vehicles (AGVs), picking and handling equipment (i.e., robots), etc.

[0023] In the embodiments of this application, the first system 101 and the storage and handling equipment 102 in the storage system 100 can communicate with each other. The first system can obtain the current status of the storage and handling equipment. The first system 101 can control or manage the storage and handling equipment 102. The first system can assign handling tasks to the storage and handling equipment 102, or the first system can pause assigning handling tasks to the storage and handling equipment.

[0024] In this embodiment, the first system 101 may have the function of assigning tasks to or pausing task assignment for warehouse handling equipment. For example, the first system may be deployed with a robot management system (RMS) or an autonomous mobile robot (AMR) control system, etc.

[0025] For example, the first system can be a terminal or a server. For instance, when the first system is a terminal, it can include various personal computers, laptops, smartphones, tablets, and portable wearable devices. When the first system is a server, it can be a standalone server or a server cluster composed of multiple servers; this application embodiment does not limit this.

[0026] In this embodiment of the application, the warehouse handling equipment can be a device for handling shelves, such as picking and handling equipment (e.g., picking robot) in a warehouse system.

[0027] In some embodiments, the warehouse handling equipment may be a robot for moving shelves, such as a mobile shelf (also known as a portable shelf). The robot can move the mobile shelf to the picking area of ​​the workstation to queue according to the handling task sent by the server.

[0028] In some embodiments, warehouse handling equipment may be a robot for moving boxes, such as moving boxes in a shelf. The robot can move boxes in the shelf to the picking area of ​​the workstation to queue according to the handling task sent by the server.

[0029] In some embodiments, different functional modules can be deployed on the warehouse handling equipment according to different types of robots, such as a communication module for communication, a power supply module for power supply, a camera module for recognizing road conditions and recognizing QR codes on cargo boxes / shelves / landmarks, and a PNC module for planning and controlling the map.

[0030] Figure 2 is a flowchart illustrating a management method for warehouse handling equipment according to an embodiment of this application, applied to a first system within a warehouse system. As shown in Figure 2, the method includes the following steps:

[0031] Step 201: Obtain the first request message.

[0032] In some embodiments, the first request message is used to request a pause in the assignment of tasks to the target warehouse handling equipment, and the first request message includes the identification information of the target warehouse handling equipment.

[0033] In some embodiments, the first request message may be a pause task assignment request message, and the name of the first request message is not limited.

[0034] For example, the RMS system receives a request to pause task assignment triggered through a map display interface. This request includes the robot's identification information.

[0035] In some embodiments, the first system obtaining the first request message includes: obtaining the first request message through the map display interface of the first system, wherein the map display interface displays all warehousing and handling equipment in the warehousing area, and the triggering method of the first request message includes at least one of the following: selecting a first area of ​​the map display interface, wherein the first warehousing and handling equipment completely included in the first area is the target warehousing and handling equipment; clicking on a second warehousing and handling equipment in the map display interface, wherein the second warehousing and handling equipment is the target warehousing and handling equipment; and entering the code or type of a third warehousing and handling equipment in the query box of the map display interface, wherein the third warehousing and handling equipment is the target warehousing and handling equipment.

[0036] In some embodiments, the first request message in the first system can be triggered by selecting a box, clicking, or inputting information to obtain the identification information of the target warehousing and handling equipment.

[0037] In some embodiments, the first system has a map display interface, which can display all warehousing and handling equipment within the warehousing area. The map display interface can dynamically display icons for the warehousing and handling equipment. The map display interface can also display a message notification page for the warehousing and handling equipment, used to display the status or flags of the equipment. For example, the message notification page includes buttons, flags, and exception levels. Buttons are used by the user to trigger corresponding operations, flags are used to identify the status of the warehousing and handling equipment, and exception levels are used to identify the exception level of the warehousing and handling equipment.

[0038] In some embodiments, the message prompt page for the target warehousing and handling equipment in the map display interface further includes an anomaly level, which is used to identify the anomaly level of the target warehousing and handling equipment; the map display interface also includes an anomaly panel, which includes a first list that displays the numbers of warehousing and handling equipment that support the pause task assignment function.

[0039] In some embodiments, the first system may display the anomaly level of the target warehousing and handling equipment to remind the user to handle the abnormal target handling equipment.

[0040] In some embodiments, the first system may display the numbers of warehouse handling equipment that support the pause task assignment function, so that users can select the target warehouse handling equipment based on the numbers in the first list.

[0041] For example, the map display interface shows the robot IDs that have enabled the "Pause Task Assignment" function, i.e., which robots support the pause task assignment function, and adds a pause task assignment button. When the button is clicked, the task assignment for that robot can be paused.

[0042] For example, as shown in Figure 4A, the map display interface triggers a pause in task assignment. Users can select an area in the map display interface to identify the robot within that area as the target robot.

[0043] For example, as shown in Figure 4A, the map display interface triggers a pause in task assignment. Users can identify the target robot by clicking on the robot in the map display interface.

[0044] For example, as shown in Figure 4A, the map display interface triggers a pause in task assignment. Users can identify the target robot by entering the robot code or type in the query / search box.

[0045] In some embodiments, the first system can determine the identification information of the storage and handling equipment that needs to perform the task of pausing by obtaining the first request message.

[0046] Step 202: In response to the first request message, suspend the assignment of tasks to the target warehouse handling equipment.

[0047] In some embodiments, the map display interface of the first system includes a target warehousing and handling equipment message prompt page, the message prompt page including at least one of the following: a first button, in response to the first button being triggered, the target warehousing and handling equipment is suspended from task assignment; a second button, in response to the second button being triggered, the target warehousing and handling equipment is resumed from task assignment; a first marker, used to indicate that the target warehousing and handling equipment has suspended task assignment; a second marker, used to indicate that the target warehousing and handling equipment has resumed task assignment; an anomaly level, used to indicate the anomaly level of the target warehousing and handling equipment; the map display interface also includes an anomaly panel, the anomaly panel including a first list, the first list displaying the numbers of warehousing and handling equipment that support the function of suspending task assignment.

[0048] In some embodiments, a user can select a target warehousing and handling device whose task allocation needs to be paused by selecting a number in a first list, and issue a control command to the first system to pause task allocation by triggering a first button. The first system will immediately perform the operation to pause task allocation for the target warehousing and handling device, and display a first marker on the message prompt page after the operation is completed to indicate that the task allocation for the target warehousing and handling device has been paused. The user can resume task allocation for the target warehousing and handling device by triggering a second button on the message prompt page. In response to the triggering of the second button, the first system will remove the task allocation restriction on the target warehousing and handling device and simultaneously display a second marker on the message prompt page to indicate that the target warehousing and handling device can receive and execute new handling tasks again.

[0049] In some embodiments, the first system can obtain the equipment identification information that needs to be paused in task allocation based on the target warehousing and handling equipment selected by the user through the map display interface. Based on the identification information, when the user clicks the first button on the message prompt page corresponding to the target warehousing and handling equipment, the first system will pause the task allocation of the target warehousing and handling equipment.

[0050] For example, as shown in Figure 4A, when a user clicks on the pause task assignment in the message prompt page corresponding to robot ID 5200034, the pause task assignment for robot ID 5200034 is triggered.

[0051] In some embodiments, after suspending task allocation to the target warehousing equipment, the first system adds a first marker to the target warehousing and handling equipment on the map display interface of the first system. The first marker is used to indicate that task allocation to the target warehousing and handling equipment has been suspended.

[0052] In some embodiments, the location for adding the first marker includes any of the following: on the icon of the target warehousing and handling equipment dynamically displayed in the map display interface, or in the message prompt page of the target warehousing and handling equipment displayed in the map display interface.

[0053] In some embodiments, when the first system determines the identification information of the target warehousing and handling equipment based on the first request message, in response to detecting that the user triggers the first button on the message prompt page corresponding to the target warehousing and handling equipment, the first system suspends the task allocation for the target warehousing and handling equipment and displays it on the icon of the target warehousing and handling equipment by means of color or dynamic float.

[0054] In some embodiments, when the first system determines the identification information of the target warehousing and handling equipment based on the first request message, in response to detecting that the user triggers the first button on the message prompt page corresponding to the target warehousing and handling equipment, the first system suspends the task allocation for the target warehousing and handling equipment and adds a first mark to the message prompt page to indicate that the task allocation for the target warehousing and handling equipment has been suspended.

[0055] In some embodiments, adding a first marker to the target warehouse handling equipment may be adding the time of the first request message to pause task assignment or the exception level.

[0056] For example, the RMS system pauses task assignment for the target robot corresponding to the identification information and marks the target robot whose task assignment is paused on the map display interface.

[0057] In some embodiments, a second request message is obtained through the map display interface of the first system. The second request message is used to request the resumption of task allocation for the target warehousing and handling equipment. The second request message includes the identification information of the target warehousing and handling equipment. In response to the second request message, task allocation for the target warehousing and handling equipment is resumed.

[0058] In some embodiments, the map display interface of the first system includes a target warehousing and handling equipment message prompt page, which includes a second button. When the second button is triggered, the target warehousing and handling equipment is restored to task assignment.

[0059] In some embodiments, the user triggers a second button on the message prompt page of the target warehousing and handling equipment in the map display interface, so that the first system receives a request message for the resumption of task assignment for the target warehousing and handling equipment.

[0060] For example, as shown in Figure 4B, a user can trigger the allocation of a recovery task to the target robot by clicking the recovery task allocation button on the message prompt page corresponding to the target robot.

[0061] For example, in response to a task assignment resumption request message for a target robot in a task assignment paused state, the RMS system resumes the task assignment of the target robot carried in the task assignment request message.

[0062] In some embodiments, in response to a second request message, the first tag on the target storage and handling equipment is canceled, and / or a second tag is added to the target storage and handling equipment, the second tag being used to identify that the target storage and handling equipment has resumed task assignment.

[0063] In some embodiments, when the first system receives a second request message and, in response to the second request message, restores task allocation to the target storage and handling equipment, the first mark on the target storage and handling equipment is cancelled.

[0064] For example, the first system can process the target robot in the task pause assignment state based on the target robot's identification information, and remove the task pause assignment mark from the map display interface.

[0065] In some embodiments, when the first system responds to the second request message and restores task allocation to the target storage and handling equipment, a second tag is added to the target storage and handling equipment to indicate that task allocation has been restored.

[0066] For example, based on the target robot's identification information, the target robot in the task pause assignment state is processed and switched to the task assignment state.

[0067] In some embodiments, the location for adding the first marker and / or the second marker includes any of the following: on the icon of the target warehousing and handling equipment dynamically displayed in the map display interface, or in the message prompt page of the target warehousing and handling equipment displayed in the map display interface.

[0068] In some embodiments, the first and second markers can be dynamically added to the icon of the target warehousing and handling equipment, or added to the message notification page of the target warehousing and handling equipment.

[0069] In some embodiments, the first and second markers can also be added to the message list of the target storage and handling equipment. For example, each storage and handling equipment has a corresponding message list in the first system. In response to being selected to suspend task assignment, a message prompt indicating that the task assignment has been suspended is added to its corresponding message list. In response to resuming task assignment, a message prompt indicating that the task assignment has been suspended is removed from its corresponding message list, or a message prompt indicating that the task assignment has been resumed is added. The location where the first and second markers are added is not limited in this application.

[0070] In some embodiments, after triggering a target operation, the first system maintains a pause in assigning tasks to the target warehousing and handling equipment, wherein the target operation includes at least one of the following: the first system wakes up from hibernation, the target warehousing and handling equipment wakes up from hibernation, the target warehousing and handling equipment is powered off and then restarted, and the first system is restarted.

[0071] In some embodiments, after the first system is triggered to wake from hibernation, it can maintain the paused assignment of tasks to the target warehouse handling equipment.

[0072] In some embodiments, after the target storage and handling equipment wakes up from hibernation, the first system may maintain the task assignment pause for the target storage and handling equipment.

[0073] In some embodiments, after the target storage and handling equipment is shut down and restarted, the first system may maintain the task assignment paused for the target storage and handling equipment.

[0074] In some embodiments, after the first system restarts, the paused assignment of tasks to the target warehouse handling equipment can be maintained.

[0075] In some embodiments, when the first system needs to be restarted and restored due to system abnormality, or when a hardware failure requires manual restart and restoration, the suspended task allocation for the target warehouse handling equipment that has already had its tasks suspended can be maintained.

[0076] In some embodiments, the first system can maintain the task suspension assignment of the target warehouse handling equipment after system restart or system hibernation wake-up.

[0077] In some embodiments, after the first system performs a pause task assignment on the target warehousing and handling equipment, if the target warehousing and handling equipment is shut down and restarted or awakened from hibernation, the first system can still maintain the pause task assignment on the target warehousing and handling equipment.

[0078] For example, after the RMS system performs the task pause assignment process on the target robot, the target robot remains in the task pause assignment state before and after the system wakes up from hibernation, the target robot shuts down and restarts, and the system interface restarts, and no more tasks are assigned.

[0079] It should be noted that this means that after any of the aforementioned target operations occur, the first system will not automatically lift the task assignment pause status for the target warehousing and handling equipment. Instead, it will maintain this status until the user instructs the user to resume task assignment by triggering a second button or other means. This effectively prevents the pause status from being mistakenly lifted due to unexpected system or equipment restarts, sleep / wake-up events, etc., thus ensuring the stability and controllability of warehousing management operations. It also prevents unprocessed abnormal equipment or equipment with specific needs from re-entering the task assignment process without permission, affecting the orderly progress of warehousing operations. For example, if the target warehousing and handling equipment is suspended from task assignment due to a malfunction, even if the equipment is unexpectedly restarted before the malfunction is resolved, the first system will maintain the suspended task assignment status until maintenance personnel confirm the malfunction is repaired and manually trigger the resumption operation.

[0080] In the above embodiments, the first system uses the first request message and the second request message triggered by the user in the map display interface to pause or resume the task allocation of the target warehousing and handling equipment selected by the user for task allocation. It can also distinguish the marking by adding or removing the marking, so as to realize the task suspension processing of a single robot selected by the user without affecting the business task progress of other robots, thereby improving the overall work efficiency of the warehousing system.

[0081] Figure 3 is a flowchart illustrating the task pause assignment process for the target warehousing and handling equipment provided in this application. Based on the embodiment shown in Figure 2, as shown in Figure 3, the method further includes the following steps:

[0082] Step 301: Determine the status of the target warehousing and handling equipment.

[0083] In some embodiments, the state of the target warehousing and handling equipment may include an idle state, an abnormal state, and a task state, wherein the abnormal state includes a recoverable abnormal state and an unrecoverable abnormal state.

[0084] In some embodiments, an idle state can mean that the target storage and handling equipment currently has no current tasks or pre-execution tasks. A current task can be understood as a task that the equipment is currently executing, while a pre-execution task can be understood as a task that has been assigned to the equipment but has not yet started execution as a task in the equipment's task queue because the equipment's current task has not been completed.

[0085] In some embodiments, an abnormal state can be a state in which the target warehouse handling equipment is unable to perform its tasks normally.

[0086] In some embodiments, both recoverable and unrecoverable anomalies may include hardware failures, which can be lifting device malfunctions, walking malfunctions, firmware malfunctions, network malfunctions, etc. The difference lies in the degree of manual intervention required.

[0087] In some embodiments, a recoverable anomaly means that the target warehousing and handling equipment can still continue to move after such an anomaly occurs. In this case, the staff can wait outside the storage area for it to move to the inspection point or maintenance point before repairing the anomaly. Alternatively, the target warehousing and handling equipment can repair the anomaly on its own. For example, if the fork clamp malfunctions, the robot can move to the maintenance point or inspection point for the staff to repair the anomaly. Or, if the picking box malfunctions, the picking box task can be completed by retrying.

[0088] In some embodiments, an unrecoverable anomaly refers to an anomaly that causes the target warehousing and handling equipment to be unable to continue moving or traveling, requiring staff to enter the storage area to repair it. Examples include main control anomaly, front anti-collision strip triggering, rear anti-collision strip triggering, obstacle avoidance anomaly, subtask sending timeout, lack of path planning, and driver motor failure.

[0089] In some embodiments, recoverable anomalies refer to anomalies that the robot can recover on its own or that are indicated by the RMS without human intervention, such as robot gripping anomalies (the gripping function has a recognition function, and anomalies in the recognition function can be recovered by the robot's retry function); unrecoverable anomalies refer to anomalies that the robot must be repaired manually, such as robot hardware failure that prevents it from walking.

[0090] In some embodiments, determining the status of the target warehousing and handling equipment includes: within a preset time period after a task is assigned to the target warehousing and handling equipment, determining that the target warehousing and handling equipment is in an abnormal state in response to not receiving feedback from the target warehousing and handling equipment; or determining that the target warehousing and handling equipment is in an abnormal state in response to receiving an abnormal message reported by the target warehousing and handling equipment.

[0091] In some embodiments, the first system may assign tasks to the target warehousing and handling equipment to determine the status of the target warehousing and handling equipment by whether or not feedback is received from the target warehousing and handling equipment. When no feedback is received from the target warehousing and handling equipment, it is determined to be in an abnormal state, or when an abnormal message is received from the target warehousing and handling equipment, it is determined to be in an abnormal state.

[0092] In some embodiments, the map display interface of the first system includes an exception panel, which includes a first list that displays the numbers of warehouse handling equipment that support the pause task assignment function.

[0093] For example, as shown in the schematic diagram of the map display interface in Figure 4C, a new function has been added to the exception panel in the upper left corner: synchronously display the robot ID with the "Robot Pause Task Assignment" function enabled; display the exception: "Robot cannot connect"; and click the location button to locate the target robot with paused task assignment.

[0094] Step 302: Determine the task list for the target warehousing and handling equipment.

[0095] In some embodiments, the task list includes currently executing tasks and / or at least one pending task.

[0096] In some embodiments, determining the task list of the target warehousing and handling equipment can involve determining the current tasks being executed by the target warehousing and handling equipment and the preparatory tasks to be executed. The currently executing tasks can be empty, and the preparatory tasks to be executed can also be empty. In other words, this application does not limit the number of tasks.

[0097] In some embodiments, the currently performed task refers to the robot picking up or placing items, such as a robot with a fork picking up or placing a box, or lifting a shelf. If the robot is on its way to a target shelf, it is not considered to be performing a currently performed task; in this case, the task of picking up or placing a box or lifting a shelf is a preparatory task. In other words, if the robot is on its way, the task of picking up or placing a box or lifting a shelf can be revoked. However, if it is currently being performed, it cannot be revoked.

[0098] For example, the RMS system determines the task list of the target robot to which task assignment is paused, namely the tasks being performed and the tasks in preparation.

[0099] For example, a preparatory task can be a task that has been assigned but not yet executed.

[0100] Step 303: After pausing the assignment of tasks to the target warehousing and handling equipment, determine the target processing for the preparatory tasks based on the status of the target warehousing and handling equipment and the task list.

[0101] In some embodiments, determining the target processing for the preparatory task based on the status of the target warehousing and handling equipment and the task list includes: if the target warehousing and handling equipment is in a recoverable abnormal state, determining that the target warehousing and handling equipment continues to execute the current task, and determining that the target warehousing and handling equipment cancels the execution of the preparatory task, wherein the target warehousing and handling equipment is in an idle state after completing the current task; and reallocating the preparatory task to the warehousing and handling equipment.

[0102] In some embodiments, the repair time for recoverable anomalies is not fixed. During the self-repair process, it may be necessary to retrieval repeatedly to repair. During the manual repair process, since it is necessary to walk to the inspection point or maintenance point, the preparatory task cannot be continued and the preparatory task needs to be retrieved and redistributed to the warehouse handling equipment.

[0103] In some embodiments, if the target warehousing and handling equipment is in a recoverable abnormal state, that is, the fault of the target warehousing and handling equipment can be recovered by retry or system indication without human intervention, the first system determines that the target warehousing and handling equipment should continue to perform the current task and cancels the execution of the preparatory task.

[0104] In some embodiments, if the target warehousing and handling equipment is in a recoverable abnormal state—that is, the malfunction of the target warehousing and handling equipment can be moved to a maintenance point or repair point outside the storage area for repair by personnel—then the first system determines that the target warehousing and handling equipment will continue to perform its current task and cancels the execution of any pre-assigned tasks. For example, if a robot experiences a fork gripping malfunction, the robot can move to a maintenance point or repair point after completing its current task, where personnel can repair the malfunction, and the assigned but unexecuted tasks can be canceled and reassigned to other robots.

[0105] In some embodiments, once the target warehousing and handling equipment has completed its current task, it is in an idle state, i.e., a state where no task is being executed. Its preparatory tasks can be reassigned to the warehousing and handling equipment by the first system for execution.

[0106] For example, the RMS system determines the current state of the target robot. If the current state is a recoverable anomaly, after completing the currently recoverable anomaly tasks, it reclaims the assigned but unexecuted tasks of the target robot and suspends task assignment to the target robot.

[0107] In some embodiments, determining the target processing for the preparatory task based on the status of the target warehousing and handling equipment and the task list includes: if the target warehousing and handling equipment is in an unrecoverable abnormal state, outputting a first prompt message through the map display interface of the first system, the first prompt message being used to prompt the staff to repair the target warehousing and handling equipment; after determining that the target warehousing and handling equipment has been repaired, continuing to execute the preparatory task and restoring the task allocation to the target warehousing and handling equipment.

[0108] In some embodiments, if the target warehousing and handling equipment is in an unrecoverable abnormal state, the currently executing task is also in an unrecoverable abnormal state and requires manual intervention to recover. The first system will then output a first prompt message on the map display interface to prompt the staff to repair the abnormality. After the repair is completed, the assigned but unexecuted tasks will continue to be executed, and the task assignment to the target warehousing and handling equipment will be restored.

[0109] In some embodiments, if the target storage and handling equipment experiences an unrecoverable anomaly, it means that the target storage and handling equipment cannot be moved and staff need to enter the storage area to inspect and repair the target storage and handling equipment in order to fix the anomaly. After the staff has completed the repair, since the target storage and handling equipment is still in the storage area, the assigned but unexecuted tasks can continue to be executed without the need to reclaim these tasks.

[0110] For example, after determining the current state of the target robot, the RMS system outputs a prompt message to repair the unrecoverable anomaly if the current state is one of irrecoverable anomalies. After the unrecoverable anomaly is manually repaired, the system no longer assigns new tasks to the robot, but continues to execute previously assigned but unexecuted tasks. The system can also autonomously assign new tasks. For instance, the request to pause task assignment can be resent through the map display interface. The RMS system then receives the request again and pauses task assignment for the target robot.

[0111] In some embodiments, determining to perform target processing on a preparatory task based on the status of the target warehousing and handling equipment and the task list includes: if the target warehousing and handling equipment is in a task state, determining that the target warehousing and handling equipment continues to perform the current task.

[0112] In some embodiments, when the target warehousing and handling equipment is in a task state, the first system can continue to execute the current task and the assigned but unexecuted tasks during the process of pausing task allocation for the target warehousing and handling equipment, without reclaiming these tasks.

[0113] For example, after the RMS system determines the robot's state, if the robot is in a task state, it will complete all assigned tasks and then pause task assignment to the target robot. All assigned tasks include the current task and assigned but not yet executed tasks, i.e., both the current task and the preparatory task.

[0114] In some embodiments, if the target warehousing and handling equipment is not in an irreversible abnormal state, a new walking route is planned for the target warehousing and handling equipment, with the destination of the walking route being an idle area or a rest area; and the walking route is sent to the target warehousing and handling equipment.

[0115] In some embodiments, when the target warehousing and handling equipment is not in an unrecoverable abnormal state, i.e., the target warehousing and handling equipment is in any of the following states: task state, recoverable abnormal state, or idle state, the first system can replan the walking route for the target warehousing and handling equipment after executing the pause task assignment for the target warehousing and handling equipment, so that the target warehousing and handling equipment can go to the idle area or rest area to avoid obstructing the movement of other warehousing and handling equipment.

[0116] In some embodiments, the idle area or rest area may be an area outside the storage area, such as a maintenance point or repair point where staff inspect or repair storage equipment.

[0117] In some embodiments, if the target warehousing and handling equipment is not in an unrecoverable abnormal state, it may be in a recoverable abnormal state, indicating that the target warehousing and handling equipment needs to be moved to an inspection point or repair point outside the storage area for repair by staff. The first system needs to replan its travel path after assigning the pause task to the target warehousing and handling equipment, so that the target warehousing and handling equipment can go to the inspection point or repair point for repair, thus avoiding obstructing the normal movement of other warehousing and handling equipment.

[0118] In some embodiments, if the target storage and handling equipment is not in an irreversible abnormal state, it may be in an idle state, in which case the first system may replan its walking path to make it walk to an idle area or rest area.

[0119] In some embodiments, if the target warehousing and handling equipment is not in an unrecoverable abnormal state, it may be in a task state. This means that after the first system assigns a pause task to the target warehousing and handling equipment, the target warehousing and handling equipment will be in an idle state after completing the current task. The first system needs to replan its walking path so that it can walk to an idle area or rest area.

[0120] For example, the RMS system suspends task assignment processing for the target robot, and after determining whether the target robot is a non-faulty robot, it replans the walking path for the target robot within a preset time period so that the target robot can go to idle areas, rest areas, etc.

[0121] In the above embodiments, after receiving the first request message and performing the task suspension assignment process on the target warehousing and handling equipment, the first system can determine whether to continue executing the current task and the preparatory task, or to reclaim the preparatory task, or to manually repair the target warehousing and handling equipment, replan the route, etc., based on the status of the target warehousing and handling equipment, so as to avoid the target warehousing and handling equipment being suspended from task assignment, affecting the task execution of other warehousing and handling equipment.

[0122] The following is an exemplary implementation of a warehouse handling equipment management method provided in this application, wherein the implementing entity in this implementation is an RMS system. It includes the following steps:

[0123] 1. The RMS system receives a request to pause task assignment triggered through the map display interface. This request includes the robot's identification information. Figure 4A illustrates a diagram of the map display interface triggering a pause task assignment; the operator selects the robot and clicks the pause task assignment option.

[0124] 2. Pause task assignment for the target robot corresponding to the identification information, and mark the target robot whose task assignment is paused on the map display interface.

[0125] For example, the task pause assignment process for the target robot also includes:

[0126] a. Determine the current state of the target robot.

[0127] The current state includes: idle state, abnormal state (recoverable and unrecoverable abnormalities), and task state. Based on the different current states, perform any one of the following steps b, c, and d:

[0128] b. If the current state is a recoverable anomaly, after completing the tasks that are currently recoverable anomalies, reclaim the tasks that have been assigned to the target robot but not yet executed, and suspend task assignment to the target robot.

[0129] c. If the current status is an unrecoverable anomaly, output a prompt message to repair the unrecoverable anomaly. After the unrecoverable anomaly is manually repaired, the robot can continue to execute the original task and can autonomously continue to assign new tasks. Resend the request to pause task assignment in the map display interface. The RMS system re-receives the request and pauses task assignment for the target robot.

[0130] d. When the current state is a task state, after all the assigned tasks have been completed (in actual applications, there are two tasks, one current task and one preparatory task, but the number of tasks is not limited in this embodiment), the task assignment to the target robot is paused.

[0131] 3. After pausing the task assignment for the target robot and determining whether the target robot is a non-faulty robot, replan the walking path for the target robot within a preset time period so that the target robot can go to idle areas, rest areas, etc., so as to avoid obstructing the movement of other robots.

[0132] 4. After pausing task assignment for the target robot, the following steps are also included: after waking up from hibernation, the target robot remains in the paused task assignment state before or after restarting the target robot or the RMS interface, and no more tasks are assigned.

[0133] 5. In response to a request to resume task allocation for a target robot in a paused task allocation state, the RMS system resumes task allocation for the target robot. As shown in Figure 4B, which illustrates the triggering of task allocation resumption, staff can select the target robot and click the "Resume Task Allocation" option to trigger a request to resume task allocation for the target robot.

[0134] Based on the target robot's identification information, the target robot in the task paused assignment state is processed and switched to task assignment state. Furthermore, the target robot whose task assignment is paused is removed from the map display interface.

[0135] 6. The map display interface displays the task allocation status and paused task allocation status of the target robot in real time.

[0136] For example, a message prompt can be added to the map display interface regarding the robot pausing task assignment due to an abnormal state.

[0137] For example, the message prompt page can indicate that the robot has paused task assignment and display the abnormality level corresponding to the abnormal state that triggered the pause in task assignment, as well as the time when the task assignment was paused. Staff can select the robot in the map monitoring as shown in Figure 4B and restore the task assignment of the robot by the RMS system by clicking the "Restore Task Assignment" button.

[0138] For example, in the map display interface shown in Figure 4C, an anomaly display panel can be added in the upper left corner. The anomaly display panel can display the robot number that triggered the pause of task assignment. Each robot number has an anomaly type column and a location button. The anomaly type column can display the anomaly type that caused the pause of task assignment (e.g., the robot cannot connect). At the same time, staff can click the location button to locate the robot that triggered the pause of task assignment in order to analyze and resolve the anomaly.

[0139] In summary, the embodiments of this application allow users to assign tasks to a single target robot by triggering the pause task assignment button on the map display interface, without affecting the task assignment and execution of other robots.

[0140] Figure 5 is a structural schematic diagram of a warehouse handling equipment management device according to an embodiment of this application, applied to a first system. As shown in Figure 5, the warehouse handling equipment management device 500 includes:

[0141] The acquisition module 501 is configured to acquire a first request message. The first request message is used to request a pause in the assignment of tasks to the target warehouse handling equipment. The first request message includes the identification information of the target warehouse handling equipment.

[0142] Processing module 502 is configured to suspend task assignment to the target warehouse handling equipment in response to the first request message.

[0143] In some embodiments, the processing module 502 is further configured to determine the status of the target warehousing and handling equipment, including an idle status, an abnormal status, and a task status, wherein the abnormal status includes a recoverable abnormal status and an unrecoverable abnormal status; determine the task list of the target warehousing and handling equipment, the task list including currently executing tasks and / or at least one pending task; and after pausing the assignment of tasks to the target warehousing and handling equipment, determine to perform target processing on the pending tasks based on the status of the target warehousing and handling equipment and the task list.

[0144] In some embodiments, the processing module 502 is further configured to determine that the target warehousing and handling equipment is in an abnormal state if no feedback is received from the target warehousing and handling equipment within a preset time period after a task is assigned to it; or to determine that the target warehousing and handling equipment is in an abnormal state in response to receiving an abnormal message reported by the target warehousing and handling equipment.

[0145] In some embodiments, the processing module 502 is further configured to determine that the target warehousing and handling equipment continues to perform the current task and to determine that the target warehousing and handling equipment cancels the execution of the preparatory task when the target warehousing and handling equipment is in a recoverable abnormal state, wherein the target warehousing and handling equipment is in an idle state after completing the current task; and to reallocate the preparatory task to the warehousing and handling equipment.

[0146] In some embodiments, the processing module 502 is further configured to output a first prompt message through the map display interface of the first system when the target warehousing and handling equipment is in an unrecoverable abnormal state. The first prompt message is used to prompt the staff to repair the target warehousing and handling equipment. After determining that the target warehousing and handling equipment has been repaired, the preparatory task is continued to be executed and the task assignment to the target warehousing and handling equipment is restored.

[0147] In some embodiments, the processing module 502 is further configured to determine that the target storage and handling equipment continues to perform the current task when the target storage and handling equipment is in a task state.

[0148] In some embodiments, the processing module 502 is further configured to, when the target warehousing and handling equipment is not in an unrecoverable abnormal state, replan the walking route for the target warehousing and handling equipment, with the destination of the walking route being an idle area or a rest area; and send the walking route to the target warehousing and handling equipment.

[0149] In some embodiments, the acquisition module 501 is further configured to acquire a first request message through the map display interface of the first system, wherein the map display interface displays all warehousing and handling equipment in the warehousing area, and the triggering method of the first request message includes at least one of the following: selecting a first area of ​​the map display interface, wherein the first warehousing and handling equipment completely included in the first area is the target warehousing and handling equipment; clicking on a second warehousing and handling equipment in the map display interface, wherein the second warehousing and handling equipment is the target warehousing and handling equipment; and entering the code or type of a third warehousing and handling equipment in the query box of the map display interface, wherein the third warehousing and handling equipment is the target warehousing and handling equipment.

[0150] In some embodiments, the processing module 502 is further configured to add a first mark to the target warehousing and handling equipment on the map display interface of the first system. The first mark is used to indicate that the target warehousing and handling equipment has suspended task assignment.

[0151] In some embodiments, the acquisition module 501 is further configured to acquire a second request message through the map display interface of the first system. The second request message is used to request the resumption of task allocation for the target warehousing and handling equipment. The second request message includes the identification information of the target warehousing and handling equipment. The processing module is further configured to resume task allocation for the target warehousing and handling equipment in response to the second request message.

[0152] In some embodiments, the processing module 502 is further configured to, in response to a second request message, cancel the first tag of the target storage and handling equipment, and / or add a second tag to the target storage and handling equipment, the second tag being used to identify that the target storage and handling equipment has resumed task assignment.

[0153] In some embodiments, the location for adding the first marker and / or the second marker includes any of the following: on the icon of the target warehousing and handling equipment dynamically displayed in the map display interface; or in the message prompt page of the target warehousing and handling equipment displayed in the map display interface.

[0154] In some embodiments, the map display interface of the first system includes a target warehousing and handling equipment message prompt page, which includes at least one of the following: a first button, which, when triggered, pauses task assignment for the target warehousing and handling equipment; a second button, which, when triggered, resumes task assignment for the target warehousing and handling equipment; a first marker, used to indicate that task assignment for the target warehousing and handling equipment has been paused; a second marker, used to indicate that task assignment for the target warehousing and handling equipment has been resumed; and an anomaly level, used to indicate the anomaly level of the target warehousing and handling equipment. The map display interface also includes an anomaly panel, which includes a first list displaying the numbers of warehousing and handling equipment that support the pause task assignment function.

[0155] In some embodiments, the processing module 502 is further configured to maintain the pause in assigning tasks to the target storage and handling equipment after the target operation is triggered, wherein the target operation includes at least one of the following: waking up the first system from hibernation, waking up the target storage and handling equipment from hibernation, restarting the target storage and handling equipment after shutdown, and restarting the first system.

[0156] In summary, the warehouse handling equipment management device provided in this application embodiment can suspend task allocation for a target warehouse handling equipment based on the identification information of the target warehouse handling equipment indicated by the user. It can also reclaim pre-assigned tasks based on the current status and task list of the target warehouse handling equipment, determine the execution method of the current task, and restore task allocation for the target warehouse handling equipment after the user triggers the resumption of task allocation. This achieves the purpose of suspending and resuming task allocation for the target warehouse handling equipment, avoiding impact on the normal task execution of other warehouse handling equipment in the warehouse system, and further improving the working efficiency of the warehouse system.

[0157] It should be noted that all embodiments of this application can be executed individually or in combination with other embodiments, and all are considered to be within the scope of protection claimed by this application.

[0158] Figure 6 is a schematic diagram illustrating the structure of an electronic device 600 for implementing the above-described management method for warehouse handling equipment, according to an exemplary embodiment. The components of the electronic device 600 include, but are not limited to, a memory 610 and a processor 620. The processor 620 is connected to the memory 610 via a bus 630, and a database 650 is used to store data.

[0159] Electronic device 600 also includes access device 640, which enables electronic device 600 to communicate via one or more networks 660. Examples of these networks include Public Switched Telephone Network (PSTN), Local Area Network (LAN), Wide Area Network (WAN), Personal Area Network (PAN), or combinations of communication networks such as the Internet. Access device 640 may include any type of wired or wireless network interface, such as one or more network interface controllers (NICs), such as an IEEE 802.11 Wireless Local Area Network (WLAN) wireless interface, a Wi-MAX (Worldwide Interoperability for Microwave Access) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a Near Field Communication (NFC) interface, and so on.

[0160] In one embodiment of this application, the aforementioned components of the electronic device 600, as well as other components not shown in FIG. 6, may also be connected to each other, for example, via a bus. It should be understood that the electronic device structural block diagram shown in FIG. 6 is merely for illustrative purposes and is not intended to limit the scope of this application. Those skilled in the art can add or replace other components as needed.

[0161] Electronic device 600 can be any type of stationary or mobile computing device, including mobile computers or mobile computing devices (e.g., tablet computers, personal digital assistants, laptop computers, notebook computers, netbooks, etc.), mobile phones (e.g., smartphones), wearable computing devices (e.g., smartwatches, smart glasses, etc.) or other types of mobile devices, or stationary computing devices such as desktop computers or personal computers (PCs). Electronic device 600 can also be a mobile or stationary server.

[0162] The processor 620 executes the computer instructions to implement the steps of the management method for the warehouse handling equipment.

[0163] The above is an illustrative scheme of an electronic device according to an embodiment of this application. It should be noted that the technical solution of this electronic device and the technical solution of the above-described management method for warehousing and handling equipment belong to the same concept. For details not described in detail in the technical solution of the electronic device, please refer to the description of the technical solution of the above-described management method for warehousing and handling equipment.

[0164] Embodiments of this application also propose a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the management method of the warehouse handling equipment described in the above embodiments of this application.

[0165] Embodiments of this application also propose a computer program product, including a computer program that is executed by a processor using the warehouse handling equipment management method described in the above embodiments of this application.

[0166] The foregoing has described specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0167] The computer instructions include computer program code, which may be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0168] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application. This application selects and specifically describes these embodiments to better explain the principles and practical applications of this application, thereby enabling those skilled in the art to better understand and utilize this application. This application is limited only by the claims and their full scope and equivalents.

Claims

A method for managing warehouse handling equipment, applied to a first system, includes: Obtain a first request message, the first request message being used to request a pause in assigning tasks to the target warehouse handling equipment, the first request message including the identification information of the target warehouse handling equipment; In response to the first request message, the assignment of tasks to the target warehouse handling equipment is suspended. The method according to claim 1, further comprising: The status of the target warehousing and handling equipment is determined, including idle status, abnormal status, and task status, wherein the abnormal status includes recoverable abnormal status and unrecoverable abnormal status. Determine the task list of the target warehousing and handling equipment, the task list including the currently executing task and / or at least one preparatory task to be executed; After pausing the assignment of tasks to the target warehousing and handling equipment, the target processing for the preparatory tasks is determined based on the status of the target warehousing and handling equipment and the task list. The method of claim 2, wherein, Determining the status of the target warehousing and handling equipment includes: Within a preset time period after assigning a task to the target warehousing and handling equipment, in response to not receiving feedback from the target warehousing and handling equipment, the target warehousing and handling equipment is determined to be in the abnormal state; or In response to receiving an abnormal message reported by the target warehousing and handling equipment, the target warehousing and handling equipment is determined to be in the abnormal state. The method according to claim 2 or 3, wherein The step of determining the target processing for the preparatory task based on the status of the target warehousing and handling equipment and the task list includes: If the target warehousing and handling equipment is in the recoverable abnormal state, it is determined that the target warehousing and handling equipment continues to execute the current task, and it is determined that the target warehousing and handling equipment cancels the execution of the preparatory task, wherein the target warehousing and handling equipment is in the idle state after completing the current task; The warehousing and handling equipment is reassigned to the preparatory tasks. The method according to claim 2 or 3, wherein The step of determining the target processing for the preparatory task based on the status of the target warehousing and handling equipment and the task list includes: In the event that the target warehousing and handling equipment is in an unrecoverable abnormal state, a first prompt message is output through the map display interface of the first system. The first prompt message is used to prompt the staff to repair the target warehousing and handling equipment. After confirming that the target warehousing and handling equipment has been repaired, continue to execute the preparatory task and restore the task assignment to the target warehousing and handling equipment. The method of claim 2, wherein, The step of determining the target processing for the preparatory task based on the status of the target warehousing and handling equipment and the task list includes: If the target warehousing and handling equipment is in the task state, it is determined that the target warehousing and handling equipment will continue to execute the current task. The method according to any one of claims 2, 3, and 6, further comprising: If the target warehousing and handling equipment is not in the irreversible abnormal state, a new travel route is planned for the target warehousing and handling equipment, and the destination of the travel route is an empty area or a rest area; Send the travel route to the target warehousing and handling equipment. The method of any one of claims 1-3, 6, wherein, The step of obtaining the first request message includes: The first request message is obtained through the map display interface of the first system, wherein the map display interface displays all warehousing and handling equipment in the warehousing area, and the triggering method of the first request message includes at least one of the following: The first area of ​​the map display interface is selected by boxing, and the first warehousing and handling equipment completely included in the first area is the target warehousing and handling equipment; Click on the second warehousing and handling equipment in the map display interface; the second warehousing and handling equipment is the target warehousing and handling equipment. Enter the code or type of the third warehousing and handling equipment in the query box of the map display interface. The third warehousing and handling equipment is the target warehousing and handling equipment. The method according to any one of claims 1-3 and 6, further comprising: On the map display interface of the first system, a first mark is added to the target warehousing and handling equipment. The first mark is used to indicate that the target warehousing and handling equipment has suspended task assignment. The method according to any one of claims 1-3 and 6, further comprising: The second request message is obtained through the map display interface of the first system. The second request message is used to request the resumption of task allocation for the target warehousing and handling equipment. The second request message includes the identification information of the target warehousing and handling equipment. In response to the second request message, task allocation to the target warehouse handling equipment is resumed. The method according to claim 10, further comprising: In response to the second request message, the first tag of the target storage and handling equipment is canceled, and / or a second tag is added to the target storage and handling equipment, the second tag being used to identify that the target storage and handling equipment has resumed task assignment. The method of claim 11, wherein, The location where the first marker and / or the second marker is added includes any of the following: The target warehousing and handling equipment icon is dynamically displayed in the map display interface; The message prompt page for the target warehousing and handling equipment is displayed in the map display interface. The method according to any one of claims 1-3 and 6, wherein, The map display interface of the first system includes a message prompt page for the target warehousing and handling equipment, and the message prompt page includes at least one of the following: The first button, in response to being triggered, suspends task allocation for the target warehousing and handling equipment; The second button, in response to being triggered, restores the task assignment of the target warehousing and handling equipment; The first marker is used to indicate that the target warehousing and handling equipment has suspended task assignment; The second marker is used to indicate that the target warehousing and handling equipment has resumed task assignment; Anomaly level, used to identify the anomaly level of the target warehousing and handling equipment; The map display interface also includes an anomaly panel, which includes a first list that displays the numbers of warehouse handling equipment that support the pause task assignment function. The method according to any one of claims 1-3 and 6, further comprising: After triggering the target operation, keep suspending assigning tasks to the target warehouse handling device, Wherein, the target operation comprises at least one of the following: the first system hibernation and wake up, the target warehouse handling device hibernation and wake up, the target warehouse handling device shutdown and restart, the first system restart. A management device of a warehouse handling device, comprising: An acquisition module configured to acquire a first request message, the first request message being used to request suspension of assigning tasks to a target warehouse handling device, the first request message comprising identification information of the target warehouse handling device; A processing module configured to suspend assigning tasks to the target warehouse handling device in response to the first request message. An electronic device, comprising: A processor and a memory, wherein the memory is configured to store computer executable instructions; The processor is configured to read the instructions from the memory and execute the instructions to implement the method of any one of claims 1 to 14. A computer-readable storage medium, wherein, The storage medium stores computer program instructions, when a computer reads the instructions, executes the method of any one of claims 1 to 14. A computer program product comprising a computer program, wherein, The computer program is executed by the processor to implement the method of any one of claims 1 to 14.

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