Fleet control method

A fleet control method, wherein the method is used for controlling a robot fleet, the robot fleet comprises a leader robot and at least one following robot, the method is applicable to the following robot, and the method comprises:

• receiving a planned path sent by the leader robot, wherein the planned path is sent by the leader robot after determining the planned path of each robot in the robot fleet and determining a following movement segment in the planned path of each following robot based on the planned path of each robot, the planned path of each robot is used to indicate a movement path for the robot to move to a corresponding target storage location within a shelving unit region to execute a task, and the following movement segment comprises a movement segment located on the ground and/or a movement segment extending in a vertical direction;
• and
• entering a following mode at a start point of the following movement segment and following a front cart to arrive at an aisle corresponding to the target storage location, and/or ending the following mode at an end point of the following movement segment and arriving at the target storage location to execute a goods retrieval or storage task;
• wherein the entering a following mode at the start point of the following movement segment and following a front cart to arrive at an aisle corresponding to the target storage location, and/or ending the following mode at the end point of the following movement segment and arriving at the target storage location to execute a goods retrieval or storage task comprises:
• extending a connecting mechanism forward at the start point of the following movement segment to connect to the front cart, and following the front cart to arrive at the aisle corresponding to the target storage location;
• and/or
• cutting off the connection from the front cart at the end point of the following movement segment, retracting the connecting mechanism, and arriving at the target storage location to execute the goods retrieval or storage task.

A fleet control method, wherein the method is used for controlling a robot fleet, the robot fleet comprises a leader robot and at least one following robot, the method is applicable to a server, and the method comprises:

• determining a planned path of each robot in the robot fleet, wherein the planned path of each robot is used to indicate a movement path for the robot to move to a corresponding target storage location within a shelving unit region to execute a task;
• and
• determining a following movement segment in the planned path of each following robot, and sending the following movement segment to a corresponding following robot;
• or
• sending the planned path of each robot to the leader robot, so that the leader robot determines a following movement segment in the planned path of each following robot, and sends the following movement segment to a corresponding following robot, so that each following robot enters a following mode at a start point of the following movement segment and follows a front cart to arrive at an aisle corresponding to the target storage location, and/or ends the following mode at an end point of the following movement segment and arrives at the target storage location to execute a goods retrieval or storage task, wherein the following movement segment comprises a movement segment located on the ground and/or a movement segment extending in a vertical direction;
• wherein the method further comprises:
• sending to-be-executed tasks to the leader robot after assigning the task to each robot based on a depth of a vertical track where the target storage location corresponding to each of the to-be-executed tasks of the robot fleet is located, a height of the target storage location, and a place of each robot in the robot fleet, and the depth corresponding to the vertical track is a distance between the vertical track and an aisle entrance;
• and
• wherein the planned path is determined based on the depth of the vertical track corresponding to the task assigned to the robot and the height of the target storage location.