CN114803243B - Goods delivery method, device, system and electronic equipment - Google Patents

Goods delivery method, device, system and electronic equipment Download PDF

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CN114803243B
CN114803243B CN202210346493.9A CN202210346493A CN114803243B CN 114803243 B CN114803243 B CN 114803243B CN 202210346493 A CN202210346493 A CN 202210346493A CN 114803243 B CN114803243 B CN 114803243B
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sorting
order
cargo
workstation
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CN114803243A (en
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魏豫
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Beijing Jingdong Qianshi Technology Co Ltd
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Beijing Jingdong Qianshi Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/30—Belts or like endless load-carriers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders

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  • Finance (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The disclosure provides a cargo delivery method, a cargo delivery device, a cargo delivery system and electronic equipment. The method comprises the following steps: acquiring sorting work station information of a target work station group, wherein the target work station group comprises a plurality of sorting work stations; determining a task to be sorted corresponding to a sorting workstation in the target workstation group according to sorting workstation information of the target workstation group and the order to be processed; according to the tasks to be sorted corresponding to each sorting workstation in the target workstation group, determining a target transport robot and a target cargo turnover box corresponding to the target workstation group; after the target transport robot is controlled to transport the target cargo turnover boxes to the target workstation group, the target cargo turnover boxes are controlled to enter one or more sorting workstations where corresponding tasks to be sorted are located so as to finish cargo delivery. The embodiment of the disclosure can improve the goods delivery efficiency.

Description

Goods delivery method, device, system and electronic equipment
Technical Field
The disclosure relates to the field of warehouse logistics, in particular to a method, a device, a system and electronic equipment for delivering goods.
Background
Along with the development of warehouse logistics technology, small-sized transportation robots are widely applied to warehouse-out and conveying work of warehouse goods so as to convey the goods from a warehouse position to a picking workstation for manual picking by staff.
In the related art, an order is generally selected for each workstation in an order pool or a task pool, then a warehouse location corresponding to the order is selected, and an idle small-sized transportation robot is selected for carrying goods according to the warehouse location and the workstation location. However, each task of each workstation in the scheme needs to occupy one small-sized transportation robot, so that the transportation capacity of the small-sized transportation robot cannot be fully utilized, and the number of the small-sized transportation robots is huge, and the transportation efficiency is low.
Therefore, there is a need for a cargo delivery method that can improve the efficiency of the handling of stored cargo.
It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The disclosure aims to provide a cargo delivery method, a device, a system and electronic equipment, which are used for solving the problems of large demand quantity, low cargo delivery efficiency and the like of small-sized transportation robots in prior art at least to a certain extent.
According to a first aspect of an embodiment of the present disclosure, there is provided a cargo delivery method, including: acquiring sorting work station information of a target work station group, wherein the target work station group comprises a plurality of sorting work stations, each sorting work station is provided with a plurality of slots, and the sorting work station information comprises information of slots to be treated in the sorting work stations; determining a task to be sorted corresponding to the sorting workstation in the target workstation group according to the sorting workstation information and the order to be processed of the target workstation group; according to the tasks to be sorted corresponding to each sorting workstation in the target workstation group, determining a target transportation robot and a target cargo turnover box corresponding to the target workstation group, wherein each target cargo turnover box corresponds to one or more tasks to be sorted, and one or more tasks to be sorted correspond to one or more sorting workstations; after the target transport robot is controlled to transport the target cargo turnover boxes to the target workstation group, the target cargo turnover boxes are controlled to enter one or more sorting workstations corresponding to the tasks to be sorted, so that cargo delivery is completed.
In an exemplary embodiment of the present disclosure, the information of the to-be-handled slot includes an order type and a cargo type corresponding to the to-be-handled slot, and the determining, according to the sorting workstation information of the target workstation group and the to-be-handled order, a to-be-sorted task corresponding to the sorting workstation of the target workstation group includes: determining a to-be-processed order corresponding to each to-be-processed slot according to the order type corresponding to the to-be-processed slot and the cargo types corresponding to all slots in the target workstation group; determining the to-be-processed order corresponding to the target sorting workstation according to the to-be-processed order corresponding to the to-be-processed slot position corresponding to the target sorting workstation; generating a to-be-sorted task corresponding to the target sorting work station according to the to-be-processed order corresponding to the target sorting work station, wherein the to-be-sorted task comprises target cargo types corresponding to the target sorting work station and the to-be-processed quantity corresponding to each target cargo type.
In an exemplary embodiment of the present disclosure, the determining, according to the order type corresponding to the to-be-handled slot and the cargo types corresponding to all slots in the target workstation group, the to-be-handled order corresponding to each to-be-handled slot includes: acquiring to-be-processed order information of a plurality of to-be-processed orders, wherein the order information comprises an order type corresponding to each to-be-processed order, a cargo type corresponding to each to-be-processed order and a to-be-processed quantity corresponding to each cargo type; setting the order types corresponding to all the to-be-handled slots in the target workstation group as target order types, and setting the to-be-handled orders with the order types being the target order types in the to-be-handled orders as target orders; determining a matching score of the goods category of the target order and the goods category corresponding to each sorting workstation in the target workstation group; and distributing the target order to the to-be-disposed slot position with the same order type as the target order according to the matching score of the target order from high to low.
In an exemplary embodiment of the present disclosure, the slots to be disposed include empty slots and slots of an unfinished aggregate order group, assigning the target order to the slots to be disposed of which order type is the same as that of the target order from high to low according to a matching score of the target order includes: determining an order type of the target order and a sorting workstation corresponding to the highest matching score of the target order; acquiring a processing category of the sorting workstation for the order type of the target order; when the processing category is an aggregate order, the target order is allocated to the slot positions of the group of the unfinished aggregate order with the same order category, or the target order is allocated to the empty slot positions with the same order category, or when the empty slot positions do not exist or the target order cannot form the aggregate order, the target order cannot be allocated to the workstation; and when the processing category is an order, the target order is allocated to the empty slots with the same order category.
In an exemplary embodiment of the disclosure, the determining, according to the task to be sorted corresponding to each sorting workstation in the target workstation group, the target transport robot and the target cargo turnover box corresponding to the target workstation group includes: determining a cargo turnover box corresponding to the target cargo types according to the target cargo types corresponding to all the tasks to be sorted of the target workstation group; determining a target transport robot corresponding to the target workstation group in the idle transport robots; the method comprises the steps that a convenience score of a goods circulation box to a target work station group is obtained, the convenience score is in direct proportion to a quantity matching value, the quantity matching value is in inverse proportion to a distance value, the quantity matching value is determined according to the ratio of the stock quantity of the goods circulation box to the quantity to be processed of a target goods type corresponding to the goods circulation box in a target work station, and the distance value comprises the distance between the goods circulation box and the target work station group, the distance between the goods circulation box and a target transport robot, and the matching degree between the position of the goods circulation box and a planned path of the target transport robot; and determining one or more cargo turnover boxes as target cargo turnover boxes corresponding to the target workstation group from high to low according to the inventory quantity of the cargo turnover boxes and the convenience score.
In an exemplary embodiment of the present disclosure, before determining the target transport robot, further comprising: determining the target cargo turnover boxes corresponding to the target workstation group in all cargo turnover boxes corresponding to the target cargo types; updating the number of to-be-handled of the target to-be-sorted tasks according to the available inventory of each cargo category in the target cargo turnover box, wherein the target cargo category of the target to-be-sorted tasks exists in the target cargo turnover box; binding the target goods circulation box with the sorting workstation corresponding to the target task to be sorted.
In an exemplary embodiment of the present disclosure, controlling the target cargo turnover box to enter one or more of the sorting workstations where the corresponding task to be sorted is located to complete the shipment of the cargo includes: determining one or more tasks to be sorted corresponding to the target cargo turnover box; determining one or more sorting workstations corresponding to the one or more tasks to be sorted; controlling the target goods circulation box to run on a first conveyor belt of the target work station group, and identifying the position of the target goods circulation box in real time, wherein the first conveyor belt is connected with an inlet and an outlet of a second conveyor belt of each sorting work station in the target work station group; and controlling the target goods circulation box to enter the inlet of the second conveyor belt when the target goods circulation box reaches the inlet of the second conveyor belt of the sorting workstation corresponding to the target goods circulation box.
According to a second aspect of embodiments of the present disclosure, there is provided a cargo delivery system comprising: a group of workstations, each of the group of workstations comprising a plurality of sorting workstations, the plurality of sorting workstations having layout connectivity; a first conveyor belt, which is annular and moves along a first direction, and is connected with a plurality of sorting workstations of the same workstation group; a plurality of second conveyor belts moving along the first direction or the second direction, the second direction being opposite to the first direction, each of the second conveyor belts corresponding to one of the sorting workstations, an inlet and an outlet of the second conveyor belt being connected to the first conveyor belt; the system comprises a plurality of transport robots, a plurality of storage areas and a plurality of work station groups, wherein each transport robot is used for acquiring one or more cargo transfer box numbers according to a task to be sorted, acquiring cargo transfer boxes from the storage areas according to the cargo transfer box numbers and transporting the cargo transfer boxes to the work station groups corresponding to the task to be sorted; a processor in communication with the sorting station, the first conveyor belt, the second conveyor belt, the transport robot for performing the method of delivering goods out of stock as set forth in any one of the preceding claims.
According to a third aspect of embodiments of the present disclosure, there is provided a cargo delivery device comprising: the information acquisition module is used for acquiring sorting work station information of a target work station group, wherein the target work station group comprises a plurality of sorting work stations, each sorting work station is provided with a plurality of slots, and the sorting work station information comprises information of slots to be treated in the sorting work stations; the task distribution module is used for determining a task to be sorted corresponding to the sorting work stations in the target work station group according to the sorting work station information and the order to be processed of the target work station group; the transport distribution module is arranged to determine a target transport robot and a target cargo turnover box corresponding to the target workstation group according to the tasks to be sorted corresponding to each sorting workstation in the target workstation group, wherein each target cargo turnover box corresponds to one or more tasks to be sorted, and the one or more tasks to be sorted correspond to one or more sorting workstations; the sorting control module is used for controlling the target transport robot to transport the target cargo turnover boxes to the target work station group, and then controlling the target cargo turnover boxes to enter one or more sorting work stations corresponding to the tasks to be sorted so as to finish cargo delivery.
According to a fourth aspect of the present disclosure, there is provided an electronic device comprising: a memory; and a processor coupled to the memory, the processor configured to perform the method of any of the above based on instructions stored in the memory.
According to a fifth aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon a program which, when executed by a processor, implements a method of shipment of goods as set forth in any one of the above.
According to the embodiment of the disclosure, the order is distributed to each sorting workstation according to the workstation group, and the transportation robots and the goods turnover boxes are configured according to the workstation group, so that the number of sorting tasks realized by one-time transportation of the transportation robots can be effectively increased, and the demand on the transportation robots is reduced; meanwhile, the goods turnover boxes are controlled to enter a plurality of sorting work stations, so that one-time carrying and multiple sorting can be realized, the common work efficiency of the sorting work stations is effectively improved, and further, the goods delivery efficiency is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.
Fig. 1 is a flow chart of a method of shipment of goods in an exemplary embodiment of the present disclosure.
Fig. 2A and 2B are schematic diagrams of groups of workstations in an embodiment of the present disclosure.
Fig. 3 is a sub-flowchart of step S2 in one embodiment of the present disclosure.
Fig. 4 is a sub-flowchart of step S21 in one embodiment of the present disclosure.
Fig. 5 is a sub-flowchart of step S214 in one embodiment of the present disclosure.
Fig. 6 is a sub-flowchart of step S3 in one embodiment of the present disclosure.
Fig. 7 is a sub-flowchart of step S3 in one embodiment of the present disclosure.
Fig. 8 is a schematic diagram of a target transport robot transporting a target cargo tote in one embodiment of the disclosure.
Fig. 9 is a sub-flowchart of step S4 in one embodiment of the present disclosure.
FIG. 10 is a schematic illustration of a target cargo transfer box running between a first conveyor belt and a second conveyor belt in one embodiment of the present disclosure.
Fig. 11 is a schematic diagram of a cargo delivery system in an embodiment of the present disclosure.
Fig. 12A and 12B are schematic diagrams of a first conveyor belt and a second conveyor belt in an embodiment of the present disclosure.
Fig. 13 is a block diagram of a cargo delivery device in an exemplary embodiment of the present disclosure.
Fig. 14 is a block diagram of an electronic device in an exemplary embodiment of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the present disclosure. One skilled in the relevant art will recognize, however, that the aspects of the disclosure may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.
Furthermore, the drawings are only schematic illustrations of the present disclosure, in which the same reference numerals denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.
The following describes example embodiments of the present disclosure in detail with reference to the accompanying drawings.
Fig. 1 is a flow chart of a method of shipment of goods in an exemplary embodiment of the present disclosure.
Referring to fig. 1, a cargo shipment method 100 may include:
step S1, sorting work station information of a target work station group is obtained, the target work station group comprises a plurality of sorting work stations, each sorting work station is provided with a plurality of slots, and the sorting work station information comprises information of slots to be treated in the sorting work stations;
step S2, determining a task to be sorted corresponding to the sorting workstation in the target workstation group according to the sorting workstation information and the order to be processed of the target workstation group;
Step S3, determining a target transport robot and a target cargo turnover box corresponding to the target workstation group according to the tasks to be sorted corresponding to each sorting workstation in the target workstation group, wherein each target cargo turnover box corresponds to one or more tasks to be sorted, and one or more tasks to be sorted correspond to one or more sorting workstations;
and S4, after the target transport robot is controlled to transport the target cargo turnover boxes to the target workstation group, controlling the target cargo turnover boxes to enter one or more sorting workstations corresponding to the tasks to be sorted so as to finish cargo delivery.
According to the embodiment of the disclosure, the order is distributed to each sorting workstation according to the workstation group, and the transportation robots and the goods turnover boxes are configured according to the workstation group, so that the number of sorting tasks realized by one-time transportation of the transportation robots can be effectively increased, and the demand on the transportation robots is reduced; meanwhile, the goods turnover boxes are controlled to enter a plurality of sorting work stations, so that one-time carrying and multiple sorting can be realized, the common work efficiency of the sorting work stations is effectively improved, and further, the goods delivery efficiency is improved.
Next, each step of the cargo shipment method 100 will be described in detail.
In step S1, sorting station information of a target station group is acquired, the target station group comprising a plurality of sorting stations, each of the sorting stations having a plurality of slots, the sorting station information comprising information of slots to be disposed in the sorting stations.
The sorting work station is a work area for ex-warehouse sorting and is divided into an artificial sorting work station and a special work station. The workstation group of the embodiments of the present disclosure includes a plurality of sorting workstations, and the workstation group currently being the object of calculation is referred to as a target workstation group.
Fig. 2A and 2B are schematic diagrams of groups of workstations in an embodiment of the present disclosure.
Referring to fig. 2A, a workstation group 200 includes a plurality of sorting workstations 1, each sorting workstation 1 including a plurality of slots 11. The sorting stations divided into the same station groups have continuity in location, i.e., the stations can be divided into a plurality of station groups, 200 and 201 being two station groups as shown in fig. 2A, based on connectivity of the bin conveyor line layout.
The number of the sorting workstations in the workstation group can be determined according to the number of the slots of each sorting workstation, the number of the slots of each sorting workstation or the capacity of each sorting workstation for fixing corresponding goods (such as large pieces of household appliances, or small pieces of shampoo, bread, and the like) and the capacity of the transportation robot, so that the transportation capacity of the transportation robot can be fully utilized, the principle that the transportation capacity of the transportation robot is not exceeded for one time is adopted, namely, the transportation robot can meet the demand of all the sorting workstations in the workstation group for goods at one time as much as possible, and the transportation capacity is not wasted.
In some embodiments, the slot 11 or the sorting station 1 may not correspond to a fixed cargo type, and the station group may be configured according to factors such as distance between sorting stations, warehouse layout, and the like, which is not particularly limited in the present disclosure.
Referring to fig. 2B, one workstation group 200 is provided with one first conveyor belt 2. The first conveyor belt 2 is endless and moves in a first direction, e.g. clockwise or counter-clockwise. The first conveyor belt 2 is connected with a plurality of sorting workstations 1, the entrance of the first conveyor belt 2 is provided with a first waiting area 21, the first waiting area 21 is used for accommodating the queuing of the transporting robots 3, the first conveyor belt 2 is provided with a plurality of waiting positions, and the transporting robots 3 which are ordered into the first positions place the goods turnover boxes 4 on the first conveyor belt 2.
Each sorting station 1 has a second conveyor 12, the second conveyor 12 moving in a first direction or a second direction, opposite to the first direction, in a counter-clockwise or clockwise direction. Each second conveyor 12 corresponds to a sorting station 1, the inlet 121 and the outlet 122 of the second conveyor 12 being connected to the first conveyor 1.
When the first direction is counterclockwise, the second direction may be likewise counterclockwise, as shown in fig. 2, so that the outlet 122 of the second conveyor 12 is positioned in front of the inlet 121 in the first direction, thereby improving the transportation efficiency of the cargo transferring container 4. In another embodiment, when the first direction is counter-clockwise, the second direction may also be clockwise, such that the outlet of the second conveyor 12 is located behind the inlet in the first direction, providing opportunities for missed, supplemental, additional sorting.
The plurality of slots 11 in the sorting station 1 are used to provide accommodation for the sorted goods, for example by arranging a box (e.g. an empty carton). Each slot 11 corresponds to an order or a collection sheet. One collection list is a combination of a plurality of orders, so that the centralized delivery efficiency of goods is improved, and the collection list needs to be further sorted later. At the start of the delivery, each slot 11 may be set to an order type. The order types include, but are not limited to, single-piece orders, multi-piece orders, return provider orders, internally coordinated inventory orders, etc., and those skilled in the art can set the type and quantity of order types by themselves according to the actual situation.
Before the start of the job, information for each sorting station in the target set of stations may first be obtained. The information of the sorting stations includes information of the slots to be disposed, such as the number of slots to be disposed in one sorting station, the sorting station in which each slot to be disposed is located, the order type corresponding to each slot to be disposed, and so on. The slots to be disposed refer to slots to which orders can be allocated, such as empty slots (slots to which orders are not allocated yet), slots to which an aggregate list group of orders is not completed (aggregate list is not full), and the like, wherein the empty slots can be preconfigured to process the aggregate list or the orders, and can be configured to process the aggregate list or the orders according to actual conditions of the orders in a subsequent processing process according to actual requirements.
In other embodiments, the information for the sorting station also includes the particular order type (if any) to which the sorting station corresponds, the dispatch limit for the sorting station, whether the sorting station is enabled, and so forth. The purpose of obtaining information for the sorting workstations is to collect resources that may be used to place sorting orders.
In step S2, according to the sorting workstation information and the order to be processed of the target workstation group, a task to be sorted corresponding to the sorting workstation in the target workstation group is determined.
In an embodiment of the present disclosure, the pending order may be obtained from an order center (order pool). An order center (BPC, business Planning & Consonification) is used to receive pending order information for the peripheral system and to manage the task lifecycle generated internally to the system. One to-be-processed order needs to correspond to one slot of one sorting workstation, but one slot may correspond to multiple to-be-processed orders when set to process an aggregate order.
The order to be processed has the attributes of order type, goods category-goods quantity and the like, each order to be processed corresponds to one order type, each order to be processed can correspond to one or more goods categories, and the goods quantity corresponding to each goods category can be one or more.
Fig. 3 is a sub-flowchart of step S2 in one embodiment of the present disclosure.
Referring to fig. 3, in one embodiment, step S2 may include:
step S21, determining a to-be-processed order corresponding to each to-be-processed slot according to the order type corresponding to the to-be-processed slot and the goods types corresponding to all slots in the target workstation group;
step S22, determining a to-be-processed order corresponding to the target sorting workstation according to the to-be-processed order corresponding to the to-be-processed slot position corresponding to the target sorting workstation;
step S23, generating a task to be sorted corresponding to the target sorting work station according to the order to be processed corresponding to the target sorting work station, wherein the task to be sorted comprises target cargo types corresponding to the target sorting work station and the number to be processed corresponding to each target cargo type.
In the embodiment shown in fig. 3, it is first required to ensure that the order to be processed matches the order type of the slot to be processed, and then to ensure that the overlap ratio between the order to be processed and all the cargo types already corresponding to the target workstation group is as high as possible, so as to reduce the number of cargo types to be processed by the target workstation group.
Fig. 4 is a sub-flowchart of step S21 in one embodiment of the present disclosure.
Referring to fig. 4, in one embodiment, the process of assigning a pending order to a pending slot in step S21 may include:
step S211, obtaining to-be-processed order information of a plurality of to-be-processed orders, wherein the order information comprises an order type corresponding to each to-be-processed order, a cargo type corresponding to each to-be-processed order and a to-be-processed quantity corresponding to each cargo type;
step S212, after the order types corresponding to all the slots to be handled in the target workstation group are set as target order types, setting the to-be-processed order with the order type being the target order type in the to-be-processed order as a target order;
step S213, determining matching scores of the goods types of the target orders and the goods types corresponding to each sorting workstation in the target workstation group;
in step S214, the target order is allocated to the slots to be disposed with the same order type as the target order according to the matching score from high to low.
A pending order matching the order types of all pending slots of the target workstation group may first be selected from the order pool as a target order to be assigned to the target workstation group. Next, a degree of matching of the cargo category of the target order with the cargo categories corresponding to all slots may be determined. The disclosed embodiments determine a cargo category match score for a target order and a target group of workstations by calculating a cargo category match score for each sorting workstation in the target order and the target group of workstations.
The calculation of the matching scores for the target orders and the types of goods for each sorting station in the target set of stations is described below using one target sorting station as an example.
Firstly, selecting a sorting workstation with a to-be-treated slot as a target sorting workstation i, wherein i is more than or equal to 1.
Second, determining the cargo category of the target sorting work station i, wherein the cargo corresponding to the cargo category is, for example, the cargo which is in the delivery state and is bound with the target sorting work station i, but not yet produced, and the cargo category set corresponding to the target sorting work station i is marked as omega i 。
Third, according to the order type priority, the following procedure is repeated to select the target order until the target order cannot be selected continuously:
selecting a target order, calculating a first item category overlap ratio r for each (target order-target sorting workstation i) combination 1 ：
Calculating a second cargo category overlap ratio r for each (target order-other sorting stations in the target station group) 2 ：
Wherein Ω 1 、Ω 2 And the like refers to a cargo type set corresponding to other sorting workstations in the target workstation group.
Next, determining a cargo category matching score r of the target order and the target sorting workstation according to the two coincidence degrees:
r＝αr 1 +βr 2 (3)
Wherein α and β are weights, α > β.
By increasing the degree of coincidence r of the first cargo category 1 The weight of the target order is prioritized, the degree of coincidence of the target order and the goods category of the target sorting work station group is prioritized, and the target order can be preferentially allocated to the goods category with higher degree of coincidenceIs provided; by taking into account the second item category overlap ratio r of the target order with the other sorting stations in the target station group 2 Target orders in the order pool with high degree of cargo category coincidence with the target workstation group can be preferentially allocated to the target workstation group.
After determining the matching score for each target order (matching the order type of the slot to be disposed of for target sorting station i) with target sorting station i, the replacement target sorting station calculates the matching score until the matching scores for all (target order-target sorting station) within the target station group are determined.
When selecting the target order, the target order can be selected from high to low according to the preset processing priority of the target order, and if the matching score r=0 of all target orders under the current priority, the target order of the next priority is continuously considered.
Next, in step S214, the target order is assigned to the slot to be disposed of the same order type as it is, with the matching score from high to low.
Fig. 5 is a sub-flowchart of step S214 in one embodiment of the present disclosure.
Referring to fig. 5, in one embodiment of the present disclosure, the slots to be handled include empty slots and slots of an unfinished set of singles, step S214 may include:
step S2141, determining an order type of a target order and a sorting workstation corresponding to the highest matching score of the target order;
step S2142, obtaining a processing category of the sorting workstation for the order type of the target order;
step S2143, when the processing category is the aggregate list, the target order is allocated to the slot positions of the group of the unfinished aggregate list with the same order category, or the target order is allocated to the empty slot positions with the same order category, or when the empty slot positions do not exist or the target order cannot form the aggregate list, the target order cannot be allocated to the workstation is judged;
in step S2144, when the processing category is an order, the target order is allocated to the empty slots with the same order category.
When there is a (target order-target sort station) combination with r > 0, the combination with the highest r value (target order-target sort station) is selected, and the target orders in the combination are assigned to the slots to be disposed in the target sort station in the combination for which the order types match. The allocation is cycled until each target order is assigned to a slot to be disposed or cannot be assigned to a proper slot, or each slot to be disposed cannot accommodate more orders or match to a proper order.
In particular, each sorting workstation is provided with a processing category for different order types, including, for example, aggregate order by-order processing and order by-order processing. For example, some sorting workstations set up to process individual orders (both the type of goods and the quantity to be processed being equal to one) according to the order, i.e. one order corresponds to one slot; some sorting workstations set up to process internal allocation orders according to aggregate orders, i.e. a slot may be allocated multiple orders, the goods of which are sorted together into an empty bin waiting for further sorting in a subsequent circulation process. The processing categories for the various order types may vary from sorting workstation to workstation, or from workstation group to workstation, and this disclosure is not particularly limited.
When a target order is distributed to a target sorting workstation with the highest matching score, firstly checking what the processing category of the order type of the target order in the target sorting workstation is, and if the processing category is processed according to the order, directly occupying an empty slot matched with the order type; if the target order is processed according to the collection list, whether the target order can be added into the slot corresponding to the collection list which is not completed by the group list, and the limit of the slot on the number of goods is met, if the target order cannot be processed by the group list, a new collection list with an empty slot is selected, or other processing is carried out.
The judgment logic for grouping the collection list is as follows:
if there is a slot to be processed with the matching order type, and the slot to be processed is processed according to the aggregate list, and the aggregate list does not reach the upper limit (volume and order quantity), the target order is allocated to the aggregate list of the slot.
If the to-be-processed slot position matched with the order type does not exist, or the aggregate list corresponding to the to-be-processed slot position matched with the order type reaches the upper limit of the order quantity or the residual volume can not accommodate the order, an empty slot position matched with the order type is occupied, an aggregate list is newly set for the slot position, and the volume corresponding to the slot position and the upper limit of the order quantity are recorded.
If the target order cannot be added to the order type matched aggregate list of the sorting workstation and a new group of aggregate lists cannot be formed due to the goods volume and the like, the pending slot of the order type which cannot be allocated to the sorting workstation by the target order is marked.
Finally, each workstation supporting the order (target order) is checked, and if no target order which can be allocated to the sorting workstation only corresponds to the to-be-processed slot of the order type exists in the order pool, the to-be-processed slot group of the order type is marked to be completed.
When there are multiple r-value combinations (order-work stations) that are the same (the matching scores of the same target order to multiple sorting work stations are the same, or the matching scores of multiple target orders to the same sorting work station are the same), the target orders can be distributed to the slots to be disposed from early to late and from more to less of the quantity of goods to be disposed in the order according to the order cutting time.
After the to-be-processed orders are distributed to the specific slots of the target workstation group, the to-be-processed orders corresponding to the target sorting workstations can be determined in step S22 according to the to-be-processed orders corresponding to the to-be-processed slots corresponding to the target sorting workstations, and then to-be-sorted tasks corresponding to the target sorting workstations are generated in step S23 according to the to-be-processed orders corresponding to the target sorting workstations, wherein the to-be-sorted tasks comprise target cargo types corresponding to the target sorting workstations and the to-be-processed quantity corresponding to each target cargo type. I.e. the format of the task to be sorted is for example (kind of goods-number to be handled-sorting station number). Each order to be processed can generate one or more tasks to be sorted according to the goods types, and each sorting work station can also correspond to a plurality of tasks to be sorted.
In step S3, according to the tasks to be sorted corresponding to each sorting workstation in the target workstation group, determining a target transportation robot and a target cargo turnover box corresponding to the target workstation group, wherein each target cargo turnover box corresponds to one or more tasks to be sorted, and one or more tasks to be sorted correspond to one or more sorting workstations.
The tasks to be sorted are the transport tasks assigned to the transport robot. The transport robot is a device capable of automatically transporting an article to a destination, and performs a transport task and reports a status in real time according to a control instruction received by wireless communication and preset information (for example, map information, fixed action information, etc.). The transport robot is generally classified into a "wolf-in-flight", "wolf-in-ground" and the like, depending on the transport method and application scenario. Wherein "fly wolf" is a box storehouse storage robot based on goods turnover case access, storage density is high, can once only access transport a plurality of goods turnover cases.
The goods turnover box is a container for storing goods and assisting in carrying the goods. One cargo transferring box can hold one cargo, or a plurality of single products of colors (for example, one cargo transferring box can hold four mobile phones of the same color), or one cargo transferring box can hold two or more cargoes in some scenes. The goods turnover box is arranged in a storage area according to the number, the storage area can be used for placing the goods turnover box through equipment such as a goods shelf, a plurality of roadways for containing the shuttle of the transport robot can be arranged between the goods shelves in the storage area, the roadways are provided with roadway numbers, and the transport robot can be positioned at the position where the goods turnover box belongs according to the roadway numbers, the goods shelf numbers, the number of goods shelf layers and the goods turnover box numbers. The types and the stock of the goods in the goods circulation boxes are increased according to the warehousing tasks, the warehouse-in tasks and the warehouse-out tasks are reduced according to the warehouse-in tasks, the types and the stock data of the goods are updated according to the serial numbers of the goods circulation boxes, and the current positions of the goods circulation boxes are recorded according to the execution conditions of the warehouse-in tasks and the warehouse-out tasks.
When the delivery task is executed, the transport robot obtains the number of the target cargo turnover box, the number of the target cargo turnover box is obtained through a preset map or a map received in real time, the lane where the cargo turnover box is located and the layer frame where the cargo turnover box is located are reached, the cargo turnover box is taken down according to the number and placed on the bearing position of the transport robot, at the moment, if the next target cargo turnover box to be taken is available, the process is repeatedly executed until all the target cargo turnover boxes are obtained, and the lane where the last target cargo turnover box is located is started to the waiting position of the target workstation group. When the transport robot is arranged to the first position when queuing at the waiting position, the cargo turnover box carried by the transport robot is pushed onto the first conveyor belt. It should be noted that at this time, it is necessary to check in real time whether the first conveyor belt has enough accommodation sites, and if the accommodation sites are insufficient, the transport robot needs to push a cargo box onto the first conveyor belt while waiting for the accommodation sites to appear on the first conveyor belt at the waiting sites. Thus, the group of workstations is provided with a plurality of waiting spaces providing queuing space for a plurality of transport robots.
In this embodiment of the disclosure, each task to be sorted corresponds to one or more target cargo turnover boxes, and in one target cargo turnover box corresponding to the task to be sorted, cargo of a cargo type corresponding to the task to be sorted is stored. For example, one job to be sorted may include 5 identical large barrels of laundry detergent, and the corresponding product turnover boxes of the laundry detergent can only hold two barrels of laundry detergent, and the laundry detergent is stored in 20 product turnover boxes respectively, namely, the full stock of the laundry detergent is 40 barrels. At this time, the task to be sorted corresponds to 20 target cargo turnover boxes, and 3 most suitable cargo turnover boxes need to be selected from the 20 target cargo turnover boxes as objects for the transport robot to execute the transport task, so that the transport robot carries the 3 cargo turnover boxes to the target workstation group.
In another case, one task to be sorted includes a bottle of shampoo of type a, the shampoo of type a is stored in only one goods circulation box, the goods circulation box accommodates the stock of two types of the brand shampoo, the rest stock of type a is 5 bottles, the rest stock of type B is 8 bottles full, at this time, the task to be sorted corresponds to a target goods circulation box, the transport robot needs to transport the goods circulation box to a target work station group where a sorting work station corresponding to the task to be sorted is located, and after queuing in a waiting area, the goods circulation box is pushed onto a first conveyor belt of the target work station group.
The following describes how to select a cargo transferring box that performs a handling task among a plurality of target cargo transferring boxes.
Fig. 6 is a sub-flowchart of step S3 in one embodiment of the present disclosure.
Referring to fig. 6, in one embodiment, step S3 may include:
step S31, determining a cargo turnover box corresponding to the target cargo type according to the target cargo types corresponding to all the tasks to be sorted of the target workstation group;
step S32, determining a target transport robot corresponding to the target workstation group in the idle transport robots;
Step S33, obtaining a convenience score of the goods circulation box to the target work station group, wherein the convenience score is in direct proportion to a quantity matching value, and is in inverse proportion to a distance value, the quantity matching value is determined according to the ratio of the inventory quantity of the goods circulation box to the quantity to be processed of the target goods category corresponding to the goods circulation box in the target work station, and the distance value comprises the distance between the goods circulation box and the target work station group, the distance between the goods circulation box and the target transport robot, and the matching degree of the position of the goods circulation box and the planned path of the target transport robot;
and step S34, determining one or more goods circulation boxes as target goods circulation boxes corresponding to the target workstation group from high to low according to the convenience scores according to the inventory quantity of the goods circulation boxes.
In the embodiment shown in FIG. 6, a cargo turnover box containing SKUs (Stock Keeping Unit, minimum stock units) in the job to be sorted corresponding to the target workstation group, denoted as aggregate { T }, may first be queried. It should be noted that, a SKU includes a size/color/specification of a good corresponding to a model of a good, for example, a C color and D specification (8G/256G) of a B model of a brand mobile phone are a SKU, and if the B model of the a brand mobile phone has four colors and four specifications, the B model of the a brand mobile phone corresponds to 4*4 =16 SKUs, and each SKU is called a good category.
If all of the tasks to be sorted of the target workstation group correspond to 50 target cargo categories (SKUs), the number of all of the cargo turnover boxes (e.g., 500) corresponding to the 50 target cargo categories is found at step S31 to select the cargo turnover box bearing the task to be sorted from among the cargo turnover boxes.
In some cases, some of the goods circulation boxes are already allocated with sorting tasks corresponding to the current target workstation group and even are being carried to the target workstation group, so before the transport robot is selected to carry the goods circulation boxes from the warehouse, the tasks to be sorted can be additionally sorted to the goods circulation boxes which are already in the way, the use of the transport robot and the cost of transportation time are reduced, and one-time carrying of the goods circulation boxes corresponds to more tasks to be sorted.
Fig. 7 is a sub-flowchart of step S3 in one embodiment of the present disclosure.
Referring to fig. 7, in one embodiment, between step S31 and step S32, step S3 may include:
step S71, determining the target cargo turnover boxes corresponding to the target workstation group in all cargo turnover boxes corresponding to the target cargo types;
step S72, updating the to-be-handled quantity of target to-be-sorted tasks according to the available inventory of each cargo category in the target cargo turnover box, wherein the target cargo category of the target to-be-sorted tasks exists in the target cargo turnover box;
Step S73, binding the target goods circulation boxes with sorting workstations corresponding to the target tasks to be sorted.
In the embodiment shown in fig. 7, the target cargo transferring cassettes that already correspond to the target workstation group include cargo transferring cassettes that are being delivered to the warehouse and are destined for the target workstation group, cargo transferring cassettes that have been bound with the tasks to be sorted for the corresponding target workstation group but have not yet been delivered, etc., and in some cases, cargo transferring cassettes that already exist on the first conveyor belt of the target workstation group, and even cargo transferring cassettes that already exist on the second conveyor belt of the sorting workstation. The set T may be traversed to screen out those cargo turnover boxes that may allow additional tasks to be sorted.
Next, it is determined whether each of the cargo turn-around boxes can satisfy more tasks to be sorted according to the available inventory in the cargo turn-around boxes and the type of cargo corresponding to each of the cargo turn-around boxes.
For example, a cargo transferring box in shipment and handling stores a SKU with an available inventory (stock-on-hand-required number of shipment tasks in execution) of 10, there is a job to be sorted corresponding to the SKU, the job to be sorted has a job to be handled number of 5, the job to be sorted can be bound to the cargo transferring box, the job to be sorted has a job to be handled number of 0, and the available inventory of the cargo transferring box is updated to 10-5=5. After the goods turnover box is carried into the target work station group, the sorting work stations which need to be entered comprise the sorting work stations corresponding to the tasks to be sorted.
For another example, a cargo transferring box on the first conveyor belt stores two SKUs (E and F), the available stock of the two SKUs is 8 and 10, respectively, and the cargo transferring box corresponds to the F cargo in the delivery task that is currently being executed. There is one job to be sorted corresponding to E-cargoes, the number to be handled being 4. At this time, when finding this goods turnover case, find that this goods turnover case satisfies the letter sorting requirement to E goods, can bind this moment with this goods turnover case to wait to sort the task, wait to deal with quantity in this task and upgrade to 0, the available stock of E goods in this goods turnover case is updated to 8-4=4 to set up this goods turnover case before leaving first conveyer belt, get into the letter sorting workstation that this task that waits to sort corresponds, participate in executing this task that waits to sort.
The above is merely an example, and actually the logic for generating the additional task may be more complex, and may be set by those skilled in the art according to the actual situation.
After task adding is carried out on the bound goods circulation boxes, one of the idle transport robots can be selected as a target transport robot to execute the transport task of the target work station group, and then the proper goods circulation boxes corresponding to the types of the target goods are selected from the rest goods circulation boxes to be sent to the target transport robot for being transported to the target work station group after being picked.
After the target transport robot is selected, the attribute of the target transport robot can be acquired, and initialization information is set for the target transport robot. The attributes include the number N of the transportable containers and the current coordinates P, and the set initialization information includes Z (Z is initialized to be empty) of the selected roadway set of the target transport robot and the group number w of the target workstation is equal to the group number w of the target workstation group.
Next, the tasks to be sorted can be classified into a plurality of grades according to task priorities, the task sets to be sorted under the plurality of grades are traversed in sequence, and the goods turnover boxes carried by the target transport robot are determined for each task to be sorted. It should be noted that, sorting workstations corresponding to the tasks to be positioned all belong to the target workstation group.
Firstly, selecting a task to be sorted with highest grade, and continuously selecting a goods turnover box for the task only when judging that the task meets the following conditions:
1. work stations with buffer positions larger than zero exist under the work station group corresponding to the task to be sorted;
2. the number of tasks to be treated of the tasks to be sorted is greater than zero;
and 3, the cargo turnover box set corresponding to the task to be sorted is not empty.
If the task to be sorted meets the conditions, traversing a set of goods circulation boxes corresponding to the target goods category (SKU) in the task to be sorted, and determining the convenience score of each goods circulation box.
The convenience score relates to two parts, namely a quantity matching value of the goods circulation box and the current task to be sorted, and a distance relation between the current position of the goods circulation box and the transport robot and the target workstation group. The convenience score is in direct proportion to a quantity matching value, in inverse proportion to a distance value, the quantity matching value is determined according to the ratio of the stock quantity of the goods circulation boxes to the to-be-processed quantity of the target goods types corresponding to the medium goods circulation boxes of the target work stations, and the distance value comprises the distance between the goods circulation boxes and the target work station group, the distance between the goods circulation boxes and the target transport robot, and the matching degree between the position of the goods circulation boxes and the planned path of the target transport robot.
In one embodiment, the convenience score c of the cargo turnover j j The determination can be made by the following formula:
wherein S represents a SKU set to be delivered corresponding to the task to be sorted, and q s Indicating SKU in the cargo storage box s Inventory quantity r of (2) s Representing the number of tasks to be processed for the task to be sorted,representing the ratio of the stock quantity to the quantity to be processed.
T 1 And T2 represents the task set to be sorted of all other identical workstation groups under all task levels. θ ts Representing all task pairs to be sorted SKU in corresponding set T s To be processed.
L j Representing the distance between the goods circulation box j and the target workstation group, R j Representing the distance between the goods circulation box j and the transport robot; z is Z j Indicating whether the lane where the cargo transferring box j is located belongs to the selected lane (1 or 0).
α、β、δ、σ、ρ、Respectively constant coefficients.
The convenience score of the cargo turnover box j on the current task to be sorted can be calculated through the formula. After calculating the convenience scores of all the cargo turnover boxes of the current task to be sorted, selecting one or more cargo turnover boxes with the highest convenience scores (determined according to whether one cargo turnover box can meet the number of the tasks to be sorted to be processed) as the cargo turnover box corresponding to the task to be sorted, adding the selected cargo turnover box into a carrying object set of a target transport robot, deleting the selected cargo turnover box from the set { T }, and adding a roadway where the selected cargo turnover box is located into a roadway set Z of the target transport robot. At the same time, the quantity of the tasks to be sorted to be processed is updated,
the tasks to be sorted can be replaced, the convenience scores of all the cargo turnover boxes corresponding to each task to be sorted are calculated, then the cargo turnover boxes are selected for each task to be sorted until the number of the selected cargo turnover boxes is equal to the capacity N of the target transport robot or the cargo turnover boxes meeting the conditions cannot be selected.
In some embodiments, the task to be sorted may be selected from high to low according to the task level of the task to be sorted.
In some embodiments, one of the transport robots cannot complete all sorting tasks corresponding to the target workstation group, and at this time, after determining the target cargo turnover for one of the target transport robots, one of the idle transport robots may be selected again as the next target transport robot. And repeating the process, and distributing all tasks to be sorted of the target workstation group.
By repeating the above process, the transport tasks can be allocated to all the idle transport robots, or the target transport robots and the target cargo turnover boxes can be determined for all the tasks to be sorted of all the work station groups.
Fig. 8 is a schematic diagram of a target transport robot transporting a target cargo tote in one embodiment of the disclosure.
Referring to fig. 8, the target transportation robot A0 is used to sequentially acquire target cargo turn-around boxes A1 to A5, the target transportation robot B0 is used to sequentially acquire target cargo turn-around boxes B1 to B7, and the stock area still has cargo turn-around boxes a for tasks to be sorted with the target transportation robot A0 and cargo turn-around boxes B for tasks to be sorted with the target transportation robot B0, but due to low convenience scores, the target cargo turn-around boxes A1 to A5, B1 to B7 are finally determined as target cargo turn-around boxes for two work station groups.
After the target transport robot obtains all the target cargo turnover boxes according to the positions of the target cargo turnover boxes, the target cargo turnover boxes are transported to the waiting positions of the target workstation group, and when the target transport robot queues to the first position, the target transport robot places the target cargo turnover boxes on the first conveyor belt.
In step S4, after the target transportation robot is controlled to transport the target cargo turnover box to the target workstation group, the target cargo turnover box is controlled to enter one or more sorting workstations corresponding to the task to be sorted, so as to finish cargo delivery.
After the target cargo transferring robot places the target cargo transferring boxes on the first conveyor belt, the detection device arranged on the first conveyor belt can be utilized to detect the number and the position of each target cargo transferring box so as to push the target cargo transferring boxes from the first conveyor belt to the second conveyor belt of the sorting workstation where the corresponding sorting task is located at a proper position.
Fig. 9 is a sub-flowchart of step S4 in one embodiment of the present disclosure.
Referring to fig. 9, in one embodiment, step S4 may include:
step S41, determining one or more tasks to be sorted corresponding to the target cargo turnover box;
Step S42, determining one or more sorting workstations corresponding to one or more tasks to be sorted;
step S43, controlling the target goods circulation box to run on a first conveyor belt of the target work station group, and identifying the position of the target goods circulation box in real time, wherein the first conveyor belt is connected with an inlet and an outlet of a second conveyor belt of each sorting work station in the target work station group;
and S44, controlling the target goods circulation box to enter the inlet of the second conveyor belt when the target goods circulation box reaches the inlet of the second conveyor belt of the corresponding sorting workstation.
FIG. 10 is a schematic illustration of a target cargo transfer box running between a first conveyor belt and a second conveyor belt in one embodiment of the present disclosure.
Referring to fig. 10, the loop sequence values of sort station a, sort station B, sort station C, sort station D are 1, 2, 3, 4 for the target group of stations are initially set in the physical order of sort stations on the conveyor line.
When one goods circulation box 4 corresponds to the tasks to be sorted of a plurality of sorting work stations, the tasks to be sorted and the conveyor belt conversion tasks are issued according to the loop sequence values of the sorting work stations.
The control sequence is, for example:
initializing the loop sequence n=0 of the sorting workstation corresponding to the cargo transferring box.
And checking all sorting workstations corresponding to the tasks to be sorted in real time, excluding the sorting workstations without buffer storage positions, and marking the available sorting workstation set as W.
If W is empty, all sorting workstations have no buffer storage position, and the goods turnover box is waited for along the annular running direction of the first conveyor belt on the first conveyor belt. The buffer storage position refers to a space for placing the goods circulation boxes in the sorting work station, and can determine that a plurality of goods circulation boxes exist in the sorting work station currently according to the difference value of the goods circulation boxes entering the second conveyor belt and leaving the second conveyor belt, and determine that a plurality of buffer storage positions remain in the sorting work station currently according to the upper limit of the set buffer storage position.
When W is found not to be empty, selecting a sorting work station i (i=1, 2, 3, 4) with the smallest numerical value of the loop sequence > n from W, issuing a task to be sorted corresponding to the goods circulation box, detecting the position of the goods circulation box in real time, and when the goods circulation box is found to run on the first conveyor belt to the entrance of the second conveyor belt of the sorting work station i, controlling a mechanical device to place the goods circulation box on the second conveyor belt in a manner including but not limited to pushing, clamping and the like. Meanwhile, if the sorting is performed manually, the job to be sorted corresponding to the job transfer box can be displayed on a job screen (for displaying the number of the job transfer boxes to be sorted-the number to be processed-the slot number) of the sorting workstation i. In some cases, a single container may correspond to multiple tasks to be sorted, i.e., to multiple slots, at a sorting station, where each task to be sorted may be displayed on a task screen. If sorting is performed by the sorting robot, the tasks to be sorted can be sent directly to the sorting robot.
The staff or sorting robot of the sorting station i takes the goods circulation boxes from the second conveyor belt according to the task to be sorted, starts sorting according to the task to be sorted, and stores the sorted goods in the corresponding slots (e.g. into cartons). In some embodiments, a worker or sorting robot may control the second conveyor belt to stop running and sort directly on the second conveyor belt. In other embodiments, a worker or sorting robot may control the transfer of the containers from the second conveyor belt into the buffer location to increase the dispensing efficiency of the containers. In still other embodiments, a second conveyor or other type of robot may control the transfer of the cargo totes off the second conveyor into a buffer location, such as transferring the cargo totes from the second conveyor to the buffer location at a designated location, including but not limited to pushing, clamping. There are a number of ways to control the second turnaround box to leave into the buffer memory, and this disclosure is not particularly limited.
When the sorting work of the sorting work station i is completed, the worker or the robot replaces the goods circulation box on the second conveyor belt, or controls the second conveyor belt to operate again, the goods circulation box reaches the outlet of the second conveyor belt along with the operation of the second conveyor belt, and reaches the first conveyor belt again.
Let n=i (i is the loop sequence of the current sorting station), repeat the above process until the cargo transfer box is completed for all sorting stations' tasks to be sorted, generating a return job. The first conveyor belt can be controlled to push or clamp the goods turnover boxes corresponding to the warehouse returning task to the outlet buffer storage position at the outlet of the first conveyor belt, so that the transportation robot is controlled to transport the goods turnover boxes to the original warehouse position.
To sum up, according to the embodiment of the disclosure, the plurality of sorting workstations are divided into one workstation group, and when the to-be-processed orders are distributed, the orders can be grouped according to the commodity overlap ratio of the workstation group where the sorting workstations are located, so that the sorting number corresponding to one-time transportation of the goods circulation boxes is improved, and the sorting efficiency is improved. In addition, carry total location through combining the quantity of waiting to be handled (the volume of wanting goods) that the letter sorting workstation in the same workstation group corresponds, can reduce the transport of goods turnover case, reduce the use loss of goods turnover case. The goods turnover boxes corresponding to different sorting workstations in the same workstation group are mixed together and are carried by the transport robot with the optimal minimum choice, so that the utilization rate of the transport robot can be improved, and the requirement on the transport robot is reduced. Meanwhile, one goods turnover box can go to a plurality of sorting workstations in the same workstation group to sequentially pick, the sorting workstations in the same workstation group can realize additional tasks to be sorted, the transportation of the goods turnover box can be reduced, the using times of a transportation robot can be reduced, and the goods delivery sorting efficiency is improved.
Fig. 11 is a schematic diagram of a cargo delivery system in an embodiment of the present disclosure.
Referring to fig. 11, a cargo shipment system 1100 may include:
the workstation groups 110, each workstation group 1 may include a plurality of sorting workstations 111, the plurality of sorting workstations 111 having layout connectivity.
The first conveyor 112 is endless and moves in a first direction to connect a plurality of sorting stations of the same station group. The entrance of the first conveyor belt 2 is provided with a first waiting area for accommodating queuing of transport robots, which place the goods circulation boxes on the first conveyor belt 112 in the order of the first place.
A plurality of second conveyor belts 113, moving in a first direction or a second direction opposite to the first direction, each second conveyor belt 32 corresponding to one sorting station 111, the inlet and outlet of the second conveyor belt 113 being connected to the first conveyor belt 112.
Each of the plurality of transport robots 114 is configured to obtain one or more cargo transfer box numbers according to a task to be sorted, obtain cargo transfer boxes from a storage area according to the cargo transfer box numbers, and transport the cargo transfer boxes to the workstation group 110 corresponding to the task to be sorted.
And a processor 115 communicatively connected to the sorting workstation 111, the first conveyor 112, the second conveyor 113, and the transport robot 114 for performing the method of delivering the goods in the embodiment shown in fig. 1 to 10.
The communication connection is, for example, a wireless network connection or a cellular network connection. The processor 115 issues job information to be sorted including the kind of goods-the number of to-be-processed-the slot to the sorting workstation 111. The processor 115 sends instructions to the first conveyor belt 112 to control the first conveyor belt 112 and its associated machinery to transport the cargo totes to a destination location, which includes the entrance of the second conveyor belt 113, the return cargo tote buffer. The processor 115 sends instructions to the second conveyor belt 113 to control the direction of travel, speed of travel, and in some embodiments, the second conveyor belt 113 to transport the totes to the buffer of the sorting station 111. The processor 115 sends control instructions to the transport robot 114 to control the transport robot 114 to retrieve or place the cargo tote to the next destination.
The form of the first conveyor 112 and the second conveyor 113 may vary depending on the zone setting of the sorting station 111, and there are a number of implementations.
Fig. 12A and 12B are schematic diagrams of a first conveyor belt and a second conveyor belt in an embodiment of the present disclosure.
Referring to fig. 12A, in addition to the form shown in fig. 11, in one embodiment, a plurality of sorting stations 111 of the station group 110 are arranged in a line, and the first conveyor 112 has a flat loop shape, one side of which is connected to the plurality of sorting stations 111. The inlet and outlet of the second conveyor 113 of each sorting station 111 are connected to the first conveyor 112. At this time, a waiting position of the first conveyor 112 and a buffer position of the goods circulation box for returning to the warehouse may be provided at a side of the first conveyor 112 not close to the sorting work station 111.
Referring to fig. 12B, in another embodiment, a plurality of sorting stations 111 of the station group 1 are arranged in an array or in a ring, and the first conveyor 112 is in a circular ring or a rounded rectangle, which is located at a common center of the plurality of sorting stations 111. At this time, the waiting position or the buffer position of the first conveyor 112 may be set in the gap between the two sorting stations 111, and the waiting position or the buffer position may be adjacent to each other or may be set in different gaps, respectively.
The first conveyor belt 112 and the second conveyor belt 113 may be provided in various manners, and in some embodiments, more robots may be provided inside the sorting workstation 111 to provide the goods circulation box moving or sorting function, which is not limited to this disclosure.
Corresponding to the above method embodiments, the present disclosure also provides a cargo delivery device, which may be used to perform the above method embodiments.
Fig. 13 is a block diagram of a cargo delivery device in an exemplary embodiment of the present disclosure.
Referring to fig. 13, the cargo discharging apparatus 1300 may include:
an information acquisition module 131 configured to acquire sorting station information of a target station group, the target station group including a plurality of sorting stations, each of the sorting stations having a plurality of slots, the sorting station information including information of slots to be disposed in the sorting station;
the task allocation module 132 is configured to determine a task to be sorted corresponding to the sorting workstation in the target workstation group according to the sorting workstation information and the order to be processed of the target workstation group;
a transportation allocation module 133 configured to determine a target transportation robot and a target cargo turnover box corresponding to the target workstation group according to the tasks to be sorted corresponding to each sorting workstation in the target workstation group, each target cargo turnover box corresponding to one or more tasks to be sorted, the one or more tasks to be sorted corresponding to one or more sorting workstations;
The sorting control module 134 is configured to control the target cargo transferring robot to transfer the target cargo transferring box to the target workstation group, and then control the target cargo transferring box to enter one or more sorting workstations corresponding to the task to be sorted, so as to finish cargo delivery.
In an exemplary embodiment of the present disclosure, the information of the to-be-disposed slot includes an order type and a cargo type corresponding to the to-be-disposed slot, and the task allocation module 132 is configured to: determining a to-be-processed order corresponding to each to-be-processed slot according to the order type corresponding to the to-be-processed slot and the cargo types corresponding to all slots in the target workstation group; determining the to-be-processed order corresponding to the target sorting workstation according to the to-be-processed order corresponding to the to-be-processed slot position corresponding to the target sorting workstation; generating a to-be-sorted task corresponding to the target sorting work station according to the to-be-processed order corresponding to the target sorting work station, wherein the to-be-sorted task comprises target cargo types corresponding to the target sorting work station and the to-be-processed quantity corresponding to each target cargo type.
In one exemplary embodiment of the present disclosure, the task allocation module 132 is configured to: acquiring to-be-processed order information of a plurality of to-be-processed orders, wherein the order information comprises an order type corresponding to each to-be-processed order, a cargo type corresponding to each to-be-processed order and a to-be-processed quantity corresponding to each cargo type; setting the order types corresponding to all the to-be-handled slots in the target workstation group as target order types, and setting the to-be-handled orders with the order types being the target order types in the to-be-handled orders as target orders; determining a matching score of the goods category of the target order and the goods category corresponding to each sorting workstation in the target workstation group; and distributing the target order to the to-be-disposed slot position with the same order type as the target order according to the matching score of the target order from high to low.
In one exemplary embodiment of the present disclosure, the slots to be handled include empty slots and slots of unfinished aggregate singles, and the task allocation module 132 is configured to: determining an order type of the target order and a sorting workstation corresponding to the highest matching score of the target order; acquiring a processing category of the sorting workstation for the order type of the target order; when the processing category is an aggregate order, the target order is allocated to the slot positions of the group of the unfinished aggregate order with the same order category, or the target order is allocated to the empty slot positions with the same order category, or when the empty slot positions do not exist or the target order cannot form the aggregate order, the target order cannot be allocated to the workstation; and when the processing category is an order, the target order is allocated to the empty slots with the same order category.
In one exemplary embodiment of the present disclosure, the transport allocation module 133 is configured to: determining a cargo turnover box corresponding to the target cargo types according to the target cargo types corresponding to all the tasks to be sorted of the target workstation group; determining a target transport robot corresponding to the target workstation group in the idle transport robots; the method comprises the steps that a convenience score of a goods circulation box to a target work station group is obtained, the convenience score is in direct proportion to a quantity matching value, the quantity matching value is in inverse proportion to a distance value, the quantity matching value is determined according to the ratio of the stock quantity of the goods circulation box to the quantity to be processed of a target goods type corresponding to the goods circulation box in a target work station, and the distance value comprises the distance between the goods circulation box and the target work station group, the distance between the goods circulation box and a target transport robot, and the matching degree between the position of the goods circulation box and a planned path of the target transport robot; and determining one or more cargo turnover boxes as target cargo turnover boxes corresponding to the target workstation group from high to low according to the inventory quantity of the cargo turnover boxes and the convenience score.
In one exemplary embodiment of the present disclosure, before determining the target transport robot, the transport allocation module 133 is configured to: determining the target cargo turnover boxes corresponding to the target workstation group in all cargo turnover boxes corresponding to the target cargo types; updating the number of to-be-handled of the target to-be-sorted tasks according to the available inventory of each cargo category in the target cargo turnover box, wherein the target cargo category of the target to-be-sorted tasks exists in the target cargo turnover box; binding the target goods circulation box with the sorting workstation corresponding to the target task to be sorted.
In one exemplary embodiment of the present disclosure, the sort control module 134 is configured to: determining one or more tasks to be sorted corresponding to the target cargo turnover box; determining one or more sorting workstations corresponding to the one or more tasks to be sorted; controlling the target goods circulation box to run on a first conveyor belt of the target work station group, and identifying the position of the target goods circulation box in real time, wherein the first conveyor belt is connected with an inlet and an outlet of a second conveyor belt of each sorting work station in the target work station group; and controlling the target goods circulation box to enter the inlet of the second conveyor belt when the target goods circulation box reaches the inlet of the second conveyor belt of the sorting workstation corresponding to the target goods circulation box.
Since the functions of the apparatus 1300 are described in detail in the corresponding method embodiments, the disclosure is not repeated here.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.
Those skilled in the art will appreciate that the various aspects of the invention may be implemented as a system, method, or program product. Accordingly, aspects of the invention may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system.
An electronic device 1400 according to such an embodiment of the invention is described below with reference to fig. 14. The electronic device 1400 shown in fig. 14 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 14, the electronic device 1400 is embodied in the form of a general purpose computing device. Components of electronic device 1400 may include, but are not limited to: the at least one processing unit 1410, the at least one memory unit 1420, and a bus 1430 connecting the different system components (including the memory unit 1420 and the processing unit 1410).
Wherein the storage unit stores program code that is executable by the processing unit 1410 such that the processing unit 1410 performs steps according to various exemplary embodiments of the present invention described in the above section of the "exemplary method" of the present specification. For example, the processing unit 1410 may perform the methods as shown in the embodiments of the present disclosure.
The memory unit 1420 may include readable media in the form of volatile memory units, such as Random Access Memory (RAM) 14201 and/or cache memory 14202, and may further include Read Only Memory (ROM) 14203.
The memory unit 1420 may also include a program/utility 14204 having a set (at least one) of program modules 14205, such program modules 14205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
Bus 1430 may be a local bus representing one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or using any of a variety of bus architectures.
The electronic device 1400 may also communicate with one or more external devices 1500 (e.g., keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 1400, and/or any device (e.g., router, modem, etc.) that enables the electronic device 1400 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 1450. Also, electronic device 1400 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 1460. As shown, the network adapter 1460 communicates with other modules of the electronic device 1400 via the bus 1430. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 1400, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.
In an exemplary embodiment of the present disclosure, a computer-readable storage medium having stored thereon a program product capable of implementing the method described above in the present specification is also provided. In some possible embodiments, the various aspects of the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the invention as described in the "exemplary methods" section of this specification, when said program product is run on the terminal device.
The program product for implementing the above-described method according to an embodiment of the present invention may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a 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.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is 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 (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with 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 readable signal medium may also be any readable medium that is not a 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 readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
Furthermore, the above-described drawings are only schematic illustrations of processes included in the method according to the exemplary embodiment of the present invention, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims (10)

1. A method of delivering goods, comprising:
acquiring sorting work station information of a target work station group, wherein the target work station group comprises a plurality of sorting work stations, each sorting work station is provided with a plurality of slots, and the sorting work station information comprises information of slots to be treated in the sorting work stations;
Determining a task to be sorted corresponding to the sorting workstation in the target workstation group according to the sorting workstation information and the order to be processed of the target workstation group;
according to the tasks to be sorted corresponding to each sorting workstation in the target workstation group, determining a target transportation robot and a target cargo turnover box corresponding to the target workstation group, wherein each target cargo turnover box corresponds to one or more tasks to be sorted, and each target cargo turnover box corresponds to one or more sorting workstations;
after controlling the target transport robot to transport the target cargo turnover boxes to the target workstation group, controlling the target cargo turnover boxes to enter the sorting workstations where the corresponding tasks to be sorted are located so as to finish cargo delivery;
the information of the to-be-disposed slot position comprises an order type and a goods type corresponding to the to-be-disposed slot position, and determining to-be-sorted tasks corresponding to the sorting work stations of the target work station group according to the sorting work station information and the to-be-processed order of the target work station group comprises:
determining a to-be-processed order corresponding to each to-be-processed slot according to the order type corresponding to the to-be-processed slot and the cargo types corresponding to all slots in the target workstation group; determining the to-be-processed order corresponding to the target sorting workstation according to the to-be-processed order corresponding to the to-be-processed slot position corresponding to the target sorting workstation; generating a to-be-sorted task corresponding to the target sorting work station according to the to-be-processed order corresponding to the target sorting work station, wherein the to-be-sorted task comprises target cargo types corresponding to the target sorting work station and the to-be-processed quantity corresponding to each target cargo type;
The determining the to-be-processed order corresponding to each to-be-processed slot position according to the order type corresponding to the to-be-processed slot position and the goods types corresponding to all slot positions in the target workstation group comprises: acquiring to-be-processed order information of a plurality of to-be-processed orders, wherein the order information comprises an order type corresponding to each to-be-processed order, a cargo type corresponding to each to-be-processed order and a to-be-processed quantity corresponding to each cargo type; setting the order types corresponding to all the to-be-handled slots in the target workstation group as target order types, and setting the to-be-handled orders with the order types being the target order types in the to-be-handled orders as target orders;
determining a matching score of the goods category of the target order and the goods category corresponding to each sorting workstation in the target workstation group; and distributing the target order to the to-be-disposed slot position with the same order type as the target order according to the matching score of the target order from high to low.
2. The method of shipment of goods of claim 1, wherein the slots to be disposed include empty slots and slots of outstanding aggregate orders, and assigning the target order to the slots to be disposed of the same order type as the target order with a matching score of the target order from high to low comprises:
Determining an order type of the target order and a sorting workstation corresponding to the highest matching score of the target order;
acquiring a processing category of the sorting workstation for the order type of the target order;
when the processing category is an aggregate order, the target order is allocated to the slot positions of the group of the unfinished aggregate order with the same order category, or the target order is allocated to the empty slot positions with the same order category, or when the empty slot positions do not exist or the target order cannot form the aggregate order, the target order cannot be allocated to the workstation;
and when the processing category is an order, the target order is allocated to the empty slots with the same order category.
3. The method of claim 1, wherein controlling the target shipment tote to enter the one or more sorting workstations at which the corresponding job to be sorted is located to complete shipment of the shipment comprises:
determining one or more tasks to be sorted corresponding to the target cargo turnover box;
determining the sorting work stations corresponding to the one or more tasks to be sorted;
controlling the target goods circulation box to run on a first conveyor belt of the target work station group, and identifying the position of the target goods circulation box in real time, wherein the first conveyor belt is connected with an inlet and an outlet of a second conveyor belt of each sorting work station in the target work station group;
And controlling the target goods circulation box to enter the inlet of the second conveyor belt when the target goods circulation box reaches the inlet of the second conveyor belt of the sorting workstation corresponding to the target goods circulation box.
4. A method of delivering goods, comprising:
acquiring sorting work station information of a target work station group, wherein the target work station group comprises a plurality of sorting work stations, each sorting work station is provided with a plurality of slots, and the sorting work station information comprises information of slots to be treated in the sorting work stations;
determining a task to be sorted corresponding to the sorting workstation in the target workstation group according to the sorting workstation information and the order to be processed of the target workstation group;
according to the tasks to be sorted corresponding to each sorting workstation in the target workstation group, determining a target transportation robot and a target cargo turnover box corresponding to the target workstation group, wherein each target cargo turnover box corresponds to one or more tasks to be sorted, and each target cargo turnover box corresponds to one or more sorting workstations;
after controlling the target transport robot to transport the target cargo turnover boxes to the target workstation group, controlling the target cargo turnover boxes to enter the sorting workstations where the corresponding tasks to be sorted are located so as to finish cargo delivery; wherein, according to the task to be sorted corresponding to each sorting workstation in the target workstation group, determining the target transport robot and the target cargo turnover box corresponding to the target workstation group includes:
Determining a cargo turnover box corresponding to the target cargo types according to the target cargo types corresponding to all the tasks to be sorted of the target workstation group;
determining a target transport robot corresponding to the target workstation group in the idle transport robots;
the method comprises the steps that a convenience score of a goods circulation box to a target work station group is obtained, the convenience score is in direct proportion to a quantity matching value, the quantity matching value is in inverse proportion to a distance value, the quantity matching value is determined according to the ratio of the stock quantity of the goods circulation box to the quantity to be processed of a target goods type corresponding to the goods circulation box in a target work station, and the distance value comprises the distance between the goods circulation box and the target work station group, the distance between the goods circulation box and a target transport robot, and the matching degree between the position of the goods circulation box and a planned path of the target transport robot;
and determining one or more cargo turnover boxes as target cargo turnover boxes corresponding to the target workstation group from high to low according to the inventory quantity of the cargo turnover boxes and the convenience score.
5. The method of delivering cargo in a warehouse of claim 4, further comprising, prior to determining the target transport robot:
Determining the target cargo turnover boxes corresponding to the target workstation group in all cargo turnover boxes corresponding to the target cargo types;
updating the number of to-be-handled of the target to-be-sorted tasks according to the available inventory of each cargo category in the target cargo turnover box, wherein the target cargo category of the target to-be-sorted tasks exists in the target cargo turnover box;
binding the target goods circulation box with the sorting workstation corresponding to the target task to be sorted.
6. The method of claim 4, wherein controlling the target shipment tote to enter the sorting station at which the corresponding job to be sorted is located to complete shipment of the shipment comprises:
determining one or more tasks to be sorted corresponding to the target cargo turnover box;
determining the sorting work stations corresponding to the one or more tasks to be sorted;
controlling the target goods circulation box to run on a first conveyor belt of the target work station group, and identifying the position of the target goods circulation box in real time, wherein the first conveyor belt is connected with an inlet and an outlet of a second conveyor belt of each sorting work station in the target work station group;
And controlling the target goods circulation box to enter the inlet of the second conveyor belt when the target goods circulation box reaches the inlet of the second conveyor belt of the sorting workstation corresponding to the target goods circulation box.
7. A cargo delivery system, comprising:
a group of workstations, each of the group of workstations comprising a plurality of sorting workstations, the plurality of sorting workstations having layout connectivity;
a first conveyor belt, which is annular and moves along a first direction, and is connected with a plurality of sorting workstations of the same workstation group;
a plurality of second conveyor belts moving along the first direction or the second direction, the second direction being opposite to the first direction, each of the second conveyor belts corresponding to one of the sorting workstations, an inlet and an outlet of the second conveyor belt being connected to the first conveyor belt;
the system comprises a plurality of transport robots, a plurality of storage areas and a plurality of work station groups, wherein each transport robot is used for acquiring one or more cargo transfer box numbers according to a task to be sorted, acquiring cargo transfer boxes from the storage areas according to the cargo transfer box numbers and transporting the cargo transfer boxes to the work station groups corresponding to the task to be sorted;
a processor in communication with the sorting station, the first conveyor belt, the second conveyor belt, the transport robot for performing the method of any of claims 1-6.
8. A cargo delivery device, comprising:
the information acquisition module is used for acquiring sorting work station information of a target work station group, wherein the target work station group comprises a plurality of sorting work stations, each sorting work station is provided with a plurality of slots, and the sorting work station information comprises information of slots to be treated in the sorting work stations;
the task distribution module is used for determining a task to be sorted corresponding to the sorting work stations in the target work station group according to the sorting work station information and the order to be processed of the target work station group;
the transport distribution module is arranged to determine a target transport robot and a target cargo turnover box corresponding to the target workstation group according to the tasks to be sorted corresponding to each sorting workstation in the target workstation group, wherein each target cargo turnover box corresponds to one or more tasks to be sorted, and each target cargo turnover box corresponds to one or more sorting workstations;
the sorting control module is used for controlling the target cargo turnover boxes to enter the sorting work stations where the corresponding tasks to be sorted are located after controlling the target transport robot to transport the target cargo turnover boxes to the target work station group so as to finish cargo delivery;
Wherein the task allocation module is configured to:
determining a to-be-processed order corresponding to each to-be-processed slot according to the order type corresponding to the to-be-processed slot and the cargo types corresponding to all slots in the target workstation group;
determining the to-be-processed order corresponding to the target sorting workstation according to the to-be-processed order corresponding to the to-be-processed slot position corresponding to the target sorting workstation;
generating a to-be-sorted task corresponding to the target sorting work station according to the to-be-processed order corresponding to the target sorting work station, wherein the to-be-sorted task comprises target cargo types corresponding to the target sorting work station and the to-be-processed quantity corresponding to each target cargo type;
the determining the to-be-processed order corresponding to each to-be-processed slot position according to the order type corresponding to the to-be-processed slot position and the goods types corresponding to all slot positions in the target workstation group comprises: acquiring to-be-processed order information of a plurality of to-be-processed orders, wherein the order information comprises an order type corresponding to each to-be-processed order, a cargo type corresponding to each to-be-processed order and a to-be-processed quantity corresponding to each cargo type; setting the order types corresponding to all the to-be-handled slots in the target workstation group as target order types, and setting the to-be-handled orders with the order types being the target order types in the to-be-handled orders as target orders; determining a matching score of the goods category of the target order and the goods category corresponding to each sorting workstation in the target workstation group; and distributing the target order to the to-be-disposed slot position with the same order type as the target order according to the matching score of the target order from high to low.
9. An electronic device, comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform the method of shipment of goods of any of claims 1-6 based on instructions stored in the memory.
10. A computer readable storage medium having stored thereon a program which when executed by a processor implements the method of shipment of goods according to any one of claims 1-6.
CN202210346493.9A 2022-03-31 2022-03-31 Goods delivery method, device, system and electronic equipment Active CN114803243B (en)

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