CN117047784B

CN117047784B - Method and device for determining position of robot for picking goods and robot system

Info

Publication number: CN117047784B
Application number: CN202311311650.3A
Authority: CN
Inventors: 蒋超
Original assignee: Dayang Intelligent Technology Beijing Co ltd
Current assignee: Dayang Intelligent Technology Beijing Co ltd
Priority date: 2023-10-11
Filing date: 2023-10-11
Publication date: 2024-01-26
Anticipated expiration: 2043-10-11
Also published as: CN117047784A

Abstract

The application discloses a method for determining a position of a robot to pick goods, a device for determining the position of the robot to pick the goods and a robot system. The method includes determining a picking plan for the robot; determining path information of the robot according to a picking plan of the robot; acquiring current position information of a robot; determining a goods picking position point nearest to the current position information based on the path information and the current position information of the robot; utilizing the nearest cargo picking position point to call the identification information of the start execution corresponding to the nearest cargo picking position point; verifying the currently acquired identification information of the start execution according to the identification information of the start execution corresponding to the nearest cargo picking position point, and obtaining a verification result; according to the verification result, the next cargo picking position point of the robot and the identification information of the starting execution corresponding to the next cargo picking position point are determined, and the accuracy of the determined identification information of the starting execution is higher, so that the verification efficiency is improved.

Description

Method and device for determining position of robot for picking goods and robot system

Technical Field

The present application relates to the field of logistic picking technology, and more particularly, to a method for determining a position of a robot to pick goods, a device for determining a position of a robot to pick goods, and a robot system.

Background

The picker and the robot cooperate to complete picking, so that the picker and the robot are in a common picking mode of the current warehouse, when the picker and the robot are in contact, the picker can manually input identity information into the robot so as to start execution and carry out identity authentication, thereby recording the identification information for completing the start execution, and facilitating follow-up completion according to recorded information when a problem occurs. For example, after lipstick a is disassembled, it can be traced back to the picker of lipstick a based on the recorded information. However, a certain time is required for the manual identity information input process, and when the number of goods picking position points increases, more time is consumed for inputting the identity information, so that the efficiency of identifying information verification of starting execution is affected.

Disclosure of Invention

The embodiment of the application provides a method for determining the position of a robot for picking cargoes, a device for determining the position of the robot for picking cargoes and a robot system, wherein the position of each robot during last identity authentication is utilized to determine the position of each nearest picker and the current picking area so as to accurately estimate pickers encountered by the robot at the next cargoes picking position point, and therefore the identity authentication efficiency of the pickers is improved.

The method for determining the position of the robot for picking cargoes comprises the steps of determining a picking plan of the robot; determining path information of the robot according to a picking plan of the robot, wherein the path information comprises: the method comprises the steps of selecting goods, identifying information of starting execution corresponding to the goods selecting position, and estimated time and path range between distances of the goods selecting position; acquiring current position information of the robot; determining a goods picking position point closest to the current position information based on the path information and the current position information of the robot; utilizing the nearest cargo picking position point to call the identification information of the start execution corresponding to the nearest cargo picking position point; verifying the currently acquired identification information of the start execution according to the identification information of the start execution corresponding to the nearest cargo picking position point, and obtaining a verification result; and determining the next cargo picking position point of the robot and the identification information of the starting execution corresponding to the next cargo picking position point according to the verification result.

In some embodiments, determining path information for the robot according to a picking plan for the robot includes: acquiring physical operation space information of the robot according to a picking plan of the robot, wherein the physical operation space information at least comprises cargo area information, picking area information and action space area information; according to a preset simulation algorithm, the physical operation space information is tidied; marking various information contained in the physical operation space information according to the arrangement result; and determining path information of the robot through labeling various information contained in the physical operation space information.

In some embodiments, the determining, based on the path information and current location information of the robot, a picking location point of the good closest to the current location information includes: according to the picking plan, starting execution information corresponding to the goods picking position point of the robot is determined, and a time node corresponding to the starting execution information is triggered; calculating a position point from the preset execution to the goods picking of the robot according to the starting execution information and the time node; determining the nearest goods picking position point to be executed according to the estimated time between the preset goods picking position point and the distance between each goods picking position point; and determining the goods picking position point closest to the current position information according to the current position information of the robot and the goods picking position point closest to the current position information.

In some embodiments, verifying the currently acquired identification information of the start execution according to the identification information of the start execution corresponding to the nearest cargo picking position point includes: determining identification information of start execution corresponding to the position point of picking from the latest to-be-executed goods of the robot according to the identification information of start execution corresponding to the nearest goods picking position point of the picking plan of the robot; judging whether the current position information is in the path range or not according to the current position information of the robot; verifying whether the current position information matches a most recent to-be-performed pick-to-good position point of the robot when within the path range; when matching, the verification result is identification information of start execution corresponding to the position point of picking up the goods to be executed recently of the robot, and the identification information of start execution corresponding to the current position information of the robot; and when the load and the load are not matched, updating the identification information of the start execution corresponding to the nearest goods picking position point as the currently acquired identification information of the start execution according to the path information of the robot as a verification result.

In some embodiments, the verifying whether the current location information matches a most recent to-be-performed pick-to-good location point of the robot further comprises: when the robot is determined to reach the nearest cargo picking position point, displaying an identity verification interface of a corresponding picker according to identification information of starting execution corresponding to the nearest cargo picking position point; and under the condition that a confirmation instruction input by the identity verification interface is acquired, determining that the current position information is matched with the last position point to be executed to the goods picking position of the robot.

In some embodiments, the determining, according to the verification result, the next cargo picking position point of the robot and the identification information of the start execution corresponding to the next cargo picking position point includes: establishing position distribution of the identification information of the start execution corresponding to a plurality of preset time periods according to the verification result; training to obtain identification information representing the starting execution and an interaction matching degree model of the robot in each preset time period according to the position distribution; and determining identification information of start execution corresponding to the next cargo picking position point of the robot according to the interaction matching degree model.

In some embodiments, the method further includes displaying an identity verification interface of a corresponding picker according to identification information of start execution corresponding to the next cargo picking position point of the robot determined by the interactive matching degree model when the robot reaches the next cargo picking position point.

In some embodiments, the method further comprises determining the picking plans of the robots according to preset order tasks, the picking plans corresponding to at least one of the order tasks; and establishing a mapping table of pickers and order tasks according to the order tasks corresponding to the goods picking position points of the robot and the identification information of starting execution.

The device for determining the position of the robot to pick the goods comprises a first determining module, a second determining module, an obtaining module, a third determining module, a calling module, a verifying module and a fourth determining module. The first determination module is configured to determine a picking plan of the robot. The second determining module is configured to determine path information of the robot according to a picking plan of the robot, where the path information includes: the method comprises the steps of selecting goods, identifying information of starting execution corresponding to the goods selecting position, and estimated time and path range between distances of the goods selecting position. The acquisition module is used for acquiring current position information of the robot. The third determining module is used for determining goods picking position points closest to the current position information based on the path information and the current position information of the robot. The retrieving module is configured to retrieve identification information of start execution corresponding to the nearest cargo picking position point by using the nearest cargo picking position point. The verification module is used for verifying the currently acquired identification information of the start execution according to the identification information of the start execution corresponding to the nearest cargo picking position point, and obtaining a verification result. And the fourth determining module is used for determining the next cargo picking position point of the robot and the identification information of the start execution corresponding to the next cargo picking position point according to the verification result.

The robot system of the embodiment of the application comprises a robot, a processor, a memory and a computer program, wherein the computer program is stored in the memory and executed by the processor, and the computer program comprises instructions for executing the first method for determining the picking position of the robot according to any embodiment.

According to the method for determining the position of the goods picked by the robot, the device for determining the position of the goods picked by the robot and the robot system, firstly, the picking plan of the robot is determined to determine the path information of the robot, so that the goods picking position points corresponding to the robot, the identification information of starting execution corresponding to the goods picking position points, and the estimated time and the path range between the distances of the goods picking position points are determined. The processor may then obtain current location information of the robot in order to determine the nearest load pick location point, i.e. to determine the next load pick location point of the robot, in combination with the path information. Each cargo picking position point needs a picker to start execution, and the processor also records identification information of the start execution corresponding to each cargo picking position point when the start execution of each cargo picking position point is completed. Therefore, the processor can also call the identification information of the start execution corresponding to the nearest cargo picking position point so as to estimate the information of the pickers encountered when the robot moves to the nearest cargo picking position point. Then, when the robot reaches the nearest cargo picking position, the processor may verify the currently acquired identification information of the start execution according to the identification information of the start execution corresponding to the confirmed nearest cargo picking position, that is, verify whether the picker performing the start execution is an estimated picker. After the verification result is obtained, the processor can obtain the information of the picker which finishes the start execution at each goods picking position point according to the verification result, namely, the identification information of the start execution corresponding to each goods picking position point. Then, the processor can determine the next cargo picking position point of the robot and the identification information of the starting execution corresponding to the next cargo picking position point according to the verification result and the picking plan, and perform the identity authentication of the picker according to the identification information of the corresponding starting execution when the robot reaches the next cargo picking position point. It can be understood that, for each time identity information needs to be manually input for identity authentication, the robot displays verification information according to the estimated picker every time the robot reaches a goods picking position, and if the current picker is actually the estimated picker, the current picker only needs to pass verification without manually inputting the identity information. Meanwhile, the position of each picker can be determined based on the position of each robot when the robot is started to execute last time, so that identification information of starting execution corresponding to each goods picking position point is determined, the processor can accurately estimate pickers encountered by the robot at the next goods picking position point, namely, the identification information of starting execution corresponding to the next goods picking position point is accurately estimated, the number of times of identity information input can be reduced, and therefore, the verification efficiency of identity authentication, namely, the verification efficiency of the identification information of starting execution is improved.

Additional aspects and advantages of embodiments of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, wherein:

FIG. 1 is a flow diagram of a method of determining a robotic pick cargo position in accordance with certain embodiments of the present application;

FIG. 2 is a block schematic diagram of a robotic system of certain embodiments of the present application;

FIG. 3 is a schematic illustration of a scenario of a method of determining a robotic pick cargo position according to certain embodiments of the present application;

FIG. 4 is a schematic illustration of a scenario of a method of determining a robotic pick cargo position according to certain embodiments of the present application;

FIG. 5 is a flow diagram of a method of determining a robotic pick cargo position in accordance with certain embodiments of the present application;

FIG. 6 is a flow diagram of a method of determining a robotic pick cargo position in accordance with certain embodiments of the present application;

FIG. 7 is a flow chart of a method of determining a robotic pick cargo position in accordance with certain embodiments of the present application;

FIG. 8 is a flow chart of a method of determining a robotic pick cargo position in accordance with certain embodiments of the present application;

FIG. 9 is a flow chart of a method of determining a robotic pick cargo position in accordance with certain embodiments of the present application;

FIG. 10 is a flow chart of a method of determining a robotic pick cargo position in accordance with certain embodiments of the present application;

FIG. 11 is a flow chart of a method of determining a robotic pick cargo position in accordance with certain embodiments of the present application;

FIG. 12 is a block diagram of an apparatus for determining a location at which a robot picks a good in accordance with certain embodiments of the present application;

fig. 13 is a schematic structural view of a robot according to some embodiments of the present application.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the embodiments of the present application and are not to be construed as limiting the embodiments of the present application.

In order to solve the technical problems of the background art, the embodiment of the application provides a method for determining the position of a robot picking cargo. The method of determining the location of a robotic picking load of the present application will be described in detail below:

Example 1:

referring to fig. 1, a method for determining a position of a robot picking load in the present application includes:

step 011: determining a picking plan of the robot;

specifically, fig. 2 is a schematic structural diagram of a robot system 100 according to an embodiment of the present application, where the robot system 100 includes a robot 10 and a processor 20. The processor 20 may be used to perform the method of determining a robotic pick cargo position provided by embodiments of the present application.

The processor can preset a corresponding picking plan for each robot according to the order, the picking plan comprises cargos to be loaded by the robot, the storage area of each cargos is known, and the picking position corresponding to the storage area of each cargos can be understood to be the picking position point of the cargos. Thus, the processor needs to first determine the picking plan of the robot in order to determine the cargo picking position points that the robot needs to traverse to execute the picking plan. For example, referring to fig. 3, there are 6 cargo picking positions in the scene, namely cargo picking position 1, cargo picking position 2, cargo picking position 3, cargo picking position 4, cargo picking position 5 and cargo picking position 6. The pick points for robot a may be 2, 3, and 5.

Step 012: determining path information of the robot according to a picking plan of the robot, wherein the path information comprises: the method comprises the steps of selecting goods, identifying information of starting execution corresponding to the goods selecting position, and estimated time and path range between distances of the goods selecting position;

specifically, the processor may determine, according to a picking plan of the robots, goods to be handled by each robot and a corresponding storage area, so as to determine path information corresponding to each robot, so as to determine a goods picking position point according to the path information. The path information includes a cargo picking position point, identification information of a picker who starts to execute corresponding to the cargo picking position point (i.e., identification information of a picker who starts a picking operation at the cargo picking position point), a preset time between distances of each cargo picking position point (i.e., a time required for moving between any two cargo picking position points), and a path range.

Step 013: acquiring current position information of a robot;

specifically, the current position of the robot may be fed back to the processor in real time. The processor can acquire the current position information of the robot to determine the execution progress and the current position of the robot, so that the next cargo picking position point of the robot can be conveniently determined later, and the identification information of starting execution corresponding to the next cargo picking position point can be conveniently determined.

Step 014: determining a goods picking position point nearest to the current position information based on the path information and the current position information of the robot;

specifically, the processor may determine a distance between the robot and each of the goods-picking position points based on the position of each of the goods-picking position points in the path information and the current position information of the robot, thereby determining a goods-picking position point closest to the current position information and thus determining a next goods-picking position point of the robot. Wherein, the goods picking position point that the robot has completed goods picking cannot be determined as the nearest goods picking position point, thereby avoiding repeated verification of the same goods picking position point by the robot.

Step 015: utilizing the nearest cargo picking position point to call the identification information of the start execution corresponding to the nearest cargo picking position point;

specifically, after the robot reaches each cargo picking position point, a picker is required to start picking so as to record the identity information of the picker at each cargo picking position point, thereby facilitating subsequent responsibility following. Therefore, each goods picking position point has corresponding identification information of starting execution, and the processor can acquire the identification information of starting execution corresponding to the nearest goods picking position point, so that pickers encountered by the robot at the nearest goods picking position point are estimated.

Step 016: verifying the currently acquired identification information of the start execution according to the identification information of the start execution corresponding to the nearest cargo picking position point, and obtaining a verification result;

specifically, in the event that the picker initiates execution, the current position of the robot is the current position of the picker, and the picker cannot move a greater distance in a shorter time. Thus, the processor may determine that the locations of the individual pickers are the respective goods picking location points last time the execution was initiated for the robot. When the robot reaches the nearest cargo picking position, the processor predicts that the picker at the nearest cargo picking position is the picker started to execute at the nearest cargo picking position, so that the verification picture is displayed according to the identification information of the picker started to execute at the nearest cargo picking position last time, namely according to the identification information of the starting execution corresponding to the nearest cargo picking position. For example, "you are pickers X" are displayed on the display screen 11 of the robot, wherein pickers X are pickers for the start execution corresponding to the goods picking position point.

Step 017: and determining the next cargo picking position point of the robot and the identification information of the start execution corresponding to the next cargo picking position point according to the verification result.

Specifically, the processor may determine, based on the verification result, a picker currently completing the initiation of execution at the item picking location, thereby determining identification information of the initiation of execution corresponding to each item picking location. For example, in the event that verification passes, the processor may consider the identification information of the initiation execution corresponding to the closest item pick location point that was invoked as unchanged, i.e., the picker that completed the initiation execution at the closest item pick location point as unchanged. In the event that verification fails, the processor may consider that the retrieved identification information of the initiation of execution corresponding to the nearest picking point of the good has changed, i.e., that the picker who completed the initiation of execution at the nearest picking point of the good has changed. At this time, the processor may update the identification information of the start execution corresponding to the nearest cargo picking position point according to the current picker. After verification is completed, the processor can determine the next cargo picking position point of the robot according to the picking plan, and determine identification information of starting execution corresponding to the next cargo picking position point according to a verification result. In this way, the processor can acquire the identification information of the start execution corresponding to each cargo picking position point under the condition that the start execution is completed. Under the condition that the robot reaches the next goods picking position point, the processor can conduct identity verification of the pickers according to the determined identification information for starting execution, and therefore verification efficiency is improved.

Referring to fig. 3 and 4, for example, robot a encounters picker a at cargo picking location point 2, and picker a performs an operation that initiates execution. The processor may confirm that the identification information of the corresponding initiation of execution of the item pick location point 2 is picker a. And the nearest cargo picking position point of robot B is cargo picking position point 2 according to the picking plan and current position information of robot B. The processor then determines that the picker of robot B at the load picking position point 2 is picker a. Robot B will, in case of reaching the picking position point 2 of the goods, be validated by the processor with a confirm button 12 and a cancel button 13 and display "you are picker a" on the display screen 11. If the current picker is indeed picker A, picker A need only press the confirm button 12 to complete the verification. If the current picker is not picker a, the current picker also needs to click the cancel button 13 and reenter its own identity information. Therefore, the processor can verify the currently acquired identification information of the starting execution, and obtain a verification result, namely whether the currently executed picker is the picker which is started to execute at the goods picking position point last time, and acquire the identification information of the currently executed picker.

In this manner, the processor may determine a positional distribution of pickers based on the idea that the position of the pickers is equal to the position of the robot when the robot is in contact with the pickers, based on the time and position of the robot at which the pickers start to execute. Compared with the scheme that the position distribution of the pickers is obtained through monitoring, the processor does not need to identify a monitoring picture, and the position distribution of the pickers can be determined only by obtaining the time and the position of the robot when the pickers start to execute, so that the convenience of determining the position distribution is improved.

It can be understood that the verification time is shorter, generally shorter than the time for inputting the identity information, and the verification efficiency of the identification information for starting execution can be improved by only ensuring the estimated accuracy of the identification information for starting execution. According to the method and the device for identifying the position of the robot, the position of the picker is confirmed according to the position of the robot when the robot is started to execute, so that the identification information of the starting execution corresponding to each cargo picking position point is determined, the processor can accurately and flexibly estimate the picker encountered when the robot reaches the next cargo picking position point, and therefore verification efficiency of the identification information of the starting execution is improved.

For example, for picker C, his corresponding cargo pick location point is cargo pick location point 4. As long as most of the time in the working time is to be at the cargo picking position point 4, the processor can estimate that the robot with the next cargo picking position point being the cargo picking position point 4 will encounter the picker C at the cargo picking position point 4 and send out verification information of whether you are the picker C so as to verify the identification information of the corresponding start execution of the cargo picking position point 4. At this time, the picker C may click the ok button 12 all the time except when he needs to enter identity information just after his work or when he returns to his toilet. Thus, the number of inputs of identity information is greatly reduced by the picker C, and the processor needs to restart the prediction of the picker C only when the picker C has just gone to work or returned to the toilet.

According to the method for determining the position of the goods picked by the robot, firstly, the picking plan of the robot is determined, so that the path information of the robot is determined, and therefore the goods picking position points corresponding to the robot, the identification information of starting execution corresponding to the goods picking position points, and the estimated time and the path range between the distances of the goods picking position points are determined. The processor may then obtain current location information of the robot in order to determine the nearest load pick location point, i.e. to determine the next load pick location point of the robot, in combination with the path information. Each cargo picking position point needs a picker to start execution, and the processor also records identification information of the start execution corresponding to each cargo picking position point when the start execution of each cargo picking position point is completed. Therefore, the processor can also call the identification information of the start execution corresponding to the nearest cargo picking position point so as to estimate the information of the pickers encountered when the robot moves to the nearest cargo picking position point. Then, when the robot reaches the nearest cargo picking position, the processor may verify the currently acquired identification information of the start execution according to the identification information of the start execution corresponding to the confirmed nearest cargo picking position, that is, verify whether the picker performing the start execution is an estimated picker. After the verification result is obtained, the processor can obtain the information of the picker which finishes the start execution at each goods picking position point according to the verification result, namely, the identification information of the start execution corresponding to each goods picking position point. Then, the processor can determine the next cargo picking position point of the robot and the identification information of the starting execution corresponding to the next cargo picking position point according to the verification result and the picking plan, and perform the identity authentication of the picker according to the identification information of the corresponding starting execution when the robot reaches the next cargo picking position point. It can be understood that, for each time identity information needs to be manually input for identity authentication, the robot displays verification information according to the estimated picker every time the robot reaches a goods picking position, and if the current picker is actually the estimated picker, the current picker only needs to pass verification without manually inputting the identity information. Meanwhile, the position of each picker can be determined based on the position of each robot when the robot is started to execute last time, so that identification information of starting execution corresponding to each goods picking position point is determined, the processor can accurately estimate pickers encountered by the robot at the next goods picking position point, namely, the identification information of starting execution corresponding to the next goods picking position point is accurately estimated, the number of times of identity information input can be reduced, and therefore, the verification efficiency of identity authentication, namely, the verification efficiency of the identification information of starting execution is improved.

Referring to fig. 5, optionally, step 012: determining path information for the robot based on the picking plan of the robot, comprising:

step 0121: acquiring physical operation space information of the robot according to a picking plan of the robot, wherein the physical operation space information at least comprises cargo area information, picking area information and action space area information;

step 0122: according to a preset simulation algorithm, physical operation space information is tidied;

step 0123: marking various information contained in the physical operation space information according to the arrangement result;

step 0124: the path information of the robot is determined by labeling various information contained in the physical operation space information.

Specifically, the processor may obtain physical operation space information of the robot according to the picking plan of the robot in a case where the picking plan of the robot is determined, wherein the physical operation space information includes at least cargo area information, picking area information, and action space area information. The processor can determine the area where each cargo is stored according to the cargo area information, can determine the area where the robot needs to go to and pick the cargo according to the cargo picking area information, and can determine the activity space of the robot according to the activity space area information.

The physical operation space information of the robot can be tidied by a preset simulation algorithm, so that the physical operation space information can be processed later. Therefore, the processor utilizes a preset simulation algorithm to sort the physical operation space, and marks various information contained in the physical operation space information, such as cargo area information, picking area information and action space area information, according to the sorting result so as to determine the action of each area. The processor may then determine path information for the robot based on the labels of the various information contained within the physical operating space information, such as determining the picking points of the good from the label information, and the estimated time and path range between the distances of each of the picking points of the good. In this way, the processor can accurately determine the path information of the robot by using the picking plan, thereby improving the accuracy of subsequently determining the picking position points of the cargoes.

Referring to fig. 6, optionally, step 014: determining a goods picking position point nearest to the current position information based on the path information and the current position information of the robot, including:

step 0141: according to the picking plan, determining starting execution information corresponding to the goods picking position points of the robot and a time node corresponding to the triggering starting execution information;

Step 0142: calculating a position point from preset execution to goods picking of the robot according to the starting execution information and the time node;

step 0143: determining the nearest goods picking position point to be executed by presetting the estimated time between the goods picking position point to be executed and the distance between each goods picking position point;

step 0144: and determining the goods picking position point closest to the current position information according to the current position information of the robot and the goods picking position point to be executed recently.

Specifically, the processor may determine, according to the picking plan, start execution information corresponding to the cargo picking position point of the robot, for example, various information required to be used for starting the picking work of the cargo picking position point, and a time node corresponding to the trigger start execution information, that is, a time node for triggering the picking work of the cargo picking position point.

The processor then calculates each preset execution destination picking position point to which the robot needs to go next according to the start execution information and the time node. Then, the processor determines the estimated time between the distance between each preset executing to-cargo picking position point and each cargo picking position point according to the estimated time and the path range between the distance between each cargo picking position point and each preset executing to-cargo picking position point in the path information, so as to determine the nearest to-be-executed to-cargo picking position point of each preset executing to-cargo picking position point, and further determine the next cargo picking position point of each preset executing to-cargo picking position point. Finally, the processor may determine a current location of the robot and a closest cargo picking location from the current location information based on the current location information of the robot and each closest cargo picking location to be performed to determine a next cargo picking location of the robot.

Therefore, the processor can sequentially determine the preset goods to be picked up position points and the goods to be picked up position points to be executed recently according to the picking plan, and finally accurately determine the goods to be picked up position points closest to the current position of the robot by combining the current position information of the robot and the goods to be picked up position points to be executed recently, so that the next goods to be picked up position points of the robot are the goods to be picked up position points closest to the current position of the robot in the picking plan and are not picked up yet.

Referring to fig. 7, optionally, step 016: according to the identification information of the start execution corresponding to the nearest goods picking position point, verifying the currently acquired identification information of the start execution comprises the following steps:

step 0161: determining identification information of start execution corresponding to a goods picking position point to be executed recently of the robot according to identification information of start execution corresponding to the goods picking position point of a picking plan of the robot;

step 0162: judging whether the current position information is in a path range or not according to the current position information of the robot;

step 0163: when the current position information is in the path range, verifying whether the current position information is matched with the most recent to-be-executed picking position point of the robot;

Step 0164: when matching, the verification result is identification information of the start execution corresponding to the position point of the picking position of the goods to be executed recently of the robot, and is identification information of the start execution corresponding to the current position information of the robot;

step 0165: when the goods are not matched, the verification result is that the identification information of the start execution corresponding to the nearest goods picking position point is updated as the currently acquired identification information of the start execution according to the path information of the robot.

Specifically, the processor may determine the last to-be-performed to-item picking position point according to the picking plan of the robot, and then determine the identification information of the last to-be-performed to-item picking position point of the robot in combination with the identification information of the start-up execution corresponding to the last item picking position point. The path range may be understood as an area covered in the corresponding travel path of the robot when performing the picking task, and the processor may determine the path range when determining the path information of the robot. At this time, the processor may determine whether the current position information is within a path range according to the current position information of the robot, that is, determine whether the robot is currently within a specified path range, so as to determine whether the robot is executing a picking task.

The processor can verify whether the current position information is matched with the last to-be-executed goods picking position point of the robot under the condition that the current position of the robot is located in the path range, so that whether identification information for starting execution corresponding to the current position information is identical with identification information of the last to-be-executed goods picking position point under the condition that the robot reaches the last to-be-executed goods picking position point is verified, and whether a picker currently picking at the last to-be-executed goods picking position point is a picker last picking at the last to-be-executed goods picking position point is verified.

When the current position information is matched with the last to-be-executed goods picking position point of the robot, the fact that the identification information for starting to execute corresponding to the current position information is identical with the identification information of the last to-be-executed goods picking position point can be confirmed, and a picker who picks at the last to-be-executed goods picking position point or a picker who picks at the last to-be-executed goods picking position point currently can be confirmed. Therefore, the verification result is identification information of the start execution corresponding to the position point of the picking position of the goods to be executed recently of the robot, and is identification information of the start execution corresponding to the current position information of the robot.

When the current position information is not matched with the last to-be-executed goods picking position point, it can be confirmed that the identification information of starting execution corresponding to the current position information is different from the identification information of the last to-be-executed goods picking position point, and the current picker picking at the last to-be-executed goods picking position point is not the last picker picking at the last to-be-executed goods picking position point. The verification result is that the identification information of the start execution corresponding to the nearest cargo picking position point is updated to the currently acquired identification information of the start execution according to the path information of the robot, namely, the information of the picker corresponding to the nearest cargo picking position point to be executed is changed to the information of the picker currently at the nearest cargo picking position point to be executed. At this time, the processor may recalculate the estimated time between the current position information of the robot and the distance between the goods picking position points in the plan, and determine the identification information of the start execution corresponding to the position information of the current robot, so as to complete updating the identification information of the start execution corresponding to the goods picking position points to be executed recently.

In summary, the processor may determine whether the picker currently initiating execution at the last to-be-executed pick-up location is the last picker at the last to-be-executed pick-up location according to determining whether the current location information matches the last to-be-executed pick-up location. If yes, determining that the identification information of the start execution corresponding to the position point to be executed to the goods picking position point is unchanged. If not, changing the identification information of the start execution corresponding to the point from which the goods are to be picked up recently into the identification information of the start execution currently carried out at the point from which the goods are to be picked up recently. Therefore, the processor can update the identification information of the starting execution corresponding to each cargo picking position point in real time, and the identification information of the starting execution corresponding to the next cargo picking position point of the follow-up estimated robot is improved, so that the authentication efficiency of the identification information of the starting execution is improved, and the efficiency of the starting execution of a picker is further improved.

Referring to fig. 4 and 8, optionally, step 0163: when within the path range, verifying whether the current location information matches a last to-be-performed pick-to-good location point of the robot includes:

step 01631: when the robot is determined to reach the nearest cargo picking position point, displaying an identity verification interface S1 of the corresponding picker according to the identification information of the start execution corresponding to the nearest cargo picking position point;

step 01632: and under the condition that the confirmation instruction input by the identity verification interface S1 is acquired, determining that the verification current position information is matched with the last to-be-executed goods picking position point of the robot.

Specifically, the processor may display the authentication interface S1 of the corresponding picker according to the identification information of the start execution corresponding to the nearest cargo picking position point, in case that it is determined that the robot reaches the nearest cargo picking position point. That is, the processor predicts that the picker currently at the nearest cargo picking position is the picker which starts to execute at the nearest cargo picking position last time, and displays the identity verification interface S1 of the corresponding picker according to the picker which starts to execute at the nearest cargo picking position last time so as to verify the identity information of the picker.

When the authentication information is displayed on the display screen 11, the authentication information may include a confirm button 12 and a cancel button 13. The confirm button 12 and the cancel button 13 may be physical buttons on the robot, or the confirm button 12 and the cancel button 13 may be displayed on the display screen 11 of the robot.

After the processor displays the authentication interface S1, the current picker may press the confirm button 12 or cancel button 13 depending on what is displayed on the authentication interface S1. If the current picker presses the confirmation button 12, the processor receives a confirmation instruction generated after the confirmation button 12 is pressed, and at this time, the processor can determine that the current position information is verified to be matched with the last pick position point to be executed to the goods of the robot, and the last picker which is in contact with the robot and is about to perform a picking task is the estimated picker. If the estimated picker is not the current picker, the current picker can press the cancel button 13, and the processor can confirm that the current position information is not matched with the picking position point of the last to-be-executed goods of the robot, and the display screen 11 can jump to the next picture so as to facilitate the manual input of the identity information by the current picker.

The robot may obtain the identity information entered by the current picker in a variety of ways. Generally, the robot is capable of receiving at least one of touch input, voice input, and keyboard input, and the current picker can input its own identity information according to these input modes. The processor may then obtain identity information for the current picker based on the input information received by the robot. In addition, in some embodiments, the robot is further provided with a code scanning gun 14, and the identity card of the picker is provided with a corresponding bar code, so that the processor can start the code scanning function of the code scanning gun 14 to scan the identity card of the current picker, thereby acquiring the identity information of the current picker according to the bar code.

If the confirm button 12 or cancel button 13 has not been pressed within a preset time period after the identity verification interface S1 of the corresponding picker is displayed, the processor may confirm that no picker is at the current pick location point of the goods at this time, and the current location information does not match with the last pick location point of the robot to be executed to the goods. At this time, the processor may close and display the authentication interface S1 of the corresponding picker, so as to prevent other people from operating by mistake, and click the confirm button 12 or cancel button 13, so that deviation exists between the position distribution of the picker obtained by the processor and the actual position distribution, thereby ensuring the accuracy of the position distribution, and further improving the accuracy of predicting the picker encountered by the robot at the next goods picking position point.

Optionally, after the verification information is closed, the processor may request the current picker to enter identity information. Meanwhile, the processor can acquire the identity information input by the current picker and verify the identity information to verify whether the current picker has the right to pick. After the identity information verification is passed, the processor can determine that the identity authentication is successful, record that the picker of the goods picking position point at the current time is the current picker, namely update the identification information of the start execution corresponding to the current goods picking position point according to the input identity information, so that follow-up responsibility is completed conveniently, and update the position distribution of the picker according to the record conveniently, thereby ensuring that the follow-up processor can accurately estimate pickers encountered by each robot at the next goods picking position point according to the position distribution updated according to the actual situation.

Of course, the accuracy of the estimated pickers is generally higher, so the processor can default that the current pickers are the estimated pickers after the verification information is closed, and then wait for the estimated pickers to pick, thereby reducing the time of waiting for identity authentication.

Referring to fig. 9, optionally, step 017: according to the verification result, determining the next cargo picking position point of the robot and the identification information of the start execution corresponding to the next cargo picking position point, including:

Step 0171: establishing position distribution of identification information for starting execution corresponding to a plurality of preset time periods according to the verification result;

step 0172: training to obtain identification information representing start execution and an interaction matching degree model of the robot in each preset time period according to the position distribution;

step 0173: and determining identification information of starting execution corresponding to the next cargo picking position point of the robot according to the interaction matching degree model.

Specifically, the processor may determine, according to the verification result, a position distribution of the identification information for starting execution corresponding to each preset time period, that is, determine a position distribution of the pickers in each preset time period. Then, the processor may obtain, according to the position distribution of the identification information for starting execution corresponding to each preset time period and the goods picking position points of the robot in each preset time period, an interactive matching degree model for characterizing the identification information for starting execution and the robot in each preset time period, where it is understood that the interactive matching degree model may characterize pickers encountered by the robot in each preset time period. Then, the processor can determine the next cargo picking position point of the robot according to the interaction matching degree model, the current time and the current position of each robot, and determine the identification information of the start execution corresponding to the next cargo picking position point of the robot.

The location distribution data for different time periods may form different interaction matching models, e.g. the interaction matching models for different time periods are shown in table 1. The processor may establish an interaction matching degree model a of the time period a and an interaction matching degree model B of the time period B according to the historical position distribution data. When the current time is in the time period A, the processor can call an interactive matching degree model A, and the position distribution of identification information of each start execution in the time period A is determined based on the interactive matching degree model A. Similarly, when the current time is in the time period B, the processor may call the interactive matching degree model B, and determine the position distribution of the identification information of each start execution in the time period B based on the interactive matching degree model B. Then, the processor can determine the identification information of the start execution corresponding to the next goods picking position point of each robot according to the position distribution.

TABLE 1

Therefore, the processor can establish a corresponding interactive matching degree model based on the verification result, so that the estimation accuracy of the identification information of the starting execution corresponding to the next cargo picking position point is higher, the verification efficiency of the identification information of the starting execution is improved, and the picking efficiency is further improved.

Referring to fig. 4 and 10, optionally, the method for determining a picking position of the robot further includes:

step 018: when the robot reaches the next cargo picking position point, the identity verification interface S1 of the corresponding picker is displayed according to the identification information of the starting execution corresponding to the next cargo picking position point of the robot determined by the interactive matching degree model.

Specifically, when the robot reaches the next cargo picking position point, the processor may determine, according to the interactive matching degree model, identification information of start execution corresponding to the next cargo picking position point of the robot, that is, determine, according to the interactive matching degree model, a picker that the robot encounters at the next cargo picking position point. The processor then displays the authentication interface S1 of the corresponding picker based on the determined identification information to initiate execution, so as to perform authentication. For example, the processor determines that the picker at the next picking position is picker a, the processor displays an authentication interface S1 on the display screen 11, and displays "you are picker a" in the authentication interface S1. The picker may then decide whether to pass authentication directly or reenter the identity information based on the authentication interface S1. Therefore, the processor can utilize the interactive matching degree model to estimate the identification information of the starting execution corresponding to the next cargo picking position point, and utilize the identity verification interface S1 to complete verification, so that on one hand, smooth proceeding of verification of the identification information of the starting execution is ensured, and on the other hand, the identification information of the corresponding starting execution at the cargo picking position point is timely acquired.

Referring to fig. 11, the process flow of the method for determining the position of a robot picking load of the present application can be summarized as the following steps:

step 021: according to the preset order tasks, determining a picking plan of the robot, wherein the picking plan at least corresponds to one order task;

step 022: determining a picking plan of the robot;

step 023: determining path information of the robot according to a picking plan of the robot, wherein the path information comprises: the method comprises the steps of selecting goods, identifying information of starting execution corresponding to the goods selecting position, and estimated time and path range between distances of the goods selecting position;

step 024: acquiring current position information of a robot;

step 025: determining a goods picking position point nearest to the current position information based on the path information and the current position information of the robot;

step 026: utilizing the nearest cargo picking position point to call the identification information of the start execution corresponding to the nearest cargo picking position point;

step 027: verifying the currently acquired identification information of the start execution according to the identification information of the start execution corresponding to the nearest cargo picking position point, and obtaining a verification result;

Step 028: determining the next cargo picking position point of the robot and identification information of starting execution corresponding to the next cargo picking position point according to the verification result;

step 029: and establishing a mapping table of pickers and order tasks according to the order tasks corresponding to the goods picking position points of the robot and identification information for starting execution.

Step 022 may refer to step 011, step 023 may refer to step 012, step 024 may refer to step 013, step 025 may refer to step 014, step 026 may refer to step 015, step 027 may refer to step 016, and step 028 may refer to step 017.

Specifically, the processor may preset a corresponding order task for each robot according to an order, where the order task includes goods that need to be loaded by the robot, and a storage area where each of the goods is located is known, and it may be understood that a picking position point corresponding to the storage area of each of the goods is a goods picking position point. Therefore, the processor can determine goods to be carried by each robot and the corresponding storage area according to the preset order tasks, so that a picking plan corresponding to each robot is determined, wherein the picking plan at least corresponds to one order task, and each robot can accurately and rapidly complete the order tasks.

It will be appreciated that in determining the picking schedule for each robot, a mapping relationship between robots and orders is specified. Later on, when the responsibility is pursued, it is necessary to trace back from the order to the picker. Although the goods picking position points of the pickers are usually planned, the change of the goods picking position points corresponding to the pickers may be quick, and if the relationship between the pickers and the orders is not additionally recorded, the mapping relationship between the pickers and the orders is not clear, so that the pickers are difficult to trace from the orders. Therefore, the processor can confirm the pickers completing the order tasks according to the order tasks corresponding to the picking position points of the cargoes of the robot and the pickers when the picking position points of the cargoes start to execute, so that a mapping table of the pickers and the order tasks is established. Therefore, the processor can determine the relation between the pickers and the order tasks through the pickers started and executed at each goods picking position point so as to ensure the accuracy of the established mapping table, and therefore follow-up responsibility can be successfully completed based on the mapping table under the condition that the order is in question.

Referring to fig. 4 and 12, in order to better implement the method for determining a location of a picked load by a robot according to the embodiment of the present application, the embodiment of the present application further provides an apparatus 40 for determining a location of a picked load by a robot, where the apparatus 40 for determining a location of a picked load by a robot includes a first determining module 41, a second determining module 42, an obtaining module 43, a third determining module 44, a retrieving module 45, a verifying module 46, and a fourth determining module 47.

The first determination module 41 is for determining a picking plan of the robot.

The second determining module 42 is configured to determine path information of the robot according to a picking plan of the robot, where the path information includes: the method comprises the steps of selecting goods, identifying information of starting execution corresponding to the goods selecting position, and estimated time and path range between distances of the goods selecting position.

The obtaining module 43 is configured to obtain current position information of the robot.

The third determining module 44 is configured to determine, based on the path information and current location information of the robot, a picking location point of the item closest to the current location information.

The retrieving module 45 is configured to retrieve identification information of the start execution corresponding to the nearest cargo picking position point by using the nearest cargo picking position point.

The verification module 46 is configured to verify the currently acquired identification information of the start execution according to the identification information of the start execution corresponding to the nearest cargo picking position point, and obtain a verification result.

The fourth determining module 47 is configured to determine, according to the verification result, a next cargo picking position point of the robot and identification information of start execution corresponding to the next cargo picking position point.

The first determining module 41 is specifically configured to obtain physical operation space information of the robot according to a picking plan of the robot, where the physical operation space information at least includes cargo area information, picking area information, and action space area information; according to a preset simulation algorithm, physical operation space information is tidied; marking various information contained in the physical operation space information according to the arrangement result; the path information of the robot is determined by labeling various information contained in the physical operation space information.

The third determining module 44 is specifically configured to determine, according to the picking plan, start execution information corresponding to the cargo picking position point of the robot, and a time node corresponding to the trigger start execution information; calculating a position point from preset execution to goods picking of the robot according to the starting execution information and the time node; determining the nearest goods picking position point to be executed by presetting the estimated time between the goods picking position point to be executed and the distance between each goods picking position point; and determining the goods picking position point closest to the current position information according to the current position information of the robot and the goods picking position point to be executed recently.

The verification module 46 is specifically configured to determine, according to identification information of start execution corresponding to a nearest cargo picking position point of a picking plan of the robot, identification information of start execution corresponding to a nearest cargo picking position point of the robot to be executed; judging whether the current position information is in a path range or not according to the current position information of the robot; when the current position information is in the path range, verifying whether the current position information is matched with the most recent to-be-executed picking position point of the robot; when matching, the verification result is identification information of the start execution corresponding to the position point of the picking position of the goods to be executed recently of the robot, and is identification information of the start execution corresponding to the current position information of the robot; when the goods are not matched, the verification result is that the identification information of the start execution corresponding to the nearest goods picking position point is updated as the currently acquired identification information of the start execution according to the path information of the robot.

The verification module 46 is specifically further configured to display, when determining that the robot reaches the nearest cargo picking position, an identity verification interface S1 of the corresponding picker according to the identification information of the start execution corresponding to the nearest cargo picking position; and under the condition that the confirmation instruction input by the identity verification interface S1 is acquired, determining that the verification current position information is matched with the last to-be-executed goods picking position point of the robot.

The fourth determining module 47 is specifically configured to determine, according to identification information of start execution corresponding to a nearest cargo picking position point of a picking plan of the robot, identification information of start execution corresponding to a nearest cargo picking position point of the robot; judging whether the current position information is in a path range or not according to the current position information of the robot; when the current position information is in the path range, verifying whether the current position information is matched with the most recent to-be-executed picking position point of the robot; when matching, the verification result is identification information of the start execution corresponding to the position point of the picking position of the goods to be executed recently of the robot, and is identification information of the start execution corresponding to the current position information of the robot; when the goods are not matched, the verification result is that the identification information of the start execution corresponding to the nearest goods picking position point is updated as the currently acquired identification information of the start execution according to the path information of the robot.

The device 40 for determining the position of the robot for picking cargoes further includes a display module 48, where the display module 48 is configured to display, when the robot reaches the next cargoes picking position, identification information of start execution corresponding to the next cargoes picking position of the robot determined according to the interactive matching degree model, and an identity verification interface S1 of the corresponding picker.

The apparatus 40 for determining the position of the robotic pick items further comprises a fifth determination module 49 and an establishment module 50. The fifth determining module 49 is configured to determine a picking plan of the robot according to a preset order task, where the picking plan corresponds to at least one order task. The establishing module 50 is configured to establish a mapping table of pickers and order tasks according to the order tasks corresponding to the picking positions of the cargoes of the robot and the identification information of starting execution.

It should be understood that apparatus embodiments and method embodiments may correspond with each other and that similar descriptions may refer to the method embodiments. To avoid repetition, no further description is provided here.

The obstacle recognition device of the embodiment of the present application is described above from the perspective of the functional module in conjunction with the accompanying drawings. It should be understood that the functional module may be implemented in hardware, or may be implemented by instructions in software, or may be implemented by a combination of hardware and software modules. Specifically, each step of the method embodiments in the embodiments of the present application may be completed by an instruction in the form of an integrated logic circuit of hardware and/or software in a processor, and the steps of the method for identifying an obstacle disclosed in connection with the embodiments of the present application may be directly embodied as being executed by a hardware encoding processor, or may be completed by a combination of hardware and software modules in the encoding processor.

Alternatively, the software modules may be located in a well-established storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, and the like. The storage medium is located in the memory 30, and the processor 20 reads the information in the memory, and in combination with its hardware, performs the steps of the above-described method embodiment for identifying an obstacle.

Referring again to fig. 2 and 13, the present embodiment also provides a robot system 100, where the robot system 100 includes the robot 10, the processor 20, the memory 30, and the computer program 31 in any of the above embodiments, and the computer program 31 is stored in the memory 30 and executed by the processor 20, and the computer program 31 includes instructions for executing the method for determining a position of a picked goods by the robot in any of the above embodiments 1 to 2, which are not repeated herein for brevity.

In the description of the present specification, reference to the terms "certain embodiments," "one example," "exemplary," and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiments or examples is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims

1. A method of determining a location at which a robot picks a good, comprising:

determining a picking plan of the robot;

determining path information of the robot according to a picking plan of the robot, wherein the path information comprises: the method comprises the steps of selecting goods, identifying information of starting execution corresponding to the goods selecting position, and estimated time and path range between distances of the goods selecting position;

Acquiring current position information of the robot;

determining a goods picking position point closest to the current position information based on the path information and the current position information of the robot;

utilizing the nearest cargo picking position point to call the identification information of the start execution corresponding to the nearest cargo picking position point;

verifying the currently acquired identification information of the start execution according to the identification information of the start execution corresponding to the nearest cargo picking position point, and obtaining a verification result;

and determining the next cargo picking position point of the robot and the identification information of the starting execution corresponding to the next cargo picking position point according to the verification result.

2. The method of determining a location at which a robot picks a good according to claim 1, wherein determining path information for the robot based on a picking plan for the robot comprises:

acquiring physical operation space information of the robot according to a picking plan of the robot, wherein the physical operation space information at least comprises cargo area information, picking area information and action space area information;

according to a preset simulation algorithm, the physical operation space information is tidied;

Marking various information contained in the physical operation space information according to the arrangement result;

and determining path information of the robot through labeling various information contained in the physical operation space information.

3. The method of determining a location at which a robot picks items of claim 1, wherein the determining a point of the item of item picking location closest to the current location information based on the path information and the current location information of the robot includes:

according to the picking plan, starting execution information corresponding to the goods picking position point of the robot is determined, and a time node corresponding to the starting execution information is triggered;

calculating a position point from the preset execution to the goods picking of the robot according to the starting execution information and the time node;

determining the nearest goods picking position point to be executed according to the estimated time between the preset goods picking position point and the distance between each goods picking position point;

and determining the goods picking position point closest to the current position information according to the current position information of the robot and the goods picking position point closest to the current position information.

4. A method of determining a robotic picking order location as defined in claim 3 in which verifying currently acquired identification information of an actuation execution based on identification information of the actuation execution corresponding to the nearest picking order location comprises:

determining identification information of start execution corresponding to the position point of picking from the latest to-be-executed goods of the robot according to the identification information of start execution corresponding to the nearest goods picking position point of the picking plan of the robot;

judging whether the current position information is in the path range or not according to the current position information of the robot;

verifying whether the current position information matches a most recent to-be-performed pick-to-good position point of the robot when within the path range;

when matching, the verification result is identification information of start execution corresponding to the position point of picking up the goods to be executed recently of the robot, and the identification information of start execution corresponding to the current position information of the robot;

and when the load and the load are not matched, updating the identification information of the start execution corresponding to the nearest goods picking position point as the currently acquired identification information of the start execution according to the path information of the robot as a verification result.

5. The method of determining a location at which a robot picks a good of claim 4, wherein the verifying whether the current location information matches a most recent to-be-performed pick-to-good location point of the robot further comprises:

when the robot is determined to reach the nearest cargo picking position point, displaying an identity verification interface of a corresponding picker according to identification information of starting execution corresponding to the nearest cargo picking position point;

and under the condition that a confirmation instruction input by the identity verification interface is acquired, determining that the current position information is matched with the last position point to be executed to the goods picking position of the robot.

6. The method for determining a position of a load picked by a robot according to claim 1, wherein determining, according to the verification result, a next load picking position point of the robot and identification information of start execution corresponding to the next load picking position point includes:

establishing position distribution of the identification information of the start execution corresponding to a plurality of preset time periods according to the verification result;

training to obtain identification information representing the starting execution and an interaction matching degree model of the robot in each preset time period according to the position distribution;

And determining identification information of start execution corresponding to the next cargo picking position point of the robot according to the interaction matching degree model.

7. The method of determining a location for robotic picking of a good of claim 6, the method further comprising:

when the robot reaches the next cargo picking position point, displaying identification information of starting execution corresponding to the next cargo picking position point of the robot according to the interaction matching degree model, and displaying an identity verification interface of a corresponding picker.

8. The method of determining a location for robotic picking of a good of claim 1, the method further comprising:

according to a preset order task, determining the picking plan of the robot, wherein the picking plan at least corresponds to one order task;

and establishing a mapping table of pickers and order tasks according to the order tasks corresponding to the goods picking position points of the robot and the identification information of starting execution.

9. An apparatus for determining the location of a robotic pick item, comprising:

a first determination module for determining a picking plan of the robot;

A second determining module, configured to determine path information of the robot according to a picking plan of the robot, where the path information includes: the method comprises the steps of selecting goods, identifying information of starting execution corresponding to the goods selecting position, and estimated time and path range between distances of the goods selecting position;

the acquisition module is used for acquiring the current position information of the robot;

a third determining module, configured to determine, based on the path information and current position information of the robot, a goods picking position point nearest to the current position information;

the retrieving module is used for retrieving identification information of starting execution corresponding to the nearest cargo picking position point by utilizing the nearest cargo picking position point;

the verification module is used for verifying the currently acquired identification information of the start execution according to the identification information of the start execution corresponding to the nearest cargo picking position point, and obtaining a verification result; and

And the fourth determining module is used for determining the next cargo picking position point of the robot and the identification information of the start execution corresponding to the next cargo picking position point according to the verification result.

10. A robotic system, comprising:

a robot;

a processor, a memory; and

A computer program, wherein the computer program is stored in the memory and executed by the processor, the computer program comprising instructions for performing the method of determining a robotic pick cargo position of any of claims 1 to 8.