CN112340337A

CN112340337A - Front bin cargo processing method, control terminal, robot and system

Info

Publication number: CN112340337A
Application number: CN202011176332.7A
Authority: CN
Inventors: 周浪
Original assignee: Shenzhen Hairou Innovation Technology Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2021-02-09

Abstract

The application provides a front-end bin cargo processing method, a control terminal, a robot and a system, wherein the method comprises the following steps: the method comprises the steps that the goods allowance of a first goods shelf is obtained, and the first goods shelf is a goods shelf for a first robot in a front bin to store and take goods for order task processing; when the goods surplus meets the goods replenishment condition, outputting a first goods replenishment instruction, wherein the first goods replenishment instruction is used for instructing the first robot to convey goods on a second goods shelf to the first goods shelf for replenishment, the second goods shelf is a goods shelf which is arranged in the front bin and is used for replenishing the goods on the first goods shelf, and the goods on the second goods shelf comprise the goods conveyed by the center bin; when the goods on the second shelf are reduced, outputting a second replenishment instruction, wherein the second replenishment instruction is used for instructing the second robot to convey the reduced goods from the center bin to the second shelf. The replenishment time of the front bin is short, the replenishment efficiency is high, and the order processing efficiency of the front bin can be improved.

Description

Front bin cargo processing method, control terminal, robot and system

Technical Field

The application relates to the technical field of intelligent logistics, in particular to a front-end bin cargo processing method, a control terminal, a robot and a system.

Background

In order to improve the distribution timeliness and optimize the shopping experience of customers, large-scale e-commerce operators often adopt a secondary inventory structure to make the stock positions of commodities closer to the customers. In the secondary inventory structure, the upper level is a Regional Distribution Center (RDC, abbreviated as central warehouse), and the lower level is a plurality of Front Distribution centers (FDCs, abbreviated as Front warehouses) built around the RDC of the upper level. The RDC has both functions of delivering goods to the city associated with the RDC and transferring goods to the FDC, and the FDC is mainly responsible for delivering goods to the city associated with the RDC. The supplier of the merchant to the operator is firstly supplemented to the RDC, and then the RDC transfers to the FDC.

In the prior art, each FDC usually actively requests replenishment to the RDC according to its own inventory condition, that is, when the inventory of the FDC is in shortage, the FDC sends a replenishment request to the RDC, and after the RDC replenishes the FDC, the FDC delivers the replenished goods according to an order.

However, because the RDC needs a certain time to replenish the FDC, when there are many orders in the FDC and the goods are out of stock, the orders out of stock cannot be processed in time, thereby reducing the order processing efficiency of the FDC.

Disclosure of Invention

The application provides a front-end bin cargo processing method, a control terminal, a robot and a system, which are used for improving the order processing efficiency of a front-end bin.

In a first aspect, the present application provides a method for processing front-end warehouse goods, applied to a control terminal, including:

the method comprises the steps that the goods allowance of a first goods shelf is obtained, and the first goods shelf is a goods shelf for a first robot in a front bin to store and take goods for order task processing;

when the surplus goods meets a replenishment condition, outputting a first replenishment instruction, wherein the first replenishment instruction is used for instructing a first robot to convey goods on a second goods shelf to the first goods shelf for replenishment, the second goods shelf is a goods shelf which is arranged in the front bin and is used for replenishing the goods on the first goods shelf, and the goods on the second goods shelf comprise goods conveyed from a central bin;

when the goods on the second shelf are reduced, outputting a second replenishment instruction, wherein the second replenishment instruction is used for instructing a second robot to convey the reduced goods from the central bin to the second shelf.

In the embodiment, the first robot in the front bin accesses and stores goods on the first goods shelf to perform order task processing, and when the goods allowance of the first goods shelf meets the goods replenishment condition, the control terminal controls the first robot to take the goods from the second goods shelf to perform the goods replenishment operation on the first goods shelf; in addition, when the goods on the second shelf are reduced, the control terminal controls the second robot to convey the reduced goods to the second shelf from the center bin, so that the second shelf can be guaranteed to have enough goods to guarantee the replenishment demand of the first shelf. This embodiment can in time carry out the replenishment to first goods shelves through the second goods shelves when the goods shortage appears in the first goods shelves in leading storehouse, and the replenishment time is short, and the replenishment is efficient to guarantee that the goods on the first goods shelves are sufficient, improve the order treatment effeciency in leading storehouse.

In some embodiments, further comprising:

when an order task is received, outputting a goods carrying instruction according to the order task, wherein the goods carrying instruction is used for instructing the first robot to take out goods corresponding to the order task from the first shelf and carry the taken out goods to an inlet of a target conveying device;

wherein the target delivery device is adjacent to a first shelf from which the first robot picks up goods.

In this embodiment, the control terminal may instruct the first robot to perform the goods taking and goods carrying operations by outputting the goods carrying instruction, so as to facilitate the goods handling; in addition, the target conveying device is adjacent to the first goods shelf for the first robot to take goods, so that the distance for the first robot to carry goods can be reduced, the goods carrying efficiency is improved, and the goods processing efficiency is further improved.

In some embodiments, further comprising:

and after the goods are determined to be processed, outputting a goods returning instruction, wherein the goods returning instruction is used for instructing the first robot to take out the processed residual goods at the outlet of the target conveying device and move the processed residual goods back to the first goods shelf corresponding to the processed residual goods.

In this embodiment, the control terminal may instruct the first robot to perform the stock operation by outputting the goods returning instruction, so as to perform the next goods taking process.

In some embodiments, the number of first robots is at least two;

the two first goods shelves which are arranged oppositely are combined to form a goods shelf group, a roadway for the first robot to move is arranged between the two first goods shelves in the same goods shelf group, the front bin comprises at least two goods shelf groups, and different first robots are in one-to-one correspondence with different goods shelf groups;

the outputting a first replenishment order comprises:

determining a first target object from at least two first robots, wherein the first target object is a first robot corresponding to a shelf group where a first shelf to be replenished is located;

and outputting the first replenishment instruction to the first target object.

In this embodiment, when the number of the shelf groups and the number of the first robots are multiple and in one-to-one correspondence, the first replenishment instruction sent by the control terminal is specifically used for indicating the first robot corresponding to the shelf group where the first shelf to be replenished is located, and replenishing the first shelf to be replenished, so that the shortest moving distance of the first robot during replenishment can be ensured, thereby shortening the replenishment time and improving the replenishment efficiency.

In some embodiments, further comprising:

and when the first target object is in a non-working state, outputting a coordinated replenishment instruction, wherein the coordinated replenishment instruction is used for instructing other first robots except the first target object and in an idle state to replenish the first shelf to be replenished.

In this embodiment, when the first target object is in a non-working state such as a machine fault or charging, the control terminal instructs other first robots in an idle state to perform replenishment by outputting a coordination replenishment instruction, that is, performs cross-lane operation, so that it is ensured that the first shelf can replenish replenishment in time, and the flexibility of replenishment processing is improved.

In some embodiments, said outputting goods handling instructions according to said order task comprises:

determining a second target object from at least two first robots, wherein the second target object is a first robot corresponding to a shelf group where a first shelf for taking out goods is located;

outputting the cargo handling instruction to the second target object.

In this embodiment, when the quantity of goods shelves group and first robot all is a plurality of, and the one-to-one, the goods transport instruction that control terminal sent is specifically used for instructing the first robot that the goods shelves group that takes out the goods corresponds that the first goods shelves place, and the execution is got goods and goods transport work to, can guarantee that the first robot is the shortest at the displacement distance when getting goods and transporting goods, thereby shorten goods transport time, improve goods treatment effeciency.

In some embodiments, further comprising:

and when the second target object is in a non-working state, outputting a coordinated conveying instruction, wherein the coordinated conveying instruction is used for instructing other first robots except the second target object and in an idle state to take out the goods corresponding to the order task from the first shelf and convey the goods to the inlet of the target conveying device.

In this embodiment, when the second target object is in a non-operating state such as machine failure or charging, the control terminal coordinates to get goods and goods transport with the first robot that instructs other to be in idle state through output coordination transport instruction, carries out the operation of striding the tunnel promptly to can guarantee to in time take out the goods, improve the flexibility of getting goods and goods transport and handling, guarantee goods treatment effeciency.

In some embodiments, the outputting the goods return instructions comprises:

determining a third target object from at least two first robots, wherein the third target object is a first robot corresponding to a shelf group where a first shelf corresponding to the processed remaining goods is located;

and outputting the goods returning instruction to the third target object.

In this embodiment, when the number of the shelf groups and the number of the first robots are both multiple and in one-to-one correspondence, the goods returning instruction sent by the control terminal is specifically used for instructing the first robot corresponding to the shelf group where the first shelf corresponding to the processed remaining goods is located, and returning the processed remaining goods to the corresponding first shelf, so that the shortest moving distance of the first robot in the stock keeping process can be ensured, thereby shortening the stock keeping time and improving the stock keeping efficiency.

In some embodiments, further comprising:

and when the third target object is in a non-working state, outputting a coordinated returning frame instruction, wherein the coordinated returning frame instruction is used for instructing other first robots except the third target object and in an idle state to return the processed residual goods to the corresponding first goods shelf.

In this embodiment, when the third target object is in a non-working state such as a machine failure or charging, the control terminal instructs other first robots in an idle state to perform inventory coordinately by outputting the coordinated rack returning instruction, that is, perform cross-lane operation, so as to ensure that the processed remaining goods can be stored in the corresponding racks in time, thereby improving flexibility of inventory processing.

In a second aspect, the present application provides a method for processing front-end warehouse goods, applied to a robot, comprising:

receiving a first replenishment order or a coordination replenishment order;

according to the first replenishment instruction or the coordinated replenishment instruction, transporting goods on the second shelf to the first shelf for replenishment;

the first goods shelf is a goods shelf for storing and taking goods by a first robot in a front bin to perform order task processing, the second goods shelf is a goods shelf which is arranged in the front bin and used for replenishing goods to the first goods shelf, and the goods on the second goods shelf comprise goods conveyed by a central bin.

In this embodiment, first robot in the leading storehouse accesses goods on first goods shelves in order to carry out order task processing, when the goods surplus of first goods shelves satisfied the replenishment condition, control terminal control first robot got goods from the second goods shelves in order to carry out the replenishment operation to first goods shelves, because the second goods shelves set up in leading storehouse, replenish first goods shelves through the second goods shelves, replenishment time is short, replenishment efficiency is high to guarantee that the goods on the first goods shelves are sufficient, improve the order treatment efficiency in leading storehouse.

In some embodiments, further comprising:

receiving a cargo handling instruction or a coordinated handling instruction;

taking the goods corresponding to the order task from the first shelf according to the goods carrying instruction or the coordinated carrying instruction, and carrying the taken goods to an inlet of a target conveying device;

wherein the target delivery device is adjacent to a first shelf from which the goods are retrieved.

In this embodiment, the first robot performs the goods taking and goods transporting operations according to the goods transporting instruction or the coordinated transporting instruction, so as to facilitate the goods handling; in addition, the target conveying device is adjacent to the first goods shelf for the first robot to take goods, so that the distance for the first robot to carry goods can be reduced, the goods carrying efficiency is improved, and the goods processing efficiency is further improved.

In some embodiments, further comprising:

receiving a goods returning instruction or a coordinated returning instruction;

and taking out the processed residual goods at the outlet of the target conveying device according to the goods returning instruction or the coordinated frame returning instruction, and moving the processed residual goods back to the first goods shelf corresponding to the processed residual goods.

In this embodiment, the first robot performs the inventory operation according to the goods returning command or the coordinated returning command, so as to perform the next goods taking process.

In a third aspect, the present application provides a control terminal, including:

at least one processor; and

a memory communicatively coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to cause the control terminal to perform the method described above.

In a fourth aspect, the present application provides a robot comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor to cause the robot to perform the method described above.

In a fifth aspect, the present application provides a front-end warehouse cargo handling system, which includes the above control terminal, and the above robot.

In a sixth aspect, the present application provides a computer-readable storage medium having stored thereon computer-executable instructions for implementing the above-mentioned method when executed by a processor.

The application provides a front-end bin cargo processing method, a control terminal, a robot and a system, wherein the method comprises the following steps: the method comprises the steps that the goods allowance of a first goods shelf is obtained, and the first goods shelf is a goods shelf for a first robot in a front bin to store and take goods for order task processing; when the goods surplus meets the goods replenishment condition, outputting a first goods replenishment instruction, wherein the first goods replenishment instruction is used for instructing the first robot to convey goods on a second goods shelf to the first goods shelf for replenishment, the second goods shelf is a goods shelf which is arranged in the front bin and is used for replenishing the goods on the first goods shelf, and the goods on the second goods shelf comprise the goods conveyed by the center bin; when the goods on the second shelf are reduced, outputting a second replenishment instruction, wherein the second replenishment instruction is used for instructing the second robot to convey the reduced goods from the center bin to the second shelf. In the application, a first robot in the front bin accesses goods on a first goods shelf to perform order task processing, when the goods allowance of the first goods shelf meets the goods replenishment condition, the control terminal controls the first robot to take the goods from a second goods shelf to perform goods replenishment operation on the first goods shelf, and the second goods shelf is arranged in the front bin, so that the goods replenishment time of the first goods shelf can be greatly shortened, and the goods sufficiency of the first goods shelf is ensured; in addition, when the goods on the second shelf are reduced, the control terminal controls the second robot to convey the reduced goods to the second shelf from the center bin, so that the second shelf can be guaranteed to have enough goods to guarantee the replenishment demand of the first shelf. This application can in time carry out the replenishment through the second goods shelves to first goods shelves when the goods shortage appears in the first goods shelves in leading storehouse, and the replenishment time is short, and the replenishment is efficient to guarantee that the goods on the first goods shelves is sufficient, improve the order treatment effeciency in leading storehouse.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a schematic diagram of a secondary inventory structure in the prior art;

FIG. 2 is a schematic structural diagram of a pre-chamber in an embodiment of the present application;

fig. 3 is a schematic view of a conveying device provided in an embodiment of the present application;

FIG. 4 is a schematic view of another structure of a pre-chamber in the embodiment of the present application;

FIG. 5 is a schematic view of a first robot in an embodiment of the present application;

FIG. 6 is another schematic diagram of the first robot in an embodiment of the present application;

fig. 7 is a schematic diagram of a method for processing pre-chamber goods applied to a control terminal according to an embodiment of the present application;

fig. 8 is a schematic view of a method for handling pre-chamber cargos applied to a robot according to an embodiment of the present application;

fig. 9 is another schematic view of the method for processing the pre-chamber cargo applied to the robot according to the embodiment of the present application;

fig. 10 is another schematic view of the method for processing the pre-chamber cargo applied to the robot according to the embodiment of the present application;

fig. 11 is a schematic diagram of a control terminal in an embodiment of the present application;

fig. 12 is a schematic view of a robot in an embodiment of the present application.

With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the embodiments of the present application, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

Fig. 1 is a schematic diagram of a secondary inventory structure in the prior art, as shown in fig. 1, in the secondary inventory structure in the prior art, an upper level is a central warehouse, and a lower level is a plurality of front warehouses built around the central warehouse of the upper level. The central warehouse has the functions of delivering and allocating goods to the city associated with the central warehouse, and the front warehouse is mainly responsible for delivering to the city associated with the central warehouse.

Referring to fig. 1, when the front warehouse receives an order task issued by a user, corresponding goods on the shelf are first transported to a goods handling area according to the order task, and after the goods are picked, packaged and the like, the handled goods are delivered to the location of the user. When the stock of goods appears in the current front warehouse and is nervous, the front warehouse sends the replenishment request to the central warehouse, however, because the central warehouse needs certain time to replenish the front warehouse, when the front warehouse has more orders and leads to the condition that goods are out of stock, can lead to the order of out of stock to be unable in time to handle to reduce the order treatment efficiency of front warehouse. In addition, the reduced order processing efficiency may result in a long waiting time for the user, which may result in a loss for the user.

The application provides a front-end bin cargo processing method, a control terminal, a robot and a system, and aims to solve the technical problems in the prior art.

The application provides a pre-bin goods processing method, a control terminal, a robot and a system, wherein a first robot in a pre-bin accesses goods on a first goods shelf to perform order task processing, when the goods surplus of the first goods shelf meets a goods replenishment condition, the control terminal controls the first robot to take the goods from a second goods shelf to perform goods replenishment operation on the first goods shelf, and the second goods shelf is arranged in the pre-bin, so that the goods replenishment time of the first goods shelf can be greatly shortened, and the goods sufficiency of the first goods shelf is ensured; in addition, when the goods on the second shelf are reduced, the control terminal controls the second robot to convey the reduced goods to the second shelf from the center bin, so that the second shelf can be guaranteed to have enough goods to guarantee the replenishment demand of the first shelf. This application can in time carry out the replenishment through the second goods shelves to first goods shelves when the goods shortage appears in the first goods shelves in leading storehouse, and the replenishment time is short, and the replenishment is efficient to guarantee that the goods on the first goods shelves is sufficient, improve the order treatment effeciency in leading storehouse.

The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

First, a specific structure of the front stage in the embodiment of the present application will be explained.

Fig. 2 is a schematic structural diagram of a front end bin in an embodiment of the present application, and as shown in fig. 2, the front end bin includes: a first rack 10, a first robot 20, a conveying device 30, a sorting device 40, and a second rack 80. In addition, a control terminal (not shown) for controlling the first robot 20 is also included.

The control terminal may be a server, and specifically may be a physical server or a logical server formed by virtualizing a plurality of physical servers. The server may also be a server cluster formed by a plurality of servers capable of communicating with each other, and each functional module may be respectively distributed on each server in the server cluster.

The control terminal may be a robot, specifically, a robot that manages the first robot 20, and the present disclosure does not limit the specific form of the control terminal.

Optionally, a sorting area 301 is disposed on the conveying device 30, and the sorting device 40 may sort the goods in the sorting area 301. The conveying device 30 may be a conveyor belt or the like, as long as it can convey the goods to a specified position, and this embodiment is not limited thereto.

Referring to fig. 2, when the conveying device 30 is a single U-shaped conveyor belt, the middle area of the U-shaped conveyor belt may be used as a sorting area 301, and the goods conveying direction of the U-shaped conveyor belt is as shown by an arrow in the figure, i.e., the goods are conveyed from one end of the U-shaped conveyor belt to the sorting area 301 and then conveyed to the other end of the U-shaped conveyor belt. It is understood that the direction of the arrow in fig. 2 is only an example illustration of the cargo conveying direction, and the cargo conveying direction may be opposite to the direction of the arrow in the figure.

Fig. 3 is a schematic view of the conveying device 30 provided in the embodiment of the present application, and as shown in fig. 3, the conveying device 30 may also be formed by combining two half U-shaped conveying belts, for example, the conveying device 30 in the figure is formed by half U-shaped conveying

belts

30a and 30 b. At this time, the junction of the two half U-shaped conveyor belts may be used as the sorting zone 301.

Referring to fig. 3, in some embodiments, the direction of the goods transported by the transporting device 30 may be as indicated by an arrow on the half U-shaped transporting belt 30a, that is, the first robot 20 places the goods on an end of the half U-shaped transporting belt far from the sorting area 301, the half U-shaped transporting belt transports the goods to the sorting area 301, and after the goods sorting process is completed, the remaining processed goods are moved out of the sorting area 301 by the first robot 20.

In some embodiments, the goods transferring direction of the conveying device 30 may be as shown by an arrow on the half U-shaped conveyor belt 30b, that is, the first robot 20 places the goods in the sorting area 301, and after completing the goods sorting process, the half U-shaped conveyor belt transfers the goods to the end of the half U-shaped conveyor belt far away from the sorting area 301, and the first robot 20 removes the processed remaining goods from the end of the half U-shaped conveyor belt far away from the sorting area 301.

It can be understood that the half U-shaped conveyor belt 30a and the half U-shaped conveyor belt 30b can simultaneously adopt any one of the above cargo conveying directions for cargo conveying, and the cargo conveying directions of the two half U-shaped conveyor belts can be the same or different, and therefore, the present embodiment is not limited.

Optionally, the sorting device 40 may be a mechanical arm or the like, as long as it can automatically sort the goods, and replace manual labor, which is not limited in this embodiment.

In this embodiment, the control terminal is configured to control the first robot 20 to pick up goods on the first shelf 10 according to the received order task and transport the picked-up goods to be processed to the conveying device 30, and the conveying device 30 is adjacent to the first shelf 10, thereby facilitating the improvement of the goods transport speed. Then, the conveying device 30 moves the goods to be processed to the sorting area 301, the goods to be processed in the sorting area 301 are processed by the sorting device 40 to obtain processed goods, and finally, the processed goods are distributed to the user location.

In addition, the goods sent from the central bin to the front bin are not directly stored on the first goods shelf but stored on a second goods shelf independently arranged from the first goods shelf, the second goods shelf can be understood as a goods shelf for replenishing goods to the first goods shelf, and when the goods on the first goods shelf are in stock shortage, the control terminal can control the first robot to convey the goods on the second goods shelf to the first goods shelf for replenishing goods. When the goods of the first goods shelf are reduced, the control terminal controls a second robot different from the first robot to convey the goods from the central bin to a second goods shelf in the front bin, so that the goods of the second goods shelf are sufficient, the goods supplementing requirement of the first goods shelf can be met at any time, and the order processing efficiency of the front bin is guaranteed.

Fig. 4 is another schematic structural diagram of the front end bin in the embodiment of the present application, and as shown in fig. 4, the front end bin further includes: two first shelves 10 arranged opposite to each other are combined to form a shelf group 11. Optionally, at least one of an order shelf 50, a packing section 60, a confluence section 70, and a charging station 90 is also included.

The number of the shelf groups 11 is at least two, the number of the first robots 20 is at least two, a roadway for the first robot 20 to move is arranged between two first shelves 10 in the same shelf group 11, and different first robots 20 are in one-to-one correspondence with different shelf groups 11.

For example, two first racks 10a arranged oppositely form a rack group 11a, and the first robot 20a moves in a tunnel between the two first racks 10a to perform an operation of taking out the goods from the first racks 10a and/or placing the goods on the first racks 10a (including replenishment and putting back the processed remaining goods to the corresponding positions of the racks). The operation principle of the first shelf 10b, the shelf group 11b and the first robot 20b is similar, and the description thereof is omitted.

Optionally, one conveying device 30 corresponds to one shelf group 11, and the conveying device 30 is located at one end of the shelf group 11, and forms a U shape with one end of two shelves in the shelf group 11, wherein a goods sorting area 301 is arranged on the conveying device 30, the conveying device 30 conveys the goods to the sorting area 301, and the goods in the sorting area 301 are sorted by the sorting device 40, so that the goods correspond to the goods in the order task.

In specific implementation, each conveying device 30 and two shelves in each shelf group 11 are enclosed into a U shape, the first robot 20 walks in a roadway between the two shelves, takes each cargo corresponding to an order task from the shelf, places the taken cargo on the conveying device 30, the conveying device 30 conveys the cargo to the sorting area 301, the sorting device 40 sorts the cargo in the sorting area 301, sorts each cargo in each order task, and completes sorting of the cargo in the order task, so that the processing efficiency of the order can be improved.

Alternatively, referring to fig. 4, there may be two rack groups 11, and two rack groups 11 are arranged side by side, and correspondingly, there are two conveying devices 30, one conveying device 30 corresponds to one rack group 11, and both conveying devices 30 are located at the same end of the two rack groups 11, and each conveying device 30 and each rack group 11 are enclosed into a U shape.

In order to reduce the occupied area of the front warehouse system while storing the goods, in this embodiment, the two rack groups 11 may be arranged side by side with zero clearance, that is, the two rack groups 11 are close together, and correspondingly, the two conveying devices 30 are close together, so that the occupied area of the whole rack group 11 and the conveying devices 30 can be reduced.

Optionally, the sorting zones 301 on the two conveyors 30 are juxtaposed and butted together. By abutting the sorting zones 301 of the two conveying devices 30 together, the distance between the two sorting zones 301 is shortened, the moving distance of the conveying devices 30 is reduced, the efficiency of the sorting device 40 for sorting goods from the two sorting zones 301 is improved, and the processing efficiency of orders is improved.

Optionally, the conveying device 30 is of a U-shaped structure, wherein the head end and the tail end of the U-shaped conveying device 30 are respectively butted with one end of two shelves in the shelf group 10, and in order to improve the accuracy of the butt joint between the conveying device 30 and the shelf group 10, the linear distance between the two ends of the U-shaped conveying device 30 should be equal to the width of the roadway.

It should be noted that the conveying direction of the conveying device 30 can be changed through a control terminal in the front warehousing system, and can be adjusted according to requirements as long as the processing efficiency of the order can be improved.

It should be noted that, under the normal working condition, each first robot works in the corresponding roadway, so as to reduce the moving distance of the first robot and improve the cargo handling efficiency.

In addition, when the first robot corresponding to one of the shelf groups is in a non-working state (for example, a failure occurs or the first robot is in a charging state), if a goods access operation needs to be performed on the first shelf corresponding to the first robot, the control terminal may coordinate other robots in an idle state to go to the lane where the first robot is located to perform work, and after the work is completed, return to the lanes corresponding to the other robots. The idle first robot is controlled to carry out cross-roadway operation, so that the cargo carrying efficiency can be guaranteed, and the order processing speed is increased.

For example, when the first robot 20a is in the non-working state, the control terminal may control the first robot 20b in the idle state to go to the lane of the rack group 11a for working, and after the work is completed, to return to the lane of the rack group 11 b.

Referring to fig. 4, the number of the conveying devices 30 is the same as that of the rack groups 11, a plurality of conveying devices 30 pass through the sorting area 301, and the sorting device 40 can sort the goods from the plurality of sorting areas 301, thereby improving the goods sorting efficiency.

Fig. 5 is a schematic diagram of the first robot 20 in the embodiment of the present application, and as shown in fig. 5, a goods taking device 201 is disposed on the first robot 20, so that the first robot 20 only carries one goods at a time, and thus, the time for the first robot 20 to carry a plurality of goods to the temporary storage pallet and then take the goods from the temporary storage pallet to the conveying device 30 can be saved.

Fig. 6 is another schematic diagram of the first robot 20 in the embodiment of the present application, and as shown in fig. 6, a temporary storage pallet 202 and a goods taking device 201 are disposed on the first robot 20, so that the first robot 20 can transport a plurality of goods at a time, for example, when the number of the same goods corresponding to an order task is large, the first robot 20 can transport a plurality of the same goods at a time, so that the number of times of transporting the goods by the first robot 20 can be saved, and the order processing efficiency can be improved.

Optionally, the robot controls the height of the goods taking device 201 to carry the goods to the conveying device 30 or take out the processed remaining goods on the conveying device 30 when interfacing with the conveying device 30. Specifically, the pickup device 201 may be a fork or other structure, for example, and the robot may control the height of the pickup device 201 to interface with the conveying device 30. In addition, the robot can perform rotation and other operations on site, so that docking is facilitated.

Optionally, the order shelf 50 is provided with a plurality of compartments for placing order boxes, and the sorting device 40 places the sorted goods into the order boxes corresponding to the goods. Order shelf 50 may be positioned proximate sorting apparatus 40 such that the distance between order shelf 50 and sorting apparatus 40 may be reduced; the order boxes for packing the goods are all placed in each cell on the order shelf 50, and the sorting device 40 puts the goods sorted from the sorting area 301 into the order box corresponding to each goods, thereby completing the sorting and packing of the order goods. Alternatively, the number of order shelves 50 may be plural.

Alternatively, the packing area 60 may be located near the order shelf 50, and the packing area 60 is used to pack order boxes that have completed sorting the goods.

Optionally, the merge delivery area 70 is used to scan order numbers on the packed order boxes and deliver deliveries.

Optionally, the charging potential 90 is used to charge the first robot 20. By setting the charging level 90, the requirement that the electric energy of each first robot 20 is sufficient is met, and the influence on the order processing efficiency caused by the power failure of the first robot 20 is avoided.

The flow of the pre-bin cargo handling method in the present application is explained below.

In some embodiments, a method for processing pre-warehouse cargo is provided, which is applied to a control terminal, fig. 7 is a schematic diagram of the method for processing pre-warehouse cargo provided in the embodiments of the present application, and as shown in fig. 7, the method mainly includes the following steps:

s100, obtaining the goods allowance of a first goods shelf, wherein the first goods shelf is a goods shelf for storing and taking goods by a first robot in a front bin to perform order task processing;

s200, outputting a first replenishment instruction when the remaining amount of the goods meets a replenishment condition, wherein the first replenishment instruction is used for instructing a first robot to convey the goods on a second goods shelf to a first goods shelf for replenishment, the second goods shelf is a goods shelf which is arranged in a front bin and is used for replenishing the goods on the first goods shelf, and the goods on the second goods shelf comprise the goods conveyed by a central bin;

and S300, when the goods on the second shelf are reduced, outputting a second goods supplementing instruction, wherein the second goods supplementing instruction is used for instructing the second robot to convey the reduced goods from the center bin to the second shelf.

Specifically, the control terminal may calculate the remaining amount of the goods on the first shelf according to the initial quantity of the goods and the quantity of the processed goods, where the initial quantity of the goods is the initial quantity of the goods on the first shelf, and the quantity of the processed goods is the quantity of the goods corresponding to the executed order task.

After the remaining amount of the goods is obtained, the control terminal determines whether the remaining amount of the goods meets a replenishment condition, for example, whether the types of the goods are complete, whether the quantity of the single goods reaches a preset replenishment threshold value, and the like. When the goods allowance is determined to meet the goods replenishment condition, the control terminal outputs a first goods replenishment instruction to instruct the first robot to convey goods on the second goods shelf to the first goods shelf for replenishment.

In addition, when the goods on the second goods shelf are reduced, the control terminal is further used for outputting a second replenishment instruction to instruct the second robot to convey the reduced goods from the central bin to the second goods shelf so as to ensure that the quantity of the goods of the second goods is sufficient.

The embodiment provides a method for processing goods in a front warehouse, wherein a first robot in the front warehouse accesses goods on a first goods shelf to perform order task processing, when the goods allowance of the first goods shelf meets a goods replenishment condition, a control terminal controls the first robot to take the goods from a second goods shelf to perform goods replenishment operation on the first goods shelf, and the second goods shelf is arranged in the front warehouse, so that the goods replenishment time of the first goods shelf can be greatly shortened, and the goods sufficiency of the first goods shelf is ensured; in addition, when the goods on the second shelf are reduced, the control terminal controls the second robot to convey the reduced goods to the second shelf from the center bin, so that the second shelf can be guaranteed to have enough goods to guarantee the replenishment demand of the first shelf. This embodiment can in time carry out the replenishment to first goods shelves through the second goods shelves when the goods shortage appears in the first goods shelves in leading storehouse, and the replenishment time is short, and the replenishment is efficient to guarantee that the goods on the first goods shelves are sufficient, improve the order treatment effeciency in leading storehouse.

In some embodiments, further comprising: s400, when an order task is received, a goods carrying instruction is output according to the order task, wherein the goods carrying instruction is used for instructing the first robot to take out goods corresponding to the order task from the first shelf and carry the taken out goods to an inlet of the target conveying device; wherein the target delivery device is adjacent to a first shelf from which the first robot picks up the goods.

Specifically, the cargo handling instruction output by the control terminal includes at least one of a cargo type, a cargo quantity, or a cargo level. The goods type may specifically be a name or a number ID of the goods, the goods location specifically refers to a storage location of the goods on the first shelf, and the goods location specifically includes, for example, a location number or a location coordinate.

After receiving the goods carrying instruction, the first robot goes to the first goods shelf according to the goods carrying instruction to take out corresponding goods, and carries the goods to the entrance of the target conveying device adjacent to the goods shelf where the goods are located, so that the target conveying device can move the goods to the sorting area for sorting, and the goods processing is realized.

In some embodiments, further comprising: and S500, after the goods are determined to be processed, outputting a goods returning instruction, wherein the goods returning instruction is used for indicating the first robot to take out the processed residual goods at the outlet of the target conveying device and move the processed residual goods back to the first goods shelf corresponding to the processed residual goods.

Specifically, the control terminal can determine whether the goods are processed or not by communicating with the sorting device, the sorting device sends a corresponding notification message to the control terminal after finishing sorting the current goods, and the control terminal determines that the goods are processed and outputs a goods returning instruction after receiving the notification message sent by the sorting device.

After receiving the goods returning instruction, the first robot goes to the outlet of the target conveying device to take out the processed remaining goods and moves back to the first goods shelf corresponding to the processed remaining goods.

In some embodiments, two first shelves arranged oppositely are combined to form a shelf group, a roadway for the first robot to move is arranged between the two first shelves in the same shelf group, the front bin comprises at least two shelf groups, the number of the first robots is at least two, and different first robots are in one-to-one correspondence with different shelf groups.

The outputting a first replenishment order comprises:

s210, determining a first target object from at least two first robots, wherein the first target object is a first robot corresponding to a shelf group where a first shelf to be replenished is located;

s220, outputting the first replenishment instruction to the first target object.

Specifically, when the number of the shelf groups and the number of the first robots are multiple and in one-to-one correspondence, the first replenishment instruction sent by the control terminal is specifically used for indicating the first robot corresponding to the shelf group where the first shelf to be replenished is located, and replenishing the first shelf to be replenished.

For example, referring to fig. 4, if the first shelf 10a needs replenishment, the first replenishment instruction issued by the control terminal is specifically used to instruct the first robot 20a to replenish the first shelf 10 a.

In some embodiments, further comprising: and S230, outputting a coordination replenishment instruction when the first target object is in a non-working state, wherein the coordination replenishment instruction is used for indicating other first robots except the first target object and in an idle state to perform replenishment processing on the first shelf to be replenished.

Specifically, when the first target object is in a non-working state such as a machine fault or charging state, the control terminal instructs other first robots in an idle state to perform replenishment in a coordinated manner by outputting a coordinated replenishment instruction, that is, to perform cross-lane operation.

For example, referring to fig. 4, if the first shelf 10a needs replenishment, the first replenishment instruction sent by the control terminal is specifically used to instruct the first robot 20a to replenish the first shelf 10a, and at this time, if the first robot 20a is in a non-operating state and the first robot 20b is in an idle state, the control terminal outputs a coordination replenishment instruction to control the first robot 20b to replenish the first shelf 10 a.

s410, determining a second target object from at least two first robots, wherein the second target object is a first robot corresponding to a shelf group where a first shelf for taking out goods is located;

and S420, outputting the cargo carrying instruction to the second target object.

Specifically, when the number of the shelf groups and the number of the first robots are multiple and in one-to-one correspondence, the goods carrying instruction sent by the control terminal is specifically used for instructing the first robot corresponding to the shelf group where the first shelf for taking out the goods is located to perform goods taking and goods carrying operations.

For example, referring to fig. 4, if the goods corresponding to the order task are stored on the first shelf 10a, the control terminal issues a goods transportation command specifically for instructing the first robot 20a to perform the goods picking and goods transportation.

In some embodiments, further comprising: and S430, outputting a coordinated conveying instruction when the second target object is in a non-working state, wherein the coordinated conveying instruction is used for instructing other first robots except the second target object and in an idle state to take out the goods corresponding to the order task from the first shelf and convey the goods to the entrance of the target conveying device.

Specifically, when the second target object is in a non-working state such as a machine failure or charging state, the control terminal outputs a coordinated carrying instruction to instruct other first robots in an idle state to coordinate to take goods and carry goods, namely, to perform cross-roadway operation.

For example, referring to fig. 4, if the goods corresponding to the order task are stored on the first shelf 10a, the control terminal issues a goods transportation command specifically for instructing the first robot 20a to perform the goods picking and goods transportation. At this time, if the first robot 20a is in the non-operating state and the first robot 20b is in the idle state, the control terminal outputs a coordinated transfer command to control the first robot 20b to go to the first shelf 10a for picking up and transferring goods.

In some embodiments, the outputting the goods return instructions comprises:

s510, determining a third target object from at least two first robots, wherein the third target object is the first robot corresponding to the shelf group where the first shelf corresponding to the processed residual goods is located;

s520, outputting the goods returning instruction to the third target object.

Specifically, when the number of the shelf groups and the number of the first robots are multiple and in one-to-one correspondence, the goods returning instruction sent by the control terminal is specifically used for indicating the first robot corresponding to the shelf group where the first shelf corresponding to the processed remaining goods is located, and moving the processed remaining goods back to the corresponding first shelf.

For example, referring to fig. 4, if the processed remaining goods correspond to the first shelf 10a, the goods returning instruction sent by the control terminal is specifically used for instructing the first robot 20a to move the processed remaining goods back to the first shelf 10 a.

In some embodiments, further comprising: and S530, outputting a coordination returning frame instruction when the third target object is in a non-working state, wherein the coordination returning frame instruction is used for instructing other first robots except the third target object and in an idle state to return the processed residual goods to the corresponding first goods shelf.

Specifically, when the third target object is in a non-working state such as a machine failure or charging state, the control terminal outputs a coordinated return frame instruction to instruct other first robots in an idle state to coordinate to perform inventory, that is, perform cross-lane work.

For example, referring to fig. 4, if the processed remaining goods correspond to the first shelf 10a, the goods returning instruction sent by the control terminal is specifically used to instruct the first robot 20a to move the processed remaining goods back to the first shelf 10a, at this time, if the first robot 20a is in a non-operating state and the first robot 20b is in an idle state, the control terminal outputs a coordinated goods returning instruction to control the first robot 20b to move the processed remaining goods back to the first shelf 10 a.

In some embodiments, a method for pre-pod cargo handling is provided, which is applicable to robots, in particular to first robots.

Fig. 8 is a schematic view of a method for processing pre-chamber cargo according to an embodiment of the present application, and as shown in fig. 8, the method mainly includes the following steps:

s710, receiving a first replenishment order or a coordination replenishment order;

s720, the goods on the second goods shelf are conveyed to the first goods shelf for replenishment according to the first replenishment instruction or the coordinated replenishment instruction;

The embodiment provides a method for processing goods in a front warehouse, a first robot in the front warehouse accesses goods on a first goods shelf to perform order task processing, when the goods allowance of the first goods shelf meets a goods replenishment condition, a control terminal controls the first robot to take the goods from a second goods shelf to perform goods replenishment operation on the first goods shelf, and as the second goods shelf is arranged in the front warehouse and replenishes the first goods shelf through the second goods shelf, the goods replenishment time is short, the goods replenishment efficiency is high, so that the goods on the first goods shelf are sufficient, and the order processing efficiency of the front warehouse is improved.

Fig. 9 is another schematic diagram of a method for processing pre-chamber cargo according to an embodiment of the present application, and as shown in fig. 9, the method mainly includes the following steps:

s810, receiving a cargo carrying instruction or a coordinated carrying instruction;

s820, taking the goods corresponding to the order task from the first shelf according to the goods carrying instruction or the coordinated carrying instruction, and carrying the taken goods to an inlet of a target conveying device;

Fig. 10 is another schematic diagram of a method for processing pre-chamber cargo according to an embodiment of the present application, and as shown in fig. 10, the method mainly includes the following steps:

s910, receiving a goods returning instruction or a coordinated returning instruction;

and S920, taking out the processed residual goods at the outlet of the target conveying device according to the goods returning instruction or the coordinated frame returning instruction, and moving the processed residual goods back to the first goods shelf corresponding to the processed residual goods.

In some embodiments, a control terminal is provided, fig. 11 is a schematic diagram of a control terminal in an embodiment of the present application, and as shown in fig. 11, the control terminal 100 includes:

at least one processor 110; and

a memory 120 communicatively coupled to the at least one processor;

the memory 120 stores instructions executable by the at least one processor 110, and the instructions are executed by the at least one processor 110 to enable the control terminal 100 to execute the technical solution of the front warehouse cargo processing method applied to the control terminal.

In some embodiments, a robot, which may be specifically a first robot, is provided. Fig. 12 is a schematic view of a robot in an embodiment of the present application, and as shown in fig. 12, a robot 200 includes:

at least one processor 210; and

a memory 220 communicatively coupled to the at least one processor 210;

the memory 220 stores instructions executable by the at least one processor 210, and the instructions are executable by the at least one processor 210 to cause the robot to perform a solution applied to a method for pre-pod cargo handling for the robot.

In the terminal device and the robot, the memory and the processor are directly or indirectly electrically connected to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines, such as a bus. The memory stores computer-executable instructions for implementing the data access control method, and includes at least one software functional module which can be stored in the memory in the form of software or firmware, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory.

The Memory may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory is used for storing programs, and the processor executes the programs after receiving the execution instructions. Further, the software programs and modules within the aforementioned memories may also include an operating system, which may include various software components and/or drivers for managing system tasks (e.g., memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

The processor may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

In some embodiments, a front-end warehouse cargo handling system is provided, which includes the control terminal 100 described above, and the robot 200 described above.

In some embodiments, a computer-readable storage medium having stored thereon computer-executable instructions for performing the steps of the method embodiments of the present application when executed by a processor is provided.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, the computer program can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for processing front-end warehouse goods is applied to a control terminal and is characterized by comprising the following steps:

2. The method of claim 1, further comprising:

3. The method of claim 2, further comprising:

4. The method of claim 3, wherein two first racks arranged oppositely are combined to form a rack group, a roadway for the first robot to move is arranged between the two first racks in the same rack group, the front bin comprises at least two rack groups, the number of the first robots is at least two, and different first robots are in one-to-one correspondence with different rack groups;

the outputting a first replenishment order comprises:

and outputting the first replenishment instruction to the first target object.

5. The method of claim 4, further comprising:

6. A method for processing front-end bin cargos is applied to a robot and is characterized by comprising the following steps:

receiving a first replenishment order or a coordination replenishment order;

7. A control terminal, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor to cause the control terminal to perform the method of any one of claims 1 to 5.

8. A robot, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor to cause the robot to perform the method of claim 6.

9. A pre-bin cargo handling system comprising a control terminal according to claim 7 and a robot according to claim 8.

10. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, perform the method of any one of claims 1 to 6.