CN112407722A

CN112407722A - Method, device, equipment and storage system for abnormal handling of cargo storage space

Info

Publication number: CN112407722A
Application number: CN202011312534.XA
Authority: CN
Inventors: 彭逸凡; 艾鑫
Original assignee: Shenzhen Hairou Innovation Technology Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2020-11-20
Filing date: 2020-11-20
Publication date: 2021-02-26

Abstract

The embodiment of the application provides a goods storage space exception handling method, a device, equipment and a warehousing system, wherein the goods storage space exception handling method comprises the following steps: obtaining first detection information of a storage space of goods to be stored, wherein the storage space of the goods to be stored is determined according to the size information of the goods to be stored and the dynamic goods storage space on the goods shelf; judging whether the storage space is abnormal or not according to the first detection information; if so, determining an exception handling strategy according to the exception type to handle the exception of the storage space according to the exception handling strategy, so that the space exception detection is automatically carried out according to the first detection information of the space before the goods are stored, the occurrence of goods damage caused by the exception of the storage space is avoided, and the safety of goods storage is improved; and meanwhile, the exception can be processed based on the exception type, so that the exception processing efficiency during storage is improved.

Description

Goods storage space exception handling method, device, equipment and warehousing system

Technical Field

The application relates to the technical field of intelligent warehousing, in particular to a goods storage space exception handling method, device, equipment and warehousing system.

Background

The intelligent warehousing system based on the warehousing robot adopts an intelligent operating system, realizes automatic extraction and storage of goods through system instructions, can continuously run for 24 hours, replaces manual management and operation, improves the warehousing efficiency, and is widely applied and favored.

However, due to human operation errors or measurement errors of the warehousing system and the warehousing robot, the abnormal phenomena that the pre-selected warehouse space is occupied or the size is not consistent with the planned size occur when the bin is stored. In the prior art, the storage condition of each storage position is usually determined by a manual regular inspection mode, so that the storage position is directly stored without detection when a material box is stored in a warehouse, and the storage risk is large because the storage condition of the storage position is not detected in real time.

Disclosure of Invention

The application provides a goods parking space exception handling method, device, equipment and warehousing system, when goods are deposited, the information of corresponding parking space can be automatically detected, so that whether an abnormal condition exists or not is determined, the real-time performance of space detection is improved, the loss caused by goods storage under the abnormal condition is avoided, and the safety of goods storage is improved.

In a first aspect, an embodiment of the present application provides a method for exception handling of a cargo storage space, where the method includes: obtaining first detection information of a storage space of goods to be stored, wherein the storage space of the goods to be stored is determined according to the size information of the goods to be stored and the dynamic goods storage space on the goods shelf; judging whether the storage space is abnormal or not according to the first detection information; if so, determining an exception handling strategy according to the exception type so as to handle the exception of the storage space according to the exception handling strategy.

Optionally, obtaining first detection information of a storage space in which goods are to be stored includes: and obtaining the storage condition of the storage space and the space size of the storage space.

Optionally, the determining whether the storage space is abnormal according to the first detection information includes: judging whether the storage space is a free space or not according to the storage condition of the storage space; if the storage space is occupied, the storage space is abnormal; if the storage space is an idle space, judging whether the space size of the storage space meets the size condition of the goods to be stored; if the size condition is not met, the storage space is abnormal; and if the size condition is met, the storage space is normal.

Optionally, when the storage space is occupied by an occupant, the exception type is an occupant exception, and the determining an exception handling policy according to the exception type includes: when the exception type is an occupant exception, determining that the exception handling policy is to move out of the occupant.

Optionally, when the storage space is occupied by an occupant, the exception type is an occupant exception, and the determining an exception handling policy according to the exception type includes: identifying the occupied objects of the storage space according to the first detection information, and judging whether the occupied objects are removable objects or not; if so, generating an occupancy removing instruction so that the robot can remove the occupancy from the storage space according to the occupancy removing instruction; acquiring second detection information of the storage space after the occupancy is removed; judging whether the space size of the storage space in the second detection information meets the size condition of the goods to be stored; and if the size condition of the goods to be stored is met, generating a first goods storage instruction so that the robot places the goods to be stored on the storage space according to the first goods storage instruction.

Optionally, determining whether the occupancy is a removable object comprises:

and judging whether the occupied object is a removable object according to whether the occupied object is a recording object.

Optionally, determining whether the occupancy is a removable object according to whether the occupancy is a recording object includes: when the occupied object is an unrecorded object, judging whether the occupied object is a removable object according to the object size of the occupied object; when the occupied object is a recorded object, obtaining the placement information of the recorded object; and judging whether the occupied object is a removable object or not according to the placement information.

Optionally, the determining whether the occupied object is a removable object according to the placement information includes: when the distance information in the placement information meets a preset safety distance, judging whether the occupied object is a removable object according to the placement angle in the placement information; and when the distance information in the placement information meets the preset safe distance, determining that the occupied object is an immovable object, and marking the storage space as an abnormal storage position.

Optionally, before determining whether the size of the storage space meets the size condition of the goods to be stored, the method further includes: acquiring the planned size of a storage space for storing goods; correspondingly, the judging whether the space size of the storage space meets the size condition of the goods to be stored includes: judging whether the space size of the storage space is smaller than the planned size; if not, determining that the space size of the storage space meets the size condition of the goods to be stored, and if so, determining that the space size of the storage space does not meet the size condition of the goods to be stored.

Optionally, when the size of the storage space does not satisfy the size condition of the goods to be stored, the exception type is a size exception, and an exception handling policy is determined according to the exception type, where the exception handling policy includes: generating an inspection instruction of adjacent goods in a preset range of the storage space, so that the robot acquires inspection information of at least one adjacent goods in the preset range according to the inspection instruction; judging whether the at least one adjacent cargo has a problem cargo or not according to the inspection information of the at least one adjacent cargo; if so, generating an adjusting instruction so that the robot at least adjusts the problem goods according to the adjusting instruction so that the space size of the storage space for the goods to be stored meets the size condition.

Optionally, the inspection instruction includes an inspection sequence, so that the robot acquires inspection information of at least one adjacent cargo within the preset range according to the inspection sequence in the inspection instruction and the sequence of the distance from the robot to the storage space from near to far.

Optionally, the inspecting information includes distance information and a cargo pose of the adjacent cargo, and the determining whether there is a problem cargo in the at least one adjacent cargo according to the inspecting information of the at least one adjacent cargo includes: acquiring a distance threshold value and a preset pose of each adjacent cargo; for each neighboring good, determining that the neighboring good is a problem good when the inspection information of the neighboring good satisfies any one of the following conditions: the spacing information of the adjacent cargo is greater than a spacing threshold of the adjacent cargo; the cargo pose of the adjacent cargo is inconsistent with the preset pose.

Optionally, the planned size of the storage space is the sum of the cargo size of the cargo to be stored and a preset safety size.

In a second aspect, an embodiment of the present application further provides a device for handling exception of a cargo storage space, where the device includes: the system comprises a first detection information acquisition module, a storage module and a storage module, wherein the first detection information acquisition module is used for acquiring first detection information of a storage space for goods to be stored, and the storage space for the goods to be stored is determined according to the size information of the goods to be stored and the dynamic goods storage space on a goods shelf; the space abnormity judging module is used for judging whether the storage space is abnormal or not according to the first detection information; and the exception strategy determining module is used for determining an exception handling strategy according to the exception type if the storage space has an exception, so as to handle the exception of the storage space according to the exception handling strategy.

In a third aspect, an embodiment of the present application further provides a cargo storage space exception handling device, which includes a memory and at least one processor; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the cargo storage space exception handling method provided by any corresponding embodiment of the first aspect of the application.

In a fourth aspect, an embodiment of the present application further provides a warehousing system, which includes a robot, a shelf, and the goods storage space exception handling device provided by the embodiment corresponding to the third aspect of the present application, where the robot is configured to place goods to be stored on the storage space of the shelf according to an instruction of the goods storage space exception handling device.

In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and when a processor executes the computer-executable instructions, the method for processing an exception of a goods storage space according to any embodiment corresponding to the first aspect of the present application is implemented.

The goods storage space abnormity processing method, the goods storage space abnormity processing device, the warehouse management equipment and the warehousing system are characterized in that before goods to be stored are stored on the goods shelf, whether abnormity exists in the current storage space is automatically judged through first detection information of the storage space corresponding to the goods to be stored, if the abnormity exists, the abnormity is processed through determining a corresponding strategy based on the abnormity type, automatic and real-time detection of the storage space of the goods shelf is achieved, so that the abnormity condition can be found in time, corresponding processing is carried out, the goods storage safety is improved, the condition that the goods or the goods shelf are damaged due to the abnormity condition of the storage position is effectively avoided, and the safety of the warehousing system is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

FIG. 1A is a schematic illustration of a storage situation in a one-dimensional configuration according to an embodiment of the present application;

FIG. 1B is a schematic illustration of the embodiment of the present application shown in FIG. 1A after placement of cargo;

FIG. 1C is a schematic illustration of a two-dimensional configuration for storage according to an embodiment of the present application;

FIG. 1D is a schematic view of the embodiment of the present application corresponding to FIG. 1C after placement of cargo;

FIG. 1E is a schematic view of the embodiment of the present application corresponding to FIG. 1C after placement of cargo;

fig. 1F is a schematic structural diagram of a robot provided in an embodiment of the present application;

FIG. 1G is a schematic diagram of a handling apparatus according to the embodiment of the present application shown in FIG. 1F;

FIG. 1H is a diagram illustrating the structure of a robot and a handling device thereof according to the embodiment of FIG. 1F;

FIG. 1I is a schematic structural diagram of a handling apparatus according to the embodiment of FIG. 1F;

FIG. 1J is a schematic view of another embodiment of a handling apparatus of the present application shown in FIG. 1I;

FIG. 1K is a schematic structural diagram of another carrying device according to the embodiment of the present application shown in FIG. 1F;

FIG. 1L is a schematic structural diagram of another carrying device according to the embodiment of the present application shown in FIG. 1F;

fig. 2 is an application scenario diagram of the exception handling method for the cargo storage space according to the embodiment of the present application;

FIG. 3 is a flow chart of a method for exception handling of a cargo storage space according to an embodiment of the present application;

FIG. 4 is a schematic view of the embodiment of FIG. 3 of the present application illustrating the storage of the shelves;

FIG. 5A is a flowchart of a method for exception handling of a cargo storage space according to another embodiment of the present application;

FIG. 5B is a schematic view of the embodiment of FIG. 5A of the present application illustrating the storage of problematic items;

FIG. 5C is a schematic view of another problem of cargo storage according to the embodiment of FIG. 5A of the present application;

FIG. 5D is a schematic view of the embodiment of the present application shown in FIG. 5A illustrating shelf storage;

FIG. 6 is a flow chart of a method for exception handling of a cargo storage space according to another embodiment of the present application;

FIG. 7 is a flowchart of step S603 in the embodiment of FIG. 6 of the present application;

fig. 8 is a schematic structural diagram of an exception handling apparatus for a cargo storage space according to an embodiment of the present application;

FIG. 9 is a schematic structural diagram of an exception handling apparatus for a cargo storage space according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a warehousing system according to an embodiment of the present application.

With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

The following explains an application scenario of the embodiment of the present application:

the application is applied to a scene of dynamically configuring the goods storage space, and provides a goods placing method for dynamically configuring the goods storage space, which is different from a fixed storage position.

The dynamic configuration of the goods storage space means that: after the system determines goods to be stored, according to the size of the goods, allocating a first storage space matched with the size of the goods from the existing unoccupied space, wherein the unoccupied space can be any space, and the unoccupied space does not comprise divided fixed storage spaces; the first storage space can contain the goods to be stored, the fixed storage position refers to a preset storage position in a warehouse, and the fixed storage position is fixed in position and determined in size.

The dynamic goods storage space may be a space through which the goods storage space is dynamically configured.

Illustratively, dynamically configuring the cargo storage space includes at least one and/or two-dimensional configuration.

For example, fig. 1A is a schematic view of a storage situation in a one-dimensional configuration manner provided in an embodiment of the present application, and understood by matching with an X-Y coordinate system, the one-dimensional configuration manner means that goods at each layer in a goods storage space can be placed in only one row in a depth Y direction, where in the one-dimensional configuration manner, the goods storage space includes a first unoccupied space and/or a first occupied space, and specifically, the first occupied space is a space where goods have been placed in a goods entering and exiting direction.

For example, fig. 1C is a schematic diagram of a two-dimensional arrangement mode provided in an embodiment of the present application, and as understood by referring to an X-Y coordinate system, the two-dimensional arrangement mode means that the goods at each layer in the goods storage space may be placed in a row, multiple rows, or a mixture of rows and multiple rows in the depth Y direction. The goods in the goods storage space are allowed to be placed in a plurality of rows in the depth Y direction in the two-dimensional configuration mode, wherein the goods storage space comprises a second unoccupied space and/or a second occupied space in the two-dimensional configuration mode, and specifically, the second unoccupied space comprises a space which is not occupied by the goods in the goods entering and exiting direction.

For example, fig. 1A is a schematic view of a one-dimensional configuration of the storage situation provided in an embodiment of the present application, in which an unoccupied space in the cargo storage space is configured dynamically as shown in fig. 1A, that is, the

spaces

101A, 101b, and 101c in fig. 1A. After the system confirms that the cargo 100a is to be stored, the first storage space, such as the space 101c, most suitable for the cargo 100a is found from the unoccupied spaces, i.e., the

spaces

101a, 101b, and 101 c.

Fig. 1B is a schematic view of a storage situation after placing the goods according to the embodiment shown in fig. 1A, as shown in fig. 1B, after placing the goods 100a, the current unoccupied spaces are spaces 101A, 101B, and 101d, where the space 101d is a newly defined unoccupied space after the space 101c is partially occupied by the goods 100 a.

Fig. 1C is a schematic diagram of a two-dimensional arrangement of the storage situation according to an embodiment of the present application, as shown in fig. 1C, in consideration of the two-dimensional arrangement, the unoccupied spaces on the shelves are the same as the

spaces

101e and 101f in fig. 1C. After the system confirms that the goods 100b is to be stored, the first storage space, such as the space 101e, most suitable for the goods 100b is found from the unoccupied spaces, i.e., the space 101e and the space 101 f.

Fig. 1D is a schematic view of a storage situation after placing the goods according to the embodiment shown in fig. 1C, and as shown in fig. 1D, after placing the goods 100b, the current unoccupied spaces are a space 101f and a space 101 g. The space 101g is an unoccupied space newly defined by the space 101e after being partially occupied by the cargo 100 b.

Fig. 1E is a schematic view of a storage situation after placing the goods according to the embodiment of fig. 1C of the present application, and as can be seen from fig. 1C, 1D and 1E, the goods 100b in fig. 1D and 1E are placed in different orientations, that is, the goods 100b can be turned when placed, that is, the orientation of the goods to be stored can be changed when placed, and after placing the goods 100b, the currently unoccupied spaces are

spaces

101f and 101 h. The space 101h is a newly defined unoccupied space of the space 101e after being partially occupied by the cargo 100 b.

For example, fig. 1F is a schematic structural diagram of a robot provided in an embodiment of the present application; as shown in fig. 1F, the robot 80 includes a moving chassis 83, a storage rack 82, a carrying device 84, and a lifting assembly 81. The storage rack 82, the carrying device 84 and the lifting assembly 81 are all mounted on the moving chassis 83, and a plurality of storage units are arranged on the storage rack 82. The lifting assembly 81 is used to drive the handling device 84 to move up and down, so that the handling device 84 is aligned with any one of the storage units on the storage rack 82, or with the rack and/or the goods. The handling device 84 can be rotated about a vertical axis to adjust its orientation for alignment to a storage unit or for alignment with a rack and/or goods. The handling device 84 is used to perform loading or unloading of goods for handling of goods between the racks and the storage units.

For example, the storage shelves 82 may be selectively configurable or non-configurable, and when the storage shelves 82 are not configured, the robot 80 may store the goods in the receiving space of the handling device 84 during the handling of the goods.

The robot 80 in the above embodiments may perform the goods storage method described in this application, so as to realize goods transportation between the shelves and the operation platform.

During the task of storing the goods performed by the robot 80, the robot 80 moves to a position of a storage space where the goods are designated, and the goods are transferred from the storage units of the storage shelves 82 to the shelves by the lifting assembly 81 in cooperation with the transfer device 84.

For example, fig. 1G is a schematic structural diagram of a carrying device in the embodiment shown in fig. 1F of the present application.

Illustratively, the handling device 84 is mounted to the carriage 86 by a rotation mechanism 85, and the rotation mechanism 85 is configured to rotate the handling device 84 relative to the carriage 86 about a vertical axis to align the storage units, or to align the racks and/or the goods. The handling device 84 is used for handling goods between the storage units and the shelves. If the handling device 84 is not aligned with the rack and/or the goods, the handling device 84 can be rotated relative to the bracket 86 by the rotating mechanism 85 to ensure that the handling device 84 is aligned with the rack and/or the goods.

Fig. 1H shows a structure of a robot and a carrying device thereof according to the embodiment shown in fig. 1F. As can be understood from fig. 1F and 1G, the rotating mechanism 85 may be omitted, for example, the robot 80 may move on a fixed track, and after moving to the vicinity of the rack, the carrying device 84 may be aligned with the rack and/or the goods, and the goods may be arranged in the pickup direction of the carrying device 84.

For example, fig. 1I is a schematic structural diagram of a carrying device in the embodiment shown in fig. 1F of the present application, please refer to fig. 1G for understanding. As shown in fig. 1I, the handling device 84 includes a pallet 841 and a telescopic arm assembly. The tray 841 is used for placing goods and may be a horizontally disposed plate. The telescopic arm assembly is used to push goods placed by the pallet 841 out of the pallet 841 or pull goods to the pallet 841. The telescoping arm assembly includes a telescoping arm 843, a stationary pushrod 842, and a movable pushrod 844. The telescopic arm 843 includes a left telescopic arm and a right telescopic arm, the telescopic arm 843 can horizontally extend, and the telescopic arm 843 is located on one side of the supporting plate 841 in a direction perpendicular to the extending direction of the telescopic arm 843 and parallel to the supporting plate 841. The telescopic arm 843 is powered by a motor and is driven by a chain wheel mechanism, and the chain wheel mechanism can be replaced by a driving mechanism such as a belt wheel mechanism and a lead screw mechanism according to actual conditions. The fixed push rod 842 and the movable push rod 844 are both installed on the telescopic arm 843, and the fixed push rod 842 and the movable push rod 844 can extend out along with the telescopic arm 843. The fixed push rod 842 is located on the same side of the telescopic arm 843 as the support plate 841, and the fixed push rod 842 is used for pushing the goods out of the support plate 841 when the telescopic arm 843 is extended. The movable push rod 844 can be retracted into the telescopic arm 843, when the movable push rod 844 is not retracted into the telescopic arm 843, the movable push rod 844, the fixed push rod 842 and the supporting plate 841 are all located on the same side of the telescopic arm 843, and the movable push rod 844 is located on the extending direction of the fixed push rod 842 along the telescopic arm 843. The movable push rod 844 can be directly driven by a motor, and according to actual conditions, power can be transmitted through transmission mechanisms such as gear sets, link mechanisms and the like. When movable push rod 844 is not retracted into the telescopic arm and telescopic arm 843 is retracted, movable push rod 844 is used to pull cargo to pallet 841.

For example, the fixed push rod 842 of the carrying device 84 can be designed to have a finger structure like the movable push rod 844.

For example, the handling device 84 may be designed such that the pitch width of the telescopic arm assemblies is adjustable. When goods are stored/taken, the distance width of the telescopic arm component can be adjusted according to the size of the goods.

Illustratively, the handling device 84 may also include a steering structure, such as a turntable, which may be used to change the orientation of the cargo placed on its pallet 841. Fig. 1J is a schematic view of another conveying device according to the embodiment shown in fig. 1I, and as can be seen from fig. 1J and 1I, the conveying device 84 may further include a steering structure, i.e., a turntable 845 in fig. 1I, for changing the orientation of the goods placed on the supporting plate 841.

For example, fig. 1K is a schematic structural view of another handling device according to the embodiment shown in fig. 1F of the present application, the handling device 84a includes one or more suction cups 846 disposed on the fixed push rod 842, and the fixed push rod 842 may be rod-shaped or plate-shaped. The stationary push rod 842 is driven to move in a forward/backward direction toward the product and/or the shelf during the loading/unloading of the product. The suction cup 846 is used for sucking the goods, and the displacement of the fixing push rod 842 is matched to convey the goods to a shelf or convey the goods to a supporting plate 841.

For example, in FIG. 1L, which is another example of the structure of the handling device of the present application shown in FIG. 1F, the handling device 84b includes one or more robotic arms 847 disposed at suitable locations on the stationary ram 842 and/or the handling device 84 b. The stationary push rod 842 is driven to move in a forward/backward direction toward the product and/or the shelf during the loading/unloading of the product. The mechanical arm 847 captures/hooks the load and moves the load to a shelf or a pallet 841 in response to the movement of the stationary push rod 842.

Illustratively, the handling device (84a, 84b) may also include a deflecting structure, such as a turntable 845 in fig. 1J, 1K, to change the orientation of the goods placed on its pallet 841.

The structure of the carrying device according to the embodiment of the present application may include a combination of one or more of the above examples.

The storage system has the beneficial effects that compared with the telescopic arm, the storage system adopts the structures such as the sucking discs and the mechanical arms, so that the safety distance between the goods can be reduced, the goods density on the goods shelf of the storage system is further improved, the space utilization rate is improved, and the storage cost is reduced.

Fig. 2 is an application scenario diagram of the exception handling method for the goods storage space according to the embodiment of the present application, and as shown in fig. 2, the exception handling method for the goods storage space according to the embodiment of the present application may be run on an electronic device, such as a computer, a microprocessor, and the like, and may also be executed by a robot or a warehousing system. The intelligent warehousing system 200 adopts the robot 210 to extract and/or store goods on the shelves 220, adopts the warehouse management equipment 230 to perform path planning, state monitoring, scheduling and the like on the robot 210, so that the robot 210 moves to a set position to extract or store the goods, and the warehouse management equipment 230 also stores storage information of each storage position of the shelves 220 and basic information of the goods, so as to perform warehouse management. When the warehousing system 200 has a storage task of the goods to be stored, the robot 210 moves to a storage space corresponding to the storage task, where the storage space is a warehousing space on the shelf 220 to store the goods to be stored in the storage space, thereby completing the storage of the goods to be stored.

However, due to human operation errors or errors in the measurement and operation processes of the machine, other goods or occupied objects may be placed in the storage space, or the available space of the storage space is not enough to accommodate the goods to be stored, and at this time, if the goods to be stored are still placed in the storage space according to the storage task, the goods to be stored may be damaged, or even the goods shelf 220 may topple over, and the like, so that certain loss may be caused.

In order to avoid the loss corresponding to the above situation, an embodiment of the present application provides a method for processing an exception of a cargo storage space, where before storing the cargo, the storage space corresponding to the cargo is detected, and whether an exception exists in a current storage space is determined according to detection information, and when the exception exists, a corresponding exception handling policy is determined based on an exception type to handle the exception, so that safety and efficiency of cargo storage are improved, and unnecessary loss caused by the exception existing in the space is avoided.

Fig. 3 is a flowchart of a goods storage space exception handling method according to an embodiment of the present application, and as shown in fig. 3, the goods storage space exception handling method may be executed by a warehouse management device of a warehousing system. The exception handling method for the goods storage space provided by the embodiment comprises the following steps:

step S301, first detection information of a storage space where goods are to be stored is obtained.

The goods to be stored refers to bins, packages or other objects to be stored on the shelves of the warehousing system, and the number of the bins, packages or other objects may be one or more. The storage space of the goods to be stored is determined according to the size information of the goods to be stored and the dynamic goods storage space on the goods shelf and is used for storing the area on the goods shelf of the goods to be stored. The storage space represents a storage space on a shelf corresponding to the goods to be stored, and is generally a storage space at a designated position of a storage system. The goods shelf of the warehousing system can plan the goods storage space by adopting a goods placing method for dynamically configuring the goods storage space, and the size of the corresponding storage space is determined according to the actual size of the goods to be stored, so that the goods shelf can comprise various storage spaces with different sizes.

Wherein the first detection information may include one or more of a space size, an identification code, and a storage condition of the storage space.

Specifically, the storage space in which the goods are to be stored may be divided into any size. The storage spaces or storage spaces of the shelves of the conventional warehousing system are predetermined storage spaces with the same size, so that the storage spaces corresponding to the storage spaces on the shelves are regarded as separate and discontinuous spaces when the storage spaces of the goods are determined. The goods placement method based on dynamic configuration of the goods storage spaces treats each free storage space on the shelf as a continuous space when determining the storage space or the storage position of the goods, and further determines the positions and the sizes of the storage spaces of the goods according to the size information of the goods and the space size of each continuous storage space.

Further, the shelves corresponding to the storage spaces may include at least two different sizes of storage spaces.

Specifically, the storage space on the shelf where the goods to be stored are stored is a continuous space, and can be divided into storage spaces of any size smaller than the physical size of the shelf. The goods on the goods shelf can adopt a one-dimensional configuration mode and/or a two-dimensional configuration mode, namely, the goods can be placed in one or more rows on a certain layer of the goods shelf. Fig. 4 is a schematic diagram of the storage condition of the shelf in the embodiment shown in fig. 3 of the present application, and as shown in fig. 4, goods 411 to 421 are placed on the shelf 410, it can be seen that the size of the storage space of the goods on the shelf is dynamic, which is determined based on the size of the stored goods, and the storage spaces corresponding to the goods with different sizes are different in size.

Specifically, a robot moving instruction can be generated according to the position or the coordinate of the storage space where goods are to be stored, so that the robot can move according to the robot moving instruction to move to the position corresponding to the storage space, after the robot moves, first detection information of the storage space can be collected through a sensor arranged on the robot, and then the first detection information is sent to warehouse management equipment of a warehousing system or goods storage space abnormality processing equipment. Specifically, the goods identification of the goods to be stored can be obtained, the goods identification can be information such as codes, two-dimensional codes and bar codes of the goods to be stored, so that the identification code of the storage space of the goods to be stored is determined according to the goods identification, and then the coordinate or the position corresponding to the storage space is determined according to the identification code of the storage space.

Further, the warehouse management device or the cargo storage space exception handling device of the warehousing system may be used to allocate a corresponding storage space for the cargo to be stored, and generate a moving instruction according to the position of the allocated storage space, so that the robot moves to a position corresponding to the position of the storage space according to the moving instruction, for example, a position at a set distance right in front of the storage space.

Specifically, when goods to be stored are put into a warehouse or stored, the space size of the corresponding storage space of the goods to be stored needs to be determined according to the size information of the goods to be stored, and then the storage space of the goods to be stored is determined from the free space or the unoccupied space of the shelf of the warehousing system according to the space size, so that the goods to be stored are stored in the storage space, and the storage or warehousing of the goods to be stored is completed.

Further, before obtaining the first detection information of the storage space where the goods are to be stored, the method further includes: and acquiring a cargo storage task, wherein the cargo storage task can comprise a cargo identifier of the cargo to be stored, such as a preset bin code, and an identification code or a position of a storage space of the cargo to be stored. And then controlling the robot to move according to the position of the storage space in the cargo storage task or the position code of the storage space so as to move to the position corresponding to the position of the storage space, and then performing the subsequent step of acquiring the first detection information of the storage space.

Optionally, the planned size of the storage space is the sum of the cargo size of the cargo to be stored and a preset safety size. Specifically, the length of the storage space is the sum of the length of the goods to be stored and a preset safety length. The width of the storage space may be the sum of the width of the goods to be stored and a preset safety width. The preset safety length and the preset safety width may be default or may be determined according to a handling device of a robot of the warehousing system.

Specifically, the space size of the storage space may include one or more of the length, the width, and the height of the storage space, the identification code may be disposed on a frame of the shelf corresponding to the storage space, and each storage space may correspond to a unique identification code for distinguishing, and may also be used to represent a position or a coordinate corresponding to the storage space. The identification code may be in the form of a bar code, a two-dimensional code, a number, etc., such as a 3-06. The storage case may include two states, one being an idle state and the other being an occupied state. The idle state indicates that the storage space is not occupied by any object, and the occupied state indicates that the storage space is occupied by other objects, which may be other goods or occupied objects.

Specifically, first detection information of the storage space may be acquired via a sensor provided on a shelf of the robot or the warehousing system, and the first detection information may be sent to warehouse management equipment or goods storage space exception handling equipment of the warehousing system.

Further, the sensor may be a vision sensor, a ranging sensor, an ultrasound sensor, etc., and the vision sensor may specifically be a 2D camera or a 3D camera.

Step S302, judging whether the storage space is abnormal or not according to the first detection information.

Specifically, the warehouse management device or the abnormal goods storage space processing device of the warehousing system may determine whether the goods to be stored are abnormal according to the first detection information.

Specifically, whether the storage space meets the storage condition of the goods to be stored or not can be judged according to the first detection information, if yes, abnormality does not exist, and if not, abnormality exists.

The storage condition may include a state condition and a size condition, the state condition requires that the storage state of the storage space is an idle state, and the size condition requires that the size of the storage space is larger than the size of the goods to be stored, or larger than the required space of the goods to be stored, or at least the sum of the size of the goods to be stored and the size of each preset safety interval.

Specifically, the robot or other electronic devices of the warehousing system, such as the warehouse management device or the abnormal goods storage space handling device, may determine whether the storage space meets the storage condition of the goods to be stored according to the first detection information.

Specifically, whether the storage space is an empty space or not can be judged according to the storage condition in the first detection information, if so, whether the size of the space meets the size condition of the goods to be stored or not is judged according to the size of the space in the first detection information, if not, the size is larger than or equal to the planned size, and if so, the storage space is determined to meet the storage condition, namely, the storage space is free from abnormality, wherein the planned size is the sum of the size information of the goods to be stored and the preset safety distance. And when other goods or occupied objects exist in the storage space, namely the storage condition of the storage space is an occupied state, determining that the storage space does not meet the storage condition. Or when the storage condition of the storage space is in an idle state, but the size of the storage space does not meet the size condition of the goods to be stored, namely the size of the storage space is smaller than the planned size, determining that the storage space does not meet the storage condition.

Step S303, if yes, determining an exception handling strategy according to the exception type, so as to handle the exception of the storage space according to the exception handling strategy.

Specifically, when the goods to be stored are abnormal, the warehouse management device determines an abnormal handling strategy corresponding to the abnormal type according to the abnormal type, and generates a corresponding abnormal handling instruction, so that the robot handles the abnormality of the goods to be stored according to the abnormal handling instruction, thereby solving the abnormality, and enabling the robot to normally store the goods to be stored in the corresponding storage space.

Further, a corresponding relationship between each exception type and the exception handling policy may be established in advance, and then the corresponding exception handling policy may be determined based on the corresponding relationship and the exception type of the goods to be stored.

Further, if the storage space is not abnormal, the goods to be stored are stored in the storage space.

Specifically, when the storage space meets the storage condition of the goods to be stored, that is, when the storage space is not abnormal, a storage instruction of the goods to be stored is generated, so that the goods to be stored are placed on the storage space according to the storage instruction, and the storage of the goods to be stored is completed.

Specifically, after the storage space is judged to meet the storage condition through the warehousing management equipment or the abnormal goods storage space processing equipment of the warehousing system, a storage instruction is generated, so that the robot stores the goods to be stored in the corresponding storage space according to the storage instruction.

Further, goods to be stored can be placed at a set position of the storage space via the goods taking device of the robot according to a preset rule, wherein the set position can be a central position, a left edge or a right edge and the like.

Further, after the robot stores the goods to be stored in the equipment position of the storage space, the storage position of the goods to be stored can be adjusted, so that the goods to be stored are close to the upright posts of the goods shelf or the adjacent goods in a certain direction as much as possible, and the space utilization rate of the goods shelf is improved.

The goods storage space abnormity processing method provided by the embodiment of the application automatically judges whether the current storage space is abnormal or not through the first detection information of the storage space corresponding to the goods to be stored before the goods to be stored are stored to the goods shelf, if so, the abnormity is processed based on the corresponding strategy determined by the abnormal type, so that the automatic and real-time detection of the storage space of the goods shelf is realized, the abnormal condition can be found in time and correspondingly processed, the goods storage safety is improved, the condition that the goods or the goods shelf are damaged due to the abnormal condition of the storage position is effectively avoided, and the safety of a storage system is improved.

Fig. 5A is a flowchart of a method for handling an abnormality of a cargo storage space according to another embodiment of the present application, where the method for handling an abnormality of a cargo storage space according to the present embodiment further details step S301 and step S302 on the basis of the embodiment shown in fig. 3, and as shown in fig. 5A, the method for handling an abnormality of a cargo storage space according to the present embodiment includes the following steps:

step S501, obtaining the storage condition of the storage space and the space size of the storage space.

The storage condition comprises an occupied state and an idle state, when the storage condition of the storage space is the idle state, the storage space is the idle space, and when the storage condition is the occupied state, the storage space is the occupied space. The space size is size information of the storage space actually measured, and the space size may include one or more of a length, a width, and a height of the storage space.

Specifically, the storage space can be scanned by the distance measuring sensor, and the storage condition and the space size of the storage space can be determined according to the measuring signal. The storage space position images can be collected through a visual sensor, the space size and the storage condition of the storage space are identified based on a preset image identification algorithm, and the visual sensor can be a 2D camera or a 3D camera. The distance measuring sensor and the vision sensor can be arranged on a carrying device of the robot or a robot main body, and can also be arranged on a goods shelf. Of course, other sensors, such as infrared sensors, ultrasonic sensors, etc., may be used to detect the storage condition and the size of the storage space.

Step S502, judging whether the storage space is a free space according to the storage condition of the storage space.

Specifically, when the storage condition of the storage space is in an idle state, the storage space is determined to be an idle space. And when the storage space is occupied, determining the storage space as occupied space.

Further, if the storage space is occupied, the storage space does not meet the storage condition of the goods to be stored, that is, the storage space is abnormal, the abnormal type may be abnormal in terms of occupied objects, and a space occupied prompt message may be generated to remind relevant personnel to move out the occupied objects of the storage space, so that the storage condition of the storage space is in an idle state, and then the step S503 is performed to judge the size of the storage space; or planning the storage space for the goods to be stored again to obtain a new or next storage space, and returning to step S501 to obtain the first detection information (storage condition and space size).

Optionally, when the storage space is occupied by an occupant, the exception type is an occupant exception, and the determining an exception handling policy according to the exception type includes:

when the exception type is an occupant exception, determining that the exception handling policy is to move out of the occupant.

Specifically, when the storage space is occupied by the occupancy, the occupancy needs to be removed, and an occupancy removing instruction may be generated by the warehouse management device of the warehousing system or the goods storage space exception handling device, so that the robot removes the occupancy according to the occupancy removing instruction, thereby resolving the occupancy exception.

Step S503, if the storage space is an idle space, judging whether the space size of the storage space meets the size condition of the goods to be stored.

Specifically, to arbitrary one goods of waiting to deposit, in order to guarantee that it can be safely extracted and deposit by the handling device of robot, need keep certain safe distance, predetermine safe interval promptly with other goods or goods shelves frame when depositing to the size condition of waiting to deposit the goods is promptly: the space size of the storage space is at least the sum of the size information of the goods to be stored and the preset safety distance.

Specifically, for sucker type carrying device, the preset safety distance can be very small or ignored, i.e. the space size of the storage space is at least equal to the size information of the goods to be stored.

Optionally, before determining whether the size of the storage space meets the size condition of the goods to be stored, the method further includes: and acquiring the planned size of the storage space for storing the goods. Correspondingly, the judging whether the space size of the storage space meets the size condition of the goods to be stored includes: judging whether the space size of the storage space is smaller than the planned size; if not, determining that the space size of the storage space meets the size condition of the goods to be stored, and if so, determining that the space size of the storage space does not meet the size condition of the goods to be stored.

The planned size may be a size of the storage space pre-stored in the warehousing system, that is, a theoretical size of the storage space. The planned size may also be the minimum size of the storage space that meets the size conditions for the goods to be stored.

Specifically, after the storage instruction of the goods to be stored is obtained, the storage space of the goods to be stored is determined according to the size information of the goods to be stored and the storage condition of the shelf, specifically, the space size of each continuous storage space on the shelf, and the storage space may be a storage space just meeting the size condition of the goods to be stored, and then the planned size is the minimum size. The storage space can be the smallest one of the successive storage space fragments on the shelf that meets the dimensional conditions for the goods to be stored, the planned size being the pre-stored theoretical size of the space fragment.

Furthermore, the warehousing system can allocate storage spaces for the goods to be stored according to the size information of the goods to be stored and the pre-stored planned size of each continuous storage space of the warehouse, and the storage spaces can be the minimum storage spaces which meet the size of the goods to be stored and preset safety intervals.

Specifically, when the space size is consistent with the planned size, it may be determined that the space size of the storage space satisfies the size condition of the goods to be stored.

Specifically, when the storage space is an empty space, the space size of the storage space is detected, the detected space size is compared with a pre-stored planned size, and when the space size is greater than or equal to the planned size, it is determined that the storage space meets the size condition of the goods to be stored, that is, the storage condition is met, so that the goods to be stored can be placed in the storage space. And when the space size is smaller than the planned size, the actual size of the storage space is smaller than the pre-stored size, and if the space size of the storage space is determined not to meet the size condition of the goods to be stored, the operation of storing the goods to be stored is not performed.

Further, when the space size of the storage space is smaller than the planned size, the size conditions of other goods to be stored in the robot storage unit can be obtained, so that whether the space size of the storage space can meet the size conditions of the other goods to be stored is judged, if yes, an instruction is generated to enable the robot to store the other goods to be stored in the storage space, and storage information of the other goods to be stored, such as storage positions and the like, is stored.

Specifically, the spatial size of the storage space includes a length and a width, and the corresponding dimensional condition of the goods to be stored also includes a length condition and a width condition. When the length of the space size meets the length condition and the width does not meet the width condition, judging whether the width of the storage space meets the length condition of the goods to be stored and whether the length of the storage space meets the width condition of the goods to be stored, if so, generating a steering instruction of the goods to be stored so that the goods taking device of the robot adjusts the orientation of the goods to be stored according to the steering instruction, and specifically, the goods to be stored can be rotated by 90 degrees clockwise or anticlockwise.

Further, the handling device of the robot may comprise a rotation mechanism, such as a turntable, which can rotate the orientation of the goods.

Further, when the size of the storage space is smaller than the planned size, it indicates that there are goods with wrong placement in the shelf, such as nearby goods to be stored, and further inspection of the shelf is required to avoid potential safety hazards.

Specifically, when the space size of the storage space is smaller than the planned size, the space size of the storage space may be smaller than the size information of the goods to be stored, or although the space size of the storage space is larger than the size information of the goods to be stored, after the goods to be stored are placed in the storage space, at least one item of the distance information of the goods to be stored is smaller than the preset safety distance, so that a risk exists during the storage operation of the goods to be stored.

Further, when the space size of the storage space is inconsistent with the planned size, the next storage space for storing the goods is obtained again, and inconsistent information of the space size can be generated so as to remind related personnel to further check the storage space and check the storage condition of the goods in each storage space of the shelf, so that abnormal conditions can be found in time, and loss is avoided.

Optionally, when the size of the space of the storage space is smaller than the planned size, the exception type is a size exception, and the method further includes: and updating the planned size of the storage space according to the space size in the first detection information.

Specifically, when the space size of the storage space is smaller than the planned size, and no abnormal condition exists on the shelf through the inspection of related personnel, the space size is updated to the planned size of the storage space so as to keep the correctness of the stored data.

Further, when the storage space has a space size smaller than the planned size, the storage space can also be kept open for goods of smaller size.

Optionally, when the size of the space of the storage space is smaller than the planned size, the exception type is a size exception, and an exception handling policy is determined according to the exception type, where the exception handling policy includes: and marking the storage space as an abnormal storage position, and acquiring the next storage space of the goods to be stored.

Specifically, when the storage space is marked as an abnormal storage position, the storage space is closed by the system, and any goods cannot be stored.

Further, after the next storage space is obtained, the corresponding steps of obtaining the first detection information and judging the storage condition can be carried out on the new storage space again to judge whether the new storage space meets the storage condition of the goods to be stored, namely whether the goods to be stored can be stored in the new storage space.

Further, when a plurality of goods to be stored are placed in the storage unit of the robot, if the space size of the storage space does not meet the size condition of the corresponding goods to be stored, the size information of each other goods to be stored in the storage unit of the robot can be acquired, and according to the space size of the storage space and the size information of each other goods to be stored, a new goods to be stored is determined from each other goods to be stored, so that the new goods to be stored is placed in the storage space. Wherein the space size of the storage space meets the size condition of the new goods to be stored.

Step S504, if the size condition is not met, an inspection instruction of adjacent goods in a preset range of the storage space is generated, so that the robot can acquire inspection information of at least one adjacent goods in the preset range according to the inspection instruction.

The preset range can be a range corresponding to 3 storage positions on the left side and 3 storage positions on the right side of the storage space, and can also be 2 storage positions, 5 storage positions or other values. The inspection information may include spacing information of adjacent cargo.

The adjacent goods may be goods on the same layer of the same shelf as the storage space, and the adjacent goods may include one or more of left adjacent goods, right adjacent goods, front adjacent goods and rear adjacent goods of the storage space. The left adjacent goods are one or more goods which are adjacent to the storage space and positioned on the left side of the storage space; the left adjacent cargo is one or more cargoes adjacent to the storage space and positioned on the left side of the storage space; the right adjacent cargo is one or more cargo adjacent to the storage space and located on the right side of the storage space; the front adjacent goods are one or more goods adjacent to the storage space and positioned at the front side of the storage space; the rear adjacent cargo is one or more cargo adjacent to the storage space and located at a rear side of the storage space. The spacing information may be the spacing of adjacent items from their surrounding individual items or shelf edges.

Of course, other inspection sequences may be used to inspect adjacent cargo within a predetermined range.

Step S505, determining whether there is a problem cargo in the at least one neighboring cargo according to the inspection information of the at least one neighboring cargo.

Specifically, the spacing information of the problem cargo may be greater than its corresponding spacing threshold. And for each adjacent cargo, if the distance information of at least one adjacent cargo is larger than the corresponding distance threshold value, determining that the adjacent cargo is the problem cargo.

For example, fig. 5B is a schematic diagram of a problem cargo storage situation in the embodiment shown in fig. 5A of the present application, as shown in fig. 5B, a cargo 51, a cargo 52, and a cargo 54 are stored on a shelf 50, the cargo to be stored is a cargo 55, and a corresponding storage space is a space 53. However, due to the left proximity of the space 53 for the cargo 55, the cargo 52 is stored in a wrong posture, i.e., the cargo 52 is deflected, so that the space size of the space 53 is smaller than the planned size, and the cargo is the cargo 52 in question.

For example, fig. 5C is a schematic diagram of another problem of the storage of goods in the embodiment shown in fig. 5A of the present application, as shown in fig. 5C, goods 61, goods 62 and goods 64 are stored on the shelf 60, the goods to be stored is goods 65, and the corresponding storage space is space 63. However, due to the left proximity of the space 63 of the goods 65 to the goods, the goods 62 are stored in a wrong position, that is, the goods 62 are translated, and the preset position is the position corresponding to the space 66, so that the distance between the goods 62 and the goods 61 is too large, and the distance between the goods 62 and the space 63 is too small, and the goods 62 is the problem.

Step S506, if yes, an adjusting instruction is generated, so that the robot at least adjusts the problem goods according to the adjusting instruction, and the space size of the storage space for the goods to be stored meets the size condition.

Specifically, the adjustment instruction of the problem cargo may be generated according to the space size, the plan size, and the information of the distance of the problem cargo that is greater than the corresponding distance threshold.

Specifically, for the problem goods with the goods pose inconsistent with the preset pose, an adjusting instruction of the problem goods can be generated according to the goods pose and the preset pose so as to adjust the goods pose of the problem goods to the preset pose; for problem goods with spacing information greater than the spacing threshold, an adjustment instruction can be generated according to the spacing information of the problem goods and the corresponding spacing threshold, so that the spacing information of the problem goods is adjusted to be the spacing threshold. And when the problem goods comprise the two inconsistent poses, namely the poses and the distances are inconsistent, generating an adjusting instruction of the problem goods according to the pose of the goods, the preset pose, the distance information and the distance threshold value, so that the distance information of the problem goods is the distance threshold value, and the pose of the goods is the preset pose.

Further, if it is determined from the adjacent cargos that there is no problem cargo, the storage space is marked as an abnormal storage location, and the next storage space for the cargo to be stored is obtained.

For example, fig. 5D is a schematic diagram of the storage situation of the shelf in the embodiment shown in fig. 5A of the present application, as shown in fig. 5D, the shelf 510 includes goods 511-522, the storage space corresponding to the goods 523 to be stored is a storage space 522, the storage space 522 is an empty space, but the space size of the storage space 522 is smaller than the planned size stored in the warehousing system, then, according to the information of the distance between the left adjacent goods (goods 515), the right adjacent goods (goods 519) and the rear adjacent goods (goods 517 and goods 514) of the goods 522, that is, the information of the distance between the goods 515 and the goods 513, the information of the distance between the goods 517 and the goods 516, the information of the distance between the goods 514 and the rear frame of the shelf, and the information of the distance between the goods 519 and the goods 521, among the adjacent goods, the goods with abnormal distances are determined as problem goods, the problem goods are adjusted, so as to enlarge the space size, so as to satisfy the size condition of the goods 523 to be stored, and thus the goods 522 to be stored can be placed on the goods 523 to be stored. The problem cargo may be all, some, or one of the adjacent or nearby cargo described above, such as cargo 519.

Specifically, for each adjacent cargo, it may be determined whether the distance information of the adjacent cargo is greater than a corresponding distance threshold, and if so, the position of the adjacent cargo is adjusted according to a difference between the distance information of the adjacent cargo and the corresponding distance threshold.

Wherein the spacing threshold may be determined based on size information of the adjacent cargo.

When the storage space is free space and does not satisfy the size condition, the storage position is adjusted according to the storage condition of the adjacent goods, so that the space size of the storage space is increased, a solution to abnormal conditions is provided, and the goods storage efficiency and the intelligent degree of the warehousing system are improved.

Further, after the adjustment of the defective goods is completed, a second goods storage instruction is generated, so that the robot stores the goods to be stored in the adjusted storage space according to the second goods storage instruction.

In this embodiment, treat the storage space's of depositing goods through automated inspection the condition of depositing and size information, and judge whether storage space is free space based on the condition of depositing, if yes, then further judge whether storage space's space size satisfies the size condition of waiting to deposit the goods, when satisfying, the side will treat to deposit the goods and place on this storage space, the self-adaptation that has realized storage space detects, when having avoided the storehouse position unusual, still carry out the goods and deposit, thereby lead to the goods to damage, the emergence of goods shelves topple over the condition even, the security of goods storage has been improved.

Fig. 6 is a flowchart of a method for processing an exception of a cargo storage space according to another embodiment of the present application, where the method for processing an exception of a cargo storage space according to the present embodiment is directed to a case where a storage space is occupied by an occupied object, and the method for processing an exception of a cargo storage space according to the present embodiment is that, on the basis of the embodiment shown in fig. 3, step S304 is further detailed, as shown in fig. 6, the method for processing an exception of a cargo storage space according to the present embodiment includes the following steps:

step S601, obtaining a storage condition of the storage space and a space size of the storage space.

Step S602, judging whether the storage space is a free space according to the storage condition of the storage space.

Step S603, when the storage space is occupied by an occupant, identifying the occupant of the storage space according to the first detection information, and determining whether the occupant is a removable object.

Wherein, the storage space is occupied, namely the storage space is not a free space, and the storage space is used for storing or placing occupied objects. The occupancy may be other goods or occupancy of the warehousing system, the number of which may be one or more.

Specifically, when the storage space is occupied, the abnormality type is an occupant abnormality.

Specifically, the storage space images can be collected through a visual sensor, such as a 2D camera and a 3D camera, arranged on the robot carrying device or the robot main body, and the type of the occupied object is identified based on a preset image identification algorithm, so that whether the occupied object is a removable object or not is judged through the robot.

Specifically, whether the occupant is a removable object may be determined based on the object size of the occupant. When the object size of the occupant is larger than the preset object size, the occupant is determined to be a non-removable object, and when the object size of the occupant is smaller than or equal to the preset object size, the occupant is determined to be a removable object.

Further, the collected storage position images can be sent to a warehousing system through the robot, such as warehousing management equipment or goods storage space abnormity processing equipment, and the warehousing system judges whether the occupied objects are removable objects or not.

Optionally, the identifying the occupied object of the storage space and determining whether the occupied object is a removable object includes: and judging whether the occupied object is a removable object or not according to whether the occupied object is a recording object or not.

Specifically, when the occupant is a recording object, it is determined that the occupant is a removable object.

Optionally, determining whether the occupying object is a removable object according to whether the occupying object is a recording object, includes: when the occupied object is an unrecorded object, judging whether the occupied object is a removable object according to the object size of the occupied object; when the occupied object is a recorded object, obtaining the placement information of the recorded object; and judging whether the occupied object is a removable object or not according to the placement information of the recorded object.

The unrecorded objects, i.e., the occupied objects which are not recorded by the warehousing system, may be other goods or occupied objects. The recorded object is an object stored with related information in the warehousing system, such as a bin, a package, a container or other objects storing information such as identification codes, sizes, loading conditions and the like. The placement information may include spacing information, placement angle, and the like.

Specifically, when the occupied object is an unrecorded object, it may be determined whether the occupied object is a removable object according to an object size of the occupied object. And when the object size of the unrecorded object is larger than the preset object size, determining that the occupied object is the immovable object, and otherwise, determining that the occupied object is the movable object. The preset object size may be a smaller one of a maximum object size corresponding to the storage space and a maximum size of goods or objects that can be picked up by the carrying device of the robot.

Specifically, when the occupied object is a record object, it may be determined whether the placement information of the record object is abnormal, and if not, it may be determined that the record object is an immovable object, and information corresponding to the storage space needs to be updated according to the related information of the record object, such as storage information, and a new storage space is allocated for the goods to be stored. When there is an anomaly, further analysis is required to determine whether the recorded object is a removable object, based on the specific anomaly.

Optionally, fig. 7 is a flowchart of step S603 in the embodiment shown in fig. 6 of the present application, and as shown in fig. 7, step S603 includes the following steps:

step S6031, when the storage space is occupied, identifies the occupied object of the storage space based on the first detection information.

Specifically, whether the occupied object comprises a preset bin code or not can be identified, and if yes, the identification result is that the occupied object is a preset bin; if not, the occupied object is an unrecorded object according to the identification result.

In step S6032, when the identification result is that the occupant is a recorded object, placement information of the recorded object is acquired.

Specifically, whether the occupier is a recorded object of the warehousing system can be judged by identifying whether the occupier comprises the identifiable identification code. The identification code is usually set at a designated position of the recording object, and may be in the form of a bar code, a two-dimensional code, or a code.

Step S6033, when the distance information in the placement information does not meet the preset safe distance of the occupied object, determining that the occupied object is an immovable object, and marking the storage space as an abnormal storage position.

Specifically, when the distance information is smaller than the preset safety distance, the goods taking device of the robot may damage the occupied object or the goods adjacent to the occupied object when the occupied object is taken out, and therefore, the occupied object is determined or the object is recorded as the non-removable object. In order to avoid the storage space being reassigned to other goods to be stored, the storage space is marked as an abnormal storage location to remind the relevant personnel to perform manual inspection or removal of the occupancy of the storage space.

Specifically, the preset safety interval may be determined according to the type or size of the handling device of the robot, and for a handling device including a suction cup, the preset safety interval may be very small, such as 3cm, or even ignored; for a carrying device comprising a left telescopic arm and a right telescopic arm, the preset safety distance is at least the width of the telescopic arms; for a handling device comprising a robot arm or a robotic arm, the predetermined safety margin should be at least the width of the gripping or hooking portion of the robotic arm.

Step S6034, when the distance information in the placement information meets the preset safety distance of the occupied object, judging whether the occupied object is a removable object according to the placement angle in the placement information.

The placement angle refers to the pose of the occupied object, and may be an angle relative to the default pose. The default pose for cargo placement is typically: when the robot performs the goods extraction, the front side of the goods faces the robot.

Specifically, when the placement angle is within the preset angle range, the occupied object is determined to be a removable object, and otherwise, the occupied object is determined to be an immovable object. Specifically, the predetermined angle range may be (-5 °, 5 °), (-10 °, 10 °), (-15 °, 15 °), (85 °, 95 °), or other ranges.

Step S604, if yes, an occupancy removal instruction is generated, so that the robot removes the occupancy from the storage space according to the occupancy removal instruction.

Specifically, when the robot determines that the occupancy is the removable object, the occupancy may be extracted from the storage space via the robot, and the goods to be stored may be placed in the storage space via the robot. Of course, it is also possible to extract the occupancy from the storage space via the second robot and to place the goods to be stored in the storage space via the first robot.

Specifically, when the warehousing system determines that the occupancy is a removable object, an object removal instruction may be generated, and the robot or the second robot may remove the occupancy from the storage space according to the object removal instruction.

Step S605, second detection information of the storage space after the occupancy is removed is acquired.

Wherein the second detection information may include a spatial size of the storage space after the occupant is removed.

Specifically, the specific step of acquiring the second detection information is similar to the step of acquiring the first detection information, and is not described herein again.

Step S606, determining whether the space size of the storage space in the second detection information satisfies the size condition of the goods to be stored.

Step S607, if the size condition of the goods to be stored is met, a first goods storage instruction is generated, so that the robot places the goods to be stored on the storage space according to the first goods storage instruction.

In this embodiment, when the storage space is not a free space, that is, occupied by an occupied object, the occupied object is identified to determine whether the occupied object is a removable object, if so, the occupied object is removed, and then it is determined whether the size of the storage space meets the size condition of the goods to be stored, and if so, the goods to be stored are placed on the storage space; when the occupied object is an immovable object, the occupied object is further judged to be a recorded object or an unrecorded object of the system, if the occupied object is the unrecorded object, corresponding prompt information is generated, and the occupied object is manually cleared; if the object is a recorded object, updating the information recorded in the storage space in the system, and allocating the storage space for the goods to be stored again; aiming at the abnormal condition that the storage space is occupied, an efficient solution is provided, the efficiency and the safety of goods storage are improved, and meanwhile, the intelligent degree of the warehousing system is improved.

Fig. 8 is a schematic structural diagram of a cargo storage space exception handling device according to an embodiment of the present application, where as shown in fig. 8, the cargo storage space exception handling device includes: a first detection information obtaining module 810, a spatial anomaly determination module 820 and an anomaly policy determination module 830.

The first detection information obtaining module 810 is configured to obtain first detection information of a storage space where goods to be stored are to be stored, where the storage space where the goods to be stored are to be determined according to size information of the goods to be stored and a dynamic goods storage space on a shelf; a space anomaly determination module 820, configured to determine whether the storage space is anomalous according to the first detection information; an exception policy determining module 830, configured to determine, if the storage space is abnormal, an exception handling policy according to an exception type, so as to handle the exception of the storage space according to the exception handling policy.

Optionally, the first detection information obtaining module 810 is specifically configured to: and obtaining the storage condition of the storage space and the space size of the storage space.

Optionally, the spatial anomaly determination module 820 includes: the storage condition judging unit is used for judging whether the storage space is an idle space or not according to the storage condition of the storage space, and if the storage space is occupied, the storage space is abnormal; and the space size judging unit is used for judging whether the space size of the storage space meets the size condition of the goods to be stored or not if the storage space is a free space, wherein the storage space is abnormal if the size condition is not met, and the storage space is normal if the size condition is met.

Optionally, when the storage space is occupied by an occupant, the exception type is an occupant exception, and the exception policy determining module 830 is specifically configured to: when the exception type is an occupant exception, determining that the exception handling policy is to move out of the occupant.

Optionally, when the storage space is occupied by an occupant, the exception type is an occupant exception, and the exception policy determining module 830 includes: the occupied object identification unit is used for identifying the occupied objects of the storage space according to the first detection information and judging whether the occupied objects are removable objects or not; a moving-out instruction generating unit, configured to generate an occupancy moving-out instruction if the occupancy is a removable object, so that the robot moves out the occupancy from the storage space according to the occupancy moving-out instruction; a second detection information acquisition unit configured to acquire second detection information of the storage space after the occupancy is removed; a size condition judgment unit, configured to judge whether the space size of the storage space in the second detection information satisfies the size condition of the goods to be stored; the first storage instruction generating unit is used for generating a first goods storage instruction if the size condition of the goods to be stored is met, so that the robot places the goods to be stored on the storage space according to the first goods storage instruction.

Optionally, the occupant identification unit is specifically configured to:

identifying an occupancy of the storage space; and judging whether the occupied object is a removable object according to whether the occupied object is a recording object.

Optionally, the occupant identification unit comprises: an unrecorded object determining subunit configured to determine, when the occupied object is an unrecorded object, whether the occupied object is a removable object according to an object size of the occupied object; a recorded object judging subunit, configured to, when the occupied object is a recorded object, obtain placement information of the recorded object; and judging whether the occupied object is a removable object or not according to the placement information.

Optionally, the recorded object determining subunit is specifically configured to: when the distance information in the placement information of the recorded object meets a preset safety distance, judging whether the occupied object is a removable object according to the placement angle in the placement information; and when the distance information in the placement information meets the preset safe distance, determining that the occupied object is an immovable object, and marking the storage space as an abnormal storage position.

Optionally, the cargo storage space exception handling apparatus further comprises: the planned size obtaining module is used for obtaining the planned size of the storage space for storing the goods before judging whether the space size of the storage space meets the size condition of the goods to be stored; correspondingly, the size condition judgment unit is specifically configured to: judging whether the space size of the storage space is smaller than the planned size; if not, determining that the space size of the storage space meets the size condition of the goods to be stored, and if so, determining that the space size of the storage space does not meet the size condition of the goods to be stored.

Optionally, when the size of the storage space does not satisfy the size condition of the goods to be stored, the exception type is a size exception, and the exception policy determining module 830 includes: the inspection instruction generating unit is used for generating an inspection instruction of adjacent goods in a preset range of the storage space so that the robot can acquire inspection information of at least one adjacent goods in the preset range according to the inspection instruction; the problem goods determining unit is used for judging whether the problem goods exist in the at least one adjacent goods according to the inspection information of the at least one adjacent goods; and the adjusting instruction generating unit is used for generating an adjusting instruction if the problem goods exist, so that the robot at least adjusts the problem goods according to the adjusting instruction, and the space size of the storage space for the goods to be stored meets the size condition.

Optionally, the inspection information includes distance information and a cargo pose of the adjacent cargo, and the defective cargo determining unit is specifically configured to: acquiring a distance threshold value and a preset pose of each adjacent cargo; for each neighboring good, determining that the neighboring good is a problem good when the inspection information of the neighboring good satisfies any one of the following conditions: the spacing information of the adjacent cargo is greater than a spacing threshold of the adjacent cargo; the cargo pose of the adjacent cargo is inconsistent with the preset pose.

The abnormity processing device for the goods storage space, provided by the embodiment of the application, can execute the abnormity processing method for the goods storage space, provided by any embodiment of the application, and has corresponding functional modules and beneficial effects of the execution method.

Fig. 9 is a schematic structural diagram of a cargo storage space exception handling apparatus according to an embodiment of the present application, and as shown in fig. 9, the cargo storage space exception handling apparatus includes: memory 910, processor 920, and computer programs.

The computer program is stored in the memory 910 and configured to be executed by the processor 920 to implement the exception handling method for the cargo storage space according to any one of the embodiments corresponding to fig. 2 to 7 in the present application.

Wherein the memory 910 and the processor 920 are connected by a bus 930.

The relevant description may be understood by referring to the relevant description and effect corresponding to the steps in fig. 2 to fig. 7, and redundant description is not repeated here.

Fig. 10 is a schematic structural diagram of a warehousing system according to an embodiment of the present application, as shown in fig. 10, the warehousing system includes: a goods storage space abnormality processing apparatus 1010, a robot 1020, and a shelf 1030.

The goods storage space exception handling device 1010 is the goods storage space exception handling device provided in the embodiment shown in fig. 10, and the robot 1020 is configured to store the goods 1040 to be stored on the storage space 1031 of the shelf 1030 under the instruction of the goods storage space exception handling device 1010. The robot 1020 may also extract the goods according to the instruction of the goods storage space abnormality processing apparatus 1010.

Further, the robot 1020 may be further provided with a position sensor, a measurement sensor, a vision sensor, etc. to measure information such as a space size of the storage space, space information of each cargo, and an identification code.

Optionally, robot 1020 includes a mobile chassis, handling device, storage racks and a lift assembly; the storage shelf, the carrying device and the lifting assembly are mounted on the mobile chassis.

Optionally, the handling device comprises one or more of: telescopic arm component, sucking disc and arm.

Optionally, the handling device comprises a pallet and a steering structure for changing the orientation of the goods placed on the pallet.

One embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for processing the exception of the goods storage space provided in any one of the embodiments corresponding to fig. 2 to fig. 7 of the present application.

The computer readable storage medium may be, among others, ROM, Random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, functional modules in the embodiments of the present application may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.

The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application.

It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (enhanced Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.

The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for handling abnormality in cargo storage space, wherein the method comprises:

obtaining the first detection information of the storage space of the goods to be stored, wherein the storage space of the goods to be stored is determined according to the size information of the goods to be stored and the dynamic goods storage space on the shelf;

According to the first detection information, determine whether there is an abnormality in the storage space;

If so, an exception handling strategy is determined according to the exception type, so as to handle the exception of the storage space according to the exception handling strategy.

2. The method according to claim 1, wherein, according to the first detection information, judging whether the storage space is abnormal, comprising:

Judging whether the storage space is free space according to the storage situation of the storage space;

If the storage space is occupied, there is an abnormality in the storage space;

If the storage space is free space, determine whether the space size of the storage space satisfies the size condition of the goods to be stored;

If the size condition is not met, the storage space is abnormal;

If the size condition is satisfied, the storage space is normal.

3. The method according to claim 2, wherein when the storage space is occupied by an occupant, the exception type is an occupant exception, and an exception handling strategy is determined according to the exception type, comprising:

When the exception type is an occupancy exception, it is determined that the exception handling strategy is to remove the occupant.

4. The method according to claim 2, wherein when the storage space is occupied by an occupant, the exception type is an occupant exception, and an exception handling strategy is determined according to the exception type, comprising:

Identifying an occupant of the storage space according to the first detection information, and determining whether the occupant is a removable object;

If so, generating an occupied object removal instruction, so that the robot removes the occupied object from the storage space according to the occupied object removal instruction;

obtaining the second detection information of the storage space after the occupant is removed;

judging whether the space size of the storage space in the second detection information satisfies the size condition of the goods to be stored;

If the size condition of the goods to be stored is satisfied, a first goods storage instruction is generated, so that the robot places the goods to be stored on the storage space according to the first goods storage instruction.

5. The method according to claim 4, wherein determining whether the occupant is a removable object comprises:

When the occupied object is an unrecorded object, determine whether the occupied object is a removable object according to the object size of the occupied object;

When the occupant is a recording object, acquiring the placement information of the recording object;

Whether the occupant is a removable object is determined according to the placement information.

6. The method according to any one of claims 3-5, wherein when the space size of the storage space does not meet the size condition of the goods to be stored, the abnormality type is size abnormality, which is determined according to the abnormality type Exception handling strategies, including:

generating inspection instructions for adjacent goods within a preset range of the storage space, so that the robot obtains inspection information of at least one adjacent goods within the preset range according to the inspection instructions;

According to the inspection information of the at least one neighboring cargo, determine whether there is a problem cargo in the at least one neighboring cargo;

If so, an adjustment instruction is generated, so that the robot adjusts at least the problem goods according to the adjustment instruction, so that the space size of the storage space of the goods to be stored satisfies the size condition.

7. A device for handling abnormality in cargo storage space, characterized in that, comprising:

The first detection information acquisition module is used to obtain the first detection information of the storage space of the goods to be stored, wherein the storage space of the goods to be stored is based on the size information of the goods to be stored and the dynamic goods storage space on the shelf definite;

a space abnormality judgment module, configured to judge whether the storage space is abnormal according to the first detection information;

An exception policy determination module, configured to determine an exception handling policy according to the exception type if there is an exception in the storage space, so as to handle the exception of the storage space according to the exception handling policy.

8. A cargo storage space abnormality processing device, characterized in that, comprising: a memory and at least one processor;

the memory stores computer-executable instructions;

The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the method for handling an exception in a cargo storage space according to any one of claims 1 to 6.

9. A storage system, characterized in that, comprising: a robot, a shelf and the abnormal handling equipment for cargo storage space according to claim 8;

Wherein, the robot is configured to place the goods to be stored in the storage space of the shelf according to the instruction of the abnormality processing device of the goods storage space.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the computer-executable instructions as claimed in any one of claims 1 to 6 are implemented. The abnormal handling method of the cargo storage space described above.