CN-114030800-B - Cargo carrying method, device, server and carrying robot

Abstract

The present disclosure provides a cargo handling method, apparatus, server, and handling robot. The goods handling method comprises the steps of obtaining position information and idle slot position information of a robot, and distributing a second handling task for the robot according to the position information, the idle slot position information and a first target object position included in a first handling task, wherein one of the first handling task and the second handling task is a goods taking task, and the other is a returning task. Therefore, the carrying strategy can be flexibly set, the goods can be carried out while being carried out in the carrying process, and the carrying efficiency of the goods is effectively improved.

Inventors

• AI XIN
• CHEN YEGUANG
• Zhuo Shaokai

Assignees

• 深圳市海柔创新科技有限公司

Dates

Publication Date

20260508

Application Date

20200724

Claims (20)

1. 1. A method of handling cargo, the method comprising: acquiring position information and idle slot position information of a robot; distributing the goods taking task for the robot according to the position information, the idle slot position information and the first target object position included in the goods taking task, and generating a goods taking path; Estimating the change of the idle slot position information of the robot for executing the goods taking task, distributing a returning task to the robot before, during or after the goods taking task, and determining the position of an idle library position for returning a second target object in the returning task; The determining the position of the idle library bit for returning the second target object in the returning task comprises the following steps: Predicting that the robot arrives at positions corresponding to V idle library positions respectively to return cargoes, and acquiring a first movement distance increased by a first target object according to the picking path, wherein V is a natural number not less than U, and U is a natural number greater than 0; Or alternatively Predicting that the robot respectively arrives at positions corresponding to the V idle library positions to return cargoes, and acquiring a first total time length consumed by a first target object according to the cargo acquisition path; V is a natural number not less than U, U is a natural number greater than 0; the difference between the consumed first total time length and the time length consumed by the robot for taking the first object according to the goods taking path is recorded as first increased time consumption, and U idle library positions with the first increased time consumption not more than a first preset threshold value in the V idle library positions are determined as positions of the idle library positions; generating a carrying task sequence, enabling the robot to walk on the goods taking path, and executing the goods taking task and the returning task according to the task sequence included in the carrying task sequence; Acquiring a request for canceling a carrying task or acquiring a request for adding a carrying task, and reassigning the returning task; And generating a planning path corresponding to the return task to the robot.
2. 2. The method of claim 1, wherein at least one of the pick-up task and the return task is deleted when a cancel transfer task request is obtained; And generating a planning path corresponding to the residual returning task according to the path optimization parameter, the current position of the robot, the position of the idle storage position of the second target object corresponding to the residual returning task and the position of the first target object corresponding to the residual picking task.
3. 3. The method of claim 1, wherein at least one of the pick-up task and the return task is added when a new add-on transfer task request is obtained; and generating a planning path corresponding to the newly added returning task according to the path optimization parameter, the current position of the robot, the position of the idle storage position of the returning second target object corresponding to the newly added returning task and the position of the first target object corresponding to the newly added picking task.
4. 4. A method according to any one of claims 1-3, characterized in that the method further comprises: and when the planned path corresponding to the return task is determined to be not in accordance with the reservation requirement, the return task is redistributed.
5. 5. A method of handling cargo, the method comprising: Acquiring position information of a robot; Distributing a returning task for the robot according to the position information and the position of the idle library position of the returning first target object, and generating a returning path; Estimating the change of idle slot position information of the robot for executing the return task, distributing a goods taking task to the robot before, during or after the return task, and determining a goods taking position for obtaining a second target object in the goods taking task; wherein determining the pickup location for the second target object in the pickup task includes: Predicting that the robot respectively arrives at M goods taking positions to take goods, and returning the increased second moving distance of the first target object according to the returning path, wherein N goods taking positions of the M goods taking positions, of which the increased second moving distance is not more than a fourth preset threshold value, are determined to be the goods taking positions of the second target object, N is a natural number which is more than 0 and not more than the total number of idle slots indicated by the idle slot information, M is a natural number not less than N; Or alternatively Predicting that the robot respectively arrives at M goods taking positions to take goods, returning a second total time consumed by a first target object according to the returning path, recording the difference between the second total time consumed by the robot and the time consumed by returning the first target object according to the returning path as second increased time consumption, determining N goods taking positions with the second increased time consumption not more than a third preset threshold value in the M goods taking positions as the goods taking positions of the second target object, wherein N is a natural number which is more than 0 and not more than the total number of idle slots indicated by the idle slot information, and M is a natural number not less than N; Generating a carrying task sequence, and enabling the robot to execute the returning task and the goods taking task according to the task sequence included in the carrying task sequence when the returning path advances; Acquiring a request for canceling a carrying task or acquiring a request for adding a carrying task, and reallocating the goods taking task; And generating a planning path corresponding to the goods taking task to the robot.
6. 6. The method of claim 5, wherein at least one of the return task and the pick-up task is deleted when a cancel transfer task request is obtained; And generating a planning path corresponding to the residual goods taking task according to the current position of the robot, the position of the idle storage position of the second target object corresponding to the residual goods taking task and the position of the first target object corresponding to the residual goods taking task.
7. 7. The method of claim 5, wherein at least one of the return task and the pick-up task is added when a new add-on transfer task request is obtained; And generating a planning path corresponding to the newly added goods taking task according to the current position of the robot, the position of the idle storage position of the second object corresponding to the newly added return task and the position of the first object corresponding to the newly added goods taking task.
8. 8. The method according to any one of claims 5-7, further comprising: and when the planned path corresponding to the goods taking task is determined not to meet the reservation requirement, the goods taking task is redistributed.
9. 9. The method of claim 5, wherein the pick task and the return task are assigned taking into account any one or more of the following constraints: the overall movement time of the robot for completing the goods taking task and the returning task; The total times of carrying out goods taking operation and returning operation when the robot completes the goods taking task and the returning task; the robot completes the overall driving distance of the goods taking task and the returning task; and the robot completes the cargo taking task and the cargo rate of the returning task.
10. 10. The method of claim 5, wherein when there are two or more storage locations of a shelf for placing goods in a shelf depth direction, and the target location indicated by the pick task or the return task is a location located at and after a second sequential location of the storage locations, the method further comprises: Instructing a robot to carry non-target cargo placed in front of the target location to an empty slot of the robot; instructing the robot to execute a pick-up task or a return task for the target object position; And instructing the robot to return the non-target goods to the original storage position of the goods shelf or return the non-target goods to the idle storage position, wherein the idle storage position and the target object position are returned to the same goods shelf or different goods shelves.
11. 11. The method as recited in claim 5, further comprising: distributing a tally task to the robot, wherein the tally task comprises cargo arrangement of a target object and/or adjustment of a storage position of the target object, and the tally task comprises the following steps: the execution time of the tally task comprises any one of the following situations: before the pick-up task and the return task; Between the pick-up task and the return task; After the pick-up task and the return task; And in the execution process of any task in a task sequence formed by the goods taking task and the returning task.
12. 12. A method of handling cargo, the method comprising: Acquiring a carrying task sequence and a goods taking path, wherein the carrying task sequence comprises a goods taking task and a returning task, the returning task is executed according to the change of idle slot position information of a robot for executing the goods taking task and is distributed before, during or after the goods taking task is executed, and the goods taking path is generated according to the position information of the robot and the position of a first target object included in the goods taking task; According to the goods taking path and the carrying task sequence, the goods taking task is executed when reaching the first target object position, the returning task is executed when reaching the position of the idle storage position for returning the second target object, The positions of the idle library positions are positions corresponding to U idle library positions obtained from the returning task, the first moving distance increased by the robot when returning goods according to the positions corresponding to the U idle library positions is not more than a second preset threshold, and U is a natural number more than 0; Or alternatively The positions of the idle library positions are positions corresponding to U idle library positions obtained from the returning task, the first time consumption of the robot generated when returning goods according to the positions corresponding to the U idle library positions is not more than a first preset threshold, and U is a natural number more than 0; And obtaining a re-planned planning path, wherein the planning path is obtained by newly adding or deleting at least one of the goods taking task and the returning task and re-distributing the returning task.
13. 13. The method of claim 12, wherein the planned path is a corresponding get cancel transfer task request to delete at least one of the pick-up task and the return task in the transfer task sequence, and wherein the planned path corresponding to the remaining return task is generated based on a path optimization parameter, a current location of the robot, a location of a free bin of a return second target corresponding to the remaining return task, and a location of a first target corresponding to the remaining pick-up task.
14. 14. The method of claim 12, wherein the planned path corresponds to a new pick-up task request to add at least one of the pick-up task and the return task to the pick-up task sequence, and wherein the planned path corresponding to the new return task is generated based on path optimization parameters, a current location of the robot, a location of an empty bin of a return second target corresponding to the new return task, and a location of a first target corresponding to the new pick-up task.
15. 15. A method of handling cargo, the method comprising: Acquiring a carrying task sequence and a returning path, wherein the carrying task sequence comprises a returning task and a goods taking task, the goods taking task is executed according to the change of idle slot position information of a robot for executing the returning task and is distributed before, during or after the returning task is executed, and the returning path is generated according to the position information of the robot and the position of an idle position of a returning first target object; executing the return task at the position of the free stock position of the return first object and executing the pick-up task at the pick-up position of the second object according to the return path and the transport task sequence, wherein, The picking positions of the second target objects are N picking positions, wherein the robot respectively reaches M picking positions and returns to the return path, the added second moving distance is not more than a fourth preset threshold value, and the N is a natural number which is more than 0 and not more than the total number of idle slots indicated by the idle slot information, and M is a natural number which is not less than N; Or alternatively The picking positions of the second target objects are N picking positions, the time consumption of the second added picking positions is not more than a third preset threshold value, of which is increased to be determined as the picking positions of the second target objects, wherein the picking positions of the second target objects are the natural numbers of the total number of the idle slot positions indicated by the information of the idle slot positions, and the robot respectively reaches M picking positions and returns to the return path, and the N is the natural number not less than N; And obtaining a re-planned planning path, wherein the planning path is obtained by newly adding or deleting at least one of the goods taking task and the returning task and re-distributing the goods taking task.
16. 16. The method of claim 15, wherein the planned path is a corresponding get cancel transfer task request to delete at least one of the pick-up task and the return task in the transfer task sequence, and wherein the planned path corresponding to the remaining pick-up task is generated based on a path optimization parameter, a current location of the robot, a location of a free bin of a return second target corresponding to the remaining return task, and a location of a first target corresponding to the remaining pick-up task.
17. 17. The method of claim 15, wherein the planned path corresponds to a request for a new pick-up task to be obtained, and wherein the planned path corresponding to the new pick-up task is generated based on a path optimization parameter, a current location of the robot, a location of an empty bin of a returned second target object corresponding to the new pick-up task, and a location of a first target object corresponding to the new pick-up task, in order to newly add at least one of the pick-up task and the return task in the sequence of pick-up tasks.
18. 18. The method of claim 15, wherein the pick task and the return task are related to any one or more of the following constraints: the overall movement time of the robot for completing the goods taking task and the returning task; the total times of carrying out goods taking operation and returning operation when the robot completes goods taking task and returning task; The overall driving distance of the robot for completing the goods taking task and the returning task; The robot completes the cargo rate of the picking task and the returning task.
19. 19. The method of claim 15, wherein when there are two or more storage locations of a shelf for placing goods in a shelf depth direction, and the target location indicated by the pick task or the return task is a location located in the storage locations that is located in a second order location and thereafter, the method further comprises: carrying non-target goods placed in front of the target object position to an idle slot position of the robot; executing a goods taking task or a returning task aiming at the target object position; Returning the non-target goods to the original storage position of the goods shelf or returning the non-target goods to the idle storage position, wherein the idle storage position and the target object position belong to the same goods shelf or different goods shelves.
20. 20. The method as recited in claim 15, further comprising: the receiving server distributes a tally task, wherein the tally task comprises the steps of carrying out cargo arrangement on a target object and/or adjusting the storage position of the target object; executing the tally task, wherein the execution time of the tally task comprises any one of the following conditions: before the pick-up task and the return task; Between the pick-up task and the return task; After the pick-up task and the return task; And in the execution process of any task in a task sequence formed by the goods taking task and the returning task.

Description

Cargo carrying method, device, server and carrying robot The application is a divisional application of the application patent application with the name of 'cargo conveying method, device, server and conveying robot' which is filed to China patent office with the application number 202010724223.8 and the application date 2020, month 07 and 24. Technical Field The disclosure relates to the technical field of intelligent storage, in particular to a cargo handling method, a device, a server and a handling robot. Background With the rising and increasing development of electronic commerce and online shopping, a huge development opportunity is brought to the intellectualization of the warehouse logistics of goods, and in recent years, the technology for carrying goods based on the warehouse robot is mature. In the prior art, after the storage robot moves the container to the operation table for operation, the container needs to be put back in the goods shelf area. For a storage robot capable of carrying a plurality of containers at a time, a strategy of 'returning before taking' is generally adopted, namely, after the containers needing to be put back into a goods shelf area are put at one time, the task of carrying the containers to an operation table is executed. However, the above-mentioned transportation method is not flexible enough and the cargo transportation efficiency is low. Disclosure of Invention The utility model provides a cargo handling method, device, server and transfer robot, can set up the transport tactics in a flexible way, improve cargo handling efficiency. In a first aspect, the present disclosure provides a method of cargo handling, the method comprising: acquiring position information and idle slot position information of a robot; And distributing a second carrying task for the robot according to the position information, the idle slot position information and the first target object position included in the first carrying task, wherein one of the first carrying task and the second carrying task is a goods taking task, and the other is a returning task. In some possible embodiments, the second transfer task is assigned at any point in time before, during, and after the first transfer task is performed. In some possible embodiments, the change of the idle slot information of the robot performing the first handling task is estimated, and a second handling task is selectively inserted before, between or after the first handling task. In some possible embodiments, when the second handling task is a return task, the assigning the second handling task to the robot includes: And determining the return position of the second target object in the second carrying task according to the position information and the position of the first target object included in the first carrying task. In some possible embodiments, the determining the return location of the second target in the second handling task includes: Determining the return location as the initial storage location of the second object, or Determining the return location as the location of the free bank bit, or And determining the return position as the position of the first target object. In some possible embodiments, when the return position is the position of the free library position, determining, according to the position information and the first target object position included in the first handling task, the return position of the second target object in the second handling task includes: According to the position information and the first object position included in the first carrying task, a picking path is generated, positions corresponding to U idle library positions, of which the distance between the picking paths is within a first preset range, are determined to be returning positions of the second object, wherein U is a natural number larger than 0; And/or And determining positions corresponding to U idle library positions of which the distance between robots is in a second preset range as return positions of the second target object according to the position information, wherein U is a natural number greater than 0. In some possible embodiments, when the return position is the position of the free library position, determining, according to the position information and the first target object position included in the first handling task, the return position of the second target object in the second handling task includes: generating a goods taking path according to the position information and the first target object position included in the first carrying task; Predicting the first total duration consumed by the robot to return cargoes to positions corresponding to V idle library positions respectively and to acquire a first target object according to the cargo acquiring path, wherein V is a natural number not less than U, and U is a natural number greater than 0; The difference between the consumed first total time length and