CN111470228B

CN111470228B - Goods sorting system, method, device and storage medium

Info

Publication number: CN111470228B
Application number: CN201910069918.4A
Authority: CN
Inventors: 童月红; 殷伟
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingbangda Trade Co Ltd; Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2019-01-24
Filing date: 2019-01-24
Publication date: 2022-11-08
Anticipated expiration: 2039-01-24
Also published as: CN111470228A

Abstract

The embodiment of the invention discloses a goods sorting system, a goods sorting method, a goods sorting device and a storage medium. The system comprises: the storage warehouse, the delivery roadway, the picking roadway and the picking workstation are connected in sequence; the rotary roadway is connected with the ex-warehouse roadway and each sorting roadway; the task distribution center is connected with the roadway control center and is used for redistributing available picking work stations as target work stations for current tasks corresponding to all bins to be picked when the mechanical arm is determined to be abnormal; the roadway control center is connected with the delivery roadway, the picking roadway and the rotary roadway and is used for transmitting the bins to be picked in the abnormal picking work station to the delivery roadway through the rotary roadway when the mechanical arm is abnormal and controlling the delivery roadway and the picking roadway to transmit the bins to be picked to the target work station determined by the task distribution center. By adopting the technical scheme, under the condition that the mechanical arm in the picking workstation is abnormal, the influence on the delivery time of the current picking order can be reduced, and the delivery efficiency of the order is ensured.

Description

Goods sorting system, method, device and storage medium

Technical Field

The embodiment of the invention relates to the field of industrial control, in particular to a goods picking system, a goods picking method, a goods picking device and a storage medium.

Background

With the rapid development of the internet era, the order number of the electronic commerce platform is continuously increasing. In order to improve the efficiency of order delivery, automated conveying systems are generally used to transport bins containing a plurality of items to a picking station, and the items are picked by a robotic arm in the picking station according to the order requirements.

In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art: when goods are picked, if the mechanical arm is abnormal, all the bins distributed to the picking workstation need to be picked by the handheld picking client-side simulation mechanical arm, and the order delivery efficiency is seriously influenced.

Disclosure of Invention

The invention provides a goods picking system, a goods picking method, a goods picking device and a storage medium, which are used for reducing the influence on the delivery time of each order corresponding to the current picking task when a mechanical arm in a picking workstation is abnormal and ensuring the delivery efficiency of the order.

In a first aspect, an embodiment of the present invention provides a cargo picking system, including: the system comprises a storage warehouse, a delivery roadway, a picking workstation, a rotary roadway, a task distribution center and a roadway control center;

the delivery roadway is respectively connected with the storage warehouse and the at least two picking roadways; each picking roadway is respectively connected with at least one picking workstation; the rotary roadway is connected with the warehouse-out roadway and each picking roadway; the roadway control center is connected with the ex-warehouse roadway, the sorting roadway and the rotary roadway; the task distribution center is connected with the roadway control center;

the task distribution center is used for generating an address change instruction based on an abnormal mechanical arm identifier when the mechanical arm of the picking workstation is determined to be abnormal, and sending the address change instruction to the roadway control center; when a work station allocation request sent by the tunnel control center is received, redistributing available picking work stations as target work stations for the current task according to the available state of each picking work station, and sending the information of the target work stations to the tunnel control center;

the tunnel control center is used for controlling a rotary tunnel to transmit a bin to be sorted corresponding to a current task at an abnormal sorting workstation to the ex-warehouse tunnel and sending a workstation allocation request to the task allocation center when the address change instruction is received; when receiving the information of the target workstation sent by the task distribution center, controlling the warehouse-out roadway to transmit the bin to be picked to a picking roadway corresponding to the target workstation, and controlling the picking roadway corresponding to the target workstation to transmit the bin to be picked to the target workstation.

In a second aspect, an embodiment of the present invention further provides a cargo picking method, which is applied to the cargo picking system provided in the embodiment of the first aspect, and includes:

when the mechanical arm of the picking work station is determined to be abnormal, an address change instruction is generated based on the abnormal mechanical arm identification, and the address change instruction is sent to a roadway control center so as to instruct the roadway control center to control a rotary roadway to transmit a bin to be picked corresponding to the current task of the abnormal picking work station to a delivery roadway;

receiving the workstation allocation request that tunnel control center sent is back, redistribute available workstation as the target workstation for current task according to each available state of picking the workstation, and will the information of target workstation send to tunnel control center, with the instruction tunnel control center control the lane of leaving warehouse will the workbin of waiting to pick is transmitted to the picking tunnel that corresponds with the target workstation, and control the picking tunnel will the workbin of waiting to pick is transmitted extremely the target workstation.

In a third aspect, an embodiment of the present invention further provides a cargo picking method applied to the cargo picking system provided in the embodiment of the first aspect, including:

receiving an address change instruction sent by a task distribution center, wherein the address change instruction comprises an abnormal mechanical arm identifier;

controlling a rotary roadway to transmit a bin to be sorted corresponding to the current task in an abnormal sorting workstation corresponding to the abnormal mechanical arm to a delivery roadway based on the abnormal mechanical arm identification;

sending a work station distribution request to the task distribution center, and receiving information of a target work station redistributed for the current task by the task distribution center based on the work station distribution request;

and controlling an ex-warehouse roadway to transmit the bin to be selected to a selecting roadway corresponding to the target workstation according to the information of the target workstation, and controlling the selecting roadway to transmit the bin to be selected to the target workstation.

In a fourth aspect, an embodiment of the present invention further provides a cargo picking apparatus configured in the cargo picking system provided in the embodiment of the first aspect, including:

the system comprises an address change instruction sending module, a picking position information acquiring module and a picking position information acquiring module, wherein the address change instruction sending module is used for generating an address change instruction based on an abnormal mechanical arm identifier when the mechanical arm of a picking work station is determined to be abnormal, and sending the address change instruction to a roadway control center so as to instruct the roadway control center to control a rotary roadway to transmit a bin to be picked corresponding to a current task at the abnormal picking work station to a delivery roadway;

and the target workstation redistribution module is used for redistributing available workstations as target workstations for the current tasks according to the available state of each picking workstation after receiving the workstation distribution request sent by the tunnel control center, and sending the information of the target workstations to the tunnel control center to indicate the tunnel control center to control the warehouse-out tunnel to transmit the to-be-picked bins to the picking tunnel corresponding to the target workstations, and control the picking tunnel to transmit the to-be-picked bins to the target workstations.

In a fifth aspect, an embodiment of the present invention further provides a cargo picking apparatus configured in the cargo picking system provided in the embodiment of the first aspect, including:

the system comprises an address change instruction receiving module, a task allocation center and a task processing module, wherein the address change instruction receiving module is used for receiving an address change instruction sent by the task allocation center, and the address change instruction comprises an abnormal mechanical arm identifier;

the bin to be sorted rotation control module is used for controlling a rotation roadway to transmit the bin to be sorted corresponding to the current task in the abnormal sorting work station corresponding to the abnormal mechanical arm to the delivery roadway based on the abnormal mechanical arm identification;

a workstation allocation request sending module, configured to send a workstation allocation request to the task allocation center, and receive information of a target workstation to which the task allocation center reallocates a current task based on the workstation allocation request;

and the target workstation transmission control module is used for controlling the delivery roadway to transmit the bin to be selected to the selecting roadway corresponding to the target workstation according to the information of the target workstation, and controlling the selecting roadway to transmit the bin to be selected to the target workstation.

In a sixth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements a cargo picking method as provided in the second aspect.

In a seventh aspect, 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, implements a cargo picking method as provided in the third aspect.

When the mechanical arm of the picking workstation is determined to be abnormal, the task distribution center generates an address change instruction based on the abnormal mechanical arm identification and sends the address change instruction to the roadway control center; the roadway control center controls the rotary roadway to transmit the bins to be sorted corresponding to the current task of the abnormal sorting work station to the delivery roadway, and sends work station allocation requests to the task allocation center; the task allocation center reallocates the available picking work stations as target work stations for the current task according to the available state of each picking work station, and sends the information of the target work stations to the roadway control center; and the roadway control center controls a picking roadway corresponding to the target workstation to transmit the bin to be picked to the target workstation. By adopting the technical scheme, the technical problem that the order delivery efficiency is influenced when the mechanical arm in the picking workstation is abnormal is solved, so that the influence on the delivery time of the current picked order can be reduced under the condition that the mechanical arm in the picking workstation is abnormal, and the delivery efficiency of the order is ensured.

Drawings

FIG. 1 is a block diagram of a cargo picking system of the prior art;

FIG. 2 is a block diagram of a cargo picking system according to one embodiment of the present invention;

fig. 3 is a flowchart of a cargo picking method according to a second embodiment of the present invention;

fig. 4 is a flow chart of a cargo picking method in a third embodiment of the invention;

fig. 5 is a flow chart of a cargo picking method in a fourth embodiment of the invention;

fig. 6 is a flow chart of a cargo picking method in the fifth embodiment of the invention;

fig. 7 is a flow chart of a cargo picking method in a sixth embodiment of the invention;

fig. 8 is a flow chart of a cargo picking method in a seventh embodiment of the invention;

fig. 9A is a flowchart of a cargo picking method according to an eighth embodiment of the invention;

fig. 9B is a flowchart of another cargo picking method according to the eighth embodiment of the present invention;

fig. 10 is a block diagram of a cargo picking apparatus according to a ninth embodiment of the present invention;

fig. 11 is a block diagram of a cargo picking apparatus according to a tenth 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 of the structures related to the present invention are shown in the drawings, not all of the structures.

In order to clearly describe the technical solutions of the embodiments of the present invention, first, referring to a structural diagram of a cargo picking system shown in fig. 1, a conventional cargo picking system will be described.

The cargo picking transport system as shown in fig. 1 includes a storage warehouse 110, an ex-warehouse roadway 120, a picking roadway 130, a picking workstation 140, a task distribution center 150, and a roadway control center 160. The storage warehouse 110, the delivery roadway 120, the picking roadway 130, and the picking workstation 140 are connected in sequence, and are used for conveying the bins carrying the goods in the storage warehouse 110 to the picking workstation 140. The picking workstation 140 is provided with a mechanical arm, the goods in each bin arriving at the picking workstation 140 are picked by the mechanical arm, and the goods after being picked can enter a warehouse-out stage and then are distributed to consumers through logistics.

The roadway control center 160 is respectively connected with the ex-warehouse roadway 120, the picking roadway 130, the picking workstations 140 and the task distribution center 150, and is used for sending task distribution requests to the task distribution center 150 when a plurality of pickable bins corresponding to each task exist in the ex-warehouse roadway 120; wherein one task corresponds to at least one pickable bin;

a task allocation center 150, configured to, after receiving the task allocation request, allocate picking workstations 140 to each sortable bin in units of tasks, and send information of the allocated picking workstations 140 to the roadway control center 160;

the roadway control center 160 is further configured to control the delivery of each sortable bin to the assigned picking workstation 140 via the outbound roadway 120 after receiving information from the assigned picking workstation 140.

Because in the prior art, when the mechanical arm in the picking workstation 140 is abnormal, so that the picking workstation 140 cannot pick normally, the arrived bin is usually picked in a mode of manually simulating the mechanical arm, the picking efficiency is greatly reduced, and the delivery efficiency of the goods is seriously influenced.

Based on the above, the technical scheme of each embodiment of the invention further improves the related content of goods picking.

Example one

Fig. 2 is a block diagram of a cargo picking system according to one embodiment of the present invention. The embodiment of the invention is suitable for the condition of picking the to-be-picked bin which arrives in the picking workstation under the condition that the picking workstation is abnormal and can not pick.

The cargo picking system as shown in figure 2, comprising: a repository 210, an ex-warehouse roadway 220, a picking roadway 230, a picking workstation 240, a rotary roadway 250, a task distribution center 260, and a roadway control center 270;

the warehouse-out roadway 220 is respectively connected with the storage warehouse 210 and at least two picking roadways 230; each picking roadway 230 is connected to at least one picking workstation 240; the rotary roadway 250 is connected with the warehouse-out roadway 220 and each picking roadway 230; the roadway control center 270 is connected with the ex-warehouse roadway 220, the picking roadway 230 and the turning roadway 250; the task distribution center 260 is connected with the roadway control center 270;

the task allocation center 260 is configured to generate an address change instruction based on an abnormal mechanical arm identifier when determining that a mechanical arm of the picking workstation 240 is abnormal, and send the address change instruction to the roadway control center 270; when receiving a work station allocation request sent by the tunnel control center 270, reallocating available picking work stations 240 as target work stations for the current task according to the available states of the picking work stations, and sending information of the target work stations to the tunnel control center 270;

the roadway control center 270 is configured to, when receiving the address change instruction, control the rotary roadway 250 to transmit a bin to be sorted corresponding to the current task located at the abnormal sorting workstation to the ex-warehouse roadway 220, and send a workstation allocation request to the task allocation center 260; when receiving the information of the target workstation sent by the task distribution center 260, controlling the delivery roadway 220 to transmit the bin to be picked to a picking roadway 230 corresponding to the target workstation, and controlling the picking roadway 230 corresponding to the target workstation to transmit the bin to be picked to the target workstation.

Illustratively, when the task distribution center 260 determines that the robotic arm in the current picking workstation 240 is abnormal, it will be determined that the picking workstation 240 will not be able to pick the goods normally, and therefore the situation of the abnormal picking workstation needs to be informed to the roadway control center 270 so as to call back the arrived bin to be picked to the delivery roadway 220 through the roadway control center 270. Optionally, the task distribution center 260 generates an address change instruction based on the abnormal mechanical arm identifier, and sends the address change instruction to the roadway control center 270. Illustratively, the change of address command at least includes an abnormal mechanical arm identifier for informing the roadway control center 270 which specific picking workstations 240 cannot normally perform picking work.

After receiving the address change instruction, the roadway control center 270 determines an abnormal picking workstation according to the abnormal mechanical arm identifier included in the address change instruction, and determines the current task in the abnormal picking workstation and the bin to be picked corresponding to each current task. The roadway control center 270 controls the rotary roadway 250 to transmit the bin to be sorted corresponding to the current task at the abnormal sorting work station to the delivery roadway 220. It will be appreciated that since the bins to be picked which are turned back from the abnormal picking workstation to the out-of-warehouse lane 220 cannot be picked due to abnormality of the currently allocated picking workstation, and therefore need to be newly allocated for the picking workstation, the lane control center 270 sends again a workstation allocation request to the task allocation center 260.

When the task distribution center 260 receives the work station distribution request sent by the tunnel control center 270, the available picking work stations 140 are redistributed to the current task as target work stations according to the available states of the picking work stations 140, and the information of the target work stations is sent to the tunnel control center 260.

And the roadway control center 260, when receiving the information of the target workstation sent by the task distribution center 260, controls the warehouse-out roadway 220 to transmit the bin to be picked to the picking roadway 230 corresponding to the target workstation, and controls the picking roadway 230 corresponding to the target workstation to transmit the bin to be picked to the target workstation, so that the mechanical arm arranged at the target workstation picks each bin to be picked corresponding to the current task.

When the mechanical arm of the picking workstation is determined to be abnormal, the task distribution center generates an address change instruction based on the abnormal mechanical arm identification and sends the address change instruction to the roadway control center; the method comprises the following steps that a roadway control center controls a rotary roadway to transmit a bin to be sorted corresponding to a current task of an abnormal sorting work station to a delivery roadway, and sends a work station distribution request to a task distribution center; the task allocation center reallocates available picking workstations as target workstations for the current task according to the available state of each picking workstation, and sends the information of the target workstations to the roadway control center; and the roadway control center controls a picking roadway corresponding to the target workstation to transmit the bin to be picked to the target workstation. By adopting the technical scheme, the technical problem that the order delivery efficiency is influenced when the mechanical arm in the picking workstation is abnormal is solved, so that the influence on the delivery time of the current picked order can be reduced under the condition that the mechanical arm in the picking workstation is abnormal, and the delivery efficiency of the order is ensured.

On the basis of the technical solutions of the foregoing embodiments, further, the set ex-warehouse lane 220 includes a first ex-warehouse lane and at least two second ex-warehouse lanes; the first delivery roadway is connected to the repository 210 and at least two second delivery roadways, each of which is connected to at least two picking roadways 230.

According to the embodiment of the invention, the delivery roadway is set to be of a structure comprising the first delivery roadway and at least two second delivery roadways, the first delivery roadway is connected with the storage roadway and the at least two second delivery roadways, and each second delivery roadway is connected with the at least two picking roadways, so that the second delivery roadway is used as a buffer between the first delivery roadway and the picking roadways, and the technical effect of effectively avoiding low bin conveying efficiency caused by blockage of bins to be picked in the conveying process is achieved. Set up linking to each other of first delivery tunnel and two at least second delivery tunnels simultaneously, set up second delivery tunnel and two at least tunnels of waiting to select and link to each other, reached the technical effect of task in each sorting workstation of balanced distribution, improved the transmission efficiency of the workbin of waiting to select simultaneously, and then improved the efficiency of selecting of goods in the workbin of waiting to select.

On the basis of the technical solutions of the foregoing embodiments, optionally, the rotary roadway 250 is connected with the first ex-warehouse roadway and/or the second ex-warehouse roadway; and the roadway control center 270 is used for controlling the rotary roadway 250 to transmit the bin to be sorted to the first delivery roadway or a second delivery roadway corresponding to the abnormal sorting workstation when the mechanical arm of the sorting workstation 140 is determined to be abnormal.

In the optional embodiment of the invention, the rotary roadway is connected with the first delivery roadway and/or the second delivery roadway, and the roadway control center controls the rotary roadway to rotate the bin to be sorted from the abnormal sorting workstation to the first delivery roadway or the second delivery roadway, so that the following technical effects are achieved: the selection space of the destination of the rotation of the bin to be picked is increased, the balanced distribution of the picking tasks executed by each available picking workstation when a large number of picking workstations are abnormal is effectively ensured, and the picking efficiency is further improved.

In an optional technical scheme of the embodiment of the invention, the rotary roadway is controlled by the roadway control center to transmit the bin to be sorted to the first delivery roadway, so that the beneficial effect of increasing the selection space of the sorting work station available for task redistribution of the bin to be sorted is achieved; the rotary roadway is controlled by the roadway control center to transmit the bin to be selected to a second ex-warehouse roadway corresponding to the abnormal selecting workstation, so that the following beneficial effects are achieved: the conveying time of the abnormal picking work station to-be-picked bin during rotation is shortened, the goods picking efficiency of the to-be-picked bin is improved, the calculation amount of task redistribution performed by the task distribution center is reduced, and the memory resource is saved.

On the basis of the technical solutions of the above embodiments, optionally, at least one cache roadway is set in each picking workstation;

each picking roadway extends to one end of the corresponding picking workstation 240 and is connected with at least one cache roadway in the corresponding picking workstation 240; the rotary roadway 250 is connected with each cache roadway;

and the roadway control center 270 is configured to, when it is determined that the mechanical arm of the picking workstation 240 is abnormal, control the rotation roadway 250 to transmit the bin to be picked from the cache roadway of the abnormal picking workstation to the warehouse-out roadway 220.

It can be understood that when a plurality of robotic arms are arranged in the picking workstation 240 for picking, or the picking capability of the robotic arms is high, synchronous picking of the bins to be picked carried in the plurality of cache lanes can be realized by arranging a plurality of cache lanes in the picking workstation 240 with a strong picking capability.

Correspondingly, the rotary roadway 250 in the picking workstation 240 provided with the buffer roadway is connected with each buffer roadway, and is used for conveying the bins to be picked carried in the buffer roadway to the delivery roadway 220 through the rotary roadway 250 when the sorting workstation 240 cannot work normally due to the abnormality of each mechanical arm in the picking workstation 240. Exemplarily, the system can be turned to the first ex-warehouse roadway or the second ex-warehouse roadway.

It should be noted that each roadway may be an annular roadway; each annular roadway can be an enclosed roadway and is used for circularly conveying the bins to be sorted in the annular roadway when the conveying conditions are not met and conveying the bins to be sorted to other roadways when the conveying conditions are met; or each annular tunnel can be a non-closed tunnel and used for stopping the conveying of the to-be-sorted bins when the conveying conditions are not met and conveying the to-be-sorted bins to other tunnels when the conveying conditions are met.

In an optional embodiment of the invention, at least one cache roadway is arranged in the picking work stations, so that the beneficial effect of evenly distributing the picking tasks according to the picking capacity of each picking work station is achieved, and the picking efficiency of the goods in the bin to be picked is improved through the effective distribution of the tasks.

In an optional embodiment of the invention, a rotary roadway is arranged at a picking workstation provided with a cache roadway and is connected with the cache roadway, and when the picking workstation cannot pick the picking work station normally, the rotary roadway is controlled by a roadway control center to transmit all the bins to be picked bearing the cache roadway to a delivery roadway, so that the beneficial effect of effective rotation of the bins to be picked reaching the picking workstation when the picking workstation with higher picking capacity cannot pick the picking work station normally is achieved, and the picking efficiency of the bins to be picked is improved through redistribution of the picking workstation of the bins to be picked.

Example two

Fig. 3 is a flowchart of a cargo picking method according to a second embodiment of the present invention. The embodiment of the invention is suitable for the condition of picking the to-be-picked bin which arrives in the picking workstation under the condition that the picking workstation is abnormal and can not pick. The method is executed by a goods sorting device, which is implemented by software and/or hardware and is specifically configured in the task distribution center included in the goods sorting system provided in the technical solutions of the above embodiments.

A method of picking cargo as shown in figure 3, comprising:

s310, when the mechanical arm of the picking work station is determined to be abnormal, an address change instruction is generated based on the abnormal mechanical arm identification and is sent to a roadway control center to instruct the roadway control center to control a rotary roadway to transmit a bin to be picked corresponding to the current task of the abnormal picking work station to a delivery roadway.

For example, the mechanical arm abnormality of the picking workstation is determined, and the abnormal mechanical arm directly sends the mechanical arm abnormality to the task distribution center to inform the task distribution center that the picking task cannot be processed due to the mechanical arm abnormality in the current picking workstation; the abnormal mechanical arm can send the abnormal condition of the mechanical arm to a mechanical arm management center, and the mechanical arm management center reports the abnormal condition to a task distribution center; the method can also be used for determining that the mechanical arm of the corresponding picking workstation is abnormal under the condition that the task distribution center or the mechanical arm management center cannot carry out interactive communication with the mechanical arm within a set time period; the mechanical arm abnormality information input by the user can be received, and the mechanical arm abnormality of the corresponding picking workstation is determined according to the received mechanical arm abnormality information.

Illustratively, when the mechanical arm of the picking work station is determined to be abnormal, an address change instruction is generated based on the abnormal mechanical arm identification, and the address change instruction is sent to the roadway control center to inform the roadway control center that the picking work station corresponding to the current abnormal mechanical arm is unavailable due to the abnormal mechanical arm, so that a bin to be picked in the abnormal picking work station corresponding to the abnormal mechanical arm needs to be rotated to a delivery roadway through a rotation roadway, and the target work station is allocated for a task corresponding to the bin to be picked again.

As can be understood, the address change instruction includes an abnormal mechanical arm identifier, so that the roadway control center can find the information of the corresponding abnormal picking workstation and each bin to be picked which is allocated to the abnormal picking workstation through the abnormal mechanical arm identifier; or the address change instruction comprises information of an abnormal picking workstation corresponding to the abnormal mechanical arm identification, so that the roadway control center can determine each bin to be picked which is distributed to the abnormal picking workstation through the information of the abnormal picking workstation; or the address change instruction comprises information of the abnormal picking workstation and information of a current task allocated to the abnormal picking workstation, so that the roadway control center can search each bin to be picked allocated to the abnormal picking workstation through the information of the current task; or the address change instruction comprises information of the abnormal picking workstation, information of the current task allocated to the abnormal picking workstation and information of each bin to be picked corresponding to the current task, so that the roadway control center can directly obtain the information of the bins to be picked which needs to be transmitted through the rotary roadway according to the received address change instruction.

Correspondingly, the roadway control center determines the information of the abnormal picking workstation and the bin to be picked which needs to be subjected to rotary transmission through the received address change instruction; and determining a target rotary roadway needing to work according to the information of the abnormal picking workstation, and transmitting each bin to be picked to a delivery roadway by controlling the target rotary roadway.

S320, after receiving the work station allocation request sent by the tunnel control center, reallocating available work stations as target work stations for the current task according to the available state of each picking work station, and sending the information of the target work stations to the tunnel control center to indicate the tunnel control center to control the warehouse-out tunnel to transmit the bins to be picked to the picking tunnel corresponding to the target work stations, and controlling the picking tunnel to transmit the bins to be picked to the target work stations.

It can be understood that, after the tunnel control center turns the bins to be picked back to the delivery tunnel, the picking workstations allocated to the bins to be picked cannot pick the bins, and therefore, the workstations need to be reallocated again to the current tasks corresponding to the bins to be picked. Therefore, when the roadway control center controls the target rotary roadway to rotate the bins to be sorted, or after each bin to be sorted is rotated to the delivery roadway, the work station allocation request is sent to the task allocation center, so that the task allocation center allocates the target work stations to the bins to be sorted.

And after receiving the work station allocation request, reallocating the available work stations as target work stations for the current task according to the available states of all the picking work stations. The available state of the picking workstation is associated with the mechanical arm, and when the mechanical arm in the picking workstation is abnormal, the picking workstation is in an unavailable state; the picking station may be in use when its robotic arm is available for normal picking.

After the target work station is reallocated for the current task corresponding to the bin to be picked, the tunnel control center is required to assist in conveying each bin to be picked to the target work station, so that the task allocation center can send the information of the target work station to the tunnel control center. And the roadway control center transmits each bin to be sorted to a sorting roadway corresponding to the target workstation based on the received information of the target workstation, and transmits each bin to be sorted to the target workstation by controlling the sorting roadway corresponding to the target workstation, so that a mechanical arm in the target workstation carries out sorting operation on each bin to be sorted arriving at the target workstation.

When the task distribution center determines that the mechanical arm of the picking workstation is abnormal, the embodiment of the invention generates an address change instruction based on the abnormal mechanical arm identifier and sends the address change instruction to the roadway control center; after receiving a work station allocation request sent by a roadway control center, reallocating available work stations as target work stations for current tasks according to the available states of all picking work stations, and sending information of the target work stations to the roadway control center. According to the technical scheme, the rotation operation of the to-be-selected bin and the redistribution of the target work station are carried out on the task corresponding to the to-be-selected bin, the rotation transmission from the abnormal selection work station to the ex-warehouse roadway of the to-be-selected bin is realized, and the to-be-selected bin is automatically selected.

EXAMPLE III

Fig. 4 is a flowchart of a cargo picking method according to a third embodiment of the present invention. The embodiment of the invention carries out subdivision optimization on the basis of the technical scheme of each embodiment.

Further, the method is characterized in that the step of generating the address change instruction based on the abnormal mechanical arm identifier when the mechanical arm of the picking workstation is determined to be abnormal is detailed into the step of generating the address change instruction based on the abnormal mechanical arm identifier and the available state of each picking workstation when the mechanical arm of the picking workstation is determined to be abnormal, so that the method is suitable for the condition that the delivery roadway in the goods picking system comprises a first delivery roadway and a second delivery roadway, and the roadway control center can select the rotary roadway corresponding to the first delivery roadway or the second delivery roadway based on the available state of each picking workstation.

Further, the method comprises the steps of 'reallocating available workstations to the current task as target workstations according to the available states of all the picking workstations' and 'refining to' reallocating available workstations to the current task as target workstations according to the available states and the workstation attributes of all the picking workstations; the workstation attributes comprise at least one of picking type, task number, bin number and workstation identification, so that a redistribution mechanism of the target picking workstation is perfected, and balanced distribution of picking tasks in the picking workstation is realized.

A method of picking cargo as shown in figure 4, comprising:

s410, when the mechanical arm of the picking work station is determined to be abnormal, an address change instruction is generated based on the abnormal mechanical arm identification and the available state of each picking work station, the address change instruction is sent to a roadway control center, and the roadway control center is instructed to control a rotary roadway to transmit the bin to be picked corresponding to the current task located in the abnormal picking work station to a delivery roadway.

Specifically, when the mechanical arm of the picking workstation is determined to be abnormal, an address change instruction is generated based on the abnormal mechanical arm identification and the available state of each picking workstation, and the address change instruction is sent to the roadway control center. After receiving the address change instruction, the roadway control center determines an abnormal picking workstation and each bin to be picked which is transmitted to the abnormal picking workstation according to the abnormal mechanical arm identification; and the roadway control center is also used for determining that the bin to be sorted is turned to a second ex-warehouse roadway corresponding to the abnormal sorting workstation or directly turned to a first ex-warehouse roadway according to the available state of each sorting workstation. It will be appreciated that in order to reduce the impact on the picking efficiency of the bins to be picked due to anomalies in the picking station, it is preferable to swivel the bins to be picked to a second outbound lane corresponding to the anomalous picking station.

S420, after receiving the workstation allocation request sent by the tunnel control center, reallocating available workstations as target workstations according to the available states and the workstation attributes of the picking workstations, and sending the information of the target workstations to the tunnel control center to indicate the tunnel control center to control the warehouse-out tunnel to transmit the bin to be picked to the picking tunnel corresponding to the target workstations, and controlling the picking tunnel to transmit the bin to be picked to the target workstations.

Illustratively, depending on the availability status and workstation attributes of the picking workstations, the reassignment of the available workstation for the current task as the target workstation may be: redistributing the available workstations as target workstations for the current task according to the available state and workstation attributes of each picking workstation; wherein the workstation attributes include at least one of a pick type, a number of tasks, a number of bins, and a workstation identification.

The task number comprises the current assignable task number or the correlation number of the current assignable task number; and/or the bin number comprises the current assignable bin number, or an associated number of current assignable bin numbers. For example, the associated number of currently allocable task numbers may be the total number of tasks that the picking workstation can handle and the number of tasks that have been allocated. For example, the associated number of currently dispensable bins may be the number of dispensable bins of the picking workstation and the number of dispensed bins.

The picking type may be understood to be the type of picking service provided by the picking station, for example, picking of single items or picking of multiple items. The single goods picking can be understood as that one group of picking operation only comprises one picking action, and each group of corresponding picking operation only picks one piece of goods; multiple item picking may be understood as a group of picking operations comprising at least two picking actions, a respective group of picking operations corresponding to picking multiple items.

For example, the assignment of the target workstation based on the workstation identification may be based on a priority based on the workstation identification.

It should be noted that, when the target workstation is allocated according to the available state of each picking workstation and the workstation attributes, when the workstation attributes include at least two attribute information, the priorities of the attribute information may be set as needed, then the picking workstations are sequentially screened according to the priorities of the attribute information, and finally the target workstation is determined to perform task allocation.

It can be understood that when the roadway control center determines that the second ex-warehouse roadway corresponding to the abnormal picking workstation comprises other available picking workstations, the roadway control center directly controls the corresponding rotary roadway to rotate each bin to be picked to the second ex-warehouse roadway. And meanwhile, when the tunnel control center sends a work station distribution request to the task distribution center, the task distribution center directly distributes the target work stations according to the available states and the work station attributes of all the picking work stations corresponding to the second ex-warehouse tunnel.

In an optional embodiment of the invention, the available states of all picking workstations are added in the generation process of the address change instruction, so that the roadway control center can select the rotary roadway according to the address change instruction after receiving the address change instruction, and the following beneficial effects are achieved: under the condition that the ex-warehouse roadway comprises a first ex-warehouse roadway and a second ex-warehouse roadway, the roadway control center is convenient to select the rotary roadway corresponding to the first ex-warehouse roadway or the second ex-warehouse roadway, and the selection space for selecting the rotary destination of the bin to be selected is increased.

In another optional embodiment of the invention, the following beneficial effects are achieved by adding workstation attributes in the reallocation process of the target workstation of the current task: when the current task corresponding to each bin to be sorted is redistributed to the target work station, the multi-aspect attributes of the sorting work station can be balanced, the tasks distributed in each sorting work station are more balanced and reasonable, and then the sorting efficiency of goods in the bins to be sorted is improved.

Example four

Fig. 5 is a flowchart of a cargo picking method according to a fourth embodiment of the present invention. The embodiment of the invention carries out additional optimization on the basis of the technical scheme of each embodiment.

Further, after the information of the target workstation is sent to the tunnel control center, additionally receiving a source bit allocation request sent by the tunnel control center, and acquiring the number of bins of each cache tunnel in the target workstation according to a current task identifier contained in the source bit allocation request; according to the workbin quantity of each buffer storage roadway, the target source position is distributed, the target source position is sent to the roadway control center, the indication is carried out by the roadway control center, the sorting roadway is used for transmitting the to-be-sorted workbin to the buffer storage roadway corresponding to the target source position, the condition that the goods sorting system comprises the buffer storage roadway is suitable for, the beneficial effect that the sorting task is evenly distributed according to the sorting capacity of each sorting work station is achieved, the sorting efficiency of goods in the to-be-sorted workbin is improved through effective distribution of the task, meanwhile, effective rotation of the to-be-sorted workbin borne by the buffer storage roadway is achieved, the sorting efficiency of the to-be-sorted workbin is improved through redistribution of the sorting work station of the to-be-sorted workbin.

A method of picking cargo as shown in figure 5 comprising:

s510, when determining that the mechanical arm of the picking work station is abnormal, generating an address change instruction based on the abnormal mechanical arm identification, and sending the address change instruction to a roadway control center to indicate the roadway control center to control a rotary roadway to transmit a bin to be picked corresponding to the current task located in the abnormal picking work station to a delivery roadway.

S520, after receiving the work station distribution request sent by the roadway control center, redistributing available work stations as target work stations for the current task according to the available states of all picking work stations, sending the information of the target work stations to the roadway control center to indicate the roadway control center to control the ex-warehouse roadway to transmit the bins to be picked to the picking roadway corresponding to the target work stations, and controlling the picking roadway to transmit the bins to be picked to the target work stations.

S530, receiving a source bit allocation request sent by the tunnel control center, and acquiring the number of bins of each cache tunnel in the target workstation according to a current task identifier contained in the source bit allocation request.

When a picking workstation in the goods picking system comprises a plurality of cache tunnels, the cache tunnels in the target workstation need to be allocated to the bins to be picked.

And after the roadway control center controls the bin to be sorted to be transmitted to a second ex-warehouse roadway corresponding to the target workstation, the roadway control center sends a source position allocation request to the task allocation center. And after receiving the source bit allocation request, the task allocation center acquires the number of the bins of each cache roadway in the target workstation allocated by the current task identifier according to the current task identifier contained in the source bit allocation request. The number of bins may be the number of bins that can be allocated to each cache lane, or the number of bins associated. Wherein the bin associated number may be a maximum number of bins assignable and a number of bins assigned.

And S540, distributing target source bits according to the number of bins of each cache lane, and sending the target source bits to the lane control center so as to instruct the lane control center to control the picking lane to transmit the bins to be picked to the cache lane corresponding to the target source bits.

And the task allocation center allocates target source bits according to the number of the bins of each cache lane and sends the information of the target source bits to the lane control center. The target source bits correspond to the cache lanes one to one.

And after the roadway control center receives the target source position, controlling the picking roadway to transmit the bin to be picked to the cache roadway corresponding to the target source position, so that the bin to be picked is picked by the mechanical arm arranged in the target workstation in the corresponding cache roadway.

An optional embodiment of the invention obtains the bin number of each cache tunnel in a target workstation by receiving a source bit allocation request sent by a tunnel control center and according to a current task identifier contained in the source bit allocation request; and distributing target source bits according to the number of bins of each cache lane, and sending the target source bits to the lane control center so as to instruct the lane control center to control the picking lane to transmit the bins to be picked to the cache lane corresponding to the target source bits. By adopting the technical scheme, the goods sorting method can be suitable for the condition that the goods sorting system comprises the cache roadway, and the beneficial effect of evenly distributing the sorting tasks according to the sorting capacity of each sorting work station is achieved, so that the sorting efficiency of the goods in the bin to be sorted is improved through effective distribution of the tasks, meanwhile, the effective rotation of the bin to be sorted borne by the cache roadway is realized, and the sorting efficiency of the bin to be sorted is improved through redistribution of the sorting work station of the bin to be sorted.

On the basis of the technical solutions of the foregoing embodiments, further, in order to facilitate next allocation of the target workstation, it is preferable to add the following operations after sending the information of the target workstation to the roadway control center: and updating the workstation attributes of the target workstation according to the number of tasks and/or the number of bins contained in the target workstation.

According to an optional embodiment of the invention, after the target workstation is allocated, the workstation attribute of the target workstation is updated according to the task number and/or the bin number currently contained in the target workstation, so that the task allocation center can perform normal allocation of the next target workstation according to the updated workstation attribute.

On the basis of the technical solutions of the above embodiments, further, in order to facilitate the next assignment of the target workstation, it is preferable to add the following operations after determining that the robot arm of the picking workstation is abnormal: and updating the available state of the corresponding abnormal picking workstation based on the mechanical arm identification of the abnormal mechanical arm.

In another optional embodiment of the invention, after determining that the mechanical arm of the picking work station is abnormal, the available state of the abnormal picking work station corresponding to the abnormal mechanical arm is updated based on the mechanical arm identification of the abnormal mechanical arm, so that the task distribution center can perform normal distribution of the next target work station according to the updated available state of each picking work station.

EXAMPLE five

Fig. 6 is a flowchart of a cargo picking method in the fifth embodiment of the present invention. The embodiment of the invention is suitable for the condition of picking the to-be-picked bin which arrives in the picking workstation under the condition that the picking workstation is abnormal and can not pick. The method is executed by a cargo picking device, which is implemented by software and/or hardware and is specifically configured in the roadway control center included in the cargo picking system provided in the technical solutions of the above embodiments.

A method of picking cargo as shown in figure 6, comprising:

s610, receiving an address change instruction sent by a task distribution center, wherein the address change instruction comprises an abnormal mechanical arm identifier.

Specifically, when the task distribution center determines that the mechanical arm of the picking workstation is abnormal, an address change instruction is generated based on the abnormal mechanical arm identifier, the address change instruction is sent to the roadway control center, and after the address change instruction sent by the task distribution center is received, the abnormal mechanical arm identifier is obtained through analysis.

And S620, controlling the rotary roadway to convey the bin to be sorted corresponding to the current task in the abnormal sorting work station corresponding to the abnormal mechanical arm to a delivery roadway based on the abnormal mechanical arm identification.

Determining a corresponding abnormal picking workstation according to the abnormal mechanical arm identifier; or directly analyzing and acquiring an abnormal picking workstation corresponding to the abnormal mechanical arm identification contained in the address change instruction; or analyzing and acquiring abnormal mechanical arm identifications contained in the address change instruction and a mechanical arm list corresponding to each picking work station, and searching and acquiring the abnormal picking work station corresponding to the abnormal mechanical arm identification in the mechanical arm list according to the abnormal mechanical arm identifications. And the roadway control center controls each bin to be sorted corresponding to the current task in the abnormal sorting workstation to be transmitted to the delivery roadway.

S630, sending a work station distribution request to the task distribution center, and receiving information of a target work station redistributed to the current task by the task distribution center based on the work station distribution request.

Correspondingly, after the task allocation center receives the work station allocation request, available work stations are reallocated for the current task as target work stations according to the available state of each picking work station. The available state of the picking workstation is associated with the mechanical arm, and when the mechanical arm in the picking workstation is abnormal, the picking workstation is in an unavailable state; the picking station may be in use when its robotic arm is available for normal picking. After the task distribution center redistributes the target work station for the current task corresponding to the bin to be picked, the tunnel control center is needed to assist in conveying each bin to be picked to the target work station, so that the task distribution center can send the information of the target work station to the tunnel control center.

And S640, controlling an ex-warehouse roadway to transmit the bin to be selected to a selecting roadway corresponding to the target workstation according to the information of the target workstation, and controlling the selecting roadway to transmit the bin to be selected to the target workstation.

And the tunnel control center transmits each bin to be sorted to a sorting tunnel corresponding to the target workstation based on the received information of the target workstation sent by the task distribution center, and transmits each bin to be sorted to the target workstation by controlling the sorting tunnel corresponding to the target workstation, so that a mechanical arm in the target workstation carries out sorting operation on each bin to be sorted reaching the target workstation.

The embodiment of the invention receives an address change instruction sent by a task distribution center through a roadway control center, wherein the address change instruction comprises an abnormal mechanical arm identifier, and controls a rotary roadway to transmit a bin to be sorted corresponding to a current task in an abnormal sorting work station corresponding to the abnormal mechanical arm to a delivery roadway based on the abnormal mechanical arm identifier; the method comprises the steps of sending a work station distribution request to a task distribution center, receiving information of a target work station redistributed to a current task by the task distribution center based on the work station distribution request, controlling an ex-warehouse roadway to transmit a bin to be picked to a picking roadway corresponding to the target work station according to the information of the target work station sent by the task distribution center, and controlling the picking roadway to transmit the bin to be picked to the target work station. According to the technical scheme, the rotation operation of the to-be-selected bin and the redistribution of the target work station are carried out on the task corresponding to the to-be-selected bin, the rotation transmission from the abnormal selection work station to the ex-warehouse roadway of the to-be-selected bin is realized, and the to-be-selected bin is automatically selected.

EXAMPLE six

Fig. 7 is a flowchart of a cargo picking method according to a sixth embodiment of the present invention. The embodiment of the invention carries out subdivision optimization on the basis of the technical scheme of each embodiment.

Further, the address change instruction is refined into that the address change instruction also comprises the available state of each picking work station, correspondingly, the operation is refined into that a rotary tunnel and a rotary target tunnel corresponding to the abnormal mechanical arm identifier are determined according to the abnormal mechanical arm identifier and the available state of each picking work station, wherein the rotary tunnel is controlled to transmit a bin to be picked corresponding to the current task in the abnormal picking work station corresponding to the abnormal mechanical arm to a delivery tunnel based on the abnormal mechanical arm identifier; the rotary target roadway comprises a first ex-warehouse roadway or a second ex-warehouse roadway; control the gyration tunnel will wait to select the workbin and transmit extremely gyration target tunnel to the condition that the tunnel of leaving warehouse in the system is selected to the goods that is applicable to includes first tunnel of leaving warehouse and second tunnel of leaving warehouse makes tunnel control center can carry out the first tunnel of leaving warehouse or the second tunnel of leaving warehouse of the corresponding gyration of tunnel of choosing warehouse based on each available state of selecting the workstation.

Further, controlling an ex-warehouse roadway to transmit the bin to be sorted to a sorting roadway corresponding to the target workstation according to the information of the target workstation, and controlling the sorting roadway to transmit the bin to be sorted to the target workstation to be refined, if the rotary target roadway is a first ex-warehouse roadway, controlling the first ex-warehouse roadway to transmit the bin to be sorted to a second ex-warehouse roadway corresponding to the target workstation according to the information of the target workstation; control the second tunnel of leaving warehouse will the bin of waiting to select transmits to the tunnel of selecting that corresponds with target workstation, and control the tunnel of selecting will the bin of waiting to select transmits to target workstation "to when the gyration tunnel will wait to select the bin and transmit to first tunnel of leaving warehouse or second tunnel of leaving warehouse, perfect and will each bin of waiting to select carries out the transmission mechanism that transmits to the target workstation of redistribution.

A method of picking cargo as shown in figure 7, comprising:

and S710, receiving an address change instruction sent by the task distribution center, wherein the address change instruction comprises an abnormal mechanical arm identifier and the available state of each picking workstation.

Specifically, when determining that the mechanical arms of the picking work stations are abnormal, the task allocation center generates an address change instruction based on the abnormal mechanical arm identification and the available state of each picking work station, and sends the address change instruction to the roadway control center.

Correspondingly, the tunnel control center receives the address change instruction sent by the task distribution center, and analyzes and obtains the address change instruction including the abnormal mechanical arm identification and the available state of each picking workstation. Optionally, after receiving the address change instruction, the roadway control center may determine the abnormal picking workstation and each bin to be picked that has been transmitted to the abnormal picking workstation according to the abnormal mechanical arm identifier.

S720, determining a rotary roadway and a rotary target roadway corresponding to the abnormal mechanical arm identification according to the abnormal mechanical arm identification and the available state of each picking workstation; the rotary target roadway comprises a first ex-warehouse roadway or a second ex-warehouse roadway.

And the roadway control center determines to turn the bin to be sorted to a second ex-warehouse roadway corresponding to the abnormal sorting workstation or directly turn the bin to be sorted to a first ex-warehouse roadway according to the available state of each sorting workstation. It will be appreciated that in order to reduce the impact on the picking efficiency of the bins to be picked due to anomalies in the picking station, it is preferable to swivel the bins to be picked to a second outbound lane corresponding to the anomalous picking station.

S730, sending a work station distribution request to the task distribution center, and receiving information of a target work station redistributed to the current task by the task distribution center based on the work station distribution request.

After the roadway control center rotates the bins to be sorted to the ex-warehouse roadway, the sorting workstations allocated to the bins to be sorted cannot be used for sorting, and therefore the workstations need to be reallocated again for the current tasks corresponding to the bins to be sorted. Therefore, when the roadway control center controls the target rotary roadway to rotate the bins to be sorted, or after each bin to be sorted is rotated to the delivery roadway, the work station allocation request is sent to the task allocation center, so that the task allocation center allocates the target work stations to the bins to be sorted.

Correspondingly, after receiving the work station allocation request, the task allocation center reallocates the target work stations to the current tasks corresponding to the bins to be picked. For example, the available workstations may be reallocated for the current task as target workstations based on the availability status and workstation attributes of the picking workstations; wherein the workstation attributes include at least one of a pick type, a number of tasks, a number of bins, and a workstation identification.

The task number comprises the current assignable task number or the correlation number of the current assignable task number; and/or the bin number comprises the current assignable bin number, or an associated number of current assignable bin numbers. For example, the associated number of currently allocable task numbers may be the total number of tasks that the picking workstation can handle and the number of tasks that have been allocated. For example, the number of currently associated dispensable bins may be the number of dispensable bins of the picking workstation and the number of dispensed bins.

The picking type may be understood to be the type of picking service provided by the picking station, for example, picking of single items or picking of multiple items. The picking of the single goods can be understood as that one group of picking operation only comprises one picking action, and each corresponding group of picking operation only correspondingly picks one goods; multiple item picking may be understood as a group of picking operations comprising at least two picking actions, a respective group of picking operations corresponding to picking multiple items.

For example, assignment of a target workstation based on workstation identification may be based on a priority based on workstation identification.

It should be noted that, when the target workstation is allocated according to the available state of each picking workstation and the workstation attribute, when the workstation attribute includes at least two attribute information, the priority of each attribute information may be set as needed, then the picking workstations are sequentially screened according to the priority of each attribute information, and finally the target workstation is determined to perform task allocation.

And S740, if the rotary target roadway is a first ex-warehouse roadway, controlling the first ex-warehouse roadway to transmit the bin to be selected to a second ex-warehouse roadway corresponding to the target workstation according to the information of the target workstation.

It can be understood that when the bin to be sorted is rotated to the first ex-warehouse roadway, the first ex-warehouse roadway is controlled to transmit the bin to be sorted to the second ex-warehouse roadway corresponding to the target workstation according to the information of the target workstation redistributed by the task distribution center; when the bin to be sorted directly turns to the second ex-warehouse roadway, the task allocation center allocates the target work stations according to the available states and the work station attributes of the sorting work stations corresponding to the second ex-warehouse roadway.

S750, controlling the second warehouse-out roadway to transmit the bin to be selected to a selecting roadway corresponding to the target workstation, and controlling the selecting roadway to transmit the bin to be selected to the target workstation.

In an optional embodiment of the invention, the available state of each picking workstation is added in the generation process of the address change instruction, and the roadway control center performs selection and transmission control on the rotary roadway according to the abnormal mechanical arm identifier contained in the address change instruction and the available state of each picking workstation, so that the following beneficial effects are achieved: under the condition that the ex-warehouse roadway comprises a first ex-warehouse roadway and a second ex-warehouse roadway, the roadway control center can conveniently select the rotary roadway corresponding to the first ex-warehouse roadway or the second ex-warehouse roadway, and the selection space for selecting the rotary destination of the bin to be selected is increased.

In another optional embodiment of the invention, the picking bin to be picked is transmitted to a picking tunnel of a target workstation and the transmission control of the corresponding target workstation are refined into that a first delivery tunnel is controlled to transmit the picking bin to be picked to a second delivery tunnel corresponding to the target workstation according to the information of the target workstation; and controlling the second warehouse-out roadway to transmit the bin to be selected to a selecting roadway corresponding to the target workstation, and controlling the selecting roadway to transmit the bin to be selected to the target workstation. By adopting the technical scheme, when the to-be-sorted bins are conveyed to the first delivery roadway or the second delivery roadway in the rotary roadway, a conveying mechanism for conveying the to-be-sorted bins to the redistributed target workstations is perfected.

EXAMPLE seven

Fig. 8 is a flowchart of a cargo picking method according to a seventh embodiment of the present invention. The embodiment of the invention carries out additional optimization and subdivision optimization on the basis of the technical scheme of each embodiment.

Further, after the 'bins to be picked are transmitted to the second ex-warehouse roadway corresponding to the target workstation', additionally 'transmitting a source position allocation request to the task allocation center and receiving target source positions corresponding to the bins to be picked fed back by the task allocation center'; correspondingly, "control will operate the picking tunnel will the workbin that waits to be selected transmits extremely target workstation" refines to "according to target source position, control the picking tunnel will wait to select the workbin and transmit extremely the buffer memory tunnel that target source position corresponds to be applicable to the condition that contains the buffer memory tunnel in the goods picking system, reached and picked the beneficial effect of task according to the balanced distribution of the ability of picking of each work station, and then improved the efficiency of picking of goods in waiting to select the workbin through the effective distribution of task, realized the effective gyration of waiting to select the workbin that the buffer memory tunnel bore simultaneously, and then through the redistribution of waiting to select the work station of picking the workbin, improve the efficiency of picking of waiting to select the workbin.

A method of picking cargo as shown in figure 8, comprising:

and S810, receiving an address change instruction sent by the task distribution center, wherein the address change instruction comprises an abnormal mechanical arm identifier and the available state of each picking workstation.

S820, determining a rotary roadway and a rotary target roadway corresponding to the abnormal mechanical arm identification according to the abnormal mechanical arm identification and the available state of each picking workstation; the rotary target roadway comprises a first ex-warehouse roadway or a second ex-warehouse roadway.

S830, sending a work station distribution request to the task distribution center, and receiving information of a target work station redistributed to the current task by the task distribution center based on the work station distribution request.

And S840, if the rotary target roadway is a first ex-warehouse roadway, controlling the first ex-warehouse roadway to transmit the bin to be selected to a second ex-warehouse roadway corresponding to the target workstation according to the information of the target workstation.

And S850, after the bin to be sorted is transmitted to the second ex-warehouse roadway corresponding to the target workstation, sending a source position allocation request to the task allocation center, and receiving target source positions corresponding to the bins to be sorted fed back by the task allocation center.

And after the bin to be sorted is transmitted to a second ex-warehouse roadway corresponding to the target workstation, the roadway control center sends a source position allocation request to the task allocation center. And after receiving the source bit allocation request, the task allocation center acquires the number of the bins of each cache roadway in the target workstation allocated by the current task identifier according to the current task identifier contained in the source bit allocation request. The number of bins may be the number of bins that can be allocated to each cache lane, or the number of associated bins. Wherein the bin associated number may be a maximum number of bins assignable and a number of bins assigned.

And the task allocation center also allocates target source bits according to the number of the bins of each cache lane and sends the information of the target source bits to the lane control center. The target source bits correspond to the cache lanes one to one.

And S860, controlling the second warehouse-out roadway to transmit the bin to be sorted to a sorting roadway corresponding to the target workstation.

And S870, controlling the picking roadway to transmit the bin to be picked to a cache roadway corresponding to the target source bit according to the target source bit.

After receiving the target source position of each bin to be sorted fed back by the task allocation center based on the source position allocation request, the roadway control center controls the sorting roadway to transmit the bin to be sorted to the cache roadway corresponding to the target source position according to the received target source position, so that the bin to be sorted in the corresponding cache roadway is sorted by the mechanical arm arranged in the target workstation.

According to an optional embodiment of the invention, after the picking bin is transmitted to the second ex-warehouse roadway corresponding to the target workstation, a source position allocation request is sent to the task allocation center, the target source position corresponding to each picking bin fed back by the task allocation center is received, and the picking roadway is controlled to transmit the picking bin to the cache roadway corresponding to the target source position according to the target source position. By adopting the technical scheme, the goods sorting method can be suitable for the condition that the goods sorting system comprises the cache roadway, and the beneficial effect of evenly distributing the sorting tasks according to the sorting capacity of each sorting work station is achieved, so that the sorting efficiency of the goods in the bin to be sorted is improved through effective distribution of the tasks, meanwhile, the effective rotation of the bin to be sorted borne by the cache roadway is realized, and the sorting efficiency of the bin to be sorted is improved through redistribution of the sorting work station of the bin to be sorted.

On the basis of the technical solutions of the above embodiments, the following operations are further added: and when the roadway of the bin to be sorted changes, updating the state address of each bin to be sorted according to the changed roadway of the bin to be sorted.

Wherein, waiting to select the hopper place tunnel change include at least: the first ex-warehouse roadway is transmitted to the second ex-warehouse roadway, the second ex-warehouse roadway is transmitted to a sorting roadway, the sorting roadway is transmitted to a cache roadway, the cache roadway is transmitted to a rotary roadway, the rotary roadway is transmitted to the first ex-warehouse roadway, the rotary roadway is transmitted to the second ex-warehouse roadway and the like. The status address of each bin to be picked comprises each roadway identification included by the goods picking system.

According to an optional embodiment of the invention, when the roadway of the bin to be sorted is changed, the status address of each bin to be sorted can be updated according to the information of the roadway after the bin to be sorted is changed, so that the roadway control center can track the status address of the bin to be sorted, and the interaction triggering between the roadway control center and the task distribution center and the transmission control of each roadway can be facilitated.

Example eight

Fig. 9A and 9B are flowcharts of a cargo picking method according to an eighth embodiment of the present invention, and the embodiment of the present invention provides a preferred implementation manner based on the technical solutions of the above embodiments.

One method of picking cargo as shown in fig. 9A includes:

s901, when the task distribution center determines that the mechanical arm of the current picking work station is abnormal, the available state of the picking work station corresponding to the abnormal mechanical arm is updated.

Specifically, the available state of the picking workstation corresponding to the abnormal mechanical arm is updated, and the use state of the current picking workstation is updated to the unavailable state.

And S902, sending the information of the abnormal picking work stations and the available state of each picking work station to a roadway control center.

And S903, determining a rotary target roadway by the roadway control center according to the available state of each picking work station contained in the second ex-warehouse roadway corresponding to the abnormal picking work station.

Specifically, if available picking workstations exist in all picking workstations included in a second ex-warehouse roadway corresponding to the abnormal picking workstation, determining the rotary target roadway as the second ex-warehouse roadway; and if no available picking workstation exists, determining the rotary target roadway as a first ex-warehouse roadway.

And S904A, if the rotary target roadway is the first delivery roadway, controlling the rotary roadway to transmit the bins to be sorted in the abnormal sorting workstation to the first delivery roadway, and changing the state addresses of the bins to be sorted.

Specifically, the status address of each bin to be sorted is changed from the abnormal sorting workstation to the first delivery roadway.

S905A, a work station distribution request is sent to the task distribution center.

S906A, the task distribution center distributes the target work station for the picking task corresponding to each bin to be picked according to the work station attribute and the available state of each picking work station, and updates the work station attribute corresponding to the target work station.

Wherein the workstation attributes include: pick type, number of tasks, number of bins, and workstation identification.

Specifically, an initial workstation corresponding to the current task is determined according to the picking type and the available state of the picking workstation; determining each candidate workstation according to the number of tasks and the number of bins in each initial workstation; and determining the target workstation according to the priority corresponding to the workstation identification of each candidate workstation.

And S907A, sending the information of the target workstation to a roadway control center.

And S908A, the lane control center controls the first ex-warehouse lane to transmit each bin to be sorted to the second ex-warehouse lane corresponding to the target workstation.

And S909, when each bin to be sorted is in the second ex-warehouse roadway, sending a source position request to the task allocation center, controlling the second ex-warehouse roadway to transmit the bin to be sorted to the sorting roadway corresponding to the target workstation, and changing the state address of each bin to be sorted.

S910, distributing target source bits to the current task according to the number of the bins of each source bit corresponding to the target workstation, and updating the number of the bins corresponding to the target source bits;

and S911, sending the information of the target source bit to a roadway control center.

And S912, the roadway control center controls the picking roadway to transmit each bin to be picked to the cache roadway corresponding to the target source position, and changes the state address of each bin to be picked.

When the turning target roadway is the second ex-warehouse roadway, referring to the flowchart of the cargo picking method shown in fig. 9B, only S904A to S908A are replaced with S904B to S907B.

And S904B, if the rotary target roadway is the first ex-warehouse roadway, sending a work station allocation request to the task allocation center.

S905B, the task allocation center allocates target work stations for the picking tasks corresponding to the bins to be picked according to the available states and work station attributes of the picking work stations corresponding to the second warehouse-out roadway, and updates the work station attributes corresponding to the target work stations.

And S906B, sending the information of the target workstation to a roadway control center.

S907B, the roadway control center controls the rotary roadway to transmit the bins to be sorted in the abnormal sorting work station to the second warehouse-out roadway, and the state addresses of the bins to be sorted are changed.

It should be noted that when the roadway where the bins to be sorted are located changes, the roadway control center changes the status addresses of the sorting bins. The tunnel entrance is provided with a scanning device for the identification of the bin to be sorted, when the bin to be sorted passes through, the scanning device is triggered to perform scanning operation, and the tunnel where the bin to be sorted is located can be determined to be changed after the scanning is determined and the identification of the bin to be sorted is successfully obtained.

Example nine

Fig. 10 is a structural diagram of a cargo picking apparatus according to a ninth embodiment of the present invention, which is suitable for picking a to-be-picked bin that has arrived at a picking station in a case where the picking station is abnormal and cannot pick the cargo. The device is implemented by software and/or hardware, and is specifically configured in the cargo picking system provided in the technical solutions of the above embodiments. Fig. 10 shows a cargo picking apparatus, which includes an address change instruction sending module 1010 and a target workstation reassigning module 1020.

The address change instruction sending module 1010 is configured to generate an address change instruction based on an abnormal mechanical arm identifier when determining that a mechanical arm of a picking workstation is abnormal, and send the address change instruction to a roadway control center so as to instruct the roadway control center to control a rotary roadway to transmit a bin to be picked corresponding to a current task located at the abnormal picking workstation to a delivery roadway;

target workstation redistribution module 1020 for receiving behind the workstation distribution request that tunnel control center sent, as target workstation for current task redistribution is available workstation according to each available state of selecting the workstation, and will target workstation's information send to tunnel control center, with the instruction tunnel control center control the warehouse exit tunnel will wait to select the workbin transmission to the selection tunnel that corresponds with target workstation, and control the selection tunnel will wait to select the workbin transmission extremely target workstation.

When the mechanical arm of the picking workstation is determined to be abnormal through the address change instruction sending module, the address change instruction is generated based on the abnormal mechanical arm identification and is sent to the roadway control center; and after the target workstation redistribution module receives a workstation distribution request sent by a tunnel control center, redistributing available workstations as target workstations for the current task according to the available state of each picking workstation, and sending the information of the target workstations to the tunnel control center. According to the technical scheme, the rotation operation of the to-be-selected bin and the redistribution of the target work station are carried out on the task corresponding to the to-be-selected bin, the rotation transmission from the abnormal selection work station to the ex-warehouse roadway of the to-be-selected bin is realized, and the to-be-selected bin is automatically selected.

Further, the address change instruction sending module 1010 includes:

and the address change instruction generating unit is used for generating an address change instruction based on the abnormal mechanical arm identification and the available state of each picking workstation.

Further, the target station reassignment module 1020 comprises:

the target workstation allocation unit is used for reallocating the available workstations as the target workstations for the current task according to the available state and the workstation attributes of each picking workstation; wherein the workstation attributes include at least one of a pick type, a number of tasks, a number of bins, and a workstation identification.

Further, the apparatus includes a workstation attribute update module configured to:

and after the information of the target workstation is sent to the roadway control center, updating the workstation attribute of the target workstation according to the number of tasks and/or the number of bins contained in the target workstation.

Further, the apparatus further includes an available state updating module configured to:

after determining that a robotic arm of a picking workstation is abnormal, updating an availability status of the corresponding abnormal picking workstation based on a robotic arm identification of the abnormal robotic arm.

Further, the apparatus includes a target source bit allocation module configured to:

after the information of the target workstation is sent to the tunnel control center, receiving a source bit allocation request sent by the tunnel control center, and acquiring the number of bins of each cache tunnel in the target workstation according to a current task identifier contained in the source bit allocation request;

distributing target source bits according to the number of bins of each cache lane, and sending the target source bits to the lane control center to instruct the lane control center to control the picking lane to transmit the bins to be picked to the cache lane corresponding to the target source bits.

The goods sorting device can execute the goods sorting method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects for executing the goods sorting method.

Example ten

Fig. 11 is a structural diagram of a cargo picking apparatus according to a tenth embodiment of the present invention, and the embodiment of the present invention is applied to a case where a picking work station is abnormal and cannot pick a cargo. The device is implemented by software and/or hardware, and is specifically configured in the cargo picking system provided in the technical solutions of the above embodiments. A cargo picking apparatus as shown in fig. 11 includes an address change instruction receiving module 1110, a bin to be picked swing control module 1120, a workstation assignment request sending module 1130, and a target workstation transfer control module 1140.

The address change instruction receiving module 1110 is configured to receive an address change instruction sent by a task distribution center, where the address change instruction includes an abnormal mechanical arm identifier;

a bin to be sorted rotation control module 1120, configured to control a rotation roadway to transmit a bin to be sorted, which corresponds to a current task in an abnormal sorting workstation corresponding to an abnormal mechanical arm, to a delivery roadway based on the abnormal mechanical arm identifier;

a workstation allocation request sending module 1130, configured to send a workstation allocation request to the task allocation center, and receive information of a target workstation that is reallocated for a current task by the task allocation center based on the workstation allocation request;

and the target workstation transmission control module 1140 is used for controlling a delivery roadway to transmit the bin to be picked to a picking roadway corresponding to the target workstation according to the information of the target workstation, and controlling the picking roadway to transmit the bin to be picked to the target workstation.

The method comprises the steps that an address change instruction sent by a task distribution center is received through an address change instruction receiving module, the address change instruction comprises an abnormal mechanical arm identifier, and a to-be-picked bin rotation control module controls a rotation roadway to transmit a to-be-picked bin corresponding to a current task in an abnormal picking workstation corresponding to the abnormal mechanical arm to a delivery roadway based on the abnormal mechanical arm identifier; the method comprises the steps that a work station distribution request sending module sends a work station distribution request to a task distribution center, receives information of a target work station redistributed for a current task by the task distribution center based on the work station distribution request, controls an ex-warehouse roadway to transmit a bin to be picked to a picking roadway corresponding to the target work station according to the information of the target work station sent by the task distribution center through a target work station transmission control module, and controls the picking roadway to transmit the bin to be picked to the target work station. According to the technical scheme, the rotation operation of the to-be-selected bin and the redistribution of the target work station are carried out on the task corresponding to the to-be-selected bin, the rotation transmission from the abnormal selection work station to the ex-warehouse roadway of the to-be-selected bin is realized, and the to-be-selected bin is automatically selected.

Furthermore, the address change instruction also comprises the available state of each picking workstation;

correspondingly, the bin to be picked swing control module 1120 is specifically configured to:

determining a rotary roadway and a rotary target roadway corresponding to the abnormal mechanical arm identification according to the abnormal mechanical arm identification and the available state of each picking workstation; the rotary target roadway comprises a first ex-warehouse roadway or a second ex-warehouse roadway;

and controlling the rotary roadway to convey the bin to be sorted to the rotary target roadway.

Further, the workstation allocation request sending module 1130 includes:

the first control unit is used for controlling the first delivery roadway to transmit the bin to be selected to a second delivery roadway corresponding to the target workstation according to the information of the target workstation when the rotary target roadway is the first delivery roadway;

and the second control unit is used for controlling the second warehouse-out roadway to transmit the to-be-selected bin to a selecting roadway corresponding to the target workstation, and controlling the selecting roadway to transmit the to-be-selected bin to the target workstation.

Further, the apparatus further comprises a source bit control module configured to:

after the bin to be picked is transmitted to a second ex-warehouse roadway corresponding to the target workstation, sending a source position allocation request to the task allocation center, and receiving target source positions corresponding to the bins to be picked fed back by the task allocation center;

accordingly, the target station transmission control module 1140 includes:

and the third control unit is used for controlling the picking roadway to transmit the bin to be picked to the cache roadway corresponding to the target source bit according to the target source bit.

Further, the apparatus further includes a status address changing module configured to:

and when the roadway of the to-be-selected bin is changed, updating the state address of each to-be-selected bin according to the changed roadway of the to-be-selected bin.

EXAMPLE eleven

An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a data query device, implements a cargo picking method provided by the present invention, and the method includes: when the mechanical arm of the picking work station is determined to be abnormal, an address change instruction is generated based on the abnormal mechanical arm identification, and the address change instruction is sent to a roadway control center so as to instruct the roadway control center to control a rotary roadway to transmit a bin to be picked corresponding to the current task of the abnormal picking work station to a delivery roadway; receiving a work station allocation request sent by a tunnel control center, reallocating available work stations as target work stations for current tasks according to the available state of each picking work station, and sending the information of the target work stations to the tunnel control center to indicate the tunnel control center to control the warehouse-out tunnel to transmit the to-be-picked bins to the picking tunnel corresponding to the target work stations, and controlling the picking tunnel to transmit the to-be-picked bins to the target work stations.

An embodiment of the present invention further provides another computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a data query device, implements a cargo picking method provided by the implementation of the present invention, and the method includes: receiving an address change instruction sent by a task distribution center, wherein the address change instruction comprises an abnormal mechanical arm identifier; controlling a rotary roadway to transmit a bin to be sorted corresponding to the current task in an abnormal sorting workstation corresponding to the abnormal mechanical arm to a delivery roadway based on the abnormal mechanical arm identification; sending a work station distribution request to the task distribution center, and receiving information of a target work station redistributed for the current task by the task distribution center based on the work station distribution request; and controlling an ex-warehouse roadway to transmit the bin to be selected to a selecting roadway corresponding to the target workstation according to the information of the target workstation, and controlling the selecting roadway to transmit the bin to be selected to the target workstation.

From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A cargo picking system, comprising: the system comprises a storage warehouse, an ex-warehouse roadway, a picking workstation, a rotary roadway, a task distribution center and a roadway control center;

the delivery roadway is respectively connected with the storage warehouse and the at least two picking roadways; each picking roadway is respectively connected with at least one picking work station; the rotary roadway is connected with the warehouse-out roadway and each picking roadway; the roadway control center is connected with the delivery roadway, the picking roadway and the rotary roadway; the task distribution center is connected with the roadway control center;

the task distribution center is used for generating an address change instruction based on the abnormal mechanical arm identification when the mechanical arm of the picking workstation is determined to be abnormal, and sending the address change instruction to the roadway control center; when a work station allocation request sent by the tunnel control center is received, redistributing available picking work stations as target work stations for the current task according to the available state of each picking work station, and sending the information of the target work stations to the tunnel control center;

the tunnel control center is used for controlling a rotary tunnel to transmit a bin to be sorted corresponding to a current task at an abnormal sorting workstation to the ex-warehouse tunnel and sending a workstation distribution request to the task distribution center when the address change instruction is received; when receiving the information of the target workstation sent by the task distribution center, controlling the warehouse-out roadway to transmit the bin to be picked to a picking roadway corresponding to the target workstation, and controlling the picking roadway corresponding to the target workstation to transmit the bin to be picked to the target workstation.

2. The system of claim 1, wherein the outbound lanes comprise a first outbound lane and at least two second outbound lanes;

the first ex-warehouse roadway is connected with the storage warehouse and the at least two second ex-warehouse roadways, and each second ex-warehouse roadway is respectively connected with the at least two picking roadways.

3. The system of claim 2, wherein:

the rotary roadway is connected with the first ex-warehouse roadway and/or each second ex-warehouse roadway;

and the roadway control center is used for controlling the rotary roadway to transmit the bin to be selected to the first ex-warehouse roadway or the second ex-warehouse roadway corresponding to the abnormal selecting workstation when the mechanical arm of the selecting workstation is determined to be abnormal.

4. A system according to any one of claims 1 to 3, characterised in that at least one buffer lane is provided at each picking station:

each picking roadway extends to one end of the corresponding picking workstation and is connected with at least one cache roadway in the corresponding picking workstation; the rotary roadway is connected with each cache roadway;

and the roadway control center is used for controlling the rotary roadway to transmit the bin to be picked to the ex-warehouse roadway from the cache roadway of the abnormal picking workstation when the mechanical arm of the picking workstation is determined to be abnormal.

5. A cargo picking method applied to the system according to any one of claims 1 to 4, comprising:

when determining that the mechanical arm of the picking work station is abnormal, generating an address change instruction based on the abnormal mechanical arm identification, and sending the address change instruction to a roadway control center so as to instruct the roadway control center to control a rotary roadway to transmit a bin to be picked corresponding to the current task of the abnormal picking work station to a delivery roadway;

receiving a work station allocation request sent by a tunnel control center, reallocating available work stations as target work stations for current tasks according to the available state of each picking work station, and sending the information of the target work stations to the tunnel control center to indicate the tunnel control center to control the warehouse-out tunnel to transmit the to-be-picked bins to the picking tunnel corresponding to the target work stations, and controlling the picking tunnel to transmit the to-be-picked bins to the target work stations.

6. The method of claim 5, wherein generating an address change instruction based on the abnormal robot arm identification comprises:

generating an address change instruction based on the abnormal mechanical arm identification and the available state of each picking workstation.

7. The method of claim 5, wherein said reassigning the available workstation for the current task as the target workstation based on the availability status of each picking workstation comprises:

redistributing the available workstations as target workstations for the current task according to the available state and workstation attributes of each picking workstation; wherein the workstation attributes include at least one of a pick type, a number of tasks, a number of bins, and a workstation identification.

8. The method of claim 7, after sending the information of the target workstation to the roadway control center, further comprising:

and updating the workstation attribute of the target workstation according to the task number and/or the bin number contained in the target workstation.

9. The method of claim 5, after determining that the robotic arm of the picking station is abnormal, further comprising:

and updating the available state of the corresponding abnormal picking workstation based on the mechanical arm identification of the abnormal mechanical arm.

10. The method according to any one of claims 5 to 9, wherein after sending the information of the target workstation to the roadway control center, further comprising:

receiving a source bit allocation request sent by the tunnel control center, and acquiring the number of bins of each cache tunnel in a target workstation according to a current task identifier contained in the source bit allocation request;

11. A cargo picking method applied to the system according to any one of claims 1 to 4, comprising:

receiving an address change instruction sent by a task allocation center, wherein the address change instruction comprises an abnormal mechanical arm identifier;

controlling a rotary roadway to transmit a bin to be sorted corresponding to the current task in an abnormal sorting work station corresponding to the abnormal mechanical arm to a delivery roadway based on the abnormal mechanical arm identification;

12. The method of claim 11, wherein the change of address instruction further includes an availability status of each picking workstation;

correspondingly, based on unusual arm sign, the workbin that waits to select that control gyration tunnel will be located that unusual arm corresponds selects that current task corresponds in the workstation and transmits to the tunnel of leaving warehouse, include:

13. The method of claim 12, wherein controlling an outbound lane to transport the bin to be picked to a picking lane corresponding to a target workstation and controlling the picking lane to transport the bin to be picked to the target workstation based on information of the target workstation comprises:

if the rotary target roadway is a first ex-warehouse roadway, controlling the first ex-warehouse roadway to transmit the bin to be selected to a second ex-warehouse roadway corresponding to the target workstation according to the information of the target workstation;

and controlling the second warehouse-out roadway to transmit the bin to be selected to a selecting roadway corresponding to the target workstation, and controlling the selecting roadway to transmit the bin to be selected to the target workstation.

14. The method of claim 13, further comprising, after the delivery of the bin to be picked to a second outbound lane corresponding to the target workstation:

sending a source position distribution request to the task distribution center, and receiving target source positions corresponding to the bins to be picked fed back by the task distribution center;

correspondingly, controlling the picking roadway to convey the bin to be picked to the target workstation comprises:

and controlling the picking roadway to transmit the bin to be picked to a cache roadway corresponding to the target source bit according to the target source bit.

15. The method according to any one of claims 11-14, further comprising:

and when the roadway of the bin to be sorted is changed, updating the state address of each bin to be sorted according to the changed roadway of the bin to be sorted.

16. A cargo picking apparatus arranged in the system according to any one of claims 1 to 4, comprising:

the system comprises an address change instruction sending module, a picking control module and a picking control module, wherein the address change instruction sending module is used for generating an address change instruction based on an abnormal mechanical arm identifier when the mechanical arm of the picking work station is determined to be abnormal, and sending the address change instruction to a roadway control center so as to instruct the roadway control center to control a rotary roadway to transmit a bin to be picked corresponding to a current task of the abnormal picking work station to a delivery roadway;

17. A cargo picking apparatus configured in the system of any one of claims 1 to 4, comprising:

the work station allocation request sending module is used for sending a work station allocation request to the task allocation center and receiving information of a target work station which is reallocated for the current task by the task allocation center based on the work station allocation request;

and the target workstation transmission control module is used for controlling the delivery roadway to transmit the bin to be selected to a selecting roadway corresponding to the target workstation according to the information of the target workstation, and controlling the selecting roadway to transmit the bin to be selected to the target workstation.

18. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of picking goods as claimed in any one of claims 5 to 10.

19. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of picking goods as claimed in any one of claims 11 to 15.