IP Library › Granted Patent US 12679651

Granted Patent B2

US 12679651 · App. 18/342,862 · Granted Jul 14, 2026

Warehousing management method and apparatus, device, medium, program product, and system

Inventors: Yifan Peng (Shenzhen, CN); Hongxia Zhou (Shenzhen, CN)

Assignee: HAI ROBOTICS CO., LTD.

B65G1/1371 B65G1/1373 G06Q10/06311 G06Q10/08 G06Q10/087

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Quick Facts

Patent No.: US 12679651
App. No.: 18/342,862
Granted: Jul 14, 2026
Kind: B2

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Abstract

The present disclosure provides a warehousing management method and apparatus, a device, a medium, a program product, and a system. In the method provided in the present disclosure, before a warehousing management system delivers task information each time, a first operation parameter used for completing a current task can be accurately calculated by learning a historical data record in a historical task, and a target robot configured to perform the current task operates according to the first operation parameter. In this way, the current task may be smoothly completed without error calibration or only through simple calibration, so that efficiency of performing a task is improved, thereby greatly improving goods taking/placing efficiency of an intelligent warehousing system.

Claims (118)

1 . A warehousing management method, applied to a warehousing management system, the method comprising:

acquiring, before delivering task information, a historical data record corresponding to a current task according to first task information of the current task;

determining a first operation parameter of the current task according to the historical data record; and

delivering the task information comprising the first operation parameter of the current task to a target robot performing the current task, to cause the target robot to perform the current task according to the first operation parameter of the current task;

wherein the first task information of the current task comprises information on one or more of the following dimensions: first information of the target robot, first information of a target box, and first information of a target storage location;

wherein the determining the first operation parameter of the current task according to the historical data record comprises:

acquiring operation parameter information in the historical data record, wherein the operation parameter information includes a first operation parameter and a second operation parameter, the first operation parameter is an operation parameter calculated based on the historical data record, each historical task has the first operation parameter, the second operation parameter is an actual operation parameter for performing the task, each historical task has the second operation parameter; and

calculating the first operation parameter of the current task according to the operation parameter information;

wherein the calculating the first operation parameter of the current task according to the operation parameter information comprises: determining weight information corresponding to the operation parameter information; calculating a weighted mean of the operation parameter information according to the weight information; and using the weighted mean as the first operation parameter of the current task, wherein the determining weight information corresponding to the operation parameter information comprises: determining the weight information corresponding to the operation parameter information according to execution time points of the operation parameter information, wherein the weight information corresponding to the operation parameter information monotonically increases in chronological order of the execution time points; or

wherein the calculating the first operation parameter of the current task according to the operation parameter information comprises: determining operation parameter information with a highest frequency of occurrence in the operation parameter information; and using the operation parameter information with the highest frequency of occurrence as the first operation parameter of the current task; or

wherein the calculating the first operation parameter of the current task according to the operation parameter information comprises: determining a mean and a standard deviation of the operation parameter information through a maximum likelihood estimation method if it is determined that the operation parameter information obeys normal distribution; and using the mean as the first operation parameter of the current task if the standard deviation is less than a standard deviation threshold;

wherein after the delivering the task information comprising the first operation parameter of the current task to a target robot performing the current task, the method further comprises:

keeping a data record of the current task, wherein the data record comprises: a second operation parameter of the current task, the first operation parameter of the current task, and information on one or more of the following dimensions of the current task: second information of the target robot, second information of the target box, or second information of the target storage location.

2 . The method according to claim 1 , wherein before the keeping a data record of the current task, the method further comprises:

receiving the second operation parameter of the current task sent by the target robot.

3 . The method according to claim 1 , further comprising:

determining the first operation parameter of the current task as a preset parameter value if the historical data record consistent with the information on at least one dimension of the information on the target storage location and the target box of the current task, and the target robot performing the current task fails to be selected.

4 . The method according to claim 3 , wherein

the preset parameter value is null; or

the preset parameter value is a set parameter corresponding to the first task information of the current task.

5 . The warehousing management method according to claim 1 , wherein the keeping the data record of the current task comprises one of:

recording a type of the target robot if second operation parameters of robots of different types for a same box in a same storage location do not converge according to historical task data in a period of time;

recording a type and identification information of the target robot if second operation parameters of different robots of a same type for a same box in a same storage location do not converge according to historical task data in a period of time;

recording the second information of the target robot if second operation parameters of a same robot for operating different boxes do not converge to a first expected operation parameter according to historical task data in a period of time, wherein the second information of the target box comprises at least one of the following: a type, a size, a volume, and a weight of a box; and

recording the second information of the target storage location if second operation parameters of a same robot for operating a same box in different storage locations do not converge to a second expected operation parameter according to historical task data in a period of time.

6 . A warehousing management method, applied to a robot, the method comprising:

receiving task information delivered by a warehousing management system, wherein the task information comprises a first operation parameter of the current task; wherein the first operation parameter of the current task is determined by the warehousing management system according to a historical data record corresponding to a current task, and the historical data record is acquired according to first task information of the current task, and

performing the current task according to the first operation parameter of the current task;

wherein the first operation parameter of the current task is determined by: acquiring operation parameter information in the historical data record, wherein the operation parameter information includes a first operation parameter and a second operation parameter, the first operation parameter is an operation parameter calculated based on the historical data record, each historical task has the first operation parameter, the second operation parameter is an actual operation parameter for performing the task, each historical task has the second operation parameter; and calculating the first operation parameter of the current task according to the operation parameter information;

wherein the calculating the first operation parameter of the current task according to the operation parameter information comprises: determining weight information corresponding to the operation parameter information; calculating a weighted mean of the operation parameter information according to the weight information; and using the weighted mean as the first operation parameter of the current task, wherein the determining weight information corresponding to the operation parameter information comprises: determining the weight information corresponding to the operation parameter information according to execution time points of the operation parameter information, where the weight information corresponding to the operation parameter information monotonically increases in chronological order of the execution time points; or

wherein after the performing a current task according to the first operation parameter, the method further comprises: sending a second operation parameter for performing the current task to the warehousing management system, such that the warehousing management system keeps a data record of the current task, wherein the data record comprises: the second operation parameter of the current task, the first operation parameter of the current task, and information on one or more of the following dimensions of the current task: target robot's second information, second information of the target box, or second information of the target storage location.

7 . The method according to claim 6 , wherein the performing a current task according to the first operation parameter comprises:

performing the current task according to a set parameter if the first operation parameter is null.

8 . The warehousing management method according to claim 6 , wherein the warehousing management system keeps a data record of the current task by one of:

9 . A warehousing management system, comprising:

a memory, configured to store a computer program, and

a processor, configured to run the computer program stored on the memory, wherein

the computer program comprises following computer instructions:

acquiring, before delivering task information, a historical data record corresponding to a current task according to first task information of the current task;

determining a first operation parameter of the current task according to the historical data record; and

wherein the determining the first operation parameter of the current task according to the historical data record comprises:

calculating the first operation parameter of the current task according to the operation parameter information;

wherein the calculating the first operation parameter of the current task according to the operation parameter information comprises: determining weight information corresponding to the operation parameter information; calculating a weighted mean of the operation parameter information according to the weight information; and using the weighted mean as the first operation parameter of the current task, wherein the determining weight information corresponding to the operation parameter information comprises: determining the weight information corresponding to the operation parameter information according to execution time points of the operation parameter information, where the weight information corresponding to the operation parameter information monotonically increases in chronological order of the execution time points; or

wherein after the delivering the task information comprising the first operation parameter of the current task to a target robot performing the current task, the method further comprises:

keeping a data record of the current task, wherein the data record comprises: a second operation parameter of the current task, the first operation parameter of the current task, and information on one or more of the following dimensions of the current task: target robot's second information, second information of the target box, or second information of the target storage location.

10 . The system according to claim 9 , wherein the computer program comprises following computer instructions: determining the first operation parameter of the current task as a preset parameter value if the historical data record consistent with the information on at least one dimension of the information on the target storage location and the target box of the current task, and the target robot performing the current task fails to be selected.

11 . The system according to claim 10 , wherein

the preset parameter value is null; or

the preset parameter value is a set parameter corresponding to the first task information of the current task.

12 . The warehousing management system according to claim 9 , wherein the keeping the data record of the current task comprises one of:

13 . A robot, comprising:

a memory, configured to store a computer program, and

a processor, configured to run the computer program stored on the memory, wherein

the computer program comprises following computer instructions:

performing the current task according to the first operation parameter of the current task;

wherein the calculating the first operation parameter of the current task according to the operation parameter information comprises: determining weight information corresponding to the operation parameter information; calculating a weighted mean of the operation parameter information according to the weight information; and using the weighted mean as the first operation parameter of the current task, wherein the determining weight information corresponding to the operation parameter information comprises: determining the weight information corresponding to the operation parameter information according to execution time points of the operation parameter information, where the weight information corresponding to the operation parameter information monotonically increases in chronological order of the execution time points; or

14 . The robot according to claim 13 , wherein the computer program comprises following computer instructions:

performing the current task according to a set parameter if the first operation parameter is null.

15 . The robot according to claim 13 , wherein the warehousing management system keeps a data record of the current task by one of:

16 . A non-transitory computer-readable storage medium, comprising a computer program executed by a processor, wherein the computer program comprises following computer instructions:

acquiring, before delivering task information, a historical data record corresponding to a current task according to first task information of the current task;

determining a first operation parameter of the current task according to the historical data record; and

wherein the determining the first operation parameter of the current task according to the historical data record comprises:

calculating the first operation parameter of the current task according to the operation parameter information;

wherein the calculating the first operation parameter of the current task according to the operation parameter information comprises: determining weight information corresponding to the operation parameter information; calculating a weighted mean of the operation parameter information according to the weight information; and using the weighted mean as the first operation parameter of the current task, wherein the determining weight information corresponding to the operation parameter information comprises: determining the weight information corresponding to the operation parameter information according to execution time points of the operation parameter information, where the weight information corresponding to the operation parameter information monotonically increases in chronological order of the execution time points; or

wherein after the delivering the task information comprising the first operation parameter of the current task to a target robot performing the current task, the method further comprises:

keeping a data record of the current task, wherein the data record comprises: a second operation parameter of the current task, the first operation parameter of the current task, and information on one or more of the following dimensions of the current task: target robot's second information, second information of the target box, or second information of the target storage location.

17 . The non-transitory computer-readable storage medium according to claim 16 , wherein the keeping the data record of the current task comprises one of:

18 . A non-transitory computer-readable storage medium, comprising a computer program executed by a processor, wherein when the computer program is executed by the processor, the computer program is used for controlling a robot to perform:

receiving task information delivered by a warehousing management system, wherein the task information comprises a first operation parameter of the current task;

wherein the first operation parameter of the current task is determined by the warehousing management system according to a historical data record corresponding to a current task, and the historical data record is acquired according to first task information of the current task, and

performing the current task according to the first operation parameter of the current task;

wherein the calculating the first operation parameter of the current task according to the operation parameter information comprises: determining weight information corresponding to the operation parameter information; calculating a weighted mean of the operation parameter information according to the weight information; and using the weighted mean as the first operation parameter of the current task, wherein the determining weight information corresponding to the operation parameter information comprises: determining the weight information corresponding to the operation parameter information according to execution time points of the operation parameter information, where the weight information corresponding to the operation parameter information monotonically increases in chronological order of the execution time points; or

19 . The non-transitory computer-readable storage medium according to claim 18 , wherein the warehousing management system keeps a data record of the current task by one of: