CN109598444A

CN109598444A - Cargo distribution method, system, control server and computer storage medium

Info

Publication number: CN109598444A
Application number: CN201811481665.3A
Authority: CN
Inventors: 毛梁
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2018-12-05
Filing date: 2018-12-05
Publication date: 2019-04-09
Anticipated expiration: 2038-12-05
Also published as: CN109598444B

Abstract

The embodiment of the invention discloses a kind of cargo distribution method, system, control server and computer storage mediums.Wherein, this method comprises: receiving the attribute information of multiple cargos to be distributed of bar coded, the type of at least part cargo to be distributed is not identical in the multiple cargo to be distributed；According to the attribute information of the multiple cargo to be distributed and the cargo demand information of distribution area, for any class cargo to be distributed in variety classes cargo to be distributed, cargo demand is filtered out from candidate distribution area and hits multiple distribution areas of type cargo to be distributed as target distribution area；It determines the corresponding target container of multiple target distribution areas and carries the target robot of the target container, and control multiple target robots and concomitantly the corresponding target container of the multiple target distribution area is carried at the position of cargo to be distributed；Control executes operation of getting in stocks to the multiple cargo to be distributed.Technical solution provided in an embodiment of the present invention avoids the problem of individual machine people in the same period carries out cargo distribution inefficiency, improves cargo distribution efficiency.

Description

Cargo distribution method, system, control server and computer storage medium

Technical field

The present invention relates to logistic storage technical field more particularly to cargo concurrent method, system, control server and calculating Machine storage medium.

Background technique

With the fast development of e-commerce, unprecedented opportunity to develop both was brought to storage sector, also to storage Service proposes stern challenge.

Currently, operated by restocking cargo being stored in shelf or goods after the various cargos of different suppliers reach warehouse It is subsequent when needing consuming points such as goods delivery to retailer, sales fields on object, then transferred merchandise warehouse by goods sorting etc. To consuming point.Wherein, during distribution of goods, the label by scanning cargo to be distributed obtains the attribute information of cargo to be distributed, The shelf of the affiliated shops of cargo to be distributed are transported at cargo by control robot, and cargo to be distributed is placed on shelf, and Shops's loading area is transported to by robot.This method controls a robot execution sorting transport behaviour due to sweeping a cargo Make, there are problems that goods sorting inefficiency.

Summary of the invention

The embodiment of the present invention provides a kind of cargo distribution method, system, control server and storage medium, improves cargo Distribute efficiency.

In a first aspect, the embodiment of the invention provides a kind of cargo distribution methods, this method comprises:

The attribute information for receiving multiple cargos to be distributed of bar coded, at least one in the multiple cargo to be distributed The type of part cargo to be distributed is not identical；

According to the attribute information of the multiple cargo to be distributed and the cargo demand information of distribution area, waited for for variety classes Distribute any class cargo to be distributed in cargo, cargo demand is filtered out from candidate distribution area and hits type goods to be distributed Multiple distribution areas of object are as target distribution area；

It determines the corresponding target container of multiple target distribution areas and carries the target robot of the target container, And control multiple target robots concomitantly the corresponding target container of the multiple target distribution area is carried to it is to be distributed At the position of cargo；

Control executes operation of getting in stocks to the multiple cargo to be distributed.

Further, the type of the multiple cargo to be distributed is different.

It further, include at least one anchor point at the position of the cargo to be distributed, the multiple target machines of control The corresponding target container of the multiple target distribution area is concomitantly carried at the position of cargo to be distributed by device people, packet It includes:

The respective anchor point of the multiple target robot is determined respectively, and controls the multiple target robot concomitantly The corresponding target container of the multiple target distribution area is carried to respective anchor point.

Further, control executes operation of getting in stocks to the multiple cargo to be distributed, comprising:

The attribute information of the present kind cargo to be distributed of bar coded is received again；

The sequence of getting in stocks of present kind cargo to be distributed is determined according to the receiving time for receiving the attribute information；

It is associated as present kind cargo to be distributed using the sequence of getting in stocks of determining present kind cargo to be distributed The sequence of target robot；

The sequence of getting in stocks is received to the attribute information of the various types of cargo to be distributed of bar coded with first time The determining sequence of getting in stocks of receiving time is compared, if inconsistent, adjusts the various types of associated target machine of cargo to be distributed The sequence of people；

Sequence according to the various types of associated target robot of cargo to be distributed adjusted executes operation of getting in stocks.

Further, control gets in stocks after operation to the multiple cargo to be distributed execution, further includes:

If receiving operation of getting in stocks completes information, controls target robot and be carried to the target container for carrying cargo The loading area of target distribution area.

Further, after the attribute information of multiple cargos to be distributed for receiving bar coded, further includes:

If detecting, the robot quantity at the position of cargo to be distributed is greater than preset amount threshold, wouldn't wait for this Distribute and distributes robot at the position of cargo.

Second aspect, the embodiment of the invention also provides a kind of cargo dissemination system, which includes:

The control server is configured to, and receives the attribute information of multiple cargos to be distributed of bar coded；Foundation The attribute information of the multiple cargo to be distributed and the cargo demand information of distribution area, in variety classes cargo to be distributed Any kind cargo to be distributed filters out multiple distributions that cargo demand hits type cargo to be distributed from candidate distribution area Ground is as target distribution area；It determines the corresponding target container of multiple target distribution areas and carries the mesh of the target container Scalar robot, and send first to target robot and carry instruction；Wherein, in the multiple cargo to be distributed at least part to The type for distributing cargo is not identical；

The target robot is configured to, and is responded described first and is carried instruction, concomitantly by the multiple target distribution area Corresponding target container is carried at the position of cargo to be distributed；

The control server is additionally configured to, and detects that corresponding target container is carried to by the multiple target robot At the position of cargo to be distributed, control executes operation of getting in stocks to the multiple cargo to be distributed.

Further, the type of the multiple cargo to be distributed is different.

It further, include at least one anchor point at the position of the cargo to be distributed；

The control server is additionally configured to, and determines the respective anchor point of multiple target robots respectively, and to described more A target robot sends first and carries instruction；

The target robot is additionally configured to, and is responded described first and is carried instruction, concomitantly distributes the multiple target The corresponding target container in ground is carried to respective anchor point.

Further, the control server is additionally configured to, and the present kind for receiving bar coded again is to be distributed The attribute information of cargo determines that getting in stocks for present kind cargo to be distributed is suitable according to the receiving time for receiving the attribute information Sequence, using getting in stocks sequentially as the associated target machine of present kind cargo to be distributed for determining present kind cargo to be distributed The sequence of device people；The sequence of getting in stocks is received to the attribute information of the various types of cargo to be distributed of bar coded with first time Receiving time determine get in stocks sequence be compared, if inconsistent, adjust the various types of associated target machine of cargo to be distributed The sequence of device people；Sequence according to the various types of associated target robot of cargo to be distributed adjusted executes operation of getting in stocks.

Further, the control server is additionally configured to, if receiving operation of getting in stocks completes information, to target machine Human hair send the second carrying to instruct；

The target robot is additionally configured to, and is responded described second and is carried instruction, the target container for carrying cargo is removed It is transported to the loading area of target distribution area.

Further, the control server is additionally configured to, and receives the category of multiple cargos to be distributed of bar coded Property information after, if detecting, robot quantity at the position of cargo to be distributed is greater than preset amount threshold, wouldn't be to Robot is distributed at the position of the cargo to be distributed.

The third aspect, the embodiment of the invention also provides a kind of control server, which includes:

One or more processors；

Storage device, for storing one or more programs；

When one or more of programs are executed by one or more of processors, so that one or more of processing Device realizes any cargo distribution method in first aspect.

Fourth aspect, the embodiment of the invention also provides one kind to deposit computer storage media, is stored thereon with computer program, First aspect any cargo distribution method is realized when the program is executed by processor.

Cargo distribution method, system, control server and computer storage medium provided in an embodiment of the present invention, by according to According to the picking demand information of the candidate shops of the attribute information and various types of cargo to be distributed of various types of cargo to be distributed, from each time It selects and filters out multiple candidate shops in shops as target shops, and it is concurrent to control the corresponding each target robot of each target shops The carrying and restocking operation for executing multiple target shops cargo, avoid individual machine people in the same period and carry out goods sorting Inefficiency problem improves goods sorting efficiency.

Detailed description of the invention

By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, of the invention other Feature, objects and advantages will become more apparent upon:

Figure 1A -1B is a kind of schematic diagram of a scenario of the cargo dissemination system provided in the embodiment of the present invention one；

Fig. 2 is a kind of flow chart of the cargo distribution method provided in the embodiment of the present invention two；

Fig. 3 is a kind of flow chart of the cargo distribution method provided in the embodiment of the present invention three；

Fig. 4 is a kind of flow chart of the cargo distribution method provided in the embodiment of the present invention four；

Fig. 5 is a kind of flow chart of the cargo distribution method provided in the embodiment of the present invention five；

Fig. 6 is a kind of structural schematic diagram of the control server provided in the embodiment of the present invention six.

Specific embodiment

The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched State that the specific embodiments are only for explaining the present invention, rather than limitation of the invention.It also should be noted that for the ease of Description, only some but not all contents related to the present invention are shown in the drawings.

Embodiment one

Figure 1A to 1B is a kind of schematic diagram of a scenario for cargo dissemination system that the embodiment of the present invention one provides；The present embodiment is suitable For need by the consuming points such as goods delivery to retailer, sales field i.e. different distribution area (shops) when, how to improve cargo distribution The case where efficiency.Whole system can be cooperated by control server and at least one robot to execute；Wherein, control server It can be single line or multithreaded server, strategy can be provided for the distribution and the distribution of robot etc. of cargo.Referring to Figure 1A, The system specifically includes: control server 10 and target robot 20；Wherein,

Control server 10 is configured to, and receives the attribute information of multiple cargos 41 to be distributed of bar coded；Foundation The attribute information of multiple cargos to be distributed 41 and the cargo demand information of distribution area, in variety classes cargo 41 to be distributed Any kind cargo 41 to be distributed filters out cargo demand from candidate distribution area and hits the multiple of type cargo 41 to be distributed Distribution area is as target distribution area；It determines the corresponding target container 30 of multiple target distribution areas and carries target container 30 Target robot 20, and to target robot 20 send first carry instruction；Wherein, at least one in multiple cargos to be distributed 41 The type of part cargo 41 to be distributed is not identical.

Target robot 20 is configured to, and instruction is carried in response first, concomitantly that multiple target distribution areas are corresponding Target container 30 is carried to 40 at the position of cargo to be distributed；

Control server 10 is additionally configured to, detect multiple target robots 20 by corresponding target container 30 be carried to Distribute 40 at the position of cargo, control executes operation of getting in stocks to multiple cargos 41 to be distributed.

Wherein, control server 10 is software system run on the server, with data storage, information processing capability System, can be by wirelessly or non-wirelessly connecting with robot, hardware input system, other software systems.Control server 10 can wrap One or more servers are included, can be centerized fusion framework or distributed computing architecture.Server has processor 101 With memory 102.

Scanning device refers to the device that figure or image information are converted to digital signal in a manner of scanning, can be and sweeps Retouch instrument, scanner or camera etc..Cargo 41 to be distributed refers to that (place of storage bulk supply tariff is such as 40 at position to be distributed A certain region etc. in warehouse, warehouse doorway or warehouse) cargo of corresponding distribution area will be distributed to.Cargo attribute may include But title, number, information, manufacturer, date of manufacture and the shelf-life etc. for being not limited to cargo.Due to the goods of identical type Object attribute information is almost the same, therefore in order to improve distribution efficiency, optionally, in the present embodiment in multiple cargos 41 to be distributed extremely The type of few a part of cargo 41 to be distributed is not identical, that is to say, that including at least two types in multiple cargos 41 to be distributed Cargo.

In order to improve distribution efficiency, reduces and scan the wasted time.Preferably, in the present embodiment, multiple goods to be distributed The type of object 41 is different, i.e., in cargo distribution procedure, can be every kind of cargo and sweep at random once, corresponding, N kind cargo Sweep n times.Following embodiments will be illustrated so that the type of multiple cargos 41 to be distributed is different as an example, and but it is not limited to this, Such as it is readily applicable in multiple cargos to be distributed 41 that there are different situations of type of a part of cargo 41 to be distributed etc..

The information of cargo needed for cargo demand information refers to any distribution area may include the name of cargo needed for distribution area Title, type and quantity etc.；Candidate distribution area is alternative at least two distribution area under current scene；Target distribution area Number can be two or more distribution areas.It optionally, can be according to the attribute information of multiple cargos 41 to be distributed and each The cargo demand information of distribution area will be candidate for any class cargo 41 to be distributed in variety classes cargo 41 to be distributed There are the distribution areas of intersection to be determined as target distribution area for the type of required cargo in distribution area.For example, existing candidate's distribution area A, B And C, 4 types cargo 1,2,3 and 4 to be distributed, candidate distribution area A need the 1st type and the 3rd type, candidate distribution area B needs the 4 types, candidate distribution area C need the 2nd type and the 3rd type to deposit since candidate distribution area A and C requires the 3rd type cargo In intersection, therefore using candidate distribution area A and C as target distribution area.

Target container 30 refers to the container for cargo needed for containing target distribution area, the container can be shelf, pallet, Cage vehicle etc.；Optionally, target container 30 is target shelf, which is moveable, and the i.e. shelf that can expand include Layer number do not limit.First carries the mark that instruction may include target container 30 and target container 30 to goods to be distributed 40 planning path at the position of object.

Referring to Figure 1A, target container 30 is target shelf.Control server 10 is carried out wireless communication with target robot 20, Staff makes control server 10 work by station 70, and target robot 20 is held under the control of control server 10 Row carrying task.Specific operating process are as follows: control server 10 can obtain the cargo needs of each candidate distribution area in advance, and pre- Cargo demand, distribution area table corresponding with container 30 are first stored, when control server 10 receives the multiple wait divide of bar coded It delivers after the attribute information of object 41, can first believe according to the cargo demand of the attribute information of multiple cargos 41 to be distributed and each distribution area Breath, determines type belonging to multiple cargos to be distributed 41；Then waited for point for any class in variety classes cargo 41 to be distributed Required cargo in each candidate distribution area is included two or more distributions of type cargo 41 to be distributed by delivery object 41 Ground is as target distribution area；It later can be that each target distribution area selects target from the associated container 30 of each target distribution area Container 30；Meanwhile according to each target container 30 and the distance between scene Zhong Ge robot locating for cargo 41 to be distributed and optimal Path principle determines corresponding target robot 20 for each target container 30, and by target container 30 to cargo 41 to be distributed Position at 40 driving path send to corresponding target robot 20, and send first to target robot 20 and carry and refer to It enables；So that corresponding target container 30 is carried to 40 at the position of cargo 41 to be distributed by each target robot 20.

The first carrying instruction that each 20 response control server 10 of target robot is sent, and according to path planning and independently Navigation feature is travelled to 30 lower section of target container, and is lifted empty target container 30 using hoisting mechanism and be carried to goods to be distributed 40 at the position of object 41.When control server 10 detect multiple target robots 20 by corresponding target container 30 be carried to Distribute at the position of cargo 41 after 40, control server 10 at the position of cargo 41 to be distributed 40 sorting personnel 50 or will pick It selects robot to send and sorts instruction of getting in stocks, to realize operation of getting in stocks.

Specifically, for any class cargo 41 to be distributed in variety classes cargo 41 to be distributed, when determining multiple mesh Concomitantly the corresponding target container 30 of multiple target distribution areas is carried at the position of cargo to be distributed it to scalar robot 20 Afterwards, it can be sent at the position of cargo 41 to be distributed 40 sorting personnel or Prospect of Robot Sorting System 50 and sort instruction of getting in stocks, to realize It gets in stocks operation.It gets in stocks after instruction, need to be set using scanning the specific can be that sorting personnel or Prospect of Robot Sorting System 50 receive sorting The standby label for scanning the corresponding each cargo 41 to be distributed of the type again, obtains the category of the corresponding each cargo 41 to be distributed of the type Property information, and it is sent to control server 10；Attribute of the control server 10 according to the corresponding each cargo 41 to be distributed of the type Information determines the goods yard information of the corresponding target container 30 of target distribution area associated with it, and according to goods yard information, control is picked The person of choosing or Prospect of Robot Sorting System 50 place corresponding each 41 object of goods to be distributed of the type on corresponding goods yard.

It should be noted that needing between the different distribution areas of same type cargo 41 to be distributed to be concurrently to hold in the present embodiment Capable, that is to say, that cargo 41 to be distributed for same type, control server 10 can control multiple target robots 20 while will The corresponding target container 30 of different distribution areas is carried to 40 at the position of cargo 41 to be distributed, and in the position of cargo 41 to be distributed Place 40 is that side by side, and operation of getting in stocks is also concurrently to hold between corresponding each target robot 20 with type cargo 41 to be distributed Capable；It and is to be lined up, namely operation of getting in stocks is to be lined up between the corresponding target robot 20 of variety classes cargo 41 to be distributed It executes.As shown in Figure 1B, for example, existing 3 type cargo 41 to be distributed, positive the 1st type cargo 41 to be distributed is executed if current Operation of getting in stocks, then the corresponding each target robot 20 of the 2nd type cargo 41 to be distributed is in wait state side by side, the 3rd type The corresponding each target robot 20 of cargo 41 to be distributed be located at the corresponding each target robot 20 of the 2nd kind of cargo 41 to be distributed it Afterwards, it and is arranged side by side.

Optionally, the carrying operation of variety classes cargo 41 to be distributed can be the sequence according to type of merchandize, successively remove Fortune；It can also be and be performed simultaneously, but after being transported to 40 at the position of cargo 41 to be distributed, it need to also be according to type of merchandize Sequence row couple, executes operation of getting in stocks.

Cargo dissemination system provided in an embodiment of the present invention passes through attribute information according to multiple cargos to be distributed and distribution The picking demand information on ground, for any class cargo to be distributed in variety classes cargo to be distributed, from candidate distribution area Filtering out cargo demand and hitting multiple distribution areas of type cargo to be distributed is target distribution area, then determines each target distribution The corresponding target container in ground and the target robot for carrying target container, and multiple target robots are controlled simultaneously for multiple targets The corresponding target container of distribution area is carried at the position of cargo to be distributed, to execute operation of getting in stocks, avoids the same time Individual machine people carries out the problem of cargo distribution inefficiency in section, improves cargo distribution efficiency.

In order to guarantee to be independent of each other between the corresponding operation of getting in stocks of subsequent each target container, illustratively, cargo to be distributed Position at include at least one anchor point, control server may be additionally configured to, and determine multiple target robots 20 respectively respectively Anchor point, and to multiple target robots 20 send first carry instruction；Target robot 20 is additionally configured to, and response first is removed Fortune instruction, concomitantly removes 30 for the corresponding target container of multiple target distribution areas and is transported to respective anchor point.

Illustratively, control server 10 is additionally configured to, if receiving operation of getting in stocks completes information, to target robot 20, which send second, carries instruction；Target robot 20 is additionally configured to, and instruction is carried in response second, will carry the target of cargo 41 Container 20 is carried to the loading area 60 of target distribution area.

Wherein, operation of getting in stocks is completed information and is referred to and the associated cargo 41 to be distributed of target container 20 whole drop targets When on container 30, personnel or Prospect of Robot Sorting System are sorted to information transmitted by control server 10 or control server 10 What the monitoring unit of upper configuration monitored itself.The loading area 60 of target distribution area refers to loading goods belonging to target distribution area At the vehicle location of object.It may include 40 loading for arriving target distribution area at the position of cargo 41 to be distributed in second carrying instruction The routing information in region 60.

With continued reference to Figure 1A, after control server 10, which receives operation of getting in stocks, completes information, control server 10 will be to Corresponding target robot 20 sends second and carries instruction, the second carrying that 20 response control server 10 of target robot is sent The target container 30 for carrying cargo 41 is transported to the loading area 60 of target distribution area by instruction, and can be directly in target point The loading area 60 on hair ground executes subsequent entrucking transport operation.

In the case that the type of multiple cargos 41 to be distributed is different, in order to avoid there is the goods on target container 30 Not the case where object and the cargo to be loaded are not inconsistent, after the operation of getting in stocks for having executed a type cargo, it is thus necessary to determine that current kind The sequence of getting in stocks of class cargo 41 to be distributed, to determine that remaining various types of cargo 41 to be distributed is got in stocks sequentially；Later according to determining Sequence of getting in stocks execute operation of getting in stocks to present kind cargo to be distributed 41.Illustratively, control server 10 is additionally configured to, The attribute information for receiving the present kind cargo 41 to be distributed of bar coded again, when according to the reception for receiving attribute information Between determine present kind cargo 41 to be distributed get in stocks sequence, with determining present kind cargo 41 to be distributed get in stocks sequence make For the sequence of the associated target robot 20 of present kind cargo 41 to be distributed；The sequence that will get in stocks receives scanning device with first time The determining sequence of getting in stocks of the receiving time of the attribute information of the various types of cargo 41 to be distributed read is compared, if inconsistent, Then adjust the sequence of the associated target robot 20 of various types of cargo to be distributed 41；According to various types of cargo to be distributed adjusted The sequence of 41 associated target robots 20 executes operation of getting in stocks.

In order to improve each machine task efficiency, illustratively, control server 10 is but also it may be configured such that receive scanning After the attribute information for multiple cargos 41 to be distributed that equipment is read, if detecting at the position of cargo 41 to be distributed 40 machine People's quantity is greater than preset amount threshold, then wouldn't distribute robot at the position of the cargo 41 to be distributed 41.Wherein, quantity Threshold value be it is pre-set, can be modified according to the actual situation.

Embodiment two

Fig. 2 is a kind of flow chart of cargo distribution method provided by Embodiment 2 of the present invention, and the present embodiment is applicable to When by the consuming points such as goods delivery to retailer, sales field, that is, different distribution areas (shops), cargo distribution efficiency how is improved Situation.Overall procedure can be cooperated by control server and at least one robot to execute, side provided in an embodiment of the present invention Method is executed by control server.Referring to fig. 2, this method specifically includes:

S210, receives the attribute information of multiple cargos to be distributed of bar coded, in multiple cargos to be distributed at least The type of a part of cargo to be distributed is not identical.

Wherein, scanning device refers to the device that figure or image information are converted to digital signal in a manner of scanning, can To be scanner, scanner or camera etc..Cargo to be distributed refers at position to be distributed (the place of storage bulk supply tariff A certain region in such as warehouse, warehouse doorway or warehouse) cargo of corresponding distribution area will be distributed to.Cargo attribute can wrap Title, number, information, manufacturer, date of manufacture and the shelf-life etc. for including but being not limited to cargo.Due to identical type Cargo attribute information is almost the same, therefore in order to improve distribution efficiency, optionally, in the present embodiment in multiple cargos to be distributed extremely The type of few a part of cargo to be distributed is not identical, that is to say, that the cargo of two types is included at least in multiple cargos to be distributed.

In order to improve distribution efficiency, reduces and scan the wasted time.Preferably, in the present embodiment, multiple goods to be distributed The type of object is different, i.e., in cargo distribution procedure, can be every kind of cargo and sweep at random once, corresponding, N kind cargo is swept N times.Following embodiments will be illustrated so that the type of multiple cargos to be distributed is different as an example, and but it is not limited to this, such as It is readily applicable in multiple cargos to be distributed that there are different situations of type of a part of cargo to be distributed etc..

Specifically, scanning device can obtain the category of multiple cargos to be distributed by scanning the label of multiple cargos to be distributed Property information, and the attribute information of multiple cargos to be distributed is sent to control server through wireless communication；Control clothes The attribute information of the multiple cargos to be distributed for device reception bar coded of being engaged in.If scanning device is configured in control server, The attribute information of cargo to be distributed is also possible to what control server directly acquired.

S220, according to the attribute information of multiple cargos to be distributed and the cargo demand information of distribution area, for variety classes Any class cargo to be distributed in cargo to be distributed, cargo demand is filtered out from candidate distribution area, and to hit the type to be distributed Multiple distribution areas of cargo are as target distribution area.

Wherein, distribution area refers to the consuming points such as retailer, the sales field for needing one or more cargos to be distributed, alternatively referred to as Shops.Candidate distribution area is alternative at least two distribution area under current scene；The number of target distribution area can be Two or more distribution areas；The information of cargo needed for cargo demand information refers to any distribution area may include distribution Title, type and quantity of cargo needed for ground etc..

In order to improve distribution efficiency, multiple cargos to be distributed can be distributed according to the type of cargo.It optionally, can be according to According to the attribute information of multiple cargos to be distributed and the cargo demand information of each distribution area, in variety classes cargo to be distributed Any kind cargo to be distributed, by the type of cargo required in candidate distribution area, there are the distribution areas of intersection to be determined as target distribution Ground.For example, existing candidate distribution area A, B and C, 4 types cargo 1,2,3 and 4 to be distributed, candidate distribution area A need the 1st type and 3rd type, candidate distribution area B need the 4th type, and candidate distribution area C needs the 2nd type and the 3rd type, due to candidate distribution area A and C requires the 3rd type cargo, and there are intersections, therefore using candidate distribution area A and C as target distribution area.

Illustratively, before being distributed to cargo, control server can obtain the cargo needs of each distribution area in advance, And cargo demand table corresponding with distribution area is stored in advance.When control server receives multiple goods to be distributed of bar coded After the attribute information of object, which can be input in pre-stored corresponding table, multiple candidate points that matching is obtained Hair ground is used as target distribution area.

It should be noted that the corresponding target distribution area of Homogeneous cargo not may be the same or different.For example, existing Candidate distribution area A, B and C, 4 types cargo 1,2,3 and 4 to be distributed, candidate distribution area A needs the 1st type and the 3rd type, candidate Distribution area B needs the 1st type, the 3rd type and the 4th type, and candidate distribution area C needs the 2nd type.Therefore, for the 1st type goods Target distribution area corresponding to object is candidate distribution area A and B, and target distribution area corresponding to the 3rd type cargo is also candidate Distribution area A and B.

Specifically, control server is after the attribute information for getting multiple cargos to be distributed, can first according to it is multiple to point The attribute information of delivery object and the cargo demand information of each distribution area, determine multiple affiliated types of cargo to be distributed；Then it is directed to Required cargo in each candidate distribution area is included that the type waits for by any class cargo to be distributed in variety classes cargo to be distributed Distribute two or more distribution areas of cargo as target distribution area.

Illustratively, it may also set up target distribution area group.For example, existing candidate distribution area A, B and C, 4 types goods to be distributed Object 1,2,3 and 4, candidate distribution area A need the 1st type and the 3rd type, and candidate distribution area B needs the 1st type, the 2nd type and the 4 types, candidate distribution area C needs the 2nd type and the 3rd type, because there is intersection between any two in candidate distribution area A, B and C, because This is using candidate distribution area A and B as 1 group of target distribution area, and candidate distribution area A and C is as 2 groups of target distribution area, candidate's distribution Ground C and B is as 3 groups of target distribution area.

S230 determines the corresponding target container of multiple target distribution areas and carries the target machine of target container People, and control multiple target robots and the corresponding target container of multiple target distribution areas is concomitantly carried to goods to be distributed At the position of object.

In the present embodiment, target container refers to that the container for cargo needed for containing target distribution area, the container can be Shelf, pallet, cage vehicle etc.；Optionally, target container is target shelf, which is moveable, and can expand i.e. The layer number that shelf include does not limit.

Illustratively, the incidence relation of each candidate distribution area and container is also previously stored in control server, therefore, when It can be that each target distribution area selects target appearance from the associated container of each target distribution area after each target distribution area has been determined Device.Meanwhile according to the distance between scene Zhong Ge robot locating for each target container and cargo to be distributed and optimal path principle, Corresponding target robot is determined for each target container.Then control server can also be by target container to cargo to be distributed Driving path at position is sent to corresponding target robot, while being sent first to each target robot and being carried instruction, with It is carried to each target robot by corresponding target container at the position of cargo to be distributed.It should be noted that target at this time The target container that robot is carried is empty.

It should be noted that needing between the different distribution areas of same type cargo to be distributed to be concurrently to execute in the present embodiment , that is to say, that cargo to be distributed for same type, control server can control multiple target robots simultaneously by different distributions The corresponding target container in ground is carried at the position of cargo to be distributed, and with type goods to be distributed at the position of cargo to be distributed Being between the corresponding each target robot of object is to be lined up between the corresponding target robot of variety classes cargo to be distributed side by side 's.For example, existing 3 type cargo to be distributed, if the current positive operation of getting in stocks for executing the 1st type cargo to be distributed, the 2nd type The corresponding each target robot of cargo to be distributed is in wait state side by side, the corresponding each target machine of the 3rd type cargo to be distributed Device people is located at after the corresponding each target robot of the 2nd kind of cargo to be distributed, and is arranged side by side.

Optionally, the carrying operation of variety classes cargo to be distributed can be the sequence according to type of merchandize, successively carry 's；It can also be and be performed simultaneously, but after being transported at the position of cargo to be distributed, need to also be arranged according to the sequence of type of merchandize It is right, execute operation of getting in stocks.

After the corresponding target container of each target distribution area and target robot has been determined, in order to guarantee subsequent each mesh It is independent of each other between the corresponding operation of getting in stocks of mark container, one or more stop can be set at cargo location to be distributed By point.Illustratively, include at least one anchor point at the position of cargo to be distributed, control multiple target robots and concomitantly will It may include: determining multiple respectively that the corresponding target container of multiple target distribution areas, which is carried at the position of cargo to be distributed, The respective anchor point of target robot, and control multiple target robots and concomitantly hold the corresponding target of multiple target distribution areas Device is carried to respective anchor point.

In the present embodiment, each target robot dynamically can be set according to the location of sorting personnel or Prospect of Robot Sorting System Anchor point, be also possible to set the stop of each target robot to the distance of the position of cargo to be distributed according to target robot Point etc. to get in stocks in different anchor points, and then guarantees that the corresponding operation of getting in stocks of each target container is not interfere with each other, is equivalent to Realize a kind of transformable electronic tag sowing wall.For example, when target distribution area A and B requires the 1st type cargo to be distributed When, control server can be according to the corresponding target robot 1 and 2 of target distribution area A and target distribution area B respectively to the 1st type Distance at the position of cargo to be distributed determines stop of the target robot 1 and 2 at the position of the 1st type cargo to be distributed Point, and the corresponding position of each anchor point, driving path etc. are sent to corresponding target robot so that each target robot according to According to the navigation device for receiving driving path and itself configuration, corresponding target container is carried at preset anchor point, So as to subsequent while getting in stocks operation to cargo to be distributed execution.

S240, control execute operation of getting in stocks to multiple cargos to be distributed.

It should be noted that concurrently being executed in the present embodiment with type cargo to be distributed, that is to say, that need of the same race Getting in stocks operation between the different distribution areas of class cargo to be distributed be it is concurrent, variety classes cargo is to be lined up to execute to get in stocks operation , therefore the sequence of target distribution area group can be also possible to according to the sequence of type of merchandize, it successively concurrently executes until all Cargo to be distributed distribute complete.

Specifically, for any class cargo to be distributed in variety classes cargo to be distributed, when determining multiple target machines Device people is after concomitantly the corresponding target container of multiple target distribution areas is carried at the position of cargo to be distributed, can to Distribute sorting personnel or the Prospect of Robot Sorting System transmission at the position of cargo and sort instruction of getting in stocks, to realize operation of getting in stocks.Specifically It can be, sorting personnel or Prospect of Robot Sorting System receive sorting and get in stocks after instruction, need to scan again the type using scanning device The label of corresponding each cargo to be distributed obtains the attribute information of the corresponding each cargo to be distributed of the type, and is sent to control Server；Attribute information of the control server according to the corresponding each cargo to be distributed of the type determines target associated with it point The goods yard information of corresponding target container is sent out, and according to goods yard information, controls sorting personnel or Prospect of Robot Sorting System for the type Corresponding each cargo to be distributed is placed on corresponding goods yard.

Illustratively, if can also include: to receive operation of getting in stocks to complete information, controlling target robot will be carried The target container of cargo is carried to the loading area on target point side ground.

Wherein, operation of getting in stocks is completed information and is referred to and the associated cargo to be distributed of target container whole drop target containers When upper, the prison that personnel or Prospect of Robot Sorting System are configured in information transmitted by control server or control server was sorted Survey what unit itself monitored.The loading area of target distribution area refers to the vehicle location that cargo is loaded belonging to target distribution area Place.The loading area of different target distribution area is different, if but geographical location locating for each target distribution area is close, can carry out It concentrates and carries, carry out concentrating the loading area of multiple target distribution areas of carrying can be identical at this time.

Specifically, when receive get in stocks operation complete information after, control server will to be completed get in stocks operate it is corresponding Target robot sends second and carries instruction, so that the target container for carrying cargo is carried to target point by the target robot Send out the loading area on ground.Second to carry in instruction may include the position of cargo to be distributed to the loading area of target distribution area Routing information.

Cargo distribution method provided in an embodiment of the present invention passes through attribute information according to multiple cargos to be distributed and distribution The picking demand information on ground, for any class cargo to be distributed in variety classes cargo to be distributed, from candidate distribution area Filtering out cargo demand and hitting multiple distribution areas of type cargo to be distributed is target distribution area, then determines each target distribution The corresponding target container in ground and the target robot for carrying target container, and multiple target robots are controlled simultaneously for multiple targets The corresponding target container of distribution area is carried at the position of cargo to be distributed, to execute operation of getting in stocks, avoids the same time Individual machine people carries out the problem of cargo distribution inefficiency in section, improves cargo distribution efficiency.

In order to improve each machine task efficiency, illustratively, multiple cargos to be distributed of bar coded are received Attribute information after, if can also include: to detect that robot quantity at the position of cargo to be distributed is greater than preset number Measure threshold value, then it wouldn't be to distributing robot at the position of the cargo to be distributed.Wherein, amount threshold is pre-set, can root It is modified according to actual conditions.

Embodiment three

Fig. 3 is a kind of flow chart for cargo distribution method that the embodiment of the present invention three provides, and the present embodiment is in above-mentioned implementation On the basis of example, operation of getting in stocks further is executed to multiple cargos to be distributed to control and is explained.Referring to Fig. 3, the party Method specifically includes:

S310 receives the attribute information of multiple cargos to be distributed of bar coded, the type of multiple cargos to be distributed It is different.

S320, according to the attribute information of multiple cargos to be distributed and the cargo demand information of distribution area, for variety classes Any class cargo to be distributed in cargo to be distributed, cargo demand is filtered out from candidate distribution area, and to hit the type to be distributed Multiple distribution areas of cargo are as target distribution area.

S330 determines the corresponding target container of multiple target distribution areas and carries the target machine of target container People, and control multiple target robots and the corresponding target container of multiple target distribution areas is concomitantly carried to goods to be distributed At the position of object.

S340 receives the attribute information of the present kind cargo to be distributed of bar coded again.

S350 determines the sequence of getting in stocks of present kind cargo to be distributed according to the receiving time for receiving attribute information.

Wherein, receiving time refers to that control server receives bar coded present kind cargo to be distributed again The time of attribute information；Sequence of getting in stocks is that control server is to be distributed according to the present kind that scanning device is sent is received again The receiving time of cargo attribute information, identified present kind cargo to be distributed do not complete the various types of of operation of getting in stocks current Position in cargo to be distributed.

In the present embodiment, the purpose of being scanned the attribute information for obtaining multiple cargos to be distributed for the first time is to determine mesh Mark distribution area；And in order to avoid there is the case where cargo on target container and the cargo to be loaded are not inconsistent, executing one After the operation of getting in stocks of type cargo, it is thus necessary to determine that the sequence of getting in stocks of present kind cargo to be distributed, it is remaining various to determine Class cargo to be distributed is got in stocks sequentially.Optionally, the sequence of getting in stocks of present kind cargo to be distributed is located at the current unfinished behaviour that gets in stocks The first place for the various types of cargo to be distributed made.

S360, it is associated as present kind cargo to be distributed using the sequence of getting in stocks of determining present kind cargo to be distributed The sequence of target robot.

Since every type cargo to be distributed has determining target robot, determining present kind can be waited for point Sequence of the sequence as the associated target robot of present kind cargo to be distributed of getting in stocks of delivery object.

It should be noted that the corresponding target distribution area of every type cargo to be distributed has multiple, and each target distribution area There is its corresponding target robot, the associated target machine of present kind cargo to be distributed is artificially multiple herein.It is waited for type Distribute between cargo, each target robot is concurrently to execute operation of getting in stocks；Between variety classes cargo to be distributed, each target machine Device people is lined up and gets in stocks, and is arranged side by side with each target robot of type cargo to be distributed.

S370, by get in stocks sequence with first receive bar coded various types of cargo to be distributed attribute information when Between determine get in stocks sequence be compared, if inconsistent, adjust the suitable of the various types of associated target robot of cargo to be distributed Sequence.

It should be noted that control server is after the attribute information for receiving various types of cargo to be distributed for the first time, just Various types of cargo pair to be distributed can be determined according to the attribute information of various types of cargo to be distributed and the cargo demand information of distribution area Target distribution area, target container and the target robot answered.

Specifically, attribute information of the control server in the multiple cargos to be distributed for receiving bar coded for the first time Afterwards, can be preset according to the sequence of type of merchandize the associated target robot of every type cargo and its queuing get in stocks it is suitable Sequence.Therefore the sequence that the queuing for every associated target robot of type cargo that first time determines can be got in stocks is used as standard, if The sequence of getting in stocks of second of present kind cargo to be distributed for scanning determination is different from the sequence of getting in stocks that first time determines, then foundation The sequence determined for the first time is adjusted.As long as currently with appearance one in the associated target robot of type cargo to be distributed It is sequentially inconsistent, it requires to be adjusted.

Illustratively, the reason that sequence is inconsistent twice occur may is that every associated target robot of type cargo exists Cause to arrange preceding target machine due to encountering the factors such as barrier, distance be remote during reaching at the position of cargo to be distributed People is later than the posterior target robot of row, so as to cause sequence entanglement.

Optionally, the sequence for adjusting the various types of associated target robot of cargo to be distributed may is that control present kind The associated target robot of cargo to be distributed ranks the first, then can be according to the various types of cargo to be distributed that first time determines It gets in stocks sequentially, the associated target robot of other types cargo to be distributed is ranked up；It can also be and hold according to corresponding target The goods yard quantity of not getting in stocks of device is ranked up the associated target robot of other types cargo to be distributed.

S380, the sequence according to the various types of associated target robot of cargo to be distributed adjusted execute restocking operation.

Cargo distribution method provided in an embodiment of the present invention, carry out present kind cargo to be distributed get in stocks operate when, By that will get in stocks twice, sequence is compared, and avoids and the feelings that the cargo on target container and the cargo to be loaded are not inconsistent occurs Condition, it is ensured that operation of getting in stocks is gone on smoothly.

Example IV

Fig. 4 is a kind of flow chart for cargo distribution method that the embodiment of the present invention four provides, and the present embodiment is in above-mentioned implementation On the basis of example, operation of getting in stocks further is executed to type cargo to be distributed each in control multiple types cargo to be distributed and is solved Release explanation.Referring to fig. 4, this method specifically includes:

S410, receives the attribute information of multiple cargos to be distributed of bar coded, in multiple cargos to be distributed at least The type of a part of cargo to be distributed is not identical.

S420, according to the attribute information of multiple cargos to be distributed and the cargo demand information of distribution area, for variety classes Any class cargo to be distributed in cargo to be distributed, cargo demand is filtered out from candidate distribution area, and to hit the type to be distributed Multiple distribution areas of cargo are as target distribution area.

S430 determines the corresponding target container of multiple target distribution areas and carries the target machine of target container People, and control multiple target robots and the corresponding target container of multiple target distribution areas is concomitantly carried to goods to be distributed At the position of object.

S440 receives the attribute letter of each cargo to be distributed in the present kind cargo to be distributed that scanning device is sent again Breath.

It should be noted that the purpose of being scanned the attribute information for obtaining multiple cargos to be distributed for the first time is for determination Target distribution area, and in the case where the type of multiple cargos to be distributed is different, every type cargo to be distributed may only be swept One is retouched；And this be scanned be when specific execution is got in stocks and is operated, and it is each in every type cargo to be distributed Part requires to scan, in order to determine in type cargo to be distributed each cargo to be distributed specifically on target container Position.

S450 determines target associated with it according to the attribute information of the cargo to be distributed for each cargo to be distributed Distribution area, and corresponding target container is determined according to target distribution area, the goods yard of the cargo to be distributed is determined according to target container Information.

Wherein, goods yard information refers to the location information of the cargo to be distributed on target container, can be on target container Goods yard number.Illustratively, control server also establishes while determining each target distribution area associated target container Each target distribution area, target container, cargo and the incidence relation table in goods yard.

Specific process is as follows: when control server determines that target goods container is transported to cargo to be distributed by target robot After at position, can at the position of cargo to be distributed sorting personnel or Prospect of Robot Sorting System send sort restocking instruction, sort After personnel or Prospect of Robot Sorting System receive sorting restocking instruction, present kind cargo to be distributed need to be scanned using scanning device again In the label of each cargo to be distributed obtain the attribute information of each cargo to be distributed, and be sent to control server；For every Its attribute information is input in incidence relation table by a cargo to be distributed, control server, obtains the goods yard of the cargo to be distributed Information, and it is sent to sorting personnel or Prospect of Robot Sorting System, or the display device configured on control target container such as target shelf is aobvious Show and the associated goods yard information of target shelf.

S460, according to goods yard information, control Prospect of Robot Sorting System places each cargo to be distributed on corresponding goods yard.

Specifically, the personnel of sorting or Prospect of Robot Sorting System can be according to the goods yards shown in the goods yard information or target shelf received Information places each cargo to be distributed on corresponding goods yard, to realize that restocking operates.

Cargo distribution method provided in an embodiment of the present invention passes through attribute information according to multiple cargos to be distributed and distribution The picking demand information on ground, for any class cargo to be distributed in variety classes cargo to be distributed, from candidate distribution area Filtering out cargo demand and hitting multiple distribution areas of type cargo to be distributed is target distribution area, then determines each target distribution The corresponding target container in ground and the target robot for carrying target container, and multiple target robots are controlled simultaneously for multiple targets The corresponding target container of distribution area is carried at the position of cargo to be distributed, to execute operation of getting in stocks.Avoid the same time Individual machine people carries out the problem of cargo distribution inefficiency in section, improves cargo distribution efficiency, and flexibility is high, manpower at This is low.

Embodiment five

Fig. 5 is a kind of flow chart for cargo distribution method that the embodiment of the present invention five provides.It is provided in an embodiment of the present invention Method is cooperated to execute by control server and at least one robot.Referring to Fig. 5, this method is specifically included:

S510, control server receives the attribute information of multiple cargos to be distributed of bar coded, multiple to be distributed The type of at least part cargo to be distributed is not identical in cargo.

S520, control server is according to the attribute information of multiple cargos to be distributed and the cargo demand information of distribution area, needle To any class cargo to be distributed in variety classes cargo to be distributed, the hit of cargo demand is filtered out from candidate distribution area should Multiple distribution areas of type cargo to be distributed are as target distribution area.

S530, control server determine the corresponding target container of multiple target distribution areas and carry target container Target robot, and send first to target robot and carry instruction.

S540, target robot response first carry instruction, concurrently remove the corresponding target container of multiple target distribution areas It is transported at the position of cargo to be distributed.

S550, control server detect that corresponding target container is carried to cargo to be distributed by multiple target robots At position, control executes operation of getting in stocks to multiple cargos to be distributed.

S560 sends second to corresponding target robot and removes if control server receives operation of getting in stocks and completes information Fortune instruction.

Instruction is carried in S570, target robot response second, and the target container for carrying cargo is transported to target distribution The loading area on ground.

Cargo distribution method provided in an embodiment of the present invention passes through attribute information according to multiple cargos to be distributed and distribution The picking demand information on ground, for any class cargo to be distributed in variety classes cargo to be distributed, from candidate distribution area Filtering out cargo demand and hitting multiple distribution areas of type cargo to be distributed is target distribution area, then determines each target distribution The corresponding target container in ground and the target robot for carrying target container, and send first to target robot and carry instruction, with It is carried to multiple target robots concurrently the corresponding target container of multiple target distribution areas at the position of cargo to be distributed, with Just operation of getting in stocks is executed, the problem of individual machine people carries out goods sorting inefficiency in the same period is avoided, improves Goods sorting efficiency.

Embodiment six

Fig. 6 is a kind of structural schematic diagram for control server that the embodiment of the present invention six provides.Fig. 6, which is shown, to be suitable for being used to Realize the block diagram of the exemplary control server 12 of embodiment of the present invention.The control server 12 that Fig. 6 is shown is only one Example, should not function to the embodiment of the present invention and use scope bring any restrictions.

As shown in fig. 6, the control server 12 is showed in the form of universal computing device.The component of the control server 12 Can include but is not limited to: one or more processor or processing unit 16, system storage 28 connect not homologous ray group The bus 18 of part (including system storage 28 and processing unit 16).

Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller, Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC) Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.

Control server 12 typically comprises a variety of computer system readable media.These media can be it is any can be by The usable medium that control server 12 accesses, including volatile and non-volatile media, moveable and immovable medium.

System storage 28 may include the computer system readable media of form of volatile memory, such as arbitrary access Memory (RAM) 30 and/or cache memory 32.Control server 12 may further include it is other it is removable/can not Mobile, volatile/non-volatile computer system storage medium.Only as an example, storage system 34 can be used for reading and writing not Movably, non-volatile magnetic media (Fig. 6 do not show, commonly referred to as " hard disk drive ").It, can be with although being not shown in Fig. 6 The disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") is provided, and non-volatile to moving The CD drive of CD (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driving Device can be connected by one or more data media interfaces with bus 18.System storage 28 may include at least one journey Sequence product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform this hair The function of bright each embodiment.

Program/utility 40 with one group of (at least one) program module 42 can store and store in such as system In device 28, such program module 42 includes but is not limited to operating system, one or more application program, other program modules And program data, it may include the realization of network environment in each of these examples or certain combination.Program module 42 Usually execute the function and/or method in embodiment described in the invention.

Control server 12 can also be with one or more external equipments 14 (such as keyboard, sensing equipment, display 24 Deng) communication, can also be enabled a user to one or more equipment interact with the equipment communicate, and/or with make the control Any equipment (such as network interface card, modem etc.) that server 12 can be communicated with one or more of the other calculating equipment Communication.This communication can be carried out by input/output (I/O) interface 22.Also, control server 12 can also pass through network Adapter 20 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as because of spy Net) communication.As shown, network adapter 20 is communicated by bus 18 with other modules of control server 12.It should be understood that Although not shown in the drawings, other hardware and/or software module can be used in conjunction with control server 12, including but not limited to: micro- Code, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and data backup Storage system etc..

Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application and Data processing, such as realize cargo distribution method provided by the embodiment of the present invention.

Embodiment seven

The embodiment of the present invention seven additionally provides a kind of computer readable storage medium, is stored thereon with computer program, should Program can realize arbitrary cargo distribution method in above-described embodiment when being executed by processor.

The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable Storage medium can be for example but not limited to: electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor system, device or device, or Any above combination of person.The more specific example (non exhaustive list) of computer readable storage medium includes: with one Or the electrical connections of multiple conducting wires, portable computer diskette, hard disk, random access memory (RAM), read-only memory (ROM), The read-only storage (CD-ROM) of erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc, light are deposited Memory device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer readable storage medium can be with To be any include or the tangible medium of storage program, the program can be commanded execution system, device or device use or It is in connection.

Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal, Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for By the use of instruction execution system, device or device or program in connection.

The program code for including on computer-readable medium can transmit with any suitable medium, including but not limited to: Wirelessly, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.

The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++, It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.? It is related in the situation of remote computer, remote computer can include local area network (LAN) or wide area by the network of any kind Net (WAN) is connected to subscriber computer, or, it may be connected to outer computer (such as using ISP come It is connected by internet).

Above-described embodiment serial number is for illustration only, does not represent the advantages or disadvantages of the embodiments.

Will be appreciated by those skilled in the art that each module of the above invention or each step can use general meter Device is calculated to realize, they can be concentrated on single computing device, or be distributed in network constituted by multiple computing devices On, optionally, they can be realized with the program code that computer installation can be performed, so as to be stored in storage It is performed by computing device in device, perhaps they are fabricated to each integrated circuit modules or will be more in them A module or step are fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific hardware and The combination of software.

All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with The difference of other embodiments, the same or similar part between each embodiment may refer to each other.

The above description is only a preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art For, the invention can have various changes and changes.All any modifications made within the spirit and principles of the present invention are equal Replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims

1. a kind of cargo distribution method characterized by comprising

Receive the attribute information of multiple cargos to be distributed of bar coded, at least part in the multiple cargo to be distributed The type of cargo to be distributed is not identical；

It is to be distributed for variety classes according to the attribute information of the multiple cargo to be distributed and the cargo demand information of distribution area Any class cargo to be distributed in cargo filters out cargo demand from candidate distribution area and hits type cargo to be distributed Multiple distribution areas are as target distribution area；

It determines the corresponding target container of multiple target distribution areas and carries the target robot of the target container, and control It makes multiple target robots and the corresponding target container of the multiple target distribution area is concomitantly carried to cargo to be distributed Position at；

2. the method according to claim 1, wherein the type of the multiple cargo to be distributed is different.

3. the method according to claim 1, wherein including that at least one stops at the position of the cargo to be distributed By point, the corresponding target container of the multiple target distribution area is concomitantly carried to by the multiple target robots of control At the position of cargo to be distributed, comprising:

The respective anchor point of the multiple target robot is determined respectively, and controls the multiple target robot concomitantly for institute It states the corresponding target container of multiple target distribution areas and is carried to respective anchor point.

4. according to the method described in claim 2, it is characterized in that, control executes the behaviour that gets in stocks to the multiple cargo to be distributed Make, comprising:

Using getting in stocks sequentially as the associated target of present kind cargo to be distributed for determining present kind cargo to be distributed The sequence of robot；

The sequence of getting in stocks is received to the reception of the attribute information of the various types of cargo to be distributed of bar coded with first time Time, determining getting in stocks sequentially was compared, if inconsistent, adjusted the various types of associated target robot of cargo to be distributed Sequentially；

5. the method according to claim 1, wherein control executes operation of getting in stocks to the multiple cargo to be distributed Later, further includes:

If receiving operation of getting in stocks completes information, target robot is controlled by the target container for carrying cargo and is carried to target The loading area of distribution area.

6. the method according to claim 1, wherein receiving the category of multiple cargos to be distributed of bar coded After property information, further includes:

If detecting, the robot quantity at the position of cargo to be distributed is greater than preset amount threshold, wouldn't be to be distributed to this Robot is distributed at the position of cargo.

7. a kind of cargo dissemination system, which is characterized in that including control server and target robot；Wherein,

The control server is configured to, and receives the attribute information of multiple cargos to be distributed of bar coded；According to described in The attribute information of multiple cargos to be distributed and the cargo demand information of distribution area, for any in variety classes cargo to be distributed Type cargo to be distributed filters out multiple distribution areas work that cargo demand hits type cargo to be distributed from candidate distribution area For target distribution area；It determines the corresponding target container of multiple target distribution areas and carries the target machine of the target container Device people, and send first to target robot and carry instruction；Wherein, at least part is to be distributed in the multiple cargo to be distributed The type of cargo is not identical；

The target robot is configured to, and is responded described first and is carried instruction, concomitantly distinguishes the multiple target distribution area Corresponding target container is carried at the position of cargo to be distributed；

The control server is additionally configured to, and detects that corresponding target container is carried to wait divide by the multiple target robot It delivers at the position of object, control executes operation of getting in stocks to the multiple cargo to be distributed.

8. system according to claim 7, which is characterized in that the type of the multiple cargo to be distributed is different.

9. a kind of control server, which is characterized in that the control server includes:

One or more processors；

Storage device, for storing one or more programs；

When one or more of programs are executed by one or more of processors, so that one or more of processors are real Now such as cargo distribution method as claimed in any one of claims 1 to 6.

10. a kind of computer storage medium, is stored thereon with computer program, which is characterized in that the program is executed by processor Shi Shixian cargo distribution method for example as claimed in any one of claims 1 to 6.