CN109598444B

CN109598444B - Goods distribution method, system, control server and computer storage medium

Info

Publication number: CN109598444B
Application number: CN201811481665.3A
Authority: CN
Inventors: 毛梁
Original assignee: Beijing Geekplus Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2018-12-05
Filing date: 2018-12-05
Publication date: 2020-10-23
Anticipated expiration: 2038-12-05
Also published as: CN109598444A

Abstract

The embodiment of the invention discloses a goods distribution method, a goods distribution system, a control server and a computer storage medium. Wherein, the method comprises the following steps: receiving attribute information of a plurality of goods to be distributed read by scanning equipment, wherein at least part of the goods to be distributed are different in type; according to the attribute information of the multiple goods to be distributed and the goods demand information of the distribution places, aiming at any kind of goods to be distributed in different kinds of goods to be distributed, screening multiple distribution places with goods demands hitting the kind of goods to be distributed from the candidate distribution places as target distribution places; determining target containers respectively corresponding to a plurality of target distribution places and target robots for transporting the target containers, and controlling the target robots to concurrently transport the target containers respectively corresponding to the target distribution places to positions of goods to be distributed; and controlling to carry out loading operation on a plurality of goods to be distributed. The technical scheme provided by the embodiment of the invention improves the goods distribution efficiency.

Description

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

Technical Field

The invention relates to the technical field of logistics storage, in particular to a goods concurrency method, a goods concurrency system, a control server and a computer storage medium.

Background

With the rapid development of electronic commerce, unprecedented development opportunities are brought to the warehousing industry, and a severe challenge is also provided to warehousing services.

At present, after various goods of different suppliers arrive at a warehouse, the goods are stored on a goods shelf through racking operation, and when the goods are required to be subsequently distributed to consumption points such as retailers and stores, the goods warehouse is transferred to the consumption points through goods sorting and the like. In the goods distribution process, the attribute information of the goods to be distributed is obtained by scanning the labels of the goods to be distributed, the robot is controlled to convey the goods shelf of the store to which the goods to be distributed belong to the goods place, the goods to be distributed are placed on the goods shelf, and the goods to be distributed are conveyed to the store loading area through the robot. According to the method, one cargo is swept to control one robot to perform sorting and carrying operation, so that the problem of low cargo sorting efficiency exists.

Disclosure of Invention

The embodiment of the invention provides a goods distribution method, a goods distribution system, a control server and a storage medium, and improves the goods distribution efficiency.

In a first aspect, an embodiment of the present invention provides a goods distribution method, where the method includes:

receiving attribute information of a plurality of goods to be distributed read by a scanning device, wherein at least part of the goods to be distributed are different in type;

according to the attribute information of the goods to be distributed and the goods demand information of the distribution places, aiming at any kind of goods to be distributed in different kinds of goods to be distributed, screening out a plurality of distribution places with goods demands hitting the kind of goods to be distributed from the candidate distribution places as target distribution places;

determining target containers respectively corresponding to a plurality of target distribution places and target robots for transporting the target containers, and controlling the target robots to concurrently transport the target containers respectively corresponding to the target distribution places to positions of goods to be distributed;

and controlling the goods loading operation to be performed on the plurality of goods to be distributed.

Further, the plurality of goods to be distributed are different in kind.

Further, the location of the goods to be distributed includes at least one docking point, and the controlling the plurality of target robots to concurrently transport the target containers respectively corresponding to the plurality of target distribution places to the location of the goods to be distributed includes:

and respectively determining respective stopping points of the plurality of target robots, and controlling the plurality of target robots to concurrently transport the target containers corresponding to the plurality of target distribution places to the respective stopping points.

Further, the control of the goods loading operation to be distributed comprises:

receiving the attribute information of the goods to be distributed of the current type read by the scanning equipment again;

determining the loading sequence of the current type of goods to be distributed according to the receiving time for receiving the attribute information;

taking the determined loading sequence of the goods to be distributed of the current type as the sequence of the target robots related to the goods to be distributed of the current type;

comparing the loading sequence with the loading sequence determined by the receiving time of the attribute information of each type of goods to be distributed read by the first receiving and scanning device, and if the loading sequence is not consistent with the loading sequence, adjusting the sequence of the target robot associated with each type of goods to be distributed;

and executing goods loading operation according to the adjusted sequence of the target robots related to the various goods to be distributed.

Further, after controlling the loading operation performed on the plurality of goods to be distributed, the method further includes:

and if the loading operation completion information is received, controlling the target robot to convey the target container loaded with the goods to a loading area of a target distribution place.

Further, after receiving the attribute information of the plurality of goods to be distributed read by the scanning device, the method further includes:

and if the number of the robots at the position where the goods to be distributed are detected to be larger than a preset number threshold value, the robots are not dispatched to the position where the goods to be distributed are detected.

In a second aspect, an embodiment of the present invention further provides a goods distribution system, where the system includes:

the control server is configured to receive attribute information of a plurality of goods to be distributed read by the scanning device; according to the attribute information of the goods to be distributed and the goods demand information of the distribution places, aiming at any kind of goods to be distributed in different kinds of goods to be distributed, screening out a plurality of distribution places with goods demands hitting the kind of goods to be distributed from the candidate distribution places as target distribution places; determining target containers respectively corresponding to a plurality of target distribution places and target robots for transporting the target containers, and sending a first transporting instruction to the target robots; wherein at least a part of the goods to be distributed in the plurality of goods to be distributed are different in type;

the target robot is configured to respond to the first transporting instruction and concurrently transport the target containers respectively corresponding to the target distribution places to the positions of goods to be distributed;

the control server is further configured to control to perform loading operation on the plurality of goods to be distributed by detecting that the plurality of target robots convey the corresponding target containers to the positions of the goods to be distributed.

Further, the plurality of goods to be distributed are different in kind.

Further, the location where the goods are to be distributed includes at least one docking point;

the control server is further configured to determine respective stopping points of the plurality of target robots, respectively, and send a first carrying instruction to the plurality of target robots;

the target robot is further configured to concurrently transport the target containers respectively corresponding to the plurality of target distribution sites to the respective docking points in response to the first transport instruction.

Further, the control server is further configured to receive the attribute information of the current type of goods to be distributed read by the scanning device again, determine the loading sequence of the current type of goods to be distributed according to the receiving time for receiving the attribute information, and take the determined loading sequence of the current type of goods to be distributed as the sequence of the target robot associated with the current type of goods to be distributed; comparing the loading sequence with the loading sequence determined by the receiving time of the attribute information of each type of goods to be distributed read by the first receiving and scanning device, and if the loading sequence is not consistent with the loading sequence, adjusting the sequence of the target robot associated with each type of goods to be distributed; and executing goods loading operation according to the adjusted sequence of the target robots related to the various goods to be distributed.

Further, the control server is configured to send a second carrying instruction to the target robot if receiving the loading operation completion information;

the target robot is further configured to transport the target container carrying the cargo to a loading area of a target distribution place in response to the second transport instruction.

Further, the control server is further configured to, after receiving the attribute information of the plurality of goods to be distributed read by the scanning device, temporarily not dispatch the robot to the location of the goods to be distributed if it is detected that the number of robots at the location of the goods to be distributed is greater than a preset number threshold.

In a third aspect, an embodiment of the present invention further provides a control server, where the control server includes:

one or more processors;

storage means for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the method of cargo distribution of any of the first aspects.

In a fourth aspect, an embodiment of the present invention further provides a computer storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the goods distribution method according to any of the first aspect.

According to the goods distribution method, the goods distribution system, the control server and the computer storage medium, a plurality of candidate stores are screened from the candidate stores to be used as target stores according to the attribute information of various goods to be distributed and the goods taking demand information of the candidate stores of the various goods to be distributed, and the target robots corresponding to the target stores are controlled to carry and put on shelves the goods of the target stores concurrently, so that the problem that the goods sorting efficiency of a single robot is low in the same time period is solved, and the goods sorting efficiency is improved.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:

fig. 1A-1B are schematic diagrams of a scenario of a cargo distribution system according to a first embodiment of the present invention;

fig. 2 is a flowchart of a cargo distribution method provided in the second embodiment of the present invention;

fig. 3 is a flowchart of a cargo distribution method provided in the third embodiment of the present invention;

fig. 4 is a flowchart of a cargo distribution method provided in the fourth embodiment of the present invention;

fig. 5 is a flowchart of a cargo distribution method provided in the fifth embodiment of the present invention;

fig. 6 is a schematic structural diagram of a control server provided in a sixth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings.

Example one

Fig. 1A to 1B are schematic views of a cargo distribution system according to an embodiment of the present invention; the embodiment is suitable for the situation of how to improve the goods distribution efficiency when goods need to be distributed to different distribution places (stores) such as retailers, stores and the like. The whole set of system can be executed by the cooperation of the control server and at least one robot; the control server can be a single-line or multi-line server and can provide strategies for distribution of goods, allocation of robots and the like. Referring to fig. 1A, the system specifically includes: a control server 10 and a target robot 20; wherein the content of the first and second substances,

the control server 10 is configured to receive attribute information of a plurality of goods to be distributed 41 read by the scanning device; according to the attribute information of the multiple goods 41 to be distributed and the goods demand information of the distribution places, aiming at any kind of goods 41 to be distributed in different kinds of goods 41 to be distributed, the multiple distribution places with goods demands hitting the kind of goods 41 to be distributed are screened out from the candidate distribution places to be used as target distribution places; determining a target container 30 and a target robot 20 for transporting the target container 30 corresponding to each of a plurality of target distribution places, and transmitting a first transport instruction to the target robot 20; wherein at least some of the plurality of items to be distributed 41 are of different types.

The target robot 20 is configured to concurrently carry the target containers 30 respectively corresponding to the plurality of target distribution places to the positions 40 of the goods to be distributed in response to the first carrying instruction;

the control server 10 is further configured to control the loading operation of the plurality of goods to be distributed 41 by detecting that the plurality of target robots 20 carry the corresponding target containers 30 to the positions of the goods to be distributed 40.

The control server 10 is a software system with data storage and information processing capabilities running on the server, and can be connected with the robot, the hardware input system and other software systems through wireless or wired connection. The control server 10 may include one or more servers, and may be a centralized control architecture or a distributed computing architecture. The server has a processor 101 and a memory 102.

The scanning device is a device that converts graphic or image information into a digital signal in a scanning manner, and may be a scanner, a scanning gun, a camera, or the like. The item to be distributed 41 refers to an item to be distributed to a corresponding distribution place at a position to be distributed 40 (a place where a large number of items are stored, such as a warehouse, a door of the warehouse, or a certain area in the warehouse, etc.). The goods attributes may include, but are not limited to, the name, number, type information, manufacturer, date of manufacture, shelf life, etc. of the goods. Since the attribute information of the same kind of goods is almost the same, in order to improve the distribution efficiency, optionally, in the embodiment, at least a part of the goods 41 to be distributed in the plurality of goods 41 to be distributed are different in kind, that is, at least two kinds of goods are included in the plurality of goods 41 to be distributed.

To improve the distribution efficiency, the time wasted by scanning is reduced. Preferably, in this embodiment, the kinds of the plurality of goods 41 to be distributed are different, that is, during the distribution process of the goods, each kind of goods may be scanned once at random, and correspondingly, N kinds of goods may be scanned N times. The following embodiment will be described by taking an example in which the plurality of items to be distributed 41 are different in kind from each other, but the present invention is not limited to this, and may be applied to a case in which the plurality of items to be distributed 41 have some of the items to be distributed 41 of different kinds, for example.

The cargo demand information refers to information of cargo required by any distribution place, and may include names, types, quantities and the like of the cargo required by the distribution place; the candidate distribution places are at least two distribution places which can be selected under the current scene; the number of target distribution sites may be two or more distribution sites. Optionally, according to the attribute information of the multiple goods 41 to be distributed and the goods demand information of each distribution place, for any kind of goods 41 to be distributed in different kinds of goods 41 to be distributed, the distribution place where the kinds of the needed goods in the candidate distribution places intersect may be determined as the target distribution place. For example, the existing candidate distribution sites A, B and C, 4 kinds of

goods

1, 2, 3 and 4 to be distributed, the candidate distribution site a requires the 1 st kind and the 3 rd kind, the candidate distribution site B requires the 4 th kind, the candidate distribution site C requires the 2 nd kind and the 3 rd kind, and since the candidate distribution sites a and C both require the 3 rd kind of goods, there is an intersection, the candidate distribution sites a and C are taken as target distribution sites.

The target container 30 refers to a container for holding goods required by a target distribution place, and the container may be a shelf, a pallet, a cage car, or the like; alternatively, the target container 30 is a target shelf, which is movable or expandable, i.e., the number of layers contained in the shelf is not limited. The first handling instruction may include an identification of the target container 30 and a planned path of the target container 30 to the location 40 where the goods are to be distributed.

Referring to fig. 1A, target container 30 is a target shelf. The control server 10 wirelessly communicates with the target robot 20, and the operator operates the control server 10 through the console 70, and the target robot 20 performs a transportation task under the control of the control server 10. The specific operation process is as follows: the control server 10 may obtain the cargo needs of each candidate distribution place in advance, and pre-store the cargo needs, the distribution places and the container 30 corresponding table, and after the control server 10 receives the attribute information of the multiple to-be-distributed cargos 41 read by the scanning device, the control server may determine the categories to which the multiple to-be-distributed cargos 41 belong according to the attribute information of the multiple to-be-distributed cargos 41 and the cargo need information of each distribution place; then, regarding any kind of goods 41 to be distributed among the different kinds of goods 41 to be distributed, two or more distribution places including the goods 41 to be distributed of the kind of goods required in each candidate distribution place are taken as target distribution places; target containers 30 may then be picked for each target distribution site from the associated containers 30 for each target distribution site; meanwhile, according to the distance between each target container 30 and each robot in the scene where the goods 41 to be distributed are located and the optimal path principle, a corresponding target robot 20 is determined for each target container 30, the travel path from the target container 30 to the position 40 where the goods 41 to be distributed are distributed to the corresponding target robot 20, and a first carrying instruction is sent to the target robot 20; so that each target robot 20 carries the corresponding target container 30 to the location 40 where the goods 41 are to be distributed.

Each target robot 20 responds to the first transport instruction sent by the control server 10, and travels to the position below the target container 30 according to the path planning and autonomous navigation functions, and lifts and transports the empty target container 30 to the position 40 of the goods 41 to be distributed by using the lifting mechanism. When the control server 10 detects that the plurality of target robots 20 transport the corresponding target containers 30 to the positions 40 of the goods 41 to be distributed, the control server 10 sends picking and loading instructions to the picking personnel 50 or the picking robots at the positions 40 of the goods 41 to be distributed so as to realize the loading operation.

Specifically, for any one kind of goods 41 to be distributed among different kinds of goods 41 to be distributed, after it is determined that the target containers 30 corresponding to the plurality of target distribution places concurrently with the plurality of target robots 20 are transported to the positions of the goods to be distributed, a picking order may be sent to the picking person or the picking robot 50 at the position 40 of the goods 41 to be distributed, so as to implement the loading operation. Specifically, after receiving the picking order, the picking person or the picking robot 50 needs to scan the label of each to-be-distributed item 41 corresponding to the category again by using a scanning device, obtain the attribute information of each to-be-distributed item 41 corresponding to the category, and send the attribute information to the control server 10; the control server 10 determines the cargo space information of the target container 30 corresponding to the target distribution place associated with the category according to the attribute information of each to-be-distributed cargo 41 corresponding to the category, and controls the picking personnel or the picking robot 50 to place each to-be-distributed cargo 41 corresponding to the category on the corresponding cargo space according to the cargo space information.

It should be noted that, in the present embodiment, it is necessary that the different distribution places of the same kind of goods 41 to be distributed are executed concurrently, that is, for the same kind of goods 41 to be distributed, the control server 10 can control the plurality of target robots 20 to simultaneously transport the target containers 30 corresponding to the different distribution places to the positions 40 of the goods 41 to be distributed, and the target robots 20 corresponding to the same kind of goods 41 to be distributed are arranged side by side at the positions 40 of the goods 41 to be distributed, and the goods loading operation is also executed concurrently; and the target robots 20 corresponding to different kinds of goods 41 to be distributed are queued, that is, the loading operation is performed in queue. As shown in fig. 1B, for example, if the cargo to be distributed 41 of the 3 th kind is currently loaded, the target robots 20 corresponding to the cargo to be distributed 41 of the 2 nd kind are in a parallel waiting state, and the target robots 20 corresponding to the cargo to be distributed 41 of the 3 rd kind are positioned behind the target robots 20 corresponding to the cargo to be distributed 41 of the 2 nd kind and are arranged in parallel.

Alternatively, the carrying operation of the different kinds of the goods to be distributed 41 may be carried sequentially in the order of the kinds of the goods; it is also possible to execute the loading operation simultaneously, but after the goods are transported to the position 40 of the goods 41 to be distributed, the goods are aligned in the order of the kind of the goods.

According to the goods distribution system provided by the embodiment of the invention, according to the attribute information of a plurality of goods to be distributed and the goods taking demand information of distribution places, aiming at any kind of goods to be distributed in different kinds of goods to be distributed, a plurality of distribution places with goods demand hitting the kind of goods to be distributed are screened from candidate distribution places as target distribution places, then target containers corresponding to the target distribution places and target robots for carrying the target containers are determined, and the target robots are controlled to carry the target containers corresponding to the target distribution places to the positions of the goods to be distributed simultaneously, so that goods loading operation is performed, the problem of low goods distribution efficiency of a single robot in the same time period is avoided, and the goods distribution efficiency is improved.

In order to ensure that the loading operations corresponding to the subsequent target containers do not affect each other, for example, the position to be distributed includes at least one stop point, and the control server may be further configured to determine the stop points of the plurality of target robots 20, respectively, and send a first transporting instruction to the plurality of target robots 20; the target robot 20 is further configured to concurrently transport the target containers 30 respectively corresponding to the plurality of target distribution sites to the respective docking points in response to the first transport instruction.

Illustratively, the control server 10 is further configured to transmit a second carrying instruction to the target robot 20 if the loading operation completion information is received; the target robot 20 is also configured to transport the target container 30 with the cargo 41 loaded thereon to the loading area 60 of the target distribution site in response to the second transport instruction.

The information of completing the loading operation refers to information sent by the picking person or the picking robot to the control server 10 when all the goods 41 to be distributed associated with the target container 30 have been placed on the target container 30, or information monitored by the monitoring unit itself arranged on the control server 10. The loading area 60 of the target distribution site refers to a position of the vehicle carrying the goods to which the target distribution site belongs. The second handling instruction may include information on the path from the location 40 of the item 41 to be distributed to the loading area 60 of the target distribution site.

With continued reference to fig. 1A, after the control server 10 receives the information of the completion of the loading operation, the control server 10 will send a second transporting instruction to the corresponding target robot 20, and the target robot 20 will transport the target container 30 carrying the cargo 41 to the loading area 60 of the target distribution site in response to the second transporting instruction sent by the control server 10, and can directly perform the subsequent loading and transporting operation in the loading area 60 of the target distribution site.

In order to avoid the situation that the goods on the target container 30 are not matched with the goods to be loaded when the kinds of the plurality of goods 41 to be distributed are different, after the goods loading operation of one kind of goods is performed, the goods loading sequence of the current kind of goods 41 to be distributed needs to be determined so as to determine the goods loading sequence of the remaining kinds of goods 41 to be distributed; then, the loading operation of the goods 41 to be distributed of the current category is performed according to the determined loading sequence. Illustratively, the control server 10 is further configured to receive again the attribute information of the goods 41 to be distributed of the current category read by the scanning device, determine the loading order of the goods 41 to be distributed of the current category according to the receiving time of the received attribute information, and take the determined loading order of the goods 41 to be distributed of the current category as the order of the target robots 20 associated with the goods 41 to be distributed of the current category; comparing the loading sequence with the loading sequence determined by the receiving time of the attribute information of each type of goods 41 to be distributed read by the first receiving and scanning device, and if the loading sequence is not consistent with the loading sequence, adjusting the sequence of the target robot 20 associated with each type of goods 41 to be distributed; the loading operation is performed according to the adjusted order of the target robots 20 associated with the various kinds of goods to be distributed 41.

In order to improve the work efficiency of each robot, for example, the control server 10 may be further configured to, after receiving the attribute information of the plurality of goods to be distributed 41 read by the scanning device, temporarily not dispatch the robot to the location 40 of the goods to be distributed 41 if it is detected that the number of robots at the location 40 of the goods to be distributed 41 is greater than the preset number threshold. The quantity threshold is preset and can be corrected according to actual conditions.

Example two

Fig. 2 is a flowchart of a cargo distribution method according to a second embodiment of the present invention, and this embodiment is suitable for a case how to improve cargo distribution efficiency when cargo needs to be distributed to different distribution places (stores), i.e., consumption points such as retailers and stores. The whole set of method can be executed by the cooperation of the control server and at least one robot, and the method provided by the embodiment of the invention is executed by the control server. Referring to fig. 2, the method specifically includes:

s210, receiving attribute information of a plurality of goods to be distributed read by a scanning device, wherein at least part of the goods to be distributed are different in type.

The scanning device is a device that converts graphics or image information into digital signals in a scanning manner, and may be a scanner, a scanning gun, a camera, or the like. The goods to be distributed refer to goods which are located at a position to be distributed (a place where a large number of goods are stored, such as a warehouse, a door of the warehouse, or a certain area in the warehouse, etc.) and are to be distributed to a corresponding distribution place. The goods attributes may include, but are not limited to, the name, number, type information, manufacturer, date of manufacture, shelf life, etc. of the goods. Since the attribute information of the same kind of goods is almost the same, in order to improve the distribution efficiency, optionally, in this embodiment, at least a part of the goods to be distributed in the plurality of goods to be distributed are different in kind, that is, at least two kinds of goods are included in the plurality of goods to be distributed.

To improve the distribution efficiency, the time wasted by scanning is reduced. Preferably, in this embodiment, the types of the plurality of goods to be distributed are different, that is, in the process of distributing the goods, each kind of goods may be scanned once at random, and correspondingly, N kinds of goods are scanned N times. The following embodiments will be described by taking an example in which the plurality of items to be distributed are different in kind from each other, but the present invention is not limited to this, and can be applied to a case in which the plurality of items to be distributed are different in kind of some of the items to be distributed.

Specifically, the scanning device may obtain attribute information of a plurality of goods to be distributed by scanning tags of the plurality of goods to be distributed, and send the attribute information of the plurality of goods to be distributed to the control server in a wireless communication manner; the control server receives attribute information of a plurality of goods to be distributed read by the scanning device. If the scanning device is configured on the control server, the attribute information of the goods to be distributed can also be directly acquired by the control server.

And S220, according to the attribute information of the multiple goods to be distributed and the goods demand information of the distribution places, aiming at any kind of goods to be distributed in different kinds of goods to be distributed, screening multiple distribution places with goods demands hitting the kind of goods to be distributed from the candidate distribution places as target distribution places.

The distribution place refers to a consumption point such as a retailer and a store which need one or more kinds of goods to be distributed, and may also be referred to as a store. The candidate distribution places are at least two distribution places which can be selected under the current scene; the number of the target distribution places can be two or more than two distribution places; the cargo demand information is information on the cargo required by any distribution site, and may include the name, type, number, and the like of the cargo required by the distribution site.

In order to improve the distribution efficiency, a plurality of goods to be distributed may be distributed according to the kind of the goods. Optionally, according to the attribute information of the multiple goods to be distributed and the goods demand information of each distribution place, for any kind of goods to be distributed in different kinds of goods to be distributed, the distribution place where the kinds of the goods required in the candidate distribution places intersect is determined as the target distribution place. For example, the existing candidate distribution sites A, B and C, 4 kinds of

goods

For example, before distributing goods, the control server may obtain goods needs of each distribution place in advance, and store a correspondence table between the goods needs and the distribution places in advance. When the control server receives the attribute information of the plurality of goods to be distributed read by the scanning device, the attribute information can be input into a pre-stored corresponding table, and a plurality of candidate distribution places obtained by matching are used as target distribution places.

It should be noted that the target distribution places corresponding to different kinds of goods may be the same or different. For example, existing candidate distribution sites A, B and C, 4 categories of

items

1, 2, 3, and 4 to be distributed, candidate distribution site a requires category 1 and category 3, candidate distribution site B requires category 1, category 3, and category 4, and candidate distribution site C requires category 2. Therefore, the target distribution places corresponding to the 1 st kind of goods are candidate distribution places A and B, and the target distribution places corresponding to the 3 rd kind of goods are also candidate distribution places A and B.

Specifically, after acquiring the attribute information of the multiple goods to be distributed, the control server may determine the categories of the multiple goods to be distributed according to the attribute information of the multiple goods to be distributed and the goods demand information of each distribution place; then, for any kind of goods to be distributed in different kinds of goods to be distributed, two or more distribution places of the goods required in each candidate distribution place, including the kind of goods to be distributed, are taken as target distribution places.

Illustratively, a target distribution site group may also be set. For example, the existing candidate distribution sites A, B and C, 4 kinds of

goods

1, 2, 3 and 4 to be distributed, the candidate distribution site a requires the 1 st kind and the 3 rd kind, the candidate distribution site B requires the 1 st kind, the 2 nd kind and the 4 th kind, the candidate distribution site C requires the 2 nd kind and the 3 rd kind, and since there is an intersection between the candidate distribution sites A, B and C, the candidate distribution sites a and B are set as the target distribution site 1, the candidate distribution sites a and C are set as the target distribution site 2, and the candidate distribution sites C and B are set as the target distribution site 3.

And S230, determining target containers respectively corresponding to the plurality of target distribution places and target robots for transporting the target containers, and controlling the plurality of target robots to concurrently transport the target containers respectively corresponding to the plurality of target distribution places to the positions of goods to be distributed.

In this embodiment, the target container is a container for holding goods required by a target distribution place, and the container may be a shelf, a tray, a cage cart, or the like; optionally, the target container is a target shelf, and the shelf is movable or expandable, i.e. the number of layers contained in the shelf is not limited.

For example, the control server also stores the association relationship between each candidate delivery destination and the container in advance, and therefore, when each target delivery destination is determined, the target container can be selected for each target delivery destination from the associated containers for each target delivery destination. And simultaneously, determining a corresponding target robot for each target container according to the distance between each target container and each robot in the scene where the goods to be distributed are located and the optimal path principle. And then the control server can distribute the driving path from the target container to the position of the goods to be distributed to the corresponding target robot, and simultaneously sends a first carrying instruction to each target robot so that each target robot carries the corresponding target container to the position of the goods to be distributed. Note that, at this time, the target container transported by the target robot is empty.

It should be noted that, in this embodiment, it is necessary that the different distribution places of the same kind of goods to be distributed are executed concurrently, that is, for the same kind of goods to be distributed, the control server may control the plurality of target robots to simultaneously transport the target containers corresponding to the different distribution places to the positions of the goods to be distributed, and at the positions of the goods to be distributed, the target robots corresponding to the same kind of goods to be distributed are side by side, and the target robots corresponding to the different kinds of goods to be distributed are queued. For example, if a loading operation of a type 1 cargo to be distributed is currently performed for 3 types of cargo to be distributed, target robots corresponding to a type 2 cargo to be distributed are in a side-by-side waiting state, and target robots corresponding to a type 3 cargo to be distributed are positioned behind and arranged side by side with target robots corresponding to a type 2 cargo to be distributed.

Optionally, the carrying operation of different kinds of goods to be distributed may be carried in sequence according to the order of the kinds of goods; the goods can be delivered simultaneously, but after the goods are delivered to the positions to be distributed, the goods need to be delivered according to the sequence of the goods types, and then the goods are delivered.

After the target container and the target robot corresponding to each target distribution place are determined, one or more stop points can be arranged at the position of the goods to be distributed in order to ensure that the goods loading operation corresponding to each subsequent target container is not influenced mutually. Illustratively, the location where the goods are to be distributed includes at least one docking point, and controlling the plurality of target robots to concurrently transport the target containers respectively corresponding to the plurality of target distribution places to the location where the goods are to be distributed may include: and respectively determining respective stopping points of the plurality of target robots, and controlling the plurality of target robots to concurrently transport the target containers corresponding to the plurality of target distribution places to the respective stopping points.

In this embodiment, can be according to the dynamic stop point that sets up each target robot in the position that selects personnel or selecting robot place, also can be according to the target robot to waiting to distribute the position of goods apart from setting up each target robot's stop point etc. to in different stop points carry out the shipment, and then guarantee that the operation of getting in stocks that each target container corresponds is mutual noninterference, realized a variable electronic tags seeding wall in other words. For example, when the 1 st kind of goods to be distributed is required for both the target distribution sites a and B, the control server may determine the stopping points of the target robots 1 and 2 at the positions of the 1 st kind of goods to be distributed according to the distances from the target robots 1 and 2 corresponding to the target distribution sites a and B to the positions of the 1 st kind of goods to be distributed, and transmit the positions, the traveling paths, and the like corresponding to the stopping points to the corresponding target robots, so that the target robots transport the corresponding target containers to the preset stopping points according to the navigation devices receiving the traveling paths and configured by the target robots, so as to subsequently and simultaneously perform the loading operation on the goods to be distributed.

And S240, controlling to execute goods loading operation on a plurality of goods to be distributed.

It should be noted that in this embodiment, the same kind of goods to be distributed are concurrently executed, that is, the goods loading operation between different distribution places of the same kind of goods to be distributed needs to be concurrent, and the goods of different kinds are queued to execute the goods loading operation, so that the goods to be distributed may be sequentially concurrently executed in the order of the kind of goods, or the order of the group of target distribution places, until all the goods to be distributed are completely distributed.

Specifically, for any kind of goods to be distributed in different kinds of goods to be distributed, after it is determined that a plurality of target robots concurrently carry target containers respectively corresponding to a plurality of target distribution places to positions of the goods to be distributed, a picking order can be sent to a picking person or a picking robot at the positions of the goods to be distributed, so as to achieve a goods loading operation. Specifically, after receiving the picking order, the picking personnel or the picking robot needs to scan the labels of the goods to be distributed corresponding to the category again by using the scanning device to obtain the attribute information of the goods to be distributed corresponding to the category, and sends the attribute information to the control server; and the control server determines the goods position information of the target container corresponding to the target distribution place related to the control server according to the attribute information of each goods to be distributed corresponding to the category, and controls the picking personnel or the picking robot to place each goods to be distributed corresponding to the category on the corresponding goods position according to the goods position information.

Exemplary, can also include: and if the loading operation completion information is received, controlling the target robot to convey the target container loaded with the goods to a loading area of a target branch place.

The information of completing the loading operation refers to information sent by a picking person or a picking robot to the control server when all goods to be distributed associated with the target container are placed on the target container, or the information is monitored by a monitoring unit arranged on the control server. The loading area of the target distribution place refers to a position of the vehicle loading the goods to which the target distribution place belongs. Although the loading areas of different target distribution places are different, if the geographical positions of the target distribution places are close, the targets can be collectively transported, and the loading areas of a plurality of target distribution places which are collectively transported in this case can be the same.

Specifically, after receiving the information of the completion of the loading operation, the control server transmits a second transport instruction to the target robot corresponding to the completed loading operation, so that the target robot transports the target container loaded with the cargo to the loading area of the target distribution site. The second carrying instruction may include path information from the position of the goods to be distributed to the loading area of the target distribution site.

According to the goods distribution method provided by the embodiment of the invention, according to the attribute information of a plurality of goods to be distributed and the goods taking demand information of distribution places, aiming at any kind of goods to be distributed in different kinds of goods to be distributed, a plurality of distribution places with goods demand hitting the kind of goods to be distributed are screened from candidate distribution places as target distribution places, then target containers corresponding to the target distribution places and target robots for carrying the target containers are determined, and the target robots are controlled to carry the target containers corresponding to the target distribution places to the positions of the goods to be distributed simultaneously, so that goods loading operation is performed, the problem of low goods distribution efficiency of a single robot in the same time period is avoided, and the goods distribution efficiency is improved.

In order to improve the working efficiency of each robot, after receiving the attribute information of the plurality of goods to be distributed read by the scanning device, the method may further include: and if the number of the robots at the position where the goods to be distributed are detected to be larger than a preset number threshold value, the robots are not dispatched to the position where the goods to be distributed are detected. The quantity threshold is preset and can be corrected according to actual conditions.

EXAMPLE III

Fig. 3 is a flowchart of a cargo distribution method according to a third embodiment of the present invention, and this embodiment further explains the control of the cargo loading operation performed on multiple cargos to be distributed based on the above embodiment. Referring to fig. 3, the method specifically includes:

s310, receiving attribute information of a plurality of goods to be distributed read by the scanning device, wherein the types of the goods to be distributed are different.

And S320, according to the attribute information of the multiple goods to be distributed and the goods demand information of the distribution places, aiming at any kind of goods to be distributed in different kinds of goods to be distributed, screening multiple distribution places with goods demands hitting the kind of goods to be distributed from the candidate distribution places as target distribution places.

And S330, determining target containers respectively corresponding to the plurality of target distribution places and target robots for transporting the target containers, and controlling the plurality of target robots to concurrently transport the target containers respectively corresponding to the plurality of target distribution places to the positions of goods to be distributed.

And S340, receiving the attribute information of the goods to be distributed of the current category read by the scanning equipment again.

S350, determining the loading sequence of the goods to be distributed in the current category according to the receiving time of the receiving attribute information.

The receiving time refers to the time when the control server receives the attribute information of the goods to be distributed read by the scanning equipment again; the loading sequence is the position of the determined current type of goods to be distributed in the various types of goods to be distributed which do not complete the loading operation currently according to the receiving time of the control server for receiving the attribute information of the current type of goods to be distributed sent by the scanning device again.

In the embodiment, the purpose of scanning for the first time to obtain the attribute information of a plurality of goods to be distributed is to determine a target distribution place; in order to avoid the situation that the goods on the target container are not consistent with the goods to be loaded, after the goods loading operation of one kind of goods is performed, the goods loading sequence of the current kind of goods to be distributed needs to be determined, so that the goods loading sequence of the remaining kinds of goods to be distributed needs to be determined. Optionally, the loading sequence of the current type of goods to be distributed is located at the head of the current type of goods to be distributed, which does not complete the loading operation.

And S360, taking the determined loading sequence of the goods to be distributed of the current type as the sequence of the target robots related to the goods to be distributed of the current type.

Since each kind of goods to be distributed has a determined target robot, the determined loading sequence of the goods to be distributed of the current kind can be used as the sequence of the target robots associated with the goods to be distributed of the current kind.

It should be noted that there are multiple target distribution places corresponding to each kind of goods to be distributed, and each target distribution place has its corresponding target robot, where there are multiple target robots associated with the goods to be distributed of the current kind. Among the same kind of goods to be distributed, the target robots concurrently execute the goods loading operation; among different kinds of goods to be distributed, the target robots are queued for loading, and the target robots of the same kind of goods to be distributed are arranged side by side.

And S370, comparing the loading sequence with the loading sequence determined by the time of the attribute information of the various goods to be distributed read by the first receiving and scanning device, and if the loading sequence is not consistent with the loading sequence, adjusting the sequence of the target robot associated with the various goods to be distributed.

It should be noted that, after the control server receives the attribute information of each kind of goods to be distributed for the first time, the control server determines a target distribution place, a target container and a target robot corresponding to each kind of goods to be distributed according to the attribute information of each kind of goods to be distributed and the goods demand information of the distribution place.

Specifically, after the control server receives the attribute information of the plurality of goods to be distributed read by the scanning device for the first time, the target robots related to each kind of goods and the queuing and loading order thereof can be preset according to the order of the goods. Therefore, the queuing and loading sequence of the target robots related to each type of goods determined for the first time can be used as a standard, and if the loading sequence of the goods to be distributed in the current type determined by the second scanning is different from the loading sequence determined for the first time, the adjustment is carried out according to the sequence determined for the first time. Adjustment is needed as long as a sequence of appearance in the target robots associated with the current goods to be distributed of the same category is inconsistent.

For example, the reason why the two orders of inconsistency occur may be: the target robots associated with each kind of goods are behind the target robots arranged in the front due to the factors of encountering obstacles, long distance and the like in the process of reaching the position of the goods to be distributed, so that the sequence is disordered.

Alternatively, the order of adjusting the target robots associated with the various goods to be distributed may be: the target robots related to the current kinds of goods to be distributed are controlled to be arranged at the head, and then the target robots related to other kinds of goods to be distributed can be sequenced according to the goods loading sequence of the various kinds of goods to be distributed which is determined for the first time; the target robots associated with other types of goods to be distributed can also be sequenced according to the number of goods positions which are not loaded on the corresponding target container.

And S380, carrying out racking operation according to the adjusted sequence of the target robots related to the various goods to be distributed.

According to the goods distribution method provided by the embodiment of the invention, when the goods loading operation of the current kind of goods to be distributed is carried out, the two goods loading sequences are compared, so that the condition that the goods on the target container are not consistent with the goods to be loaded is avoided, and the smooth goods loading operation is ensured.

Example four

Fig. 4 is a flowchart of a cargo distribution method according to a fourth embodiment of the present invention, and the present embodiment further explains how to control each of multiple types of cargo to be distributed to perform a loading operation based on the above embodiments. Referring to fig. 4, the method specifically includes:

s410, receiving attribute information of a plurality of goods to be distributed read by a scanning device, wherein at least part of the goods to be distributed are different in type.

And S420, according to the attribute information of the multiple goods to be distributed and the goods demand information of the distribution places, aiming at any kind of goods to be distributed in different kinds of goods to be distributed, screening multiple distribution places with goods demands hitting the kind of goods to be distributed from the candidate distribution places as target distribution places.

And S430, determining target containers respectively corresponding to the plurality of target distribution places and target robots for transporting the target containers, and controlling the plurality of target robots to concurrently transport the target containers respectively corresponding to the plurality of target distribution places to the positions of goods to be distributed.

And S440, receiving the attribute information of each to-be-distributed goods in the current type to-be-distributed goods sent again by the scanning device.

It should be noted that the purpose of obtaining attribute information of a plurality of goods to be distributed by scanning for the first time is to determine a target distribution place, and under the condition that the types of the plurality of goods to be distributed are different, only one piece of goods to be distributed may be scanned per type; the scanning is performed at the time of the specific loading operation, and each piece of each kind of goods to be distributed needs to be scanned, so as to determine the specific position of each kind of goods to be distributed on the target container.

S450, aiming at each goods to be distributed, according to the attribute information of the goods to be distributed, determining a target distribution place related to the goods to be distributed, according to the target distribution place, determining a corresponding target container, and according to the target container, determining the goods position information of the goods to be distributed.

The cargo space information refers to the position information of the cargo to be distributed on the target container, and may be a cargo space number on the target container. Illustratively, the control server establishes an association relation table of each target distribution place, each target container, each goods and each goods space while determining the target container associated with each target distribution place.

The specific process is as follows: after the control server determines that the target robot transports the target goods container to the position of the goods to be distributed, a picking and shelving instruction can be sent to a picking person or a picking robot at the position of the goods to be distributed, and after the picking person or the picking robot receives the picking and shelving instruction, the picking person or the picking robot needs to adopt scanning equipment to scan the label of each goods to be distributed in the current kind of goods to be distributed again to obtain the attribute information of each goods to be distributed and send the attribute information to the control server; and for each goods to be distributed, the control server inputs the attribute information of the goods to be distributed into the association relation table to obtain the goods position information of the goods to be distributed, and sends the goods position information to a picking personnel or a picking robot, or controls a target container such as a display device arranged on a target shelf to display the goods position information associated with the target shelf.

And S460, controlling the picking robot to place each goods to be distributed on the corresponding goods position according to the goods position information.

Specifically, the picking personnel or the picking robot can place each goods to be distributed on the corresponding goods position according to the received goods position information or the goods position information displayed on the target goods shelf so as to realize the shelving operation.

According to the goods distribution method provided by the embodiment of the invention, according to the attribute information of a plurality of goods to be distributed and the goods taking demand information of distribution places, aiming at any kind of goods to be distributed in different kinds of goods to be distributed, a plurality of distribution places with goods demand hitting the kind of goods to be distributed are screened from candidate distribution places as target distribution places, then target containers corresponding to the target distribution places and target robots for transporting the target containers are determined, and the target robots are controlled to simultaneously transport the target containers corresponding to the target distribution places to the positions of the goods to be distributed, so that goods loading operation is performed. The problem that the efficiency of distributing goods by a single robot in the same time period is low is solved, the efficiency of distributing goods is improved, the flexibility is high, and the labor cost is low.

EXAMPLE five

Fig. 5 is a flowchart of a cargo distribution method according to a fifth embodiment of the present invention. The method provided by the embodiment of the invention is executed by the cooperation of the control server and at least one robot. Referring to fig. 5, the method specifically includes:

s510, the control server receives attribute information of a plurality of goods to be distributed read by the scanning device, wherein at least one part of the goods to be distributed is different in type.

S520, the control server screens out multiple distribution places with goods demands hitting the goods to be distributed from the candidate distribution places as target distribution places according to the attribute information of the goods to be distributed and the goods demand information of the distribution places, aiming at any kind of goods to be distributed in different kinds of goods to be distributed.

S530, the control server determines a target container and a target robot for transporting the target container, which correspond to each of the plurality of target distribution places, and transmits a first transport instruction to the target robot.

And S540, the target robot responds to the first transporting instruction and transports the target containers corresponding to the target distribution places to the positions of the goods to be distributed.

And S550, the control server detects that the target robots convey the corresponding target containers to the positions of the goods to be distributed, and the control server controls the goods loading operation on the goods to be distributed.

And S560, if the control server receives the loading operation completion information, the control server sends a second carrying instruction to the corresponding target robot.

And S570, the target robot responds to the second conveying instruction and conveys the target container loaded with the goods to the loading area of the target distribution place.

According to the goods distribution method provided by the embodiment of the invention, according to the attribute information of a plurality of goods to be distributed and the goods taking demand information of distribution places, aiming at any kind of goods to be distributed in different kinds of goods to be distributed, a plurality of distribution places with goods demand hitting the kind of goods to be distributed are screened from candidate distribution places as target distribution places, then target containers corresponding to the target distribution places and target robots for carrying the target containers are determined, and a first carrying instruction is sent to the target robots, so that the target containers corresponding to the target distribution places are carried to the positions of the goods to be distributed by the target robots, the goods loading operation is carried out, the problem that the goods sorting efficiency of a single robot in the same time period is low is solved, and the goods sorting efficiency is improved.

EXAMPLE six

Fig. 6 is a schematic structural diagram of a control server according to a sixth embodiment of the present invention. FIG. 6 illustrates a block diagram of an exemplary control server 12 suitable for use in implementing embodiments of the present invention. The control server 12 shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.

As shown in fig. 6, the control server 12 is in the form of a general purpose computing device. The components of the control server 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

The control server 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by control server 12 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The control server 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, and commonly referred to as a "hard drive"). Although not shown in FIG. 6, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.

The control server 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with the device, and/or with any devices (e.g., network card, modem, etc.) that enable the control server 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the control server 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 20. As shown, the network adapter 20 communicates with the other modules of the control server 12 via the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the control server 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, to implement the goods distribution method provided by the embodiment of the present invention.

EXAMPLE seven

Seventh, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, can implement any of the goods distribution methods in the foregoing embodiments.

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The above example numbers are for description only and do not represent the merits of the examples.

It will be understood by those skilled in the art that the modules or steps of the invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented by program code executable by a computing device, such that it may be stored in a memory device and executed by a computing device, or it may be separately fabricated into various integrated circuit modules, or it may be fabricated by fabricating a plurality of modules or steps thereof into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method of distributing goods, comprising:

controlling the goods loading operation to be performed on the plurality of goods to be distributed;

wherein controlling the goods to be distributed to be loaded comprises:

2. The method of claim 1, wherein the plurality of items to be dispensed are of different types.

3. The method of claim 1, wherein the location of the goods to be distributed comprises at least one docking point, and the controlling the plurality of target robots to concurrently transport the target containers respectively corresponding to the plurality of target distribution sites to the location of the goods to be distributed comprises:

4. The method of claim 1, wherein after controlling the loading operation on the plurality of goods to be distributed, further comprising:

5. The method of claim 1, wherein after receiving the attribute information of the plurality of goods to be distributed read by the scanning device, the method further comprises:

6. A cargo distribution system is characterized by comprising a control server and a target robot; wherein the content of the first and second substances,

the control server is further configured to detect that the target robots transport the corresponding target containers to the positions of the goods to be distributed, and control to perform loading operation on the goods to be distributed;

the control server is further configured to receive the attribute information of the current type of goods to be distributed read by the scanning device again, determine the loading sequence of the current type of goods to be distributed according to the receiving time for receiving the attribute information, and take the determined loading sequence of the current type of goods to be distributed as the sequence of the target robot associated with the current type of goods to be distributed; comparing the loading sequence with the loading sequence determined by the receiving time of the attribute information of each type of goods to be distributed read by the first receiving and scanning device, and if the loading sequence is not consistent with the loading sequence, adjusting the sequence of the target robot associated with each type of goods to be distributed; and executing goods loading operation according to the adjusted sequence of the target robots related to the various goods to be distributed.

7. The system of claim 6, wherein the plurality of items to be dispensed are of different types.

8. The system of claim 6, further comprising: the location where the goods are to be distributed comprises at least one docking point;

9. The system of claim 6, further comprising:

the control server is further configured to send a second carrying instruction to the target robot if receiving the loading operation completion information;

10. The system of claim 6, further comprising:

the control server is further configured to, after receiving the attribute information of the plurality of goods to be distributed read by the scanning device, temporarily not dispatch the robot to the location of the goods to be distributed if it is detected that the number of robots at the location of the goods to be distributed is greater than a preset number threshold.

11. A control server, characterized in that the control server comprises:

one or more processors;

storage means for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the item distribution method of any one of claims 1-5.

12. A computer storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method of distributing goods according to any of claims 1-5.