# US 2024/0201704 A1 · Outbound method and device

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- Number: US 2024/0201704 A1
- Document ID: US20240201704A1
- Status: Published application
- Kind: A1
- Application number: 18/584,390
- Filed: 2024-02-22
- Published: 2024-06-20
- Earliest claimed: 2021-09-10
- Assignees: Shenzhen Kubo Software Co., Ltd
- Applicants: Shenzhen Kubo Software Co., Ltd.
- Inventors: Runfang YU
- Web page: https://patentgrep.com/patent/US20240201704A1

## CPC

- G05D 1/648: Performing a task within a working area or space, e.g. cleaning
- B65G 1/1373: {for fulfilling orders in warehouses}
- B65G 1/1378: {the orders being assembled on fixed commissioning areas remote from the storage areas}
- G06Q 10/08: Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q 10/083: Shipping
- G05D 2105/20: for transportation
- G05D 2107/70: Industrial sites, e.g. warehouses or factories
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D)
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR

## Abstract

This application provides an outbound method and a device, and relates to the field of goods transporting device technologies. The method may include: determining at least one outbound sequence, where the outbound sequence includes at least one outbound group, and the outbound group includes at least one outbound container; assigning a transporting task of the outbound container to a robot according to the at least one outbound sequence; and carrying out an outbound operation of the at least one outbound container according to a task execution state of the transporting task and the at least one outbound sequence.

## Claims

### Claim 1

An outbound method, comprising:
determining at least one outbound sequence, wherein the outbound sequence comprises at least one outbound group, and the outbound group comprises at least one outbound container;
assigning, according to a target outbound strategy corresponding to the outbound sequence, a transporting task of the at least one outbound container to a robot, wherein the target outbound strategy is used for indicating at least one of: a first outbound order of the at least one outbound group in the outbound sequence, and a second outbound order of the at least one outbound container in the at least one outbound group; and
controlling, according to a task execution state of the transporting task and the target outbound strategy, the robot to transport the outbound container in the at least one outbound sequence, so as to complete outbound operation of the at least one outbound sequence.

### Claim 2 (depends on 1)

The method according to claim 1, wherein the determining at least one outbound sequence comprises:
determining at least two outbound sequences;
wherein the assigning, according to a target outbound strategy corresponding to the outbound sequence, a transporting task of the at least one outbound container to a robot comprises:
assigning transporting tasks of the at least two outbound sequences to the robot in parallel, and assigning, according to a target outbound strategy corresponding to each outbound sequence, a transporting task of at least one outbound container in each outbound sequence to the robot.

### Claim 3 (depends on 1)

The method according to claim 1, wherein the assigning, according to a target outbound strategy corresponding to the outbound sequence, a transporting task of the at least one outbound container to a robot comprises:
assigning, according to the first outbound order and the second outbound order, the transporting task of the at least one outbound container in the outbound sequence to the robot; or
assigning, according to the first outbound order and an intra-group default strategy, the transporting task of the at least one outbound container in the outbound sequence to the robot, wherein the intra-group default strategy is used for determining, according to information about each outbound container in the outbound group, an outbound order of the at least one outbound container; or
assigning, according to an inter-group default strategy and the second outbound order, the transporting task of the at least one outbound container in the outbound sequence to the robot, wherein the inter-group default strategy is used for determining, according to information about each outbound group in the outbound sequence, an outbound order of the at least one outbound group; or
assigning, according to the inter-group default strategy and the intra-group default strategy, the transporting task of the at least one outbound container in the outbound sequence to the robot.

### Claim 4 (depends on 3)

The method according to claim 3, wherein the information about the outbound group comprises at least one of: the number of the outbound containers in the outbound group, and the number of aisles in which the outbound containers in the outbound group are located.

### Claim 5 (depends on 3)

The method according to claim 3, wherein the information about the outbound container comprises at least one of: a transporting distance of the outbound container, a weight of the outbound container, and a size of the outbound container.

### Claim 6 (depends on 3)

The method according to claim 3, wherein the assigning, according to the first outbound order and the second outbound order, the transporting task of the at least one outbound container in the outbound sequence to the robot comprises:
in a process of assigning, according to the first outbound order and the second outbound order, the transporting task of each outbound container in the outbound sequence to the robot, when a transporting task of any outbound container in the outbound sequence is assigned unsuccessfully, stopping assigning the transporting task of each outbound container in the outbound sequence to the robot.

### Claim 7 (depends on 3)

The method according to claim 3, wherein the assigning, according to the inter-group default strategy and the second outbound order, the transporting task of the at least one outbound container in the outbound sequence to the robot comprises:
in a process of assigning the transporting task of each outbound container in the outbound sequence to the robot, when a transporting task of a first outbound container in the outbound sequence is assigned unsuccessfully, stopping assigning transporting tasks of other outbound containers in a first outbound group comprising the first outbound container to the robot, and assigning a transporting task of each outbound container in a second outbound group to the robot, wherein the second outbound group is an outbound group in the outbound sequence other than the first outbound group.

### Claim 8 (depends on 3)

The method according to claim 3, wherein the assigning, according to the first outbound order and the intra-group default strategy, the transporting task of the at least one outbound container in the outbound sequence to the robot comprises:
in a process of assigning the transporting task of each outbound container in the outbound sequence to the robot, when a transporting task of a first outbound container in the outbound sequence is assigned unsuccessfully, stopping assigning a transporting task of an outbound container in an outbound group other than a first outbound group to the robot, and assigning a transporting task of an outbound container in the first outbound group other than the first outbound container to the robot, wherein the first outbound group is an outbound group comprising the first outbound container.

### Claim 9 (depends on 1)

The method according to claim 1, wherein the controlling, according to the task execution state of the transporting task and the target outbound strategy, the robot to transport the outbound container in the at least one outbound sequence comprises:
when a task execution state of a second transporting task corresponding to a second outbound container is that the second outbound container is retrieved, obtaining a task execution state of at least one third transporting task, wherein the third transporting task is a transporting task of a third outbound container, the third outbound container comprises at least one of: an outbound container that is in the first outbound order and that is in a third outbound group located before a second outbound group, and, an outbound container that is in the second outbound order corresponding to the second outbound group and that is located before the second outbound container, wherein the second outbound group is an outbound group comprising the second outbound container; and
when the task execution state of each third transporting task is that a work table is reached, continuing to execute the second transporting task, to carry out the outbound operation of the second outbound container and the third outbound container according to at least one of the first outbound order and the second outbound order.

### Claim 10 (depends on 9)

The method according to claim 9, further comprises:
when the task execution state of the at least one third transporting task is any execution state before that the work table is reached, controlling the robot transporting the second outbound container to wait; and
when the task execution state of the at least one third transporting task is updated to that the work table is reached, continuing to execute the second transporting task, to carry out the outbound operation of the second outbound container and the third outbound container according to at least one of the first outbound order and the second outbound order.

### Claim 11

An electronic device, comprising:
a memory configured to store computer-executable instructions; and
at least one processor configured to execute the computer-executable instructions stored in the memory, wherein when the computer-executable instructions are executed by the processor, the processor is configured to:
obtain an outbound sequence, wherein the outbound sequence comprises one or more outbound group, and the outbound group comprises one or more outbound container;
determine a first outbound order of the one or more outbound group, and determining a second outbound order of the one or more outbound container in the outbound group;
assign a transporting task of an outbound container to a robot according to at least one of the first outbound order and the second outbound order; and
control, according to a task execution state of the transporting task, the robot to transport the outbound container in the outbound sequence based on the at least one of the first outbound order and the second outbound order.

### Claim 12 (depends on 11)

The electronic device according to claim 11, wherein the processor is configured to:
assign a transporting task of an outbound container to a robot according to the first outbound order and the second outbound order;
assign a transporting task of an outbound container to a robot according to the first outbound order and an intra-group default order, wherein the intra-group default order is determined by information about the outbound container in the outbound group; or
assign a transporting task of an outbound container to a robot according to an inter-group default order and the second outbound order, wherein the inter-group default order is determined by information about the outbound group in the outbound sequence.

### Claim 13 (depends on 12)

The electronic device according to claim 12, wherein the processor is configured to:
stop, when a transporting task of any outbound container in the outbound sequence is assigned unsuccessfully, assigning the transporting task of each outbound container in the outbound sequence to the robot, in a process of assigning the transporting task of each outbound container in the outbound sequence to a robot according to the first outbound order and the second outbound order.

### Claim 14 (depends on 12)

The electronic device according to claim 12, wherein the processor is configured to:
stop, when a transporting task of a first outbound container in the outbound sequence is assigned unsuccessfully, assigning transporting tasks of other outbound containers in a first outbound group comprising the first outbound container, in a process of assigning the transporting task of each outbound container in the outbound sequence to a robot according to the inter-group default order and the second outbound order; and
assign a transporting task of each outbound container in a second outbound group to the robot, wherein the second outbound group is an outbound group in the outbound sequence other than the first outbound group.

### Claim 15 (depends on 12)

The electronic device according to claim 12, wherein the processor is configured to:
stop, when a transporting task of a first outbound container in the outbound sequence is assigned unsuccessfully, assigning a transporting task of an outbound container in an outbound group other than a first outbound group to the robot, in a process of assigning the transporting task of each outbound container in the outbound sequence to a robot according to the first outbound order and the intra-group order; and
assign a transporting task of an outbound container in the first outbound group other than the first outbound container to the robot, wherein the first outbound group comprises the first outbound container.

### Claim 16 (depends on 11)

The electronic device according to claim 11, wherein the processor is configured to:
obtain, when a task execution state of a second transporting task corresponding to a second outbound container is that the second outbound container is retrieved, a task execution state of a third transporting task of a third outbound container, wherein the third outbound container is in the first outbound order and is in a third outbound group located before a second outbound group, and/or, the third outbound container is in the second outbound order corresponding to the second outbound group and is located before the second outbound container, wherein the second outbound group comprises the second outbound container; and
continue, when the task execution state of each third transporting task is that a work table is reached, to execute the second transporting task.

### Claim 17

A non-transitory computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when a processor executes the computer-executable instructions, a computer is enabled to:
obtain an outbound sequence, wherein the outbound sequence comprises one or more outbound group, and the outbound group comprises one or more outbound container;
determine a first outbound order of the one or more outbound group, and determining a second outbound order of the one or more outbound container in the outbound group;
assign a transporting task of an outbound container to a robot according to an order strategy, wherein the order strategy comprises: the first outbound order and the second outbound order, the first outbound order and an intra-group default order, an inter-group default order and the second outbound order, or the inter-group default order and the intra-group default order, wherein the intra-group default order is determined by information about the outbound container in the outbound group, the inter-group default order is determined by information about the outbound group in the outbound sequence; and
control, according to a task execution state of the transporting task, the robot to transport an outbound container in the outbound sequence based on the order strategy.

### Claim 18 (depends on 17)

The non-transitory computer-readable storage medium according to claim 17, wherein computer is enabled to:
obtain, when a task execution state of a second transporting task corresponding to a second outbound container is that the second outbound container is retrieved, a task execution state of a third transporting task of a third outbound container, wherein the third outbound container is in the first outbound order and is in a third outbound group located before a second outbound group, and/or, the third outbound container is in the second outbound order corresponding to the second outbound group and is located before the second outbound container, wherein the second outbound group comprises the second outbound container; and
continue, when the task execution state of each third transporting task is that a work table is reached, to execute the second transporting task.

### Claim 19 (depends on 18)

The non-transitory computer-readable storage medium according to claim 18, wherein computer is enabled to:
control, when the task execution state of the third transporting task is any execution state before that the work table is reached, the robot transporting the second outbound container to wait; and
continue, when the task execution state of the third transporting task is updated to that the work table is reached, to execute the second transporting task.

### Claim 20 (depends on 17)

The non-transitory computer-readable storage medium according to claim 17, wherein wherein computer is enabled to:
stop, when a transporting task of any outbound container in the outbound sequence is assigned unsuccessfully, assigning the transporting task of each outbound container in the outbound sequence to the robot, in a process of assigning the transporting task of each outbound container in the outbound sequence to a robot according to the first outbound order and the second outbound order; or
stop, when a transporting task of a first outbound container in the outbound sequence is assigned unsuccessfully, assigning transporting tasks of other outbound containers in a first outbound group comprising the first outbound container, in a process of assigning the transporting task of each outbound container in the outbound sequence to a robot according to the inter-group default order and the second outbound order, and assign a transporting task of each outbound container in a second outbound group to the robot, wherein the second outbound group is an outbound group in the outbound sequence other than the first outbound group; or
stop, when a transporting task of a first outbound container in the outbound sequence is assigned unsuccessfully, assign a transporting task of an outbound container in an outbound group other than a first outbound group to the robot, in a process of assigning the transporting task of each outbound container in the outbound sequence to a robot according to the first outbound order and the intra-group order, and assign a transporting task of an outbound container in the first outbound group other than the first outbound container to the robot, wherein the first outbound group comprises the first outbound container.