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WO2020052592A1 - 机器人控制系统和方法、计算设备及存储介质 - Google Patents

机器人控制系统和方法、计算设备及存储介质 Download PDF

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Publication number
WO2020052592A1
WO2020052592A1 PCT/CN2019/105382 CN2019105382W WO2020052592A1 WO 2020052592 A1 WO2020052592 A1 WO 2020052592A1 CN 2019105382 W CN2019105382 W CN 2019105382W WO 2020052592 A1 WO2020052592 A1 WO 2020052592A1
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WO
WIPO (PCT)
Prior art keywords
target container
container
self
task
destination
Prior art date
Application number
PCT/CN2019/105382
Other languages
English (en)
French (fr)
Inventor
刘凯
王梦迪
白易欣
Original Assignee
北京极智嘉科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201811062251.7A external-priority patent/CN109048952A/zh
Priority claimed from CN201910258694.1A external-priority patent/CN109969674B/zh
Priority to JP2021510315A priority Critical patent/JP7069409B2/ja
Priority to SG11202102360QA priority patent/SG11202102360QA/en
Priority to CA3112489A priority patent/CA3112489C/en
Priority to US17/271,590 priority patent/US11365050B2/en
Priority to RU2021110019A priority patent/RU2757646C1/ru
Priority to KR1020217036926A priority patent/KR20210141767A/ko
Application filed by 北京极智嘉科技有限公司 filed Critical 北京极智嘉科技有限公司
Priority to AU2019339988A priority patent/AU2019339988B2/en
Priority to EP19859195.0A priority patent/EP3851253A4/en
Priority to KR1020217005066A priority patent/KR102327822B1/ko
Publication of WO2020052592A1 publication Critical patent/WO2020052592A1/zh
Priority to AU2022201885A priority patent/AU2022201885B2/en
Priority to JP2022073708A priority patent/JP7419432B2/ja
Priority to US17/742,087 priority patent/US11987444B2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41845—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by system universality, reconfigurability, modularity
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/80—Arrangements for reacting to or preventing system or operator failure
    • G05D1/81—Handing over between on-board automatic and on-board manual control
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G—PHYSICS
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    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0216—Codes or marks on the article
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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    • G05B2219/32388—Autonomous flexible system, cells and agv autonomous

Definitions

  • the present application relates to the field of storage, for example, to a robot control system and method, a computing device, and a storage medium.
  • the multi-layer picking solution used in three-dimensional space in related technologies is mainly realized by three-dimensional shuttles.
  • the three-dimensional shuttle solution requires high shelf accuracy and high ground settlement index and flatness index. If the ground settlement index and flatness index are not up to standard, the shuttle car will be stuck on the track, so the construction cost is very high.
  • maintenance and repair are complicated after a system failure, and it is very dangerous for personnel to enter the three-dimensional rack rail. No manual work is possible after a system failure.
  • Robot-based container-to-person automated picking scheme is a multi-layer picking scheme that solves the use of three-dimensional space.
  • the scheme usually uses ordinary attic shelves.
  • the robot runs on the floor of the attic. There is no need to set a special shelf track.
  • the robot's box picking mechanism can be raised and lowered. It is used to hold shelves of different heights in the same attic.
  • Container the robot can take one box or multiple boxes at a time and send it to the operation station. After the station completes the picking, the robot returns the material box to the shelf.
  • the mezzanine floor where the operation station is located is the operation floor, and the other mezzanine floors are stored.
  • the cross-layer transmission of the container needs to be performed.
  • the common multi-layer picking scheme is a three-dimensional shuttle.
  • the container cross-layer transmission scheme is used for the elevator to work with the conveyor line to the operating station. The cost of a picking solution is higher.
  • the embodiments of the present application provide a robot control method and system, a computing device, and a storage medium to avoid the disadvantages in the related technologies.
  • An embodiment of the present application provides a robot control system including a storage area, a hoist, a control device, and at least one self-propelled robot, the control device is communicatively connected with the hoist and the self-propelled robot; the storage area has At least two floors of attics are configured as storage containers, and a passage for self-propelled robots is provided on the floor of each attic; hoists are configured to move self-propelled robots or containers to the destination attic corresponding to the handling task Floor; a control device configured to assign a moving task to a self-propelled robot and plan a running route for the self-propelled robot on the destination floor according to the moving task, and schedule the self-propelled robot to follow the operation Route operation to execute the handling task; a self-propelled robot is configured to reach a target container location of a destination floor corresponding to the handling task according to a running route corresponding to the handling task, and obtain the target container, The operation route transports the target container to the transport task destination; wherein the container To store
  • An embodiment of the present application provides a robot control method, which includes: assigning a handling task to at least one self-propelled robot; planning a running route for the at least one self-propelled robot on a destination floor corresponding to the handling task, and controlling the At least one self-propelled robot running to the location of the target container corresponding to the handling task according to the route, and obtaining the target container; controlling the at least one self-propelled robot carrying the target container to run to the position of the hoist; Controlling the hoist to carry the at least one self-propelled robot to a destination floor where the carrying task destination is located; controlling the at least one self-propelled robot to carry the target container to the carrying task destination.
  • An embodiment of the present application provides a method for controlling a robot, including: receiving a handling task assigned by a control device; and on a destination court floor corresponding to the handling task, running to a corresponding destination of the handling task according to a running route planned by the control device.
  • the target container is located and the target container is obtained; according to the running route, the target container is transferred to the transfer task destination.
  • An embodiment of the present application provides a computing device, including a memory, a processor, and computer instructions stored on the memory and executable on the processor.
  • the processor executes the instructions, any one of the robot control methods is described. Method steps.
  • An embodiment of the present application provides a computer-readable storage medium that stores computer-executable instructions, and when the computer-executing instructions are executed, the steps of any one of the methods in the robot control method are implemented.
  • FIG. 1 is a structural diagram of a robot control system according to an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a communication frame of a robot control device according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of a self-propelled robot in a robot control system according to an embodiment of the present application
  • FIG. 4 is a schematic structural diagram of a hoist in a robot control system according to an embodiment of the present application.
  • FIG. 5 is a schematic plan view of a storage area pavilion floor of another robot control system according to an embodiment of the present application.
  • FIG. 6 is a flowchart of a robot control method according to an embodiment of the present application.
  • FIG. 7 is a flowchart of a robot control method according to an embodiment of the present application.
  • FIG. 8 is a structural diagram of a robot control system according to another embodiment of the present application.
  • FIG. 9 is a schematic plan view of a floor of a storage area of a robot control system according to an embodiment of the present application.
  • FIG. 10 is a flowchart of a robot control method according to an embodiment of the present application.
  • FIG. 11 is a flowchart of a robot control method according to another embodiment of the present application.
  • FIG. 13 is a structural diagram of a robot control system according to another embodiment of the present application.
  • FIG. 1 shows a robot control system according to an embodiment of the present application, which includes a storage area, a hoist 104, a control device 105, an operation station 106, and at least one self-driven robot 103.
  • the storage area has at least two levels of attics, is configured as a storage container 101, and a passageway 102 is provided on the ground floor of each floor for the operation of a self-propelled robot.
  • the container 101 may be a bin or a cargo box on a container carrier, a tray on the container carrier, or another container that can be used for storing articles.
  • the container carrier may be a shelf.
  • the self-propelled robot 103 can run on each floor of the attic.
  • the hoist 104 is configured to carry the self-propelled robot 103 or the container 101 to a destination floor corresponding to the carrying task.
  • the control device 105 is configured to allocate a moving task to the self-propelled robot 103 and plan a running route for the self-propelled robot 103 on the destination floor according to the handling task, and schedule the self-propelled robot 103 to perform The operation route runs and performs the handling task.
  • the self-propelled robot 103 is configured to obtain the target container in accordance with the operation route corresponding to the transportation task and reach the target container location on the destination floor corresponding to the transportation task, and carry the target container according to the operation route. To the transport task destination.
  • the control device 105 is communicatively connected with the hoist 104 and the self-propelled robot 103.
  • the storage area is provided with an operation station 106 on at least one level of the attic.
  • the operation station 106 is used for operation operation of the container 101.
  • the operation operation may be a picking operation, an inventory operation, a picking operation, or a tally operation. Wait.
  • the robot control system provided in the embodiment of the present application, by setting a channel for the self-propelled robot to run on the floor of each floor, combined with a hoist, enables the self-propelled robot to run on each floor, thereby improving the flexibility of the self-propelled robot. , Can complete a variety of services according to actual needs, without the need to install shuttle tracks, greatly reducing construction costs.
  • FIG. 2 is a schematic diagram of a communication frame of a robot control device according to an embodiment of the present application.
  • the components of the control device 105 include, but are not limited to, a memory 210 and a processor 220.
  • the processor 220 and the memory 210 are connected through a bus 230, and the database 250 is configured to store the handling tasks.
  • the control device 105 further comprises an access device 240 which enables the control device 105 to communicate via one or more networks 260.
  • networks include Public Switched Telephone Network (PSTN), Local Area Network (LAN), Wide Area Network (WAN), Personal Area Network (PAN), or a network such as the Internet A combination of communication networks.
  • the access device 240 may include one or more of any type of network interface (e.g., Network Interface Card (NIC)), such as IEEE 802.11 Wireless Local Area Networks (WLAN), wired or wireless.
  • NIC Network Interface Card
  • Wireless interface Worldwide Interoperability for Microwave and Wi-MAX interface, Ethernet interface, Universal Serial Bus (USB) interface, cellular network interface, Bluetooth interface, near field communication (Near Field Communication (NFC) interface, and so on.
  • control device 105 may also be connected to each other, for example, via a bus.
  • the control device 105 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., tablet computer, personal digital assistant, laptop computer, notebook computer, netbook, etc.), a mobile phone (e.g., smartphone ), A wearable computing device (eg, a smart watch, smart glasses, etc.) or other type of mobile device, or a stationary computing device such as a desktop computer or PC.
  • the control device 105 may also be a mobile or stationary server.
  • the control device 105 communicates with the self-propelled robot 103 and the hoist via the network 260, and sends control instructions to control the robot control system, or receives messages returned by the self-propelled robot or hoist to implement the robot. Control of the control system.
  • the handling task may carry a coded identifier of the target container; the at least one self-propelled robot may travel to the location of the target container according to the running route on the destination pavilion floor, and may The target container is obtained by identifying the coding identifier of the target container.
  • the embodiments of the present application are not limited to the structure of the self-propelled robot, and may adopt any structure in the related art to realize the functions of taking out from the shelf and putting containers into the shelf.
  • a robotic arm may be provided on the self-propelled robot, and the container may be taken out and put into the container;
  • a gripping structure may also be provided on the self-propelled robot, and the container may be taken out and put into the container in a gripping manner; other structures may also be used.
  • the at least one self-propelled robot 103 includes a box taking telescopic mechanism 301, a lifting mechanism 302, and a robot motion chassis 303.
  • the box taking telescopic mechanism 301 is configured to obtain one or more target containers.
  • the lifting mechanism 302 is configured to control the vertical adjustment of the box taking telescopic mechanism 301 so that the box taking telescopic mechanism can obtain target containers on shelves at different heights of the destination floor.
  • the robot motion chassis 303 is configured to control the at least one self-propelled robot to travel along the operation route planned by the control device on the destination aisle floor operation channel.
  • the target container is a container 101 that needs to be transported during a transport task.
  • the self-propelled robots provided in the embodiments of the present application run on the ground runway on each floor of the attic, which greatly improves the flexibility of container handling and can complete various services according to actual needs without the need to install a shuttle track, which greatly reduces the construction cost. .
  • the hoist 104 is provided with a temporary storage position 104A configured to temporarily store the self-driving robot 103 or the target container.
  • the target container is a container 101 that needs to be transported during a transport task.
  • FIG. 5 is a schematic plan view of a mezzanine floor in an embodiment of the present application.
  • a storage unit 501 including a shelf, an operation station 106 and a running channel 102.
  • the storage unit 501 of the shelf is used to store containers.
  • the plurality of operation stations 106 may be used to perform picking operation, inventory operation, replenishment operation, or tally operation on the goods in the transported container.
  • the operation channel 102 is used for the self-propelled robot to operate.
  • the storage area has at least two storeys.
  • the container needs to be moved between different attic floors, it can be achieved by means of a hoist.
  • the embodiments of the present application provide two methods of lifting a robot and lifting a container.
  • the moving task is composed of a first moving task and a second moving task.
  • the first moving task needs to send the target container to the temporary storage location of the elevator
  • the second moving task is a self-driving vehicle that carries the target container.
  • the robot is sent to the operation station or container carrier on the destination floor.
  • the solution is a lifting robot method, and the control device controls the first self-propelled robot to reach the target container location of the destination floor corresponding to the first handling task according to the first running route corresponding to the first handling task to obtain the target container. , Carrying the target container to a temporary storage position of the hoist and sending a ready status signal to the control device.
  • the container carrier may be a storage unit of a shelf.
  • the destination of the second handling task includes an operating station or a storage unit of a shelf on the destination floor of the second handling task; the control device receives the status signal and controls the hoist to drive the first self-driving The robot moves to the destination floor of the second handling task; and controls the first self-propelled robot to operate on the destination floor of the second handling task in accordance with a second operation route corresponding to the second handling task And carrying the target container to a storage unit of an operating station or a shelf of a destination floor of the second carrying task.
  • the self-propelled robot can reach different mezzanine floors through the hoist, so that each self-propelled robot can pick up the containers on any mezzanine floor, and can send the containers to the operation station on any mezzanine floor. After the operation is completed, the self-propelled robot can return the container to the storage unit of the shelf on any mezzanine floor.
  • the moving task is composed of a first moving task and a second moving task.
  • the first moving task needs to send the target container to the temporary storage position of the elevator, and the second moving task is to send the target container to the destination.
  • This solution is a container lifting method.
  • the second self-propelled robot obtains the target container according to the first operation route corresponding to the first handling task and reaches the target container location of the destination floor corresponding to the first handling task.
  • the container is transferred to the temporary storage position of the hoist and sends a ready status signal to the control device.
  • the destination of the second handling task is an operating station or a storage unit of a shelf on the destination floor of the second handling task; the control device receives the status signal and controls the hoist to lift the target container to The destination floor; and controlling a third self-propelled robot located on the destination floor to operate on the destination floor according to the second operation route of the second handling task, and carry the target container to the destination
  • the storage unit of the operating station or shelf of the destination floor of the second handling task is described; the second self-propelled robot is different from the third self-propelled robot.
  • the container Under the method of lifting the container, through the cooperation of the self-propelled robots located on different mezzanine floors and the elevator, the container can be transported to a workstation or a storage unit of a shelf on any mezzanine floor.
  • the hoist in the manner of lifting the container, may also be connected to the roller line of the operating station; the control device receives the status signal sent by the hoist, and controls the hoist to transfer the target The container is transferred to the destination floor of the third transfer task, and the elevator is controlled to transfer the target container to the roller line, and the target container is transferred to the operator through the roller line. Bit.
  • the roller table line may also be configured to receive a container that completes a work operation at an operation station, where the work operation may be a picking operation.
  • control device may further control the hoist to obtain the target container from the roller line and place the target container in a temporary storage position of the hoist, and the target container is transferred to the handling task.
  • Purpose Pavilion floor The control device controls a self-propelled robot located on the destination floor to obtain the target container from the temporary storage position of the hoist, and transports the target container to the handling task destination.
  • control device may control the self-propelled robot to queue at the operation station to wait for a job operation; after the job operation is completed, control the A self-propelled robot carries the target container that completes the operation operation, and sends it to the next operation station or returns it to a storage unit in a shelf.
  • the control device may control the The self-propelled robot obtains at least one operable container other than the target container and sends it to the storage unit.
  • the storage position of the operation station may be a buffer rack or a buffer roller line of the operation station.
  • the operable container may be a container that has completed a work operation.
  • control device is further configured to: receive and save the code of the target container, perform a thermal evaluation on the target container according to the heat and quantity of the goods stored in the target container; and control the self-driving
  • the robot moves the target container whose heat exceeds a preset threshold to a storage unit of a shelf in a preset area, and records the binding relationship between the target container and the storage unit; or controls the self-propelled robot to In order from high to low, the container is transported to a storage unit of a shelf from near to far from an operation station, and a binding relationship between the container and the storage unit is recorded.
  • the preset area may be an area where a storage unit located near the operation station is located, for example, it may be a storage unit at a distance of 3 meters or 5 meters from the operation station. In this way, the containers where the frequently-used goods are stored are stored in a nearby storage unit, which reduces the time required for transportation and improves business processing efficiency.
  • the container shelf is a shelf placed on each attic of the storage area, and each container shelf has multiple storage units, and each storage unit can store one container.
  • the channel for the self-propelled robot to operate may be configured to supply urgent manual operations.
  • a walking ladder or elevator can be installed for the storage area.
  • a coded identifier is provided on the container for identification, and the coded identifier may be a two-dimensional code, a Radio Frequency Identification (RFID) tag, or the like.
  • RFID Radio Frequency Identification
  • the replenishment process means that the goods are not stored together with the container, and the goods are put into the existing container.
  • Operations at the operating stations include warehouse, inventory, or tally operations.
  • the FCL storage process includes the following steps.
  • step (1) the control device receives the container number, the product number, the number of goods, and records the binding relationship. Multiple containers can be bound to one container.
  • step (2) the control device determines whether there are empty containers on the container shelf. Based on the result of judging that there are empty containers on the container shelf, the control device dispatches the self-propelled robot to take empty containers, and moves the empty containers to the operating station, and controls the self-propelled robots to queue in the operating station. Based on the judgment result of the empty container in the storage unit, the control device directly controls the self-propelled robot to queue at the operation station.
  • Step (2) and step (1) can be performed simultaneously.
  • step (3) the self-propelled robot obtains the container and detects the code of the container, and submits it to the control device, and the control device records the container number carried by the self-propelled robot.
  • step (4) the control device allocates the containers to the corresponding shelf storage units according to the commodity heat and quantity of the containers.
  • step (5) when all the container temporary storage positions of the self-propelled robot are put into the container, or the operation station has no remaining containers to be stored, the control device schedules the self-propelled robot to leave the operation station, and For the self-propelled robot, an optimal order for returning the container path is planned.
  • the self-propelled robot sequentially runs to the position of the storage unit allocated by the system, and places the container in the storage unit. When the path needs to go up and down the mezzanine floor, the robot is transported to the corresponding floor by a hoist.
  • the replenishment process includes the following steps.
  • step (1) the control device selects several containers capable of storing commodities according to the commodities to be stored in the warehouse.
  • It can be an empty container or a container with goods but storage space.
  • the control device controls the self-propelled robot to remove these containers and transport the containers to the operation station, and the self-propelled robots line up at the operation station.
  • the self-propelled robot is transported to the corresponding floor by a hoist.
  • step (2) receiving a product code, a container code, recording the binding relationship between the container and the product, and controlling the self-driving robot to receive the product through the container.
  • step (3) when the current station completes the replenishment operation or the container carried by the current self-propelled robot has no storage space, the control device interacts with the interface feedback, and the control device allocates the container to the container according to the product's heat and quantity.
  • step (4) the control device dispatches the robot to leave the operation station, and plans the optimal return path sequence of the container for the self-propelled robot.
  • the self-propelled robot moves to the position of the storage unit allocated by the control device, and places the container in the storage unit.
  • the robot is transported to the corresponding floor by a hoist.
  • the operation station operation flow includes the following steps.
  • step (1) the operation station starts the operation, and the control device hits several containers according to the operation document.
  • the control device assigns a self-propelled robot to remove these containers, and moves the empty containers to the operation station. .
  • the self-propelled robot is transported to the corresponding floor by a hoist.
  • step (2) the operation of the operation station is completed and fed back to the control device through the operation interface of the control device to the control device currently carrying the container.
  • step (3) the control device allocates the container to the storage unit of the corresponding container shelf according to the current commodity heat and quantity in the container.
  • step (4) the control device schedules the self-propelled robot to leave the operation station, and plans the optimal return path sequence of the container for the self-propelled robot.
  • the self-propelled robot sequentially goes to the location of the storage unit allocated by the system and puts the container into the unit .
  • the robot is transported to the corresponding floor by a hoist.
  • the robot control system provided in the embodiment of the present application, by setting a channel for the self-propelled robot to run on the floor of each floor, combined with a hoist, enables the self-propelled robot to run on each floor, thereby improving the flexibility of the self-propelled robot. , Can complete a variety of services according to actual needs, without the need to install shuttle tracks, greatly reducing construction costs.
  • FIG. 6 shows a schematic diagram of a robot control method according to an embodiment of the present application, which is applied to a control device side and includes steps 602 to 610.
  • a handling task is assigned to at least one autonomous robot.
  • the handling task carries a coded identifier of the target container.
  • the coded identifier may be a two-dimensional code or an RFID tag.
  • step 604 a running route is planned for the at least one self-propelled robot on the destination floor corresponding to the handling task, and the at least one self-propelled robot is controlled to run to the target corresponding to the handling task according to the route.
  • the target container is obtained at the container location.
  • the storage area has at least two floors of attics, is configured as a storage container, and a passageway for a self-propelled robot to run is provided on the floor of each floor.
  • step 606 the at least one self-propelled robot carrying the target container is controlled to run to a position where the hoist is located.
  • the hoist is provided with a temporary storage position and is configured to temporarily store the at least one self-driven robot or the target container.
  • control device may plan an optimal operation route for the at least one self-propelled robot, and control the at least one self-propelled robot to follow the operation route. Drive to avoid collisions.
  • step 608 the hoist is controlled to carry the at least one self-propelled robot or the target container to a destination floor where the destination of the handling task is located.
  • step 610 the at least one autonomous robot is controlled to carry the target container to the carrying task destination.
  • the handling task carries a coded identifier of the target container
  • the control device controls the at least one self-driving robot to obtain the target container by identifying a coded identifier of the target container.
  • the hoist is provided with a temporary storage position and is configured to temporarily store the at least one self-driven robot or the target container.
  • the handling task includes a first handling task, and a destination of the first handling task includes a temporary storage position of the hoist; the control device controls a first of the at least one self-propelled robot.
  • a self-propelled robot reaches a target container location of a destination floor corresponding to the first handling task according to a first running route corresponding to the first handling task, and obtains the target container.
  • the handling task further includes a second handling task
  • the destination of the second handling task includes an operating station or a storage unit of a shelf on the destination floor of the second handling task
  • the control The device receives a ready state signal sent by the first self-propelled robot; controls the hoist to carry the first self-propelled robot to a destination floor of the second handling task; and controls the first self-propelled robot
  • the robot runs on the destination floor of the second handling task in accordance with the second operation route of the second handling task, and moves the target container to an operation station or shelf of the destination floor of the second handling task.
  • the handling task includes a first handling task, and a destination of the first handling task includes a temporary storage position of the hoist;
  • the control device controls the at least one self-propelled robot Of the second self-propelled robot to obtain the target container in accordance with the first running route corresponding to the first handling task to the target container location of the destination floor corresponding to the first handling task;
  • the target container is transferred to a temporary storage position of the elevator.
  • the handling task further includes a second handling task, and the destination of the second handling task includes an operating station or a storage unit of a shelf on a destination floor of the second handling task; the control device receives the second handling task.
  • the destination floor of the second handling task is operated in accordance with the second operation route of the second handling task, and the target container is transferred to an operation station or shelf of the destination floor of the second handling task.
  • Storage unit; the second self-propelled robot is different from the third self-propelled robot.
  • the moving task further includes a third moving task
  • the destination of the third moving task includes an operating station on a destination floor of the third moving task
  • the hoist and operation The roller line of the station is connected
  • the control device receives the ready status signal sent by the second self-propelled robot; and controls the hoist to carry the target container to the destination loft of the third carrying task Layer; controlling the hoist to transfer the target container to the roller table line, and convey the target container to the operation station through the roller table line.
  • control device further controls the roller line to receive a container that has completed a picking operation.
  • the control device controls the hoist to obtain the target container from the roller path and place the target container in a temporary storage position of the elevator, and carry the target container to The destination loft floor of the handling task.
  • control device controls the at least one self-propelled robot to obtain the target container from a temporary storage position of the elevator at a destination floor of the handling task, and carry the target container To the transport task destination.
  • control device controls the at least one self-propelled robot carrying the target container to run to the operation station, and queues at the operation station to wait for a job operation; the job includes output Warehouse, inventory or tally operation; after the operation operation is completed, controlling at least one of the self-propelled robots to carry the target container that completes the operation operation.
  • the control device may further control the at least one self-propelled robot to run to the operation station, and push the target container to a buffer rack or a buffer roller line of the operation station, and obtain at least one removal target Operable container other than the container.
  • a storage unit including a shelf at the handling task destination; the control device controlling the at least one self-propelled robot to carry the target container to the handling task destination includes: receiving a completed transmission sent by the self-propelled robot The coding of the target container of the operation operation; performing a thermal evaluation of the target container according to the heat and quantity of the goods stored in the target container of the completed operation operation; controlling the self-propelled robot to target the target whose heat exceeds a preset threshold The container is transferred to a storage unit of a shelf in a preset area, and the binding relationship between the target container and the storage unit is recorded; or the self-propelled robot is controlled to sort the containers according to the order of the container ’s heat from high to low Carry it to the storage unit of the shelf from near to far from the operation station, and record the binding relationship between the container and the storage unit.
  • the robot control method provided in the embodiment of the present application can control the self-propelled robot to set up a channel for the self-propelled robot to run on the floor of each floor, which greatly improves the flexibility of the self-propelled robot and can be completed according to actual needs. For various businesses, there is no need to install shuttle tracks, which greatly reduces construction costs.
  • FIG. 7 is a schematic diagram illustrating another robot control method according to an embodiment of the present application, which is applied to a self-propelled robot side and includes steps 702 to 706.
  • step 702 a transfer task assigned by the control device is received.
  • step 704 the target container floor corresponding to the transportation task is operated according to the operation route planned by the control device to the location of the target container corresponding to the transportation task to obtain the target container.
  • the destination mezzanine floor is a certain floor in a storage area having at least two floors.
  • a passageway for self-propelled robots is set on the ground floor of each floor of the storage area.
  • step 706 the target container is transferred to the transfer task destination according to the running route.
  • the coded identification of the target container is carried in the handling task; the self-driving robot obtains the target container by identifying the coded identification of the target container.
  • the handling task includes a first handling task, and a destination of the first handling task includes a temporary storage position of a hoist; the self-propelled robot arrives according to a first operation route corresponding to the first handling task.
  • the location of the target container on the destination floor corresponding to the first handling task is to obtain the target container; the self-propelled robot carries the target container to the temporary storage position of the elevator, and sends a ready status signal to the Mentioned control device.
  • the handling task further includes a second handling task, and the destination of the second handling task includes an operating station or a storage unit of a shelf on the destination floor of the second handling task; the self-propelled robot carries the target The container reaches the destination mezzanine floor of the second handling task through the hoist; the destination mezzanine floor of the second handling task is operated according to the second operation route of the second handling task, and the target container is operated A storage unit that is transported to an operating station or shelf of a destination floor of the second transport task.
  • the handling task includes a first handling task, and a destination of the first handling task includes a temporary storage position of a hoist; the self-propelled robot arrives according to a first operation route corresponding to the first handling task.
  • the moving task includes a second moving task
  • the destination of the second moving task includes an operating station or a storage unit of a shelf on the destination floor of the second moving task.
  • the target container location of the second handling task is the temporary storage location of the hoist; the target container of the second handling task is obtained from the temporary storage location of the hoist, and the self-propelled robot located at the destination floor of the second handling task is located
  • the temporary storage position of the hoist obtains the target container of the second handling task; runs on the destination floor of the second handling task according to the second operation route of the second handling task, and carries the target container A storage unit of an operation station or a shelf to the destination floor of the second handling task.
  • the self-propelled robot carrying the target container runs to the operation station and queues at the operation station to wait for a picking operation; after the picking operation is completed, the target container that has completed the picking operation is carried, and The target container is carried to the next operation station or returned to the shelf.
  • the self-propelled robot pushes the target container to a buffer shelf or a buffer roller line of the operation station, and obtains at least one operable container through a box taking telescopic mechanism.
  • the destination of the handling task includes a storage unit of a shelf;
  • the handling of the target container to the destination of the handling task includes: a self-driving robot detects a code of a container that has completed a picking operation, and The code is sent to the control device; the container where the goods whose heat exceeds a preset threshold is moved to a storage unit of a shelf in a preset area; or the containers are arranged in the order of the heat of the containers from high to low Carry to the storage unit of the shelf from near to far from the operating station.
  • a self-propelled robot combined with a hoist is provided with a channel for the self-propelled robot to run on the attic floor of each floor, which greatly improves the flexibility of the self-propelled robot, and can complete various kinds according to actual needs.
  • Business no need to install shuttle tracks, greatly reducing construction costs.
  • FIG. 8 and 13 illustrate a robot control system according to an embodiment of the present application, which includes a storage area, a container 101, a self-driven robot 103, a container hoist 1041, a control device 105, and a buffer mechanism 108.
  • the storage area includes at least two floors of the attic 107, which is configured as a storage container 101, and a passage for the self-propelled robot 103 to run is provided on the floor of the attic 107 of each floor, and at least one self-propelled robot is configured on each floor of the attic 107 103 and at least one cache mechanism 108.
  • the container 101 may be a bin or a container 101 on a container carrier, or a tray on the container carrier, or another form of a container that can be used to hold articles.
  • the passage through which the self-propelled robot 103 runs is described.
  • the self-propelled robot 103 runs on the mezzanine where it is located and obtains one or more containers 101.
  • workers can perform operations on the passage of the mezzanine 107, that is, each floor of the attic 107
  • An operating station 106 can be provided on the upper side for performing a picking operation, an inventory operation, a picking operation, or a tally operation on the container 101.
  • the control device 105 is configured to assign a handling task to the self-propelled robot 103 and plan a running route for the self-propelled robot 103 on the floor where the self-propelled robot 103 is located according to the handling task, and schedule the self-propelled robot 103 Run and execute the handling task according to the running route.
  • the control device 105 is further configured to assign a moving task to the self-propelled robot 103 and plan a running route for the self-propelled robot 103 on the floor where the self-propelled robot 103 is located according to the handling task, and control the self-propelled robot 103 runs and executes the handling task on the mezzanine floor according to the running route;
  • the handling task includes the self-propelled robot 103 obtaining a target container at a first target position of the mezzanine floor and carrying it to the buffer Mechanism 108; and / or, the self-propelled robot 103 obtains a target container from the buffer mechanism 108, and carries the target container to a second target position on the attic floor.
  • the first target position refers to the position of the target container when the self-propelled robot 103 obtains the target container according to the handling task;
  • the second target position refers to the self-drive When the robot 103 places the target container according to the handling task, the first target position and the second target position may be the same or different.
  • the control device 105 may store the correspondence between the storage space of the container carrier of the container 101 and the attic 107 and the inventory information of the container carrier of the attic 107, so as to require
  • the job document generates the handling task, and the self-driving robot 103 is assigned to perform the handling task.
  • the control device 105 can also plan the path and schedule the self-propelled robot 103 to perform a collision avoidance.
  • the control device 105 communicates with the container hoist 1041, the buffer mechanism 108, and the self-propelled robot 103 such that The self-driving robot 103 is docked with a buffer mechanism 108, and the buffer mechanism 108 is docked with a container hoist 1041.
  • the buffer mechanism 108 is configured to carry the target container, transfer the target container to the container lifter 1041, and / or transfer the target container out of the container lifter 1041; the container lifter
  • the machine 1041 is configured to transfer the target container to a destination floor corresponding to the transfer task.
  • a certain mezzanine floor A is configured with a self-driving robot B and a buffer mechanism C.
  • the control device may control the self-propelled robot B to obtain a target container at a first target position on the mezzanine floor A, and carry the target container to the cache mechanism C for storage, and then the control device may control the cache mechanism C to store the target The container is transferred to the container hoist.
  • the controller may also control the buffer mechanism C to transfer the target container from the container hoist to the buffer mechanism C and control the The self-propelled robot A obtains the container from the buffer mechanism C, and carries the container to a second target position of the container.
  • the container 101 realizes cross-layer transmission through the container hoist 1041.
  • the container hoist 1041 cooperates with the buffer mechanism 108 to dock with the self-driving robot 103.
  • the control device 105 dispatches the self-propelled robot 103 to transfer the target container to the buffer mechanism 108, and the buffer mechanism 108 sends the target container to the container hoist 1041.
  • the target container is transferred to the corresponding buffer mechanism 108 and waits to be removed by the corresponding self-driven robot 103.
  • the buffer mechanism 108 may be a roller table mechanism, such as a track line or a conveyor belt.
  • the buffer mechanism 108 is an n-level structure.
  • the control device 105 is further configured to control the container hoist 1041. And moving the target container to an idle level in the cache mechanism 108, where n is a natural number and n is greater than or equal to 2, and the number of levels of the cache mechanism 108 can be designed and adjusted according to the user's business situation.
  • the buffer mechanism is disposed on one or both sides of the container lifter 1041, and the container lifter 1041 is disposed corresponding to the buffer mechanism.
  • the buffer mechanism on the container hoist 1041 side is configured to send the container 101 into the container hoist 1041
  • the buffer mechanism on the other side of the container hoist 1041 is configured to send the container 101 out of the container hoist 1041, and the feeding action and the sending action Can be done sequentially or synchronously.
  • the container hoist 1041 includes a transfer mechanism and a container temporary storage position, and the transfer mechanism is configured to load a target container from the buffer mechanism into the container temporary storage position, And / or loading a target container located on the container temporary storage position into the cache mechanism.
  • the transfer mechanism includes a roller mechanism or a robot arm, and the roller mechanism or the robot arm has degrees of freedom in four directions: forward, backward, left, and right of the horizontal plane, so that the container hoist 1041 can operate in multiple directions. Docking with the cache mechanism 108 is implemented.
  • the working process of the embodiment of the present application is that, under the control of the control device 105, the self-propelled robot 103 obtains a container 101 that needs to be transported across floors to another floor, and the control device 105
  • the mechanism 108 At the mechanism 108, at least one of the containers 101 enters the corresponding container hoist 1041 in order. After the at least one of the containers 101 is lifted to the destination floor, the buffer mechanism 108 moves the container 101 out of the container hoist 1041.
  • the container 101 is temporarily stored, and the control device 105 assigns the self-driving robot 103 to the buffer mechanism 108 again to take out the container 101 and carry it to the operation station 106 in the storage area for picking, and After the sorting is completed, the cross-layer transmission homing of the container 101 is implemented in the above manner.
  • the robot control system provided in the embodiment of the present application adopts a self-propelled robot 103 combined with a loft-type rack to solve the problem of three-dimensional storage of goods to people's picking.
  • the self-propelled robot 103 is provided on the ground of each floor of the attic 107 for self-drive.
  • the passage of the robot, combined with the container elevator 1041, transports the target container to the target floors, so that the self-propelled robot can run on each attic floor, which improves the efficiency of cross-level logistics transmission and storage.
  • a buffer mechanism 108 docking with the self-propelled robot 103 is provided at the position of the robot, so that when the self-propelled robot 103 is not idle temporarily, the container hoist 1041 can also operate normally, so that the containers 101 on different mezzanine floors pass a
  • This flexible and efficient form realizes cross-layer transmission, which improves the efficiency and flexibility of the entire robot picking system, and reduces the cost of the container cross-layer transmission scheme.
  • FIG. 2 is a schematic diagram of a communication frame of a robot control device according to an embodiment of the present application.
  • the components of the control device 105 include, but are not limited to, a memory 210 and a processor 220.
  • the processor 220 and the memory 210 are connected through a bus 230, and the database 250 is used to store the handling tasks.
  • the control device 105 further includes an access device 240 that enables the control device 105 to communicate via one or more networks 260.
  • networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet.
  • the access device 240 may include one or more of any type of network interface (e.g., a network interface card (NIC)), wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, global microwave interconnect access (Wi-MAX) interface, Ethernet interface, universal serial bus (USB) interface, cellular network interface, Bluetooth interface, near field communication (NFC) interface, and so on.
  • NIC network interface card
  • control device 105 may also be connected to each other, for example, via a bus.
  • the control device 105 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., tablet computer, personal digital assistant, laptop computer, notebook computer, netbook, etc.), a mobile phone (e.g., smartphone ), A wearable computing device (eg, a smart watch, smart glasses, etc.) or other type of mobile device, or a stationary computing device such as a desktop computer or PC.
  • the control device 105 may also be a mobile or stationary server.
  • the control device 105 communicates with the self-propelled robot 103 and the hoist via the network 260, and controls the robot control system by sending control instructions or receiving messages returned by the self-propelled robot or the hoist.
  • the coded identification of the target container is carried in the handling task, and the control device 105 is further configured to control at least one of the self-propelled robots 103 in accordance with the The running route travels to the location of the target container, and the target container is obtained by checking the coding identifier of the target container.
  • the embodiments of the present application are not limited to the structure of a self-propelled robot, and can adopt any structure in the prior art to realize the functions of taking out from a shelf and putting containers into a shelf.
  • a robotic arm may be provided on the self-propelled robot, and the container may be taken out and put into the container;
  • a gripping structure may also be provided on the self-propelled robot, and the container may be taken out and put into the container in a gripping manner; other structures may also be used.
  • the at least one self-propelled robot 103 includes: a box taking telescopic mechanism 301 configured to obtain one or more target containers; a lifting mechanism 302 configured In order to control the box taking telescopic mechanism 301 to make up and down adjustments, the box taking telescopic mechanism obtains target containers on shelves at different heights on the mezzanine floor.
  • the robot motion chassis 303 is configured to control the at least one self-propelled robot to travel along a running route planned by a control device on a passage on which the at least one self-propelled robot runs.
  • the target container is a container 101 that needs to be transported during a transport task.
  • the self-propelled robot 103 provided in the embodiment of the present application runs on a channel running on the ground of the attic 102, which greatly improves the flexibility of carrying containers and can complete various services according to actual needs without installing a shuttle track, which greatly reduces Construction costs.
  • the buffer mechanism 108 includes a first buffer roller line, a second buffer roller line, and a transfer position.
  • the handling task includes a first handling task.
  • the destination includes a transfer position corresponding to the first buffer roller track line;
  • the control device 105 is further configured to control a first self-propelled robot in the at least one self-propelled robot 103 according to a The first running route obtains the target container at the location of the target container on the attic floor;
  • the control device 105 is further configured to control the first self-propelled robot to carry the target container to the first buffer roller line At a corresponding transfer position;
  • the first self-propelled robot is configured to send a ready status signal to the control device 105;
  • the control device 105 is further configured to receive the ready status signal, and Controlling the first buffer roller line to carry the target container to the container hoist 1041.
  • the handling task further includes a second handling task, and the destination of the second handling task includes a transfer position corresponding to the second buffer roller line; the control device 105 is further configured to control the container hoist 1041 The target container is transferred to the destination loft floor of the second transfer task; the control device 105 is further configured to control the container hoist 1041 to transfer the target container to the second buffer roller line The corresponding transfer position; the container hoist 1041 is further configured to send a status signal waiting for receipt to the control device 105.
  • the handling task also includes a third handling task, and the destination of the third handling task includes an operation station 106 or a container carrier on the destination floor of the second handling task; the control device 105 is also configured In order to receive the status signal waiting for receipt and control the second self-propelled robot in the at least one self-propelled robot 103 to operate on the floor where it is located according to a third operation route corresponding to the third handling task; the control The device 105 is further configured to control the second self-propelled robot to transfer the target container from a transfer position corresponding to the second buffer roller line to an operation station on a destination floor of the second transfer task. 106 or the container carrier, the first self-propelled robot is different from the second self-propelled robot.
  • the handling task is composed of a first handling task, a second handling task, and a third handling task, and the first buffer roller line and the second buffer roller line are respectively used to obtain a container.
  • the box-loading buffer roller line of 101 and the box-taking buffer roller line for temporarily storing the container 101 are provided on the line of the box-loading buffer roller and the box-loading buffer roller.
  • the transfer position of the docking robot, the running process of the handling task in this embodiment is: the self-driving robot 103 transports the taken container 101 to the transfer position corresponding to the roll buffer line of the box,
  • the container unloading roller line feeds the container 101 into the container hoist 1041; after the container 101 reaches the destination floor, it is transferred to the container picking buffer roller line by the container hoist 1041, wherein,
  • the box picking buffer roller line is set in a multi-layer form, and the control device 105 can move the container 101 into an idle level according to the vacancy of the box picking buffer roller line; the control device 105 controls the
  • the buffer mechanism further includes a third buffer roller line, and the third buffer roller line and the second buffer roller line are respectively disposed on both sides of the container hoist 1041;
  • the moving task further includes a fourth moving task, and a destination of the fourth moving task includes a destination floor of the fourth moving task.
  • the control device 105 is further configured to control the third buffer roller path to carry the container 101 located on the transfer position of the third buffer roller path to the container hoist 1041.
  • the control device 105 is further configured to control the container hoist 1041 to carry the container 101 to a destination floor of the fourth carrying task.
  • the third buffer roller line corresponds to the box-loading buffer roller line for acquiring the container 101, and the feeding operation of the box-loading buffer roller line and the box-feeding buffer roller line are completed synchronously.
  • the storage area includes at least one storage layer and one picking layer, and an operating station 106 is provided on the picking layer, and the operating station 106 is configured for the The target container performs the job operation.
  • control device 105 is further configured to, after controlling the self-driving robot 103 to carry the target container to the operation station 106, wait in line at the operation station 106 for a job operation;
  • the control device 105 is further configured to control the self-propelled robot 103 to carry the target container that completes the operation operation after the operation operation is completed, and carry the target container to the next operator.
  • Bit 106 may be returned to the container carrier of the attic 107.
  • control device 105 is further configured to transfer the target container to the operation container 106 after controlling the self-propelled robot 103 to run to the operation station 106.
  • the container carrier of the operation station 106 On the container carrier of the operation station 106, at least one operable container 101 other than the target container is obtained by controlling a box taking and retracting mechanism provided on the self-driving robot 103.
  • the operable container may be a container 101 that has completed a job operation.
  • control device 105 is further configured to receive a target container code identified by the self-driving robot 103, and heat the target container according to the heat and quantity of the goods stored in the target container. Evaluation.
  • the control device 105 is further configured to control the self-propelled robot 103 to carry a target container whose heat exceeds a preset threshold to a container carrier in a preset area, and record the binding between the target container and the container carrier. Or control the self-propelled robot 103 to move the target container to the attic 107 from the operating station 106 at a distance from the attic 107 to the operating station 106 in the descending order of the heat of the target container. In the container carrier, a binding relationship between the target container and the container carrier is recorded.
  • the preset area may be an area where the storage unit near the operation station 106 is located, for example, it may be a container carrier at a distance of 3 meters or 5 meters from the operation station 106. In this way, the container 101 where the frequently used goods are located is stored in a nearby container carrier, which reduces the time required for transportation and improves business processing efficiency.
  • the container carrier is a shelf placed on the attic 107 of each floor of the storage area.
  • Each container carrier has multiple storage units, and each storage unit can store one container.
  • the container carrier includes, but is not limited to, storage shelves placed on each floor 107 of the storage area.
  • Each container carrier has multiple storage units, and each storage unit can store one container.
  • the storage position of the operation station includes a storage rack or a temporary storage roller table for storing containers at the operation station.
  • the channel for the self-driving robot 103 to run may be used for emergency manual operations.
  • the robot system further includes a robot hoist 1042, and the robot hoist 1042 is configured to be changed in a case where the traffic of different destination floor floors changes.
  • the self-driving robot 103 is allocated to the corresponding destination floor.
  • the operation flow of the cargo container cross-layer transmission scheme includes the following steps.
  • step (1) the control device 105 allocates the self-propelled robot 103 of the destination floor to obtain one or more of the target containers in the storage area, and the control device 105 according to the self-propelled robot The position of 103 and the container hoist 1041 and the situation where the self-propelled robot 103 is lined up, the self-propelled robot 103 is allocated to a designated container hoist 1041 for buffer operation.
  • step (2) when the self-propelled robot 103 reaches the docking position designated by the container hoist 1041, if the transfer position of the roll buffer line of the box buffer is idle, the control device 105 controls the The self-propelled robot 103 places the target container on a transfer position of the loading buffer line, and the loading buffer line sends the target container to the container hoist 1041; If the transfer position of the roller line is not free, the self-driving robot 103 waits for a box release instruction at the transfer position of the box drop buffer roller line.
  • step (3) when the container lifter 1041 sends the target container to the destination pavilion floor, the control device 105 controls the transfer device to transfer the target container from the container lifter 1041 to the destination container.
  • the self-driving robot 103 is assigned to the corresponding pick-up point of the container hoist 1041 to take the target container.
  • step (4) the self-driving robot 103 picks up the target container at the transfer position of the pick-up buffer roller line, and then runs to the designated place of the control device 105 to perform the designated operation.
  • step (5) after the setting operation ends, the control device 105 allocates the target container back to the original position, and the target container is returned to the original position according to steps 101 to 104.
  • step (6) when the business volume of different destination attic floors changes, the control device 105 redistributes the number of the self-propelled robots 103 on each floor, and the self-propelled robots are lifted by the robot hoist 1042 The robot 103 is allocated to a designated destination floor.
  • a walking ladder or elevator can be installed for the storage area.
  • the workers When the system fails, such as when the power is cut off or the system is not working properly, the workers perform moving tasks on the running aisles of each mezzanine floor through the walking ladder or elevator to complete emergency manual operations.
  • a coded identifier is provided on the container 101 for identification, and the coded identifier may be a two-dimensional code, an RFID tag, or the like.
  • the replenishment process means that the goods are not stored together with the container 101, and the goods are put into the existing container 101.
  • Operations at the operated station 107 include warehouse removal, inventory, or tally operations.
  • the FCL storage process includes the following steps.
  • step (1) the control device 105 receives the container number, the product number, the quantity of the goods, and records the binding relationship with the container 101, wherein a plurality of goods can be bound to one of the containers 101.
  • step (2) the control device 105 determines that if there is an empty container 101 on the container carrier in the storage area or the buffer mechanism 108, the control device 105 assigns a self-driving robot 103 to obtain the empty container. 101, and carry the empty container 101 to the operation station 106, and control the self-driving robot 103 to line up at the operation station 106; if there is no container carrier in the storage area or the buffer mechanism 108, For the empty container 101, the control device 105 directly controls the queuing from the driving robot 103 to the operation station 106, and the container 101 is realized by the container hoist 1041 and the buffer mechanism 108 in the conveying path. Cross-layer transmission.
  • step (3) the self-propelled robot 103 obtains the container 101 and detects the coded identifier of the container 101, and submits it to the control device 105.
  • the control device 105 records the container transported by the self-propelled robot 103. Numbering.
  • step (4) the control device 105 allocates the container 101 to the storage unit of the corresponding container carrier according to the commodity heat and quantity of the container 101.
  • step (5) after all the container temporary storage positions of the self-propelled robot 103 are placed in the container 101, or when the operation station 106 has no remaining containers 101 to be stored, the control device 105 dispatches The self-propelled robot 103 leaves the operation station 106, and plans an optimal return path sequence for the self-propelled robot 103.
  • the self-propelled robot 103 sequentially runs to the position of the allocated storage unit, and the container 101 Put it into the storage unit, and realize the cross-layer transmission of the container 101 through the container hoist 1041 and the cache mechanism 108 in the return path.
  • the replenishment process includes the following steps.
  • step (1) the control device 105 selects a number of containers 101 capable of storing goods according to the goods that need to be stored in the warehouse.
  • the containers 101 may be empty containers 101 or containers with goods but storage space.
  • the control device 105 assigns the self-propelled robot 103 to remove the container 101, and transports the container 101 to the operation station 106 and queues, and passes the container hoist 1041 and
  • the cache mechanism 108 implements cross-layer transmission of the container 101.
  • step (2) the control device 105 receives the product code and the container code, records the binding relationship between the container 101 and the product, and controls the autonomous robot 103 to receive the product through the container 101.
  • step (3) the current station completes the replenishment operation or the container 101 carried by the current self-propelled robot 103 has no storage space, and the worker provides feedback through the interactive interface of the control device 105, and the control device 105 Product popularity and quantity, the container 101 is allocated to the storage unit of the corresponding container carrier.
  • step (4) the control device 105 schedules the self-propelled robot 103 to leave the operation station 106, and plans an optimal return path order for the self-propelled robot 103, and the self-propelled robot 103 sequentially goes to the control
  • the location of the storage unit of the container carrier allocated by the device 105, the container 101 is placed in the storage unit of the container carrier, and the container 101 is realized by the container hoist 1041 and the buffer mechanism 108 in the return path Cross-layer transmission.
  • the operation flow of the operation station 106 includes the following steps.
  • step (1) the operation station 106 starts a job, and the control device 105 hits a number of containers 101 according to the job document.
  • the control device 105 assigns the self-driving robot 103 to remove the hit container 101, and
  • the hit container 101 follows the planned transfer path to the operation station 106 and is queued in the process. In the transfer path, the container 101 is transported across the layers by the container hoist 1041 and the buffer mechanism 108.
  • step (2) after the operation of the operation station 106 is completed, the operation of the container 101 currently carried by the self-propelled robot 103 via the interactive interface of the control device 105 is feedback to the control device 105.
  • step (3) the control device 105 allocates the container 101 to the storage unit of the corresponding container carrier according to the current commodity heat and quantity in the container 101.
  • step (4) the control device 105 schedules the self-propelled robot 103 to leave the operation station 106, and plans an optimal return path order for the self-propelled robot 103, and the self-propelled robot 103 sequentially goes to the control
  • the robot control system provided in the embodiment of the present application, by setting a channel for the self-propelled robot 103 to run on the floor of each floor, combined with a hoist, enables the self-propelled robot 103 to run on each floor, thereby improving the self-propelled robot 103 Flexibility, can complete a variety of businesses according to actual needs, without the need to install shuttle tracks, greatly reducing construction costs.
  • FIG. 10 is a schematic flowchart illustrating a robot control method according to an embodiment of the present application, including steps 1001 to 1005.
  • step 1001 a handling task is assigned to a self-propelled robot.
  • step 1002 according to the handling task, a travel route is planned for the self-propelled robot on the mezzanine floor where it is located, and the self-propelled robot is controlled to obtain a target container at a first target position of the mezzanine floor and carry it to the robot Cache mechanism 108.
  • the coded identification of the target container is carried in the handling task
  • Controlling the self-propelled robot to obtain a target container at a first target position on the attic floor includes:
  • the handling task includes a first handling task
  • controlling the self-propelled robot to obtain a target container at a first target position on a mezzanine floor includes: controlling the first The self-propelled robot obtains the target container at the location of the target container on the mezzanine floor according to the first running route corresponding to the first handling task.
  • the buffer mechanism is a roller table mechanism
  • the buffer mechanism includes a first buffer roller line and a transfer position
  • the destination of the first handling task includes the first buffer roller table.
  • the carrying to the buffer mechanism includes controlling the first self-driving robot to carry the target container to a transfer position corresponding to the first buffer roller line.
  • step 1003 the buffer mechanism 108 is controlled to carry the target container to a container hoist.
  • Controlling the buffer mechanism to carry the target container to a container hoist includes the following steps: receiving a state signal indicating that the first self-propelled robot is ready. Controlling the first buffer roller line to carry the target container to the container hoist.
  • step 1004 the container lifter is controlled to transfer the target container to a destination floor where the destination of the transfer task is located.
  • the moving task further includes a second moving task, and a destination of the second moving task includes a destination floor of the second moving task.
  • Controlling the container lifter to transport the target container to the destination floor where the transport task destination is located includes controlling the container lifter to transport the target container to the destination floor of the second transport task.
  • FIG. 11 is a schematic flowchart illustrating a robot control method according to an embodiment of the present application, including steps 1101 to 1102.
  • step 1101 the buffer mechanism controlling the destination floor where the handling task destination is located receives and temporarily stores the containers from the container hoist.
  • the buffer mechanism is a roller table mechanism, and the buffer mechanism includes a second buffer roller line and a transfer position; the handling task further includes a second handling task, and the second handling task
  • the destination includes a transfer position corresponding to the second buffer roller line.
  • the buffer mechanism for controlling the destination floor where the handling task destination is located to receive and temporarily store the containers from the container hoist includes: controlling the container hoist to carry the target container to the second buffer roll At the corresponding transfer position.
  • step 1102 the self-propelled robot is controlled to carry the target container to the carrying task destination from the buffer mechanism on the attic floor.
  • the moving task further includes a third moving task
  • the destination of the third moving task includes an operating station or a container carrier on a destination floor of the second moving task.
  • Controlling the self-propelled robot to move the target container from the buffer mechanism on the mezzanine floor to the handling task destination includes the following steps: receiving the status signal waiting for receipt; controlling the at least one self-propelled robot The second self-propelled robot runs on the floor where the second self-propelled robot corresponds to the third handling task; and controls the second self-propelled robot to move the target container from the second buffer roller lane line correspondingly.
  • the loading position is transferred to the operating station or container carrier on the destination floor of the second transfer task, wherein the first self-propelled robot is different from the second self-propelled robot.
  • the buffer mechanism further includes a third buffer roller line, and the third buffer roller line and the second buffer roller line are respectively disposed on two sides of the container hoist;
  • the moving task further includes a fourth moving task, and a destination of the fourth moving task includes a destination floor of the fourth moving task.
  • the method further includes: controlling the third buffer roller line to be located on the third buffer roller.
  • the container on the lane transfer position is transferred to the container lifter; the container lifter is controlled to transfer the container to the destination floor of the fourth transfer task.
  • the transfer task destination includes a container carrier in the attic; controlling the self-propelled robot to transfer the target container to the transfer task destination from a buffer mechanism on the attic floor includes: receiving The self-propelled robot sends the code of the target container that has been sorted; the thermal evaluation of the target container is performed according to the heat and quantity of the goods stored in the sorted container; and controls the self-propelled robot to exceed the preset temperature
  • the threshold target container is transported to a container carrier in a preset area, and the binding relationship between the target container and the container carrier is recorded; or the self-propelled robot is controlled to sequentially
  • the target container is transported to a container carrier from near to far from an operation station in the attic, and a binding relationship between the target container and the container carrier is recorded.
  • steps 1201 to 1202 are further included.
  • step 1201 the self-propelled robot is controlled to carry the target container to an operation station and wait in line at the operation station to wait for a job operation.
  • step 1202 after the work operation is completed, the self-propelled robot is controlled to carry the target container that completes the work operation, and carry the target container to the next operation station or return it to On the container carrier of the attic.
  • the method further includes: controlling the self-propelled robot to run to the operation. After the station, the target container is transferred to the storage position of the operation station, and one or more other operable containers are obtained by controlling a box taking and retracting mechanism provided on the self-driven robot.
  • the robot control method provided in the embodiment of the present application can cooperate with the self-propelled robot 103 to run on different floors, which greatly improves the flexibility of the self-propelled robot 103, and can complete various services according to actual needs. There is no need to install a shuttle track, which greatly reduces the construction cost.
  • An embodiment of the present application further provides a computing device, including a memory, a processor, and computer instructions stored on the memory and executable on the processor.
  • the processor executes the instructions, the robot control method is as described above. step.
  • An embodiment of the present application further provides a computer-readable storage medium that stores computer instructions that, when executed by a processor, implement the steps of the robot control method as described above.
  • the computer instructions include computer program code, and the computer program code may be in a source code form, an object code form, an executable file, or some intermediate form.
  • the computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electric carrier signals, telecommunication signals, and software distribution media. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdictions. For example, in some jurisdictions, the computer-readable medium Excludes electric carrier signals and telecommunication signals.

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Abstract

一种机器人控制系统和方法、计算设备及存储介质，其中，系统包括：存储区域，具有至少两层阁楼，被配置为存储容器（101），并在每层阁楼地面上设置有供自驱机器人（103）运行的通道（102）；提升机（104），被配置为将自驱机器人（103）或容器（101）搬运至与搬运任务对应的目的阁楼层；控制装置（105），被配置为为自驱机器人（103）分配搬运任务并根据搬运任务为自驱机器人（103）规划在目的阁楼层上的运行路线，并调度自驱机器人（103）按照运行路线运行并执行搬运任务；至少一个自驱机器人（103），被配置为按照与搬运任务对应的运行路线到达搬运任务对应的目的阁楼层的目标容器（101）所在地取得目标容器（101），并按照运行路线将目标容器（101）搬运至搬运任务目的地；控制装置（105）与提升机（104）和自驱机器人（103）通信连接。

Description

机器人控制系统和方法、计算设备及存储介质
本申请要求在2018年09月12日提交中国专利局、申请号为201811062251.7的中国专利申请，以及在2019年04月01日提交中国专利局、申请号为201910258694.1的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及仓储领域，例如涉及一种机器人控制系统和方法、计算设备及存储介质。
背景技术
在仓储货到人拆零拣选自动化解决方案中，相关技术中在立体空间利用的多层拣选方案主要通过立体穿梭车实现。立体穿梭车方案对货架精度要求高，对地面沉降指标和平整度指标也有较高要求，如果地面沉降指标和平整度指标不达标，穿梭车会在轨道上卡住，因此建造成本非常高。且系统故障后维修维护复杂，人员进入立体的货架轨道中也很危险。系统故障后无法进行人工作业。
基于机器人的容器到人自动化拣选方案，是一种解决立体空间利用的多层拣选方案。其方案通常采用普通阁楼式货架，机器人在阁楼的层板上运行，不需设置特殊的货架轨道，机器人的取箱机构可提升和下降，用于抱取同一层阁楼上不同高度的货架层的容器，机器人可一次取一个箱或者多个箱，送到操作工位，工位完成拣选后机器人再将物料箱归还到货架中，操作工位所在的阁楼层为操作层，其他阁楼层为存储层，当位于存储层的容器需要被送到操作层进行操作，或者一个操作层的容器需要被送到另一个操作层进行操作时，需要进行容器的跨层传输。目前常见的多层拣选方案是采用立体穿梭车，其采用的容器跨层传输方案为提升机配合输送线到操作工位进行工作，但是立体穿梭车的运输难度较高，难以灵活调配，使得自动化拣选方案的成本较高。
发明内容
本申请实施例提供了一种机器人控制方法和系统、计算设备及存储介质，以避免相关技术中的不足。
本申请实施例提供了一种机器人控制系统，包括：存储区域，提升机，控制装置以及至少一个自驱机器人，所述控制装置与所述提升机和所述自驱机器人通信连接；存储区域具有至少两层阁楼，被配置为存储容器，并在每层阁楼的地面上设置有供自驱机器人运行的通道；提升机，被配置为将自驱机器人或容器搬运至与搬运任务对应的目的阁楼层；控制装置，被配置为为自驱机器人 分配搬运任务并根据所述搬运任务为所述自驱机器人规划在所述目的阁楼层上的运行路线，并调度所述自驱机器人按照所述运行路线运行，执行所述搬运任务；自驱机器人，被配置为按照与所述搬运任务对应的运行路线到达所述搬运任务对应的目的阁楼层的目标容器所在地，并取得所述目标容器、按照所述运行路线将所述目标容器搬运至所述搬运任务目的地；其中所述容器为存储在容器承载体上的料箱，所述容器承载体位于所述存储区域。
本申请实施例提供一种机器人控制方法，包括：向至少一个自驱机器人分配搬运任务；为所述至少一个自驱机器人规划在所述搬运任务对应的目的阁楼层的运行路线，并控制所述至少一个自驱机器人按照所述路线运行至所述搬运任务对应的目标容器所在地，并取得所述目标容器；控制携带所述目标容器的所述至少一个自驱机器人运行到提升机所在的位置；控制所述提升机将所述至少一个自驱机器人搬运至所述搬运任务目的地所在的目的阁楼层；控制所述至少一个自驱机器人将所述目标容器搬运至所述搬运任务目的地。
本申请实施例提供一种机器人控制方法，包括：接收控制装置分配的搬运任务；在所述搬运任务对应的目的阁楼层上，按照所述控制装置规划的运行路线运行至所述搬运任务对应的目标容器所在地，并取得所述目标容器；按照所述运行路线，将所述目标容器搬运至所述搬运任务目的地。
本申请实施例提供一种计算设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机指令，所述处理器执行所述指令时实现机器人控制方法中任意一项所述方法的步骤。
本申请实施例提供一种计算机可读存储介质，其存储有计算机可执行指令，当所述计算机执行指令被执行时实现机器人控制方法中任意一项所述方法的步骤。
附图说明
图1是本申请实施例提供的一种机器人控制系统的结构图；
图2是本申请实施例提供的一种机器人控制装置的通信框架示意图；
图3是本申请实施例提供的一种机器人控制系统中的自驱机器人的示意图；
图4是本申请实施例提供的一种机器人控制系统中的提升机的结构示意图；
图5是本申请实施例提供的另一种机器人控制系统的存储区域阁楼层的平面示意图的示意图；
图6是本申请实施例提供的一种机器人控制方法的流程图；
图7是本申请实施例提供的一种机器人控制方法的流程图；
图8是本申请另一实施例提供的机器人控制系统的结构图；
图9是本申请实施例提供的机器人控制系统的存储区域阁楼层的平面示意图的示意图；
图10是本申请实施例提供的机器人控制方法的流程图；
图11是本申请另一实施例提供的机器人控制方法的流程图；
图12是本申请另一实施例提供的机器人控制方法的流程图；
图13是本申请另一实施例提供的机器人控制系统的结构图。
具体实施方式
在下面的描述中阐述了很多具体细节以便于充分理解本申请。但是本申请能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本申请内涵的情况下做类似推广，因此本申请不受下面公开的具体实施的限制。
图1示出了根据本申请实施例的一种机器人控制系统，包括存储区域、提升机104、控制装置105、操作工位106和至少一个自驱机器人103。
所述存储区域，具有至少两层阁楼，被配置为存储容器101，并在每层阁楼地面上设置有供自驱机器人运行的通道102。
所述容器101可以是容器承载体上的料箱或者货箱，也可以是容器承载体上的托盘，或者是其它可以用于盛放物品的容器。
其中，容器承载体可以是货架。
通过所述供自驱机器人103运行的通道102，自驱机器人103可以在阁楼的每一层运行。
所述提升机104，被配置为将自驱机器人103或容器101搬运至与搬运任务对应的目的阁楼层。
控制装置105，被配置为为自驱机器人103分配搬运任务并根据所述搬运任务为所述自驱机器人103规划在所述目的阁楼层上的运行路线，并调度所述自驱机器人103按照所述运行路线运行并执行所述搬运任务。
自驱机器人103，被配置为按照与所述搬运任务对应的运行路线到达所述搬运任务对应的目的阁楼层的目标容器所在地取得所述目标容器，并按照所述运行路线将所述目标容器搬运至所述搬运任务目的地。
所述控制装置105与所述提升机104和所述自驱机器人103通信连接。
所述存储区域在至少一层阁楼上设置有操作工位106，所述操作工位106用于对容器101进行作业操作，作业操作可以为拣选操作、盘点操作、拣货操作、或理货操作等。
本申请实施例提供的机器人控制系统，通过在每层阁楼地面上设置供自驱机器人运行的通道，结合提升机，使得自驱机器人可以在每个阁楼层运行，提高了自驱机器人的灵活性，可以根据实际需求完成多种业务，无需安装穿梭轨道，极大地降低了建造成本。
图2示出了根据本申请实施例的机器人控制装置的通信框架示意图。
所述控制装置105的部件包括但不限于存储器210和处理器220。处理器220与存储器210通过总线230相连接，数据库250被配置为保存搬运任务。
控制装置105还包括接入设备240，接入设备240使得控制装置105能够经 由一个或多个网络260通信。这些网络的示例包括公用交换电话网(Public Switched Telephone Network，PSTN)、局域网(Local Area Network，LAN)、广域网(Wide Area Network，WAN)、个域网(Personal Area Network，PAN)或诸如因特网的通信网络的组合。接入设备240可以包括有线或无线的任何类型的网络接口(例如，网络接口卡(Network Interface Card，NIC))中的一个或多个，诸如IEEE802.11无线局域网(Wireless Local Area Networks，WLAN)无线接口、全球微波互联接入(Worldwide Interoperability for Microwave Acess，Wi-MAX)接口、以太网接口、通用串行总线(Universal Serial Bus，USB)接口、蜂窝网络接口、蓝牙接口、近场通信(Near Field Communication，NFC)接口，等等。
在本申请的一个实施例中，控制装置105的上述以及图2中未示出的其他部件也可以彼此相连接，例如通过总线。
控制装置105可以是任何类型的静止或移动计算设备，包括移动计算机或移动计算设备(例如，平板计算机、个人数字助理、膝上型计算机、笔记本计算机、上网本等)、移动电话(例如，智能手机)、可佩戴的计算设备(例如，智能手表、智能眼镜等)或其他类型的移动设备，或者诸如台式计算机或PC的静止计算设备。控制装置105还可以是移动式或静止式的服务器。
所述控制装置105通过网络260与自驱机器人103和提升机进行通信连接，通过发送控制指令以实现对该机器人控制系统的控制，或者接收自驱机器人或者提升机返回的消息以实现对该机器人控制系统的控制。
本申请一实施例中，所述搬运任务中可以携带所述目标容器的编码标识；所述至少一个自驱机器人在所述目的阁楼层，按照所述运行路线行驶至所述目标容器所在地，可以通过识别所述目标容器的编码标识，取得所述目标容器。
需要说明的是，本申请实施例不限自驱机器人的结构，其可以采用相关技术中的任何一种结构实现从货架取出及向货架放入容器的功能。例如，可以在自驱机器人上设置机械臂，利用机械器取出及放入容器；也可以在自驱机器人上设置夹抱结构，采用夹抱方式取出及放入容器；还可以采用其他结构实现。
参见图3，本申请一实施例中，所述至少一个自驱机器人103包括取箱伸缩机构301，升降机构302和机器人运动底盘303。
取箱伸缩机构301，被配置为取得一个或多个目标容器。
升降机构302，被配置为控制取箱伸缩机构301的上下可调，以便取箱伸缩机构取得所述目的阁楼层不同高度的货架上的目标容器的取得。
机器人运动底盘303，被配置为控制所述至少一个自驱机器人在所述目的阁楼层运行通道上按照控制装置规划的运行路线的行驶。
所述目标容器为搬运任务中需要搬运的容器101。
本申请实施例提供的自驱机器人在每层阁楼地面运行通道上运行，极大地提高了搬运容器的灵活性，可以根据实际需求完成各种业务，而无需安装穿梭 轨道，极大地降低了建造成本。
参见图4，本申请一实施例中，所述提升机104设置有暂存位104A，被配置为暂存所述自驱机器人103或所述目标容器。
所述目标容器为搬运任务中需要搬运的容器101。
图5是本申请一实施例中的阁楼层的平面示意图。包括货架的存储单元501，操作工位106和运行通道102。
所述货架的存储单元501，用来存储容器。
多个操作工位106，可以在其上对运送来的容器内的货物进行拣选操作、盘点操作、补货操作、或理货操作等。
运行通道102用来供自驱机器人运行。
本说明实施例中，所述存储区域具有至少两层阁楼。在需要将容器在不同的阁楼层间移动的情况下，可以借助提升机来实现。
本申请实施例提供提升机器人方式和提升容器两种方式。
下面分别对这两种方式进行说明。
本申请一实施例中，搬运任务由第一搬运任务和第二搬运任务组成，第一搬运任务需要将目标容器送至提升机的暂存位，第二搬运任务为将携带目标容器的自驱机器人送至目的阁楼层的操作工位或容器承载体。该方案为提升机器人方式，所述控制装置控制第一自驱机器人按照与第一搬运任务对应的第一运行路线到达所述第一搬运任务对应的目的阁楼层的目标容器所在地取得所述目标容器，将所述目标容器搬运至所述提升机的暂存位并将准备就绪的状态信号发送给所述控制装置。
其中，容器承载体可以是货架的存储单元。
第二搬运任务的目的地包括所述第二搬运任务的目的阁楼层的操作工位或货架的存储单元；所述控制装置接收所述状态信号，控制所述提升机将所述第一自驱机器人搬运至所述第二搬运任务的目的阁楼层；并控制所述第一自驱机器人在所述第二搬运任务的目的阁楼层，按照与所述第二搬运任务对应的第二运行路线运行，并将所述目标容器搬运至所述第二搬运任务的目的阁楼层的操作工位或货架的存储单元。
提升机器人方式下，自驱机器人可通过提升机到达不同阁楼层，从而每个自驱机器人均可以取到任意阁楼层的容器，并可将容器送到任意阁楼层的操作工位，容器在工位完成操作后，自驱机器人可将容器归还到任意阁楼层的货架的存储单元。
需要说明的是，提升机器人方式下，被提升的自驱机器人是否携带有容器，可以根据实际情况来确定，本申请不做限定。
本申请另一实施例中，搬运任务由第一搬运任务和第二搬运任务组成，第一搬运任务需要将目标容器送至提升机的暂存位，第二搬运任务为将目标容器送至目的阁楼层操作工位或货架的存储单元。该方案为提升容器方式，第二自 驱机器人按照与第一搬运任务对应的第一运行路线到达所述第一搬运任务对应的目的阁楼层的目标容器所在地取得所述目标容器，将所述目标容器搬运至所述提升机的暂存位并将准备就绪的状态信号发送给所述控制装置。
第二搬运任务的目的地为所述第二搬运任务的目的阁楼层的操作工位或货架的存储单元；所述控制装置接收所述状态信号，控制所述提升机将所述目标容器提升到所述目的阁楼层；并控制位于所述目的阁楼层的第三自驱机器人在所述目的阁楼层，按照所述第二搬运任务的第二运行路线运行，并将所述目标容器搬运至所述第二搬运任务的目的阁楼层的操作工位或货架的存储单元；所述第二自驱机器人与所述第三自驱机器人不同。
提升容器方式下，通过位于不同阁楼层的自驱机器人与提升机的配合，可以将容器搬运至任意阁楼层的工位或者货架的存储单元。
本申请一实施例中在提升容器方式下，提升机还可以与操作工位的辊道线相接；所述控制装置接收到提升机发送所述状态信号，控制所述提升机将所述目标容器搬运至所述第三搬运任务的目的阁楼层，并控制所述提升机将所述目标容器转移至所述辊道线，通过所述辊道线将所述目标容器传送至所述操作工位。
实际应用中，所述辊道线还可以被配置为接收在操作工位完成作业操作的容器，这里的作业操作可为拣选操作。
本申请一实施例中，控制装置还可以控制所述提升机从所述辊道线获取所述目标容器并放置于所述提升机的暂存位，并该目标容器搬运至所述搬运任务的目的阁楼层。所述控制装置控制位于目的阁楼层的自驱机器人从所述提升机的暂存位取得所述目标容器，并将所述目标容器搬运至所述搬运任务目的地。
在携带所述目标容器的所述自驱机器人运行到操作工位后，控制装置可以控制所述自驱机器人在所述操作工位排队等待作业操作；在所述作业操作完成后，控制所述自驱机器人携带完成所述作业操作的所述目标容器，将其送至下一个操作工位或归还到货架中的存储单元。
为了提高自驱机器人的工作效率，在所述自驱机器人将所述目标容器推送到操作工位后，将所述目标容器推送到所述操作工位的存放位上，控制装置可以控制所述自驱机器人取得至少一个除目标容器之外的可操作容器，送至存储单元。
其中，操作工位的存放位可以是操作工位的缓存货架或缓存辊道线。
所述可操作的容器可以是已经完成作业操作的容器。
本申请一实施例中，所述控制装置还被配置为：接收并保存目标容器的编码，根据所述目标容器内存储货物的热度和数量对所述目标容器进行热度评估；控制所述自驱机器人将热度超过预设阈值的所述目标容器搬运至预设区域的货架的存储单元中，并记录所述目标容器与所述存储单元的绑定关系；或者控制所述自驱机器人按照容器的热度由高到低的顺序，将所述容器搬运至距离操作 工位由近到远的货架的存储单元中，并记录所述容器与所述存储单元的绑定关系。
该预设区域可以是离操作工位比较近的存储单元所在的区域，例如可以是距离操作工位3米或者5米的距离的存储单元。通过这种方式，将取用频繁的货物所在的容器存放在较近的存储单元中，减少了搬运所需要花费的时间，提高了业务处理效率。
所述容器货架为所述存储区域的每层阁楼上放置的货架，每个容器货架具有多个存储单元，每个存储单元可以存放一个容器。
本申请一实施例中，所述供自驱机器人运行的通道可以被配置为供应急人工作业。
另外，还可以为所述存储区域安装步行梯或者电梯。
在系统发生故障，例如如停电、或系统无法正常工作的情况下，工人通过所述步行梯或者电梯，在多个阁楼层的运行通道上执行搬运任务，完成应急人工作业。
为了准确的确定所述容器的位置，在所述容器上设置有编码标识，以供识别，该编码标识可以是二维码、射频识别(Radio Frequency Identification，RFID)标签等。
基于上述介绍的机器人操作系统，可以完成多种业务流程。下面以整箱入库流程、入库流程以及操作工位作业流程为例进行说明。
其中，补货流程是指货品不与容器一起入库，货品放入已有的容器中。所操作工位的作业包括出库、盘点或者理货作业。
本申请一实施例中，所述整箱入库流程包括以下步骤。
在步骤(1)中，控制装置接收容器编号，商品编号，货品数量并记录绑定关系。一个容器中可绑定多种货品。
在步骤(2)中，控制装置判断容器货架是否有空容器。基于容器货架的上有空容器的判断结果，控制装置调度自驱机器人取空容器，并将空容器搬运至操作工位，控制自驱机器人在操作工位排队。基于存储单元中无空容器的判断结果，控制装置直接控制自驱机器人到操作工位进行排队。
在搬运路径中需要上下穿过阁楼层的情况下，通过提升机将机器人运送到对应层。步骤(2)与步骤(1)可以同步进行。
在步骤(3)中，自驱机器人取得容器并检测容器的编码，并提交到控制装置，控制装置记录自驱机器人搬运的容器编号。
在步骤(4)中，控制装置根据容器的商品热度和数量，分配容器到对应的货架存储单元。
在步骤(5)中，在自驱机器人的所有容器暂存位都放入容器，或者操作工位已经无剩余需要入库的容器的情况下，控制装置调度自驱机器人离开操作工位，并为自驱机器人规划最优的归还容器路径顺序，自驱机器人依次运行到系 统分配的存储单元的位置，将容器放入存储单元置。路径中需要上下穿过阁楼层时，通过提升机将机器人运送到对应层。
本申请一实施例中，所述补货流程包括以下步骤。
在步骤(1)中，控制装置根据需要入库的商品，选取能够存储商品的若干容器。
可以是空容器，也可以是有货品但有存储空间的容器。
控制装置控制自驱机器人取下这些容器，并将容器搬运至操作工位，自驱机器人在操作工位排队。路径中需要上下穿过阁楼层时，通过提升机将自驱机器人运送到对应层。
在步骤(2)中，接收商品编码，容器编码，记录容器与商品的绑定关系，控制自驱机器人通过容器接收商品。
在步骤(3)中，在当前工位完成补货操作或当前自驱机器人携带的容器无存储空间的情况下，通过控制装置交互界面反馈，控制装置根据容器的商品热度和数量，分配容器到对应的容器货架的存储单元。
在步骤(4)中，控制装置调度机器人离开操作工位，并为自驱机器人规划最优的归还容器路径顺序，自驱机器人移动到控制装置分配的存储单元位置，将容器放入存储单元。路径中需要上下穿过阁楼层时，通过提升机将机器人运送到对应层。
本申请一实施例中，所述操作工位作业流程包括以下步骤。
在步骤(1)中，操作工位启动作业，控制装置根据作业单据命中若干容器，控制装置分配自驱机器人取下这些容器，并将空容器搬运至操作工位，自驱机器人在工位排队。路径中需要上下穿过阁楼层时，通过提升机将自驱机器人运送到对应层。
在步骤(2)中，操作工位作业，通过控制装置操作交互界面反馈给控制装置当前自驱机器人携带的容器操作完成。
在步骤(3)中，控制装置根据容器中当前的商品热度和数量，分配容器到对应的容器货架的存储单元。
在步骤(4)中，控制装置调度自驱机器人离开操作工位，并为自驱机器人规划最优的归还容器路径顺序，自驱机器人依次到系统分配的存储单元的位置，将容器放入单元。路径中需要上下穿过阁楼层时，通过提升机将机器人运送到对应层。
本申请实施例提供的机器人控制系统，通过在每层阁楼地面上设置供自驱机器人运行的通道，结合提升机，使得自驱机器人可以在每个阁楼层运行，提高了自驱机器人的灵活性，可以根据实际需求完成多种业务，无需安装穿梭轨道，极大地降低了建造成本。
图6示出了根据本申请以实施例中的机器人控制方法的示意图，应用于控制装置侧，包括步骤602至步骤610。
在步骤602中，向至少一个自驱机器人分配搬运任务。
本申请一种实施例中，所述搬运任务携带所述目标容器的编码标识。
实际应用中，所述编码标识可以为二维码，或RFID标签。
在步骤604中，为所述至少一个自驱机器人规划在所述搬运任务对应的目的阁楼层的运行路线，并控制所述至少一个自驱机器人按照所述路线运行至所述搬运任务对应的目标容器所在地取得所述目标容器。
本申请一种实施例中，存储区域具有至少两层阁楼，被配置为存储容器，并在每层阁楼地面上设置有供自驱机器人运行的通道。
在步骤606中，控制携带所述目标容器的所述至少一个自驱机器人运行到提升机所在的位置。
本申请一种实施例中，所述提升机设置有暂存位，被配置为暂存所述至少一个自驱机器人或所述目标容器。
在自驱机器人运行到所述提升机的暂存位的过程中，控制装置可以为所述至少一个自驱机器人规划最优的运行路线，并控制所述至少一个自驱机器人按照所述运行路线行驶以避免碰撞。
在步骤608中，控制所述提升机将所述至少一个自驱机器人或所述目标容器搬运至所述搬运任务目的地所在的目的阁楼层。
在步骤610中，控制所述至少一个自驱机器人将所述目标容器搬运至所述搬运任务目的地。
本申请一实施例中，所述搬运任务中携带所述目标容器的编码标识；
所述控制装置控制所述至少一个自驱机器人通过识别所述目标容器的编码标识，取得所述目标容器。
所述提升机设置有暂存位，被配置为暂存所述至少一个自驱机器人或所述目标容器。
在一实施例中，所述搬运任务包括第一搬运任务，所述第一搬运任务的目的地包括所述提升机的暂存位；所述控制装置控制所述至少一个自驱机器人中的第一自驱机器人按照与第一搬运任务对应的第一运行路线到达所述第一搬运任务对应的目的阁楼层的目标容器所在地，取得所述目标容器。
在一实施例中，所述搬运任务还包括第二搬运任务，所述第二搬运任务的目的地包括所述第二搬运任务的目的阁楼层的操作工位或货架的存储单元；所述控制装置接收所述第一自驱机器人发送的准备就绪的状态信号；控制所述提升机将所述第一自驱机器人搬运至所述第二搬运任务的目的阁楼层；控制所述第一自驱机器人在所述第二搬运任务的目的阁楼层按照所述第二搬运任务的第二运行路线运行，并将所述目标容器搬运至所述第二搬运任务的目的阁楼层的操作工位或货架的存储单元。
本申请另一实施例中，所述搬运任务包括第一搬运任务，所述第一搬运任务的目的地包括所述提升机的暂存位；所述控制装置控制所述至少一个自驱机 器人中的第二自驱机器人按照与第一搬运任务对应的第一运行路线到达所述第一搬运任务对应的目的阁楼层的目标容器所在地取得所述目标容器；控制所述第二自驱机器人将所述目标容器搬运至所述提升机的暂存位。
所述搬运任务还包括第二搬运任务，所述第二搬运任务的目的地包括所述第二搬运任务的目的阁楼层的操作工位或货架的存储单元；所述控制装置接收所述第二自驱机器人发送的准备就绪的状态信号；控制所述提升机将所述目标容器搬运至所述第二搬运任务的目的阁楼层；控制所述至少两个自驱机器人中的第三自驱机器人在所述第二搬运任务的目的阁楼层按照所述第二搬运任务的第二运行路线运行，并将所述目标容器搬运至所述第二搬运任务的目的阁楼层的操作工位或货架的存储单元；所述第二自驱机器人与所述第三自驱机器人不同。
本申请另一实施例中，所述搬运任务还包括第三搬运任务，所述第三搬运任务的目的地包括所述第三搬运任务的目的阁楼层的操作工位；所述提升机与操作工位的辊道线相接；所述控制装置接收所述第二自驱机器人发送的准备就绪的状态信号；控制所述提升机将所述目标容器搬运至所述第三搬运任务的目的阁楼层；控制所述提升机将所述目标容器转移至所述辊道线，通过所述辊道线将所述目标容器传送至所述操作工位。
在一实施例中，所述控制装置还控制所述辊道线接收完成拣选操作的容器。
在所述目标容器所在地为辊道线时，所述控制装置控制所述提升机从所述辊道线获取所述目标容器并放置于所述提升机的暂存位，并将目标容器搬运至所述搬运任务的目的阁楼层。
本申请一实施例中，所述控制装置控制所述至少一个自驱机器人在所述搬运任务的目的阁楼层从所述提升机的暂存位取得所述目标容器，并将所述目标容器搬运至所述搬运任务目的地。
本申请一实施例中，所述控制装置控制携带所述目标容器的所述至少一个自驱机器人运行到所述操作工位，并在所述操作工位排队等待作业操作；所述作业包括出库、盘点或者理货作业；所述作业操作完成后，控制至少一个所述自驱机器人携带完成所述作业操作的所述目标容器。
所述控制装置还可以控制所述至少一个自驱机器人运行到所述操作工位后，将所述目标容器推送到所述操作工位的缓存货架或缓存辊道线，并取得至少一个除目标容器之外的可操作容器。
在所述搬运任务目的地包括货架的存储单元；所述控制装置控制所述至少一个自驱机器人将所述目标容器搬运至所述搬运任务目的地包括：接收所述自驱机器人发送的已完成作业操作的目标容器的编码；根据所述已完成作业操作的目标容器内存储货物的热度和数量对所述目标容器进行热度评估；控制所述自驱机器人将热度超过预设阈值的所述目标容器搬运至预设区域的货架的存储单元，并记录所述目标容器与所述存储单元的绑定关系；或者控制所述自驱机 器人按照容器的热度由高到低的顺序，将所述容器搬运至距离操作工位由近到远的货架的存储单元，并记录所述容器与所述存储单元的绑定关系。
本申请实施例提供的机器人控制方法，结合提升机可以控制自驱机器人在每层阁楼地面上设置供自驱机器人运行的通道运行，极大地提高了自驱机器人的灵活性，可以根据实际需求完成各种业务，无需安装穿梭轨道，极大地降低了建造成本。
图7是示出了根据本申请实一施例中的另一种机器人控制方法的示意图，应用于自驱机器人侧，包括步骤702至步骤706。
在步骤702中，接收控制装置分配的搬运任务。
在步骤704中，在所述搬运任务对应的目的阁楼层上按照所述控制装置规划的运行路线运行至所述搬运任务对应的目标容器所在地取得所述目标容器。
所述目的阁楼层是具有至少两层阁楼的存储区域中的某一层。该存储区域的每层阁楼地面上设置有供自驱机器人运行的通道。
在步骤706中，按照所述运行路线将所述目标容器搬运至所述搬运任务目的地。
在一实施例中，所述搬运任务中携带所述目标容器的编码标识；所述自驱机器人通过识别所述目标容器的编码标识，取得所述目标容器。
本申请一实施例中，所述搬运任务包括第一搬运任务，所述第一搬运任务的目的地包括提升机的暂存位；自驱机器人按照与第一搬运任务对应的第一运行路线到达所述第一搬运任务对应的目的阁楼层的目标容器所在地，取得所述目标容器；自驱机器人携带所述目标容器达到所述提升机的暂存位，并将准备就绪的状态信号发送给所述控制装置。
所述搬运任务还包括第二搬运任务，所述第二搬运任务的目的地包括所述第二搬运任务的目的阁楼层的操作工位或货架的存储单元；所述自驱机器人携带所述目标容器并通过所述提升机到达所述第二搬运任务的目的阁楼层；在所述第二搬运任务的目的阁楼层按照所述第二搬运任务的第二运行路线运行，并将所述目标容器搬运至所述第二搬运任务的目的阁楼层的操作工位或货架的存储单元。
本申请一实施例中，所述搬运任务包括第一搬运任务，所述第一搬运任务的目的地包括提升机的暂存位；自驱机器人按照与第一搬运任务对应的第一运行路线到达所述第一搬运任务对应的目的阁楼层的目标容器所在地取得所述目标容器；将所述目标容器搬运至所述提升机的暂存位，并将准备就绪的状态信号发送给所述控制装置。
本申请一实施例中，所述搬运任务包括第二搬运任务，所述第二搬运任务的目的地包括所述第二搬运任务的目的阁楼层的操作工位或货架的存储单元，所述第二搬运任务的目标容器所在地为提升机的暂存位；从所述提升机的暂存位获取所述第二搬运任务的目标容器，位于第二搬运任务的目的阁楼层的自驱 机器人从所述提升机的暂存位获取所述第二搬运任务的目标容器；在所述第二搬运任务的目的阁楼层按照所述第二搬运任务的第二运行路线运行，并将所述目标容器搬运至所述第二搬运任务的目的阁楼层的操作工位或货架的存储单元。
携带所述目标容器的自驱机器人运行到所述操作工位，并在所述操作工位排队等待拣选操作；所述拣选操作完成后，携带完成所述拣选操作的所述目标容器，并将所述目标容器搬运至下一个操作工位或归还到货架。
自驱机器人将所述目标容器推送到所述操作工位的缓存货架或缓存辊道线，并通过设置的取箱伸缩机构取得至少一个可操作的容器。
本申请一实施例中，所述搬运任务目的地包括货架的存储单元；将所述目标容器搬运至所述搬运任务目的地包括：自驱机器人检测已完成拣选操作的容器的编码，并将所述编码发送给所述控制装置；将热度超过预设阈值的所述货物所在的容器搬运至预设区域的货架的存储单元中；或者按照容器的热度由高到低的顺序，将所述容器搬运至距离操作工位由近到远的货架的存储单元。
本申请实施例提供的机器人控制方法，自驱机器人结合提升机在每层阁楼地面上设置供自驱机器人运行的通道运行，极大地提高了自驱机器人的灵活性，可以根据实际需求完成各种业务，无需安装穿梭轨道，极大地降低了建造成本。
图8和图13示出了根据本申请实施例的一种机器人控制系统，包括存储区域、容器101、自驱机器人103、容器提升机1041、控制装置105和缓存机构108。
所述存储区域包括至少两层阁楼107，被配置为存储容器101，并且在每层所述阁楼107的地面上设置有供自驱机器人103运行的通道，每层阁楼107至少配置一个自驱机器人103以及至少一个缓存机构108。
在本申请实施例中，所述容器101可以是容器承载体上的料箱或者容器101，也可以是容器承载体上的托盘，或者是其它形式可以用于盛放物品的容器，通过供所述自驱机器人103运行的通道，所述自驱机器人103在其所在的阁楼层运行并获取到一个或多个容器101，同时，工人可以在阁楼107的通道上进行作业，即每层阁楼107上均可以设置操作工位106，用于对容器101进行拣选操作、盘点操作、拣货操作、或理货操作等。
所述控制装置105被配置为，向所述自驱机器人103分配搬运任务并根据所述搬运任务为所述自驱机器人103规划在所在阁楼层上的运行路线，并调度所述自驱机器人103按照所述运行路线运行并执行所述搬运任务。
所述控制装置105还被配置为，向所述自驱机器人103分配搬运任务并根据所述搬运任务为所述自驱机器人103规划在所在阁楼层上的运行路线，并控制所述自驱机器人103按照所述运行路线在所在阁楼层上运行及执行所述搬运任务；所述搬运任务包括所述自驱机器人103在其所在阁楼层的第一目标位置取得目标容器，并搬运到所述缓存机构108；和/或，所述自驱机器人103在所述缓存机构108取得目标容器，并搬运到所在阁楼层的第二目标位置。其中，所述第一目标位置是指所述自驱机器人103根据所述搬运任务在取得所述目标容器时，所述 目标容器所处的位置；所述第二目标位置是指所述自驱机器人103根据所述搬运任务在放置所述目标容器时，所述目标容器所处的位置，所述第一目标位置与第二目标位置可以相同也可以不同。
在本申请实施例中，所述控制装置105可以存储所述容器101和所述阁楼107的容器承载体的存储空位之间对应关系以及所述阁楼107的容器承载体的库存信息，从而根据需要作业的单据生成所述搬运任务，并分配自驱机器人103执行所述搬运任务。同时，所述控制装置105还可以规划路径并调度自驱机器人103路径执行避免碰撞，所述控制装置105与所述容器提升机1041、所述缓存机构108和所述自驱机器人103通信连接使得所述自驱机器人103与缓存机构108对接，所述缓存机构108与容器提升机1041对接。
所述缓存机构108被配置为承载所述目标容器，将所述目标容器传送至所述容器提升机1041和/或，将从所述目标容器传送出所述容器提升机1041；所述容器提升机1041被配置为将所述目标容器搬运至与搬运任务对应的目的阁楼层。
本申请一个实施例中，某个阁楼层A配置了一个自驱机器人B和一个缓存机构C。所述控制装置可以控制所述自驱机器人B在所在阁楼层A的第一目标位置取得目标容器，并搬运到所述缓存机构C存放，而后控制装置可以控制所述缓存机构C将所述目标容器传送至所述容器提升机。当有其他容器被容器提升机送至阁楼层A时，所述控制器还可以控制所述缓存机构C将所述目标容器从所述容器提升机传送出至所述缓存机构C并控制所述自驱机器人A在所述缓存机构C取得所述容器，并将所述容器搬运至该容器的第二目标位置。
在本申请实施例中，所述容器101通过所述容器提升机1041实现跨层传输，所述容器提升机1041配合所述缓存机构108与所述自驱机器人103进行对接，例如，在所述自驱机器人103取到目标容器后，所述控制装置105调度自驱机器人103到将所述目标容器转移到缓存机构108上，所述缓存机构108将目标容器送入容器提升机1041中，所述容器提升机1041将所述目标容器送到目的阁楼层后，所述目标容器被移载至对应的缓存机构108上等待被对应的所述自驱机器人103取走。
在一实施例中，所述缓存机构108可以是辊道机构，例如轨道线或传送带等，所述缓存机构108为n层级结构，所述控制装置105还被配置为控制所述容器提升机1041将所述目标容器搬运至所述缓存机构108中空闲的层级中，其中，n为自然数，n大于或等于2，所述缓存机构108的层数可根据用户业务情况进行设计和调整。
在一实施例中，如图8和图13所示，所述缓存机构设置在所述容器提升机1041的一侧或两侧，所述容器提升机1041与所述缓存机构对应设置。在缓存机构设置在所述容器提升机的两侧的情况下，位于所述容器提升机1041一侧的所述缓存机构被配置为将所述容器101送入所述容器提升机1041内，位于所述容器提升机1041另一侧的所述缓存机构被配置为将所述容器101从所述容器提升机 1041内将所述容器101送出，并且所述送入的动作和所述送出的动作可以先后或者同步完成。
在一实施例中，所述容器提升机1041包括移载机构和容器暂存位，所述移载机构被配置为来自于所述缓存机构的目标容器载入至所述容器暂存位上，和/或将位于所述容器暂存位上的目标容器载入至所述缓存机构上。
在一实施例中，所述移载机构包括辊筒机构或机械臂，辊筒机构或机械臂在水平面的前后左右四个方向上拥有自由度，使得所述容器提升机1041能够在多个方向上与所述缓存机构108实现对接。
本申请实施例的工作过程为，所述自驱机器人103在所述控制装置105的控制下获取到需要被跨层输送到另一楼层的容器101，所述控制装置105根据容器101要去的楼层、自驱机器人103到容器提升机1041的最优路径和容器提升机1041前自驱机器人103排队的情况等因素，将所述自驱机器人103分配至与相应的容器提升机1041对接的缓存机构108处，使得至少一个所述容器101按顺序依次进入对应的容器提升机1041，当至少一个所述容器101被提升至目的阁楼层后，所述缓存机构108将容器101移出容器提升机1041并暂存所述容器101，所述控制装置105再次分配所述自驱机器人103到缓存机构108处将所述容器101取出，并搬运至所述存储区域的操作工位106进行拣选，并在拣选完成后按上述方式实现所述容器101的跨层传输归位。
本申请实施例提供的机器人控制系统，采用供自驱机器人103结合阁楼式货架解决了立体存储货物到人拣选的问题，通过在每层阁楼107的地面上设置供自驱机器人103有供自驱机器人运行的通道，并结合容器提升机1041将目标容器运送至目标各楼层，使得所述自驱机器人可以在每个阁楼层运行，提高了跨层物流传输仓储的效率，通过在容器提升机1041的位置处设置与自驱机器人103对接的缓存机构108，使得在暂时没有所述自驱机器人103空闲的情况下，所述容器提升机1041也能够正常运行，使得不同阁楼层的容器101通过一种灵活高效的形式实现跨层传输，提高了整个机器人拣选系统的效率和柔性，降低了容器跨层传输方案的成本。
图2示出了根据本申请实施例的机器人控制装置的通信框架示意图。
所述该控制装置105的部件包括但不限于存储器210和处理器220。处理器220与存储器210通过总线230相连接，数据库250用于保存搬运任务。
控制装置105还包括接入设备240，接入设备240使得控制装置105能够经由一个或多个网络260通信。这些网络的示例包括公用交换电话网(PSTN)、局域网(LAN)、广域网(WAN)、个域网(PAN)或诸如因特网的通信网络的组合。接入设备240可以包括有线或无线的任何类型的网络接口(例如，网络接口卡(NIC))中的一个或多个，诸如IEEE802.11无线局域网(WLAN)无线接口、全球微波互联接入(Wi-MAX)接口、以太网接口、通用串行总线(USB)接口、蜂窝网络接口、蓝牙接口、近场通信(NFC)接口，等等。
在本申请的一个实施例中，控制装置105的上述以及图2中未示出的其他部件也可以彼此相连接，例如通过总线。
控制装置105可以是任何类型的静止或移动计算设备，包括移动计算机或移动计算设备(例如，平板计算机、个人数字助理、膝上型计算机、笔记本计算机、上网本等)、移动电话(例如，智能手机)、可佩戴的计算设备(例如，智能手表、智能眼镜等)或其他类型的移动设备，或者诸如台式计算机或PC的静止计算设备。控制装置105还可以是移动式或静止式的服务器。
所述控制装置105通过网络260与自驱机器人103和提升机进行通信连接，通过发送控制指令或者接收自驱机器人或者提升机返回的消息实现对该机器人控制系统的控制。
在本申请另一个实施例中，在所述搬运任务中携带有所述目标容器的编码标识，所述控制装置105还被配置为控制至少一个所述自驱机器人103在所在阁楼层按照所述运行路线行驶至所述目标容器所在地，并通过核对所述目标容器的编码标识，取得所述目标容器。
需要说明的是，本申请实施例不限自驱机器人的结构，其可以采用现有技术中的任何一种结构实现从货架取出及向货架放入容器的功能。例如，可以在自驱机器人上设置机械臂，利用机械器取出及放入容器；也可以在自驱机器人上设置夹抱结构，采用夹抱方式取出及放入容器；还可以采用其他结构实现。例如，示例性的，参见图3，本申请一实施例中，所述至少一个自驱机器人103包括：取箱伸缩机构301，被配置为取得一个或多个目标容器；升降机构302，被配置为控制取箱伸缩机构301进行上下调节，以便取箱伸缩机构取得所在阁楼层不同高度的货架上的目标容器。
机器人运动底盘303，被配置为控制所述至少一个自驱机器人在所在阁楼层运行的通道上按照控制装置规划的运行路线的行驶。
所述目标容器为搬运任务中需要搬运的容器101。
本申请实施例提供的自驱机器人103在所在阁楼102地面运行的通道上运行，极大地提高了搬运容器的灵活性，可以根据实际需求完成各种业务，而无需安装穿梭轨道，极大地降低了建造成本。
在本申请另一个实施例中，所述缓存机构108包括第一缓存辊道线、第二缓存辊道线和移载位，所述搬运任务包括第一搬运任务，所述第一搬运任务的目的地包括所述第一缓存辊道线对应的移载位；所述控制装置105还被配置为控制所述至少一个自驱机器人103中的第一自驱机器人按照与第一搬运任务对应的第一运行路线在所在阁楼层的目标容器所在地取得所述目标容器；所述控制装置105还被配置为控制所述第一自驱机器人将所述目标容器搬运到所述第一缓存辊道线对应的移载位处；所述第一自驱机器人被配置为将准备就绪的状态信号发送给所述控制装置105；所述控制装置105还被配置为接收所述准备就绪的状态信号，并控制所述第一缓存辊道线将所述目标容器搬运至所述容器提升机 1041上。
所述搬运任务还包括第二搬运任务，所述第二搬运任务的目的地包括所述第二缓存辊道线对应的移载位；所述控制装置105还被配置为控制所述容器提升机1041将所述目标容器搬运至所述第二搬运任务的目的阁楼层；所述控制装置105还被配置为控制所述容器提升机1041将所述目标容器搬运至所述第二缓存辊道线对应的移载位处；所述容器提升机1041还被配置为将等待收货的状态信号发送给所述控制装置105。
所述搬运任务还包括第三搬运任务，所述第三搬运任务的目的地包括所述第二搬运任务的目的阁楼层的操作工位106或容器承载体；所述控制装置105，还被配置为接收所述等待收货的状态信号并控制所述至少一个自驱机器人103中的第二自驱机器人在所在阁楼层按照与所述第三搬运任务对应的第三运行路线运行；所述控制装置105还被配置为控制所述第二自驱机器人将所述目标容器从所述第二缓存辊道线对应的移载位处搬运到所述第二搬运任务的目的阁楼层的操作工位106或容器承载体上，所述第一自驱机器人与所述第二自驱机器人不同。
在本申请实施例中，所述搬运任务由第一搬运任务、第二搬运任务组成和第三搬运任务组成，所述第一缓存辊道线和第二缓存辊道线分别对应用于获取容器101的放箱缓存辊道线和用于暂存所述容器101的取箱缓存辊道线，在所述取箱缓存辊道线和所述放箱缓存辊道线上设有与所述自驱机器人对接的移载位，则本实施例的所述搬运任务的运行过程为：所述自驱机器人103将取到的容器101运送到放箱缓存辊道线对应的移载位，所述放箱缓存辊道线将所述容器101送进所述容器提升机1041；在所述容器101到达目的阁楼层后，被所述容器提升机1041移载至取箱缓存辊道线，其中，所述取箱缓存辊道线设置为多层形式，所述控制装置105可以根据所述取箱缓存辊道线的空余情况将所述容器101移入空闲的层级中；所述控制装置105控制所述目的阁楼层的自驱机器人103移动至所述取箱缓存辊道线处将一个或多个所述容器101取出；所述控制装置105再次调度完成取箱操作的自驱机器人103将所述容器101送到所述目的阁楼层的操作工位106。
在本申请实施例中，所述缓存机构还包括第三缓存辊道线，所述第三缓存辊道线与所述第二缓存辊道线分别设置在所述容器提升机1041的两侧；所述搬运任务还包括第四搬运任务，所述第四搬运任务的目的地包括所述第四搬运任务的目的阁楼层。
所述控制装置105还被配置为控制所述第三缓存辊道线将位于所述第三缓存辊道线的移载位上的容器101搬运至所述容器提升机1041上。
所述控制装置105还被配置为控制所述容器提升机1041将所述容器101搬运至所述第四搬运任务的目的阁楼层。
其中，第三缓存辊道线对应用于获取容器101的放箱缓存辊道线，所述放箱 缓存辊道线的送入的动作和所述取箱缓存辊道线送出的动作同步完成。
在本申请另一个实施例中，所述存储区域至少包括一层存储层和一层拣选层，在所述拣选层上设置有操作工位106，所述操作工位106被配置为对所述目标容器进行作业操作。
在一实施例中，所述控制装置105还被配置为在控制所述自驱机器人103将所述目标容器携带到所述操作工位106后，在所述操作工位106排队等待作业操作；所述控制装置105还被配置为在所述作业操作完成后，控制所述自驱机器人103携带完成所述作业操作的所述目标容器，并将所述目标容器搬运到下一个所述操作工位106或归还到所述阁楼107的容器承载体上。
在一实施例中，为了提高自驱机器人103的工作效率，所述控制装置105还被配置为在控制所述自驱机器人103运行到所述操作工位106后，将所述目标容器搬运到所述操作工位106的容器承载体上，并通过控制设置在所述自驱机器人103上的取箱伸缩机构取得至少一个除所述目标容器之外的可操作容器101。
所述可操作的容器可以是已经完成作业操作的容器101。
在本申请另一个实施例中，所述控制装置105还被配置为接收所述自驱机器人103识别的目标容器编码，根据所述目标容器内存储货物的热度和数量对所述目标容器进行热度评估。
所述控制装置105还被配置为控制所述自驱机器人103将热度超过预设阈值的目标容器搬运至预设区域的容器承载体中，并记录所述目标容器与所述容器承载体的绑定关系；或者控制所述自驱机器人103按照所述目标容器的热度由高到低的顺序，将所述目标容器搬运至距离所述阁楼107的操作工位106由近到远的阁楼107的容器承载体中，并记录所述目标容器与所述容器承载体的绑定关系。
该预设区域可以是所述离操作工位106比较近的存储单元所在的区域，例如可以是距离所述操作工位106距离3米或者5米的距离的容器承载体。通过这种方式，将取用频繁的货物所在的容器101存放在较近的容器承载体中，减少了搬运所需要花费的时间，提高了业务处理效率。
所述容器承载体为所述存储区域的每层阁楼107上放置的货架，每个容器承载体具有多个存储单元，每个存储单元可以存放一个容器。
在一实施例中，所述容器承载体包括但不限于所述存储区域的每层阁楼107上放置的存储货架。每个容器承载体具有多个存储单元，每个存储单元可以存放一个容器。
所述操作工位的存放位包括存储货架或暂存辊道，用于存放操作工位的容器。
本申请另一个实施例中，所述供自驱机器人103运行的通道可以用于应急人工作业。
本申请另一个实施例中，如图9所示，所述机器人系统还包括机器人提升机1042，所述机器人提升机1042被配置为在不同的所述目的阁楼层的业务量出现 变化的情况下，根据所述控制装置105的控制指令将所述自驱机器人103调配到对应的所述目的阁楼层。
在本申请实施例中，如图9所示，所述货箱跨层传输方案的运作流程包括以下步骤。
在步骤(1)中，所述控制装置105分配所述目的阁楼层的自驱机器人103在所述存储区域获取到一个或多个所述目标容器，所述控制装置105根据所述自驱机器人103和所述容器提升机1041的位置以及所述自驱机器人103排队的情况，分配所述自驱机器人103到指定的容器提升机1041处进行缓存操作。
在步骤(2)中，所述自驱机器人103到达指定所述容器提升机1041的对接位置时，若所述放箱缓存辊道线的移载位空闲，则所述控制装置105控制所述自驱机器人103将所述目标容器放上在所述放箱缓存辊道线的移载位上，所述放箱缓存辊道线将目标容器送入所述容器提升机1041；若放箱缓存辊道线的移载位非空闲，则所述自驱机器人103在所述放箱缓存辊道线的移载位处等待放箱指令。
在步骤(3)中，所述容器提升机1041将目标容器送到目的阁楼层时，所述控制装置105控制所述移载设备将所述目标容器从所述容器提升机1041中转移到所述取箱缓存辊道线上，同时分配所述自驱机器人103到相应所述容器提升机1041对接点取目标容器。
在步骤(4)中，所述自驱机器人103在所述取箱缓存辊道线的移载位处取到所述目标容器后，运行到所述控制装置105指定地点进行指定操作。
在步骤(5)中，在所述制定操作结束后，所述控制装置105分配目标容器回到原处，所述目标容器按步骤101至步骤104被送回原位。
在步骤(6)中，当不同目的阁楼层的业务量出现变化时，所述控制装置105对各层的所述自驱机器人103的数量进行重新分配，通过机器人提升机1042将所述自驱机器人103调配到指定的目的阁楼层。
另外，还可以为所述存储区域安装步行梯或者电梯。
在系统发生故障，如停电时、或系统无法正常工作时，工人通过所述步行梯或者电梯，在各个阁楼层的运行的通道上执行搬运任务，完成应急人工作业。
为了准确的确定所述容器101的位置，在所述容器101上设置有编码标识，以供识别，该编码标识可以是二维码、RFID标签等。
基于上述介绍的机器人操作系统，可以完成多种业务流程。下面以整箱入库流程、入库流程以及操作工位107的作业流程为例进行说明。
其中，补货流程是指货品不与容器101一起入库，货品放入已有的容器101中。所操作工位107的作业包括出库、盘点或者理货作业。
本申请的实施例中，所述整箱入库流程包括以下步骤。
在步骤(1)中，控制装置105接收容器编号，商品编号，货品数量并记录与容器101的绑定关系，其中，一个所述容器101中可绑定多种货品。
在步骤(2)中，所述控制装置105判断若所述存储区域的容器承载体或所 述缓存机构108上有空置的容器101，则控制装置105分配自驱机器人103取得所述空置的容器101，并将所述空置的容器101搬运到所述操作工位106，控制所述自驱机器人103在操作工位106排队；若所述存储区域的容器承载体或所述缓存机构108上没有空置的容器101，则所述控制装置105直接控制自所述驱机器人103到操作工位106进行排队，在所述搬运路径中通过所述容器提升机1041和缓存机构108实现所述容器101的跨层传输。
在步骤(3)中，所述自驱机器人103取得所述容器101并检测所述容器101的编码标识，并提交到控制装置105，所述控制装置105记录所述自驱机器人103运的容器编号。
在步骤(4)中，所述控制装置105根据所述容器101的商品热度和数量，分配容器101到对应的容器承载体的存储单元。
在步骤(5)中，当所述自驱机器人103的所有容器暂存位都放入容器101后，或者操作工位106已经无剩余需要入库的容器101时，所述控制装置105调度所述自驱机器人103离开所述操作工位106，并为所述自驱机器人103规划最优的归还路径顺序，所述自驱机器人103依次运行到分配的所述存储单元的位置，将容器101放入所述存储单元，在所述归还路径中通过所述容器提升机1041和缓存机构108实现所述容器101的跨层传输。
在本申请的实施例中，所述补货流程包括以下步骤。
在步骤(1)中，控制装置105根据需要入库的商品，选取能够存储商品的若干容器101，其中，所述容器101可以是空置的容器101，也可以是有货品但有存储空间的容器101，所述控制装置105分配所述自驱机器人103取下所述容器101，并将所述容器101搬运到所述操作工位106并排队，在搬运路径中通过所述容器提升机1041和缓存机构108实现所述容器101的跨层传输。
在步骤(2)中，所述控制装置105接收商品编码和容器编码，记录容器101与商品的绑定关系，并控制自驱机器人103通过容器101接收商品。
在步骤(3)中，当前工位完成补货操作或当前自驱机器人103携带的容器101无存储空间，工人通过所述控制装置105的交互界面进行反馈，所述控制装置105根据容器101的商品热度和数量，分配所述容器101到对应的容器承载体的存储单元。
在步骤(4)中，所述控制装置105调度所述自驱机器人103离开所述操作工位106，并为自驱机器人103规划最优的归还路径顺序，所述自驱机器人103依次到控制装置105分配的容器承载体的存储单元的位置，将所述容器101放入容器承载体的存储单元中，在所述归还路径中通过所述容器提升机1041和缓存机构108实现所述容器101的跨层传输。
在本申请的实施例中，所述操作工位106作业流程包括以下步骤。
在步骤(1)中，操作工位106启动作业，控制装置105根据作业单据命中若干容器101，所述控制装置105分配所述自驱机器人103取下被命中的容器101， 并将所述被命中的容器101沿规划的搬运路径到操作工位106并在工排队，在所述搬运路径中通过所述容器提升机1041和缓存机构108实现所述容器101的跨层传输。
在步骤(2)中，在操作工位106作业完成后，通过控制装置105的交互界面反馈给控制装置105当前自驱机器人103携带的容器101操作完成。
在步骤(3)中，所述控制装置105根据容器101中当前的商品热度和数量，分配容器101到对应的容器承载体的存储单元。
在步骤(4)中，所述控制装置105调度所述自驱机器人103离开所述操作工位106，并为自驱机器人103规划最优的归还路径顺序，所述自驱机器人103依次到控制装置105分配的所述容器承载体的存储单元的位置，将所述容器101放入容器承载体的存储单元中，在所述归还路径中通过所述容器提升机1041和缓存机构108实现所述容器101的跨层传输。
本申请实施例提供的机器人控制系统，通过在每层阁楼地面上设置供自驱机器人103运行的通道，结合提升机，使得自驱机器人103可以在每个阁楼层运行，提高了自驱机器人103的灵活性，可以根据实际需求完成各种业务，无需安装穿梭轨道，极大地降低了建造成本。
其中，处理器220可以执行图10所示方法中的步骤。图10是示出了根据本申请一实施例的机器人控制方法的示意性流程图，包括步骤1001至步骤1005。
在步骤1001中，向自驱机器人分配搬运任务。
在步骤1002中，根据所述搬运任务为所述自驱机器人规划在所在阁楼层上的运行路线，并控制所述自驱机器人在所在阁楼层的第一目标位置取得目标容器并搬运到所述缓存机构108。
在本申请的实施例中，在所述搬运任务中携带有所述目标容器的编码标识；
控制所述自驱机器人在所在阁楼层的第一目标位置取得目标容器包括：
控制所述至少一个所述自驱机器人在所在阁楼层按照所述运行路线行驶至所述目标容器所在地，并通过识别所述目标容器的编码标识，取得所述目标容器。
在本申请的实施例中，所述搬运任务包括第一搬运任务，控制所述自驱机器人在所在阁楼层的第一目标位置取得目标容器包括：控制所述至少一个自驱机器人中的第一自驱机器人按照与第一搬运任务对应的第一运行路线在所在阁楼层的目标容器所在地取得所述目标容器。
在本申请的实施例中，所述缓存机构为辊道机构，所述缓存机构包括第一缓存辊道线和移载位，所述第一搬运任务的目的地包括所述第一缓存辊道线对应的移载位。
搬运到所述缓存机构包括：控制所述第一自驱机器人将所述目标容器搬运到所述第一缓存辊道线对应的移载位处。
在步骤1003中，控制所述缓存机构108将所述目标容器搬运至容器提升机上。
控制所述缓存机构将所述目标容器搬运至容器提升机上包括如下步骤：接收所述第一自驱机器人准备就绪的状态信号。控制所述第一缓存辊道线将所述目标容器搬运至所述容器提升机上。
在步骤1004中，控制所述容器提升机将所述目标容器搬运至所述搬运任务目的地所在的目的阁楼层。
在本申请的实施例中，所述搬运任务还包括第二搬运任务，所述第二搬运任务的目的地包括所述第二搬运任务的目的阁楼层。控制所述容器提升机将所述目标容器搬运至所述搬运任务目的地所在的目的阁楼层包括：控制所述容器提升机将所述目标容器搬运至所述第二搬运任务的目的阁楼层。
其中，处理器220可以执行图11所示方法中的步骤。图11是示出了根据本申请一实施例的机器人控制方法的示意性流程图，包括步骤1101至步骤1102。
在步骤1101中，控制所述搬运任务目的地所在的目的阁楼层的缓存机构将来自于所述容器提升机上的容器接收并暂时存放。
在本申请的实施例中，所述缓存机构为辊道机构，所述缓存机构包括第二缓存辊道线和移载位；所述搬运任务还包括第二搬运任务，所述第二搬运任务的目的地包括所述第二缓存辊道线对应的移载位。控制所述搬运任务目的地所在的目的阁楼层的缓存机构将来自于所述容器提升机上的容器接收并暂时存放包括：控制所述容器提升机将所述目标容器搬运至所述第二缓存辊道线对应的移载位处。
在步骤1102中，控制自驱机器人从所在阁楼层的缓存机构上将所述目标容器搬运至所述搬运任务目的地。
在本申请的实施例中，所述搬运任务还包括第三搬运任务，所述第三搬运任务的目的地包括所述第二搬运任务的目的阁楼层的操作工位或容器承载体。
控制自驱机器人从所在阁楼层的缓存机构上将所述目标容器搬运至所述搬运任务目的地包括步骤如下步骤：接收所述等待收货的状态信号；控制所述至少一个自驱机器人中的第二自驱机器人在所在阁楼层按照与所述第三搬运任务对应的第三运行路线运行；控制所述第二自驱机器人将所述目标容器从所述第二缓存辊道线对应的移载位处搬运到所述第二搬运任务的目的阁楼层的操作工位或容器承载体上，其中，所述第一自驱机器人与所述第二自驱机器人不同。
在本申请的实施例中，所述缓存机构还包括第三缓存辊道线，所述第三缓存辊道线与所述第二缓存辊道线分别设置在所述容器提升机的两侧；所述搬运任务还包括第四搬运任务，所述第四搬运任务的目的地包括所述第四搬运任务的目的阁楼层。
在控制所述容器提升机将所述目标容器搬运至所述第二缓存辊道线对应的移载位处之后，还包括：控制所述第三缓存辊道线将位于所述第三缓存辊道线的移载位上的容器搬运至所述容器提升机上；控制所述容器提升机将所述容器搬运至所述第四搬运任务的目的阁楼层。
在本申请的实施例中，所述搬运任务目的地包括阁楼的容器承载体；控制自驱机器人从所在阁楼层的缓存机构上将所述目标容器搬运至所述搬运任务目的地包括：接收所述自驱机器人发送的完成了拣选的目标容器的编码；根据所述完成了拣选的容器内存储货物的热度和数量对所述目标容器进行热度评估；控制所述自驱机器人将热度超过预设阈值的目标容器搬运至预设区域的容器承载体，并记录所述目标容器与所述容器承载体的绑定关系；或者控制所述自驱机器人按照容器的热度由高到低的顺序，将所述目标容器搬运至距离所述阁楼的操作工位由近到远的容器承载体中，并记录所述目标容器与所述容器承载体的绑定关系。
在本申请的实施例中，图12所示，在控制自驱机器人从所在阁楼层的缓存机构上将所述目标容器搬运至所述搬运任务目的地之后，还包括步骤1201至步骤1202。
在步骤1201中，控制所述自驱机器人将所述目标容器携带到操作工位后在所述操作工位排队等待作业操作。
在步骤1202中，在所述作业操作完成后，控制所述自驱机器人携带完成所述作业操作的所述目标容器，并将所述目标容器搬运到下一个所述操作工位或归还到所述阁楼的容器承载体上。
在本申请的实施例中，在控制自驱机器人从所在阁楼层的缓存机构上将所述目标容器搬运至所述搬运任务目的地之后，还包括：控制所述自驱机器人运行到所述操作工位后将所述目标容器搬运到所述操作工位的存放位上，并通过控制设置在所述自驱机器人上的取箱伸缩机构取得一个或多个其他可操作的容器。
本申请实施例提供的机器人控制方法，结合容器提升机可以配合自驱机器人103在不同各楼层运行的通道运行，极大地提高了自驱机器人103的灵活性，可以根据实际需求完成各种业务，无需安装穿梭轨道，极大地降低了建造成本。
本申请一实施例还提供一种计算设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机指令，所述处理器执行所述指令时如前所述机器人控制方法的步骤。
本申请一实施例还提供一种计算机可读存储介质，其存储有计算机指令，该指令被处理器执行时实现如前所述机器人控制方法的步骤。
上述为本实施例的一种计算机可读存储介质的示意性方案。需要说明的是，该存储介质的技术方案与上述的机器人控制方法的技术方案属于同一构思，存储介质的技术方案未详细描述的细节内容，均可以参见上述机器人控制方法的技术方案的描述。
上述对本说明书特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过 程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。
所述计算机指令包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括电载波信号和电信信号。
需要说明的是，对于前述的各方法实施例，为了简便描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其它顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于示例实施例，所涉及的动作和模块并不一定都是本申请所必须的。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其它实施例的相关描述。

Claims (54)

  1. 一种机器人控制系统，包括：存储区域，提升机，控制装置以及至少一个自驱机器人，所述控制装置与所述提升机和所述自驱机器人通信连接；
    所述存储区域具有至少两层阁楼，被配置为存储容器，并在每层所述阁楼的地面上设置有供所述自驱机器人运行的通道；
    所述提升机，被配置为将所述自驱机器人或所述容器搬运至与搬运任务对应的目的阁楼层；
    所述控制装置，被配置为向所述自驱机器人分配所述搬运任务并根据所述搬运任务为所述自驱机器人规划在所述目的阁楼层上的运行路线，并调度所述自驱机器人按照所述运行路线运行，执行所述搬运任务；
    所述自驱机器人，被配置为按照与所述搬运任务对应的运行路线到达所述搬运任务对应的目的阁楼层的目标容器所在地，并取得所述目标容器，按照所述运行路线将所述目标容器搬运至所述搬运任务目的地；
    其中，所述容器为存储在容器承载体上的料箱，所述容器承载体位于所述存储区域。
  2. 根据权利要求1所述的系统，还包括缓存机构；其中，每层所述阁楼配置有至少一个所述自驱机器人以及至少一个所述缓存机构；
    所述缓存机构，被配置为承载所述目标容器，且执行以下至少之一的操作：将所述目标容器传送至所述提升机；将所述目标容器从所述提升机传送出。
  3. 根据权利要求2所述的系统，其中，所述缓存机构为辊道线。
  4. 根据权利要求2所述的系统，其中，所述缓存机构为n层级结构；
    所述控制装置，还被配置为控制所述提升机将所述目标容器搬运至所述缓存机构中空闲的层级中，其中，n为自然数，n大于或等于2。
  5. 根据权利要求2-4中任一项所述的系统，其中，所述缓存机构设置在所述提升机的一侧或两侧，所述提升机与所述缓存机构对应设置。
  6. 根据权利要求1或2所述的系统，其中，所述搬运任务中携带所述目标容器的编码标识；
    所述自驱机器人，被配置为按照与所述搬运任务对应的运行路线到达所述搬运任务对应的目的阁楼层的目标容器所在地，并取得所述目标容器包括：
    所述自驱机器人在所述目的阁楼层，按照所述运行路线行驶至所述目标容器所在地，并通过识别所述目标容器的编码标识，取得所述目标容器。
  7. 根据权利要求1或2所述的系统，其中，所述提升机设置有暂存位，所述暂存位被配置为暂存所述自驱机器人或所述目标容器。
  8. 根据权利要求2-4中任一项所述的系统，其中，所述提升机还包括移载机构；
    所述移载机构，被配置为执行以下至少之一的操作：
    将来自所述缓存机构的目标容器载入所述暂存位上；将位于所述暂存位上的目标容器载入至所述缓存机构上。
  9. 根据权利要求8所述的系统，其中，所述移载机构包括辊筒机构或机械臂；
    所述辊筒机构或机械臂被配置为使容器在水平面的前后左右四个方向上拥有自由度。
  10. 根据权利要求7所述的系统，其中，所述搬运任务包括第一搬运任务，所述第一搬运任务的目的地包括：提升机的暂存位；
    所述控制装置被配置为，控制所述至少一个自驱机器人中的第一自驱机器人按照与第一搬运任务对应的第一运行路线到达所述第一搬运任务对应的目的阁楼层的目标容器所在地，取得所述目标容器，携带所述目标容器的第一自驱机器人到达提升机的暂存位；或
    所述控制装置被配置为，控制所述至少一个自驱机器人中的第二自驱机器人按照与第一搬运任务对应的第一运行路线到达所述第一搬运任务对应的目的阁楼层的目标容器所在地，并取得所述目标容器，将所述目标容器搬运至所述提升机的暂存位。
  11. 根据权利要求10所述的系统，所述搬运任务还包括第二搬运任务，所述第二搬运任务的目的地包括：所述第二搬运任务的目的阁楼层的操作工位或容器承载体；
    所述控制装置还被配置为，控制所述提升机将携带所述目标容器的所述第一自驱机器人搬运至所述第二搬运任务的目的阁楼层；控制携带所述目标容器的所述第一自驱机器人在所述第二搬运任务的目的阁楼层按照与所述第二搬运任务对应的第二运行路线运行，并将所述目标容器搬运至所述第二搬运任务的目的阁楼层的操作工位或容器承载体；或
    所述控制装置还被配置为，控制所述提升机将所述目标容器提升到所述目的阁楼层；并控制所述至少一个自驱机器人中的第三自驱机器人在所述第二搬运任务的目的阁楼层按照所述第二搬运任务的第二运行路线运行，并将所述目标容器搬运至所述第二搬运任务的目的阁楼层的操作工位或容器承载体；
    所述第二自驱机器人与所述第三自驱机器人不同。
  12. 根据权利要求11所述的系统，在所述控制装置被配置为，控制所述至少一个自驱机器人中的第二自驱机器人按照与第一搬运任务对应的第一运行路线到达所述第一搬运任务对应的目的阁楼层的目标容器所在地，并取得所述目标容器，将所述目标容器搬运至所述提升机的暂存位的情况下，所述搬运任务还包括第三搬运任务，所述第三搬运任务的目的地包括：所述第三搬运任务的目的阁楼层的操作工位；所述提升机与操作工位的缓存机构相接；
    所述控制装置还被配置为，控制所述提升机将所述目标容器搬运至所述第三搬运任务的目的阁楼层，并控制所述提升机将所述目标容器转移至所述缓存机构，通过所述缓存机构将所述目标容器传送至所述操作工位。
  13. 根据权利要求12所述的系统，其中，所述缓存机构还被配置为，接收 已完成作业操作的容器。
  14. 根据权利要求7所述的系统，其中，所述目标容器所在地为缓存机构，所述控制装置控制所述提升机从所述缓存机构获取所述目标容器，并将所述目标容器放置于提升机的暂存位，将所述目标容器搬运至所述搬运任务的目的阁楼层。
  15. 根据权利要求14所述的系统，其中，所述控制装置控制所述至少一个自驱机器人在所述搬运任务的目的阁楼层从所述提升机的暂存位取得所述目标容器，并将所述目标容器搬运至所述搬运任务目的地。
  16. 根据权利要求1或2所述的系统，其中，所述存储区域在至少一层阁楼上设置有操作工位，所述操作工位被配置为对所述目标容器进行作业操作。
  17. 根据权利要求16所述的系统，携带所述目标容器的所述自驱机器人运行到所述操作工位后在所述操作工位排队等待作业操作；
    在所述作业操作完成后所述自驱机器人携带已完成所述作业操作的所述目标容器，将所述目标容器搬运至下一个操作工位或归还到容器承载体上。
  18. 根据权利要求16所述的系统，其中，所述控制装置还被配置为，在控制所述自驱机器人运行到所述操作工位后，将所述目标容器搬运到所述操作工位的存放位上，并取得除所述目标容器之外的至少一个可操作容器。
  19. 根据权利要求1或2所述的系统，其中，所述控制装置还被配置为，接收所述自驱机器人识别的目标容器编码，根据所述目标容器内存储货物的热度和数量对所述目标容器进行热度评估；
    控制所述自驱机器人将热度超过预设阈值的目标容器搬运至预设区域的容器承载体中，并记录所述目标容器与所述容器承载体的绑定关系；或者控制所述自驱机器人按照目标容器的热度由高到低的顺序，将目标容器搬运至距离操作工位由近到远的容器承载体中，并记录所述目标容器与所述容器承载体的绑定关系。
  20. 根据权利要求1或2所述的系统，其中，所述自驱机器人包括：取箱伸缩机构，升降机构以及机器人运动底盘；
    所述取箱伸缩机构，被配置为取得至少一个所述目标容器；
    所述升降机构，被配置为控制所述取箱伸缩机构进行上下调节，以便所述取箱伸缩机构取得所述目的阁楼层不同高度的容器承载体上的目标容器；
    所述机器人运动底盘，被配置为控制所述至少一个自驱机器人在所述目的阁楼层运行通道上的行驶。
  21. 根据权利要求1或2所述的系统，所述供自驱机器人运行的通道还被配置为供应急人工作业。
  22. 一种机器人控制方法，包括：
    向至少一个自驱机器人分配搬运任务；
    为所述至少一个自驱机器人规划在所述搬运任务对应的目的阁楼层的运行 路线，并控制所述至少一个自驱机器人按照所述路线运行至所述搬运任务对应的目标容器所在地，并取得所述目标容器；
    控制携带所述目标容器的所述至少一个自驱机器人运行到提升机所在的位置；
    控制所述提升机将所述至少一个自驱机器人或所述目标容器搬运至所述搬运任务目的地所在的目的阁楼层；
    控制所述至少一个自驱机器人将所述目标容器搬运至所述搬运任务目的地。
  23. 根据权利要求22所述的方法，在取得所述目标容器之后，还包括：
    控制所述自驱机器人将所述目标容器搬运到缓存机构；
    控制所述缓存机构将所述目标容器搬运至提升机上；
    控制所述提升机将所述目标容器搬运至所述搬运任务目的地所在的目的阁楼层。
  24. 根据权利要求23所述的方法，所述控制所述提升机将所述目标容器搬运至所述搬运任务目的地所在的目的阁楼层之后，还包括：
    控制所述搬运任务目的地所在的目的阁楼层的缓存机构接收并暂时存放来自于提升机上的目标容器；
    控制自驱机器人从所在阁楼层的缓存机构上将所述目标容器搬运至所述搬运任务目的地。
  25. 根据权利要求22或23所述的方法，其中，所述搬运任务中携带所述目标容器的编码标识；所述控制至少一个自驱机器人取得所述目标容器，包括：
    控制所述至少一个自驱机器人通过识别所述目标容器的编码标识，取得所述目标容器。
  26. 根据权利要求22所述的方法，其中，所述提升机设置有暂存位，所述暂存位被配置为暂存所述至少一个自驱机器人或所述目标容器。
  27. 根据权利要求26所述的方法，其中，所述搬运任务包括第一搬运任务，所述第一搬运任务的目的地包括：提升机的暂存位；
    控制所述至少一个自驱机器人中的第一自驱机器人按照与第一搬运任务对应的第一运行路线到达所述第一搬运任务对应的目的阁楼层的目标容器所在地，并取得所述目标容器，携带所述目标容器的第一自驱机器人到达提升机的暂存位；或
    控制所述至少一个自驱机器人中的第二自驱机器人按照与第一搬运任务对应的第一运行路线到达所述第一搬运任务对应的目的阁楼层的目标容器所在地，并取得所述目标容器；控制所述第二自驱机器人将所述目标容器搬运至所述提升机的暂存位。
  28. 根据权利要求27所述的方法，所述搬运任务还包括第二搬运任务，所述第二搬运任务的目的地包括：所述第二搬运任务的目的阁楼层的操作工位或容器承载体；
    控制所述提升机将携带所述目标容器的所述第一自驱机器人搬运至所述第二搬运任务的目的阁楼层；控制携带所述目标容器的所述第一自驱机器人在所述第二搬运任务的目的阁楼层按照所述第二搬运任务的第二运行路线运行，并将所述目标容器搬运至所述第二搬运任务的目的阁楼层的操作工位或容器承载体；或
    控制所述提升机将所述目标容器搬运至所述第二搬运任务的目的阁楼层；控制所述至少一个自驱机器人中的第三自驱机器人在所述第二搬运任务的目的阁楼层，按照所述第二搬运任务的第二运行路线运行，并将所述目标容器搬运至所述第二搬运任务的目的阁楼层的操作工位或容器承载体；所述第二自驱机器人与所述第三自驱机器人不同。
  29. 根据权利要求27所述的方法，在控制所述至少一个自驱机器人中的第二自驱机器人按照与第一搬运任务对应的第一运行路线到达所述第一搬运任务对应的目的阁楼层的目标容器所在地，并取得所述目标容器；控制所述第二自驱机器人将所述目标容器搬运至所述提升机的暂存位的情况下，所述搬运任务还包括第三搬运任务，所述第三搬运任务的目的地包括：所述第三搬运任务的目的阁楼层的操作工位；所述提升机与操作工位的缓存机构相接；
    控制所述提升机将所述目标容器搬运至所述第三搬运任务的目的阁楼层；
    控制所述提升机将所述目标容器转移至所述缓存机构，通过所述辊道线将所述目标容器传送至所述操作工位。
  30. 根据权利要求29所述的方法，还包括：
    控制所述辊道线接收已完成作业操作的容器。
  31. 根据权利要求22所述的方法，其中，所述目标容器所在地为缓存机构；
    控制所述提升机从所述辊道线获取所述目标容器，并将所述目标容器放置于提升机的暂存位，将所述目标容器搬运至所述搬运任务的目的阁楼层。
  32. 根据权利要求31所述的方法，其中，控制所述至少一个自驱机器人在所述搬运任务的目的阁楼层从所述提升机的暂存位取得所述目标容器，并将所述目标容器搬运至所述搬运任务目的地。
  33. 根据权利要求22或23所述的方法，在控制所述至少一个自驱机器人将所述目标容器搬运至所述搬运任务目的地之后，还包括：
    控制所述自驱机器人将所述目标容器携带到所述操作工位，并在所述操作工位排队等待作业操作；
    在所述作业操作完成后，控制至少一个所述自驱机器人携带已完成所述作业操作的容器，将所述目标容器搬运至下一个操作工位或归还到容器承载体上。
  34. 根据权利要求22或23所述的方法，在控制所述至少一个自驱机器人将所述目标容器搬运至所述搬运任务目的地之后，还包括：
    控制所述至少一个自驱机器人运行到所述操作工位，将所述目标容器推送到所述操作工位的存放位上，并通过控制设置在所述自驱机器人上的取箱伸缩 机构取得除所述目标容器之外的至少一个可操作容器。
  35. 根据权利要求22或23所述的方法，其中，所述搬运任务目的地包括阁楼的容器承载体；
    控制所述至少一个自驱机器人将所述目标容器搬运至所述搬运任务目的地，包括：
    接收所述自驱机器人发送的已完成拣选操作的目标容器的编码；
    根据所述已完成拣选操作的目标容器内所存储货物的热度和数量对所述目标容器进行热度评估；
    控制所述自驱机器人将热度超过预设阈值的所述目标容器搬运至预设区域的容器承载体，并记录所述目标容器与所述容器承载体的绑定关系；或者控制所述自驱机器人按照目标容器的热度由高到低的顺序，将目标容器搬运至距离操作工位由近到远的容器承载体中，并记录所述目标容器与所述容器承载体的绑定关系。
  36. 根据权利要求23所述的方法，所述缓存机构为辊道线。
  37. 根据权利要求35所述的方法，其中，所述辊道线包括第一缓存辊道线和移载位，所述搬运任务包括第四搬运任务，所述第四搬运任务的目的地包括所述第一缓存辊道线对应的移载位；
    控制至少一个自驱机器人按照所述路线运行至所述搬运任务对应的目标容器所在地，并取得目标容器，包括：
    控制所述至少一个自驱机器人中的第一自驱机器人按照与所述第四搬运任务对应的第一运行路线，在所述第一搬运任务对应的目的阁楼层的目标位置取得所述目标容器。
  38. 根据权利要求37所述的方法，其中，所述控制所述自驱机器人将所述目标容器搬运到缓存机构，包括：
    控制所述第一自驱机器人将所述目标容器搬运到所述第一缓存辊道线对应的移载位处。
  39. 根据权利要求38所述的方法，其中，所述控制所述缓存机构将所述目标容器搬运至提升机上，包括：
    控制所述第一缓存辊道线将所述目标容器搬运至所述提升机上。
  40. 根据权利要求39所述的方法，所述搬运任务还包括第五搬运任务，所述第五搬运任务的目的地包括：所述第五搬运任务的目的阁楼层；
    控制所述提升机将所述目标容器搬运至所述搬运任务目的地所在的目的阁楼层包括：
    控制所述提升机将所述目标容器搬运至所述第五搬运任务的目的阁楼层。
  41. 根据权利要求36所述的方法，其中，所述缓存机构包括第二缓存辊道线和移载位；所述搬运任务还包括第六搬运任务，所述第六搬运任务的目的地包括所述第二缓存辊道线对应的移载位；
    控制所述搬运任务目的地所在的目的阁楼层的缓存机构接收并暂时存放来自于所述提升机上的目标容器，包括：
    控制所述提升机将所述目标容器搬运至所述第二缓存辊道线对应的移载位处。
  42. 根据权利要求40所述的方法，所述搬运任务还包括第七搬运任务，所述第七搬运任务的目的地包括所述第五搬运任务的目的阁楼层的操作工位或容器承载体；
    控制自驱机器人从所在阁楼层的缓存机构上将所述目标容器搬运至所述搬运任务目的地，包括：
    控制所述至少一个自驱机器人中的第二自驱机器人在所在阁楼层按照与所述第三搬运任务对应的第三运行路线运行；
    控制所述第二自驱机器人将所述目标容器从所述第二缓存辊道线对应的移载位处搬运到所述第五搬运任务的目的阁楼层的操作工位或容器承载体上。
  43. 根据权利要求41所述的方法，所述缓存机构还包括第三缓存辊道线，所述第三缓存辊道线与所述第二缓存辊道线分别设置在所述提升机的两侧；所述搬运任务还包括第七搬运任务，所述第七搬运任务的目的地包括所述第七搬运任务的目的阁楼层；
    在控制所述提升机将所述目标容器搬运至所述第二缓存辊道线对应的移载位处之后，还包括：
    控制所述第三缓存辊道线将位于所述第三缓存辊道线的移载位上的容器搬运至所述提升机上；
    控制所述提升机将所述容器搬运至所述第七搬运任务的目的阁楼层。
  44. 一种机器人控制方法，包括：
    接收控制装置分配的搬运任务；
    在所述搬运任务对应的目的阁楼层上，按照所述控制装置规划的运行路线运行至所述搬运任务对应的目标容器所在地，并取得所述目标容器；
    按照所述运行路线，将所述目标容器搬运至所述搬运任务目的地。
  45. 根据权利要求44所述的方法，其中，所述搬运任务中携带所述目标容器的编码标识；所述取得所述目标容器包括：
    通过识别所述目标容器的编码标识，取得所述目标容器。
  46. 根据权利要求44所述的方法，其中，所述搬运任务包括第一搬运任务，所述第一搬运任务的目的地包括：提升机的暂存位；
    按照与所述第一搬运任务对应的第一运行路线到达所述第一搬运任务对应的目的阁楼层的目标容器所在地，并取得所述目标容器；
    携带所述目标容器到达所述提升机的暂存位。
  47. 根据权利要求46所述的方法，所述搬运任务还包括第二搬运任务，所述第二搬运任务的目的地包括：所述第二搬运任务的目的阁楼层的操作工位或 容器承载体；
    携带所述目标容器并通过所述提升机到达所述第二搬运任务的目的阁楼层；
    在所述第二搬运任务的目的阁楼层按照所述第二搬运任务的第二运行路线运行，将所述目标容器搬运至所述第二搬运任务的目的阁楼层的操作工位或容器承载体。
  48. 根据权利要求44所述的方法，其中，所述搬运任务包括第一搬运任务，所述第一搬运任务的目的地包括：提升机的暂存位；
    按照与所述第一搬运任务对应的第一运行路线到达所述第一搬运任务对应的目的阁楼层的目标容器所在地，并取得所述目标容器；
    将所述目标容器搬运至所述提升机的暂存位。
  49. 根据权利要求48所述的方法，所述搬运任务还包括第二搬运任务，所述第二搬运任务的目的地包括：所述第二搬运任务的目的阁楼层的操作工位或容器承载体，所述第二搬运任务的目标容器所在地为提升机的暂存位；
    从所述提升机的暂存位获取所述第二搬运任务的目标容器；
    在所述第二搬运任务的目的阁楼层，按照所述第二搬运任务的第二运行路线运行，并将所述目标容器搬运至所述第二搬运任务的目的阁楼层的操作工位或容器承载体。
  50. 根据权利要求44所述的方法，还包括：
    携带所述目标容器运行到操作工位，并在所述操作工位排队等待作业操作；
    所述操作完成后，携带已完成所述作业操作的所述目标容器，将所述目标容器搬运至下一个操作工位或归还到容器承载体上。
  51. 根据权利要求44所述的方法，还包括：
    运行到操作工位后，将所述目标容器推送到操作工位的存放位上，并通过取箱伸缩机构取得除所述目标容器之外的至少一个可操作容器。
  52. 根据权利要求44所述的方法，其中，所述搬运任务目的地包括容器承载体；
    将所述目标容器搬运至所述搬运任务目的地，包括：
    检测已完成作业操作的所述目标容器的编码，并将所述编码发送给所述控制装置；将热度超过预设阈值的所述目标容器搬运至预设区域的容器承载体中；或者按照所述目标容器的热度由高到低的顺序，将所述目标容器搬运至距离操作工位由近到远的容器承载体中。
  53. 一种计算设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机指令，其特征在于，所述处理器执行所述指令时实现权利要求22至52任意一项所述方法的步骤。
  54. 一种计算机可读存储介质，其存储有计算机可执行指令，其特征在于，当所述计算机执行指令被执行时实现权利要求22至52任意一项所述的方法的步骤。
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CN109048952A (zh) * 2018-09-12 2018-12-21 北京极智嘉科技有限公司 一种机器人控制系统和方法、计算设备及存储介质
CN109969674A (zh) * 2019-04-01 2019-07-05 北京极智嘉科技有限公司 一种机器人控制系统和方法、计算设备及存储介质

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CN111950966A (zh) * 2020-08-31 2020-11-17 北京极智嘉科技有限公司 一种货物跨层传递系统、方法、电子设备和存储介质
CN112418511A (zh) * 2020-11-19 2021-02-26 上海仙工智能科技有限公司 一种跨楼层机器人调度方法和系统

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