CN115108231B - Method and apparatus for controlling a transfer robot - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
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Abstract
Description
技术领域Technical Field
本发明涉及一种用于控制搬运机器人的方法、一种用于控制搬运机器人的设备、一种搬运机器人、一种调度系统和一种计算机程序产品。The present invention relates to a method for controlling a transport robot, a device for controlling a transport robot, a transport robot, a scheduling system and a computer program product.
背景技术Background Art
随着电子商务、现代化工厂等领域的兴起,越来越多地使用智能化仓储系统来完成物品的拣选、搬运、存储等。目前在智能仓储物流领域,为了减轻人工拣选员的负担并提高拣选作业效率,一般通过自主移动机器人(英:AMR,Automated Mobile Robot)与人的协作来完成物料的拣选与播种。With the rise of e-commerce, modern factories and other fields, more and more intelligent warehousing systems are used to complete the picking, handling, storage, etc. In the field of intelligent warehousing and logistics, in order to reduce the burden of manual pickers and improve the efficiency of picking operations, autonomous mobile robots (AMRs) are generally used in collaboration with humans to complete the picking and seeding of materials.
现有技术中已知的常见拣选方式为“车到人”或“货到人”。在“车到人”的拣选模式中,AMR基于拣货任务内容到达预定仓储点位,在人工拣选员将指定货物放入AMR的货物平台后,再由AMR将货物运至工作平台。在“货到人”的拣选模式中,由AMR完成搬运作业并将货物运送至分拣工作站,在那里由人工拣选员统一进行手工分拣。Common picking methods known in the prior art are "vehicle to person" or "goods to person". In the "vehicle to person" picking mode, the AMR arrives at the predetermined storage point based on the picking task content, and after the manual picker puts the designated goods into the AMR's cargo platform, the AMR transports the goods to the work platform. In the "goods to person" picking mode, the AMR completes the handling operation and transports the goods to the sorting workstation, where manual pickers uniformly perform manual sorting.
然而,这些方案均存在诸多局限性。特别是,上述拣选方案均无法根据环境条件或任务状态动态地调整操作模式,使得无法顺应和适配实时变化的操作环境。此外,在常规拣选模式中大多需要在特定拣选位置或分拣站固定部署人力,这导致整个分拣系统的柔性较差,在某些情况下甚至意味着更高的时间成本和劳动力资源浪费。因此,尤其对于无法实现无人化管理的商超零售场景来说,目前采用的上述AMR控制方案仍无法应对人流量大、货物零散、场景复杂、安全要求高的需求。However, these solutions all have many limitations. In particular, the above-mentioned picking solutions are unable to dynamically adjust the operating mode according to environmental conditions or task status, making it impossible to comply with and adapt to the real-time changing operating environment. In addition, in most conventional picking modes, it is necessary to deploy manpower in a fixed manner at a specific picking location or sorting station, which leads to poor flexibility of the entire sorting system, and in some cases even means higher time costs and waste of labor resources. Therefore, especially for supermarket retail scenarios where unmanned management cannot be achieved, the above-mentioned AMR control solutions currently used are still unable to cope with the needs of large traffic, scattered goods, complex scenarios, and high safety requirements.
发明内容Summary of the invention
本发明的目的在于提供一种用于控制搬运机器人的方法、一种用于控制搬运机器人的设备、一种搬运机器人、一种调度系统和一种计算机程序产品,以至少解决现有技术中的部分问题。The object of the present invention is to provide a method for controlling a transport robot, a device for controlling a transport robot, a transport robot, a scheduling system and a computer program product, so as to at least solve some of the problems in the prior art.
根据本发明的第一方面,提供一种用于控制搬运机器人的方法,所述方法包括以下步骤:According to a first aspect of the present invention, there is provided a method for controlling a handling robot, the method comprising the following steps:
S1:获取搬运机器人的调度任务和/或工作场景;以及S1: Obtaining the scheduling tasks and/or working scenarios of the handling robot; and
S2:使搬运机器人的操作模式匹配于所述调度任务和/或工作场景。S2: Matching the operation mode of the handling robot to the scheduling task and/or work scenario.
本发明尤其包括以下技术构思:一方面,根据本发明的方法例如能够分别针对不同任务类型或任务阶段实现搬运机器人的最佳操作模式,从而使搬运机器人的行为满足多样化的应用需求。另一方面,搬运机器人的任务完成质量及成功率与其所在的工作场景紧密关联,通过根据工作场景动态切换操作模式尤其能够减小搬运机器人在特定场景下的受损风险,从而确保了整个方案的可靠性。相比于始终以单一操作模式应对所有变换条件的传统AMR,本发明的控制策略提高了整个调度系统的柔性,使搬运机器人更智能地适应复杂多变的任务场景。The present invention particularly includes the following technical concepts: On the one hand, the method according to the present invention can, for example, realize the optimal operation mode of the handling robot for different task types or task stages, so that the behavior of the handling robot meets the diverse application requirements. On the other hand, the task completion quality and success rate of the handling robot are closely related to the working scene in which it is located. By dynamically switching the operation mode according to the working scene, the risk of damage to the handling robot in a specific scene can be reduced, thereby ensuring the reliability of the entire solution. Compared with the traditional AMR that always responds to all changing conditions with a single operation mode, the control strategy of the present invention improves the flexibility of the entire scheduling system, allowing the handling robot to adapt to complex and changing task scenes more intelligently.
可选地,所述工作场景包括零售场景。Optionally, the work scene includes a retail scene.
可选地,所述步骤S2包括:使搬运机器人按照调度任务和/或工作场景中指定的操作模式工作,和/或,根据调度任务的任务属性和/或工作场景的环境属性确定操作模式,使搬运机器人按照所确定的操作模式工作。Optionally, step S2 includes: making the transport robot work in accordance with the operating mode specified in the scheduling task and/or the work scene, and/or determining the operating mode according to the task attributes of the scheduling task and/or the environmental attributes of the work scene, and making the transport robot work in accordance with the determined operating mode.
在此尤其实现以下技术优点:可以为每个调度任务或工作场景分配预定义的操作模式,从而在接收到调度任务时或到达确定工作场景时即可直接按照规定的操作模式工作,有利地降低了计算开销。通过根据任务属性或环境属性确定操作模式,可以使搬运机器人的操作模式更精确地匹配于动态变化的任务要求,提高了整个方案的灵活性。In particular, the following technical advantages are achieved here: a predefined operating mode can be assigned to each scheduling task or work scene, so that when a scheduling task is received or a certain work scene is reached, the robot can directly work in the prescribed operating mode, which advantageously reduces the computational overhead. By determining the operating mode according to the task attributes or the environment attributes, the operating mode of the handling robot can be more accurately matched to the dynamically changing task requirements, thereby improving the flexibility of the entire solution.
可选地,所述操作模式包括可切换实施的第一操作模式和第二操作模式,在第一操作模式中,使搬运机器人自主地工作,在第二操作模式中,使搬运机器人以与人员配合的方式工作。Optionally, the operation mode includes a first operation mode and a second operation mode that can be switched and implemented. In the first operation mode, the transport robot works autonomously, and in the second operation mode, the transport robot works in cooperation with personnel.
在此,尤其实现以下技术优点:并非对于所有任务阶段或工作场景都适用搬运机器人的自主工作模式,往往对于工序较复杂的任务或可变因素较多的场景而言,采取与人员配合的工作方式会是有利的,在这种情况下,通过在第一和第二操作模式之间灵活切换可以确保整个任务进程的流畅性,在提高工作效率与作业完成度之间达到了最佳平衡。Here, the following technical advantages are particularly achieved: the autonomous working mode of the handling robot is not suitable for all task stages or work scenarios. Often, for tasks with more complex procedures or scenarios with more variable factors, it is beneficial to adopt a working method that cooperates with personnel. In this case, by flexibly switching between the first and second operating modes, the smoothness of the entire task process can be ensured, achieving the best balance between improving work efficiency and job completion.
可选地,在第二操作模式中使搬运机器人与人员一起沿统一轨迹运动、尤其按照人带车模式或车带人模式工作;和/或,在第二操作模式中使搬运机器人与人员分别沿独立轨迹运动、尤其按照人就近找车模式或车就近找人模式工作。Optionally, in the second operating mode, the transport robot and the personnel move along the same trajectory, especially in a person-carrying-vehicle mode or a vehicle-carrying-person mode; and/or, in the second operating mode, the transport robot and the personnel move along independent trajectories respectively, especially in a person-looking-for-the-nearest-vehicle mode or a vehicle-looking-for-the-nearest-person mode.
在此,人带车模式理解为搬运机器人跟随人员行进。车带人模式理解为由搬运机器人引导人员行进。人就近找车模式理解为:人员前往最近的、停靠有搬运机器人的位置,并按照该搬运机器人的调度任务中的任务子拣选对应商品,完成拣选后该搬运机器人驶向下一位置,人员沿着预定义路径行进并前往下一个最近的、停靠有搬运机器人的位置。车就近找人模式则理解为:搬运机器人沿预定义路径行驶并停靠该预定义路径上的最近人员处。Here, the mode of people leading vehicles is understood as the transport robot following the personnel. The mode of vehicles leading people is understood as the transport robot guiding the personnel. The mode of people finding vehicles nearby is understood as: the personnel go to the nearest location where the transport robot is parked, and pick the corresponding goods according to the task sub-task in the dispatch task of the transport robot. After the picking is completed, the transport robot drives to the next location, and the personnel travel along the predefined path and go to the next nearest location where the transport robot is parked. The mode of vehicles finding people nearby is understood as: the transport robot drives along the predefined path and stops at the nearest person on the predefined path.
在此尤其实现以下技术优点:由于搬运机器人与人员共同运动,而不是如现有拣选策略中那样只有一方运动,而另一方固定位置,因此可以提高整个控制方案的灵活性。当针对一个工作位置(例如货架)完成相应任务之后,人员和搬运机器人都不必滞留在原地,而是允许双方都可以向下一工作位置前进,从而有利避免出现人员部署方面的冗余。In particular, the following technical advantages are achieved here: since the handling robot and the person move together, rather than only one moving while the other is fixed in position as in the existing picking strategy, the flexibility of the entire control scheme can be improved. After completing the corresponding task for a work location (such as a shelf), neither the person nor the handling robot need to stay in place, but both can move to the next work location, thereby avoiding redundancy in personnel deployment.
可选地,所述工作场景包括无人化场景和人机交互场景,在无人化场景中使搬运机器人切换到第一操作模式中,在人机交互场景中使搬运机器人切换到第二操作模式中。Optionally, the working scene includes an unmanned scene and a human-machine interaction scene, and the transport robot is switched to a first operating mode in the unmanned scene, and is switched to a second operating mode in the human-machine interaction scene.
在此,尤其实现以下技术优点:在无人化场景中,基于自主模式工作的搬运机器人会是有利的,因为在路径规划和货物拣运时尤其不需要考虑人为影响因素,由此可以在一定程度上减少计算和时间开销。在类似于商超零售环境中,至少在路径规划方面存在较多不确定因素,由此对于搬运机器人的路径规划以及安全等级提出更高要求,在这种情况下,与人协作或受人监督的操作模式是有利的。Here, the following technical advantages are achieved in particular: In unmanned scenarios, handling robots operating in autonomous mode are advantageous because human factors do not need to be considered in path planning and cargo picking, thereby reducing computing and time costs to a certain extent. In environments similar to supermarkets and retail, there are many uncertainties, at least in path planning, which places higher requirements on the path planning and safety level of handling robots. In this case, an operation mode that collaborates with or is supervised by humans is advantageous.
此外,还可以在切换操作模式时将搬运机器人自身传感器的可靠性、搬运机器人的等级型号等因素考虑在内。In addition, factors such as the reliability of the handling robot's own sensors and the grade and model of the handling robot can also be taken into account when switching the operating mode.
可选地,所述步骤S2包括:根据工作场景中的人员密度或人流量,在货物拣选方面选择搬运机器人的以下操作模式:边拣边分模式或先拣后分模式。Optionally, step S2 includes: selecting the following operation modes of the handling robot in terms of cargo picking according to the density of people or the flow of people in the work scene: a picking and sorting mode or a picking first and then sorting mode.
在此,尤其实现以下技术优点:当环境中的人员密度或人流量较大时,为了使工作场景中的顾客尽可能少地受到搬运机器人作业的干扰,可以优先选择先拣后分模式,由此可以节省搬运机器人在特定区域的停留时间。当环境中只有较少人员时,可以在拣货的同时就完成分装,以便节省后续的二次分拣或打包开销。Here, the following technical advantages are achieved in particular: when the density of people or the flow of people in the environment is large, in order to minimize the interference of the handling robot operation on the customers in the working scene, the mode of picking first and then sorting can be selected, thereby saving the time the handling robot stays in a specific area. When there are only a few people in the environment, the sorting can be completed at the same time as the picking, so as to save the subsequent secondary sorting or packaging expenses.
可选地,所述步骤S2包括:根据为调度任务和/或工作场景分配的人员数量生成人车配对结果,基于人车配对结果选择搬运机器人的以下操作模式:一人一车模式、一人多车模式或多人多车模式。在此,通过基于人车配对比例选择操作模式,能够实现工作效率最大化。Optionally, step S2 includes: generating a person-vehicle pairing result according to the number of personnel assigned to the scheduling task and/or the work scene, and selecting the following operation modes of the handling robot based on the person-vehicle pairing result: one person-vehicle mode, one person-multiple-vehicle mode, or multiple-person-multiple-vehicle mode. Here, by selecting the operation mode based on the person-vehicle pairing ratio, work efficiency can be maximized.
可选地,所述步骤S2包括:获取搬运机器人的工作场景中的障碍物特性,使搬运机器人的操作模式匹配于所述障碍物特性。Optionally, the step S2 includes: acquiring obstacle characteristics in a working scene of the transport robot, and matching an operation mode of the transport robot with the obstacle characteristics.
在此尤其实现以下技术优点:通过避障策略与障碍物特性的适配性,不仅降低了搬运机器人对障碍物造成的伤害,同时能够更有针对性地规划运动轨迹或制动策略,降低了避障失败造成任务执行中断的概率。In particular, the following technical advantages are achieved here: through the adaptability of the obstacle avoidance strategy to the obstacle characteristics, not only the damage caused by the transport robot to the obstacles is reduced, but also the motion trajectory or braking strategy can be planned more specifically, reducing the probability of interruption of task execution due to obstacle avoidance failure.
尤其其中,在涉及静止障碍物的情况下,使搬运机器人针对静止障碍物执行主动避障策略、尤其360°避障或低矮避障策略,在涉及移动障碍物的情况下,使搬运机器人执行减速、尤其减速直至停止的避障策略,在障碍物涉及人员的情况下,根据人员密度和/或人员身高确定搬运机器人的避障策略。由此可以合理化降低搬运机器人与障碍物的碰撞风险,提高了安全性。In particular, in the case of stationary obstacles, the handling robot is made to perform active obstacle avoidance strategies, especially 360° obstacle avoidance or low obstacle avoidance strategies, in the case of moving obstacles, the handling robot is made to perform deceleration, especially deceleration until stopping obstacle avoidance strategies, and in the case of obstacles involving people, the obstacle avoidance strategies of the handling robot are determined according to the density of people and/or the height of people. In this way, the collision risk between the handling robot and obstacles can be rationally reduced, and safety can be improved.
可选地,所述步骤S1包括:基于传感器数据创建搬运机器人的工作场景的电子地图、尤其三维地图,其中,尤其针对不同的工作场景,在电子地图中标注不同类型的信息和/或以不同方式标注信息。由此使得能够针对切换的工作场景为搬运机器人提供所需的信息,从而使搬运机器人更好地适应于变化的工作场景。Optionally, step S1 includes: creating an electronic map, especially a three-dimensional map, of the working scene of the handling robot based on the sensor data, wherein, especially for different working scenes, different types of information are marked in the electronic map and/or the information is marked in different ways. This enables the handling robot to be provided with the required information for the switched working scene, so that the handling robot can better adapt to the changed working scene.
可选地,在所述工作场景是零售场景的情况下,在电子地图中标注出商品位置、卸载点位置、称重区位置、打包点位置、结账位置、货架位置、充电桩位置和/或通道位置。Optionally, when the work scene is a retail scene, the commodity location, unloading point location, weighing area location, packing point location, checkout location, shelf location, charging pile location and/or channel location are marked on the electronic map.
可选地,在所述工作场景是零售场景的情况下,在电子地图中标注出商品与货架的对应关系。Optionally, when the working scene is a retail scene, the correspondence between the commodities and the shelves is marked on the electronic map.
可选地,在所述工作场景是零售场景的情况下,在电子地图中按照商品类别和/或商品贩卖属性分区地标注货架位置,其中,所述商品贩卖属性尤其包括散装销售和整装销售。Optionally, when the working scene is a retail scene, shelf locations are marked in an electronic map in a zoned manner according to commodity categories and/or commodity selling attributes, wherein the commodity selling attributes particularly include bulk sales and packaged sales.
在此,尤其实现以下技术优点:不同于在常规物流制造业的电子地图中只需标注出简单的货架编号和可通行区域,在商超等零售环境中尤其还需要在交付商品之前考虑到商品出售前的预处理流程(例如称重、打包、扫码结算等)以及商品的贩卖属性。通过在电子地图中标注这些特殊信息,能够使搬运机器人更高效地规划路径,提高时间效率。Here, the following technical advantages are achieved in particular: Unlike conventional logistics manufacturing electronic maps that only require simple shelf numbers and passable areas to be marked, in retail environments such as supermarkets, it is especially necessary to consider the pre-sale process of goods (such as weighing, packaging, scanning and settlement, etc.) and the sales attributes of goods before delivering the goods. By marking these special information in the electronic map, the handling robot can plan the path more efficiently and improve time efficiency.
可选地,所述步骤S2包括:获取调度任务包含的订单中的货物重复率和/或货物与拣选位置的对应关系,根据所述货物重复率和/或对应关系选择搬运机器人的以下操作模式:合并操作模式或按序操作模式。Optionally, step S2 includes: obtaining the repetition rate of goods in the order included in the scheduling task and/or the correspondence between the goods and the picking positions, and selecting the following operation mode of the handling robot according to the repetition rate of goods and/or the correspondence: merge operation mode or sequential operation mode.
在合并操作模式中,例如对调度任务中的相同类别的货物进行合并和/或对相同拣选位置处的货物进行合并,使搬运机器人按照合并后的调度任务工作。在按序操作模式中,使搬运机器人按照调度任务中的初始订单顺序工作。In the merge operation mode, for example, the same category of goods in the dispatching task are merged and/or the goods at the same picking location are merged, so that the handling robot works according to the merged dispatching task. In the sequential operation mode, the handling robot works according to the initial order sequence in the dispatching task.
在此,尤其实现以下技术优点:通过货物重复率可以看出同一批次订单中的货物类别分布,对于同一类别的货物,尤其可以在同一拣选位置一次性完成拣选。此外,通过货物与拣选位置的对应关系可以看出同一批次订单中的货物位置分布情况,对于布置在同一区域的货物尤其可以一起实现拣选。由此,以合并的操作方式显著降低了搬运机器人多次往返于同一拣选区域的情况,提高了工作效率。另一方面,如果订单中的货物重复率较低或位置部分较均匀,则可以使搬运机器人直接以按序操作模式工作,从而节省了数据处理开销。Here, the following technical advantages are achieved in particular: the distribution of goods categories in the same batch of orders can be seen through the goods repetition rate, and for goods of the same category, picking can be completed at one time at the same picking location. In addition, the distribution of the positions of goods in the same batch of orders can be seen through the correspondence between the goods and the picking locations, and the goods arranged in the same area can be picked together. As a result, the combined operation mode significantly reduces the situation where the handling robot has to go back and forth to the same picking area many times, thereby improving work efficiency. On the other hand, if the repetition rate of goods in the order is low or the positions are relatively uniform, the handling robot can work directly in the sequential operation mode, thereby saving data processing overhead.
可选地,所述步骤S2包括:获取调度任务包含的订单的目标使用场景,根据所述目标使用场景选择搬运机器人的以下操作模式:分区操作模式或分类操作模式。Optionally, the step S2 includes: obtaining a target usage scenario of the order included in the scheduling task, and selecting the following operation mode of the transport robot according to the target usage scenario: a partition operation mode or a classification operation mode.
在此,尤其实现以下技术优点:视货物的目标使用场景而定,按照原始订单顺序并不能够实现效率最大化,在特殊情况下,可以先将所有订单拆散并打乱,并基于货物在目标使用场景中的分区信息有效合并部分订单,由此可以更快速地完成特定分区中的商品分拣。Here, the following technical advantages are particularly achieved: depending on the target usage scenario of the goods, efficiency cannot be maximized according to the original order sequence. In special circumstances, all orders can be split and disrupted first, and some orders can be effectively merged based on the partition information of the goods in the target usage scenario, thereby completing the sorting of goods in a specific partition more quickly.
根据本发明的第二方面,提供一种用于控制搬运机器人的设备,所述设备用于执行根据本发明的第一方面所述的方法,所述设备包括:According to a second aspect of the present invention, there is provided a device for controlling a handling robot, the device being used to perform the method according to the first aspect of the present invention, the device comprising:
通信单元,所述通信单元配置成能够获取搬运机器人的调度任务和/或工作场景;以及a communication unit, wherein the communication unit is configured to acquire a dispatching task and/or a working scene of the handling robot; and
处理器,所述处理器配置成能够使搬运机器人的操作模式匹配于所述调度任务和/或工作场景。A processor is configured to enable the operation mode of the transport robot to match the dispatching task and/or the working scenario.
根据本发明的第三方面,提供一种搬运机器人,所述搬运机器人包括根据本发明的第二方面所述的设备。According to a third aspect of the present invention, there is provided a handling robot, the handling robot comprising the device according to the second aspect of the present invention.
根据本发明的第四方面,提供一种调度系统,所述调度系统包括根据本发明的第二方面所述的设备。According to a fourth aspect of the present invention, there is provided a scheduling system, the scheduling system comprising the device according to the second aspect of the present invention.
根据本发明的第五方面,提供一种计算机程序产品,其包括计算机程序,所述计算机程序在计算机执行时实施根据本发明的第一方面所述的方法。According to a fifth aspect of the present invention, there is provided a computer program product comprising a computer program, wherein the computer program implements the method according to the first aspect of the present invention when executed on a computer.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
下面,通过参看附图更详细地描述本发明,可以更好地理解本发明的原理、特点和优点。附图包括:The present invention will be described in more detail below with reference to the accompanying drawings, so that the principles, features and advantages of the present invention can be better understood. The accompanying drawings include:
图1示出了根据本发明的一个示例性实施例的用于控制搬运机器人的方法的流程图;FIG1 shows a flow chart of a method for controlling a handling robot according to an exemplary embodiment of the present invention;
图2示出了根据本发明的用于控制搬运机器人的方法的一个步骤的流程图;FIG2 shows a flow chart of one step of a method for controlling a handling robot according to the present invention;
图3示出了根据本发明的用于控制搬运机器人的方法的一个步骤的流程图;FIG3 shows a flow chart of one step of a method for controlling a handling robot according to the present invention;
图4示出了根据本发明的一个示例性实施例的用于控制搬运机器人的设备的框图;FIG4 shows a block diagram of an apparatus for controlling a transport robot according to an exemplary embodiment of the present invention;
图5示出了根据本发明的一个示例性实施例的搬运机器人的示意图;以及FIG5 shows a schematic diagram of a transfer robot according to an exemplary embodiment of the present invention; and
图6示出了根据本发明的一个示例性实施例的调度系统的框图。FIG. 6 shows a block diagram of a scheduling system according to an exemplary embodiment of the present invention.
具体实施方式DETAILED DESCRIPTION
为了使本发明所要解决的技术问题、技术方案以及有益的技术效果更加清楚明白,以下将结合附图以及多个示例性实施例对本发明进行进一步详细说明。应当理解,此处所描述的具体实施例仅用于解释本发明,而不是用于限定本发明的保护范围。In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the scope of protection of the present invention.
图1示出了根据本发明的一个示例性实施例的用于控制搬运机器人的方法的流程图。FIG. 1 shows a flow chart of a method for controlling a transfer robot according to an exemplary embodiment of the present invention.
在步骤S11中,获取调度任务。在此,调度任务例如可以包括拣选工单,拣选工单是指待拣选货物按照一定顺序形成的任务单。In step S11, a scheduling task is obtained. Here, the scheduling task may include, for example, a picking work order, which refers to a task order formed according to a certain order for goods to be picked.
在步骤S12中,获取与调度任务关联的工作场景的环境传感器数据。这种环境传感器数据可以由激光雷达、雷达、视频传感器、超声传感器和/或红外传感器等检测。In step S12, environmental sensor data of the work scene associated with the scheduling task is obtained. Such environmental sensor data can be detected by laser radar, radar, video sensor, ultrasonic sensor and/or infrared sensor, etc.
在步骤S13中,基于所获取的传感器数据创建工作场景的电子地图。这种电子地图尤其可以是带有场景深度数据的三维地图并且例如包括以下信息:货物位置、充电桩位置、可通行区域位置、货架位置和分拣位置。在工作场景涉及零售商超场景的情况下,尤其还可以在电子地图中标注出打包位置、卸载点位置、结账位置、称重位置。同时,在零售商超场景下,尤其还可以基于商品贩卖属性(散装或整装)和商品类别(例如食品、生鲜、日用品等)对电子地图进行分区,并根据分区相应地标注出货架位置。在此,例如可以将调度任务中包含的货物信息匹配到电子地图中,以便在后续的任务执行阶段借助电子地图为搬运机器人规划最优路线。In step S13, an electronic map of the work scene is created based on the acquired sensor data. This electronic map can be a three-dimensional map with scene depth data and, for example, includes the following information: cargo location, charging pile location, passable area location, shelf location, and sorting location. In the case where the work scene involves a retail supermarket scene, in particular, the packaging location, unloading point location, checkout location, and weighing location can also be marked in the electronic map. At the same time, in the retail supermarket scene, in particular, the electronic map can also be partitioned based on the merchandise sales attributes (bulk or packaged) and merchandise categories (such as food, fresh produce, daily necessities, etc.), and the shelf locations can be marked accordingly according to the partitions. Here, for example, the cargo information contained in the scheduling task can be matched to the electronic map so that the optimal route can be planned for the handling robot with the help of the electronic map in the subsequent task execution stage.
在步骤S21中,检查调度任务和/或工作场景中是否包含预存操作模式。作为示例,可以针对至少部分订单或子订单、特定任务环节、任务类型和/或工作场景记录了预定义的操作模式。In step S21, it is checked whether the scheduled task and/or work scenario contains a pre-stored operation mode. As an example, pre-defined operation modes may be recorded for at least part of the orders or sub-orders, specific task links, task types and/or work scenarios.
如果存在预存操作模式可用,则在步骤S22中使搬运机器人直接按照预存操作模式工作。If a pre-stored operation mode is available, the transport robot is made to work directly according to the pre-stored operation mode in step S22 .
如果调度任务或工作场景中未规定操作模式,则可以在步骤S23中根据调度任务的属性和/或工作场景的环境属性确定相应的操作模式。在此,任务属性例如可以包括:任务类型(例如引导、拣选、分装、搬运、展示等)、任务阶段、任务难易程度、任务数量、任务位置和/或任务涉及范围。环境属性例如可以包括:工作场景类型、工作场景面积、人员密度、障碍物特性等。If the operation mode is not specified in the scheduling task or the work scene, the corresponding operation mode can be determined in step S23 according to the attributes of the scheduling task and/or the environmental attributes of the work scene. Here, the task attributes may include, for example, the task type (e.g., guiding, picking, packing, handling, display, etc.), the task stage, the difficulty of the task, the number of tasks, the task location and/or the scope of the task. The environmental attributes may include, for example, the work scene type, the work scene area, the density of people, the characteristics of obstacles, etc.
在确定了操作模式之后,可以在步骤S24中使搬运机器人按照所确定的操作模式工作。After the operation mode is determined, the transport robot may be made to operate according to the determined operation mode in step S24 .
接下来,可选地还设置步骤S25。例如可以在步骤S25中判断:是否存在调度任务或工作场景的状态变化。Next, step S25 is optionally further provided. For example, in step S25, it can be determined whether there is a status change of the scheduling task or the working scene.
如果判断得出未发生状态变化,则在步骤S26中使搬运机器人继续按照当前的操作模式工作。If it is determined that no state change occurs, then in step S26 the transport robot continues to operate in the current operation mode.
如果出现状态变化,则可以重新返回到步骤S21,以便在那里再次检查是否针对当前状态变化存储有更新的操作模式信息。例如搬运机器人已经完成了第一任务阶段或第一分拣区域的拣选任务,由此可以检查当从第一任务阶段转换到第二任务阶段时,是否需要对操作模式进行适应性调整,从而使搬运机器人的操作模式动态适配于调度任务的状态变化。If a state change occurs, the process can return to step S21 to check again whether updated operation mode information is stored for the current state change. For example, if the handling robot has completed the first task stage or the picking task of the first sorting area, it can be checked whether the operation mode needs to be adaptively adjusted when switching from the first task stage to the second task stage, so that the operation mode of the handling robot is dynamically adapted to the state change of the scheduling task.
图2示出了根据本发明的用于控制搬运机器人的方法的一个步骤的流程图。FIG. 2 is a flow chart showing one step of a method for controlling a handling robot according to the present invention.
如图2所示,图1中的方法步骤S23示例性地包括子步骤S201-S210,以便进一步从提高安全性角度阐述如何通过调度任务和/或工作场景影响搬运机器人的操作模式的选择。As shown in FIG. 2 , method step S23 in FIG. 1 exemplarily includes sub-steps S201 - S210 , so as to further explain how to influence the selection of the operation mode of the handling robot by scheduling tasks and/or work scenarios from the perspective of improving safety.
在步骤S201中,判断搬运机器人的工作场景是否涉及无人化场景。在此,无人化场景例如理解为如下场景:在该场景中,搬运机器人的至少部分作业区域或任务阶段不存在或较少地存在人为干预因素。作为示例,无人化场景可以包括制造业的零配件工厂、自动化生产车间、智能物流仓库等。与此相反,非无人化场景或者说人机交互场景可以包括商场、超市、展会、餐饮配送站等与公众存在较多接触的场合。In step S201, it is determined whether the working scene of the handling robot involves an unmanned scene. Here, the unmanned scene is understood as, for example, a scene in which there is no or little human intervention in at least part of the working area or task stage of the handling robot. As an example, unmanned scenes may include spare parts factories, automated production workshops, smart logistics warehouses, etc. in the manufacturing industry. In contrast, non-unmanned scenes or human-computer interaction scenes may include shopping malls, supermarkets, exhibitions, catering distribution stations, and other occasions that have more contact with the public.
如果判断得出涉及无人化场景,则意味着存在较少干扰因素和较低的安全等级需求。在这种情况下,可以在步骤S202中选择搬运机器人的第一操作模式,在这种操作模式中,使搬运机器人自主地工作。在此应注意的是,无人化场景并不代表搬运机器人的整个作业环境都完全没有人类活动,还可能的是,在搬运机器人的诸如“拣货”、“分装”等部分作业阶段或部分作业区域涉及无人化场景。If it is determined that an unmanned scene is involved, it means that there are fewer interference factors and a lower safety level requirement. In this case, the first operation mode of the handling robot can be selected in step S202, in which the handling robot works autonomously. It should be noted here that the unmanned scene does not mean that the entire working environment of the handling robot is completely free of human activities. It is also possible that some operating stages or some operating areas of the handling robot, such as "picking" and "packaging", involve unmanned scenes.
如果判断得出涉及人机交互场景,则意味着存在较多干扰因素并且对安全等级的需求较高。在这种情况下,在步骤S203中选择搬运机器人的第二操作模式。在该第二操作模式中,使搬运机器人以与人员配合的方式工作。If it is determined that a human-machine interaction scenario is involved, it means that there are many interference factors and the safety level requirement is high. In this case, the second operation mode of the handling robot is selected in step S203. In the second operation mode, the handling robot is made to work in a manner coordinated with personnel.
可选地,在步骤S204中检测搬运机器人的周围环境中的障碍物。Optionally, in step S204, obstacles in the surrounding environment of the transport robot are detected.
在步骤S205中判断是否涉及静态障碍物。静态障碍物例如可以是位于搬运机器人的运动路径中的货物、工具、外包装和货架等。动态障碍物例如可以是其他的搬运机器人、拣货员和顾客等。In step S205, it is determined whether there are static obstacles involved. Static obstacles may be, for example, goods, tools, outer packaging, shelves, etc. located in the motion path of the transport robot. Dynamic obstacles may be, for example, other transport robots, pickers, customers, etc.
如果涉及静态障碍物,则在步骤S206中使搬运机器人执行主动避障策略。作为示例,可以基于360°环境感知技术为搬运机器人计算绕行路径,以避开障碍物。作为另一示例,可以基于静态障碍物的特殊结构或轮廓使搬运机器人执行低矮避障或跨越避障。If a static obstacle is involved, the handling robot is made to perform an active obstacle avoidance strategy in step S206. As an example, a detour path can be calculated for the handling robot based on 360° environmental perception technology to avoid the obstacle. As another example, the handling robot can perform low obstacle avoidance or cross obstacle avoidance based on the special structure or contour of the static obstacle.
如果涉及动态障碍物,则在步骤S207中使搬运机器人执行减速避障。作为示例,如果检测到障碍物以较快速度移动(例如大于速度阈值),则可以使搬运机器人在短时间内减速到零并等待障碍物离开。作为另一示例,还可以进一步判断障碍物是否涉及人员。如果障碍物是人,则可以在人流密度大于一定阈值或身高低于一定阈值时使搬运机器人减速到零,由此可以有针对性地避免大规模人群或儿童受到碰撞伤害。此外,在人流密度大于一定阈值时且速度低于速度阈值时,也可以为搬运机器人规划绕行路线,以避开停滞人群。If a dynamic obstacle is involved, the handling robot is caused to perform deceleration to avoid obstacles in step S207. As an example, if an obstacle is detected to be moving at a faster speed (for example, greater than a speed threshold), the handling robot can be decelerated to zero in a short time and wait for the obstacle to leave. As another example, it can be further determined whether the obstacle involves a person. If the obstacle is a person, the handling robot can be decelerated to zero when the crowd density is greater than a certain threshold or the height is lower than a certain threshold, thereby specifically avoiding collision injuries to large crowds or children. In addition, when the crowd density is greater than a certain threshold and the speed is lower than the speed threshold, a detour route can also be planned for the handling robot to avoid stagnant people.
可选地,还可以在步骤S208中检测特定作业区域(例如拣选货架)附近的人员密度。如果目标货架附近有较多人员聚集,则可以在步骤S209中选择搬运机器人的“先拣后分”的操作模式,以便减少在该位置处的作业时间,从而例如避免搬运机器人在执行拣选任务时影响顾客的购物体验。Optionally, the density of people near a specific operation area (e.g., a picking shelf) may be detected in step S208. If there are many people gathered near the target shelf, the "pick first, then sort" operation mode of the transport robot may be selected in step S209 to reduce the operation time at this location, thereby, for example, avoiding the transport robot from affecting the customer's shopping experience when performing the picking task.
如果目标货架处没有或只有较少人员停留,则可以在步骤S210中选择“边拣边分”的操作模式,以便节省后续的分装或打包开销。If there are no or only a few people staying at the target shelf, the "picking and sorting" operation mode can be selected in step S210 to save subsequent packaging or packing costs.
除了将工作场景中的人员密度考虑在内,还能够想到的是,根据为调度任务和/或与调度任务关联的工作场景分配的拣货员数量生成人车配对结果,并且借助人车配对结果选择以下操作模式:一人一车模式、一人多车模式或多人多车模式。In addition to taking the density of people in the work scene into consideration, it is also conceivable that a human-vehicle pairing result is generated based on the number of pickers assigned to the scheduling task and/or the work scene associated with the scheduling task, and the following operating modes are selected with the help of the human-vehicle pairing result: one person-one-vehicle mode, one person-multiple-vehicle mode, or multiple people-multiple-vehicle mode.
此外,例如取决于工作场景的复杂度,还可以决定:是使搬运机器人与人员沿统一轨迹运动还是使搬运机器人与人员分别沿独立轨迹运动。在搬运机器人与人员沿统一轨迹运动的情况下,如果拣选员的经验不足或对工作场景不够熟悉,则可以考虑由搬运机器人自主规划路线并且使拣选员跟随搬运机器人,从而省去人员自行计算路线或通过调度中心向人员发送路线的易出错环节。此外,还可以考虑使搬运机器人跟随人员按照预定轨迹运动,这种操作模式尤其在调度任务中的货物较分散、路径规划复杂或工作场景中可变因素较多的情况下是有利的。In addition, for example, depending on the complexity of the work scene, it can also be decided whether to make the handling robot and the personnel move along the same trajectory or to make the handling robot and the personnel move along independent trajectories. In the case where the handling robot and the personnel move along the same trajectory, if the picker is inexperienced or not familiar enough with the work scene, it can be considered that the handling robot plans the route autonomously and the picker follows the handling robot, thereby eliminating the error-prone link of the personnel calculating the route by themselves or sending the route to the personnel through the dispatch center. In addition, it can also be considered to make the handling robot follow the personnel to move along the predetermined trajectory. This operating mode is particularly advantageous when the goods in the dispatch task are more dispersed, the path planning is complex, or there are many variable factors in the work scene.
如果与调度任务关联的工作场景面积较大或者说调度任务包含的货物数量较多,则为了实现更高的灵活性和更高效率,可以使搬运机器人与人员各自沿独立轨迹运动,并且按照人就近找车模式和/或车就近找人模式来相应地调度搬运机器人和人员。If the work scene area associated with the scheduling task is large or the scheduling task contains a large number of goods, in order to achieve higher flexibility and higher efficiency, the handling robot and personnel can be moved along independent trajectories respectively, and the handling robot and personnel can be dispatched accordingly according to the mode of people looking for the nearest vehicle and/or the mode of vehicles looking for people nearby.
图3示出了根据本发明的用于控制搬运机器人的方法的一个步骤的流程图。FIG. 3 is a flow chart showing one step of a method for controlling a handling robot according to the present invention.
如图3所示,图1中的方法步骤S23示例性地包括子步骤S211-S219,以便进一步从提高工作效率角度阐述如何通过调度任务和工作场景影响搬运机器人的操作模式的选择。As shown in FIG. 3 , method step S23 in FIG. 1 exemplarily includes sub-steps S211 - S219 , so as to further explain how to influence the selection of the operation mode of the transport robot by scheduling tasks and work scenarios from the perspective of improving work efficiency.
在步骤S211中,获取调度任务所包含的各个订单中的货物重复率。In step S211, the repetition rate of goods in each order included in the scheduling task is obtained.
在步骤S212中,获取调度任务中包含的货物与拣选位置的对应关系。作为示例,可以获取调度任务中包含的货物在电子地图中的位置分布。In step S212, the correspondence between the goods included in the scheduling task and the picking location is obtained. As an example, the location distribution of the goods included in the scheduling task in the electronic map can be obtained.
接下来,在步骤S213中,判断货物重复率或货物在电子地图中的位置分布不均匀性是否低于阈值。作为示例,也可以设置其他衡量标准,从而在综合考虑货物重复率或位置分布的情况下得出最佳解决方案。Next, in step S213, it is determined whether the cargo repetition rate or the uneven distribution of cargo positions in the electronic map is lower than a threshold. As an example, other metrics may also be set to obtain an optimal solution by comprehensively considering the cargo repetition rate or the position distribution.
如果判断得出货物重复率较低或货物位置分布较为均匀,则对初始订单重新组合和排序会是没有意义的,因此在这种情况下可以在步骤S215中使搬运机器人执行按序操作模式。在按序操作模式中,使搬运机器人按照调度任务中的初始订单顺序工作。If it is determined that the goods repetition rate is low or the goods are evenly distributed, it is meaningless to regroup and sort the initial order, so in this case, the handling robot can be made to perform a sequential operation mode in step S215. In the sequential operation mode, the handling robot is made to work according to the initial order sequence in the scheduling task.
反之,则可以在步骤S214中将相应类别的货物或者相应区域的订单合并,以执行合并操作模式。On the contrary, the goods of corresponding categories or the orders of corresponding regions may be merged in step S214 to execute the merge operation mode.
附加地,还可以在步骤S216中获取调度任务中包含的订单的目标使用场景并在步骤S217中判断该目标使用场景是否涉及商场或超市。Additionally, the target usage scenario of the order included in the scheduling task may be obtained in step S216 and it may be determined in step S217 whether the target usage scenario involves a shopping mall or a supermarket.
如果是这种情况,则可以在步骤S218中执行分区操作模式。在此,例如可以先将所有初始订单拆散并打乱,并基于货物在目标使用场景中的分区信息有效合并部分订单,由此可以更快地完成目标场景的特定分区中的商品分拣。If this is the case, the partition operation mode can be executed in step S218. Here, for example, all initial orders can be split and disrupted first, and some orders can be effectively merged based on the partition information of the goods in the target usage scenario, so that the goods sorting in the specific partition of the target scenario can be completed more quickly.
如果不是这种情况,则可以在步骤S219中执行按类操作模式。例如,可以先对同一类别的货物进行分拣,由此减少在拣选区域的重复往返次数。If this is not the case, then the class-based operation mode can be performed in step S219. For example, the goods of the same category can be sorted first, thereby reducing the number of repeated trips to and from the picking area.
图4示出了根据本发明的一个示例性实施例的用于控制搬运机器人的设备的框图。FIG. 4 shows a block diagram of an apparatus for controlling a transfer robot according to an exemplary embodiment of the present invention.
设备1包括在通信技术上彼此耦合的通信单元10和处理器20。The device 1 comprises a communication unit 10 and a processor 20 which are coupled to one another in a communication manner.
通信单元10配置成能够获取搬运机器人的调度任务和/或工作场景。The communication unit 10 is configured to be able to obtain the scheduling tasks and/or working scenarios of the transport robot.
处理器20配置成能够使搬运机器人的操作模式匹配于所述调度任务和/或工作场景。The processor 20 is configured to enable the operation mode of the transport robot to match the dispatching task and/or the working scenario.
作为示例,处理器例如包括分析处理模块21、存储模块22和控制模块23,分析处理模块21对调度任务的任务属性以及工作场景的环境属性进行提取并将其关联到相应的操作模式,这些操作模式例如可以被预定义并且存储在存储模块22中。接下来,可以由控制模块23按照该操作模式控制搬运机器人的各个执行机构(例如行驶机构、搬运机构、显示机构等)。As an example, the processor includes, for example, an analysis and processing module 21, a storage module 22, and a control module 23. The analysis and processing module 21 extracts the task attributes of the scheduling task and the environmental attributes of the work scene and associates them with corresponding operation modes, which can be predefined and stored in the storage module 22. Next, the control module 23 can control various actuators (such as a traveling mechanism, a transporting mechanism, a display mechanism, etc.) of the transport robot according to the operation mode.
图5示出了根据本发明的一个示例性实施例的搬运机器人的示意图。FIG. 5 shows a schematic diagram of a transfer robot according to an exemplary embodiment of the present invention.
在图5左侧示出搬运机器人100,其包括图4中的设备1。此外,搬运机器人100例如还包括显示屏110、路径规划机构120和跟踪机构130。The left side of Fig. 5 shows a transport robot 100, which includes the device 1 in Fig. 4. In addition, the transport robot 100 further includes a display screen 110, a path planning mechanism 120, and a tracking mechanism 130, for example.
在通过设备1确定了搬运机器人100的操作模式之后,设备1中的控制模块23(未示出)可以向搬运机器人100的各个执行机构110、120、130发出触发信号,以便激活或禁用相应功能。After the operation mode of the transport robot 100 is determined by the device 1, the control module 23 (not shown) in the device 1 can send a trigger signal to each actuator 110, 120, 130 of the transport robot 100 to activate or disable the corresponding function.
例如,如果借助设备1确定应当使搬运机器人100自主完成路线规划,则设备1控制路线规划机构120开启。如果借助设备1确定应当使机器人100跟随拣选员到达目标位置,则设备1控制跟踪机构130开启,以便基于与人员佩戴的通信单元的交互计算出相对距离和方位,从而达到智能跟随目的。For example, if the device 1 determines that the transport robot 100 should complete route planning autonomously, the device 1 controls the route planning mechanism 120 to start. If the device 1 determines that the robot 100 should follow the picker to the target location, the device 1 controls the tracking mechanism 130 to start, so as to calculate the relative distance and orientation based on the interaction with the communication unit worn by the person, so as to achieve the purpose of intelligent following.
此外,还可以借助设备1确定的操作模式来控制显示屏110的显示内容111、112。在图5右侧针对两种不同的操作模式示出搬运机器人100的显示屏110的显示内容111、112。如果借助设备1确定搬运机器人100的用于辅助人员的拣选模式,则可以在显示屏110中示出内容111,其中例如可以显示调度任务中的相应订单中的货物状态,由此可以供拣选员在拣选完成后点击确认、进行缺货登记等。如果借助设备1确定搬运机器人100的顾客展示模式,则可以在显示屏110中示出内容112,在此可供顾客对商品进行查询,为此例如可以提供相应的货架编号或货架所在区域。如果顾客在显示屏110上点击了需要引导的需求,则搬运机器人还可以引导顾客前往查询商品位置。In addition, the display contents 111 and 112 of the display screen 110 can also be controlled by means of the operation mode determined by the device 1. The display contents 111 and 112 of the display screen 110 of the transport robot 100 are shown on the right side of FIG. 5 for two different operation modes. If the picking mode of the transport robot 100 for assisting personnel is determined by means of the device 1, the content 111 can be shown on the display screen 110, where, for example, the status of the goods in the corresponding order in the scheduling task can be displayed, so that the picker can click to confirm after the picking is completed, register out of stock, etc. If the customer display mode of the transport robot 100 is determined by means of the device 1, the content 112 can be shown on the display screen 110, where customers can query the goods, for example, the corresponding shelf number or the area where the shelf is located can be provided. If the customer clicks on the need for guidance on the display screen 110, the transport robot can also guide the customer to query the location of the goods.
图6示出了根据本发明的一个示例性实施例的调度系统的框图。FIG. 6 shows a block diagram of a scheduling system according to an exemplary embodiment of the present invention.
如图6左侧所示,调度系统300包括图4中的设备1。示例性地,调度系统300布置在仓库中并且用于向仓库中的搬运机器人101、102和拣货员200派发调度任务和调度指令。在仓库中还布置有包括多个货架601、602的货物摆放区600。在调度系统300的调度下,多个搬运机器人101、102和人员200分别按照适当轨迹在仓库中运动。As shown on the left side of FIG6 , the scheduling system 300 includes the device 1 in FIG4 . Exemplarily, the scheduling system 300 is arranged in a warehouse and is used to dispatch scheduling tasks and scheduling instructions to the handling robots 101, 102 and the pickers 200 in the warehouse. A cargo placement area 600 including a plurality of shelves 601, 602 is also arranged in the warehouse. Under the scheduling of the scheduling system 300, the plurality of handling robots 101, 102 and the personnel 200 move in the warehouse according to appropriate trajectories.
作为示例,调度系统300根据为当前仓库分配的人员数量和搬运机器人数量生成人车配对结果,并例如在此确定“一人多车”模式。在该模式中,拣选员200在预定区域内沿指定线路运动,多个搬运机器人101、102被调度前往多个待拣选位置,在沿指定线路行驶途中,拣选员200前往最近的停靠有搬运机器人的位置,并按照该搬运机器人的调度任务拣选对应货物。在完成拣选后,该搬运机器人驶向下一拣选位置,同时拣选员200前往下一个最近的、停靠有搬运机器人的位置或结束拣选。As an example, the scheduling system 300 generates a human-vehicle pairing result based on the number of personnel and the number of handling robots assigned to the current warehouse, and determines the "one person, multiple vehicles" mode, for example. In this mode, the picker 200 moves along a designated route in a predetermined area, and multiple handling robots 101 and 102 are dispatched to multiple locations to be picked. While traveling along the designated route, the picker 200 goes to the nearest location where a handling robot is parked, and picks the corresponding goods according to the dispatching task of the handling robot. After completing the picking, the handling robot drives to the next picking location, and the picker 200 goes to the next nearest location where a handling robot is parked or ends the picking.
结合图6示例性地示出了这种“一人多车”模式的执行方式,其中,拣选员200在仓库中例如沿逆时针运动。在图6左侧所示时刻,拣选员200来到搬运机器人101停靠的货架602处进行拣选。在完成拣选之后,搬运机器人101和102分别按照调度任务指定轨迹运动,并且拣选员200继续沿逆时针运动。于是在图6右侧所示时刻,搬运机器人101已离开拣选员200附近区域,同时就当前时刻而言,搬运机器人102相对于拣选员200是“最近的”,因此拣选员200前往搬运机器人102停靠的货架601处进行拣选。FIG6 exemplarily shows the execution mode of this "one person, multiple vehicles" mode, in which the picker 200 moves, for example, counterclockwise in the warehouse. At the moment shown on the left side of FIG6 , the picker 200 comes to the shelf 602 where the transport robot 101 is parked to pick. After completing the picking, the transport robots 101 and 102 move according to the specified trajectory of the scheduling task, and the picker 200 continues to move counterclockwise. Therefore, at the moment shown on the right side of FIG6 , the transport robot 101 has left the vicinity of the picker 200, and at the same time, as far as the current moment is concerned, the transport robot 102 is the "closest" relative to the picker 200, so the picker 200 goes to the shelf 601 where the transport robot 102 is parked to pick.
根据其他人车配对结果,也可以相应地执行“一人多车”或“多人多车”的操作模式。此外,也可以根据需要使搬运机器人按照特定轨迹运动,并且由搬运机器人在行驶过程中主动寻找拣选员。According to the results of other human-car pairing, the operation mode of "one person with multiple vehicles" or "multiple people with multiple vehicles" can also be executed accordingly. In addition, the handling robot can also move along a specific trajectory as needed, and the handling robot can actively search for pickers during driving.
尽管这里详细描述了本发明的特定实施方式,但它们仅仅是为了解释的目的而给出的,而不应认为它们对本发明的范围构成限制。在不脱离本发明精神和范围的前提下,各种替换、变更和改造可被构想出来。Although specific embodiments of the present invention are described in detail herein, they are provided for the purpose of explanation only and should not be considered to limit the scope of the present invention. Various substitutions, changes and modifications may be conceived without departing from the spirit and scope of the present invention.
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