CN116841294A - Robot control method, device and system - Google Patents

Abstract

The embodiment of the disclosure discloses a robot control method, a robot control device and a robot control system. One embodiment of the method comprises the following steps: determining whether a first robot prevents the second robot from running currently, wherein the first robot comprises a robot which is executing a task at a first task execution position of a boundary goods shelf, and one side of the boundary goods shelf is a running road where the second robot is located currently; in response to determining that there is a first robot blocking current travel of a second robot, determining current attribute information of a task performed by the first robot; and controlling the first robot to execute a turning instruction in response to determining that the current attribute information accords with the first preset condition, wherein the turning instruction is used for controlling the first robot to turn around and run to a second task execution position of the boundary goods shelf so as to release the obstruction to the current running of the second robot, and controlling the first robot to continue executing the current task at the second task execution position. This embodiment helps to improve task execution efficiency.

Description

Robot control method, device and system

Technical Field

The embodiment of the disclosure relates to the technical field of computers, in particular to a robot control method, a robot control device and a robot control system.

Background

In many existing warehouses, in order to place more shelves to ensure more inventory, the shelves are closely arranged. In this case, the direction of the robot when performing tasks (e.g., picking, placing, etc.) between the shelves is typically maintained. However, when the robot performs tasks on the boundary shelves of some neighboring main roads, the car body may occupy a part of the main roads, so that the passing, rotation, etc. of other robots may be affected, and further, the situation such as blocking may be formed.

Therefore, when the robot performs tasks such as picking and placing goods at the boundary goods shelves, the situation such as blockage is easy to occur, and the working efficiency of the robot is affected. In this case, if a manual intervention is required, such as an abnormality of the robot, a large number of robots may need to be moved, thereby increasing the time and the scope of influence for solving the abnormality. In addition, when a large number of robots are jammed, a large number of detours are usually planned to solve the jam problem, but therefore, ineffective walking and the like which are easy to occur not only waste time, but also waste battery power and the like of the robots, and further, the working efficiency is also affected.

Disclosure of Invention

The embodiment of the disclosure provides a robot control method, a robot control device and a robot control system.

In a first aspect, embodiments of the present disclosure provide a robot control method, the method including: determining whether a first robot prevents the second robot from running currently, wherein the first robot comprises a robot which is executing a task at a first task execution position of a boundary goods shelf, and one side of the boundary goods shelf is a running road where the second robot is located currently; in response to determining that there is a first robot blocking current travel of a second robot, determining current attribute information of a task performed by the first robot; and controlling the first robot to execute a turning instruction in response to determining that the current attribute information meets a first preset condition, wherein the turning instruction is used for controlling the first robot to turn around to run to a second task execution position of the boundary shelf so as to release the obstruction to the current running of the second robot and controlling the first robot to continue to execute the current task at the second task execution position.

In a second aspect, embodiments of the present disclosure provide a robot control method, the method comprising: in response to determining that the target robot receives the target task, determining attribute information of the target robot for executing the target task, wherein the target task is executed at a first task execution position of a boundary shelf, and at least one side of the boundary shelf is a driving road of the robot; and controlling the target robot to execute a reverse instruction in response to determining that the attribute information of the target task meets the target preset condition, wherein the reverse instruction is used for controlling the target robot to execute the target task at a second task execution position of the boundary shelf, and the directions of the target robot to execute the target task at the first task execution position and the second task execution position are opposite.

In a third aspect, embodiments of the present disclosure provide a robot control device, the device comprising: the first determining unit is configured to determine whether or not there is a first robot obstructing current running of the second robot, wherein the first robot includes a robot that is performing a task at a first task performing position of a boundary shelf, one side of the boundary shelf being a running road on which the second robot is currently located; the second determining unit is configured to determine current attribute information of a task performed by the first robot in response to determining that there is a current travel of the second robot blocked by the first robot; the control unit is configured to control the first robot to execute a turning instruction in response to determining that the current attribute information meets a first preset condition, wherein the turning instruction is used for controlling the first robot to turn around to travel to a second task execution position of the boundary shelf so as to release the obstruction to the current travel of the second robot, and controlling the first robot to continue to execute the current task at the second task execution position.

In a fourth aspect, embodiments of the present disclosure provide a robot control device, the device comprising: a determining unit configured to determine attribute information of a target robot to execute a target task in response to determining that the target robot receives the target task, wherein the target task is executed at a first task execution position of a boundary shelf, at least one side of which is a travel road of the robot; and the control unit is configured to control the target robot to execute a reverse instruction in response to determining that the attribute information of the target task meets the target preset condition, wherein the reverse instruction is used for controlling the target robot to execute the target task at the second task execution position of the boundary shelf, and the directions of the target robot for executing the target task at the first task execution position and the second task execution position are opposite.

In a fifth aspect, embodiments of the present disclosure provide an electronic device comprising: one or more processors; a storage means for storing one or more programs; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method as described in any of the implementations of the first aspect.

In a sixth aspect, embodiments of the present disclosure provide a robot that may include an electronic device as described in the third aspect above.

In a seventh aspect, embodiments of the present disclosure provide a robot control system including a shelf group, a robot group, and a control server; the robot in the robot group executes corresponding tasks related to the boundary shelves at the first task execution position or the second task execution position; the control server is configured to implement the method described in the first aspect or the second aspect.

In an eighth aspect, embodiments of the present disclosure provide a computer readable medium having stored thereon a computer program which, when executed by a processor, implements a method as described in any of the implementations of the first aspect.

According to the robot control method, device and system provided by the embodiment of the disclosure, when the first robot which is executing the task blocks the current running of the second robot at the boundary shelf, the first robot is controlled to turn around and run to the other task execution position of the boundary shelf when judging that the current attribute information of the task executed by the first robot meets the first preset condition so as to release the blocking of the second robot, and meanwhile, the first robot is controlled to continue to execute the current task at the new task execution position so as to timely adjust the position of the robot which is executing the task at the boundary shelf when congestion possibly occurs at the boundary shelf, so that the blocking of the running of other robots is relieved, the situation that the robot at the boundary shelf is jammed is avoided, and the task execution efficiency of the robot is improved.

Drawings

Other features, objects and advantages of the present disclosure will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings:

FIG. 1 is an exemplary system architecture diagram in which an embodiment of the present disclosure may be applied;

FIG. 2 is a flow chart of one embodiment of a robot control method according to the present disclosure;

FIG. 3 is a schematic view of a boundary shelf;

fig. 4 is a schematic view of an application scenario of a robot control method according to an embodiment of the present disclosure;

FIG. 5 is a flow chart of yet another embodiment of a robot control method according to the present disclosure;

FIG. 6 is a flow chart of yet another embodiment of a robot control method according to the present disclosure;

FIG. 7 is a schematic structural view of one embodiment of a robotic control device according to the present disclosure;

FIG. 8 is a schematic structural view of yet another embodiment of a robotic control device according to the present disclosure;

FIG. 9 is a schematic illustration of a first location identifier and a second location identifier according to the present disclosure;

fig. 10 is a schematic structural diagram of an electronic device suitable for use in implementing embodiments of the present disclosure.

Detailed Description

The present disclosure is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.

In the technical scheme of the invention, the aspects of the collection/collection, updating, analysis, use, transmission, storage and the like of various related information accord with the regulations of related laws and regulations, are used for legal and reasonable purposes, are not shared, leaked or sold outside the aspects of legal use and the like, and are subjected to supervision and management of the national supervision and management department.

It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 illustrates an exemplary architecture 100 in which embodiments of a robot control method or robot control device of the present disclosure may be applied.

As shown in fig. 1, the system architecture 100 may include robots 101, 103, a network 104, and a server 105. The network 104 is a medium used to provide a communication link between the robots 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.

Robots 101, 102, 103 interact with server 105 through network 104 to receive or send messages or instructions, etc. Robots 101, 102, 103 may receive instructions or the like sent by server 105 and perform corresponding actions in accordance with the instructions to accomplish a specified task. The robots 101, 102, 103 may feed back information such as the task execution result to the server 105.

Robots 101, 102, 103 may be various robots capable of performing tasks related to shelves. For example, robots include, but are not limited to: bin robots, wolves, transfer robots, and the like.

The server 105 may be a server providing various services, such as a server for controlling the robots 101, 102, 103. The server can control the robot to execute various actions (such as forward, backward, turning, stopping, picking and placing goods and the like), and can also plan a driving route and an obstacle avoidance strategy for the robot.

It should be noted that, the robot control method provided by the embodiments of the present disclosure is generally performed by the server 105, and accordingly, the robot control device is generally disposed in the server 105.

The server 105 may be hardware or software. When the server 105 is hardware, it may be implemented as a distributed server cluster formed by a plurality of servers, or as a single server. When server 105 is software, it may be implemented as a plurality of software or software modules (e.g., to provide distributed services), or as a single software or software module. The present invention is not particularly limited herein.

In addition, in some cases, the server 105 may be provided in the robots 101, 102, 103, in which case the robots 101, 102, 103 may serve or control themselves or other robots by the servers provided by themselves.

It should be understood that the number of terminal devices, networks and servers in fig. 1 is merely illustrative. There may be any number of robots, networks, and servers as desired for implementation.

With continued reference to fig. 2, a flow 200 of one embodiment of a robot control method according to the present disclosure is shown. The robot control method comprises the following steps:

step 201, it is determined whether there is a first robot obstructing the current travel of a second robot.

In this embodiment, the first robot may include a robot that is performing a task at a first task execution location of the boundary shelf. One side of the boundary shelf may be a driving road where the second robot is currently located.

The first robot and the second robot may be various types of robots for performing tasks, and may be specifically set according to actual scenes. For example, the first robot and the second robot may be multi-level bin robots that pick and place goods.

The shelf can be various types of shelves for storing articles, and can be specifically set according to actual application scenes. For example, the shelves may be shelf shelves, drawer shelves, or the like. Boundary shelves may refer to shelves that are not all other shelves on the adjacent side, and that include the travel path of the robot. For example, for a plurality of shelves arranged in a row, two of the shelves located on the left and right sides may be considered boundary shelves.

The task execution position may refer to a position where the robot is at when executing the task. Generally, the task execution location may correspond to a shelf. That is, each shelf may have a corresponding task execution position, and when the task executed by the robot corresponds to the shelf (e.g., picking and placing goods on the shelf), the robot may travel to the task execution position corresponding to the shelf to perform tasks such as picking and placing goods. Typically, the task execution position corresponding to each shelf is set near the shelf. Each goods shelf can correspond to one or more than two task execution positions, and can be flexibly set according to actual application scenes.

The first robot and the second robot are generally different robots. The driving road on which the second robot is currently located may be located at one side of a boundary shelf, and the boundary shelf is a shelf corresponding to the task currently being performed by the first robot. The first robot obstructing the current travel of the second robot generally means that the first robot obstructs the travel path of the second robot when the boundary shelves perform tasks such as picking and placing. For example, the first robot is located directly in front of the second robot in the traveling direction, and the like.

In the present embodiment, the execution subject of the robot control method (such as the server 105 shown in fig. 1) may employ various methods to determine whether there is a case where the first robot hinders the current travel of the second robot. For example, it may be determined whether there is a case in which the first robot hinders the current travel of the second robot using a preset obstacle detection method. For another example, whether the first robot blocks the current running of the second robot may be determined according to the position and the running state of each robot recorded in real time.

Referring now to FIG. 3, FIG. 3 is a schematic illustration of a boundary shelf. As shown in fig. 3, the racks may be sequentially arranged at a certain interval to form a row of racks, and a plurality of rows of racks may be arranged accordingly. Among the shelves shown in fig. 3, the shelf "a", the shelf "B", the shelf "C", and the shelf "D" located on both sides of each row of shelves and adjacent to the traveling road of the robot are boundary shelves. In addition, as shown in fig. 3, the first robot is performing a task at the boundary shelf "a", but the vehicle body of the first robot occupies the travel path on the right side of the shelf "a", thereby blocking the travel of the second robot on the travel path.

Step 202, in response to determining that there is a first robot blocking the current travel of a second robot, determining current attribute information of a task performed by the first robot.

In the present embodiment, the attribute information of the task may refer to various tasks related to the task performed by the robot. Such as the urgency of the task, etc. Since some attribute information may be changed or adjusted at any time, the current attribute information of the task performed by the first robot may refer to the attribute information of the task that is currently up to date.

Specifically, various methods may be employed to determine current attribute information of the task performed by the first robot. For example, the attribute information of the task executed by the first robot may be updated and recorded in real time or at a fixed time, and at this time, the current attribute information of the task executed by the first robot may be obtained directly through the query.

Step 203, in response to determining that the current attribute information meets a first preset condition, controlling the first robot to execute a turning instruction.

In this embodiment, generally, the first preset condition is used to limit attribute information of a task executed by the first robot, so as to determine whether the cost of the first robot for giving way by adjusting a position or the like meets an expectation, and further determine whether to control the first robot to execute a turning instruction. The first preset condition can be flexibly set by a related technician according to an actual application scene.

The turning instruction can be used for controlling the first robot to turn around and run to the second task execution position of the boundary shelf so as to release the obstruction to the current running of the second robot, and simultaneously controlling the first robot to continue to execute the current task at the second task execution position where the first robot is currently located. Specifically, the executing body may send a turning instruction to the first robot to control the first robot to execute the turning instruction.

The second task execution position of the boundary shelf may refer to another position where the robot is when executing the position at the boundary shelf. At this time, the boundary shelf corresponds to a first task execution position and a second task execution position. Generally, the first task execution position and the second task execution position corresponding to each boundary shelf are different.

Since the first robot is turned around to travel to the second task execution position of the boundary shelf, the orientation of the first robot at the first task execution position of the boundary shelf is opposite to the orientation at the second task execution position of the boundary shelf.

Taking fig. 3 as an example, if the orientation of the first robot at the first task execution position is the direction from the shelf "B" to the shelf "a", the orientation after the first robot turns around to travel to the second task execution position is the direction from the shelf "a" to the shelf "B".

After the first robot turns around and runs to the second task execution position of the boundary goods shelf, the obstruction of the first robot to the running of the second robot can be relieved, namely, the situation that the vehicle body of the first robot blocks the second robot and the like is avoided through position adjustment, so that the second robot can normally run, a route is not required to be planned again to run around and the like, the situation of congestion is avoided, and the task execution efficiency of each robot is improved. Meanwhile, after the first robot turns around and runs to the second task execution position of the boundary shelf, the first robot can continue to execute the task which is currently executed.

In some optional implementations of the present embodiments, in response to determining that the current attribute information does not meet the first preset condition, the first robot is controlled to continue to perform the current task at the first task execution location.

At this time, if the current attribute information of the task executed by the first robot does not meet the first preset condition, for example, the emergency degree of the task currently executed by the first robot is higher, the first robot can be controlled to continue to execute the current task at the original execution position of the first task, so as to ensure timely processing of the task. In this case, the blocked second robot may stay in place waiting until the first robot completes the task and no longer blocks the travel of the second robot, depending on the actual scenario. Alternatively, the blocked second robot may re-route the travel.

By setting the first preset condition, whether the first robot executes the turning instruction or not can be flexibly controlled according to the attribute of the task currently executed by the first robot which blocks the other robots from running so as to give way to the other robots, and the flexibility of robot control is improved.

In some optional implementations of this embodiment, the first location identifier may be set at a first task execution location of the boundary shelf, and the second location identifier may be set at a second task execution location of the boundary shelf.

The position identifier can be used for assisting the robot to reach the task execution position corresponding to the boundary shelf. Specifically, the location identifier may be implemented in various forms, such as a two-dimensional code. As an example, one two-dimensional code may be set on the ground of the first task execution position corresponding to the boundary shelf, and another two-dimensional code may be set on the ground of the second task execution position corresponding to the boundary shelf, and the robot may identify the first task execution position and the second task execution position by scanning the two-dimensional code on the ground.

Note that, the shelf other than the boundary shelf may correspond to only one task execution position or may correspond to a plurality of task execution positions.

Two different position identifiers are arranged at the boundary goods shelf to assist the robot to flexibly select the task execution position according to the actual scene, so that the condition of robot congestion and the like can be conveniently adjusted, and the physical cost is low.

In some optional implementations of this embodiment, the current attribute information of the task performed by the first robot may correspondingly represent at least one of the following attributes: the time length of the execution of the remaining tasks, whether other robots block the execution of the tasks when reaching the second task execution position, and the priority of the task execution.

The remaining task execution duration may refer to a duration that is further required for the first robot to complete the current task. Whether there are other robots blocking reaching the second task execution location may refer to whether there are other robots blocking the first robot from reaching the second task execution location. For example, when a first robot performs a task on an adjacent shelf of the first robot's boundary shelves, the first robot may occupy some space such that the first robot is not currently able to reach the second task execution location. The priority of task execution can be flexibly set according to actual application requirements. For example, the corresponding priority is set according to the number of times of the task, and the like.

It should be noted that, when the attribute of the task executed by the first robot includes multiple aspects, the first preset condition may be flexibly set, for example, the first preset condition may include sub-conditions respectively corresponding to the attributes of the aspects, and the like.

For another example, the cost of calculating the first robot to execute the turn-around instruction according to the attribute of the aspects of the task may be set in advance as the first cost. Meanwhile, the cost of the second robot for detour or waiting may be calculated as the second cost, and at this time, the first preset condition may include that the first cost is smaller than the second cost.

The robot control method has the advantages that whether the first robot is controlled to turn around to drive to the position where the other tasks are executed is comprehensively judged from the remaining time of task execution, the feasibility of executing the turning-around instruction, the task priority and the like, so that the running roads of the other robots are reserved to ensure the smooth running of the other robots, and the robot control can be performed more optimally on the whole to meet the specified target.

With continued reference to fig. 4a-4c, one exemplary application scenario of the robot control method according to the present embodiment is illustrated. In fig. 4a, the first robot performs the pick task at the first task execution location indicated by the first location identifier corresponding to the boundary shelf "a", and the current head orientation of the first robot is directed to the right side of shelf "a". The second robot is traveling forward on the main road on the right side of the shelf "a", and the traveling of the second robot is hindered because the first robot body occupies some space of the main road. At this time, the cost of controlling the first robot to execute the turning instruction to adjust the position and avoid blocking the second robot may be calculated, if the cost is lower (for example, less than the preset cost threshold value), the first robot may be controlled to turn around to travel to the second task execution position indicated by the second position identifier, as shown in fig. 4b, when the first robot turns around to travel to the second task execution position, the vehicle body may be accommodated between the shelves, so as to avoid occupying the space of the main road on the right side of the boundary shelf "a", thereby making the main road space available and enabling the second robot to travel forward normally. Also, at this time, the head of the first robot is directed in the left direction of the shelf "a".

In addition, as shown in fig. 4c, the first and second robots may be multi-layer bin robots in side and top views. In particular, the multi-level bin robot may include forks, a pack basket, and position identification and docking stations. Wherein, the basket is used for depositing goods. The fork is used for taking and placing goods. The position identification and parking position can assist the robot to identify the first position identification and the second position identification and park at the corresponding task execution position on the ground through alignment.

When the first robot stops running of the second robot when executing the task at the boundary shelf, the matching relation between the related attribute of the task executed by the first robot and the preset condition is analyzed, and when the cost for controlling the first robot to execute the turning instruction is low, the task is continuously executed by controlling and adjusting the first robot to the other position of the boundary shelf, so that the first robot after the position adjustment does not stop running of the second robot any more, and the conditions of robot blocking and the like when the first robot executes the task are avoided, thereby being beneficial to improving the overall task execution efficiency of the robot. Meanwhile, other blocked robots can save time, battery power and the like spent for parking, stay or planning a large number of detours. In addition, if the robot is abnormal and needs manual intervention treatment in the mode, the abnormal robot can be conveniently moved and treated, the problems that a large number of robots need to be moved to cause long abnormality solving time and the like are avoided, and the operation difficulty and the abnormality solving time are reduced.

With further reference to fig. 5, a flow 500 of yet another embodiment of a robot control method is shown. The flow 500 of the robot control method includes the steps of:

step 501, in response to determining that the third robot receives the target task, determining attribute information of the third robot to execute the target task.

In the present embodiment, the third robot may be any robot that performs a task. The target tasks may refer to various tasks (e.g., pick and place tasks, etc.) performed at the first location execution location of the boundary shelf.

The attribute information of the third robot for executing the target task may refer to various attribute information related to the target task, and may be flexibly set according to an actual application scenario. For example, the attribute information may represent a predicted execution time length of the target task, or the like.

Specifically, various methods may be employed to determine attribute information of the third robot performing the target task. For example, the attribute information of the target task may be counted and recorded in real time in advance, and at this time, the attribute information of the target task executed by the third robot may be obtained directly by a query manner.

And step 502, controlling the third robot to execute the reverse instruction in response to determining that the attribute information of the target task meets the second preset condition.

In this embodiment, the second preset condition is generally used to limit attribute information of the target task, so as to determine whether a situation such as robot congestion may occur when the third robot performs the task at the first task execution position of the boundary shelf, and further determine whether to control the third robot to execute the reverse instruction. Specifically, the second preset condition may be flexibly set according to an actual application scenario. For example, when the attribute information of the target task indicates a predicted execution time period of the target task, the second preset condition may be that the predicted execution time period of the target task is longer than a preset threshold value, or the like.

Optionally, the attribute information of the target task may be used to represent an expected duration of time for the third robot to complete the task at the first task execution location of the boundary shelf.

The expected time period means a time period from when the third robot arrives at the first task execution position of the boundary shelf to when the third robot completes the task. At this time, the second preset condition may include the expected time period being longer than the preset time period threshold. That is, when the third robot takes a long time to perform a task at the boundary shelf, the third robot may be controlled to perform a reverse instruction.

The reverse instruction may be used to control the third robot to perform the target task at a second task execution location of the boundary shelf, and the third robot's orientation at the second task execution location is opposite to its orientation at the first task execution location that was originally intended. Specifically, a reverse instruction may be transmitted to the third robot by the execution body to control the third robot to execute the reverse instruction. The third robot does not occupy excessive space on the travel path adjacent to the boundary shelf at the second task execution position, and thus, travel of the other robots is hindered.

Taking fig. 4b above as an example, the third robot may perform the target task directly in the direction of the head toward the left side of shelf "a" at the second task execution location indicated by the second location identification of the boundary shelf "a".

Optionally, in response to determining that the attribute information of the target task does not meet the second preset condition, controlling the third robot to reach the first task execution position of the boundary shelf to execute the target task.

If the attribute information of the target task does not meet the second preset condition, the robot can be controlled to reach the first task execution position of the boundary shelf to execute the target task. Therefore, the second preset condition can be used as screening to flexibly control the position and the direction of the third robot for executing the task at the boundary goods shelf, and the flexibility of the overall control of the robot is improved.

Step 503, in response to determining that there is a first robot blocking the current travel of the second robot.

Step 504, in response to determining that there is a current travel of the second robot blocked by the first robot, determining current attribute information of a task performed by the first robot.

Step 505, in response to determining that the current attribute information meets a first preset condition, controlling the first robot to execute a turning instruction.

The steps 503-505 may be specifically referred to the related content described in the embodiment of fig. 2, and will not be described herein.

When the third robot receives the target task, firstly analyzing whether the expected time length of the third robot for completing the task is longer or not, and the like, so as to directly control the third robot to execute the target task in the direction matched with the second task execution position of the boundary shelf to reach the second task execution position under the condition that the third robot possibly causes the robot to be jammed or the like when executing the task at the first task execution position of the boundary shelf, thereby avoiding the situation that other robots are blocked from running when executing the task.

The third robot may be different from the first robot and the second robot. The third robot may be the first robot or the second robot.

With further reference to fig. 6, a flow 600 of yet another embodiment of a robot control method is shown. The flow 600 of the robot control method includes the steps of:

step 601, in response to determining that the target robot receives the target task, determining attribute information of the target robot executing the target task.

In the present embodiment, the target robot may be any robot that performs a task. The target tasks refer to various tasks (e.g., pick and place tasks, etc.) that may be performed at the first location of the boundary shelf. At least one side of the boundary shelf may be a driving road of the robot.

The attribute information of the target robot for executing the target task may refer to various attribute information related to the target task, and may be flexibly set according to an actual application scenario. For example, the attribute information may represent a predicted execution time length of the target task, or the like.

Specifically, various methods may be employed to determine attribute information of the target robot performing the target task. For example, the attribute information of the target task may be counted and recorded in real time in advance, and at this time, the attribute information of the target robot executing the target task may be obtained directly by a query manner.

And step 602, controlling the target robot to execute the reverse instruction in response to determining that the attribute information of the target task meets the target preset condition.

In this embodiment, the target preset condition is generally used to limit attribute information of the target task, so as to determine whether a situation such as robot congestion may occur when the target robot performs the task at the first task execution position of the boundary shelf, and further determine whether to control the target robot to execute the reverse instruction. Specifically, the target preset condition can be flexibly set according to an actual application scene. For example, when the attribute information of the target task indicates the predicted execution time length of the target task, the target preset condition may be that the predicted execution time length of the target task is greater than a preset threshold value or the like.

Optionally, the attribute information of the target task may be used to represent an expected duration of time for the target robot to complete the task at the first task execution location of the boundary shelf.

The expected duration represents a duration taken from the time when the target robot reaches the first task execution position of the boundary shelf to the time when the target robot completes the task. At this time, the target preset condition may include the expected time period being longer than the preset time period threshold. That is, when the target robot takes a long time to perform a task at the boundary shelf, the target robot may be controlled to perform a reverse instruction.

The reverse instruction may be used to control the target robot to perform the target task at a second task execution location of the boundary shelf, and the target robot's orientation at the second task execution location is opposite to its orientation at the first task execution location that was originally intended. Specifically, a reverse instruction may be sent by the execution body to the target robot to control the target robot to execute the reverse instruction. The target robot does not occupy excessive space on the travel path adjacent to the boundary shelf at the second task execution position, and thus, travel of the other robots is hindered.

Optionally, in response to determining that the attribute information of the target task does not meet the second preset condition, controlling the target robot to arrive at the first task execution position of the boundary shelf to execute the target task.

If the attribute information of the target task does not meet the second preset condition, the target robot can be controlled to reach the first task execution position of the boundary shelf to execute the target task. Therefore, the second preset condition can be used as screening to flexibly control the position and the direction of the target robot for executing the task at the boundary goods shelf, so that the flexibility of the overall control of the robot is improved.

Optionally, the first position identifier may be set at the first task execution position of the boundary shelf, and the second position identifier may be set at the second task execution position of the boundary shelf.

The first position identifier and the second position identifier can be used for assisting the robot to reach the task execution position corresponding to the boundary shelf. Specifically, the location identifier may be implemented in various forms, such as a two-dimensional code. As an example, one two-dimensional code may be set on the ground of the first task execution position corresponding to the boundary shelf, and another two-dimensional code may be set on the ground of the second task execution position corresponding to the boundary shelf, and the robot may identify the first task execution position and the second task execution position by scanning the two-dimensional code on the ground.

Note that, the shelf other than the boundary shelf may correspond to only one task execution position or may correspond to a plurality of task execution positions.

Two different position identifiers are arranged at the boundary goods shelf to assist the robot to flexibly select the task execution position according to the actual scene, so that the condition of robot congestion and the like can be conveniently adjusted, and the physical cost is low.

The target robot in this embodiment may be the first robot, the second robot, or the third robot in the other embodiments described above.

When a robot receives a task, whether the expected time length of the robot for completing the task is longer or not is firstly analyzed, so that under the condition that the robot may cause the robot to be jammed when the robot executes the task at a first task execution position of a boundary shelf, the robot is directly controlled to reach a second task execution position with the matched direction at the second task execution position of the boundary shelf to execute a target task, the situation that the robot is blocked from running when the robot executes the task is avoided, namely, the jam is judged early, and when the jam is likely to occur, the strategy is timely adjusted to control the robot to reach another task execution position, so that the jam risk is avoided.

With further reference to fig. 7, as an implementation of the method shown in the above figures, the present disclosure provides an embodiment of a robot control device, which corresponds to the method embodiment shown in fig. 2, and which is particularly applicable to various electronic apparatuses.

As shown in fig. 7, the robot control device 700 provided in the present embodiment includes a first determination unit 701, a second determination unit 702, and a control unit 703. Wherein the first determining unit 701 is configured to determine whether there is a first robot blocking the current travel of the second robot, wherein the first robot includes a robot performing a task at a first task execution position of a boundary shelf, one side of which is a travel path on which the second robot is currently located; the second determining unit 702 is configured to determine current attribute information of a task performed by the first robot in response to determining that there is a current travel of the second robot blocked by the first robot; the control unit 703 is configured to control the first robot to execute a turning instruction in response to determining that the current attribute information meets a first preset condition, wherein the turning instruction is used to control the first robot to turn around to travel to a second task execution position of the boundary shelf to release the obstruction to the current travel of the second robot, and to control the first robot to continue to execute the current task at the second task execution position.

In the present embodiment, in the robot control device 700: the specific processes of the first determining unit 701, the second determining unit 702 and the control unit 703 and the technical effects thereof may refer to the descriptions related to step 201, step 202 and step 203 in the corresponding embodiment of fig. 2, and are not repeated herein.

In some optional implementations of this embodiment, the control unit 703 is further configured to: and in response to determining that the current attribute information does not meet the first preset condition, controlling the first robot to continue to execute the current task at the first task execution position.

In some optional implementations of the present embodiment, the robot control unit 700 further includes a third unit (not shown in the figure) configured to determine, in response to determining that the third robot receives the target task, attribute information of the target task performed by the third robot, where the target task is performed at the first task performing position of the boundary shelf; the control unit 703 is further configured to: and controlling the third robot to execute a reverse instruction in response to determining that the attribute information of the target task meets a second preset condition, wherein the reverse instruction is used for controlling the third robot to execute the target task at a second task execution position of the boundary shelf, and the directions of the third robot to execute the target task at the first task execution position and the second task execution position are opposite.

In some optional implementations of this embodiment, the control unit 703 is further configured to: and in response to determining that the attribute information of the target task does not meet the second preset condition, controlling the third robot to reach the first task execution position of the boundary shelf to execute the target task.

In some optional implementations of this embodiment, a first location identifier is provided at a first task execution location of the boundary shelf, a second location identifier is provided at a second task execution location of the boundary shelf, and the first location identifier and the second location identifier are used to assist the robot in reaching the corresponding task execution location.

In some optional implementations of this embodiment, the current attribute information is used to represent at least one of the following attributes: the time length of the execution of the remaining tasks, whether other robots block the execution of the tasks when reaching the second task execution position, and the priority of the task execution.

In some optional implementations of this embodiment, the attribute information of the target task is used to represent an expected duration of time for the third robot to complete the task at the first task execution location of the boundary shelf.

The device provided by the embodiment of the disclosure determines, through the first determining unit, whether there is a first robot blocking current running of the second robot, where the first robot includes a robot performing a task at a first task execution position of a boundary shelf, and one side of the boundary shelf is a running road where the second robot is currently located; the second determining unit determines current attribute information of a task executed by the first robot in response to determining that there is a current travel of the second robot blocked by the first robot; the control unit is used for responding to the fact that the current attribute information accords with a first preset condition, controlling the first robot to execute a turning instruction, wherein the turning instruction is used for controlling the first robot to turn around to travel to a second task execution position of the boundary shelf so as to relieve the obstruction of the current travel of the second robot, and controlling the first robot to continue to execute the current task at the second task execution position so as to timely adjust the position of the robot executing the task at the boundary shelf when the congestion possibly occurs at the boundary shelf, relieving the obstruction of the robot to travel of other robots, avoiding the conditions of congestion caused by the robot at the boundary shelf and the like, and accordingly improving the task execution efficiency of the robot.

With further reference to fig. 8, as an implementation of the method shown in the above figures, the present disclosure provides an embodiment of a robot control device, which corresponds to the method embodiment shown in fig. 6, and which is particularly applicable to various electronic apparatuses.

As shown in fig. 8, the robot control device 800 provided in the present embodiment includes a determination unit 801 and a control unit 802. Wherein the determining unit 801 is configured to determine, in response to determining that the target robot receives the target task, attribute information of the target robot performing the target task, wherein the target task is performed at a first task performing position of a boundary shelf, at least one side of which is a travel path of the robot; the control unit 802 is configured to control the target robot to execute a reverse instruction in response to determining that the attribute information of the target task meets the target preset condition, wherein the reverse instruction is used for controlling the target robot to execute the target task at the second task execution position of the boundary shelf, and the directions of the target robot to execute the target task at the first task execution position and the second task execution position are opposite respectively.

In this embodiment, the specific processes of the determining unit 801 and the control unit 802 and the technical effects thereof may refer to the descriptions related to step 601 and step 602 in the corresponding embodiment of fig. 6, and are not described herein.

In some optional implementations of this embodiment, the control unit 802 is further configured to: and in response to determining that the attribute information of the target task does not meet the target preset condition, controlling the target robot to reach the first task execution position of the boundary shelf to execute the target task.

In some optional implementations of this embodiment, a first position identifier is disposed at a first task execution position of the boundary shelf, a second position identifier is disposed at a second task execution position of the boundary shelf, and the first position identifier and the second position identifier are used to assist the robot to reach the corresponding task execution position.

In some optional implementations of this embodiment, the attribute information of the target task is used to indicate an expected duration of time for the target robot to complete the task at the first task execution location of the boundary shelf.

In the device provided by the above embodiment of the present disclosure, in response to determining that the target robot receives the target task, the determining unit 801 determines attribute information of the target robot executing the target task, where the target task is executed at the first task execution position of the boundary shelf, and at least one side of the boundary shelf is a driving road of the robot; the control unit responds to the fact that the attribute information of the target task accords with the target preset condition, and controls the target robot to execute a reverse instruction, wherein the reverse instruction is used for controlling the target robot to execute the target task at a second task execution position of the boundary goods shelf, the directions of the target robot for executing the target task at the first task execution position and the second task execution position are opposite, the congestion can be judged early when the robot receives the task, and the strategy can be adjusted in time when the congestion possibly occurs so as to control the robot to arrive at another task execution position, so that the congestion risk is avoided.

The robot control system of the present disclosure may include a shelf group, a robot group, and a control server. Wherein the pallet group may be comprised of any number of pallets. The robot group may be composed of any number of robots. The control server may refer to a server for controlling the robot to complete tasks at the shelves. For example, a group of shelves may be all of the shelves in a certain warehouse of the logistics platform. The shelves in the shelf group can be placed in various existing shelf arrangements. The robot group can be a robot for taking, placing and other tasks in the warehouse.

Boundary shelves and non-boundary shelves may be included in the set of shelves. The boundary shelf may refer to a shelf having at least one side of a travel path of the robot. For example, the shelves in a shelf group may be arranged in a row with a specified number of shelves and placed in a multi-row order. At this time, the two outermost shelves in each row of shelves are boundary shelves (e.g., shelf "a" and shelf "B" in fig. 3), and each adjacent shelf in the boundary shelves is a non-boundary shelf (e.g., other shelf located between shelf "a" and shelf "B" in fig. 3).

Each boundary shelf may correspond to a first task execution location and a second task execution location. The robots in the robot group may perform corresponding boundary shelf-related tasks at the first task execution location or the second task execution location. Generally, the robot may preferentially perform tasks at the first task execution location of each shelf. But when it is determined that the robot may cause congestion or has caused congestion at the first task execution location of the boundary shelf, the robot may be controlled to execute tasks at the second task execution location of the boundary shelf to avoid congestion. Namely, the second task execution position corresponding to each boundary shelf can be used as an auxiliary task execution position so as to avoid the robot congestion condition. For the non-boundary shelf, only the first task execution position is set for the robot to stop to execute the task.

The control server can realize the robot control method described in the above embodiments to control the robot to flexibly select the task execution position at the boundary shelf, so as to avoid the occurrence of the conditions of robot congestion and the like.

Optionally, the ground of the task execution area corresponding to each boundary shelf may be provided with a first position identifier and a second position identifier, and the ground of the task execution area corresponding to each non-boundary shelf is provided with the first position identifier. The task execution area corresponding to each boundary shelf generally refers to an area near each boundary shelf, i.e. an area where a robot can stop to complete a task corresponding to the boundary shelf. The first location identifier and the second location identifier may be various information (such as two-dimensional codes, signs, etc.) capable of identifying the location.

Taking fig. 9 as an example, a schematic diagram of the first location identifier and the second location identifier is shown. As shown, a primary ground code and a secondary ground code are arranged on the ground in front of the boundary shelf "a", wherein the primary ground code can be used as a first position identifier to represent a first task execution position of the boundary shelf. The secondary ground code may be identified as a second location to represent a second task execution location of the boundary shelf. The robots are opposite in direction (direction shown by arrow in the figure) when parking at the primary and secondary ground codes respectively to perform tasks. Only the main ground code can be set on the ground in front of the non-boundary goods shelf 'B' as a first position mark for the robot to stop to execute the task corresponding to the non-boundary goods shelf. It should be noted that only the ground code designs corresponding to one boundary shelf "a" and one non-boundary shelf "B" are shown in fig. 9. Other boundary shelves and non-boundary shelves may be designed accordingly, not shown.

Referring now to fig. 10, a schematic diagram of an electronic device (e.g., server in fig. 1) 1000 suitable for use in implementing embodiments of the present disclosure is shown. The server illustrated in fig. 6 is merely an example, and should not be construed as limiting the functionality and scope of use of the embodiments of the present disclosure in any way.

As shown in fig. 10, the electronic device 1000 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 1001 that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 1002 or a program loaded from a storage means 1008 into a Random Access Memory (RAM) 703. In the RAM 1003, various programs and data necessary for the operation of the electronic apparatus 1000 are also stored. The processing device 1001, the ROM 1002, and the RAM 1003 are connected to each other by a bus 1004. An input/output (I/O) interface 1005 is also connected to bus 1004.

In general, the following devices may be connected to the I/O interface 1005: input devices 1006 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, and the like; an output device 1007 including, for example, a Liquid Crystal Display (LCD), speaker, vibrator, etc.; storage 1008 including, for example, magnetic tape, hard disk, etc.; and communication means 1009. The communication means 1009 may allow the electronic device 1000 to communicate wirelessly or by wire with other devices to exchange data. While fig. 10 shows an electronic device 1000 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 10 may represent one device or a plurality of devices as needed.

The robot in the embodiments of the present disclosure may include the above-described electronic device 1000. The robot may then perform the methods described in the above embodiments using the electronic device installed itself. Robots may also be equipped with various devices (e.g., camera devices, microphone devices, etc.) to meet various needs.

In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device 1009, or installed from the storage device 1008, or installed from the ROM 1002. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 1001.

It should be noted that, the computer readable medium according to the embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In an embodiment of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Whereas in embodiments of the present disclosure, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.

The computer readable medium may be contained in the electronic device; or may exist alone without being assembled into the server. The computer readable medium carries one or more programs which, when executed by the server, cause the server to: determining whether a first robot prevents the second robot from running currently, wherein the first robot comprises a robot which is executing a task at a first task execution position of a boundary goods shelf, and one side of the boundary goods shelf is a running road where the second robot is located currently; in response to determining that there is a first robot blocking current travel of a second robot, determining current attribute information of a task performed by the first robot; and controlling the first robot to execute a turning instruction in response to determining that the current attribute information meets a first preset condition, wherein the turning instruction is used for controlling the first robot to turn around to run to a second task execution position of the boundary shelf so as to release the obstruction to the current running of the second robot and controlling the first robot to continue to execute the current task at the second task execution position.

Computer program code for carrying out operations of embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units involved in the embodiments described in the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The described units may also be provided in a processor, for example, described as: a processor includes a first determination unit, a second determination unit, and a control unit. The names of these units do not constitute a limitation of the unit itself in some cases, and for example, the first determination unit may also be described as "a unit that determines whether or not there is a first robot obstructing the current travel of the second robot".

The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.

Claims (18)

1. A robot control method comprising:

determining whether a first robot prevents current running of a second robot, wherein the first robot comprises a robot which is executing a task at a first task execution position of a boundary goods shelf, and one side of the boundary goods shelf is a running road where the second robot is located currently;

in response to determining that there is a first robot blocking current travel of a second robot, determining current attribute information of a task performed by the first robot;

and controlling the first robot to execute a turning instruction in response to determining that the current attribute information meets a first preset condition, wherein the turning instruction is used for controlling the first robot to turn around to travel to a second task execution position of the boundary shelf so as to release the obstruction to the current travel of the second robot and controlling the first robot to continue to execute the current task at the second task execution position.

2. The method of claim 1, wherein the method further comprises:

and in response to determining that the current attribute information does not meet a first preset condition, controlling the first robot to continue to execute the current task at the first task execution position.

3. The method of claim 2, wherein the method further comprises:

in response to determining that a third robot receives a target task, determining attribute information of the third robot to execute the target task, wherein the target task is executed at a first task execution position of a boundary shelf;

and controlling the third robot to execute a reverse instruction in response to determining that the attribute information of the target task meets a second preset condition, wherein the reverse instruction is used for controlling the third robot to execute the target task at a second task execution position of the boundary shelf, and the third robot executes the target task at the first task execution position and the second task execution position in opposite directions respectively.

4. A method according to claim 3, wherein the method further comprises:

and in response to determining that the attribute information of the target task does not meet a second preset condition, controlling the third robot to arrive at the first task execution position of the boundary shelf to execute the target task.

5. The method of claim 4, wherein a first location identifier is provided at a first task execution location of the boundary shelf and a second location identifier is provided at a second task execution location of the boundary shelf, the first and second location identifiers being used to assist the robot in reaching the corresponding task execution location.

6. The method according to one of claims 1-5, wherein the current attribute information is used to represent at least one of the following attributes: the time length of the execution of the remaining tasks, whether other robots block the execution of the tasks when reaching the second task execution position, and the priority of the task execution.

7. The method according to one of claims 3-5, wherein the attribute information of the target task is used to represent an expected duration of the completion of the task by the third robot at the first task execution position of the boundary shelf.

8. A robot control method comprising:

in response to determining that a target robot receives a target task, determining attribute information of the target robot for executing the target task, wherein the target task is executed at a first task execution position of a boundary goods shelf, and at least one side of the boundary goods shelf is a running road of the robot;

And controlling the target robot to execute a reverse instruction in response to determining that the attribute information of the target task meets a target preset condition, wherein the reverse instruction is used for controlling the target robot to execute the target task at a second task execution position of the boundary shelf, and the target robot executes the target task at the first task execution position and the second task execution position in opposite directions respectively.

9. The method of claim 8, wherein the method further comprises:

and in response to determining that the attribute information of the target task does not meet the target preset condition, controlling the target robot to reach a first task execution position of a boundary shelf to execute the target task.

10. The method of claim 9, wherein a first location identifier is provided at a first task execution location of the boundary shelf and a second location identifier is provided at a second task execution location of the boundary shelf, the first and second location identifiers being used to assist the robot in reaching the corresponding task execution location.

11. The method of claim 10, wherein the attribute information of the target task is used to represent an expected duration of time the target robot completes a task at a first task execution location of a boundary shelf.

12. A robot control device, wherein the device comprises:

a first determination unit configured to determine whether there is a first robot obstructing current travel of a second robot, wherein the first robot includes a robot performing a task at a first task execution position of a boundary shelf, one side of the boundary shelf being a travel road on which the second robot is currently located;

a second determination unit configured to determine current attribute information of a task performed by the first robot in response to determining that there is a current travel of the second robot blocked by the first robot;

and the control unit is configured to control the first robot to execute a turning instruction in response to determining that the current attribute information meets a first preset condition, wherein the turning instruction is used for controlling the first robot to turn around to travel to a second task execution position of the boundary shelf so as to release the obstruction to the current travel of the second robot and controlling the first robot to continue to execute the current task at the second task execution position.

13. A robot control device comprising:

a determining unit configured to determine attribute information of a target robot to execute a target task in response to determining that the target robot receives the target task, wherein the target task is executed at a first task execution position of a boundary shelf, at least one side of which is a driving road of the robot;

And the control unit is configured to control the target robot to execute a reverse instruction in response to determining that the attribute information of the target task meets a target preset condition, wherein the reverse instruction is used for controlling the target robot to execute the target task at a second task execution position of the boundary shelf, and the directions of the target robot to execute the target task at the first task execution position and the second task execution position are opposite.

14. An electronic device, comprising:

one or more processors;

a storage device having one or more programs stored thereon;

when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-11.

15. A robot comprising the electronic device of claim 9.

16. A robot control system comprises a goods shelf group, a robot group and a control server; the robot in the robot group executes corresponding tasks related to the boundary shelves at the first task execution position or the second task execution position;

The control server is configured to implement the method according to any one of claims 1 to 11.

17. The system of claim 16, wherein the set of shelves further comprises non-boundary shelves, each non-boundary shelf corresponding to a first task execution location; and

the ground of the task execution area corresponding to each boundary shelf is provided with a first position mark and a second position mark;

the ground of the task execution area corresponding to each non-boundary shelf is provided with a first position identifier.

18. A computer readable medium having stored thereon a computer program, wherein the program when executed by a processor implements the method of any of claims 1-11.