WO2021254407A1 - 仓储***、集货方法、装置、料箱移动装置及控制终端 - Google Patents
仓储***、集货方法、装置、料箱移动装置及控制终端 Download PDFInfo
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- WO2021254407A1 WO2021254407A1 PCT/CN2021/100462 CN2021100462W WO2021254407A1 WO 2021254407 A1 WO2021254407 A1 WO 2021254407A1 CN 2021100462 W CN2021100462 W CN 2021100462W WO 2021254407 A1 WO2021254407 A1 WO 2021254407A1
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- bin
- target
- storage
- moving device
- goods
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- 239000000463 material Substances 0.000 title claims abstract description 73
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- 238000005516 engineering process Methods 0.000 description 2
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Classifications
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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
- 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
- B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
-
- 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
- B65G1/0485—Check-in, check-out devices
-
- 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
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
-
- 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
- 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
- B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- the present disclosure relates to the technical field of storage and collection, and in particular to a storage system, a collection method, a device, a bin moving device, a control terminal, and a storage medium.
- picking refers to the process of taking out the goods specified in the order task from the warehouse.
- the existing methods usually adopt a picking strategy of first collecting goods and then performing secondary sorting to improve the efficiency of picking.
- the present disclosure provides a storage system, a collection method, a device, a bin moving device, a control terminal, and a storage medium, so as to solve the problem of low efficiency of storage collection in the prior art.
- the present disclosure provides a storage system, including: a shelf, a bin moving device, and a control terminal;
- the control terminal is used to send a first control instruction to the bin moving device
- the bin moving device is used to move the target stock bin containing the target goods to the first picking area according to the first control instruction, and the first picking area is for transferring the target goods from the target
- the storage bin is picked to the area of the collection bin;
- the control terminal is also used to obtain free storage spaces where no bins are currently placed on the shelves, and send a second control instruction to the bin moving device;
- the bin moving device is also used for buffering the collection bin after the target cargo selection is completed to the free storage space according to the second control instruction.
- control terminal is also used to obtain an order task, the order task includes the target goods; based on the order task, send the first control instruction to the bin moving device.
- each storage position on the shelf is correspondingly provided with an identifier
- the bin moving device is further configured to, after receiving the first control instruction, obtain the first identifier of the target storage location where the target inventory bin is stored, and send the first identifier containing the first identifier to the control terminal The first notification information;
- the control terminal is further configured to update the state of the storage location corresponding to the first identifier to an idle storage location according to the first notification information.
- the bin moving device is further configured to obtain a second identifier of the free storage space after receiving the second control instruction, and send the second identifier containing the second identifier to the control terminal The second notification information;
- the control terminal is further configured to update the state of the storage location corresponding to the second identifier to the used storage location according to the second notification information.
- the bin moving device is further configured to send first query information to the control terminal after the picking of any kind of target goods is completed, and the first query information is used to query the completed target goods picking The current state of the target storage location corresponding to the target inventory bin; receiving the current state information of the target storage location fed back by the control terminal based on the first query information, if the target storage location is currently an idle storage location, Move and place the target inventory bin corresponding to the target goods that have been picked to the target storage location;
- the bin moving device is also used to send second query information to the control terminal after the picking of any kind of target goods is completed, and the second query information is used to query the free storage space on the shelf;
- the control terminal feeds back the free storage position information on the shelf based on the second query information. If there is an free storage position on the shelf, the target stock bin corresponding to the target goods that has been picked is moved and placed on the shelf. The free storage bits.
- the material box After receiving the free storage position information on the shelf fed back by the control terminal based on the second query information, if there are at least two free storage positions on the shelf, the material box The mobile device is further configured to determine an idle storage location that meets a preset condition based on the at least two idle storage locations existing on the shelf, and move the target storage bin to the idle storage location that meets the preset condition;
- the preset condition includes the shortest distance between the moving device of the bin to the idle storage position, or the shortest distance between the idle storage position and the first picking area.
- control terminal is further configured to send a third control instruction to the bin moving device after all target goods in the order task are picked;
- the bin moving device is also used to move all collection bins containing the target goods to the second picking area according to the third control instruction.
- the bin moving device is further configured to, after receiving the third control instruction, obtain a third identifier that caches the storage location of the collection bin containing the target cargo, and Sending third notification information including the third identifier to the control terminal;
- the control terminal is further configured to update the state of the storage location corresponding to the third identifier to an idle storage location according to the third notification information.
- the present disclosure provides a cargo collection method, which is applied to the above-mentioned storage system, including:
- the target inventory bin storing the target goods in the order task is moved to the first picking area, and the first picking area is The target goods are picked from the target inventory bin to the area of the collection bin;
- the free storage space is a storage space on a shelf for placing storage bins, and the storage bins are used for storing goods.
- it further includes:
- a notification message is used to instruct the control terminal to update the state of the storage location corresponding to the first identifier to an idle storage location.
- it further includes:
- the control terminal After receiving the second control instruction, acquire the second identifier of the free storage location, and send second notification information including the second identifier to the control terminal, where the second notification information is used to indicate
- the control terminal updates the state of the storage location corresponding to the second identifier to the used storage location.
- it further includes:
- first query information is used to query the current state of the target storage location corresponding to the target inventory bin for which the target goods have been picked; receive;
- the control terminal feeds back the current status information of the target storage location based on the first query information, and if the target storage location is currently an idle storage location, move the target inventory bin corresponding to the target goods that has been picked Placed in the target storage location;
- the second query information is sent to the control terminal, and the second query information is used to query the free storage space on the shelf; the receiving control terminal is based on the second query
- the free storage position information on the shelf is fed back by the information. If there is a free storage position on the shelf, the target inventory bin corresponding to the target goods that has been picked is moved and placed in the free storage position.
- it further includes:
- the free storage space determines the free storage space that meets a preset condition, and moves the target storage bin to the free storage space that meets the preset condition;
- the preset condition includes the shortest distance between the moving device of the bin to the idle storage position, or the shortest distance between the idle storage position and the first picking area.
- it further includes:
- it further includes:
- the third notification information is used to instruct the control terminal to update the state of the storage location corresponding to the third identifier to an idle storage location.
- the present disclosure provides a cargo collection method, which is applied to the above-mentioned storage system, including:
- the box is moved to a first picking area, where the first picking area is an area where the target goods are picked from the target inventory bin to the collection bin;
- the second control instruction is used to instruct the bin moving device to complete the collection of target goods.
- the cargo box is buffered to the free storage position;
- the free storage space is a storage space on a shelf for placing storage bins, and the storage bins are used for storing goods.
- it further includes:
- Receive first notification information that includes a first identifier sent by the material box moving device, where the first identifier is acquired by the material box moving device after receiving the first control instruction and stores the target inventory The identification corresponding to the target storage location of the bin;
- the state of the storage location corresponding to the first identifier is updated to an idle storage location according to the first notification information.
- it further includes:
- Receive second notification information that includes a second identifier sent by the material box moving device, where the second identifier is the free storage location acquired by the material box moving device after receiving the second control instruction Corresponding logo;
- the state of the storage location corresponding to the second identifier is updated to the used storage location according to the second notification information.
- it further includes:
- it further includes:
- a third control instruction is sent to the bin moving device, and the third control instruction is used to instruct the bin moving device to contain the target goods All of the collection bins are moved to the second picking area.
- it further includes:
- the state of the storage location corresponding to the third identifier is updated to an idle storage location according to the third notification information.
- a cargo collection device applied to a bin moving device including:
- the moving module is used to move the target stock bin storing the target goods in the order task to the first picking area when the first control instruction sent by the control terminal based on the order task is received.
- the cargo area is the area where the target goods are picked from the target inventory bin to the collection bin;
- the cache module is used to cache the collection bin after the target cargo selection is completed to the idle storage location when receiving a second control instruction sent by the control terminal based on an idle storage location where no bins are currently placed on the shelf ;
- the free storage space is a storage space on a shelf for placing storage bins, and the storage bins are used for storing goods.
- a cargo collection device applied to a control terminal including:
- the acquisition module is used to acquire the order task containing the target goods
- the control module is configured to send a first control instruction to the bin moving device based on the order task, where the first control instruction is used to instruct the bin moving device to move the target inventory bin storing the target goods to A first picking area, where the first picking area is an area where the target goods are picked from the target stock bin to the collection bin;
- the acquiring module is also used to acquire free storage spaces where no bins are currently placed on the shelf;
- the control module is further configured to send a second control instruction to the bin moving device, and the second control instruction is used to instruct the bin moving device to buffer the collection bin after the target cargo has been selected to the Free storage
- the free storage space is a storage space on a shelf for placing storage bins, and the storage bins are used for storing goods.
- the present disclosure provides a material box moving device, including:
- At least one processor At least one processor
- a memory communicatively connected with the at least one processor
- the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor, so that the bin moving device executes the foregoing method.
- control terminal including:
- At least one processor At least one processor
- a memory communicatively connected with the at least one processor
- the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor, so that the control terminal executes the foregoing method.
- the present disclosure provides a computer-readable storage medium in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement the above-mentioned collection method.
- the storage system, collection method, device, bin moving device, control terminal, and storage medium provided by the present disclosure.
- a storage space for storing storage bins is provided on the shelf.
- the storage space on the shelf is not When all the storage bins are placed, or the storage bin is moved out of the storage location by the bin moving device (for example, when picking goods), the storage location may be empty. In this way, during the collection process, the bin moving device is in the control terminal.
- the collection bins after the picking of the goods are cached in the free storage space of the shelf, that is, the storage space on the shelf can be used to place the storage bins and cache the collection bins at the same time, thus, during the collection process
- There is no need to set a specific cache area or cache shelf to cache the goods effectively improve the space utilization of the storage system, and there is no size limit for the cache area or cache shelf, so that a larger number of order tasks can be collected at the same time.
- the efficiency of warehousing and collection operations is improved.
- Figure 1 is a schematic diagram of a storage system in an embodiment of the disclosure
- FIG. 2 is a schematic diagram of a shelf 10 in an embodiment of the disclosure
- FIG. 3 is a schematic diagram of a material box moving device 20 in an embodiment of the disclosure.
- Fig. 4 is a schematic diagram of a cargo consolidating method in an embodiment of the disclosure.
- FIG. 5 is another schematic diagram of the cargo consolidating method in the embodiment of the disclosure.
- FIG. 6 is a sequence diagram of the communication between the bin moving device 20 and the control terminal 30 in the storage system in the embodiment of the disclosure;
- Figure 7 is a schematic diagram of a cargo collection device in an embodiment of the disclosure.
- Fig. 8 is another schematic diagram of the cargo collection device in the embodiment of the disclosure.
- Storage location also refers to target storage location, free storage location, used storage location
- 20. Bin moving device 21. Mobile structure; 22. Bin storage area; 23. Bin grabbing Take structure; 24, camera; 30, control terminal; 41, inventory bin (also referred to as target inventory bin); 42, collection bin; P1, first picking area; P2, second picking area; 120.
- Mobile module 140. Cache module; 220. Acquisition module; 240. Control module.
- the words “if” and “if” as used herein can be interpreted as “when” or “when” or “in response to determination” or “in response to detection”.
- the phrase “if determined” or “if detected (statement or event)” can be interpreted as “when determined” or “in response to determination” or “when detected (statement or event) )” or “in response to detection (statement or event)”.
- the warehousing system When the warehousing system receives multiple order tasks, it can first count the total quantity of the same type of goods in the multiple order tasks, and then directly select a sufficient quantity of the same type of goods corresponding to multiple orders at one time. Reduce the number of picking goods.
- the warehousing system needs to choose 3 times to complete order 1, and 4 times to complete both orders 2 and 3. That is, the warehousing system needs to choose 11 times in total to complete the above three order tasks.
- the warehousing system adopts multi-order tasks for common collection processing, only one collection selection of cargo A, cargo B, cargo C, and cargo D is required.
- the four kinds of goods that are picked each correspond to 5 pieces of goods. , 11, 5, and 9, a total of only 4 selections are required, so that the efficiency of cargo selection can be improved through the collection of cargo.
- the warehousing system sorts the corresponding types and quantities of goods from the goods selected by the collection according to the needs of different order tasks for subsequent packaging and transportation.
- Inventory bin A bin used to store goods in the storage system. A large number of the same type of goods are stored in a single inventory bin, so that a corresponding amount of the same type of goods can be picked from the inventory bin.
- 100 goods A are stored in a certain storage bin
- 150 goods B are stored in another storage bin.
- the material box used to buffer the picked goods in the storage system can be understood as a turnover box, and a single type of goods is stored in a single collecting box.
- 5 goods A are stored in a certain container
- 11 goods B are stored in another container
- 5 goods C are stored in another container
- 9 goods D are stored in the box.
- the storage system provided by the present disclosure aims to solve the above technical problems of the prior art.
- the present disclosure provides a warehousing system, which caches the collection bins after picking the goods in the idle storage positions of the shelves, that is, the storage positions on the shelves can be used for both the storage bins and the cache collection bins at the same time. Therefore, there is no need to set a specific area or shelf to store the goods during the collection process, and there is no area or shelf size limitation, so that a larger number of order tasks can be collected at the same time, thereby improving the storage and collection operations efficient.
- FIG. 1 is a schematic diagram of a storage system in an embodiment of the disclosure. As shown in FIG. 1, the storage system includes: a shelf 10, a bin moving device 20 and a control terminal 30.
- the shelf 10 is a shelf for storing goods in a warehouse
- the bin moving device 20 may specifically be a cargo transportation robot, etc.
- the control terminal 30 may specifically be a computer device or a server.
- first picking area P1 in FIG. 1 is an area for performing collection processing
- second picking area P2 is an area for performing secondary sorting of goods.
- FIG. 2 is a schematic diagram of the shelf 10 in the embodiment of the disclosure.
- a single shelf 10 is provided with a plurality of storage positions 11 for placing storage bins 41, which can be specifically, for example, N storage positions 11 arranged horizontally.
- M storage positions 11 are arranged longitudinally, that is, a total of M ⁇ N storage positions 11 are set, and the storage material box 41 is used for storing goods.
- the number of shelves 10 can be multiple, that is, the storage system includes multiple shelves 10, and the arrangement and number of storage positions 11 on each shelf 10 can be the same or different.
- the number of shelves 10 and the number of storage spaces 11 on a single shelf 10 can be determined according to the number of storage bins 41 storing goods. For example, the total number of storage spaces 11 of all shelves 10 can be equal to or greater than the storage bins 41. quantity.
- each storage bin 41 is provided with a corresponding first bin label
- the first bin label may correspond to the type of goods stored in the storage bin 41, so as to be based on the first bin label set on the storage bin 41.
- the container label can determine the type of goods stored in the container.
- the first bin label may specifically be, for example, a barcode or a two-dimensional code, or may be any one or a combination of at least two of text, letters, numbers, and symbols.
- the material box moving device 20 can communicate with the control terminal 30 wirelessly, and the material box moving device 20 is used to move the material box according to the control instruction sent by the control terminal 30.
- the control terminal 30 is used to obtain an order task containing the target goods, and based on the order task, send a first control instruction to the bin moving device 20.
- the first control instruction includes information about the type of goods to be picked and the location information of the goods, and the location information of the goods. Specifically, it is the position information of the goods on the shelf 10, so that the bin moving device 20 can move to a corresponding position according to the position information of the goods, so as to perform the subsequent movement of the bin.
- the bin moving device 20 is used to move the target inventory bin 41 containing the target goods to the first picking area P1 according to the first control instruction sent by the control terminal 30, and the first picking area P1 is for removing the target goods from the target inventory
- the bin 41 is picked to the area of the collection bin 42, that is, the area where the collection processing is performed.
- the way of picking goods in the first picking area P1 can be manual picking and/or automatic machine picking, etc.
- FIG. 3 is a schematic diagram of the material box moving device 20 in an embodiment of the disclosure.
- the material box moving device 20 includes a moving structure 21 (for example, rollers, or crawlers, etc.) and a material box storage area 22.
- the moving structure 21 It can be used for moving, and the bin storage area 22 can be used for storing bins.
- the number of the material box storage areas 22 may be one or more.
- the material box moving device 20 can move multiple material boxes at the same time.
- the material box moving device 20 is further provided with a material box grasping structure 23, and the material box grasping structure 23 is used to grasp the material box and put it into the material box storage area 22.
- the bin moving device 20 is further provided with a camera 24, which is used to capture and obtain the bin label and perform identification processing on the bin label, so as to determine the type of goods stored in the bin.
- each collection material box 42 is provided with a corresponding second material box label, and the second material box label may correspond to the type of goods stored in the collection material box 42. Therefore, based on the setting on the collection material box 42
- the label of the second container can determine the type of goods stored in the container.
- the second bin label may specifically be, for example, a barcode or a two-dimensional code, or may be any one or a combination of at least two of text, letters, numbers, and symbols.
- control terminal 30 also stores current status information of each storage location 11, and the current status includes at least two types: idle and used. After the picking of the target goods is completed, the control terminal 30 is also used to obtain the free storage space 11 where no bin is currently placed on the shelf 10, and send a second control instruction to the bin moving device 20, the second control instruction includes the free storage location 11 Position information on the shelf 10.
- the bin moving device 20 is also used for buffering the collection bin 42 after the selection of the target goods to the free storage position 11 according to the second control instruction.
- the collection container 42 can be manually moved into the container storage area 22.
- it can also be a material
- the box moving device 20 automatically puts the collection box 42 into the box storage area 22 through the box grabbing structure 23.
- the box grabbing structure 23 directly takes out the collection box 42 on the conveying line and puts it in. Box storage area 22 and so on.
- the collection material box 42 when the collection material box 42 after the selection of the target goods is cached in the free storage location 11, the collection material box 42 can be cached in any free storage location 11, or it can be cached until a certain condition is satisfied.
- the free storage position 11 can make the buffer location of the collection bin 42 more flexible and changeable.
- storage places 11 for storing storage boxes are provided on the shelves 10.
- the storage places 11 on the shelves 10 are not all the storage boxes 41, or the storage boxes 41 are
- the bin moving device 20 moves out of the storage location 11 (for example, when picking goods)
- the picked collection material box 42 is cached on the free storage space 11 of the shelf 10, that is, the storage space 11 on the shelf 10 can be used to place the storage material box 41 and the cache collection material box 42 at the same time, thus, the collection process There is no need to set a specific cache area or cache shelf to cache the goods, which effectively improves the space utilization of the storage system, and there is no size limit for the cache area or cache shelf, so that a larger number of order tasks can be collected at the same time. , Thereby improving the efficiency of warehousing and collection operations.
- each storage location 11 on the shelf 10 is correspondingly provided with an identifier (not shown in the figure).
- the logo can be set in the corresponding position of each storage location 11 by means such as spraying, hand-painting, pasting, welding, detachable connection, etc.
- the logo can specifically be, for example, a barcode or a two-dimensional code, or it can be in words, letters, numbers, and symbols. Any one or a combination of at least two, etc.
- the bin moving device 20 is also used to obtain the first identification of the target storage location 11 of the storage target storage bin 41 through the camera 24 after receiving the first control instruction, and send the first identification containing the first identification to the control terminal 30 Notification information.
- the control terminal 30 is further configured to update the storage location 11 corresponding to the first identifier to the idle storage location 11 according to the first notification information.
- the target storage position 11 corresponding to the target inventory material box 41 does not have a material box, that is, the target storage position 11 becomes an idle storage position 11.
- the free storage location 11 can be used for buffering the collection material box 42.
- the control terminal 30 can update the status information of the storage positions 11 on the shelf 10, thereby facilitating subsequent storage positions 11 allocation and making the storage management more scientific and reasonable.
- the bin moving device 20 may first obtain the first identification and send the first notification message, and then move the target inventory bin; or it may first obtain the first identification, and then execute the sending at the same time.
- the first notification message and the operation of moving the target inventory bin it can also be to obtain the first identifier first, then move the target inventory bin, and finally send the first notification message; it can also be to move the target inventory bin first, and then obtain the first notification message. Identify and send the first notification message, etc.
- the bin moving device 20 is further configured to obtain the second identifier of the free storage location 11 through the camera 24 after receiving the second control instruction, and send a second notification containing the second identifier to the control terminal 30 information.
- the control terminal 30 is further configured to update the state of the storage location 11 corresponding to the second identifier to the used storage location 11 according to the second notification information.
- the control terminal 30 can update the status information of the storage location 11 on the shelf 10, thereby facilitating the subsequent allocation of the storage location 11, making the storage management more scientific Reasonable.
- this embodiment does not strictly limit the sequence of the above operations.
- the container moving device 20 may first obtain the second identifier and send the second notification message, and then cache the collection container; or it may first obtain the second identifier and then execute the sending at the same time.
- the second notification message and the operation of caching the collection box it can also be to obtain the second identifier first, then cache the collection box, and finally send the second notification message; it can also be to cache the collection box first, and then obtain the second notification message. Identify and send the second notification message, etc.
- the bin moving device 20 is further configured to send first query information to the control terminal 30 after the picking of any kind of target goods is completed, and the first query information is used to query the target inventory materials that have completed the picking of the target goods.
- the current state of the target storage location 11 corresponding to the box that is, the original storage location corresponding to the target inventory bin).
- the receiving control terminal 30 feeds back the current status information of the target storage location 11 based on the first query information. If the current status of the target storage location 11 is idle, the target inventory bin 41 corresponding to the target goods that has been picked is moved and placed on the target Store bit 11.
- the bin moving device 20 sends corresponding notification information to the control terminal 30 after moving and placing the target stock bin 41 in the target storage location 11 to instruct the control terminal 30 to update the state of the target storage location 11.
- the bin moving device 20 can The target stock bin 41 is cached in the bin storage area 22 of the bin moving device 20 itself until the target storage location 11 is changed to the free storage location 11, and then the target stock bin 41 is moved and placed in the target storage location 11.
- the bin moving device 20 can continue Obtain free storage positions 11 other than the target storage position 11 from the control terminal 30, and move the target stock bin 41 to the free storage position 11.
- the bin moving device 20 is also used to send the second query information to the control terminal 30 after the picking of any kind of target goods is completed, and the second query information is used to query the free storage space 11 on the shelf 10.
- the receiving control terminal 30 feedbacks the free storage position 11 information on the shelf 10 based on the second query information. If there is an free storage position 11 on the shelf 10, the bin moving device 20 will select the target stock bin corresponding to the target goods that have been picked. 41 moves and places it in the free storage position 11.
- the bin moving device 20 may first determine the free storage location 11 that meets the preset condition, and then move the target inventory bin 41 to the free storage location 11 that meets the preset condition.
- the preset condition may be, for example, the shortest distance between the bin moving device 20 to the idle storage position 11, or the shortest distance between the idle storage position 11 and the first picking area P1, etc., so as to improve collection efficiency.
- the bin moving device 20 may store the target storage bin 41 in the bin moving The material box storage area 22 of the device 20 itself, until a free storage space 11 appears on the shelf 10, and then the target storage material box 41 is moved and placed in the free storage space 11.
- the storage of goods can be made more flexible and the collection efficiency can be improved.
- control terminal 30 is also used to send a third control instruction to the bin moving device 20 after all the target goods in the order task are picked, and the bin moving device 20 is also used to send a third control instruction according to the third control instruction Move all the collection bins 42 containing the target goods to the second picking area P2.
- the second picking area P2 is the area where the second sorting of goods is performed, such as a seeding wall or a conveyor line, etc.
- the second picking area P2 can be manually sorted and/or machined. Automatic sorting, etc.
- the control terminal 30 controls the bin moving device 20 to move all the collection bins 42 containing the target goods to the second picking area P2, thereby facilitating the subsequent secondary sorting and packing Wait for processing.
- the container moving device 20 is further configured to obtain the third identifier of the storage location 11 of the collection container 42 in which the target goods are cached after receiving the third control instruction, and send it to the control terminal 30 Send the third notification message including the third identifier.
- the control terminal 30 is further configured to update the storage location 11 corresponding to the third identifier to the idle storage location 11 according to the third notification information.
- the target storage position 11 corresponding to the target inventory material box 41 does not have a material box, that is, the current state of the target storage position 11 becomes idle.
- the free storage location 11 can be used for buffering the collection material box 42.
- the control terminal 30 can update the status information of the storage positions 11 on the shelf 10, thereby facilitating subsequent storage positions 11 allocation and making the storage management more scientific and reasonable.
- this embodiment does not strictly limit the sequence of the above operations.
- the container moving device 20 may first obtain the third identifier and send the third notification message, and then move the collection container; or it may first obtain the third identifier and then execute the sending at the same time.
- the third notification message and the operation of moving the collection container it can also be to obtain the third identifier first, then move the collection container, and finally send the third notification message; it can also be to move the collection container first, and then obtain the third Identify and send the third notification message, etc.
- the material box moving device 20 determines the corresponding identity information of the material box and the storage position
- the material box label set on the material box and the identification set corresponding to the storage position may also be electronic tags.
- the camera 24 on the box moving device 20 can be correspondingly adjusted to an electronic tag identification device.
- the electronic tag identification device can use, for example, RFID (Radio Frequency Identification, radio frequency identification technology) to identify the electronic tag to obtain the container and storage location. ’S identity information.
- the bin moving device 20 when the bin moving device 20 sends notification information to the control terminal 30, it may also take an image of the storage location 11 through the camera 24, and then send the captured storage location image to the control terminal 30.
- the control terminal 30 can perform image processing (such as image recognition, separation, classification, etc.) on the storage bit image to determine whether the storage bit in the storage bit image currently has a bin, and then update the state of the storage bit according to the image processing result .
- image processing such as image recognition, separation, classification, etc.
- the bin moving device 20 may not perform the step of obtaining the identification of the storage location, that is, the bin moving device 20
- the notification information sent by the control terminal 30 does not include the identifier corresponding to the storage location.
- FIG. 4 is a schematic diagram of a cargo collection method in an embodiment of the disclosure.
- the cargo collection method is applied to the above-mentioned storage system, and may be specifically applied to the processor in the bin moving device 20. As shown in Figure 4, the collection method includes:
- the free storage space 11 is a storage space 11 on the shelf 10 for placing a storage material box 41, and the storage material box 41 is used for storing goods.
- the bin moving device 20 under the control of the control terminal 30, buffers the collection bin 42 after the picking of the goods is completed on the free storage position 11 of the shelf 10, that is, the storage on the shelf 10 Bit 11 can be used to place both the storage bin 41 and the cache collection bin 42.
- the bin moving device 20 under the control of the control terminal 30, buffers the collection bin 42 after the picking of the goods is completed on the free storage position 11 of the shelf 10, that is, the storage on the shelf 10 Bit 11 can be used to place both the storage bin 41 and the cache collection bin 42.
- the collection method further includes: after receiving the first control instruction, acquiring the first identifier of the target storage location 11 storing the target inventory bin 41, and sending the first identifier containing the first identifier to the control terminal 30 A notification information.
- the first notification information is used to instruct the control terminal 30 to update the state of the storage location 11 corresponding to the first identifier to the idle storage location 11.
- control terminal 30 can update the status information of the storage location 11 on the shelf 10, thereby facilitating subsequent allocation of the storage location 11 and making the storage management more scientific and reasonable.
- the collection method further includes: after receiving the second control instruction, acquiring the second identifier of the free storage location 11, and sending second notification information including the second identifier to the control terminal 30, the second notification The information is used to instruct the control terminal 30 to update the state of the storage bit 11 corresponding to the second identifier to the used storage bit 11.
- control terminal 30 can update the status information of the storage location 11 on the shelf 10, thereby facilitating subsequent allocation of the storage location 11 and making the storage management more scientific and reasonable.
- the collection method further includes: sending first query information to the control terminal 30 after the picking of any kind of target goods is completed, the first query information is used to query the target inventory bin corresponding to the completed target goods picking
- the target stores the current state of bit 11.
- the current status information of the target storage location 11 fed back by the receiving control terminal 30 based on the first query information. If the target storage location 11 is currently an idle storage location 11, the target inventory bin 41 corresponding to the target goods that has been picked is moved and placed in Target storage location 11.
- the collection method further includes: sending second query information to the control terminal 30 after the picking of any kind of target goods is completed, and the second query information is used to query the free storage space 11 on the shelf 10.
- the receiving control terminal 30 feeds back the information of the free storage space 11 on the shelf 10 based on the second query information. If there is an free storage space 11 on the shelf 10, the target inventory bin 41 corresponding to the target goods that has been picked is moved and placed in the free space. Store bit 11.
- the storage of goods can be made more flexible and the collection efficiency can be improved.
- the collection method further includes: after receiving the free storage position information on the shelf fed back by the control terminal based on the second query information, if there are at least two free storage positions on the shelf, based on the at least Two free storage locations determine the free storage location that meets the preset conditions, and move the target storage bin to the free storage location that meets the preset conditions; the preset conditions include the shortest distance from the bin moving device to the free storage location, or , The distance between the free storage space and the first picking area is the shortest, which can improve the collection efficiency.
- the collection method further includes: when receiving a third control instruction sent by the control terminal 30 after all the target goods in the order task have been picked, placing all the collection bins 42 containing the target goods Move to the second picking area P2 to facilitate subsequent sorting and packing and other processing.
- the collection method further includes: after receiving the third control instruction, obtaining the third identifier of the storage location 11 of the collection bin 42 in which the target cargo is stored in the buffer, and sending to the control terminal 30 the third identifier containing the first The third notification information identified by the three.
- the third notification information is used to instruct the control terminal 30 to update the storage location 11 corresponding to the third identifier to the idle storage location 11.
- control terminal 30 can update the status information of the storage location 11 on the shelf 10, thereby facilitating subsequent allocation of the storage location 11 and making the storage management more scientific and reasonable.
- FIG. 5 is a schematic diagram of a cargo collection method in an embodiment of the disclosure.
- the cargo collection method is applied to the above-mentioned storage system, and may be specifically applied to the control terminal 30. As shown in Figure 5, the collection method includes:
- S220 Obtain an order task containing the target goods, and send a first control instruction to the bin moving device 20 based on the order task.
- the first control instruction is used to instruct the bin moving device 20 to move the target inventory bin 41 storing the target goods to
- the first picking area P1 and the first picking area P1 are areas where the target goods are picked from the target stock bin 41 to the collection bin 42.
- the free storage space 11 is a storage space 11 on the shelf 10 for placing a storage material box 41, and the storage material box 41 is used for storing goods.
- the control terminal 30 controls the bin moving device 20 to buffer the collection bin 42 after the picking of the goods is completed on the free storage position 11 of the shelf 10, that is, the storage positions 11 on the shelf 10 can be stored at the same time. It is used to place the storage bin 41 and the cache collection bin 42. There is no need to set a specific area or shelf 10 to store the goods during the collection process, and there is no size limitation of the area or shelf 10, so that more quantities can be carried out at the same time Consolidation operations of order tasks, thereby improving the efficiency of warehousing collection operations.
- the collection method further includes: receiving first notification information sent by the container moving device 20 and including a first identifier, the first identifier being acquired by the container moving device 20 after receiving the first control instruction , Store the identifier corresponding to the target storage position 11 of the target inventory material box 41. The state of the storage location 11 corresponding to the first identifier is updated to the idle storage location 11 according to the first notification information.
- the control terminal 30 can update the status information of the storage positions 11 on the shelf 10, thereby facilitating the subsequent allocation of the storage positions 11 and making the storage management more scientific and reasonable.
- the collection method further includes: receiving second notification information sent by the container moving device 20 and containing a second identifier, the second identifier being acquired by the container moving device 20 after receiving the second control instruction , The identifier corresponding to the free storage location 11.
- the storage location 11 corresponding to the second identifier is updated to the used storage location 11 according to the second notification information.
- control terminal 30 can update the status information of the storage location 11 on the shelf 10, thereby facilitating the subsequent allocation of the storage location 11 and making the storage management more scientific and reasonable.
- the collection method further includes: receiving the first query information sent by the bin moving device 20 after picking any kind of target goods, and feeding back the completed target goods to the bin moving device 20 based on the first query information The current status information of the target storage location 11 corresponding to the picked target inventory bin.
- the collection method further includes: receiving the second query information sent by the bin moving device 20 after picking any kind of target goods, and feeding back the information on the shelf 10 to the bin moving device 20 based on the second query information Free storage bit 11 related information.
- the storage of goods can be made more flexible and the collection efficiency can be improved.
- the collection method further includes: after all the target goods in the order task have been picked, sending a third control instruction to the bin moving device 20.
- the third control instruction is used to instruct the bin moving device 20 to All the collection bins 42 loaded with the target goods are moved to the second picking area P2, so as to facilitate subsequent sorting and packing and other processing.
- the collection method further includes: receiving third notification information sent by the container moving device 20 and containing a third identifier, the third identifier being acquired by the container moving device 20 after receiving the third control instruction , Cache the identifier corresponding to the storage location 11 of the collection bin 42 containing the target goods.
- the state of the storage location 11 corresponding to the third identifier is updated to the idle storage location 11 according to the third notification information.
- the control terminal 30 can update the status information of the storage positions 11 on the shelf 10, thereby facilitating the subsequent allocation of the storage positions 11 and making the storage management more scientific and reasonable.
- FIG. 6 is a sequence diagram of the communication between the bin moving device 20 and the control terminal 30 in the storage system. As shown in FIG. 6, the communication between the bin moving device 20 and the control terminal 30 includes the following steps:
- control terminal 30 obtains the order task containing the target goods, and sends the first control instruction to the bin moving device 20;
- the bin moving device 20 obtains the first identifier of the target storage position 11 storing the target stock bin 41, moves the target stock bin 41 storing the target goods to the first picking area P1; and sends it to the control terminal 30 Sending the first notification information including the first identifier;
- the control terminal 30 updates the state of the storage location 11 corresponding to the first identifier to the idle storage location 11 according to the first notification information
- the control terminal 30 obtains the free storage space 11 where no bin is currently placed, and sends a second control instruction to the bin moving device 20;
- the bin moving device 20 obtains the second identifier of the free storage location 11, and caches the collection bin 42 after the selection of the target goods is completed in the free storage location 11; and sends the second identifier containing the second identifier to the control terminal 30 Notification information
- the control terminal 30 updates the storage location 11 corresponding to the second identifier to the used storage location 11 according to the second notification information;
- the bin moving device 20 sends the first query information to the control terminal 30; after the control terminal 30 obtains the current status information of the target storage location 11 based on the first query information, The box moving device 20 feeds back the current status information of the target storage location 11; if the target storage location 11 is currently an idle storage location 11, the bin moving device 20 moves the target inventory bin 41 corresponding to the target goods that has been picked to the target Storage bit 11;
- the bin moving device 20 sends the second query information to the control terminal 30; the control terminal 30 obtains the information of the free storage space 11 on the shelf 10 based on the second query information, and then moves to the bin The device 20 feeds back information about the free storage space 11 on the shelf 10; if there is an free storage space 11 on the shelf 10, the bin moving device 20 moves the target stock bin 41 corresponding to the target goods that has been picked and places it in the free storage location 11. ;
- control terminal 30 sends a third control instruction to the bin moving device 20;
- the bin moving device 20 obtains the third identifier of the storage location 11 of the storage bin 42 that stores the target goods, and moves each bin 42 containing the target goods to the second picking area P2; And send the third notification information including the third identifier to the control terminal 30;
- the control terminal 30 updates the storage location 11 corresponding to the third identifier to the free storage location 11 according to the third notification information.
- a cargo collection device is provided, and the cargo collection device is applied to a bin moving device.
- Fig. 7 is a schematic diagram of a cargo collecting device in an embodiment of the disclosure. As shown in Fig. 7, the cargo collecting device includes:
- the moving module 120 is configured to move the target inventory bin storing the target goods in the order task to the first picking area when the first control instruction sent by the control terminal based on the order task is received, where the first picking area is Pick the target goods from the target stock bin to the area of the collection bin;
- the buffer module 140 is configured to, when receiving a second control instruction sent by the control terminal based on the free storage space where no bins are currently placed on the shelf, buffer the collection bin after the target goods have been selected to the free storage location;
- the free storage space is the storage space on the shelf for placing the storage bins, and the storage bins are used for storing goods.
- Each module in the above cargo collection device can be implemented in whole or in part by software, hardware and a combination thereof.
- the foregoing modules may be embedded in the form of hardware or independent of the processor in the computer device, or may be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the foregoing modules.
- a cargo collection device is provided, and the cargo collection device is applied to a control terminal.
- Fig. 8 is a schematic diagram of a cargo collection device in an embodiment of the disclosure. As shown in Fig. 8, the cargo collection device includes:
- the obtaining module 220 is used to obtain the order task containing the target goods
- the control module 240 is configured to send a first control instruction to the bin moving device based on the order task.
- the first control instruction is used to instruct the bin moving device to move the target inventory bin storing the target goods to the first picking area.
- a picking area is the area where the target goods are picked from the target stock bin to the collection bin;
- the obtaining module 220 is also used to obtain free storage spaces where no bins are currently placed on the shelf;
- the control module 240 is further configured to send a second control instruction to the bin moving device, and the second control instruction is used to instruct the bin moving device to buffer the collection bin after the target cargo has been selected to a free storage location;
- the free storage space is the storage space on the shelf for placing the storage bins, and the storage bins are used for storing goods.
- Each module in the above cargo collection device can be implemented in whole or in part by software, hardware and a combination thereof.
- the foregoing modules may be embedded in the form of hardware or independent of the processor in the computer device, or may be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the foregoing modules.
- a bin moving device including: at least one processor; and a memory communicatively connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are at least A processor is executed to make the bin moving device execute the collection method applied to the bin moving device.
- a control terminal including: at least one processor; and a memory communicatively connected with the at least one processor; wherein the memory stores instructions executable by at least one processor, and the instructions are processed by at least one processor.
- the device executes so that the control terminal executes the collection method applied to the control terminal.
- a computer-readable storage medium is provided, and computer-executable instructions are stored in the computer-readable storage medium.
- the computer-executable instructions are executed by a processor, they are used to implement the steps of the method embodiments of the present disclosure. .
- Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
- Volatile memory may include random access memory (RAM) or external cache memory.
- RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Channel (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
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Abstract
Description
货物A | 货物B | 货物C | 货物D | |
订单1 | 1 | 3 | 2 | 0 |
订单2 | 2 | 4 | 1 | 6 |
订单3 | 2 | 4 | 2 | 3 |
Claims (26)
- 一种仓储***,其特征在于,包括:货架、料箱移动装置以及控制终端;所述货架设置有多个用于放置存货料箱的存储位,所述存货料箱用于存放货物;所述控制终端用于向所述料箱移动装置发送第一控制指令;所述料箱移动装置用于根据所述第一控制指令将存放有目标货物的目标存货料箱移动至第一拣货区域,所述第一拣货区域为将所述目标货物由所述目标存货料箱挑拣至集货料箱的区域;所述控制终端还用于获取所述货架上当前未放置有料箱的空闲存储位,并向所述料箱移动装置发送第二控制指令;所述料箱移动装置还用于根据所述第二控制指令将完成目标货物挑选后的集货料箱缓存至所述空闲存储位。
- 根据权利要求1所述的仓储***,其特征在于,所述控制终端还用于获取订单任务,所述订单任务包含所述目标货物;基于所述订单任务向所述料箱移动装置发送所述第一控制指令。
- 根据权利要求1所述的仓储***,其特征在于,所述货架上的各所述存储位对应设置有标识;所述料箱移动装置还用于在接收到所述第一控制指令后,获取存放所述目标存货料箱的目标存储位的第一标识,并向所述控制终端发送包含所述第一标识的第一通知信息;所述控制终端还用于根据所述第一通知信息将所述第一标识对应的存储位的状态更新为空闲存储位。
- 根据权利要求3所述的仓储***,其特征在于,所述料箱移动装置还用于在接收到所述第二控制指令后,获取所述空闲存储位的第二标识,并向所述控制终端发送包含所述第二标识的第二通知信息;所述控制终端还用于根据所述第二通知信息将所述第二标识对应的存储位的状态更新为已用存储位。
- 根据权利要求3所述的仓储***,其特征在于,所述料箱移动装置还用于在任意一种目标货物挑拣完成后,向所述控制终端发送第一查询信息, 所述第一查询信息用于查询已完成目标货物挑拣的目标存货料箱对应的目标存储位的当前状态;接收所述控制终端基于所述第一查询信息反馈的所述目标存储位的当前状态信息,若所述目标存储位当前为空闲存储位,则将已完成挑拣的目标货物对应的目标存货料箱移动放置于所述目标存储位;或者,所述料箱移动装置还用于在任意一种目标货物挑拣完成后,向所述控制终端发送第二查询信息,所述第二查询信息用于查询所述货架上的空闲存储位;接收所述控制终端基于所述第二查询信息反馈的所述货架上的空闲存储位信息,若所述货架上存在空闲存储位,则将已完成挑拣的目标货物对应的目标存货料箱移动放置于所述空闲存储位。
- 根据权利要求5所述的仓储***,其特征在于,在接收到所述控制终端基于所述第二查询信息反馈的所述货架上的空闲存储位信息后,若所述货架上存在至少两个空闲存储位,所述料箱移动装置还用于基于所述货架上存在的至少两个空闲存储位确定满足预设条件的空闲存储位,将所述目标存货料箱移动放置于所述满足预设条件的空闲存储位;所述预设条件包括所述料箱移动装置移动至空闲存储位的距离最短,或者,空闲存储位与所述第一拣货区域的距离最短。
- 根据权利要求2所述的仓储***,其特征在于,所述控制终端还用于在所述订单任务中的所有目标货物都挑拣完成后,向所述料箱移动装置发送第三控制指令;所述料箱移动装置还用于根据所述第三控制指令将装有所述目标货物的所有集货料箱移动至第二拣货区域。
- 根据权利要求7所述的仓储***,其特征在于,所述料箱移动装置还用于在接收到所述第三控制指令后,获取缓存所述装有所述目标货物的集货料箱的存储位的第三标识,并向所述控制终端发送包含所述第三标识的第三通知信息;所述控制终端还用于根据所述第三通知信息将所述第三标识对应的存储位的状态更新为空闲存储位。
- 一种集货方法,应用于权利要求1-8任一项的仓储***,其特征在于, 包括:当接收到控制终端基于订单任务发送的第一控制指令时,将存放有所述订单任务中的目标货物的目标存货料箱移动至第一拣货区域,所述第一拣货区域为将所述目标货物由所述目标存货料箱挑拣至集货料箱的区域;当接收到所述控制终端基于货架上当前未放置有料箱的空闲存储位发送的第二控制指令时,将完成目标货物挑选后的集货料箱缓存至所述空闲存储位;其中,所述空闲存储位为货架上用于放置存货料箱的存储位,所述存货料箱用于存放货物。
- 根据权利要求9所述的集货方法,其特征在于,还包括:在接收到所述第一控制指令后,获取存放所述目标存货料箱的目标存储位的第一标识,并向所述控制终端发送包含所述第一标识的第一通知信息,所述第一通知信息用于指示所述控制终端将所述第一标识对应的存储位的状态更新为空闲存储位。
- 根据权利要求9所述的集货方法,其特征在于,还包括:在接收到所述第二控制指令后,获取所述空闲存储位的第二标识,并向所述控制终端发送包含所述第二标识的第二通知信息,所述第二通知信息用于指示所述控制终端将所述第二标识对应的存储位的状态更新为已用存储位。
- 根据权利要求9所述的集货方法,其特征在于,还包括:在任意一种目标货物挑拣完成后,向所述控制终端发送第一查询信息,所述第一查询信息用于查询已完成目标货物挑拣的目标存货料箱对应的目标存储位的当前状态;接收所述控制终端基于所述第一查询信息反馈的所述目标存储位的当前状态信息,若所述目标存储位当前为空闲存储位,则将已完成挑拣的目标货物对应的目标存货料箱移动放置于所述目标存储位;或者,在任意一种目标货物挑拣完成后,向所述控制终端发送第二查询信息,所述第二查询信息用于查询所述货架上的空闲存储位;接收所述控制终端基于所述第二查询信息反馈的所述货架上的空闲存储位信息,若所述货架上存在空闲存储位,则将已完成挑拣的目标货物对应的目标存货料箱移动放置于所述空闲存储位。
- 根据权利要求12所述的集货方法,其特征在于,还包括:在接收到所述控制终端基于所述第二查询信息反馈的所述货架上的空闲存储位信息后,若所述货架上存在至少两个空闲存储位,基于所述货架上存在的至少两个空闲存储位确定满足预设条件的空闲存储位,将所述目标存货料箱移动放置于所述满足预设条件的空闲存储位;所述预设条件包括料箱移动装置移动至空闲存储位的距离最短,或者,空闲存储位与所述第一拣货区域的距离最短。
- 根据权利要求9所述的集货方法,其特征在于,还包括:当接收到所述控制终端在所述订单任务中的所有目标货物都挑拣完成后发送的第三控制指令时,将装有所述目标货物的所有集货料箱移动至第二拣货区域。
- 根据权利要求14所述的集货方法,其特征在于,还包括:在接收到所述第三控制指令后,获取缓存所述装有所述目标货物的集货料箱的存储位的第三标识,并向所述控制终端发送包含所述第三标识的第三通知信息;所述第三通知信息用于指示所述控制终端将所述第三标识对应的存储位的状态更新为空闲存储位。
- 一种集货方法,应用于权利要求1-8任一项的仓储***,其特征在于,包括:获取包含目标货物的订单任务,基于所述订单任务向料箱移动装置发送第一控制指令,所述第一控制指令用于指示所述料箱移动装置将存放有所述目标货物的目标存货料箱移动至第一拣货区域,所述第一拣货区域为将所述目标货物由所述目标存货料箱挑拣至集货料箱的区域;获取货架上当前未放置有料箱的空闲存储位,并向所述料箱移动装置发送第二控制指令,所述第二控制指令用于指示所述料箱移动装置将完成目标货物挑选后的集货料箱缓存至所述空闲存储位;其中,所述空闲存储位为货架上用于放置存货料箱的存储位,所述存货料箱用于存放货物。
- 根据权利要求16所述的集货方法,其特征在于,还包括:接收所述料箱移动装置发送的、包含第一标识的第一通知信息,所述第 一标识为所述料箱移动装置在接收到所述第一控制指令后获取的、存放所述目标存货料箱的目标存储位对应的标识;根据所述第一通知信息将所述第一标识对应的存储位的状态更新为空闲存储位。
- 根据权利要求16所述的集货方法,其特征在于,还包括:接收所述料箱移动装置发送的、包含第二标识的第二通知信息,所述第二标识为所述料箱移动装置在接收到所述第二控制指令后获取的、所述空闲存储位对应的标识;根据所述第二通知信息将所述第二标识对应的存储位的状态更新为已用存储位。
- 根据权利要求16所述的集货方法,其特征在于,还包括:接收所述料箱移动装置在任意一种目标货物挑拣完成后发送的第一查询信息,基于所述第一查询信息向所述料箱移动装置反馈已完成目标货物挑拣的目标存货料箱对应的目标存储位的当前状态信息;或者,接收所述料箱移动装置在任意一种目标货物挑拣完成后发送的第二查询信息,基于所述第二查询信息向所述料箱移动装置反馈所述货架上的空闲存储位信息。
- 根据权利要求16所述的集货方法,其特征在于,还包括:在所述订单任务中的所有目标货物都挑拣完成后,向所述料箱移动装置发送第三控制指令,所述第三控制指令用于指示所述料箱移动装置将装有所述目标货物的所有集货料箱移动至第二拣货区域。
- 根据权利要求20所述的集货方法,其特征在于,还包括:接收所述料箱移动装置发送的、包含第三标识的第三通知信息,所述第三标识为所述料箱移动装置在接收到所述第三控制指令后获取的、缓存所述装有所述目标货物的集货料箱的存储位对应的标识;根据所述第三通知信息将所述第三标识对应的存储位的状态更新为空闲存储位。
- 一种集货装置,应用于料箱移动装置,其特征在于,包括:移动模块,用于当接收到控制终端基于订单任务发送的第一控制指令时,将存放有所述订单任务中的目标货物的目标存货料箱移动至第一拣货区域,所述第一拣货区域为将所述目标货物由所述目标存货料箱挑拣至集货料箱的区域;缓存模块,用于当接收到所述控制终端基于货架上当前未放置有料箱的空闲存储位发送的第二控制指令时,将完成目标货物挑选后的集货料箱缓存至所述空闲存储位;其中,所述空闲存储位为货架上用于放置存货料箱的存储位,所述存货料箱用于存放货物。
- 一种集货装置,应用于控制终端,其特征在于,包括:获取模块,用于获取包含目标货物的订单任务;控制模块,用于基于所述订单任务向料箱移动装置发送第一控制指令,所述第一控制指令用于指示所述料箱移动装置将存放有所述目标货物的目标存货料箱移动至第一拣货区域,所述第一拣货区域为将所述目标货物由所述目标存货料箱挑拣至集货料箱的区域;所述获取模块还用于获取货架上当前未放置有料箱的空闲存储位;所述控制模块还用于向所述料箱移动装置发送第二控制指令,所述第二控制指令用于指示所述料箱移动装置将完成目标货物挑选后的集货料箱缓存至所述空闲存储位;其中,所述空闲存储位为货架上用于放置存货料箱的存储位,所述存货料箱用于存放货物。
- 一种料箱移动装置,其特征在于,包括:至少一个处理器;以及与所述至少一个处理器通信连接的存储器;其中,所述存储器存储有可被所述至少一个处理器执行的指令,所述指令被所述至少一个处理器执行,以使所述料箱移动装置执行如权利要求9-15任一项所述的方法。
- 一种控制终端,其特征在于,包括:至少一个处理器;以及与所述至少一个处理器通信连接的存储器;其中,所述存储器存储有可被所述至少一个处理器执行的指令,所述指令被所述至少一个处理器执行,以使所述控制终端执行如权利要求16-21任一项所述的方法。
- 一种计算机可读存储介质,其特征在于,所述计算机可读存储介质中存储有计算机执行指令,所述计算机执行指令被处理器执行时用于实现如权利要求9-21任一项所述的集货方法。
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CN111573112B (zh) | 2021-08-10 |
JP2023528974A (ja) | 2023-07-06 |
CN113443316B (zh) | 2023-04-07 |
EP4163231A4 (en) | 2023-11-08 |
CN116605565A (zh) | 2023-08-18 |
JP7478852B2 (ja) | 2024-05-07 |
CN113443314B (zh) | 2023-04-07 |
EP4163231A1 (en) | 2023-04-12 |
US20230122873A1 (en) | 2023-04-20 |
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