CN113762851A - Material sorting method, equipment, system and storage medium - Google Patents
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Abstract
The application provides a material sorting method, equipment, a system and a storage medium, wherein a standard sorting distance of a sorting unit for sorting single materials along a main channel is determined according to the branch length from each branch channel to a reference point on the main channel and the ex-warehouse probability of the materials on each warehouse location, and a sorting instruction is generated according to the standard sorting distance and a sorting parameter so as to control the sorting unit to take the materials to be sorted out of the warehouse location in a sorting area. The scheme can be suitable for sorting materials with various storage strategies, and is wide in application range. The standard picking distance can accurately reflect the picking distance of the picking units in the actual operation process, the time for the picking units to process single orders is obtained according to the standard picking distance and the picking parameters, and the orders can be reasonably distributed to each picking unit, so that the picking units can complete the picking operation within the specified time.
Description
Technical Field
The application relates to the technical field of intelligent warehousing, in particular to a material sorting method, equipment, a system and a storage medium.
Background
Warehouse Management (Warehouse Management) refers to storing and keeping materials through a Warehouse. Generally, it refers to the whole process of activities starting from receiving the stored goods, going through the storage and keeping operations, until the goods are released intact.
Sorting of materials as an activity in warehousing management refers to the process of taking out materials in an order from a corresponding storage location by sorting equipment. The existing material picking strategy is generally to assume that materials are randomly stored in each storage position, that is, the ex-warehouse probability of each storage position is the same, calculate the time for picking each order by the picking station, determine the number of devices required for processing all orders according to the time for picking each order, further determine the number of orders required to be processed by each device, generate a picking instruction of each picking unit, and control the picking unit to take the materials out of the storage position.
However, the existing sorting strategy is only suitable for materials in a random storage mode, cannot be suitable for other storage modes of materials such as an ABC classification strategy and a positioning strategy, and is narrow in application range.
Disclosure of Invention
The embodiment of the application provides a material sorting method, equipment, a system and a storage medium, aims to provide a material sorting method which is suitable for storing materials in any storage mode, and is wider in application range.
In a first aspect, the present application provides a method for sorting materials, applied to a server, the method including:
acquiring branch lengths between each branch channel in a picking area and a reference point on a main channel and the ex-warehouse probability of materials on warehouse positions communicated with each branch channel, wherein each branch channel is communicated with at least one warehouse position, and each branch channel is connected with the main channel;
determining a standard picking distance for picking a single material by a picking unit along a main channel according to the branch length and the ex-warehouse probability of the material;
and generating a picking instruction according to the standard picking distance and the picking parameters, wherein the picking instruction is used for instructing the picking unit to take the materials to be picked out of the storage position in the picking area.
Optionally, determining a standard picking distance for the picking unit to pick a single material along the main channel according to the branch length and the ex-warehouse probability of the material, specifically including:
determining the cumulative probability distribution function of the branch length according to the ex-warehouse probability of the materials;
determining a cumulative probability distribution function of the picking distance of the picking unit when picking single materials according to the cumulative probability distribution function of the branch length;
the standard picking distances are determined from the cumulative probability distribution function of the picking distances.
Optionally, determining a cumulative probability distribution function of picking distances of the picking units when picking the single material according to the cumulative probability distribution function of the branch lengths specifically includes:
obtaining a correlation function between the branch length and the picking distance;
determining a cumulative probability distribution function for the picking distance based on the correlation function and the cumulative probability distribution function for the branch lengths.
Optionally, determining a cumulative probability distribution function of the picking distance according to the correlation function and the cumulative probability distribution function of the branch length specifically includes:
calculating and obtaining a cumulative probability distribution function of the picking distance according to a first formula, wherein the first formula specifically comprises:
CPY(Y≤ai)＝[CPX(X≤ai)]n
wherein, CPX(X≤ai) Denotes that the branch length X is aiCumulative probability distribution value of, CPY(Y≤ai) Indicating that the picking distance Y is aiCumulative probability distribution value of aiAnd the normalized distance from the ith branch channel to the datum point is represented, i is more than or equal to 1 and less than or equal to m, m represents the total number of branch channels, and n represents the total number of types of the materials to be sorted in each order.
Optionally, determining the standard picking distance according to the cumulative probability distribution function of the picking distances specifically includes:
and calculating to obtain the standard picking distance according to a second formula, wherein the second formula specifically comprises:
wherein z represents the standard picking distance, aiIndicating the normalized distance of the ith branch channel to the reference point,
indicating that the picking distance Y is aiThe probability of (a) of (b) being,
CPX(X≤ai) Denotes that the branch length X is aiThe cumulative probability distribution value of (2).
Optionally, determining a cumulative probability distribution function of the branch length according to the ex-warehouse probability of the material specifically includes:
calculating and obtaining a cumulative probability distribution function of the branch length according to a third formula, wherein the third formula specifically comprises:
wherein, CPX(X≤ai) Denotes that the branch length X is aiPf, the cumulative probability distribution function ofjAnd expressing the ex-warehouse probability of the material positioned on the warehouse level communicated with the jth branch channel.
Optionally, the generating a picking instruction according to the standard picking distance and the picking parameter specifically includes:
obtaining a picking time for each order based on the standard picking distance and time parameters;
calculating to obtain the total number of the picking units according to the picking time, the total number of the orders and the working time of the picking units of each order;
and generating a picking instruction according to the total number of the picking units, the total number of orders and the order information of each order.
Optionally, obtaining the picking time of each order according to the standard picking distance and time parameters specifically includes:
calculating and obtaining the total walking time of the picking unit for taking out the materials to be picked in each order according to the standard picking distance, the length of the main channel, the length of the branch channel, the walking speed of the picking unit and the total number of the types of the materials to be picked in each order;
calculating and obtaining the total taking time of taking out the materials to be picked in each order from the storage position according to the number of layers of the storage position, the moving speed of the storage position, the time of taking out the materials to be picked from the storage position and the total amount of the materials to be picked in each order;
and calculating and obtaining the picking time of each order according to the total walking time of the picking unit for taking the materials to be picked in each order and the total taking time of the picking unit for taking the materials to be picked in each order from the storage position.
Optionally, the calculating, according to the standard picking distance, the length of the branch passage, the walking speed of the picking unit, and the total number of types of the materials to be picked in each order, to obtain a total walking time for the picking unit to take out the materials to be picked in each order includes:
and calculating and obtaining the total walking time according to a fourth formula, wherein the fourth formula specifically comprises:
wherein, t1Representing total travel time, n representing the total number of types of material to be picked in each order, z representing standard picking distance, L1Denotes the length of the main channel, L2Indicates the length of the branch channel, v1Representing the speed of travel of the picking unit.
Optionally, calculating, according to the number of layers of the storage location, the moving speed of the storage location, the time for taking out the materials to be picked from the storage location, and the total amount of the materials to be picked in each order, to obtain the total taking-out time for taking out the materials to be picked in each order from the storage location, specifically including:
and calculating and obtaining the total extraction time according to a fifth formula, wherein the fifth formula specifically comprises:
wherein, t2Representing total withdrawal time, n representing the total number of types of material to be picked in each order, J representing the number of levels at which the bay is located, H representing the height of the bay, v2Representing the warehouse level elevation speed, d representing the number of items to be picked for each category, and e representing the time for each item to be picked to move from the warehouse level to the pack basket of a picking unit.
Optionally, the obtaining of the total number of picking units by calculating according to the picking time, the total number of orders and the working time of the picking units of each order specifically includes:
calculating and obtaining the total number of the picking units according to a sixth formula, wherein the sixth formula specifically comprises:
wherein Q represents the total number of picking units, P represents the order number, TWIndicating the working time of the picking unit, t indicating the total picking time per order, t ═ t2+t1。
In a second aspect, the present application provides a server comprising: a memory, a processor;
a memory; a memory for storing processor-executable instructions;
wherein the processor is configured to implement the method of sorting material according to the first aspect and the alternative.
In a third aspect, the present application provides a material picking system comprising a picking unit and a server according to the second aspect.
In a fourth aspect, the present application provides a computer-readable storage medium having computer-executable instructions stored thereon for implementing the method of sorting material according to the first aspect and the alternative when executed by a processor.
The embodiment of the application provides a material sorting method, equipment, a system and a storage medium, wherein each branch channel in a sorting area is connected with a main channel, each branch channel leads to at least one storage position, a standard sorting distance of a single material to be sorted by a sorting unit along the main channel is determined according to the branch length of each branch channel to a reference point on the main channel and the delivery probability of the material on each storage position, and a sorting instruction is generated according to the standard sorting distance and a sorting parameter so as to control the sorting unit to take the material to be sorted out of the storage position in the sorting area. According to the scheme, the standard picking distance is calculated according to the actual ex-warehouse probability of the materials, and then the instruction for controlling the picking unit to pick the materials is generated according to the standard picking distance and the picking parameters, so that the method and the device can be suitable for picking the materials of various storage strategies, and are wide in application range. The standard picking distance can accurately reflect the picking distance of the picking units in the actual operation process, the time for the picking units to process single orders is obtained according to the standard picking distance and the picking parameters, and the orders can be reasonably distributed to each picking unit, so that the picking units can complete the picking operation within the specified time.
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Fig. 1 is a schematic diagram illustrating an applicable scenario of a sorting method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a picking system according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart of a sorting method according to another embodiment of the present application;
FIG. 4 is a schematic layout of picking zones provided in another embodiment of the present application;
FIG. 5 is a probability histogram of random variables provided in another embodiment of the present application;
FIG. 6 is a schematic structural diagram of a picking apparatus according to another embodiment of the present application;
fig. 7 is a schematic structural diagram of a server according to another embodiment of the present application.
Detailed Description
To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. 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 application.
In the picking operation planning of the intelligent warehousing, the total number of the required picking units needs to be calculated, and the total number of the required picking units is related to the material storage strategies on each storage position, namely different storage strategies correspond to different total numbers of the picking units. In a warehouse using a high-level shelf or a movable shelf as a storage device, the existing technology assumes that materials on each storage level are randomly stored, that is, the ex-warehouse probability of the materials on each storage level is the same, so that the obtained picking operation plan is only suitable for random storage. When the storage strategy of the materials changes, the picking units can not complete the picking tasks within the specified time.
The embodiment of the application provides a material sorting method, equipment, a system and a storage medium, and aims to solve the technical problems. The inventive concept of the embodiment of the application is as follows: according to the ex-warehouse probability of the materials on each warehouse location and the branch length from each branch channel to the reference point on the main channel, the standard picking distance is calculated, and then the picking instruction is generated according to the standard picking distance and the picking parameters, so that the method can adapt to the materials of any storage strategy, and is wider in application range. In addition, the standard picking distance can accurately reflect the picking distance of the picking units in the actual operation process, the time for the picking units to process single orders is obtained according to the standard picking distance and the picking parameters, and the orders can be reasonably distributed to each picking unit, so that the picking units can complete the picking operation within the specified time.
As shown in fig. 1, a picking method provided by an embodiment of the present application is applied to an intelligent warehouse 10, where the intelligent warehouse 10 includes a plurality of picking areas 11, each picking area 11 is further provided with a plurality of branch lanes 101 and a main lane 102, and each branch lane 101 is communicated with the main lane 102. A shelf 103 is provided at one side or both sides of each branched passage 101. The shelves 103 may be mobile shelves or high-level shelves. Each shelf is provided with a plurality of storage positions. So that each branch channel 101 leads to a bin.
As shown in fig. 2, a picking system provided by an embodiment of the present application includes a server 201 and a picking unit 202. The server 201 is in communication connection with the picking unit 202, the server 201 is used for generating picking instructions, and the picking unit 202 is used for taking out materials from the storage according to the picking instructions. The picking unit may be a robot or a picking terminal that retrieves material from the storage location in accordance with picking instructions when the picking unit is a robot. When the picking unit is a picking terminal, a picking terminal user displays a picking instruction to a picker, and the picker can take out materials from the storage according to the picking instruction. The process of generating the picking instruction by the server 201 can be described with reference to the following embodiments, and will not be described herein.
As shown in fig. 3, another embodiment of the present application provides a material sorting method, which is applied to the above sorting system, and the material sorting method specifically includes the following steps:
s301, the server obtains the branch length between each branch channel in the picking area and a reference point on the main channel and the delivery probability of the materials on the storage position communicated with each branch channel.
In each picking area 11, a reference point is provided, which may be an arbitrary position on the main lane, and the reference position is used as a starting point of the picking unit. The branch length of the branch channel from the reference point refers to the vertical length of the straight line from the reference point to the branch channel.
For the sake of clarity of explanation of the branch length, the reference point is illustrated as being located at the left end of the main channel. As shown in fig. 4, the branch channels are labeled as the 1 st branch channel, the 2 nd branch channel, … …, and the m-th branch channel from left to right. The distance between the 1 st branch channel and the reference point is b1The distance between the 2 nd branch channel and the reference point is b2The distance between the mth branch channel and the reference point is bm。
The material is put according to the storage strategy on different branch passageway both sides or one side position of storehouse in the sorting region, and the probability of leaving warehouse of material is the same on two or one side positions of same branch passageway promptly, and the probability of leaving warehouse of material is inequality on two or one side positions of different branch passageways, for example: random storage policy, ABC sorted storage policy, 80/20 storage policy, etc. If the historical material ex-warehouse data of the picking area can be obtained, the ex-warehouse times of the materials on each warehouse location can be counted according to the historical material ex-warehouse data, and then the ex-warehouse probability can be obtained according to the ex-warehouse times. If the historical material ex-warehouse data cannot be obtained, the ex-warehouse probability of each warehouse location can be obtained through analysis according to the selected storage strategy.
S302, the server determines a standard picking distance of the picking unit for picking single materials along the main channel according to the branch length and the ex-warehouse probability of the materials.
The following will describe the walking process of the picking apparatus by taking the picking area shown in fig. 4 as an example. When the picking equipment picks the picking area, picking is carried out according to a near-to-far strategy. That is, the picking unit is sent from the starting point A and walks along the main channel, when the picking unit reaches the first branch channel, the picking unit determines that the branch channel has the materials to be picked, then the picking unit walks into the first branch channel, and the materials on two sides or one side of the branch channel are taken out. And then the materials to be sorted are determined to be not in the branch channel when the materials to be sorted are walked to the second branch channel, and then the materials are walked continuously along the main channel. When the materials to be sorted in the branch channel are determined when the materials to be sorted in the branch channel travel to the third branch channel, the materials on two sides or one side of the branch channel are taken out. And circulating in sequence until the material in the last branch channel is taken out, and returning to the datum point.
The times of discharging the materials from the warehouse positions on two sides or one side of each branch passage are random numbers, namely, when the picking units pick the materials in a certain picking area, the materials which are picked in the branch passages are the random numbers when the picking units walk to the main passage from the reference point, namely, the walking distance of the picking units on the main passage is also the random numbers. The distribution function of the walking distance of the picking units on the main channel is related to the delivery probability of the materials on the positions on two sides or one side of the branch channel. Then, the accumulated probability distribution function of the walking distance of the picking units on the main passage can be determined according to the delivery probability of the materials, and then the standard picking distance of the picking units for picking single materials is calculated and obtained according to the branch length from the reference point to each branch passage and the accumulated probability distribution function of the walking distance of the picking units on the main passage.
And S303, the server generates a picking instruction according to the standard picking distance and the picking parameters.
Wherein, generating the picking instruction specifically comprises: determining the number of picking units required for picking materials in the order according to the standard picking distance and the picking parameters, distributing the order to each picking unit according to the order information and the number of the picking units, and generating a picking instruction according to the distributed order of each picking unit.
Determining the number of picking units from the standard picking distance and the picking parameters specifically comprises: the time required to pick the individual items is determined from the standard picking distance and the time parameter, and the number of picking units is obtained from the time required to pick the individual items, the operating time of each picking unit and the number of items to be picked in the order.
In calculating the picking time for a picking unit to pick a single item, the standard picking distance is the picking distance of the picking unit on the main aisle, and the walking distance of the picking unit on each branch aisle and the taking distance of the item from the storage position are taken into account.
The delivery probability of the materials on two sides or one side of the same branch channel is the same, and when the picking time of the picking unit for picking a single material is calculated, the length of the branch channel can be directly used as the walking distance of the picking unit on each branch channel.
Generating a picking instruction according to the order distributed by each picking unit, which specifically comprises the following steps: and generating a picking path according to the positions of the materials on the distributed orders and the quantity of the materials to be picked, and generating a picking instruction according to the picking path.
S304, the picking unit receives a picking instruction.
S305, the picking unit takes the materials to be picked out of the storage position in the picking area according to the picking instruction.
The picking unit analyzes the picking instruction to obtain a picking path, the walking mechanism is controlled to walk according to the picking path, and materials passing through the warehouse location of the picking path are taken out to complete a picking task.
In the material sorting method provided by the embodiment of the application, the standard sorting distance along the main channel is calculated according to the actual ex-warehouse probability of the material, and then the instruction for controlling the sorting unit to sort the material is generated according to the standard sorting distance and the sorting parameter, so that the method can be suitable for sorting the materials of various storage strategies, and is wide in application range.
Another embodiment of the present application provides a material sorting method, which is applied to the above sorting system, and the sorting method specifically includes the following steps:
s401, the server obtains the branch length from each branch channel in the picking area to a reference point on the main channel and the ex-warehouse probability of the materials on the warehouse level communicated with each branch channel.
The step has already been described in detail in the above embodiments, and is not described herein again.
S402, the server determines the standard picking distance of the picking units for picking single materials according to the branch lengths and the ex-warehouse probabilities of the materials.
Wherein, the picking distance of the picking unit for picking the single material is a random number. To obtain a cumulative probability distribution function of picking distances to pick individual items, an intermediate random variable of branch length is defined. And obtaining the cumulative probability distribution function of the picking distance for picking single materials according to the branch length.
Obtaining a standard picking distance for picking a single material by a picking unit, which specifically comprises: determining the cumulative probability distribution function of the branch length according to the ex-warehouse probability of the materials, determining the cumulative probability distribution function of the picking distance of the single material picked by the picking unit according to the cumulative probability distribution function of the branch length, and determining the standard picking distance according to the cumulative probability distribution function of the picking distance.
Determining a cumulative probability distribution function of picking distances of the picking units for picking the single materials according to the cumulative probability distribution function of the branch lengths, which specifically comprises the following steps: and obtaining a correlation function between the branch length and the picking distance, and determining a cumulative probability distribution function of the picking distance according to the correlation function and the cumulative probability distribution function of the branch length.
The formula for obtaining the standard picking distance is described below.
Determining a cumulative probability distribution function of branch lengths according to the ex-warehouse probability of the materials, which is specifically shown in a formula (1):
wherein, CPX(X≤ai) Denotes that the branch length X is aiPf, the cumulative probability distribution function ofjAnd expressing the ex-warehouse probability of the material positioned on the warehouse level communicated with the jth branch channel. a isiThe normalized distance of the ith branch channel to the reference point is shown. I is greater than or equal to 1 and less than or equal to m, and m represents the total number of branch channels.
When the picking unit takes out the materials from the warehouse with the picked materials in turn according to the branch passage closest to the reference point to the branch passage farthest from the reference point, the correlation function between the branch length and the picking distance accords with the following formula (2):
Y＝max(X1,X2,...,Xn) (2)
wherein, XiA random variable representing the branch length, Y a random variable representing the picking distance to pick individual items, n a total number of categories of items to be picked in each order, and Y ═ a1,a2,...,am}。
After obtaining the correlation function in equation (2), the cumulative probability distribution function of the picking distance may be determined according to the cumulative probability distribution function of the branch length, and the specific derivation process is as shown in equation (3):
wherein, CPX(X≤ai) Denotes that the branch length X is aiOf the probability distribution value, CPY(Y≤ai) Indicating that the picking distance Y is aiN represents the total number of categories of material to be picked in each order.
That is, the cumulative probability distribution function for the picking distance is computed according to equation (3):
CPY(Y≤ai)＝[CPX(X≤ai)]n (4)
the probability density function for obtaining the picking distance is calculated according to equation (5).
Wherein, CPX(X≤ai) Denotes that the branch length X is aiThe probability distribution value of (2).
The standard picking distance is calculated according to equation (5).
Wherein z represents the standard picking distance, aiIndicating the normalized distance of the ith branch channel to the reference point,
indicating that the picking distance Y is aiThe probability of (c).
The following illustrates the standard picking distances obtained: each picking area is provided with 6 branch channels, and the material delivery probability of the warehouse location communicated with each branch channel is determined to be 0.1, 0.15, 0.25, 0.25, 0.15 and 0.1 in sequence according to historical delivery data or storage strategies of all warehouse locations. According to the sequence from near to far, the branch length from each branch channel to the reference point is 1/6, 2/6, 3/6, 4/6, 5/6 and 6/6 after normalization processing.
Wherein, the branch length is 1/6, 2/6, 3/6, 4/6, 5/6 and 6/6, and the probability corresponding to the 6 values is 0.1, 0.15, 0.25, 0.25, 0.15 and 0.1.
The cumulative probability distribution function of the branch lengths calculated according to equation (1) is 0.10, 0.25, 0.50, 0.75, 0.90, 1.00.
There are two types of materials in the order, and the cumulative probability distribution function calculated according to equation (4) to obtain picking distances is 0.0100, 0.0625, 0.2500, 0.5625, 0.8100, 1.0000.
The probability distribution of the obtained branch distance can be calculated according to the formula (5) and listed as 0.0100, 0.0525, 0.1875, 0.3125, 0.2475, 0.1900.
Calculating according to formula (6) to obtain a standard picking distance of
Z＝(1/6 2/6 3/6 4/6 5/6 6/6)·
(0.0100 0.0525 0.1875 0.3125 0.2475 0.1900)T
＝0.7175
The accuracy of the calculated standard picking distance is verified by stochastic simulation below.
The value range of the random variable X1, X1 is 1/6, 2/6, 3/6, 4/6, 5/6, 6/6, and the value range of the random variable X2, X2 is 1/6, 2/6, 3/6, 4/6, 5/6, 6/6. The generation probabilities of the random variable X1 and the random variable X2 under the above values are 0.1, 0.15, 0.25, 0.25, 0.15, and 0.1.
According to the generation probability, 5000000 times of replaceable samples are carried out on random variables X1 and X2, and Z is made to be pmax (X1 and X2), then Z represents the maximum value of paired data, namely, 5000000 is the maximum value in data X1 and data X2, as shown in FIG. 5, the mean value of a calculation vector Z is 0.7175123, and is almost completely equal to the value calculated in the calculation example, and the correctness of the scheme is verified.
And S403, the server generates a picking instruction according to the standard picking distance and the picking parameters.
Wherein, generating the picking instruction specifically comprises: the picking time of each order is obtained according to the standard picking distance and the time parameters, the total number of the picking units is obtained through calculation according to the picking time, the total number of the orders and the working time of the picking units of each order, and a picking instruction is generated according to the total number of the picking units, the total number of the orders and the order information of each order.
The time parameters comprise the length of the main channel, the length of the branch channel, the number of layers of the warehouse location, the moving speed of the warehouse location, the walking speed of the picking unit, the time for the picking unit to take the materials to be picked out of the warehouse location, the total number of the types of the materials to be picked in each order and the total number of the materials to be picked.
The picking time of the material can be divided into the total travel time of the picking unit and the time of taking out the material to be picked. The same kind of materials are located in the same warehouse location or adjacent warehouse locations, and the total walking time of the picking unit is obtained according to the quantity of the types of the materials on the order and the walking time of picking the single type of the materials. The walking time of the picking units for picking the single-kind materials is obtained according to the walking distance of the picking units on the main channel, the walking distance of the picking units on the branch channels and the walking speed of the picking units.
Preferably, the total travel time of the picking unit for removing the materials to be picked in each order is calculated and obtained according to the standard picking distance, the length of the branch passage, the travel speed of the picking unit and the total number of the types of the materials to be picked in each order.
The total walking time is obtained by calculation according to the following formula (7).
Wherein, t1Representing total travel time, n representing the total number of types of material to be picked in each order, z representing standard picking distance, L1Denotes the length of the main channel, L2Indicates the length of the branch channel, v1Representing the speed of travel of the picking unit.
The total taking time for taking out the materials is divided into the storage position moving time and the time for the picking unit to move the materials from the storage position to the pack basket. The warehouse location moving time is related to the number of layers of the warehouse location and the moving speed of the warehouse location.
Preferably, the total taking time for taking the materials to be picked in each order from the storage position is calculated and obtained according to the number of layers of the storage position, the moving speed of the storage position, the time for taking the materials to be picked out from the storage position and the total amount of the materials to be picked in each order.
The total extraction time is calculated according to equation (8).
Wherein, t2Representing total withdrawal time, n representing the total number of types of material to be picked in each order, J representing the number of levels at which the bay is located, H representing the height of the bay, v2Representing the warehouse level elevation speed, d representing the number of items to be picked for each category, and e representing the time for each item to be picked to move from the warehouse level to the pack basket of a picking unit.
The picking time to get each order is calculated according to equation (9).
t＝t2+t1 (9)
After the picking time for each order is obtained, the total number of picking units obtained is calculated according to equation (10).
Wherein Q represents the total number of picking units, P represents the order number, TWIndicating the length of time the units are in operation and t indicates the total picking time for each order.
After the number of the picking units is obtained, the orders are distributed to each picking unit according to the order information and the number of the picking units, and picking instructions are generated according to the distributed orders of each picking unit. Determining the quantity of orders distributed to each picking unit according to the quantity of the picking units, grouping the orders according to order information, and distributing the grouped orders to each picking unit.
The order information comprises the position of the material and the quantity of the material. When orders are grouped, orders with materials located in adjacent or near warehouse locations can be grouped into the same group and picked by the same picking unit.
After the order processed by each picking unit is determined, the picking path of the picking unit can be planned according to the storage position of the materials and the quantity of the materials, and then a picking instruction is generated according to the picking path. The process of planning the pick path may use prior art path planning and will not be described in detail herein.
S404, the picking unit receives a picking instruction.
S405, the picking unit takes the materials to be picked out of the storage position in the picking area according to the picking instruction.
The embodiment has been described in detail in the above embodiments, and is not described herein again.
In the material sorting method provided by the embodiment of the application, the intermediate random variable of the branch distance is constructed, so that the accumulated probability distribution function of the sorting distance is obtained according to the accumulated probability distribution function of the branch distance, the standard sorting distance can be further obtained, and the sorting instruction is generated according to the sorting distance and the sorting parameters, so that the scheme can sort materials which are suitable for various storage strategies. In addition, the standard picking distance can accurately reflect the picking distance of the picking units in the actual operation process, the time for the picking units to process single orders is obtained according to the standard picking distance and the picking parameters, and the orders can be reasonably distributed to each picking unit, so that the picking units can complete the picking operation within the specified time.
As shown in fig. 6, another embodiment of the present application provides a material sorting apparatus, the apparatus 500 comprising:
an obtaining module 501, configured to obtain a branch length from each branch channel in the picking area to a reference point located on the main channel, and a delivery probability of the material on the storage location communicated by each branch channel, where each branch channel is communicated with at least one storage location, and each branch channel is connected to the main channel;
a processing module 502 for determining a standard picking distance for a picking unit to pick a single item along the main aisle, based on the branch length and the out-of-warehouse probability of the item;
the processing module 502 is further configured to generate a picking order based on the standard picking distance and the picking parameters, wherein the picking order is used to control the picking unit to take the material to be picked out of the storage location in the picking area.
Optionally, the processing module 502 is specifically configured to:
determining the cumulative probability distribution function of the branch length according to the ex-warehouse probability of the materials;
determining a cumulative probability distribution function of the picking distance of the single material picked by the picking unit according to the cumulative probability distribution function of the branch length;
the standard picking distances are determined from the cumulative probability distribution function of the picking distances.
Optionally, the processing module 502 is specifically configured to:
obtaining a correlation function between the branch length and the picking distance;
determining a cumulative probability distribution function for the picking distance based on the correlation function and the cumulative probability distribution function for the branch lengths.
Optionally, the processing module 502 is specifically configured to:
calculating and obtaining a cumulative probability distribution function of the picking distance according to a first formula, wherein the first formula specifically comprises:
CPY(Y≤ai)＝[CPX(X≤ai)]n
wherein, CPX(X≤ai) Denotes that the branch length X is aiCumulative probability distribution value of, CPY(Y≤ai) Indicating that the picking distance Y is aiCumulative probability distribution value of aiAnd the normalized distance from the ith branch channel to the datum point is represented, i is more than or equal to 1 and less than or equal to m, m represents the total number of branch channels, and n represents the total number of types of the materials to be sorted in each order.
Optionally, the processing module 502 is specifically configured to:
and calculating to obtain the standard picking distance according to a second formula, wherein the second formula specifically comprises:
wherein z represents the standard picking distance, aiIndicating the normalized distance of the ith branch channel to the reference point,
indicating that the picking distance Y is aiThe probability of (a) of (b) being,
CPX(X≤ai) Denotes that the branch length X is aiThe cumulative probability distribution value of (2).
Optionally, the processing module 502 is specifically configured to:
calculating and obtaining a cumulative probability distribution function of the branch length according to a third formula, wherein the third formula specifically comprises:
wherein, CPX(X≤ai) Denotes that the branch length X is aiPf, the cumulative probability distribution function ofjAnd expressing the ex-warehouse probability of the material positioned on the warehouse level communicated with the jth branch channel.
Optionally, the processing module 502 is specifically configured to:
obtaining a picking time for each order based on the standard picking distance and time parameters;
calculating to obtain the total number of the picking units according to the picking time, the total number of the orders and the working time of the picking units of each order;
and generating a picking instruction according to the total number of the picking units, the total number of orders and the order information of each order.
Optionally, the processing module 502 is specifically configured to:
calculating and obtaining the total walking time of the picking unit for taking out the materials to be picked in each order according to the standard picking distance, the length of the branch channel, the walking speed of the picking unit and the total number of the types of the materials to be picked in each order;
calculating and obtaining the total taking time of taking out the materials to be picked in each order from the storage position according to the number of layers of the storage position, the moving speed of the storage position, the time of taking out the materials to be picked from the storage position and the total amount of the materials to be picked in each order;
and calculating and obtaining the picking time of each order according to the total walking time of the picking unit for taking the materials to be picked in each order and the total taking time of the picking unit for taking the materials to be picked in each order from the storage position.
Optionally, the processing module 502 is specifically configured to:
and calculating and obtaining the total walking time according to a fourth formula, wherein the fourth formula specifically comprises:
wherein, t1Representing total travel time, n representing the total number of types of material to be picked in each order, z representing standard picking distance, L1Denotes the length of the main channel, L2Indicates the length of the branch channel, v1Representing the speed of travel of the picking unit.
Optionally, the processing module 502 is specifically configured to:
and calculating and obtaining the total extraction time according to a fifth formula, wherein the fifth formula specifically comprises:
wherein, t2Representing the total withdrawal time, n representing the total number of types of material to be picked in each order, J representing the number of levels at which the bin is locatedH denotes the height of the reservoir, v2Representing the warehouse level elevation speed, d representing the number of items to be picked for each category, and e representing the time for each item to be picked to move from the warehouse level to the pack basket of a picking unit.
Optionally, the processing module 502 is specifically configured to:
calculating and obtaining the total number of the picking units according to a sixth formula, wherein the sixth formula specifically comprises:
wherein Q represents the total number of picking units, P represents the order number, TWIndicating the working time of the picking unit, t indicating the total picking time per order, t ═ t2+t1。
As shown in fig. 7, another embodiment of the present application provides a server 600 including: a transmitter 601, a receiver 602, a memory 603, and a processor 602.
A transmitter 601 for transmitting instructions and data;
a receiver 602 for receiving instructions and data;
a memory 603 for storing computer-executable instructions;
Alternatively, the memory 603 may be separate or integrated with the processor 604. When the memory 603 is separately provided, the processing device further includes a bus for connecting the memory 603 and the processor 604.
The embodiment of the application also provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the processor executes the computer-executable instructions, the material sorting method executed by the processing device is implemented.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (13)
1. A material sorting method is applied to a server, and the method comprises the following steps:
acquiring branch lengths between each branch channel in a picking area and a reference point on a main channel and the delivery probability of materials on a storage position communicated with each branch channel, wherein each branch channel is communicated with at least one storage position, and each branch channel is connected with the main channel;
determining a standard picking distance for picking units to pick single materials along the main channel according to the branch length and the ex-warehouse probability of the materials;
generating picking instructions according to the standard picking distances and picking parameters, wherein the picking instructions are used for instructing the picking units to take the materials to be picked out of the storage positions in the picking area.
2. The method of claim 1, wherein determining a standard picking distance for a picking unit to pick a single item along the main aisle based on the branch length and the out-of-stock probability for the item comprises:
determining the cumulative probability distribution function of the branch length according to the ex-warehouse probability of the materials;
determining a cumulative probability distribution function of the picking distance of the picking units when picking single materials according to the cumulative probability distribution function of the branch length;
and determining the standard picking distance according to the cumulative probability distribution function of the picking distances.
3. The method of claim 2, wherein determining a cumulative probability distribution function of picking distances for the picking units when picking individual items based on the cumulative probability distribution function of branch lengths comprises:
obtaining a correlation function between the branch length and the picking distance;
and determining the cumulative probability distribution function of the picking distance according to the correlation function and the cumulative probability distribution function of the branch length.
4. The method according to claim 3, wherein determining the cumulative probability distribution function of the picking distance based on the correlation function and the cumulative probability distribution function of the branch length comprises:
calculating and obtaining a cumulative probability distribution function of the picking distance according to a first formula, wherein the first formula specifically comprises:
CPY(Y≤ai)＝[CPX(X≤ai)]n
wherein, CPX(X≤ai) Denotes that the branch length X is aiCumulative probability distribution value of, CPY(Y≤ai) Indicating that the picking distance Y is aiCumulative probability distribution value of aiAnd the normalized distance from the ith branch channel to the datum point is represented, i is more than or equal to 1 and less than or equal to m, m represents the total number of branch channels, and n represents the total number of types of the materials to be sorted in each order.
5. The method according to any one of claims 2 to 4, wherein determining a standard picking distance according to the cumulative probability distribution function of picking distances comprises:
calculating and obtaining the standard picking distance according to a second formula, wherein the second formula specifically comprises:
wherein z represents the standard picking distance, aiIndicating the normalized distance of the ith branch channel to the reference point,
indicating that the picking distance Y is aiThe probability of (a) of (b) being,
CPX(X≤ai) Denotes that the branch length X is aiThe cumulative probability distribution value of (2).
6. The method according to any one of claims 2 to 4, wherein determining the cumulative probability distribution function of the branch length according to the ex-warehouse probability of the material specifically comprises:
calculating and obtaining a cumulative probability distribution function of the branch length according to a third formula, wherein the third formula specifically comprises:
wherein, CPX(X≤ai) Denotes that the branch length X is aiPf, the cumulative probability distribution function ofjAnd expressing the ex-warehouse probability of the material positioned on the warehouse level communicated with the jth branch channel.
7. The method according to any one of claims 2 to 4, wherein generating a picking order according to the standard picking distance and the picking parameters comprises:
obtaining the picking time of each order according to the standard picking distance and time parameters;
calculating and obtaining the total number of the picking units according to the picking time, the total number of the orders and the working time of the picking units of each order;
and generating a picking instruction according to the total number of picking units, the total number of orders and the order information of each order.
8. The method of claim 7, wherein obtaining the picking time for each order based on the standard picking distance and time parameters comprises:
calculating and obtaining the total walking time of the picking unit for taking out the materials to be picked in each order according to the standard picking distance, the length of the main channel, the length of the branch channel, the walking speed of the picking unit and the total number of the types of the materials to be picked in each order;
calculating and obtaining the total taking time of taking out the materials to be picked in each order from the storage position according to the number of layers of the storage position, the moving speed of the storage position, the time of taking out the materials to be picked from the storage position and the total amount of the materials to be picked in each order;
and calculating and obtaining the picking time of each order according to the total walking time of the picking unit for picking the materials to be picked in each order and the total picking time of the picking unit for picking the materials to be picked in each order from the storage position.
9. The method of claim 8, wherein calculating the total travel time for the picking unit to pick the items to be picked in each order based on the standard picking distance, the length of the branch aisle, the travel speed of the picking unit, and the total number of categories of the items to be picked in each order comprises:
calculating and obtaining the total walking time according to a fourth formula, wherein the fourth formula specifically comprises:
wherein, t1Representing the total travel time, n representing the total number of categories of material to be picked in each order,z represents the standard picking distance, L1Denotes the length of the main channel, L2Indicates the length of the branch channel, v1Representing the speed of travel of the picking unit.
10. The method as claimed in claim 8, wherein the step of calculating the total time taken to take out the materials to be picked in each order from the storage space according to the number of layers of the storage space, the moving speed of the storage space, the time taken to take out the materials to be picked from the storage space and the total amount of the materials to be picked in each order comprises the following steps:
and calculating and obtaining the total taking-out time according to a fifth formula, wherein the fifth formula specifically comprises:
wherein, t2Representing the total withdrawal time, n representing the total number of types of materials to be picked in each order, J representing the number of layers in which the stock level is located, H representing the height of the stock level, v2Representing the warehouse level elevation speed, d representing the number of items to be picked for each category, and e representing the time for each item to be picked to move from the warehouse level to the pack basket of the picking unit.
11. A server, comprising: a memory, a processor;
a memory; a memory for storing the processor-executable instructions;
wherein the processor is configured to implement the method of material sorting of any one of claims 1 to 10.
12. A material sorting system comprising a sorting unit and a server as claimed in claim 11.
13. A computer-readable storage medium having computer-executable instructions stored thereon for implementing a method of sorting material as claimed in any one of claims 1 to 10 when executed by a processor.
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