CN108408310A - Article bear control method, device, system and goods sorting system - Google Patents
Article bear control method, device, system and goods sorting system Download PDFInfo
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- CN108408310A CN108408310A CN201710072438.4A CN201710072438A CN108408310A CN 108408310 A CN108408310 A CN 108408310A CN 201710072438 A CN201710072438 A CN 201710072438A CN 108408310 A CN108408310 A CN 108408310A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The invention discloses a kind of article bear control method, device, system and goods sorting systems.The article bear control method includes：Information determination module determines that the history storage data of article to be lifted and article to be lifted need the inventory's bogey quantity occupied；Carrying determining module needs the inventory's bogey quantity occupied to determine that article to be lifted is carried if appropriate for inventory's bogey according to the history storage data of article to be lifted and article to be lifted；When article to be lifted is suitble to the bogey to carry, bearing space determining module determines occupied space of the article to be lifted on bogey；Bogey determining module is configured as the occupied space on bogey according to article to be lifted, determines at least one bogey for being suitble to carrying article to be lifted.
Description
Technical field
This disclosure relates to a kind of article bear control method, device, system and goods sorting system.
Background technology
With mechanization, the rapid development of automated warehousing technology, information technology, sorted in industrial production, transport, cargo
Etc., such as electric business logistic industry, the problem of effectively being stored in a warehouse to flood tide cargo is all suffered from, is directed to cargo
Classification, lookup, storage, export etc. content.Therefore, how to replace manual labor, on the basis of intelligence, automation efficiently
Storage of the completion of rate to cargo is the key content of automated warehousing technical field now.
Invention content
For the storage efficiency that can be efficiently completed to cargo (i.e. article) on intelligence, automation foundation, the disclosure
Propose a kind of article bear control method, device, system and goods sorting system.
According to the disclosure in a first aspect, providing a kind of article bear control method, including：
The history storage data and article to be lifted for determining article to be lifted need the inventory's bogey quantity occupied；
The inventory's bogey quantity occupied is needed to determine according to the history storage data of article to be lifted and article to be lifted to be lifted
Article is carried if appropriate for inventory's bogey, and bogey is the device that can be handled upside down and have article bearing space；When
When article to be lifted is suitble to bogey carrying, occupied space of the article to be lifted on bogey is determined；According to be lifted
Occupied space of the article on bogey determines at least one bogey for being suitble to carrying article to be lifted.
The history storage data of article to be lifted includes：The current inventory of article, inventory's bogey bearing capacity and into
Go out at least one of warehouse frequency.Wherein, it includes loading of entertaining that article to be lifted, which needs the inventory's bogey quantity occupied,
The quantity for the bogey that product occupy when being loaded onto on the bogey of current inventory.
Need the inventory's bogey quantity occupied true according to the history storage data of article to be lifted and article to be lifted
Fixed article to be lifted is carried if appropriate for the bogey of current inventory, including：According to the history storage data of article to be lifted
The inventory's bogey quantity occupied with article to be lifted needs calculates the assemblage characteristic coefficient z of article to be lifted；According to combination
Characteristic coefficient z determines that the bogey by article to be lifted if appropriate for current inventory carries；Wherein, assemblage characteristic coefficient z is such as
Lower calculating：
Z=1/ (1+exp (y)), z ∈ [0,1],
Wherein, y is regulation coefficient,xnBe article to be lifted history storage data and
Article to be lifted needs n-th of value in the set of the inventory's bogey quantity occupied composition, and n is positive integer；wnFor xnPlus
Weights.
Determine that article to be lifted is carried if appropriate for the bogey of current inventory according to assemblage characteristic coefficient z, including：When
When assemblage characteristic coefficient z is not 0, article to be lifted is suitble to the bogey of current inventory to carry.
When article to be lifted is suitble to the bogey of current inventory to carry, determine article to be lifted on bogey
Occupied space, including：As assemblage characteristic coefficient z=1, article to be lifted is suitble to occupy entire bogey carrying；Work as combination
When 0 ＜ z ＜ 1 of characteristic coefficient, waited for according to the correspondence determination of preset assemblage characteristic coefficient z values and bogey occupied space
Occupied space of the bearing article on bogey.
According to the occupied space for cutting out article on holding sanction device of entertaining, the bogey of suitable bearing article is determined, including：
Determine whether there is the bogey consistent with occupied space of the article to be lifted on bogey；If there is with it is to be lifted
The consistent bogey of occupied space of the article on bogey, it is determined that article to be lifted is carried to bogey；Such as
The bogey consistent with occupied space of the article to be lifted on bogey is not present in fruit, then is carried on article to be lifted
On idle bogey.
According to the second aspect of the disclosure, a kind of article carrier control device is provided, wherein including：Information determines mould
Block, carrying determining module, bearing space determining module, bogey determining module, information determination module, which is configured to determine that, to be waited for
The history storage data of bearing article and article to be lifted need the inventory's bogey quantity occupied；Carry determining module quilt
It is configured to need the inventory's bogey quantity occupied to determine according to the history storage data of article to be lifted and article to be lifted
Article to be lifted is carried if appropriate for inventory's bogey, and bogey is the dress that can be handled upside down and have article bearing space
It sets；Bearing space determining module is configured as, when article to be lifted is suitble to bogey carrying, determining that article to be lifted is being held
Carry the occupied space set；Bogey determining module is configured as the sky of the occupancy according to article to be lifted on bogey
Between, determine at least one bogey for being suitble to carrying article to be lifted.
Wherein, the history storage data of article to be lifted includes：The current inventory of article to be lifted, inventory's bogey
At least one of bearing capacity and disengaging warehouse frequency.It includes entertaining that article to be lifted, which needs the inventory's bogey quantity occupied,
The quantity for the bogey that loading product occupy when being loaded onto on the bogey of current inventory.
Determining module is carried, including：Computational submodule is configured as history of the carrying determining module according to article to be lifted
Inventory's bogey quantity that storage data and article to be lifted needs occupy calculates the assemblage characteristic coefficient z of article to be lifted；
First determination sub-module is configured as determining by article to be lifted holding if appropriate for current inventory according to assemblage characteristic coefficient z
It carries and sets carrying；Wherein, assemblage characteristic coefficient z is calculated as follows：
Z=1/ (1+exp (y)), z ∈ [0,1],
Y is regulation coefficient,xnBe article to be lifted history storage data and entertain
Loading product need n-th of value in the set of the inventory's bogey quantity occupied composition, and n is positive integer；wnFor xnWeighting
Value.
Determining module is carried, including：Second determination sub-module is configured as, when assemblage characteristic coefficient z is not 0, determining
Article to be lifted is suitble to the bogey of current inventory to carry.
Bearing space determining module, including：Third determination sub-module is configured as assemblage characteristic coefficient z=1, really
Determine bearing article to be suitble to occupy entire bogey carrying；4th determination sub-module is configured as working as 0 ＜ z of assemblage characteristic coefficient
When ＜ 1, determine that article to be lifted is being held according to the correspondence of preset assemblage characteristic coefficient z values and bogey occupied space
Carry the occupied space set.
Bogey determining module, including：5th determination sub-module is configured to determine whether exist and article to be lifted
The consistent bogey of occupied space on bogey；6th determination sub-module, be configured as if there is with it is to be lifted
The consistent bogey of occupied space of the article on bogey, it is determined that article to be lifted is carried to bogey；The
Seven determination sub-modules are configured as filling if there is no the carrying consistent with occupied space of the article to be lifted on bogey
It sets, is then carried on article to be lifted on idle bogey.
According to the third aspect of the disclosure, a kind of goods sorting system is provided, wherein including：
Article carrier control device, for realizing any one of such as claim 1~7 method；Bogey, for carrying
Article to be lifted；Sorting equipment is used for goods sorting to be lifted to corresponding bogey.Handling device, in object
After product carrier control device determines the bogey for being suitble to carry article to be lifted, bogey is carried to sorting equipment
Place, and after sorting equipment is by respective carrier goods sorting to bogey, bogey is carried to specified location.
According to the fourth aspect of the disclosure, a kind of article carrying control system is provided, including：One or more storage
Device is stored with executable instruction；And one or more processors, execute executable instruction, with realize according to claim 1~
Any one of 7 methods.
According to the 5th of the disclosure the aspect, a kind of machine readable storage medium is provided, executable instruction is stored with, this refers to
It enables and being realized according to any one of claim 1~7 method when being executed by processor.
The technical solution of disclosure bear control method in the history storage data that article to be lifted is determined and can account for
In the case of inventory's bogey quantity, carried according to the history storage data of article to be lifted and the inventory that can be occupied
Device quantity determines whether to be suitble to bogey carrying, and in the case where suitable bogey carries, is determined to carrying and waits for
At least one bogey of bearing article.By the technical solution of the disclosure, it is carried through the effective of article and bogey
Combination, the space availability ratio of bogey can be improved, while will be helpful to reduce sorting equipment and handling device carrying entertain
The useless operation frequency, greatly improves operating efficiency when loading product, and then improves the unmanned storehouse of automation and deposited to article
Store up efficiency.
Description of the drawings
Fig. 1 is the realistic picture of smallclothes unmanned storehouse floor truck and shelf；
Fig. 2 is the unmanned storehouse shelf realistic picture of smallclothes；
Fig. 3 is the local realistic picture in logistics warehouse goods sorting area；
Fig. 4 is the sterogram of logistics unmanned storehouse floor truck and plane pallet；
Fig. 5 is the flow diagram for the article bear control method that the disclosure proposes；
Fig. 6 be the article bear control method that the disclosure proposes specific embodiment in the unmanned storehouse of needle centering piece to having deposited
The current inventory data analytical table of storing articles；
Fig. 7 be the disclosure propose article bear control method specific embodiment in the unmanned storehouse of needle centering piece continuous three
It outbound order data Macro or mass analysis table；
Fig. 8 be the disclosure propose article bear control method specific embodiment in the unmanned storehouse of needle centering piece be based on inventory
The analytical table of pallet capacity data；
Fig. 9 be the disclosure propose article bear control method specific embodiment in be directed to sigmoid functions curve
Figure；
Figure 10 be the disclosure propose article bear control method specific embodiment in article combined strategy relation table；
Figure 11 be the article bear control method that the disclosure proposes specific embodiment in assemblage characteristic coefficient z and combination it is special
Levy function f (z) correspondence figure；
Figure 12 is the structure composition schematic diagram for the goods sorting system that the disclosure proposes；
Figure 13 be the disclosure propose article bear control method specific embodiment in robot and floor truck foundation
The composite configuration of article and bogey implements the flow diagram of operation；
Figure 14 is disclosure article bogey structure function component relationship figure away on official business.
Specific implementation mode
To make the purpose, technical scheme and advantage of the disclosure be more clearly understood, below in conjunction with specific embodiment, and reference
Attached drawing is described in further detail the disclosure.
In the disclosure, term " comprising " and " containing " and its derivative mean including and it is unrestricted；Term "or" is packet
Containing property, mean and/or.
In the present specification, following various embodiments for describing disclosure principle only illustrate, should not be with any
Mode is construed to the range of limitation invention.With reference to attached drawing the comprehensive understanding described below that is used to help by claim and its equivalent
The exemplary embodiment for the disclosure that object limits.It is described below to help to understand including a variety of details, but these details are answered
Think to be only exemplary.Therefore, it will be appreciated by those of ordinary skill in the art that without departing substantially from the scope of the present disclosure and spirit
In the case of, embodiment described herein can be made various changes and modifications.In addition, for clarity and brevity,
The description of known function and structure is omitted.In addition, running through attached drawing, same reference numerals are used for identity function and operation.
Shown in the drawings of some block diagrams and/or flow chart.It should be understood that some sides in block diagram and/or flow chart
Frame or combinations thereof can be realized by computer program instructions.These computer program instructions can be supplied to all-purpose computer,
The processor of special purpose computer or other programmable data processing units, to which these instructions can be with when being executed by the processor
Create the device for realizing function/operation illustrated in these block diagrams and/or flow chart.
Therefore, the technology of the disclosure can be realized in the form of hardware and/or software (including firmware, microcode etc.).Separately
Outside, the technology of the disclosure can take the form of the computer program product on the computer-readable medium for being stored with instruction, should
Computer program product uses for instruction execution system.In the context of the disclosure, computer-readable medium can be energy
Enough include, store, transmitting, propagating or transmitting the arbitrary medium of instruction.For example, computer-readable medium can include but is not limited to
Electricity, magnetic, optical, electromagnetic, infrared or semiconductor system, device, device or propagation medium.The specific example packet of computer-readable medium
It includes：Magnetic memory apparatus, such as tape or hard disk (HDD)；Light storage device, such as CD (CD-ROM)；Memory, as arbitrary access is deposited
Reservoir (RAM) or flash memory；And/or wire/wireless communication link.
With the quickening of economic globalization, the huge storage potentiality contained in industrial production-transport-consumption supply chain are more next
It more attracts people's attention, storage technique is general in being widely used for today's society, almost covers industrial each neck
Domain, such as medical production, automobile making, airport shipping, electric business logistics, the storage of light industry article, cold fresh food preservation etc. side
Face.Meanwhile storage technique from last century, the middle and later periods occurs so far, pass through mechanization storehouse from the initial artificial storage stage
Integrated, the intelligent automatic storage stage of storage stage, automated warehousing stage development till now.Wherein, in automated warehousing
The heart is one of hinge important in entire supply chain, is the purchasing order information for receiving and handling downstream user, to supplied upstream side
Bulky goods carry out centrally stored or even processing operation, and downstream carry out the facility or mechanism of bulk transport.For in realization
The function of stating, needs automatic stored equipment such as Automatic Warehouse, including shelf therein (such as plane pallet goods shelf or flowing
Shelf etc.), conveying equipment (such as roller conveyor, chain transfer or belt conveyor, lifting elevator etc.), sorting device
(such as intelligent robot, unmanned floor truck) and other ancillary equipments are completed.However, the present tended towards superiority in human capital
It, reduces enterprise's items input cost, realizes that automatic management becomes an important research content in automated warehousing field, removes
The case where replacing human resources using intelligent equipment, realize that Automatic Warehouse operating efficiency and automatic technology are horizontal
Raising be that storage efficiency is enabled to be substantially improved, reduce enterprise warehouse operations cost, influence the pass of market competitiveness of enterprises
One of key.
In automating unmanned storage technique field, for the unmanned of manual work, need to carry out Automatic Warehouse
Specific design is improved operation efficiency and accuracy rate with improving its automatic operation flow.Wherein, general in automating unmanned storehouse
It is adopted all over robot floor truck Transport cargo rack or other cargo carrying devices, the unmanned storehouse realistic picture of smallclothes as shown in Figure 1 are used
With floor truck Transport cargo rack, centainly carries density wherein each shelf have and sort the various article of quantity.As shown in Figure 2
The realistic picture that floor truck is implemented to carry to shelf in unmanned storehouse, floor truck is by shelf presence into carrying out data acquisition in warehouse
Storage, so that subsequently according to order information, positioning access etc. is carried out to bearing article or article to be lifted and corresponding shelf
Operation.In addition to being directed to the unmanned storehouse of smallclothes, the automation including the unmanned storehouse of middle part, which sorts technology, also urgently to be improved, such as Fig. 3 institutes
It is shown as automating the goods sorting area realistic picture in unmanned storehouse, when article passes in and out warehouse, needs to implement to sort in off-sorting station to hold
It carries, i.e., article is placed on the bogeys such as pallet by robot and supporting region implementation carrying is carried to by robot car.
Wherein, it due to the cause not of uniform size of the volume of article, if being not suitable for the carrying of small shelf, needs to be considered as bogey for example flat
Face pallet carrying is illustrated in figure 4 in certain off-sorting station on certain sorting platform and implements sorting carrying to article using plane pallet, then
Implement to carry by robot car.But this use bogey carries general processing method using " one product of a support "
Mode, i.e. a pallet carry a kind of article.However, for current inventory, inventory's bogey bearing capacity and disengaging warehouse
The inconsistent article of frequency, if being used uniformly the mode of one product of a support, it is clear that can cause tray number or pallet volume waste,
Increase the robot car operation frequency, therefore, in view of this, it is necessary to be improved automated warehousing technology to ensure high efficiency
Complete the storage to cargo in ground.
For the storage efficiency that can be efficiently completed to article on intelligence, automation foundation, the present disclosure proposes one
Kind article bear control method, as shown in figure 5, including：
S1, the history storage data for determining article to be lifted and article to be lifted need the inventory's bogey number occupied
Amount；
S2, the inventory's bogey quantity occupied is needed according to the history storage data of article to be lifted and article to be lifted
Determine that article to be lifted is carried if appropriate for inventory's bogey, bogey is that can be handled upside down and have article bearing space
Device；
S3, when article to be lifted is suitble to bogey carrying, determine that occupancy of the article to be lifted on bogey is empty
Between；
S4, the occupied space according to article to be lifted on bogey determine and are suitble to carrying article to be lifted at least
One bogey.
The above-mentioned technical proposal of the present embodiment, in the history storage data that article to be lifted is determined and the library that can be occupied
In the case of depositing bogey quantity, according to the history storage data of article to be lifted and the inventory's bogey number that can be occupied
Amount determines whether to be suitble to bogey carrying, and in the case where suitable bogey carries, is determined to carry loading of entertaining
At least one bogey of product.Above-mentioned technical proposal can improve carrying dress by the efficient combination of article and bogey
The space availability ratio set, while will be helpful to reduce sorting equipment and handling device and carrying operation frequency useless when article to be lifted
It is secondary, operating efficiency is greatly improved, and then improve the storage efficiency for automating unmanned storehouse to article.
In embodiment, in step S1, the history storage data of article to be lifted can be work as it is a certain number of to be lifted
Article passes through data terminal acquisition and the article storage relevant historical information of attribute, packet when being carried into unmanned storehouse
It includes：At least one of current inventory, inventory's bogey bearing capacity and disengaging warehouse frequency of article.Wherein, current library
It can be current quantity of the one species article in warehouse to deposit number.Inventory's bogey bearing capacity can be directed to one species
Article, the maximum quantity that single bogey can carry.Disengaging warehouse frequency can be same kind of article predetermined
Storage and/or the relevant value of outbound number in period, you can be storage and/or the frequency and/or number of outbound in predetermined period
Amount.
Wherein, it includes that article to be lifted is loaded onto current library that article to be lifted, which needs the inventory's bogey quantity occupied,
The quantity of the bogey occupied when on the bogey deposited, for example, the quantity of article to be lifted is 100, and a carrying dress
It is 50 to set and be directed to inventory's bogey bearing capacity of the article, then the article to be lifted needs the inventory's bogey quantity occupied
It is 2.
In embodiment, bogey can be pallet, and the pallet can be a kind of work including logistics warehouse
Upper important packaging bearing apparatus in terms of industry production and transportation, storage is that have to press from both sides with longeron or suspension column or list among two-layer panel
A kind of planar structure that longeron or suspension column, backing plate composition are set below deck panels, can coordinate the handling devices such as fork truck, floor truck to make
With.Because of the Property requirements of cost and bearing article, may be selected using teel pallet, plastic pallet, wooden support in current unmanned storehouse
Disk etc., for example, 1000*1200 series national standard plastic pallet, be it is a kind of vertical view effect be matrix pattern plane pallet,
Each side has two holes, and fork truck is facilitated to implement to carry using the hole；In addition, the two sides because of such pallet is just as
Structure, so, can also use with hydraulic vertical load-bearing capacity floor truck, by overhead pallet vertical hold up implement
It carries.
To make the purpose, technical scheme and advantage of the disclosure be more clearly understood, below in conjunction with specific embodiment, and reference
Attached drawing is described in further detail the disclosure.
As shown in figure 5, a kind of article bear control method that disclosure exemplary embodiment proposes includes：
S1, the history storage data for determining article to be lifted and article to be lifted need the inventory's bogey number occupied
Amount；
Wherein, the history storage data of article to be lifted is when certain a certain number of article enter unmanned storehouse load bearing process
In, by data terminal acquisition and the article storage relevant historical information of attribute, the collection mode of this kind of data can pass through
Quick Response Code in scanned item outer packing or bar code realization, including：The current inventory of article, inventory's bogey are held
At least one of carrying capacity and disengaging warehouse frequency.Current inventory is to be directed to one species article, current in warehouse
The value of quantity.As shown in fig. 6, for September in 2016 in 27 days in the unmanned storehouse of part to the current inventory of each storage article
It is shown according to analytical table, wherein category number is included in the summation of interior all kinds number of articles, such as current inventory includes two
Kind article A and B, A number of articles is that 100, B number of articles is 200, then its category number is 300.Assuming that in certain in the unmanned storehouse of part
Every 50 quantity of certain article is suitble to the carrying of pallet to realize " one product of a support " storage mode, as shown in fig. 6, in this part without
The current stockpile number of type of goods in 86% or more people storehouse is less than 50, is not suitable for storing by the way of " one product of a support ".Cause
This, for the smaller article of current stockpile number, such as current stockpile number just need to be considered as less than 10 articles it is non-
The racks store mode of pallet, or implement to carry with tray combination with other class articles, to ensure higher object as far as possible
Product storage efficiency.Relevant historical data of storing in a warehouse above with article can pass through SQL (Structure Query Language)
Structured query language designs, and data interconnection is realized between data terminal and data server, reaches automatically extracting for data
And storage, and repeat at periodic or other desired execution and automatically extract and storage action, realize unmanned operation to data manipulation.
In addition, inventory's bogey bearing capacity is to be directed to same kind of article, can be carried on bogey
Maximum quantity.Disengaging warehouse frequency be directed to same kind of article, over a period to come with enter or take out warehouse time
The relevant value of number, wherein the outbound amount of certain article and outbound frequency synthesis reflect the fast-selling degree of the article.As shown in fig. 7,
Summarize for the outbound order data in the middle unmanned storehouse of part in September 27, the three day time of 25 days to 2016 on Septembers in 2016, it is known that in
The odd-numbered day outbound category number that is averaged is 8066 kinds in the unmanned storehouse of part three days, wherein average 491 kinds of article odd-numbered day outbound quantity in three days
More than 50, the average total number of packages of outbound accounts for the 6.1% of odd-numbered day outbound category number in three days, and odd-numbered day outbound quantity is more than in three days
50 article outbound quantity average out to 53162, odd-numbered day outbound sum average out to 85859, odd-numbered day outbound are more than 50
Article outbound number of packages account for average the 61.9% of same day outbound sum, therefore, big for outbound quantity, species number and odd-numbered day go out
The article that library number of packages is concentrated is stored suitable for pallet, in conjunction with how many pairs of number of the population size and outbound of article outbound its
The definition for carrying out fast sale degree height preferentially uses fast-selling degree high article on pallet or is carried with the combination of other articles.
Wherein, it includes that article to be lifted is loaded onto current library that article to be lifted, which needs the inventory's bogey quantity occupied,
The quantity of the bogey occupied when on the bogey deposited, such as bogey are pallet, and inventory's pallet is accounted for by this kind of article
Quantity.As shown in figure 8, September in 2016 determines inventory's support in the unmanned storehouse of part in 27 days based on pallet specification and item sizes
The specification of the quantity of disk, wherein pallet is：Long * wide * stacking height * volume usage factors, the pallet used in this figure are
1.2m*1.2m*1.2m*0.7=1.2096m3Specification, according to the volume of different articles, it can be assumed that as shown in figure 8, only
1.7% article inventory volume is more than a pallet, other 98.3% article inventory volumes are less than a pallet, it is possible to be
1/2 support, 1/3 support or 1/4 and other specifications.Therefore, according to this data, the pallet inventory that is occupied when can carry stock article
Quantity is determined, and needs how many pallet carryings to calculate each a certain number of article accordingly, obtains working as newly this
Class article enters the tray number needed when warehouse.
S2, the inventory's bogey quantity occupied is needed according to the history storage data of article to be lifted and article to be lifted
Determine that article to be lifted is carried if appropriate for inventory's bogey, bogey is that can be handled upside down and have article bearing space
Device.
In embodiment, the inventory occupied is needed to carry according to the history storage data of article to be lifted and article to be lifted
Device quantity determines that article to be lifted is carried if appropriate for inventory's bogey, including：It is stored in a warehouse according to the history of article to be lifted
Inventory's bogey quantity that data and article to be lifted needs occupy calculates the assemblage characteristic coefficient z of article to be lifted；According to
Assemblage characteristic coefficient z determines that the bogey by article to be lifted if appropriate for current inventory carries；
Wherein, assemblage characteristic coefficient z is calculated as follows：Z=1/ (1+exp (y)), z ∈ [0,1], wherein y is regulation coefficient,xnIt is that the history storage data of article to be lifted and article to be lifted need the inventory occupied
N-th of value in the set of bogey quantity composition, n is positive integer；wnFor xnWeighted value.
In embodiment, assemblage characteristic coefficient z can be obtained according to sigmoid functions, and sigmoid functions are as a kind of good
Good threshold function table, image curve, can be well by z as shown in figure 9, have continuous, smooth and strictly monotone feature
Value is defined into [0,1] section, wherein xnIt is that the history storage data of article to be lifted and article to be lifted need the library occupied
N-th of value in the set of bogey quantity composition is deposited, is substantially a kind of influence factor value of assemblage characteristic coefficient z, example
Such as current inventory, inventory's bogey bearing capacity and disengaging warehouse frequency.wnIt is according to xnPass through stochastic gradient ascent algorithm
The weighted value about corresponding x values acquired.
By the definition to assemblage characteristic coefficient z, determine article if appropriate for current inventory's according to assemblage characteristic coefficient z
Bogey carries, wherein corresponding is corresponding article carrier combination strategy, including：As shown in Figure 10, when assemblage characteristic system
When number z is 0, article is not suitable for the bogey carrying of current inventory；When assemblage characteristic coefficient z is not 0, article is suitble to current
The bogey of inventory carries.
S3, when article to be lifted is suitble to bogey carrying, determine that occupancy of the article to be lifted on bogey is empty
Between.
In embodiment, as shown in Figure 10, as assemblage characteristic coefficient z=1, article, which is suitble to occupy entire bogey, to be held
It carries, i.e. " one product of a support " bearing mode；As 0 ＜ z ＜ 1 of assemblage characteristic coefficient, according to preset assemblage characteristic coefficient z values with hold
It carries and sets the correspondence of occupied space and determine occupied space of the article on bogey.
Wherein preset assemblage characteristic coefficient z values and the linear corresponding relation of bogey occupied space can use combine
Characteristic function f (z) indicates that assemblage characteristic function f (z) can first pass through the acquisitions such as actual conditions, empirical value in advance.For example, such as
Shown in Figure 11, assemblage characteristic function f (z) is the corresponding specific about a certain subinterval in (0,1) section of assemblage characteristic coefficient z
Value, when the value of assemblage characteristic coefficient z is located at (0,1), the category for the characteristic and bogey of being stored in a warehouse according to the history of a certain article
Property, (0,1) section can be divided into (0,0.33], (0.33,0.66], (0.66,1) three equal by stages, wherein assemblage characteristic
Coefficient z values are the definite values by being calculated, when z ∈ (0,0.33] when, the value of assemblage characteristic function f (z) is 4, as z ∈
(0.33,0.66] when, the value of assemblage characteristic function f (z) is 3, and when z ∈ (0.66,1), the value of assemblage characteristic function f (z) is
2.The corresponding value of assemblage characteristic function f (z) is combined strategy, i.e., as f (z)=4, indicates the article suitable for 1/4 carrying dress
The bearing space carrying set, remaining 3/4 bearing space can give over to the carrying of other type of item, equally as f (z)=3, indicate
The article carries suitable for the bearing space of 1/3 bogey, and remaining 2/3 bearing space can give over to the carrying of other type of item,
And so on.Wherein, subinterval sizes and corresponding subinterval quantity of the z in (0,1) can be according to actual object attribute and holding
It carries and sets Attribute tuning, corresponding article assemblage characteristic function f (z) is also different.
S4, the occupied space according to article to be lifted on bogey determine and are suitble to carrying article to be lifted at least
One bogey.
In embodiment, step S4 includes：It determines whether there is consistent with occupied space of the article on bogey
Bogey；If there is the bogey consistent with occupied space of the article on bogey, it is determined that carry article
To bogey；If there is no the bogey consistent with occupied space of the article on bogey, then article is carried
On idle bogey.
To sum up, the article bear control method proposed according to the disclosure, such as have article A, the Individual Items ruler of article A
Very little is 13415808mm3, it is assumed that the bogey for carrying the article is that maximum carrying size is 1.2m*1.2m*1.2m*
0.7=1.2096m3=1209600000mm3Pallet, then inventory's bogey bearing capacity, that is, inventory's pallet capacity of article A be
90/support, if current inventory is 16, the current inventory's bogey quantity (i.e. inventory's tray number) needed is 0.18
Support, the stock article total volume of article A is 214652928mm3, and the disengaging warehouse frequency of the article is average daily 100, accordingly
Fast-selling degree be into and out 100/day of warehouse amount, i.e. it is 16 that the historical storage data of the article, which are current inventory, and inventory holds
It is 90/support to carry and set bearing capacity i.e. inventory's pallet capacity, passes in and out 100/day of warehouse amount.Therefore, risen according to stochastic gradient
Algorithm is by x1=16, x2=90, x3=100 substitutions acquire corresponding weighted value w1, w2, w3, then according to regulation coefficientAssemblage characteristic coefficient z=1/ (1+exp (y)) is obtained, z ∈ [0,1] can finally obtain z=0, i.e. object
Product A is not suitable for carrying using pallet, and shelf or other bogeys can be used to be carried.
Equally, for article B, the Individual Items size of article B is 4424628mm3, it is assumed that for carrying holding for the article
Carry that set be maximum carrying size be 1209600000mm3Pallet, then inventory's bogey bearing capacity, that is, inventory's support of article B
Disk capacity is 273/support, if current inventory is 3, current inventory's bogey quantity (the i.e. inventory's pallet needed
Number) it is 0.01 support, the stock article total volume of article B is 13273884mm3, and the disengaging warehouse frequency of the article is average daily
100, corresponding fast sale degree is into and out 100/day of warehouse amount, i.e. it is 3 that the historical storage data of the article, which are current inventory,
Part, inventory's bogey bearing capacity, that is, inventory's pallet capacity are 273/supports, pass in and out 100/day of warehouse amount.Therefore, according to
Machine gradient ascent algorithm is by x1=3, x2=273, x3=100 substitutions acquire corresponding weighted value w1, w2, w3, then according to adjustment
CoefficientAssemblage characteristic coefficient z=1/ (1+exp (y)) is obtained, z ∈ [0,1] can finally obtain z=
0.1, needs are combined according to the storage attribute of article itself and actual warehouse, combined strategy as shown in Figure 10 can be used, i.e.,
Corresponding assemblage characteristic function f (z)=4, i.e. suitable for being carried using pallet, the bearing space that can occupy 1/4 pallet is held article B
It carries, remaining 3/4 bearing space can give over to the carrying of other type of item.
To sum up, the carrying attribute that the article is corresponded to according to the storage attribute itself and bogey of the above article, can
Complete the composite configuration that carry to article according to the article bear control method that the disclosure proposes, finally combine cooperation robot with
Floor truck implements accessing operation to article.
One exemplary embodiment of the disclosure additionally provides a kind of goods sorting system, and as shown in figure 12, which includes：
Article carrier control device Z101, for realizing article bearing method as shown in Figure 5；
Bogey Z102, for carrying article to be lifted；
Sorting equipment Z103, for the goods sorting to be lifted to the corresponding bogey Z102.
Handling device Z104 is suitble to loading of entertaining described in carrying for being determined in the article carrier control device Z101
After the bogey Z102 of product, the bogey Z102 is carried at sorting equipment Z103, and in sorting equipment
Bogey Z102 is carried to specified location by Z103 by after respective carrier goods sorting to the bogey Z102.
To make the purpose, technical scheme and advantage of the disclosure be more clearly understood, below in conjunction with specific embodiment, and reference
The specific operation process of the goods sorting system of disclosure exemplary embodiment offer is further described in detail in attached drawing.
As shown in figure 13, the sort process of the goods sorting system includes：
S401, order analyzing：Control system obtains the order numbers during this article accessing operation by order analyzing
According to the control system can be the control system where article bogey, can also be an independent control system；
S402, positioning carrier：Article bogey is directed to the article to be lifted in order data, first according to article
Bogey is positioned with the composite configuration of bogey, after determining and can carry the bogey of current item,
Control floor truck is positioned to the bogey；
S403, floor truck carry bogey to goods sorting work station：Floor truck removes the bogey of positioning
Sorting work station is transported to so that sorting equipment carries out sorting carrying；The sorting equipment can be sorting machine people；
S404, whether multiple types goods sorting：Whether sorting equipment judges carrying operation for more according to order data
Type of item, while according to order data, the composite configuration of article and bogey is calculated,
S405, sorting equipment sort the various article that order needs quantity：If multiple types goods sorting, then sorting equipment
The various article of respective numbers is classified and is carried on the bogey of positioning according to the composite configuration of article and bogey；
S406, sorting equipment sort the single article that order needs quantity：If single type goods sorting, then sorting equipment
The single article of respective numbers is carried to according to the composite configuration of article and bogey on the bogey of positioning；
Bogey after bearing article is carried to designated position by S407, floor truck：Floor truck will carry
There is the bogey of respective articles to be carried to the designated position in warehouse.
Therefore, above-mentioned specific embodiment, a kind of article bear control method that the disclosure is proposed, based on determining are based on
Unmanned storehouse article historical storage associated property data, the combination by providing article on bogey in unmanned storehouse carry specific
Method improves the space availability ratio of bogey；By the efficient combination of article and bogey such as pallet, sorting equipment and
Floor truck also accordingly reduces the useless operation frequency, greatly improves operating efficiency, and then improve and automate nobody
Storage efficiency of the storehouse to article.
The disclosure also proposed corresponding article bogey, including：Information determination module 100, carrying determining module
200, bearing space determining module 300, bogey determining module 400, as shown in figure 14, information determination module 100 is configured
The inventory's bogey quantity occupied is needed for the history storage data of determination article to be lifted and article to be lifted；Carrying is true
Cover half block 200 is configured as needing the inventory occupied to carry dress according to the history storage data of article to be lifted and article to be lifted
It sets quantity and determines that article to be lifted is carried if appropriate for inventory's bogey；Bearing space determining module 300 is configured as working as and wait for
When bearing article is suitble to bogey carrying, occupied space of the article to be lifted on bogey is determined；Bogey determines
Module 400 is configured as the occupied space on bogey according to article to be lifted, determines and is suitble to carrying article to be lifted
At least one bogey.
To make the purpose, technical scheme and advantage of the disclosure be more clearly understood, below in conjunction with specific embodiment, and reference
Attached drawing is described in further detail the disclosure.
As shown in figure 14, a kind of article carrier control device of embodiment of the present disclosure proposition includes：Information determination module
100, determining module 200, bearing space determining module 300, bogey determining module 400 are carried.
Wherein information determination module 100 is used to, when certain a certain number of article enter unmanned storehouse, utilize data terminal
The 500 collected relevant data history of forming of storage attribute store data, including：The current inventory of article, inventory's carrying
At least one of device bearing capacity and disengaging warehouse frequency.Information determination module 100 is used to determine the history of article to be lifted
Storage data and article to be lifted need the inventory's bogey quantity occupied.Wherein, data terminal 500 can pass through scanning
Quick Response Code or bar code in article outer packing realize data acquisition, and are based on SQL (Structure Query Language)
Structured query language realizes data interconnection with data storage server 501, reaches data storage server 501 to data end
Automatically extracting and storing for 500 data is held, and repeats at periodic or other desired execution and automatically extracts and storage action, is realized to the nothing of data manipulation
People is turned into industry.
Carrying determining module 200 includes：Computational submodule 201 is configured as according to the history of article to be lifted storage number
The assemblage characteristic coefficient z of article to be lifted is calculated according to the inventory's bogey quantity occupied with article to be lifted needs；First really
Stator modules 202 are configured as determining that the carrying by article to be lifted if appropriate for current inventory fills according to assemblage characteristic coefficient z
Set carrying；Assemblage characteristic coefficient z is calculated as follows：
Z=1/ (1+exp (y)), z ∈ [0,1],
Wherein, y is regulation coefficient,xnBe article to be lifted history storage data and
Article to be lifted needs n-th of value in the set of the inventory's bogey quantity occupied composition, and n is positive integer；wnFor xnPlus
Weights.
Carrying determining module 200 is accounted for according to the history storage data and the article needs to be lifted of the article to be lifted
Inventory's bogey quantity determines that the article to be lifted is carried if appropriate for inventory's bogey, and the bogey is
It can be handled upside down and have the device of article bearing space.
In embodiment, the carrying determining module 200 includes：
Second determination sub-module 203 is configured as, when assemblage characteristic coefficient z is not 0, determining that article to be lifted is suitble to work as
The bogey of preceding inventory carries.
Definition to assemblage characteristic coefficient z obtains corresponding article carrying strategy, as shown in Figure 10, when assemblage characteristic system
When number z is 0, article is not suitable for the bogey carrying of current inventory；When assemblage characteristic coefficient z is not 0, article is suitble to current
The bogey of inventory carries.
Bearing space determining module 300 is waited for when the article to be lifted is suitble to the bogey to carry described in determination
Occupied space of the bearing article on the bogey.
In embodiment, the bearing space determining module 300, including：
Third determination sub-module 301 is configured as, as assemblage characteristic coefficient z=1, it is whole determining that bearing article is suitble to occupy
A bogey carrying；
4th determination sub-module 302 is configured as 0 ＜ z ＜ 1 of assemblage characteristic coefficient, according to preset assemblage characteristic
Coefficient z values and the correspondence of bogey occupied space determine occupied space of the article to be lifted on bogey.
The correspondence of wherein preset assemblage characteristic coefficient z values and bogey occupied space is by assemblage characteristic function f
(z) it indicates, (0,1) section can be divided into more by the attribute for the characteristic and bogey of being stored in a warehouse according to the history of a certain article
A sub- by stages, assemblage characteristic function f (z) are assemblage characteristic coefficient z about the corresponding spy in a certain subinterval in (0,1) section
Definite value, wherein when assemblage characteristic coefficient z values are the definite values by being calculated, the corresponding value of assemblage characteristic function f (z) is group
Strategy is closed, i.e., when f (z)=p, p are positive integers, indicates that the article carries suitable for the bearing space of 1/p bogeys, residue (1-
Bearing space 1/p) can give over to the carrying of other type of item.Wherein, subinterval sizes and corresponding sub-district of the z in (0,1)
Between quantity can be according to actual object attribute and bogey Attribute tuning, corresponding article assemblage characteristic function f (z) is also
It is different.
Occupied space of the bogey determining module 400 according to the article to be lifted on the bogey determines
It is suitble at least one bogey of the carrying article to be lifted.
In embodiment, the bogey determining module 400 includes：
5th determination sub-module 401 is configured to determine whether the occupancy for having with article to be lifted on bogey
The consistent bogey in space；
6th determination sub-module 402 is configured as if there is the occupied space with article to be lifted on bogey
Consistent bogey, it is determined that article to be lifted is carried to bogey；
7th determination sub-module 403 is configured as if there is no empty with occupancy of the article to be lifted on bogey
Between consistent bogey, then article to be lifted is carried on idle bogey.
The article carrier control device that disclosure above-described embodiment is proposed is provided for determining unmanned storehouse article history
Store the function composition of associated property data；Pass through the certain party based on the combination carrying of article on bogey in unmanned storehouse
Method improves the space availability ratio of bogey；By the efficient combination of article and bogey such as pallet, sorting equipment and remove
Shipping unit accordingly reduces the useless operation frequency, greatly improves operating efficiency, and then improves the unmanned storehouse pair of automation
The storage efficiency of article.
It also proposed a kind of article carrying control system in the embodiment of the present disclosure, including：
One or more memories, are stored with executable instruction；And
One or more processors execute the executable instruction, to realize that the article that the disclosure proposes carries controlling party
Method, including：
The history storage data and article to be lifted for determining article to be lifted need the inventory's bogey quantity occupied；
The inventory's bogey quantity occupied is needed to determine according to the history storage data of article to be lifted and article to be lifted to be lifted
Article is carried if appropriate for inventory's bogey, and bogey is the device that can be handled upside down and have article bearing space；When
When article to be lifted is suitble to bogey carrying, occupied space of the article to be lifted on bogey is determined；According to be lifted
Occupied space of the article on bogey determines at least one bogey for being suitble to carrying article to be lifted.
The history storage data of article to be lifted includes：The current inventory of article, inventory's bogey bearing capacity and into
Go out at least one of warehouse frequency.Wherein, it includes loading of entertaining that article to be lifted, which needs the inventory's bogey quantity occupied,
The quantity for the bogey that product occupy when being loaded onto on the bogey of current inventory.
Need the inventory's bogey quantity occupied true according to the history storage data of article to be lifted and article to be lifted
Fixed article to be lifted is carried if appropriate for the bogey of current inventory, including：According to the history storage data of article to be lifted
The inventory's bogey quantity occupied with article to be lifted needs calculates the assemblage characteristic coefficient z of article to be lifted；According to combination
Characteristic coefficient z determines that the bogey by article to be lifted if appropriate for current inventory carries；Wherein, assemblage characteristic coefficient z is such as
Lower calculating：
Z=1/ (1+exp (y)), z ∈ [0,1],
Wherein, y is regulation coefficient,xnBe article to be lifted history storage data and
Article to be lifted needs n-th of value in the set of the inventory's bogey quantity occupied composition, and n is positive integer；wnFor xnPlus
Weights.
Determine that article to be lifted is carried if appropriate for the bogey of current inventory according to assemblage characteristic coefficient z, including：When
When assemblage characteristic coefficient z is not 0, article to be lifted is suitble to the bogey of current inventory to carry.
When article to be lifted is suitble to the bogey of current inventory to carry, determine article to be lifted on bogey
Occupied space, including：As assemblage characteristic coefficient z=1, article to be lifted is suitble to occupy entire bogey carrying；Work as combination
When 0 ＜ z ＜ 1 of characteristic coefficient, waited for according to the correspondence determination of preset assemblage characteristic coefficient z values and bogey occupied space
Occupied space of the bearing article on bogey.
According to occupied space of the article to be lifted on bogey, the bogey of suitable bearing article is determined, including：
Determine whether there is the bogey consistent with occupied space of the article to be lifted on bogey；If there is with it is to be lifted
The consistent bogey of occupied space of the article on bogey, it is determined that article to be lifted is carried to bogey；Such as
The bogey consistent with occupied space of the article to be lifted on bogey is not present in fruit, then is carried on article to be lifted
On idle bogey.
A kind of machine readable storage medium is also accordingly proposed in the embodiment of the present disclosure, is stored with executable instruction, this refers to
The article bear control method for realizing that the disclosure is proposed when being executed by processor is enabled, including：
The history storage data and article to be lifted for determining article to be lifted need the inventory's bogey quantity occupied；
The inventory's bogey quantity occupied is needed to determine according to the history storage data of article to be lifted and article to be lifted to be lifted
Article is carried if appropriate for inventory's bogey, and bogey is the device that can be handled upside down and have article bearing space；When
When article to be lifted is suitble to bogey carrying, occupied space of the article to be lifted on bogey is determined；According to be lifted
Occupied space of the article on bogey determines at least one bogey for being suitble to carrying article to be lifted.
The history storage data of article to be lifted includes：The current inventory of article, inventory's bogey bearing capacity and into
Go out at least one of warehouse frequency.Wherein, it includes loading of entertaining that article to be lifted, which needs the inventory's bogey quantity occupied,
The quantity for the bogey that product occupy when being loaded onto on the bogey of current inventory.
Need the inventory's bogey quantity occupied true according to the history storage data of article to be lifted and article to be lifted
Fixed article to be lifted is carried if appropriate for the bogey of current inventory, including：According to the history storage data of article to be lifted
The inventory's bogey quantity occupied with article to be lifted needs calculates the assemblage characteristic coefficient z of article to be lifted；According to combination
Characteristic coefficient z determines that the bogey by article to be lifted if appropriate for current inventory carries；Wherein, assemblage characteristic coefficient z is such as
Lower calculating：
Z=1/ (1+exp (y)), z ∈ [0,1],
Wherein, y is regulation coefficient,xnIt is the history storage data of article to be lifted
N-th of value in the set of the inventory's bogey quantity occupied composition is needed with article to be lifted, n is positive integer；wnFor xn's
Weighted value.
Determine that article to be lifted is carried if appropriate for the bogey of current inventory according to assemblage characteristic coefficient z, including：When
When assemblage characteristic coefficient z is not 0, article to be lifted is suitble to the bogey of current inventory to carry.
When article to be lifted is suitble to the bogey of current inventory to carry, determine article to be lifted on bogey
Occupied space, including：As assemblage characteristic coefficient z=1, article to be lifted is suitble to occupy entire bogey carrying；Work as combination
When 0 ＜ z ＜ 1 of characteristic coefficient, waited for according to the correspondence determination of preset assemblage characteristic coefficient z values and bogey occupied space
Occupied space of the bearing article on bogey.
According to occupied space of the article to be lifted on bogey, the bogey of suitable bearing article is determined, including：
Determine whether there is the bogey consistent with occupied space of the article to be lifted on bogey；If there is with it is to be lifted
The consistent bogey of occupied space of the article on bogey, it is determined that article to be lifted is carried to bogey；Such as
The bogey consistent with occupied space of the article to be lifted on bogey is not present in fruit, then is carried on article to be lifted
On idle bogey.
Particular embodiments described above has carried out further in detail the purpose, technical solution and advantageous effect of the disclosure
It describes in detail bright, it should be understood that the foregoing is merely the exemplary embodiments of the disclosure, are not limited to the disclosure, all
Within the spirit and principle of the disclosure, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the disclosure
Within the scope of shield.
Claims (17)
1. a kind of article bear control method, including：
The history storage data and article to be lifted for determining article to be lifted need the inventory's bogey quantity occupied；
The inventory's bogey number occupied is needed according to the history storage data of the article to be lifted and the article to be lifted
Amount determines that the article to be lifted is carried if appropriate for inventory's bogey, and the bogey is that can be handled upside down and have object
The device of product bearing space；
When the article to be lifted is suitble to the bogey to carry, determine the article to be lifted on the bogey
Occupied space；
According to occupied space of the article to be lifted on the bogey, determines and be suitble to the carrying article to be lifted
At least one bogey.
2. the method for claim 1, wherein the history storage data of the article to be lifted includes：The article
At least one of current inventory, inventory's bogey bearing capacity and disengaging warehouse frequency.
3. inventory's bogey quantity that the method for claim 1, wherein the article needs to be lifted occupy includes
The quantity for the bogey that the article to be lifted occupies when being loaded onto on the bogey of current inventory.
4. the method for claim 1, wherein the history storage data according to article to be lifted and article to be lifted
The inventory's bogey quantity occupied is needed to determine that the article to be lifted is carried if appropriate for the bogey of current inventory, packet
It includes：
The inventory's bogey quantity occupied is needed to calculate institute according to the history storage data of article to be lifted and article to be lifted
State the assemblage characteristic coefficient z of article to be lifted；
Determine that the bogey by the article to be lifted if appropriate for current inventory carries according to the assemblage characteristic coefficient z；
Wherein, the assemblage characteristic coefficient z is calculated as follows：
Z=1/ (1+exp (y)), z ∈ [0,1],
Wherein, y is regulation coefficient,xnBe the article to be lifted history storage data and
Article to be lifted needs n-th of value in the set of the inventory's bogey quantity occupied composition, and n is positive integer；wnFor xnPlus
Weights.
5. method as claimed in claim 4, wherein whether determine the article to be lifted according to the assemblage characteristic coefficient z
It is suitble to the bogey carrying of current inventory, including：
When the assemblage characteristic coefficient z is not 0, the article to be lifted is suitble to the bogey of current inventory to carry.
6. the method for claim 1, wherein when the article to be lifted is suitble to the bogey of current inventory to hold
When load, occupied space of the article to be lifted on the bogey is determined, including：
As the assemblage characteristic coefficient z=1, the article to be lifted is suitble to occupy entire bogey carrying；
As 0 ＜ z ＜ 1 of the assemblage characteristic coefficient, accounted for the bogey according to the preset assemblage characteristic coefficient z values
Occupied space of the article to be lifted on the bogey is determined with the correspondence in space.
7. the method for claim 1, wherein the occupancy according to the article to be lifted on the bogey is empty
Between, determine the bogey of suitable bearing article, including：
Determine whether there is the bogey consistent with occupied space of the article to be lifted on the bogey；
If there is the bogey consistent with occupied space of the article to be lifted on the bogey, then really
It is fixed that the article to be lifted is carried to the bogey；
If there is no the bogey consistent with occupied space of the article to be lifted on the bogey, then
The article to be lifted is carried on the idle bogey.
8. a kind of article carrier control device, wherein including：Information determination module, carrying determining module, bearing space determine mould
Block, bogey determining module,
Described information determining module is configured to determine that the history storage data of article to be lifted and article to be lifted needs account for
Inventory's bogey quantity；
The carrying determining module is configured as the history storage data according to the article to be lifted and the article to be lifted
The inventory's bogey quantity occupied is needed to determine that the article to be lifted is carried if appropriate for inventory's bogey, the carrying
Device is the device that can be handled upside down and have article bearing space；
The bearing space determining module is configured as, when the article to be lifted is suitble to the bogey to carry, determining institute
State occupied space of the article to be lifted on the bogey；
The bogey determining module is configured as the occupied space on the bogey according to the article to be lifted,
Determine at least one bogey for being suitble to the carrying article to be lifted.
9. device as claimed in claim 8, wherein the history storage data of the article to be lifted includes：It is described to be lifted
At least one of current inventory, inventory's bogey bearing capacity and disengaging warehouse frequency of article.
10. device as claimed in claim 8, wherein the article to be lifted needs the inventory's bogey quantity packet occupied
Include the quantity of the bogey occupied when the article to be lifted is loaded onto on the bogey of current inventory.
11. device as claimed in claim 8, wherein the carrying determining module, including：
Computational submodule is configured as needing the inventory occupied according to the history storage data of article to be lifted and article to be lifted
Bogey quantity calculates the assemblage characteristic coefficient z of the article to be lifted；
First determination sub-module, be configured as according to the assemblage characteristic coefficient z determine by the article to be lifted if appropriate for
The bogey carrying of current inventory；
Wherein, the assemblage characteristic coefficient z is calculated as follows：Z=1/ (1+exp (y)), z ∈ [0,1], y are regulation coefficient,xnIt is that the history storage data of the article to be lifted and article to be lifted needs occupy
N-th of value in the set of inventory's bogey quantity composition, n is positive integer；wnFor xnWeighted value.
12. device as claimed in claim 11, wherein the carrying determining module, including：
Second determination sub-module is configured as, when the assemblage characteristic coefficient z is not 0, determining that the article to be lifted is suitble to
The bogey carrying of current inventory.
13. device as claimed in claim 8, wherein the bearing space determining module, including：
Third determination sub-module is configured as the assemblage characteristic coefficient z=1, determines that the article to be lifted is suitble to account for
It is carried with entire bogey；
4th determination sub-module is configured as 0 ＜ z ＜ 1 of the assemblage characteristic coefficient, according to the preset assemblage characteristic
The correspondence of coefficient z values and the bogey occupied space determines article to be lifted the accounting on the bogey
Use space.
14. device as claimed in claim 8, wherein the bogey determining module, including：
5th determination sub-module is configured to determine whether the occupancy for having with the article to be lifted on the bogey
The consistent bogey in space；
6th determination sub-module is configured as if there is the occupied space with the article to be lifted on the bogey
The consistent bogey, it is determined that the article to be lifted is carried to the bogey；
7th determination sub-module is configured as if there is no empty with occupancy of the article to be lifted on the bogey
Between the consistent bogey, then the article to be lifted is carried on the idle bogey.
15. a kind of goods sorting system, wherein including：
Article carrier control device, for realizing method such as according to any one of claims 1 to 7；
Bogey, for carrying article to be lifted；
Sorting equipment is used for the goods sorting to be lifted to the corresponding bogey；
Handling device, for the carrying for being suitble to the carrying article to be lifted to be determined in the article carrier control device
After device, the bogey is carried at the sorting equipment, and in the sorting equipment by respective carrier goods sorting
After to the bogey, the bogey is carried to specified location.
16. a kind of article carries control system, including：
One or more memories, are stored with executable instruction；And
One or more processors execute the executable instruction, according to any one of claims 1 to 7 to realize
Method.
17. a kind of machine readable storage medium, is stored with executable instruction, which realizes when being executed by processor according to power
Profit requires the method described in any one of 1~7.
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| CN201710072438.4A CN108408310B (en) | 2017-02-09 | 2017-02-09 | Article bearing control method, device and system and article sorting system |
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| CN201710072438.4A CN108408310B (en) | 2017-02-09 | 2017-02-09 | Article bearing control method, device and system and article sorting system |
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| JP2015134675A (en) * | 2014-01-17 | 2015-07-27 | 大日本印刷株式会社 | Semi-product management system |
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|---|---|---|---|---|
| JPH11120250A (en) * | 1997-10-09 | 1999-04-30 | Suzuki:Kk | Palette management and recovery system |
| CN101657837A (en) * | 2007-02-16 | 2010-02-24 | 德马泰克 | Method and system at order for goods assembling pallet |
| CN105580047A (en) * | 2013-09-03 | 2016-05-11 | 株式会社Lg化学 | Method for optimizing release of tray and system using same |
| JP2015134675A (en) * | 2014-01-17 | 2015-07-27 | 大日本印刷株式会社 | Semi-product management system |
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