Warehousing robot control method, apparatus, device, and storage medium

A warehousing robot control method, executed by a warehousing robot, the method comprising:

• getting into an avoidance state and stopping moving toward a preset area of a workstation allocated to the warehousing robot when an avoidance instruction is received, the avoidance instruction being configured to:
• when the number of the warehousing robot in the preset area of the workstation meets a throttling condition, instruct a warehousing robot that meets an avoidance condition to get into the avoidance state and stop moving toward the preset area;
• entering the preset area when the number of the warehousing robot in the preset area does not meet the throttling condition;
• wherein entering the preset area when the number of the warehousing robot in the preset area does not meet the throttling condition comprises:
• when a fourth robot in the preset area leaves the preset area, a corresponding number of a fifth robot in the avoidance state entering the preset area;
• wherein the corresponding number of a fifth robot is determined according to the number of the fourth robot;
• and
• wherein the corresponding number of a fifth robot is determined by sorting the warehousing robot in the avoidance state;
• and determining, according to an order of the warehousing robot getting into the avoidance state, the corresponding number of warehousing robot in the avoidance state as the fifth robot.

A scheduling server, comprising:

• a processor, a memory, and a computer program stored in the memory and capable of running on the processor,
• wherein when running the computer program, the processor is configured to implement the operation of:
• acquiring the number of a warehousing robot in a preset area of a workstation;
• and
• sending an avoidance instruction to a warehousing robot that meets an avoidance condition when the number of the robot in the preset area meets a throttling condition, the avoidance instruction being used for indicating an operation of the warehousing robot stopping entering the preset area;
• wherein after the sending an avoidance instruction to a warehousing robot that meets an avoidance condition when the number of the robot in the preset area meets a throttling condition, the method further comprises:
• scheduling a warehousing robot in an avoidance state to enter the preset area when the number of the warehousing robot in the preset area does not meet the throttling condition;
• wherein the scheduling a warehousing robot in an avoidance state to enter the preset area when the number of the warehousing robot in the preset area does not meet the throttling condition comprises:
• when a fourth robot in the preset area leaves the preset area, determining a corresponding number of a fifth robot in the avoidance state according to the number of the fourth robot, and scheduling the fifth robot to enter the preset area;
• or when a warehousing robot in a first queuing position in the preset area leaves the first queuing position, scheduling warehousing robots in the second and later queuing positions in the preset area to move from the current queuing positions to previous queuing positions;
• wherein the determining a corresponding number of a fifth robot in the avoidance state comprises:
• sorting the warehousing robot in the avoidance state;
• and
• determining, according to an order of the warehousing robot getting into the avoidance state, the corresponding number of warehousing robot in the avoidance state as the fifth robot.

A warehousing robot, comprising:

• a processor, a memory, and a computer program stored in the memory and capable of running on the processor,
• wherein when running the computer program, the processor is configured to implement the operation of:
• getting into an avoidance state and stopping moving toward a preset area of a workstation allocated to the warehousing robot when an avoidance instruction is received, the avoidance instruction being configured to:
• when the number of the warehousing robot in the preset area of the workstation meets a throttling condition, instruct a warehousing robot that meets an avoidance condition to get into the avoidance state and stop moving toward the preset area;
• entering the preset area when the number of the warehousing robot in the preset area does not meet the throttling condition;
• wherein entering the preset area when the number of the warehousing robot in the preset area does not meet the throttling condition comprises:
• when a fourth robot in the preset area leaves the preset area, a corresponding number of a fifth robot in the avoidance state entering the preset area;
• wherein the corresponding number of a fifth robot is determined according to the number of the fourth robot;
• and
• wherein the corresponding number of a fifth robot is determined by sorting the warehousing robot in the avoidance state;
• and determining, according to an order of the warehousing robot getting into the avoidance state, the corresponding number of warehousing robot in the avoidance state as the fifth robot.

A non-transitory computer-readable storage medium, storing a computer program, and the computer program, when executed by a processor, cause the processor to:

• acquire the number of a warehousing robot in a preset area of a workstation;
• and send an avoidance instruction to a warehousing robot that meets an avoidance condition when the number of the robot in the preset area meets a throttling condition, the avoidance instruction being used for indicating an operation of the warehousing robot stopping entering the preset area;
• wherein after the avoidance instruction is sent to the warehousing robot that meets the avoidance condition when the number of the robot in the preset area meets the throttling condition, the processor is caused to:
• schedule a warehousing robot in an avoidance state to enter the preset area when the number of the warehousing robot in the preset area does not meet the throttling condition;
• wherein when the processor is caused to schedule a warehousing robot in an avoidance state to enter the preset area when the number of the warehousing robot in the preset area does not meet the throttling condition, the processor is caused to:
• when a fourth robot in the preset area leaves the preset area, determine a corresponding number of a fifth robot in the avoidance state according to the number of the fourth robot, and schedule the fifth robot to enter the preset area;
• wherein when the processor is caused to determine a corresponding number of a fifth robot in the avoidance state, the processor is caused to:
• sort the warehousing robot in the avoidance state;
• and determine, according to an order of the warehousing robot getting into the avoidance state, the corresponding number of warehousing robot in the avoidance state as the fifth robot.