CN113537654B - Task allocation method, device and system - Google Patents
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Abstract
The invention discloses a task allocation method, device and system, and relates to the technical field of warehousing. One embodiment of the method comprises the following steps: acquiring a shelf identifier uploaded by code scanning equipment carried by each picker, so as to locate the current position of each picker; distributing each picking task to a picker nearest to the picking point according to the current position of each picker and the picking point position of the article in each picking task; the method comprises the steps of obtaining the current position of each storage robot, and respectively distributing each picking task to the storage robot closest to the picking point according to the picking point position of the object in each picking task and the current position of each storage robot. This embodiment can solve the not high technical problem of picking efficiency.
Description
Technical Field
The present invention relates to the field of warehousing technologies, and in particular, to a task allocation method, device, and system.
Background
At present, a way of using a storage robot to run in a warehouse and match a picker to pick objects in the warehouse is more and more common.
One of the "switch me" modes (i.e., the person-to-car mode) is that a large number of robots deployed in a warehouse automatically run to a picking point, wait for pickers to pick items to carriers, and the robots carry the carriers to gradually enter the next picking point until the robots transport the items to a packing area for operation after the whole task is completed. The other mode of 'Lead me' (vehicle counting collar man mode) is that the robot automatically runs to a picking point according to a system instruction and takes a picker to walk in a warehouse, the picker follows the robot to pick articles, and the robot conveys the articles to a packing area to carry out operation after the whole task is completed.
In the process of implementing the present invention, the inventor finds that at least the following problems exist in the prior art:
The system lacks effective dispatch management for the warehouse robots, resulting in inefficient picking.
Disclosure of Invention
In view of the above, the embodiments of the present invention provide a task allocation method, apparatus, and system, so as to solve the technical problem of low picking efficiency.
To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a task allocation method including:
acquiring a shelf identifier uploaded by code scanning equipment carried by each picker, so as to locate the current position of each picker;
Distributing each picking task to a picker nearest to the picking point according to the current position of each picker and the picking point position of the article in each picking task;
the method comprises the steps of obtaining the current position of each storage robot, and respectively distributing each picking task to the storage robot closest to the picking point according to the picking point position of the object in each picking task and the current position of each storage robot.
Optionally, each picker is assigned at least one picking order;
after distributing each picking task to the picker nearest to the picking point according to the current position of each picker and the picking point position of the article in each picking task, the method further comprises:
And generating a picking point path according to the picking point positions of the articles distributed to each picking task of the picker, and issuing the picking point path to a terminal carried by the picker so as to display the picking point path on a display screen of the terminal.
Optionally, the method further comprises:
Dynamically adjusting the picking tasks allocated to the pickers in real time according to the current positions of the pickers and the picking point positions of the objects in each picking task in the process of executing the picking tasks by the pickers;
And updating the picking point path according to the adjusted picking task, and issuing the updated picking point path to the picker.
Optionally, each warehousing robot is assigned at least one picking order;
And in the process of executing the picking tasks by the warehousing robot, dynamically adjusting the picking tasks allocated to the warehousing robot according to the current position of the warehousing robot and the picking point positions of the objects in the picking tasks in real time.
Optionally, the method further comprises:
if at least two to-be-picked points of the storage robots are the same, the at least two storage robots are controlled to sequentially reach the to-be-picked points according to the sequence.
Optionally, the method further comprises:
for any sorting task, distributing the sorting task to the picker and the warehousing robot according to the walking speed of the picker and the moving speed of the warehousing robot, so that the warehousing robot reaches a sorting point of the articles in the sorting task earlier than the picker.
Optionally, the method further comprises:
If the picking points of the objects in the picking tasks are located in a preset scattering area, placing the picking tasks into a scattering task set;
If the preset time node is reached or the number of the picking tasks in the scattered task set reaches a number threshold, respectively distributing each picking task in the scattered task set to the picker and the warehousing robot.
Optionally, assigning each of the picking orders to a picker nearest to the picking point according to the current position of each of the pickers and the picking point position of the item in each of the picking orders, including:
Screening a picking task set matched with each picker according to a virtual partition corresponding to each picker and the picking point position of the object in each picking task;
For each picking task set, respectively distributing each picking task to a picker nearest to the picking point according to the current position of each picker matched with the picking task set and the picking point position of the object of each picking task in the picking task set.
In addition, according to another aspect of the embodiment of the present invention, there is provided a task allocation device including:
The positioning module is used for acquiring the shelf identifications uploaded by the code scanning equipment carried by each picker so as to position the current position of each picker;
the first allocation module is used for allocating each picking task to the picker closest to the picking point according to the current position of each picker and the picking point position of the object in each picking task;
The second distribution module is used for acquiring the current position of each storage robot and distributing each picking task to the storage robot closest to the picking point according to the picking point position of the object in each picking task and the current position of each storage robot.
Optionally, each picker is assigned at least one picking order;
the first allocation module is further configured to:
And generating a picking point path according to the picking point positions of the articles distributed to each picking task of the picker, and issuing the picking point path to a terminal carried by the picker so as to display the picking point path on a display screen of the terminal.
Optionally, the first allocation module is further configured to:
Dynamically adjusting the picking tasks allocated to the pickers in real time according to the current positions of the pickers and the picking point positions of the objects in each picking task in the process of executing the picking tasks by the pickers;
And updating the picking point path according to the adjusted picking task, and issuing the updated picking point path to the picker.
Optionally, each warehousing robot is assigned at least one picking order;
the second distribution module is further configured to: and in the process of executing the picking tasks by the warehousing robot, dynamically adjusting the picking tasks allocated to the warehousing robot according to the current position of the warehousing robot and the picking point positions of the objects in the picking tasks in real time.
Optionally, the second allocation module is further configured to:
if at least two to-be-picked points of the storage robots are the same, the at least two storage robots are controlled to sequentially reach the to-be-picked points according to the sequence.
Optionally, the first allocation module is further configured to: for any sorting task, distributing the sorting task to the picker and the warehousing robot according to the walking speed of the picker and the moving speed of the warehousing robot, so that the warehousing robot reaches a sorting point of the articles in the sorting task earlier than the picker.
Optionally, the first allocation module is further configured to:
If the picking points of the objects in the picking tasks are located in a preset scattering area, placing the picking tasks into a scattering task set;
If the preset time node is reached or the number of the picking tasks in the scattered task set reaches a number threshold, respectively distributing each picking task in the scattered task set to the picker and the warehousing robot.
Optionally, the first allocation module is further configured to:
Screening a picking task set matched with each picker according to a virtual partition corresponding to each picker and the picking point position of the object in each picking task;
For each picking task set, respectively distributing each picking task to a picker nearest to the picking point according to the current position of each picker matched with the picking task set and the picking point position of the object of each picking task in the picking task set.
In addition, according to another aspect of the embodiment of the present invention, there is provided a task allocation system including a code scanning device, a warehousing robot, and a scheduling system;
The code scanning equipment is used for scanning the shelf identification and uploading the shelf identification to the dispatching system; wherein the scanning devices are carried by respective pickers;
The dispatching system is used for receiving the goods shelf identifications uploaded by the scanning devices so as to locate the current positions of the pickers; distributing each picking task to a picker nearest to the picking point according to the current position of each picker and the picking point position of the article in each picking task; the current position of each storage robot is obtained, and each picking task is respectively distributed to the storage robot closest to the picking point according to the picking point position of the object in each picking task.
Optionally, each picker is assigned at least one picking order;
The scheduling system is further configured to:
And generating a picking point path according to the picking point positions of the articles distributed to each picking task of the picker, and issuing the picking point path to a terminal carried by the picker so as to display the picking point path on a display screen of the terminal.
The scheduling system is further configured to:
Dynamically adjusting the picking tasks allocated to the pickers in real time according to the current positions of the pickers and the picking point positions of the objects in each picking task in the process of executing the picking tasks by the pickers;
And updating the picking point path according to the adjusted picking task, and issuing the updated picking point path to the picker.
Optionally, each warehousing robot is assigned at least one picking order;
the scheduling system is further configured to: and in the process of executing the picking tasks by the warehousing robot, dynamically adjusting the picking tasks allocated to the warehousing robot according to the current position of the warehousing robot and the picking point positions of the objects in the picking tasks in real time.
Optionally, the scheduling system is further configured to:
if at least two to-be-picked points of the storage robots are the same, the at least two storage robots are controlled to sequentially reach the to-be-picked points according to the sequence.
Optionally, the scheduling system is further configured to:
for any sorting task, distributing the sorting task to the picker and the warehousing robot according to the walking speed of the picker and the moving speed of the warehousing robot, so that the warehousing robot reaches a sorting point of the articles in the sorting task earlier than the picker.
Optionally, the scheduling system is further configured to:
If the picking points of the objects in the picking tasks are located in a preset scattering area, placing the picking tasks into a scattering task set;
If the preset time node is reached or the number of the picking tasks in the scattered task set reaches a number threshold, respectively distributing each picking task in the scattered task set to the picker and the warehousing robot.
Optionally, the scheduling system is further configured to:
Screening a picking task set matched with each picker according to a virtual partition corresponding to each picker and the picking point position of the object in each picking task;
For each picking task set, respectively distributing each picking task to a picker nearest to the picking point according to the current position of each picker matched with the picking task set and the picking point position of the object of each picking task in the picking task set.
According to another aspect of an embodiment of the present invention, there is also provided an electronic device including:
One or more processors;
Storage means for storing one or more programs,
The one or more processors implement the method of any of the embodiments described above when the one or more programs are executed by the one or more processors.
According to another aspect of an embodiment of the present invention, there is also provided a computer readable medium having stored thereon a computer program which, when executed by a processor, implements the method according to any of the embodiments described above.
One embodiment of the above invention has the following advantages or benefits: because the technical means of distributing the picking tasks to the pickers closest to the picking points according to the current positions of the pickers and the picking point positions of the articles in the picking tasks and distributing the picking tasks to the warehousing robots closest to the picking points respectively according to the picking point positions of the articles in the picking tasks and the current positions of the warehousing robots are adopted, the technical problem of low picking efficiency in the prior art is solved. According to the embodiment of the invention, the picking tasks are dynamically distributed to the storage robot and the pickers, the walking path of the pickers and the waiting time of the storage robot are maximally reduced under the condition of meeting the task timeliness, so that the picking efficiency is maximized, the application amount of the storage robot is relatively minimized, and the storage benefit is maximized.
Further effects of the above-described non-conventional alternatives are described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic diagram of the main flow of a task allocation method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the main flow of a task allocation method according to one referenceable embodiment of the invention;
FIG. 3 is a schematic diagram of the main modules of a task assigning device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a task distribution system according to an embodiment of the present invention;
FIG. 5 is an exemplary system architecture diagram in which embodiments of the present invention may be applied;
fig. 6 is a schematic diagram of a computer system suitable for use in implementing an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The lack of effective dispatching management of the warehouse robots in the prior art results in low picking efficiency, and the inventor has analyzed and researched that the following reasons exist mainly:
1) If the items of the picking order are scattered in the warehouse, the picking order cannot be found by the pickers (i.e. the parking positions of the warehouse robots cannot be found), so that the pickers can find everywhere, and the picking efficiency is low.
2) When the picking task of each wave is finished, the picking tasks at certain corner positions are not found in time by the picker, and then the phenomenon of delay of the picking tasks is generated.
3) When the distribution of the picking points of the objects of the picking tasks is sparse, the situation that the pickers see that the storage robots at the two sides are waiting for picking is caused, the pickers do not know which storage robot to pick preferentially, a plurality of pickers simultaneously go to the same storage robot, the tasks are overlapped, and the storage robots at the other side are not timely picked.
4) The picking tasks received by each picker are unbalanced, and the work distribution of the pickers is unreasonable.
5) In the 'car collar person' picking mode, as a person, a robot and picking tasks are mutually bound, a picker cannot pick along the way when passing through the object picking points of other picking tasks, so that the picking efficiency is lower; in addition, when the picker follows the robot to complete a picking task, the picker needs to look for another robot again, which wastes picking time and results in lower picking efficiency.
Fig. 1 is a schematic diagram of a main flow of a task allocation method according to an embodiment of the present invention. As an embodiment of the present invention, as shown in fig. 1, the task allocation method may include:
and 101, acquiring a shelf identifier uploaded by code scanning equipment carried by each picker, so as to locate the current position of each picker.
Each picker carries a code scanning device for scanning identification information such as one-dimensional codes or two-dimensional codes on the goods shelves so as to obtain the goods shelf identifications; the shelf identity is then uploaded to the dispatch system. After receiving the shelf identifications uploaded by the scanning devices carried by the pickers, the dispatching system locates the current positions of the pickers according to the corresponding relation between the shelf identifications and the shelf positions. In the embodiment of the invention, after the pickers arrive near the goods shelf, the code scanning equipment scans the identification information such as one-dimensional codes or two-dimensional codes on the goods shelf, and then the goods shelf identifications are uploaded to the dispatching system, so that the dispatching system can position the current positions of the pickers in real time according to the goods shelf identifications uploaded in real time.
Optionally, in order to conveniently carry and sweep a yard equipment, sweep a yard equipment and can be the camera or sweep a yard ware that wear, can not influence the picker like this and carry out the order of picking, can scan the sign on the goods shelves around in real time through sweeping a yard equipment, and then the current position of each picker of locating in real time, help dispatch system real time optimization dispatch scheme.
And 102, respectively distributing each picking task to the picker nearest to the picking point according to the current position of each picker and the picking point position of the article in each picking task.
After the current positions of all pickers are positioned, the dispatching system calculates pickers closest to the picking point positions according to the current positions of all pickers and the picking point positions of the articles in all picking tasks, so that the corresponding picking tasks are bound with the pickers closest to the pickers, the corresponding picking tasks are issued to the terminals of the pickers closest to the pickers, and the pickers can conveniently check the distributed picking tasks through the terminals.
In the embodiment of the invention, the optimal picking tasks are distributed to each picker through the dispatching system, and the nearest picker is assigned to go to the picking point, so that the walking distance of the picker can be reduced, the picker does not need to pick the picking tasks any more, and does not need to judge which picking task is optimal, but only needs to execute the picking tasks distributed to the picker through the dispatching system, thereby obviously improving the picking efficiency.
Optionally, step 102 may include: screening a picking task set matched with each picker according to a virtual partition corresponding to each picker and the picking point position of the object in each picking task; for each picking task set, respectively distributing each picking task to a picker nearest to the picking point according to the current position of each picker matched with the picking task set and the picking point position of the object of each picking task in the picking task set. If the picking points of the objects in the picking tasks are distributed densely in the warehouse, corresponding virtual partitions can be defined for each picker in advance, one or more virtual partitions can be defined for each picker according to different densities of the picking points, and each picker is responsible for picking the picking tasks of the corresponding virtual partitions, so that the walking distance of the picker in the warehouse can be reduced, the executing tasks of each picker can be balanced, and the picking efficiency can be improved.
In an embodiment of the invention, the dispatch system, when assigning picking tasks to a picker, preferentially assigns picking tasks with picking points in virtual zones corresponding to the picker.
Optionally, step 102 further includes: and generating a picking point path according to the picking point positions of the articles distributed to each picking task of the picker, and issuing the picking point path to a terminal carried by the picker so as to display the picking point path on a display screen of the terminal. In an embodiment of the invention, each picker may be assigned at least one picking order, and the dispatch system generates a picking path for each picker based on the picking order assigned to each picker, and then issues the picking path to the terminal of the corresponding picker. After the terminal receives the picking path issued by the dispatching system, the picking path can be displayed on a display screen, so that a picker can conveniently check the walking path and the task distribution position, and the indoor map positioning navigation is performed for the picker. The picker may wear a terminal on the arm with a display screen for displaying the picking path. Optionally, the terminal is an intelligent terminal, information such as picking tasks and walking paths can be provided for the pickers through a man-machine exchange interface, interaction can be performed with the pickers through an intelligent voice interaction function, the walking paths are guided through voice, the pickers can confirm completion tasks through voice after carrying the articles to the carrier, and the robot enters the next picking point or returns to the packing area after completing the tasks. Therefore, the intelligent terminal can liberate both hands of a picker in picking operation, and picking efficiency is further improved.
Step 103, obtaining the current position of each storage robot, and respectively distributing each picking task to the storage robot closest to the picking point according to the picking point position of the object in each picking task and the current position of each storage robot.
In the embodiment of the invention, the storage robots can report the current position in real time, and the scheduling system calculates the storage robots closest to the picking point positions according to the picking point positions of the objects in the picking tasks and the current position of the storage robots, so that the corresponding picking tasks are bound with the storage robots closest to the picking point positions, the corresponding picking tasks are issued to the storage robots closest to the picking point positions, and the storage robots go to the picking point in sequence after receiving the picking tasks.
Each stocker robot is assigned at least one pick order, and similar to step 102, the dispatch system may also generate a pick path for each stocker robot that sequentially goes to various pick points in the path according to the issued pick path. The storage robot comprises at least one of an automatic guiding transport vehicle, an intelligent guiding transport vehicle or an autonomous mobile robot.
Optionally, dynamically adjusting the picking tasks allocated to the pickers in real time according to the current positions of the pickers and the picking point positions of the articles in each picking task in the process of executing the picking tasks by the pickers; and updating the picking point path according to the adjusted picking task, and issuing the updated picking point path to the picker. Optionally, in the process that the storage robot performs the picking task, the picking task allocated to the storage robot is dynamically adjusted in real time according to the current position of the storage robot and the picking point positions of the articles in each picking task. The dispatch system may dynamically assign picking orders to individual pickers and individual warehousing robots at intervals so that the picking orders will move from one warehousing robot to another and from one picker to another. Because the picking tasks allocated to the storage robots and the pickers are dynamically adjusted, the paths of the picking points of the storage robots and the pickers are also dynamically adjusted, the picking tasks along the way can be picked, and the allocated picking tasks can be allocated to other more proper storage robots and pickers, so that the picking work of each picker is relatively balanced, the picking efficiency is maximized, and the situation that a plurality of pickers rob a single or pick the tasks can be avoided.
Optionally, the method further comprises: if at least two to-be-picked points of the storage robots are the same, the at least two storage robots are controlled to sequentially reach the to-be-picked points according to the sequence. The dispatching system controls the storage robots to go to the picking points in sequence, so that a plurality of storage robots are prevented from appearing at the same time at the same picking point, the situation that the storage robots wait at the picking points is avoided as much as possible, and the picking efficiency is improved.
Optionally, the method further comprises: for any sorting task, distributing the sorting task to the picker and the warehousing robot according to the walking speed of the picker and the moving speed of the warehousing robot, so that the warehousing robot reaches a sorting point of the articles in the sorting task earlier than the picker. The dispatching system preferentially controls the storage robots and pickers to arrive at the picking points at the same time, but the difference of walking speeds of each picker is considered, so that the storage robots can arrive at the picking points relatively early, and the dispatching system distributes/adjusts picking tasks to proper pickers in time, so that the storage robots are prevented from waiting for a long time.
Optionally, the method further comprises: if the picking points of the objects in the picking tasks are located in a preset scattering area, placing the picking tasks into a scattering task set; if the preset time node is reached or the number of the picking tasks in the scattered task set reaches a number threshold, respectively distributing each picking task in the scattered task set to the picker and the warehousing robot. The scheduling system can schedule the warehouse robot and the pickers to go to the picking points to execute the tasks according to the time node of each order under the condition that the time node is not exceeded and the picking tasks at certain corners are subjected to 'suffocating', namely, the warehouse robot and the pickers are scheduled to go to the picking points to execute the tasks after a certain number of picking tasks are reached, and delay phenomenon of the picking tasks is avoided, so that the highest picking efficiency is achieved. Particularly, when the distribution of the picking points of the picking tasks is sparse, the dispatching system can adopt a zoned gradual picking strategy to enable the walking paths of the storage robot and the pickers to be shortest, so that the pickers execute a plurality of picking tasks in the area, and the walking paths are reduced to achieve the highest picking efficiency.
According to the various embodiments described above, it can be seen that the technical means of distributing the picking tasks to the pickers closest to the picking points according to the current positions of the pickers and the picking point positions of the articles in the picking tasks, and distributing the picking tasks to the warehousing robots closest to the picking points according to the picking point positions of the articles in the picking tasks and the current positions of the warehousing robots, respectively, solves the technical problem of low picking efficiency in the prior art. According to the embodiment of the invention, the picking tasks are dynamically distributed to the storage robot and the pickers, the walking path of the pickers and the waiting time of the storage robot are maximally reduced under the condition of meeting the task timeliness, so that the picking efficiency is maximized, the application amount of the storage robot is relatively minimized, and the storage benefit is maximized.
Fig. 2 is a schematic diagram of the main flow of a task allocation method according to one reference embodiment of the present invention. As still another embodiment of the present invention, as shown in fig. 2, the task allocation method may include:
step 201, acquiring a shelf identifier uploaded by a code scanning device carried by each picker, so as to locate the current position of each picker.
Step 202, distributing each picking task to the picker nearest to the picking point according to the current position of each picker and the picking point position of the article in each picking task.
Step 203, generating a picking point path according to the picking point positions of the items in each picking task assigned to the picker.
And 204, issuing the picking point path to a terminal carried by the picker so that the picking point path is displayed on a display screen of the terminal.
Step 205, obtaining the current position of each storage robot.
And 206, respectively distributing each picking task to the storage robot closest to the picking point according to the picking point position of the article in each picking task and the current position of each storage robot.
Step 207, generating a picking point path according to the picking point positions of the articles distributed to each picking task of the storage robot.
And step 208, issuing the picking point path to the warehousing robot so that the picking point path is displayed on a display screen of the warehousing robot.
In addition, in the embodiment of the present invention, the task allocation method is described in detail in the above description, so that the description is not repeated here.
FIG. 3 is a schematic diagram of main modules of a task assigning apparatus according to an embodiment of the present invention, and as shown in FIG. 3, the task assigning apparatus 300 includes a positioning module 301, a first assigning module 302, and a second assigning module 303; the positioning module 301 is configured to obtain a shelf identifier uploaded by a code scanning device carried by each picker, so as to position a current position of each picker; the first allocation module 302 is configured to allocate each picking task to a picker closest to the picking point according to the current position of each picker and the picking point position of the item in each picking task; the second allocation module 303 is configured to obtain a current position of each storage robot, and allocate each picking task to a storage robot closest to the picking point according to a picking point position of an article in each picking task and the current position of each storage robot.
Optionally, each picker is assigned at least one picking order;
The first allocation module 302 is further configured to: and generating a picking point path according to the picking point positions of the articles distributed to each picking task of the picker, and issuing the picking point path to a terminal carried by the picker so as to display the picking point path on a display screen of the terminal.
Optionally, the first allocation module 302 is further configured to: dynamically adjusting the picking tasks allocated to the pickers in real time according to the current positions of the pickers and the picking point positions of the objects in each picking task in the process of executing the picking tasks by the pickers; and updating the picking point path according to the adjusted picking task, and issuing the updated picking point path to the picker.
Optionally, each warehousing robot is assigned at least one picking order;
The second allocation module 303 is further configured to: and in the process of executing the picking tasks by the warehousing robot, dynamically adjusting the picking tasks allocated to the warehousing robot according to the current position of the warehousing robot and the picking point positions of the objects in the picking tasks in real time.
Optionally, the second allocation module 303 is further configured to: if at least two to-be-picked points of the storage robots are the same, the at least two storage robots are controlled to sequentially reach the to-be-picked points according to the sequence.
Optionally, the first allocation module 302 is further configured to: for any sorting task, distributing the sorting task to the picker and the warehousing robot according to the walking speed of the picker and the moving speed of the warehousing robot, so that the warehousing robot reaches a sorting point of the articles in the sorting task earlier than the picker.
Optionally, the first allocation module 302 is further configured to: if the picking points of the objects in the picking tasks are located in a preset scattering area, placing the picking tasks into a scattering task set; if the preset time node is reached or the number of the picking tasks in the scattered task set reaches a number threshold, respectively distributing each picking task in the scattered task set to the picker and the warehousing robot.
Optionally, the first allocation module 302 is further configured to: screening a picking task set matched with each picker according to a virtual partition corresponding to each picker and the picking point position of the object in each picking task; for each picking task set, respectively distributing each picking task to a picker nearest to the picking point according to the current position of each picker matched with the picking task set and the picking point position of the object of each picking task in the picking task set.
The task allocation device according to the present invention is specifically implemented, and the task allocation method according to the present invention is described in detail above, so that the description thereof will not be repeated here.
Fig. 4 is a schematic diagram of a task distribution system according to an embodiment of the present invention. As shown in fig. 5, the task allocation system includes a code scanning device 403, a storage robot 402, and a scheduling system 401; the code scanning device 403 is configured to scan a shelf identifier, and upload the shelf identifier to the scheduling system 401; wherein the scanning devices are carried by respective pickers 405; the dispatching system 401 is configured to receive the shelf identifier uploaded by each of the scanning devices, so as to locate the current position of each of the pickers 405; assigning each of the picking orders to a picker 405 nearest to the picking point based on a current location of each of the pickers 405 and a picking point location of the item in each of the picking orders; the current position of each storage robot 402 is obtained, and each picking task is respectively distributed to the storage robot 402 closest to the picking point according to the picking point position of the object in each picking task.
Optionally, each picker 405 is assigned at least one picking order;
The scheduling system 401 is further configured to:
A pick point path is generated from pick point locations of items in individual pick orders assigned to the picker 405, and the pick point path is issued to a terminal 404 carried by the picker 405, so that the pick point path is displayed on a display screen of the terminal 404.
The scheduling system 401 is further configured to:
dynamically adjusting picking orders assigned to the pickers 405 in real time according to the current positions of the pickers 405 and the picking point positions of items in each of the picking orders during the process of the pickers 405 performing the picking orders;
And updating the picking point path according to the adjusted picking task, and issuing the updated picking point path to the picker 405.
Optionally, each warehousing robot 402 is assigned at least one picking order;
The scheduling system 401 is further configured to: in the process of executing the picking tasks by the storage robot 402, the picking tasks allocated to the storage robot 402 are dynamically adjusted in real time according to the current position of the storage robot 402 and the picking points of the articles in the picking tasks.
Optionally, the scheduling system 401 is further configured to:
If there are at least two storage robots 402 with the same picking points to be in place, the at least two storage robots 402 are controlled to sequentially reach the picking points according to the sequence.
Optionally, the scheduling system 401 is further configured to:
For any sort order, the sort order is assigned to the picker 405 and the warehousing robot 402 according to the travel speed of the picker 405 and the travel speed of the warehousing robot 402, such that the warehousing robot 402 arrives at the pick point of the item in the sort order earlier than the picker 405.
Optionally, the scheduling system 401 is further configured to:
If the picking points of the objects in the picking tasks are located in a preset scattering area, placing the picking tasks into a scattering task set;
If a preset time node is reached or the number of picking tasks in the discrete task set reaches a number threshold, each picking task in the discrete task set is assigned to the picker 405 and the warehousing robot 402, respectively.
Optionally, the scheduling system 401 is further configured to:
Screening a picking task set matched with each picker 405 according to a virtual partition corresponding to each picker 405 and a picking point position of an item in each picking task;
For each set of picking orders, each picking order is assigned to a picker 405 nearest to the picking order based on the current location of each picker 405 matching the set of picking orders and the picking point location of the item for each picking order in the set of picking orders.
The details of the task allocation system according to the present invention are described in the task allocation method described above, and therefore, the description thereof will not be repeated here.
Fig. 5 illustrates an exemplary system architecture 500 to which the task allocation method or task allocation device of embodiments of the present invention may be applied.
As shown in fig. 5, the system architecture 500 may include terminal devices 501, 502, 503, a network 504, and a server 505. The network 504 is used as a medium to provide communication links between the terminal devices 501, 502, 503 and the server 505. The network 504 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.
A user may interact with the server 505 via the network 504 using the terminal devices 501, 502, 503 to receive or send messages or the like. Various communication client applications may be installed on the terminal devices 501, 502, 503, such as shopping class applications, web browser applications, search class applications, instant messaging tools, mailbox clients, social platform software, etc. (by way of example only).
The terminal devices 501, 502, 503 may be a variety of electronic devices having a display screen and supporting web browsing, including but not limited to smartphones, tablets, laptop and desktop computers, and the like.
The server 505 may be a server providing various services, such as a background management server (by way of example only) providing support for shopping-type websites browsed by users using the terminal devices 501, 502, 503. The background management server may analyze and process the received data such as the article information query request, and feedback the processing result (e.g., the target push information, the article information—only an example) to the terminal device.
It should be noted that, the task allocation method provided by the embodiment of the present invention is generally executed by the server 505, and accordingly, the task allocation device is generally disposed in the server 505. The task allocation method provided by the embodiment of the present invention may also be performed by the terminal devices 501, 502, 503, and accordingly, the task allocation apparatus may be provided in the terminal devices 501, 502, 503.
It should be understood that the number of terminal devices, networks and servers in fig. 5 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 6, there is illustrated a schematic diagram of a computer system 600 suitable for use in implementing an embodiment of the present invention. The terminal device shown in fig. 6 is only an example, and should not impose any limitation on the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 6, the computer system 600 includes a Central Processing Unit (CPU) 601, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage section 608 into a Random Access Memory (RAM) 603. In the RAM603, various programs and data required for the operation of the system 600 are also stored. The CPU 601, ROM 602, and RAM603 are connected to each other through a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, mouse, etc.; an output portion 607 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The drive 610 is also connected to the I/O interface 605 as needed. Removable media 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on drive 610 so that a computer program read therefrom is installed as needed into storage section 608.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication portion 609, and/or installed from the removable medium 611. The above-described functions defined in the system of the present invention are performed when the computer program is executed by a Central Processing Unit (CPU) 601.
The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer programs according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules involved in the embodiments of the present invention may be implemented in software or in hardware. The described modules may also be provided in a processor, for example, as: a processor comprises a positioning module, a first allocation module and a second allocation module, wherein the names of these modules do not constitute a limitation of the module itself in some cases.
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer readable medium carries one or more programs which, when executed by a device, implement the method of: acquiring a shelf identifier uploaded by code scanning equipment carried by each picker, so as to locate the current position of each picker; distributing each picking task to a picker nearest to the picking point according to the current position of each picker and the picking point position of the article in each picking task; the method comprises the steps of obtaining the current position of each storage robot, and respectively distributing each picking task to the storage robot closest to the picking point according to the picking point position of the object in each picking task and the current position of each storage robot.
According to the technical scheme of the embodiment of the invention, the technical means that the picking task is distributed to the picker closest to the picking point according to the current position of the picker and the picking point position of the articles in the picking task, and the picking task is distributed to the warehousing robot closest to the picking point according to the picking point position of the articles in the picking task and the current position of the warehousing robot are adopted, so that the technical problem of low picking efficiency in the prior art is solved. According to the embodiment of the invention, the picking tasks are dynamically distributed to the storage robot and the pickers, the walking path of the pickers and the waiting time of the storage robot are maximally reduced under the condition of meeting the task timeliness, so that the picking efficiency is maximized, the application amount of the storage robot is relatively minimized, and the storage benefit is maximized.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (11)
1. A method of task allocation, comprising:
acquiring a shelf identifier uploaded by code scanning equipment carried by each picker, so as to locate the current position of each picker;
Distributing each picking task to a picker nearest to the picking point according to the current position of each picker and the picking point position of the article in each picking task;
Acquiring the current position of each storage robot, and respectively distributing each picking task to the storage robot closest to the picking point according to the picking point position of the object in each picking task and the current position of each storage robot;
The method further comprises the steps of: dynamically adjusting the picking tasks allocated to the pickers in real time according to the current positions of the pickers and the picking point positions of the objects in each picking task in the process of executing the picking tasks by the pickers; updating a picking point path according to the adjusted picking task, and issuing the updated picking point path to the picker;
each warehousing robot is assigned at least one picking task;
The method further comprises the steps of: and in the process of executing the picking tasks by the warehousing robot, dynamically adjusting the picking tasks allocated to the warehousing robot according to the current position of the warehousing robot and the picking point positions of the objects in the picking tasks in real time.
2. The method of claim 1, wherein each picker is assigned at least one picking order;
after distributing each picking task to the picker nearest to the picking point according to the current position of each picker and the picking point position of the article in each picking task, the method further comprises:
And generating a picking point path according to the picking point positions of the articles distributed to each picking task of the picker, and issuing the picking point path to a terminal carried by the picker so as to display the picking point path on a display screen of the terminal.
3. The method according to claim 1, wherein the method further comprises:
if at least two to-be-picked points of the storage robots are the same, the at least two storage robots are controlled to sequentially reach the to-be-picked points according to the sequence.
4. The method according to claim 1, wherein the method further comprises:
for any sorting task, distributing the sorting task to the picker and the warehousing robot according to the walking speed of the picker and the moving speed of the warehousing robot, so that the warehousing robot reaches a sorting point of the articles in the sorting task earlier than the picker.
5. The method according to claim 1, wherein the method further comprises:
If the picking points of the objects in the picking tasks are located in a preset scattering area, placing the picking tasks into a scattering task set;
If the preset time node is reached or the number of the picking tasks in the scattered task set reaches a number threshold, respectively distributing each picking task in the scattered task set to the picker and the warehousing robot.
6. The method of claim 1, wherein assigning each of the picking orders to a picker nearest the picking point based on a current location of each of the pickers and a picking point location of the item in each of the picking orders, respectively, comprises:
Screening a picking task set matched with each picker according to a virtual partition corresponding to each picker and the picking point position of the object in each picking task;
For each picking task set, respectively distributing each picking task to a picker nearest to the picking point according to the current position of each picker matched with the picking task set and the picking point position of the object of each picking task in the picking task set.
7. A task assigning apparatus, comprising:
The positioning module is used for acquiring the shelf identifications uploaded by the code scanning equipment carried by each picker so as to position the current position of each picker;
the first allocation module is used for allocating each picking task to the picker closest to the picking point according to the current position of each picker and the picking point position of the object in each picking task;
The second distribution module is used for acquiring the current position of each storage robot and distributing each picking task to the storage robot closest to the picking point according to the picking point position of the object in each picking task and the current position of each storage robot;
the first allocation module is further configured to:
Dynamically adjusting the picking tasks allocated to the pickers in real time according to the current positions of the pickers and the picking point positions of the objects in each picking task in the process of executing the picking tasks by the pickers;
updating a picking point path according to the adjusted picking task, and issuing the updated picking point path to the picker;
each warehousing robot is assigned at least one picking task;
the second distribution module is further configured to: and in the process of executing the picking tasks by the warehousing robot, dynamically adjusting the picking tasks allocated to the warehousing robot according to the current position of the warehousing robot and the picking point positions of the objects in the picking tasks in real time.
8. The task distribution system is characterized by comprising code scanning equipment, a storage robot and a scheduling system; wherein,
The code scanning equipment is used for scanning the shelf identification and uploading the shelf identification to the dispatching system; wherein the scanning devices are carried by respective pickers;
The dispatching system is used for receiving the goods shelf identifications uploaded by the scanning devices so as to locate the current positions of the pickers; distributing each picking task to a picker nearest to the picking point according to the current position of each picker and the picking point position of the article in each picking task; acquiring the current position of each storage robot, and respectively distributing each picking task to the storage robot closest to the picking point according to the picking point position of the object in each picking task;
the scheduling system is further configured to: dynamically adjusting the picking tasks allocated to the pickers in real time according to the current positions of the pickers and the picking point positions of the objects in each picking task in the process of executing the picking tasks by the pickers; updating a picking point path according to the adjusted picking task, and issuing the updated picking point path to the picker;
the scheduling system is further configured to: and in the process of executing the picking tasks by the warehousing robot, dynamically adjusting the picking tasks allocated to the warehousing robot according to the current position of the warehousing robot and the picking point positions of the objects in the picking tasks in real time.
9. The system of claim 8, further comprising: terminals carried by the pickers;
The dispatching system is further used for generating a picking point path according to the picking point positions of the articles distributed to the picking tasks of the pickers, and sending the picking point path to a terminal carried by the pickers so that the picking point path is displayed on a display screen of the terminal.
10. An electronic device, comprising:
One or more processors;
Storage means for storing one or more programs,
The one or more processors implement the method of any of claims 1-6 when the one or more programs are executed by the one or more processors.
11. A computer readable medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-6.
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