Picking system, robot control method, workstation, workstation group, and server

Abstract

A picking system (100), a robot control method, a workstation (2), a workstation group, and a server (1). The picking system (100) comprises a server (1), a first workstation (21), a second workstation (22), transport robots (3), and a transfer robot (4), wherein the transport robots (3) are used for transporting inventory bins from an inventory area (200) to the first workstation (21) or the second workstation (22); the transfer robot (4) is used for transferring an order bin between the first workstation (21) and the second workstation (22); and the server (1) is used for controlling the transport robots (3) to transport the inventory bins and controlling the transfer robot (4) to transfer the order bin, thereby improving order picking efficiency.

Description

Picking system, robot control method, workstation, workstation group and server

[0001] This application claims priority to Chinese Patent Application No. 202510307322.9, filed on March 14, 2025, entitled "Picking System, Robot Control Method, Workstation, Workstation Group and Server", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of intelligent warehousing system technology, specifically to a picking system, a robot control method, a workstation, a workstation group, a server, and a computer-readable storage medium. Background Technology

[0003] Logistics picking is a key link in improving warehousing and distribution efficiency. Traditional logistics centers include shelves, picking workstations, and handling robots. Picking workstations are equipped with seeding walls to place order boxes. Orders are linked to workstations, and handling robots transport inventory boxes to the corresponding workstations, where picking personnel then sort them.

[0004] However, due to the order binding mechanism, even if there are many robots queuing at the workstation, they still have to wait in turn, resulting in low picking efficiency. Summary of the Invention

[0005] In view of the above problems, embodiments of this application provide a picking system, a robot control method, a workstation, a group of workstations, a server, and a computer-readable storage medium to solve the problem of low picking efficiency.

[0006] According to a first aspect of the embodiments of this application, a picking system is provided, including a server, a first workstation, a second workstation, a handling robot, and a transfer robot; the handling robot is used to handle inventory boxes from an inventory area to the first workstation or the second workstation; the transfer robot is used to transfer order boxes between the first workstation and the second workstation; the server is used to control the handling robot to handle the inventory boxes and to control the transfer robot to handle the order boxes.

[0007] In some embodiments, the first workstation includes a first seeding wall, the second workstation includes a second seeding wall, the first seeding wall and the second seeding wall are arranged adjacent to each other, and a track installed on the first seeding wall and / or the second seeding wall is provided between the first seeding wall and the second seeding wall, and both the first seeding wall and the second seeding wall are used to place order boxes.

[0008] In some embodiments, the transfer robot moves along a track between the first seeding wall and the second seeding wall to transfer order boxes between the first workstation and the second workstation.

[0009] In some embodiments, at least one third workstation is provided between the first workstation and the second workstation. The first workstation includes a first seeding wall, the second workstation includes a second seeding wall, and the third workstation includes a third seeding wall and a fourth seeding wall. The third seeding wall and the fourth seeding wall are arranged at intervals between the first seeding wall and the second seeding wall. A picking table of the third workstation is provided between the third seeding wall and the fourth seeding wall. A track is provided between the first seeding wall and the third seeding wall and mounted on the first seeding wall and / or the third seeding wall. A track is provided between the fourth seeding wall and the second seeding wall and mounted on the fourth seeding wall and / or the second seeding wall. Each of the first seeding wall, the second seeding wall, the third seeding wall, and the fourth seeding wall includes multiple slots for placing the order boxes.

[0010] In some embodiments, the transfer robot docks with the track between the first seeding wall and the third seeding wall and climbs to the slot where the target order box is located to retrieve the target order box, then descends to the ground and transports the target order box to the second workstation, so as to place the target order box in the slot of the second workstation by docking with the track between the fourth seeding wall and the second seeding wall.

[0011] In some embodiments, the transfer robot includes a first transfer robot and a second transfer robot, the first transfer robot running on a track between the first seeding wall and the third seeding wall to transfer order boxes between the first workstation and the third workstation, and the second transfer robot running on a track between the fourth seeding wall and the second seeding wall to transfer the order boxes between the third workstation and the second workstation.

[0012] In some embodiments, the first seeding wall includes multiple seeding layers arranged vertically; the transfer robot is also used to move order boxes located on the upper seeding layer in the first workstation to the lower seeding layer, wherein the height of the lower seeding layer is adapted to the operation of the picking personnel.

[0013] According to a second aspect of the embodiments of this application, a robot control method is provided, applied to a server of a picking system. The picking system further includes a first workstation, at least one second workstation, a handling robot, and a transfer robot. The handling robot is used to handle inventory boxes from an inventory area to the first workstation or the at least one second workstation, and the transfer robot is used to transfer order boxes between the first workstation and the at least one second workstation. The method includes: during the process of the handling robot handling an inventory box corresponding to a first target order to the first workstation, determining whether a first number of queuing robots currently queuing at the first workstation is greater than a quantity threshold, wherein the first target order is assigned to the first workstation for goods picking, and the first target order is bound to a first target order box of the first workstation; if the first number is greater than the quantity threshold, controlling the handling robot to handle the inventory box to the first target workstation, wherein a second number of queuing robots currently queuing at the first target workstation is less than the quantity threshold, and the first target workstation is any one of the at least one second workstation; and controlling the transfer robot to transfer the first target order box from the first workstation to the first target workstation.

[0014] In some embodiments, the method further includes: splitting the second target order into a first sub-order and a second sub-order; assigning the first sub-order to the first workstation for goods picking, assigning the second sub-order to the second target workstation for goods picking, and binding the second target order to the second target order box of the first workstation, wherein the second target workstation is any one of the at least one second workstation; after the first workstation completes the goods picking of the first sub-order, controlling the transfer robot to transfer the second target order box from the first workstation to the second target workstation to wait for receiving the goods in the second sub-order.

[0015] In some embodiments, the step of controlling the transport robot to transport the inventory box to the first target workstation if the first quantity is greater than the quantity threshold includes: if the first quantity is greater than the quantity threshold, obtaining a third quantity of queuing robots in each of the at least one second workstation; determining the first target workstation with the smallest third quantity from the at least one second workstation; and controlling the transport robot to transport the inventory box to the first target workstation.

[0016] In some embodiments, controlling the transport robot to transport the inventory box to the first target workstation if the first quantity is greater than the quantity threshold includes: if the first quantity is greater than the quantity threshold, obtaining a fourth number of queuing robots in each of the at least one second workstation; if there are multiple reference workstations in the at least one second workstation with the same and minimum fourth quantity, obtaining the order box transport distance between each of the multiple reference workstations and the first workstation; determining the first target workstation with the shortest order box transport distance from the multiple reference workstations; and controlling the transport robot to transport the inventory box to the first target workstation.

[0017] In some embodiments, the method further includes: if the first quantity is less than or equal to the quantity threshold, obtaining a fifth quantity of queuing robots queuing at each of the at least one second workstation; if there is a third target workstation in the at least one second workstation where the fifth quantity is less than the first quantity, controlling the handling robot to move the inventory box to the third target workstation; and controlling the transfer robot to transfer the first target order box from the first workstation to the third target workstation.

[0018] According to a third aspect of the present application, a workstation group is provided, the workstation group including a first workstation, a second workstation, and a transfer robot; the first workstation includes a first seeding wall, and the second workstation includes a second seeding wall; a track is included between the first seeding wall and the second seeding wall, mounted on the first seeding wall and / or the second seeding wall; the transfer robot is used to run on the track to transfer order boxes between the first seeding wall and the second seeding wall.

[0019] According to a fourth aspect of the embodiments of this application, a workstation group is provided, the workstation group including a first workstation, a second workstation, at least one third workstation located between the first workstation and the second workstation, and a transfer robot; the first workstation includes a first seeding wall, the second workstation includes a second seeding wall, the third workstation includes a third seeding wall and a fourth seeding wall, the third seeding wall and the fourth seeding wall are arranged at intervals between the first seeding wall and the second seeding wall, a picking table of the third workstation is provided between the third seeding wall and the fourth seeding wall, and a track installed on the first seeding wall and / or the third seeding wall is provided between the first seeding wall and the third seeding wall, and a track installed on the fourth seeding wall and / or the second seeding wall is provided between the fourth seeding wall and the second seeding wall, the first seeding wall, the second seeding wall, the third seeding wall and the fourth seeding wall each include a plurality of slots for placing the order box; the transfer robot runs on the track between the first seeding wall and the third seeding wall, and on the track between the fourth seeding wall and the second seeding wall, to transfer the order box between the first workstation and the second workstation.

[0020] In some embodiments, the transfer robot docks with the track between the first seeding wall and the third seeding wall and climbs to the slot where the target order box is located to retrieve the target order box, then descends to the ground and transports the target order box to the second workstation, so as to place the target order box in the slot of the second workstation by docking with the track between the fourth seeding wall and the second seeding wall.

[0021] In some embodiments, the transfer robot includes a first transfer robot and a second transfer robot, the first transfer robot running on a track between the first seeding wall and the third seeding wall to transfer order boxes between the first workstation and the third workstation, and the second transfer robot running on a track between the fourth seeding wall and the second seeding wall to transfer the order boxes between the third workstation and the second workstation.

[0022] According to a fifth aspect of the embodiments of this application, a first workstation is provided, the first workstation including two first seeding walls, wherein at least one of the first seeding walls is equipped with a track for a transfer robot to climb to pick up and place order boxes, and each first seeding wall also includes a plurality of slots for storing order boxes.

[0023] According to a sixth aspect of the embodiments of this application, a first workstation is provided, the first workstation including two first seeding walls, wherein at least one of the first seeding walls is equipped with a track for a transfer robot to climb to pick up and place order boxes, and for the transfer robot to transfer order boxes between the first workstation and the second workstation, and each first seeding wall also includes a plurality of slots for storing order boxes.

[0024] According to a seventh aspect of the present application, a server is provided, comprising: a processor and a memory, wherein the memory stores executable instructions, and the processor is capable of executing the executable instructions to implement the robot control method as described in any of the above embodiments.

[0025] According to an eighth aspect of the present application, a computer-readable storage medium is provided, the storage medium storing executable instructions that, when executed on a server, cause the server to perform the robot control method as described in any of the above embodiments.

[0026] This application embodiment, by setting up a transfer robot in the picking system capable of transporting order boxes between workstations, allows the transfer robot, when performing the task of moving inventory boxes for a particular order, to move the order boxes not only to the first workstation where there are many queuing robots, but also to the second workstation where there are fewer queuing robots. The transfer robot can then move the inventory boxes to the second workstation, where the order can be picked. This method reduces the queuing time of the transfer robots at workstations and improves order picking efficiency.

[0027] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0028] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0029] Figure 1 shows a schematic diagram of a picking system according to an embodiment of this application;

[0030] Figure 2 shows a schematic diagram of another picking system according to an embodiment of this application;

[0031] Figure 3 shows a schematic diagram of the structure of another picking system according to an embodiment of this application;

[0032] Figure 4 shows a schematic diagram of the structure of the first seeding wall according to an embodiment of this application;

[0033] Figure 5A shows a flowchart of a robot control method according to an embodiment of this application;

[0034] Figure 5B shows a flowchart of another robot control method according to an embodiment of this application;

[0035] Figure 6 shows a flowchart of another robot control method according to an embodiment of this application;

[0036] Figure 7 shows a schematic diagram of the workstation group according to an embodiment of this application;

[0037] Figure 8 shows a schematic diagram of another workstation group according to an embodiment of this application;

[0038] Figure 9 shows a schematic diagram of the structure of another workstation group according to an embodiment of this application;

[0039] Figure 10 shows a schematic diagram of the structure of the first workstation according to an embodiment of this application;

[0040] Figure 11 shows a schematic diagram of the structure of another first workstation according to an embodiment of this application;

[0041] Figure 12 shows a schematic diagram of the server provided in an embodiment of this application;

[0042] Figure 13 shows a schematic diagram of the structure of the robot control device provided in an embodiment of this application.

[0043] The reference numerals in the attached drawings in the specific implementation are as follows: 100, Picking system; 1, Server; 2, Workstation; 21, First workstation; 22, Second workstation; 23, Third workstation; 24, Seeding wall; 241, 241a, 241b, First seeding wall; 242, Second seeding wall; 243, Third seeding wall; 244, Fourth seeding wall; 25, Picking workbench; 26, Track; 27, Seeding layer; 27a, High-level seeding layer; 27b, Low-level seeding layer; 3, Handling robot; 4, Transfer robot; 41, First transfer robot; 42, Second transfer robot; 5, Picking personnel; 200, Inventory area; 402, Processor; 404, Memory; 406, Computer program; 500, Robot control device; 501, Judgment module; 502, First control module; 503, Second control module. Detailed Implementation

[0044] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0046] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0047] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0048] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists, A and B exist simultaneously, and B exists. In addition, the character " / " in this document generally indicates that the related objects before and after it have an "or" relationship.

[0049] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0050] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0051] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0052] A smart warehousing system is a system that utilizes advanced information technology and automated equipment to achieve efficient storage and handling of goods. It enables automated identification, picking, handling, and storage of goods. Logistics picking is a crucial component of a smart warehousing system; ensuring consistently high-efficiency picking operations improves overall outbound cargo efficiency.

[0053] In related technologies, the warehousing system of a logistics center generally includes devices such as shelves, picking workstations, and handling robots. Picking workstations typically include a picker wall for holding order boxes. Orders are assigned to picking workstations and bound to order boxes at those workstations. Each order specifies the type and quantity of goods to be picked. Handling robots transport the inventory boxes containing the goods from the inventory area shelves to the picking workstation to which the order was assigned. Pickers at the picking workstation then retrieve the goods from the inventory boxes and place them into the corresponding order boxes on the picker wall. When a handling robot arrives at a picking workstation with an inventory box, even if there are many robots queuing for picking at that workstation, the robot can only wait in line at that workstation because the order corresponding to the inventory box it is transporting is already bound to that workstation, resulting in low picking efficiency.

[0054] With the increasing demands for sorting efficiency in warehousing and logistics, improving order picking efficiency has become an urgent problem to be solved.

[0055] To address the aforementioned technical problems, this application provides a picking system that improves order picking efficiency. By incorporating transfer robots capable of moving order boxes between workstations within the picking system, when a large number of robots are queuing at the first workstation assigned to the order, the transfer robot can move the order box associated with that order from the first workstation to a second workstation with fewer queuing robots. The transfer robot can then move the order box to the second workstation, where the order can be picked. This reduces the queuing time for transfer robots at workstations and improves order picking efficiency.

[0056] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Where there is no conflict between the embodiments, the following embodiments and the features in the embodiments can be combined with each other.

[0057] Figure 1 shows a schematic diagram of the structure of a picking system 100 according to an embodiment of this application. As shown in Figure 1, this application provides a picking system 100, including a server 1, a workstation 2, a handling robot 3, and a transfer robot 4.

[0058] There can be multiple workstations 2. The following explanation uses the first workstation 21 and the second workstation 22 as examples. The first workstation 21 and the second workstation 22 are order picking workstations, where picking personnel 5 or automated picking equipment (such as picking robots) perform order picking operations. It should be noted that the first workstation 21 and the second workstation 22 have the same function; both are used for order picking. The designations "first" and "second" are for ease of description and do not imply that they are workstations with different functions.

[0059] The number of handling robots 3 can be multiple. The handling robots 3 are used to move inventory boxes containing goods from the inventory area 200 to the first workstation 21 or the second workstation 22. The handling robots 3 can be various types of robots, such as bin robots, telescopic lifting bin robots, lifting robots, lurking lifting robots, and automated guided vehicles (AGVs). In some warehousing systems, the shelves are equipped with tracks, so the handling robots 3 can also be shelf-climbing robots, capable of crawling along the tracks on the shelves, retrieving inventory boxes from the shelves, and moving the inventory boxes to workstation 2. This application does not limit the structure of the handling robots 3; they can be any handling robots 3 known in the prior art, as long as they can realize the movement of inventory boxes between the shelves and workstation 2.

[0060] The number of transfer robots 4 can be one or more. The transfer robots 4 are used to transfer order boxes between the first workstation 21 and the second workstation 22. The transfer robots 4 can be various types of robots, such as bin robots, telescopic lifting bin robots, lifting robots, lurking lifting robots, AGVs, etc., as long as they can realize the transfer of order boxes between workstations 2.

[0061] Server 1 is equipped with a warehouse system scheduling and control system. Upon receiving an order, Server 1 assigns a target workstation to the order, binding the order to a target order box within that workstation; that is, the goods in the order will be picked into that target order box. Server 1 also matches the order with a target inventory box (an inventory box containing some or all of the goods required for the order) and assigns a handling robot 3. It sends the location of the target shelf containing the target inventory box to the handling robot 3 assigned to the order, enabling the handling robot 3 to move to the target shelf and transport the target inventory box to the target workstation. Server 1 controls the handling robot 3 to move the inventory box. Server 1 also controls a transfer robot 4 to transfer order boxes, for example, controlling the transfer robot 4 to transfer order boxes from the first workstation 21 to the second workstation 22, or from the second workstation 22 to the first workstation 21, or from the first workstation 21 to other workstations, and so on.

[0062] Workstation 2 is equipped with shelves or seeding walls for storing order boxes. The following description uses a seeding wall as an example to illustrate the specific implementation of this application.

[0063] Please refer to Figure 1. The first workstation 21 includes a first seeding wall 241, and the second workstation 22 includes a second seeding wall 242. The first seeding wall 241 and the second seeding wall 242 are adjacent and spaced apart. Both the first seeding wall 241 and the second seeding wall 242 are used to place order boxes. The first seeding wall 241 and the second seeding wall 242 will be collectively referred to as seeding wall 24 below. The picking personnel 5 at workstation 2 will retrieve the goods transported to the inventory boxes of workstation 2 by the handling robot 3 and place them into the target order boxes in the seeding wall 24. For example, in a typical picking process, for order A1, server 1 matches the target inventory box for order A1 as inventory box IB1, the handling robot 3 assigned to order A1 is handling robot R1, and the workstation 2 assigned to order A1 is the first workstation 21. Order A1 is bound to order box OB1 in the first seeding wall 241 of the first workstation 21 (that is, order box OB1 is the target order box). After handling robot R1 goes to the shelf to retrieve inventory box IB1, it goes to the first workstation 21. The picking personnel 5 of the first workstation 21 retrieves the order goods from inventory box IB1 and puts them into order box OB1.

[0064] In some scenarios, as shown in Figure 1, the first workstation 21 and the second workstation 22 can also be equipped with picking workbenches 25. The height of the picking workbenches 25 is set to a height suitable for manual operation, which can provide a comfortable operating experience for the picking personnel 5 and improve picking efficiency. The handling robot 3 transports the inventory box to the picking workbench 25, and the picking personnel 5 takes out the order goods from the inventory box and puts them into the order box in the seeding wall 24.

[0065] A track 26 is provided between the first seeding wall 241 and the second seeding wall 242, and the track 26 is installed on the second seeding wall 242. The transfer robot 4 is a track-climbing robot that can move along the track 26, for example, moving horizontally or rising or falling vertically. The transfer robot 4 can perform pick-and-place operations on the first seeding wall 241 and the second seeding wall 242. The transfer robot 4 moves along the track 26 between the first seeding wall 241 and the second seeding wall 242 to transfer the order boxes between the first workstation 21 and the second workstation 22. The transfer robot 4 can move horizontally and / or rise or fall vertically on the track 26 to a position where it can access the target order box located on the first seeding wall 241, remove the target order box located on the first seeding wall 241, and continue to move horizontally and / or rise or fall vertically on the track 26 to a position where it can place the target order box on the second seeding wall 242.

[0066] In other embodiments, the track 26 can also be installed on the first seeding wall 241, and the transfer robot 4 can perform the picking and placing operations on the order boxes on the first seeding wall 241 and the second seeding wall 242 by running on the track 26 installed on the first seeding wall 241.

[0067] In other embodiments, tracks 26 may also be installed on both the first seeding wall 241 and the second seeding wall 242. The tracks 26 installed on the first seeding wall 241 and the second seeding wall 242 are both located between the first workstation 21 and the second workstation 22; that is, tracks 26 are installed on the side of the first seeding wall 241 facing the second seeding wall 242, and tracks 26 are installed on the side of the second seeding wall 242 facing the first seeding wall 241. The transfer robot 4 is located between the tracks 26 installed on the first seeding wall 241 and the second seeding wall 242, and crawls along both tracks 26.

[0068] In the embodiment shown in Figure 1, the first workstation 21 is the outgoing workstation for order boxes, and the second workstation 22 is the incoming workstation for order boxes. The outgoing and incoming workstations are arranged adjacent to each other. In another embodiment, other workstations are also provided between the outgoing and incoming workstations. Figure 2 shows a schematic diagram of the structure of another picking system 100 according to an embodiment of this application. As shown in Figure 2, in addition to the server 1, the first workstation 21, the second workstation 22, the handling robot 3, and the transfer robot 4, the picking system 100 also includes a third workstation 23, which is located between the first workstation 21 and the second workstation 22. The first workstation 21 includes a first seeding wall 241, the second workstation 22 includes a second seeding wall 242, and the third workstation 23 includes a third seeding wall 243 and a fourth seeding wall 244, which are arranged alternately between the first seeding wall 241 and the second seeding wall 242. The first seeding wall 241, the second seeding wall 242, the third seeding wall 243, and the fourth seeding wall 244 each include multiple slots for placing order boxes.

[0069] A track 26 is provided between the first seeding wall 241 and the third seeding wall 243, and a track 26 is provided between the fourth seeding wall 244 and the second seeding wall 242, both of which are installed on the third seeding wall 243. In the specific embodiment shown in Figure 2, the track 26 between the first seeding wall 241 and the third seeding wall 243 is installed on the third seeding wall 243, and the track 26 between the fourth seeding wall 244 and the second seeding wall 242 is installed on the second seeding wall 242.

[0070] The transfer robot 4 includes a first transfer robot 41 and a second transfer robot 42. The first transfer robot 41 operates on a track 26 between a first seeding wall 241 and a third seeding wall 243 to transfer order boxes between a first workstation 21 and a third workstation 23. The second transfer robot 42 operates on a track 26 between a fourth seeding wall 244 and a second seeding wall 242 to transfer order boxes between a third workstation 23 and a second workstation 22.

[0071] The third workstation 23 can be configured with picking personnel 5 to pick orders for the third workstation 23. As shown in Figure 2, a picking workbench 25 for the third workstation 23 is also set between the third seed wall 243 and the fourth seed wall 244. The transport robot 3 transports the inventory box to the picking workbench 25 of the third workstation 23. The picking personnel 5 take out the order goods from the inventory box and put them into the order box of the third seed wall 243 or the fourth seed wall 244 to complete the order picking.

[0072] In some embodiments, the first transfer robot 41 and the second transfer robot 42 can operate on the track 26 or on the ground. For example, the first transfer robot 41 connects to the track 26 between the first seeding wall 241 and the third seeding wall 243 and climbs to the slot where the target order box is located to retrieve the target order box. It then descends to the ground and transports the target order box to the second workstation 22. The target order box is then placed in the slot of the second workstation 22 by connecting to the track 26 between the fourth seeding wall 244 and the second seeding wall 242, thereby transferring the target order box from the first workstation 21 to the second workstation 22.

[0073] In scenarios where the transfer robot 4 can operate both on track 26 and on the ground, for the first workstation 21, the second workstation 22, and the third workstation 23, only one transfer robot 4 can be set up, as shown in Figure 3. The transfer of target order boxes between the above workstations can be achieved by one transfer robot 4, such as transferring the target order box from the first workstation 21 to the second workstation 22, the target order box from the first workstation 21 to the third workstation 23, the target order box from the second workstation 22 to the first workstation 21, and so on. The specific transfer process is similar to the target order box transfer process described in the previous paragraph, and will not be repeated here.

[0074] Figure 4 shows a schematic diagram of the structure of the first seeding wall 241 according to an embodiment of this application. As shown in Figure 4, the first seeding wall 241 includes multiple seeding layers 27 arranged vertically. The transfer robot 4 is also used to transport order boxes located in the upper seeding layer 27a in the first workstation 21 to the lower seeding layer 27b, wherein the height of the lower seeding layer 27b is adapted to the operation of the picking personnel 5. For example, the first seeding wall 241 shown in Figure 4 includes 8 seeding layers 27, wherein the height of the 1st to 3rd seeding layers 27 meets the delivery requirements of the picking personnel 5, and the picking personnel 5 can directly deliver goods to the order boxes in the 1st to 3rd seeding layers 27. Since the height of the 4th to 8th seeding layers 27 exceeds the delivery height of the picking personnel 5, the picking personnel 5 cannot directly deliver goods to the order boxes in the 4th to 8th seeding layers 27. Therefore, the 4th to 8th seeding layers 27 are the upper seeding layers 27a, and the 1st to 3rd seeding layers 27 are the lower seeding layers 27b.

[0075] In some embodiments, the height of the third seeding layer 27 is the most suitable placement height for the picking personnel 5, allowing them to place goods into the order boxes on the third seeding layer 27 without bending over. Therefore, the third seeding layer 27 in the first seeding wall 241 is designated as a seeding layer, while the other layers serve as storage layers. The transfer robot 4 transports the order boxes corresponding to orders processed within the current time frame from other layers in the first seeding wall 241 to the seeding layer (third layer), or transports the order boxes corresponding to inventory boxes arriving at the first workstation 21 within the current time frame from other layers in the first seeding wall 241 to the seeding layer. This further facilitates the operation of the picking personnel 5 and allows for the setting of more seeding layers to accommodate more order boxes, which is beneficial for multiple order placements and improves the utilization rate of order boxes.

[0076] In the picking system 100 of the above embodiments, the scenarios in which order boxes need to be transferred between the first workstation 21 and the second workstation 22 include, but are not limited to, the following:

[0077] Scenario 1: For order A1, the target inventory box matching order A1 is inventory box IB1. The handling robot 3 assigned to transport inventory box IB1 is handling robot R1. Order A1 is assigned to the first workstation 21, and order A1 is bound to order box OB1 of the first workstation 21 (i.e., order box OB1 is the target order box). If there are many queuing robots in the first workstation 21 at this time, in order to reduce the queuing time of handling robot R1 in the first workstation 21, it is necessary to select another workstation 2 with fewer queuing handling robots 3, such as the second workstation 22, for handling robot R1. The order box OB1 is then transferred from the first workstation 21 to the second workstation 22 by the transfer robot 4, and the handling robot R1 can then transport inventory box IB1 to the second workstation 22 for picking order A1.

[0078] Scenario 2: Order A2 is split into multiple sub-orders, such as sub-order A21 and sub-order A22. Sub-order A21 is assigned to workstation 21, and sub-order A22 is assigned to workstation 22. If each sub-order is picked separately at each workstation, meaning the goods for each sub-order are picked into different order boxes, and then combined into one order box after all sub-orders have been picked, this is not only complex but also inefficient. A better solution is to bind order A2 to order box OB2 in workstation 21. After picking the goods for sub-order A21 into order box OB2 at workstation 21, a transfer robot 4 transfers order box OB2 from workstation 21 to workstation 22. At workstation 22, the goods for sub-order A22 are then picked into order box OB2, completing the picking of order A2 without the need for a combined order operation, thus improving order picking efficiency. In such a scenario, the number of sub-orders is not limited to two; there can be more. Once the last sub-order is picked, the picking of the entire order is completed.

[0079] The robot workflow in Scenario 1 is described below. Figure 5A shows a flowchart of the robot control method according to an embodiment of this application. This method is applied to the server 1 of the picking system 100 in the above embodiment. The picking system 100 has multiple workstations 2, including a first workstation 21 and at least one second workstation 22. As shown in Figure 5A, and referring to Figure 1, the method includes the following steps:

[0080] S101, during the process of the transport robot moving the inventory box corresponding to the first target order to the first workstation, determine whether the number of queuing robots currently queuing at the first workstation is greater than the number threshold.

[0081] The first target order is assigned to the first workstation 21 for goods picking, and is bound to the first target order box of the first workstation 21. The quantity threshold can be determined based on the average number of queuing robots 3 across all workstations in the picking system 100, for example, by setting the quantity threshold to the average value or a value slightly lower than the average value. If the number of queuing robots currently in the first workstation 21 is greater than the quantity threshold, it indicates that the first workstation 21 is relatively busy, and there may be other workstations with fewer queuing robots 3 than the first workstation 21. In this case, the picking workstation for the first target order can be adjusted to the workstation with fewer queuing robots 3.

[0082] The queuing robot is a transport robot that queues at workstation 2 (e.g., the first workstation, the second workstation, the third workstation, the fourth workstation, etc.).

[0083] S102, if the first quantity is greater than the quantity threshold, control the handling robot to move the inventory box to the first target workstation.

[0084] The first target workstation is a workstation selected from at least one second workstation 22. The first target workstation satisfies the following condition: the second number of queuing robots currently queuing at the first target workstation is less than a number threshold.

[0085] In some embodiments, step S102 can be implemented by the following steps:

[0086] S1021a, if the first quantity is greater than the quantity threshold, obtain the third quantity of queuing robots queuing in each of the at least one second workstation.

[0087] S1022a, determine the first target workstation with the smallest number of third workstations from at least one second workstation;

[0088] S1023a, control the handling robot to move the inventory box to the first target workstation.

[0089] By using the above method, the first target workstation with the fewest queuing robots is selected from at least one second workstation 22, thereby minimizing the queuing time of the handling robot 3 at the first workstation 21 and further improving order picking efficiency.

[0090] In some embodiments, step S102 can also be implemented through the following steps:

[0091] S1021b, If the first quantity is greater than the quantity threshold, obtain the fourth quantity of queuing robots queuing in each of the at least one second workstation.

[0092] S1022b, if there are at least a few reference workstations of the same number in at least one second workstation, obtain the order box handling distance between each reference workstation and the first workstation.

[0093] S1023b, determine the first target workstation with the shortest order box handling distance from multiple reference workstations;

[0094] S1024b controls the handling robot to move the inventory box to the first target workstation.

[0095] In the above manner, if there are at least a few second workstations 22 with the fewest queuing robots, then the first target workstation closest to the first workstation 21 is selected from them, thereby reducing the transfer time of the transfer robot 4 to transfer the target order box and further improving the order picking efficiency.

[0096] S103, control the transfer robot to transfer the first target order box from the first workstation to the first target workstation.

[0097] By installing a transfer robot 4 in the picking system 100 that can move order boxes between workstations 2, for a transport robot 3 performing the task of moving inventory boxes for a certain order, if there are many queuing robots in the first workstation 21 where the order is assigned, it is not limited to moving the inventory box to the first workstation 21. Instead, the transfer robot 4 can move the order box bound to the order in the first workstation 21 to the first target workstation with fewer queuing robots. The transport robot 3 can then move the inventory box to the first target workstation and complete the picking of the order there. In this way, the queuing time of the transport robot 3 in the first workstation 21 is reduced, and the order picking efficiency is improved.

[0098] In some embodiments, when the handling robot 3 needs to move the inventory box corresponding to the first target order to the first workstation 21, even if the number of queuing robots currently in the first workstation 21 is small, there may be other workstations with even fewer queuing robots. In this case, the handling robot 3 can go to the other workstation with fewer queuing robots to pick the order, which can also reduce the queuing waiting time of the handling robot 3 at the workstation, thereby improving the order picking efficiency. Figure 5B shows a flowchart of another robot control method according to an embodiment of this application. The method is applied to the server 1 of the picking system 100 in the above embodiment. The picking system 100 has multiple workstations 2, including a first workstation 21 and at least one second workstation 22. As shown in Figure 5B, the method includes the following steps:

[0099] S201, during the process of the handling robot moving the inventory box corresponding to the first target order to the first workstation, determine whether the first number of queuing robots currently queuing at the first workstation is greater than the number threshold.

[0100] S202, if the first quantity is less than or equal to the quantity threshold, obtain the fifth quantity of queuing robots queuing in each of the second workstations in at least one second workstation;

[0101] S203, if there is a third target workstation in at least one second workstation where the fifth quantity is less than the first quantity, control the handling robot to move the inventory box to the third target workstation;

[0102] S204, control the transfer robot to transfer the first target order box from the first workstation to the third target workstation.

[0103] The robot workflow in Scenario 2 is described below. Figure 6 shows a flowchart of another robot control method according to an embodiment of this application. This method is applied to the server 1 of the picking system 100 in the above embodiment. The picking system 100 has multiple workstations 2, including a first workstation 21 and at least one second workstation 22. As shown in Figure 6, and referring to Figure 1, the method includes the following steps:

[0104] S301, split the second target order into a first sub-order and a second sub-order.

[0105] S302, the first sub-order is assigned to the first workstation for goods picking, the second sub-order is assigned to the second target workstation for goods picking, and the second target order is bound to the second target order box of the first workstation.

[0106] The second target workstation is any one of at least one second workstation.

[0107] S303: After the first workstation completes the picking of goods for the first sub-order, the control transfer robot transfers the second target order box from the first workstation to the second target workstation to wait for the goods in the second sub-order to be received.

[0108] When an order is split into multiple sub-orders and assigned to different workstations 2 for picking, the order is bound to an order box in one of the workstations 2. After the first sub-order assigned to that workstation 2 is picked, the order box that has received the goods of the sub-order is transferred to another workstation 2 by the transfer robot 4 to complete the picking of the second sub-order, and so on. The picking of each sub-order is completed in a relay manner. After the last sub-order is picked, the picking of the entire order is completed without the need for order merging, thereby improving the order picking efficiency.

[0109] Regarding the order box transfer for the two scenarios mentioned above, there are several methods, including but not limited to:

[0110] Method 1: In the picking system, regardless of the structure of the outgoing workstation (e.g., the first workstation) and the incoming workstation (e.g., the first target workstation, the second target workstation, the third target workstation, etc. in the second workstation), or the positional relationship between them, the transfer can be completed by a single transfer robot. For example, the transfer robot can take the target order box from the outgoing workstation and transport it to the incoming workstation. The transfer robot can be the telescopic lifting box robot, the lifting robot, the lurking lifting robot, etc. mentioned above. When the seeding wall of the workstation is equipped with a track, the transfer robot can also be a track-climbing robot that can walk along the track and on the ground. For example, for the picking system 100 shown in Figure 3, the transfer robot 4 takes out the target order box by docking with the track 26 between the first seeding wall 241 and the third seeding wall 243, descends to the ground, transports the target order box to the second workstation 22, and then places the target order box in the slot of the second workstation 22 by docking with the track 26 between the fourth seeding wall 244 and the second seeding wall 242.

[0111] Method 2: In the picking system, both the outgoing and incoming workstations are equipped with seeding walls, and the seeding walls of the two workstations are adjacent to each other. For example, in the picking system 100 shown in Figure 1, a track 26 is set on the seeding wall 24 of one of the workstations 21 and 22. The transfer robot 4 is a track-climbing robot that can walk along the track 26. The transfer robot 4 runs along the track 26 between the first seeding wall 241 and the second seeding wall 242 to transfer the order box from the first workstation 21 to the second workstation 22.

[0112] Method 3: In the picking system, a third workstation is set between the outgoing workstation and the incoming workstation, and the third workstation is equipped with two seeding walls. For example, in the picking system 100 shown in Figure 2, the first workstation 21 includes a first seeding wall 241, the second workstation 22 includes a second seeding wall 242, and the third workstation 23 includes a third seeding wall 243 and a fourth seeding wall 244. A track 26 installed on the first seeding wall 241 and / or the third seeding wall 243 is set between the first seeding wall 241 and the third seeding wall 243, and a track 26 installed on the fourth seeding wall 244 and / or the second seeding wall 242 is set between the fourth seeding wall 244 and the second seeding wall 242.

[0113] When it is necessary to transfer the target order box from the first workstation 21 to the second workstation 22, the first transfer robot 41, which runs on the track 26 installed on the third seeding wall 243, can first transfer the target order box from the first seeding wall 241 to the third seeding wall 243. Then, the picking personnel 5 of the third workstation 23 can manually transfer the target order box from the third seeding wall 243 to the fourth seeding wall 244. Finally, the second transfer robot 42, which runs on the track 26 installed on the fourth seeding wall 244, can transfer the target order box from the fourth seeding wall 244 to the second seeding wall 242, thereby realizing the transfer of the target order box from the first workstation 21 to the second workstation 22.

[0114] The transfer robot 4 is a track-climbing robot capable of walking along track 26. First, the target order box is transferred from the first seeding wall 241 to the third seeding wall 243 by the first transfer robot 41 between the first seeding wall 241 and the third seeding wall 243. Then, the target order box is manually transferred from the third seeding wall 243 to the fourth seeding wall 244 by the picking personnel 5 of the third workstation 23. Finally, the target order box is transferred from the third workstation 23 to the second workstation 22 by the second transfer robot 42 between the fourth seeding wall 244 and the second seeding wall 242.

[0115] Method Four: In the picking system, multiple third workstations are set up between the outgoing and incoming workstations. Each workstation has one or two seeding walls, and a track is installed on any one or both seeding walls 24 between every two adjacent seeding walls. The transfer robot is a track-climbing robot capable of walking along the track. The target order box is transferred between the two adjacent workstations through the transfer robot between the two adjacent seeding walls. The target order box arrives at the incoming workstation from the outgoing workstation through sequential transfer.

[0116] Figure 7 shows a schematic diagram of the workstation group according to an embodiment of this application. As shown in Figure 7, the workstation group includes a first workstation 21, a second workstation 22, and a transfer robot 4. The first workstation 21 includes a first seeding wall 241, and the second workstation 22 includes a second seeding wall 242. A track 26 is provided between the first seeding wall 241 and the second seeding wall 242 and is installed on the first seeding wall 241 and / or the second seeding wall 242. In the specific embodiment shown in Figure 7, the track 26 between the first seeding wall 241 and the second seeding wall 242 is installed on the second seeding wall 242. The transfer robot 4 is used to run on the track 26 to transfer order boxes between the first seeding wall 241 and the second seeding wall 242.

[0117] Figure 8 shows a schematic diagram of another workstation group according to an embodiment of this application. As shown in Figure 8, the workstation group includes a first workstation 21, a second workstation 22, a third workstation 23 located between the first workstation 21 and the second workstation 22, and a transfer robot 4. In another embodiment, multiple third workstations 23 may also be arranged between the first workstation 21 and the second workstation 22.

[0118] Please refer to Figure 8. The first workstation 21 includes a first seeding wall 241, the second workstation 22 includes a second seeding wall 242, and the third workstation 23 includes a third seeding wall 243 and a fourth seeding wall 244. The third seeding wall 243 and the fourth seeding wall 244 are arranged alternately between the first seeding wall 241 and the second seeding wall 242. A picking table 25 of the third workstation 23 is provided between the third seeding wall 243 and the fourth seeding wall 244. A track 26 is provided between the first seeding wall 241 and the third seeding wall 243 and / or the third seeding wall 243. A track 26 is also provided between the fourth seeding wall 244 and the second seeding wall 242. The first seeding wall 241, the second seeding wall 242, the third seeding wall 243, and the fourth seeding wall 244 each include multiple slots for placing order boxes.

[0119] The transfer robot 4 operates on track 26 between the first seed wall 241 and the third seed wall 243, and on track 26 between the fourth seed wall 244 and the second seed wall 242, to transfer order boxes between the first workstation 21 and the second workstation 22.

[0120] The transfer robot 4 climbs to the slot where the target order box is located by docking with the track 26 between the first seeding wall 241 and the third seeding wall 243, takes out the target order box, and descends to the ground to transport the target order box to the second workstation 22, so as to place the target order box in the slot of the second workstation 22 by docking with the track 26 between the fourth seeding wall 244 and the second seeding wall 242.

[0121] Figure 9 shows a schematic diagram of another workstation group according to an embodiment of this application. As shown in Figure 9, unlike the embodiment shown in Figure 8, the transfer robot 4 includes a first transfer robot 41 and a second transfer robot 42. The first transfer robot 41 runs on the track 26 between the first seeding wall 241 and the third seeding wall 243 to transfer the order box between the first workstation 21 and the third workstation 23. The second transfer robot 42 runs on the track 26 between the fourth seeding wall 244 and the second seeding wall 242 to transfer the order box between the third workstation 23 and the second workstation 22.

[0122] Figure 10 shows a schematic diagram of the structure of the first workstation 21 according to an embodiment of this application. As shown in Figure 10, this embodiment of the application provides a first workstation 21, which includes two first seeding walls (first seeding wall 241a and first seeding wall 241b). Each first seeding wall also includes multiple slots for storing order boxes. A track 26 is installed on the first seeding wall 241a, and a transfer robot 4 can run on the track 26, for example, climbing on the track 26 to pick up and place order boxes. In the above manner, similar to the embodiment shown in Figure 4, the transfer robot 4 can transport order boxes located in the upper seeding layer 27a of the first seeding wall 241a of the first workstation 21 to the lower seeding layer 27b.

[0123] In other embodiments, tracks 26 may be installed on both first seeding walls. The tracks 26 installed on the first seeding wall 241a and the first seeding wall 241b are both located between the first seeding walls 241a and 241b, that is, tracks 26 are installed on the side of the first seeding wall 241a facing the first seeding wall 241b, and tracks 26 are installed on the side of the first seeding wall 241b facing the first seeding wall 241a. The transfer robot 4 is located between the tracks 26 installed on the first seeding wall 241a and the tracks 26 installed on the first seeding wall 241b, and crawls along the tracks 26 on both sides.

[0124] In the embodiment shown in Figure 10, the track 26 is installed on the side of the first seeding wall 241a away from the first seeding wall 241b. In another embodiment, the track 26 can also be installed on the side of the first seeding wall 241a facing the first seeding wall 241b, and the distance between the first seeding wall 241a and the first seeding wall 241b is relatively close. The transfer robot 4 runs by the track 26 installed on the first seeding wall 241a, and can perform pick-up and drop-off operations on the order boxes in the first seeding wall 241a and the order boxes in the first seeding wall 241b.

[0125] Figure 11 shows a schematic diagram of another first workstation 21 according to an embodiment of this application. As shown in Figure 11, the first workstation 21 includes two first seeding walls (first seeding wall 241a and first seeding wall 241b), and each first seeding wall also includes multiple slots for storing order boxes. A track 26 is installed on the first seeding wall 241a, which is used for the transfer robot 4 to climb to pick up and put down order boxes. For example, similar to the embodiment shown in Figure 4, the transfer robot 4 can transport order boxes located in the upper seeding layer 27a of the first seeding wall 241a of the first workstation 21 to the lower seeding layer 27b.

[0126] Furthermore, the first workstation 21 and the second workstation 22 are adjacent to each other. The second workstation 22 includes a second seeding wall 242, and the track 26 is also used for the transfer robot 4 to transfer order boxes between the first workstation 21 and the second workstation 22. For example, if the target order box to be transferred is located in the first seeding wall 241a, the transfer robot 4 runs on the track 26 to remove the target order box from the slot in the first seeding wall 241a and place it in the corresponding slot in the second seeding wall 242; if the target order box to be transferred is located in the first seeding wall 241b, the picking personnel 5 of the first workstation 21 first manually transfer the target order box from the first seeding wall 241b to the first seeding wall 241a, and the transfer robot 4 runs on the track 26 to remove the target order box from the slot in the first seeding wall 241a and place it in the corresponding slot in the second seeding wall 242.

[0127] Figure 12 shows a schematic diagram of the structure of server 1 provided in an embodiment of this application. As shown in Figure 12, server 1 may include a processor 402 and a memory 404.

[0128] The processor 402 is used to execute the computer program 406, which can specifically perform the relevant steps described above in the robot control embodiment.

[0129] Specifically, computer program 406 may include computer-executable instructions.

[0130] Processor 402 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The server includes one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0131] Memory 404 is used to store computer program 406. Memory 404 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0132] Figure 13 shows a schematic diagram of the structure of the robot control device provided in an embodiment of this application. As shown in Figure 13, this application embodiment also provides a robot control device 500, which is applied to the server 1 of the picking system 100 provided in the above embodiment. The robot control device 500 includes a judgment module 501, a first control module 502, and a second control module 503.

[0133] The judgment module 501 is used to determine whether the number of queuing robots currently queuing at the first workstation is greater than the number threshold during the process of the handling robot moving the inventory box corresponding to the first target order to the first workstation. The first target order is assigned to the first workstation for goods picking, and the first target order is bound to the first target order box of the first workstation.

[0134] The first control module 502 is used to control the handling robot to move the inventory box to the first target workstation if the first quantity is greater than the quantity threshold, wherein the second quantity of queuing robots currently queuing at the first target workstation is less than the quantity threshold, and the first target workstation is any one of at least one second workstation.

[0135] The second control module 503 is used to control the transfer robot to transfer the first target order box from the first workstation to the first target workstation.

[0136] In some embodiments, the robot control device 500 further includes:

[0137] The order splitting module is used to split a second target order into a first sub-order and a second sub-order;

[0138] The order allocation module is used to allocate the first sub-order to the first workstation for goods picking, allocate the second sub-order to the second target workstation for goods picking, and bind the second target order to the second target order box of the first workstation. The second target workstation can be any one of at least one second workstation.

[0139] The third control module is used to control the transfer robot to transfer the second target order box from the first workstation to the second target workstation after the first workstation completes the picking of the goods for the first sub-order, so as to wait to receive the goods in the second sub-order.

[0140] In some embodiments, the first control module 502 is specifically used for:

[0141] If the first number is greater than the number threshold, obtain the third number of queuing robots queuing in each of the second workstations in at least one second workstation;

[0142] Determine the first target workstation with the smallest number from at least one second workstation;

[0143] Control the handling robot to move the inventory boxes to the first target workstation.

[0144] In some embodiments, the first control module 502 is specifically used for:

[0145] If the first number is greater than the number threshold, obtain the fourth number of queuing robots queuing in each of the second workstations in at least one second workstation;

[0146] If there are at least a few fourth reference workstations with the same number in at least one second workstation, obtain the order box handling distance between each of the multiple reference workstations and the first workstation;

[0147] The first target workstation with the shortest order box handling distance was determined from multiple reference workstations;

[0148] Control the handling robot to move the inventory boxes to the first target workstation.

[0149] In some embodiments, the robot control device 500 further includes a fourth control module for:

[0150] If the first quantity is less than or equal to the quantity threshold, obtain the fifth quantity of queuing robots queuing in each of the second workstations in at least one second workstation;

[0151] If at least one of the second workstations has a fifth target workstation with a quantity less than the first, control the handling robot to move the inventory box to the third target workstation.

[0152] The control transfer robot transfers the first target order box from the first workstation to the third target workstation.

[0153] This application provides a computer-readable storage medium storing at least one executable instruction. When the executable instruction is run on a server, it causes the server to perform robot control operations as described in the above embodiment.

[0154] This application provides a computer program product, including a computer program that, when executed by a processor, implements robot control operations as described in the above embodiment.

[0155] This application provides a computer program that can be called by a processor to cause a server to perform robot control operations as described in the above embodiment.

[0156] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, the embodiments of this application are not directed to any particular programming language. It should be understood that the content of this application described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of this application.

[0157] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0158] Similarly, it should be understood that, in order to simplify this application and aid in understanding one or more of the various aspects of the invention, features of the embodiments of this application are sometimes grouped together in a single embodiment, figure, or description thereof in the above description of exemplary embodiments of this application. However, this method of disclosure should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim.

[0159] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0160] It should be noted that the above embodiments are illustrative of this application and not restrictive, and those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A picking system, characterized in that, This includes servers, a first workstation, a second workstation, handling robots, and transfer robots; The transport robot is used to move the inventory boxes from the inventory area to the first workstation or the second workstation; The transfer robot is used to transfer order boxes between the first workstation and the second workstation; The server is used to control the handling robot to move the inventory box and to control the transfer robot to move the order box.

2. The picking system according to claim 1, characterized in that, The first workstation includes a first seeding wall, and the second workstation includes a second seeding wall. The first seeding wall and the second seeding wall are arranged adjacent to each other, and a track installed on the first seeding wall and / or the second seeding wall is provided between the first seeding wall and the second seeding wall. Both the first seeding wall and the second seeding wall are used to place order boxes.

3. The picking system according to claim 2, characterized in that, The transfer robot moves along a track between the first and second seeding walls to transfer order boxes between the first and second workstations.

4. The picking system according to claim 1, characterized in that, At least one third workstation is provided between the first workstation and the second workstation. The first workstation includes a first seeding wall, the second workstation includes a second seeding wall, and the third workstation includes a third seeding wall and a fourth seeding wall. The third seeding wall and the fourth seeding wall are arranged at intervals between the first seeding wall and the second seeding wall. A picking table of the third workstation is provided between the third seeding wall and the fourth seeding wall. A track is provided between the first seeding wall and the third seeding wall and installed on the first seeding wall and / or the third seeding wall. A track is provided between the fourth seeding wall and the second seeding wall and installed on the fourth seeding wall and / or the second seeding wall. Each of the first seeding wall, the second seeding wall, the third seeding wall, and the fourth seeding wall includes multiple slots for placing the order boxes.

5. The picking system according to claim 4, characterized in that, The transfer robot connects to the track between the first and third seeding walls and climbs to the slot where the target order box is located to retrieve the target order box. It then descends to the ground and transports the target order box to the second workstation, where it connects to the track between the fourth and second seeding walls to place the target order box in the slot of the second workstation.

6. The picking system according to claim 4, characterized in that, The transfer robot includes a first transfer robot and a second transfer robot. The first transfer robot runs on a track between the first seeding wall and the third seeding wall to transfer order boxes between the first workstation and the third workstation. The second transfer robot runs on a track between the fourth seeding wall and the second seeding wall to transfer order boxes between the third workstation and the second workstation.

7. The picking system according to claim 2, characterized in that, The first seeding wall includes multiple seeding layers arranged vertically; The transfer robot is also used to move order boxes located on the upper seeding layer of the first workstation to the lower seeding layer, wherein the height of the lower seeding layer is adapted to the operation of the picking personnel.

8. A robot control method applied to a server in a picking system, characterized in that, The picking system also includes a first workstation, at least one second workstation, a handling robot, and a transfer robot. The handling robot is used to move inventory boxes from the inventory area to the first workstation or the at least one second workstation, and the transfer robot is used to transfer order boxes between the first workstation and the at least one second workstation. The method includes: During the process of the transport robot transporting the inventory box corresponding to the first target order to the first workstation, it is determined whether the first number of queuing robots currently queuing at the first workstation is greater than the number threshold. The first target order is assigned to the first workstation for goods picking, and the first target order is bound to the first target order box of the first workstation. If the first quantity is greater than the quantity threshold, the handling robot is controlled to move the inventory box to the first target workstation, wherein the second number of queuing robots currently queuing at the first target workstation is less than the quantity threshold, and the first target workstation is any one of the at least one second workstation. The transfer robot is controlled to transfer the first target order box from the first workstation to the first target workstation.

9. The robot control method according to claim 8, characterized in that, The method further includes: The second target order is split into a first sub-order and a second sub-order. The first sub-order is assigned to the first workstation for goods picking, the second sub-order is assigned to the second target workstation for goods picking, and the second target order is bound to the second target order box of the first workstation. The second target workstation is any one of the at least one second workstation. After the first workstation completes the picking of goods for the first sub-order, the transfer robot is controlled to transfer the second target order box from the first workstation to the second target workstation to wait for the goods in the second sub-order to be received.

10. The robot control method according to claim 8, characterized in that, If the first quantity is greater than the quantity threshold, controlling the handling robot to move the inventory box to the first target workstation includes: If the first number is greater than the number threshold, obtain the third number of queuing robots queuing in each of the at least one second workstation; Determine the first target workstation with the smallest number from the at least one second workstation; Control the transport robot to move the inventory box to the first target workstation.

11. The robot control method according to claim 8, characterized in that, If the first quantity is greater than the quantity threshold, controlling the handling robot to move the inventory box to the first target workstation includes: If the first number is greater than the number threshold, obtain the fourth number of queuing robots queuing in each of the at least one second workstation; If there are at least a few reference workstations of the same number among the at least one second workstation, obtain the order box handling distance between each of the multiple reference workstations and the first workstation; The first target workstation with the shortest order box handling distance is determined from the plurality of reference workstations; Control the transport robot to move the inventory box to the first target workstation.

12. The robot control method according to claim 8, characterized in that, The method further includes: If the first quantity is less than or equal to the quantity threshold, obtain the fifth quantity of queuing robots queuing in each of the at least one second workstation; If there is a third target workstation among the at least one second workstations where the fifth quantity is less than the first quantity, control the handling robot to move the inventory box to the third target workstation; The transfer robot is controlled to transfer the first target order box from the first workstation to the third target workstation.

13. A workstation group, characterized in that, The workstation group includes a first workstation, a second workstation, and a transfer robot; The first workstation includes a first seeding wall, and the second workstation includes a second seeding wall; The first seeding wall and the second seeding wall include a track installed on the first seeding wall and / or the second seeding wall; The transfer robot is used to run on the track to transfer order boxes between the first seeding wall and the second seeding wall.

14. A workstation group, characterized in that, The workstation group includes a first workstation, a second workstation, at least one third workstation located between the first workstation and the second workstation, and a transfer robot; The first workstation includes a first seeding wall, the second workstation includes a second seeding wall, and the third workstation includes a third seeding wall and a fourth seeding wall. The third seeding wall and the fourth seeding wall are arranged at intervals between the first seeding wall and the second seeding wall. A picking worktable of the third workstation is provided between the third seeding wall and the fourth seeding wall. A track installed on the first seeding wall and / or the third seeding wall is provided between the first seeding wall and the third seeding wall, and a track installed on the fourth seeding wall and / or the second seeding wall is provided between the fourth seeding wall and the second seeding wall. Each of the first seeding wall, the second seeding wall, the third seeding wall, and the fourth seeding wall includes multiple slots for placing the order boxes. The transfer robot moves between the first and second workstations by running on tracks between the first and third seeding walls and between the fourth and second seeding walls.

15. The workstation group according to claim 14, characterized in that, The transfer robot connects to the track between the first and third seeding walls and climbs to the slot where the target order box is located to retrieve the target order box. It then descends to the ground and transports the target order box to the second workstation, where it connects to the track between the fourth and second seeding walls to place the target order box in the slot of the second workstation.

16. The workstation group according to claim 14, characterized in that, The transfer robot includes a first transfer robot and a second transfer robot. The first transfer robot runs on a track between the first seeding wall and the third seeding wall to transfer order boxes between the first workstation and the third workstation. The second transfer robot runs on a track between the fourth seeding wall and the second seeding wall to transfer order boxes between the third workstation and the second workstation.

17. A first workstation, characterized in that, The first workstation includes two first seeding walls, wherein at least one of the first seeding walls is equipped with a track for a transfer robot to climb to pick up and place order boxes, and each first seeding wall also includes multiple slots for storing order boxes.

18. A first workstation, characterized in that, The first workstation includes two first seeding walls, wherein at least one of the first seeding walls is equipped with a track for a transfer robot to climb to pick up and place order boxes, and for the transfer robot to transfer order boxes between the first workstation and the second workstation. Each first seeding wall also includes multiple slots for storing order boxes.

19. A server, characterized in that, include: A processor and a memory, wherein the memory stores executable instructions, and the processor is capable of executing the executable instructions to implement the robot control method as described in any one of claims 8-12.

20. A computer-readable storage medium, characterized in that, The storage medium stores executable instructions, which, when executed on the server, cause the server to perform the robot control method as described in any one of claims 8-12.

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