WO2022127571A1 - 订单处理方法、装置、设备、仓储***和存储介质 - Google Patents

订单处理方法、装置、设备、仓储***和存储介质 Download PDF

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Publication number
WO2022127571A1
WO2022127571A1 PCT/CN2021/133973 CN2021133973W WO2022127571A1 WO 2022127571 A1 WO2022127571 A1 WO 2022127571A1 CN 2021133973 W CN2021133973 W CN 2021133973W WO 2022127571 A1 WO2022127571 A1 WO 2022127571A1
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WO
WIPO (PCT)
Prior art keywords
order
bin
goods
material box
picked
Prior art date
Application number
PCT/CN2021/133973
Other languages
English (en)
French (fr)
Inventor
彭逸凡
艾鑫
Original Assignee
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Priority to JP2023533720A priority Critical patent/JP2023554255A/ja
Priority to EP21905500.1A priority patent/EP4265543A4/en
Publication of WO2022127571A1 publication Critical patent/WO2022127571A1/zh
Priority to US18/326,234 priority patent/US20230322491A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/137Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375Storage 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/137Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378Storage 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/137Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06QINFORMATION 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
    • G06Q10/00Administration; Management
    • G06Q10/08Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087Inventory or stock management, e.g. order filling, procurement or balancing against orders

Definitions

  • the present disclosure relates to the technical field of intelligent warehousing, and in particular, to an order processing method, device, equipment, warehousing system and storage medium.
  • the robot-based intelligent warehousing system adopts an intelligent operating system, realizes the automatic extraction and storage of goods through system instructions, and can run 24 hours a day, replacing manual management and operation, improving the efficiency of warehousing, and has been widely used and favored .
  • the intelligent warehousing system often needs to release the corresponding bins or goods in each order according to each order.
  • the material bins of each order can often only be unloaded in sequence according to the fixed order of the system design, and the order processing flexibility is poor and cannot meet the demand.
  • the present disclosure provides an order processing method, device, equipment, storage system and storage medium.
  • orders with high priority can be processed automatically according to the priority of each order, thereby improving the flexibility of order processing.
  • an embodiment of the present disclosure provides an order processing method, the method is applied to a warehousing system, the method includes: when a second order is detected, and the priority of the second order is higher than that of at least one first order When the priority of , obtains the first order bin in the buffer area, where the first order is an order that is currently being executed and has not been executed, and the first order bin is the bin corresponding to the first order at least one of the bins; determining a first handling strategy for the second order according to the first order bin and the second order requirement, so as to complete the second order according to the first handling strategy.
  • determining a first handling strategy for the second order according to the first order bin and the second order requirement includes: judging whether the first order bin meets the second order requirement; When the first order material box does not meet the second order demand, the material box to be transported is determined according to the second order demand and the first order material box; the first order material box is determined according to the to-be-transported material box The first handling strategy for the second order.
  • the order processing method further includes: when the first order bin meets the second order requirement, determining that the second order is transported; according to the first order bin, the first order The demand and the second order demand determine a second handling strategy for the first order to complete the first order according to the second handling strategy.
  • the determining the first transportation strategy of the second order according to the to-be-transported container includes: determining a first target robot; determining the first target robot according to the priority of the second order The first priority of The first bin transport instruction transports the to-be transported bin.
  • the order processing method further includes: judging whether the remaining slots in the buffer area are smaller than the required slots of the to-be-transported material box; if so, determining according to the difference between the required slots and the remaining slots.
  • the to-be-unloaded material box in the buffer area wherein the to-be-unloaded material box is the first order material box located in the slot of the buffer area and not included in the second order requirement, generating all the The unloading instruction of the to-be-unloaded material box is described, so that the robot can move the to-be-unloaded material box out of the buffer area according to the unloaded material box; after the unloaded material box to be unloaded is completed, the placement of the to-be-unloaded material box is generated. instruction, so as to place the to-be-transported material box in the buffer area according to the placing instruction.
  • the second order is a goods pickup order
  • the second order requirement includes at least one goods to be picked up and a second quantity of the goods to be picked up, according to the first order bin and the second order.
  • the order demand determines the first handling strategy of the second order, including: for each to-be-extracted goods, judging whether the to-be-extracted goods are included in the first order bin; if not, according to the to-be-extracted goods Generate the first handling strategy of the goods to be picked up by the second quantity of the Whether the quantity is less than the second quantity; if so, generate a first handling strategy for the goods to be picked up according to the difference between the first quantity and the second quantity.
  • the order processing method further includes: when the first quantity of the goods to be picked up is greater than or equal to the second quantity, generating a first portion of the goods to be picked up for the second order a picking instruction to sort the second quantity of the goods to be picked from the first order bin according to the first sorting instruction.
  • generating a first handling strategy for the goods to be picked up according to the difference between the first quantity and the second quantity includes: according to the first quantity of the goods to be picked up and the first quantity of the goods to be picked up.
  • the difference between the two quantities is used to determine the target bin; the second target robot is determined; the second priority of the second target robot is determined according to the priority of the second order; according to the bin information of the target bin,
  • a second container handling instruction of the second target robot is generated, so that the second target robot transports the target container to the buffer area based on the second priority and according to the second container handling instruction.
  • the method further includes: when the first quantity of the goods to be picked up is less than the second quantity, generating a second sorting instruction of the goods to be picked up in the second order, to The second sorting instruction sorts the first quantity of the goods to be picked up from the first order bin; after the target bin is transported to the buffer area, the target bin is generated
  • the third sorting instruction is used to sort the substitute goods corresponding to the difference between the first quantity and the second quantity from the target bin according to the third sorting instruction.
  • the first order bin in the buffer area includes the first order bin on the cache shelf, and/or the first order bin on the third target robot storage unit.
  • the first order bin in the buffer area is the first order bin on the third target robot storage unit, and the robot that executes the first handling strategy is a robot other than the third target robot. robot.
  • the method before acquiring the first order bin in the buffer area, the method further includes: acquiring the initial grade and deadline of the second order; and determining the second order according to the initial grade and deadline of the second order. The priority of the order.
  • an embodiment of the present disclosure further provides an order processing apparatus, the apparatus includes: a first material box acquiring module, configured to detect a second order, and the priority of the second order is higher than at least one When the priority of the first order is obtained, the first order bin in the buffer area is obtained, wherein the first order is an order that is currently being executed and has not been executed, and the first order bin corresponds to the first order. at least one material box in the material boxes; a first handling strategy determination module, configured to determine the first handling strategy of the second order according to the material box of the first order and the demand of the second order, to determine the first handling strategy of the second order according to the The first handling strategy completes the second order.
  • an embodiment of the present disclosure further provides an order processing device, including a memory and at least one processor; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, so that The at least one processor executes the order processing method provided by any embodiment corresponding to the first aspect of the present disclosure.
  • an embodiment of the present disclosure further provides a storage system, including a robot, a shelf, and the order processing device provided by the embodiment corresponding to the third aspect of the present disclosure, wherein the robot is used for processing according to the order of the order processing device. instruction, and extract the bin corresponding to the instruction from the shelf.
  • an embodiment of the present disclosure further provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium.
  • the processor executes the computer-executable instructions, the first embodiment of the present disclosure is implemented.
  • An order processing method provided by any embodiment corresponding to the aspect.
  • an embodiment of the present disclosure further provides a computer program product, including a computer program/instruction, which, when executed by a processor, implements the order processing provided by any embodiment corresponding to the first aspect of the present disclosure method.
  • a handling strategy for the second order is formulated to complete the second order.
  • the order processing strategy provided by the present disclosure does not need to process the orders according to the set order, but according to the priority of the order, in the low
  • high-priority orders are automatically processed first, which improves the flexibility of order processing, ensures the processing efficiency of high-priority orders, and improves user experience.
  • FIG. 1 is an application scenario diagram of the order processing method provided by an embodiment of the present disclosure
  • FIG. 2A is a schematic structural diagram of a robot according to an embodiment of the present disclosure.
  • FIG. 2B is a schematic structural diagram of a conveying device in the embodiment shown in FIG. 2A of the disclosure.
  • FIG. 2C is the structure of a robot and its handling device in the embodiment shown in the present disclosure.
  • FIG. 2D is a schematic structural diagram of a conveying device in the embodiment shown in FIG. 2A of the disclosure.
  • FIG. 2E is a schematic structural diagram of another conveying device in the embodiment shown in FIG. 2A of the disclosure.
  • FIG. 2F is a schematic structural diagram of another conveying device according to the embodiment shown in FIG. 2A of the disclosure.
  • FIG. 2G is a schematic structural diagram of another conveying device according to the embodiment shown in FIG. 2A of the disclosure.
  • FIG. 3 is a flowchart of an order processing method provided by an embodiment of the present disclosure.
  • FIG. 5 is a schematic diagram of a buffer area in the embodiment shown in FIG. 4 of the disclosure.
  • FIG. 6 is a flowchart of an order processing method provided by another embodiment of the present disclosure.
  • FIG. 7 is a flowchart of step S605 in the embodiment shown in FIG. 6 of the present disclosure.
  • FIG. 8 is a schematic structural diagram of an order processing apparatus provided by an embodiment of the present disclosure.
  • FIG. 9 is a schematic structural diagram of an order processing device provided by an embodiment of the present disclosure.
  • FIG. 10 is a schematic structural diagram of a storage system according to an embodiment of the present disclosure.
  • FIG. 1 is an application scenario diagram of the order processing method provided by the embodiment of the present disclosure.
  • the order processing method provided by the embodiment of the present disclosure may run on an electronic device, such as a computer, a server, etc.
  • Warehouse management equipment is performed or performed by other equipment in the warehousing system.
  • the intelligent warehousing system 100 uses the robot 110 to extract and/or store the material bins on the shelves 120, and uses the warehouse management device 130 to perform path planning, status monitoring and scheduling for the robot 110, so that the robot 110 can move to the set position for the material box.
  • the warehouse management device 130 also stores the storage information of each location of the shelf 120 and the basic information of the material box, so as to facilitate warehouse management.
  • the robot 110 transports the order task corresponding to one or more bins 121 located on the shelf 120 to the buffer area 140 to complete the order task.
  • the existing order processing process can only be processed in sequence according to the pre-designed order, that is, the next order can only be processed after the previous order is completed.
  • the urgent order is processed in this way, and the order processing flexibility is poor.
  • an embodiment of the present disclosure provides an order processing method. For the situation where the next order is received when the previous order has not been completed, according to the priority of the order, that is, when the priority of the next order is higher At the time of the previous order, the transportation strategy of the next order is determined according to the requirements of the next order and the material box of the previous order that has been transported to the buffer area, so that the next order with high priority can be completed first, and the implementation according to the priority is realized.
  • the processing method of order processing improves the flexibility of order processing.
  • FIG. 2A is a schematic structural diagram of a robot according to an embodiment of the present disclosure.
  • the robot 80 includes a mobile chassis 83 , a storage rack 82 , a handling device 84 , and a lifting assembly 81 .
  • the storage rack 82 , the conveying device 84 and the lifting assembly 81 are all installed on the mobile chassis 83 , and several storage units are arranged on the storage rack 82 .
  • the lift assembly 81 is used to drive the transport device 84 to move up and down, so that the transport device 84 is aligned with any storage unit on the storage rack 82, or aligned with the rack and/or the goods.
  • the handling device 84 can be rotated about a vertical axis to adjust its orientation for alignment to a storage unit, or to a shelf and/or cargo.
  • the handling device 84 is used to carry out the loading or unloading of goods to carry the goods between the racks and the storage unit.
  • the storage racks 82 may be selectively configured or not configured. When the storage racks 82 are not configured, the goods are stored in the accommodating space of the handling device 84 when the robot 80 transports the goods.
  • the robot 80 in the above embodiment can execute the steps involved in the handling of the material box in the order processing method provided by any embodiment of the present disclosure, so as to realize the handling of goods among the shelves, the buffer area and the operation platform.
  • the robot 80 When the robot 80 performs the task of storing the goods, the robot 80 moves to the position of the designated storage space for the goods, and the target object is transported from the storage unit of the robot body 81 to the rack by adjusting the components, such as the rotating mechanism, in cooperation with the conveying device 84 . superior.
  • FIG. 2B is a schematic structural diagram of a conveying device in the embodiment shown in FIG. 2A of the present disclosure.
  • the carrying device 84 is mounted on the bracket 86 through a rotating mechanism 85, which is used to drive the carrying device 84 to rotate about a vertical axis relative to the bracket 86 to align the storage unit, or to align the racks and/or racks. or goods.
  • the handling device 84 is used to transport goods between the storage units and the racks. If the handling device 84 is not aligned with the shelf and/or the goods, the handling device 84 can be driven to rotate relative to the bracket 86 by the rotating mechanism 85 to ensure that the handling device 84 is aligned with the shelf and/or the goods.
  • FIG. 2C is the structure of a robot and its handling device in the embodiment shown in the present disclosure. 2A and 2B, it can be understood that, according to the actual situation, the rotating mechanism 85 can be omitted.
  • the handling robot 80 moves on a fixed track, and after moving to the vicinity of the shelf, the handling device 84 is always aligned with the shelf and/or the goods , and the goods can be arranged in the picking direction of the conveying device 84 .
  • FIG. 2D is a schematic structural diagram of a conveying device in the embodiment shown in FIG. 2A of the present disclosure.
  • the handling device 84 includes a pallet 841 and a telescopic arm assembly.
  • the pallet 841 is used for placing goods and can be a horizontally arranged flat plate.
  • the telescopic arm assembly is used to push the goods placed on the pallet 841 out of the pallet 841 or pull the goods to the pallet 841 .
  • the telescopic arm assembly includes a telescopic arm 843 , a fixed push rod 842 and a movable push rod 844 .
  • the telescopic arm 843 includes a left telescopic arm and a right telescopic arm, and the telescopic arm 843 can be extended horizontally. side.
  • the telescopic arm 843 is powered by a motor, and the power is transmitted by a sprocket mechanism. According to the actual situation, the sprocket mechanism can be replaced with a pulley mechanism, a screw mechanism and other transmission mechanisms to drive.
  • Both the fixed push rod 842 and the movable push rod 844 are installed on the telescopic arm 843 , and the fixed push rod 842 and the movable push rod 844 can extend together with the telescopic arm 843 .
  • the fixed push rod 842 and the pallet 841 are located on the same side of the telescopic arm 843 .
  • the fixed push rod 842 is used to push out the goods from the pallet 841 .
  • the movable push rod 844 can be retracted into the telescopic arm 843.
  • the movable push rod 844, the fixed push rod 842 and the support plate 841 are all located on the same side of the telescopic arm 843, and the movable push rod 844 is located in the extending direction of the fixed push rod 842 along the telescopic arm 843 .
  • the movable push rod 844 can be directly driven by a motor, and can also transmit power through a transmission mechanism such as a gear set and a link mechanism according to actual conditions.
  • a transmission mechanism such as a gear set and a link mechanism according to actual conditions.
  • the fixed push rod 842 of the carrying device 84 can be designed as a finger structure like the movable push rod 844 .
  • the carrying device 84 can be designed as a structure in which the spacing width of the telescopic arm assembly is adjustable.
  • the spacing width of the telescopic boom assembly can be adjusted according to the size of the goods.
  • the handling device 84 may further include a turning structure, such as a turntable, which may be used to change the orientation of the goods placed on the pallet 841 thereof.
  • FIG. 2E is a schematic structural diagram of another conveying device in the embodiment shown in FIG. 2A of the disclosure. Combining with FIGS. 2E and 2D, it can be seen that the conveying device 84 may further include a steering structure, that is, the turntable 845 in FIG. 2E, to change the placement the orientation of the goods on its pallet 841.
  • FIG. 2F is a schematic structural diagram of another conveying device according to the embodiment shown in FIG. 2A of the disclosure.
  • the conveying device 84 a includes one or more suction cups 846 , which are arranged on the fixed push rod 842 .
  • the fixed push rod 842 can be rod-shaped or plate-shaped.
  • the fixed push rod 842 can be driven to move in the direction of the goods and/or the shelf in the direction of the forward/backward direction.
  • the goods are sucked by the suction cups 846 , and the displacement of the fixed push rod 842 is matched to carry the goods to the shelf, or to carry the goods to the pallet 841 .
  • FIG. 2G is a schematic structural diagram of another conveying device according to the embodiment shown in FIG. 2A of the present disclosure.
  • the handling device 84b includes one or more robotic arms 847 that are disposed in place on the stationary push rod 842 and/or the handling device 84b.
  • the fixed push rod 842 can be driven to move in the direction of the goods and/or the shelf in the direction of the forward/backward direction.
  • the robot arm 847 grabs/hooks the goods, and cooperates with the displacement of the fixed push rod 842 to carry the goods to the rack, or to carry the goods to the pallet 841 .
  • the handling device (84a, 84b) may further include a turning structure, such as the turntable 845 in Figs. 2E and 2F, to change the orientation of the goods placed on the pallet 841 thereof.
  • a turning structure such as the turntable 845 in Figs. 2E and 2F, to change the orientation of the goods placed on the pallet 841 thereof.
  • the structure of the conveying device of the embodiment shown in the present disclosure may include a combination of one or more of the above examples.
  • FIG. 3 is a flowchart of an order processing method provided by an embodiment of the present disclosure.
  • the order processing method can be executed by an order processing device or a warehouse management device of a warehousing system, and specifically can be a computer, a server, or the like.
  • the order processing method provided by this embodiment includes the following steps:
  • Step S301 when a second order is detected and the priority of the second order is higher than the priority of at least one first order, acquire the first order bin in the buffer area.
  • the first order is an order that is currently being executed but not completed
  • the first order bin is at least one bin in the bins corresponding to the first order.
  • the second order is issued later than the first order, and the first order or the second order may be an order task issued by the user or the system in the storage system, and may be a container pick-up order or a cargo pick-up order.
  • the object of the material box extraction order is the material box on the shelf of the storage system
  • the object of the goods extraction order is the goods stored in the material box placed on the shelf of the storage system, such as clothes, building materials, electronic equipment, etc.
  • the priority of each order may be set by the user, or may be determined according to the order level and/or deadline.
  • the buffer area may be an area used by the storage system to temporarily store the bins corresponding to each order. It can be an order wall or just a designated open space.
  • the buffer area can also be called an operation table, which is used to place the material boxes corresponding to each order.
  • the buffer area can include one or more slots, such as the storage space on the buffer shelf or the storage unit of the robot, the material box corresponding to an order or Goods can be placed in one slot or multiple slots.
  • the first order bin in the buffer area includes the first order bin on the cache shelf, and/or the first order bin on the third target robot storage unit.
  • the third target robot is one or more robots that transport the first order material box.
  • the first order bin in the buffer area is the first order bin on the third target robot storage unit, and the robot that executes the first handling strategy is other than the third target robot. robot.
  • the robot that executes the first handling strategy may be the subsequent first target robot or the second target robot.
  • the robot mentioned in the present disclosure may be the robot provided by any one of the embodiments corresponding to FIGS. 2A-2G .
  • the state of the first order may be not yet completed, for example, the first order material box does not yet meet the requirements of the first order.
  • the first order requirement is the task requirement of the first order.
  • the first order requirement can be each to-be-extracted material container; when the first order is a cargo extraction order, the first order Requirements can be the individual items to be picked up and their quantities.
  • the first order is an order currently being executed.
  • the one or more first order bins may be transported to the buffer area via the robot according to the first order requirement of the first order.
  • At least one robot may be determined according to the position, size and quantity of each first order material box, and then the robot is controlled to transport each first order material box to the buffer area.
  • the first order may be: extracting the material box A1, the material box B1 and the material box C1, wherein the material box A1, the material box B1 and the material box C1 are all the above-mentioned first order material boxes, and the robot needs to The material box A1, material box B1 and material box C1 are transported to the corresponding slots in the buffer area or designated areas.
  • the first order may be: goods a1: 10 pieces, goods b1: 5 pieces, and goods c1: 3 pieces, if the warehousing system determines according to the requirements of the first order that the container of the first order to be satisfied is container A2 , material box B2 and material box C2, wherein material box A2, material box B2 and material box C2 are the above-mentioned first order material boxes, material box A2 contains 12 pieces of goods a1, and material box B2 contains 5 pieces of goods Goods b1 and 5 pieces of goods c1 are contained in material box C2, then the robot needs to transport material box A2, material box B2 and material box C2 to the order wall, and then sort out 10 pieces of goods a1 from material box A2, 5 pieces of goods b1 are sorted out from the material box B2 and 3 pieces of goods c1 are sorted out from the material box C2, and are placed in the designated slots of the buffer area to complete the first order.
  • the bin code of the first order bin in the buffer area can be obtained, so as to determine the storage situation of the goods in the first order bin according to the bin code, so as to determine the storage situation of the goods in each first order bin. Whether the first order material box meets the first order requirement, if so, the first order requirement is completed; if not, that is, when the first order material box does not meet the first order requirement of the first order, based on The first order bin and the second order requirement determine a first handling strategy for the second order.
  • the first order requirement may include each material box required by the first order, or each preset quantity of goods to be picked up, and the first order material box does not meet the first order requirement of the first order, that is, the buffer area
  • the first order bin in the first order does not include all the bins in the first order, or does not include all the goods to be picked up, or the quantity of at least one type of goods to be picked up does not reach the preset quantity.
  • the first order requirements are: material box A3, material box B3, material box C3 and material box D3
  • the first order material box in the current buffer area is: material box A3, material box B3 and material box C3
  • the bin D3 is not included, therefore, the first order bin does not meet the first order requirement of the first order.
  • the first order requirements are: goods a2: 10 pieces, goods b2: 10 pieces, and goods c2: 10 pieces
  • the first order bins in the current buffer area are: bin A4, bin B4 And material box C4, wherein, material box A4 includes 10 pieces of goods a2, material box B4 includes 10 pieces of goods b2, material box C4 includes 8 pieces of goods c2, the quantity of goods c2 is not enough, therefore, the first order material box The first order requirement of the first order was not met.
  • the second order needs to be completed first based on the execution of the first order.
  • Step S302 determining a first handling strategy for the second order according to the first order material box and the second order requirement, so as to complete the second order according to the first handling strategy.
  • the second order requirement represents the task requirement of the second order, and may include each to-be-extracted material container of the second order, or each to-be-extracted goods of the second order and the quantity of each to-be-extracted goods.
  • the first handling strategy may include one or more bins to be handled, and one or more robots to perform the handling. The first handling strategy may also include movement paths of the respective robots.
  • the second order is a box extraction order
  • one or more second order boxes that have not been transported to the buffer area are determined according to the first order box and the second order requirements, and based on the second order box Determine the first handling strategy.
  • the second order is an order for picking up goods
  • one or more goods to be picked up that have not been transported to the buffer area and that have been transported to the buffer area but not in quantity are determined according to the first order container and the second order requirements
  • the to-be-fetched goods that meet the requirements of the second order are obtained, and the first handling strategy is determined based on the goods to be picked up that do not meet the requirements of the second order and their quantities that still need to be handled.
  • the order processing method when a second order with a high priority is detected in the process of processing a first order with a low priority, according to the material box of the first order and the requirements of the second order, formulate the first order.
  • the handling strategy of the second order is to complete the second order.
  • the order processing strategy provided by the present disclosure does not need to process the order according to the set order, but according to the priority of the order, in the order processing process of low priority, the priority is automatically Processing high-priority orders improves the flexibility of order processing, ensures the processing efficiency of high-priority orders, and improves user experience.
  • FIG. 4 is a flowchart of an order processing method provided by another embodiment of the present disclosure.
  • the order processing method provided by this embodiment is based on the embodiment shown in FIG.
  • the previous step of determining the priority of the second order is added.
  • the order processing method provided by this embodiment includes the following steps:
  • Step S401 when the second order is detected, obtain the initial level and the expiration time of the second order.
  • the initial level of the second order may be set by the user, and may also be determined by the storage system according to the type of the material box or the goods corresponding to the second order.
  • the cut-off time refers to the latest time that the second order needs to be completed, such as 12:00 am on October 17, 2020.
  • the initial level of the second order can be determined according to the heat of the bin or the goods corresponding to the second order.
  • the corresponding relationship between the popularity and the initial level is established in advance, and then the initial level of the second order is determined according to the popularity of the second order.
  • the heat can be a numerical value between 0-100, and can also be described by a percentage. The higher the heat, the higher the corresponding initial level.
  • the initial level may include preset levels, such as 3, 5, 8, 10, or other values.
  • the initial level is level 5
  • Step S402 Determine the priority of the second order according to the initial level and the deadline of the second order.
  • the priority of the second order may be determined according to the initial level and the deadline of the second order based on the preset relational expression. When the initial level of the second order is higher and the difference between the deadline and the current time is closer, the priority of the second order is higher.
  • the above preset relational expression may be:
  • P 2 represents the priority score of the second order
  • P 0 represents the initial level of the second order
  • ⁇ T is the difference between the cut-off time of the second order and the current time
  • T th is a preset time threshold, which can be 100min, 60min, 50min or other values.
  • the priority of the second order may be determined according to the interval in which the priority score of the second order is located.
  • the priority score of the second order is between 0-2, its priority is determined to be first-level, and the priority score of the second order is between 2-4, then its priority is determined to be second-level, and the second order
  • the priority score of the order is between 4-6, then it is determined to be level three, the priority score of the second order is between 6-8, the priority is determined to be level four, and the priority score of the second order is determined. If it is between 8 and 10, it is determined that its priority is level five.
  • Step S403 when the priority of the second order is higher than the priority of at least one first order, acquire the first order bin in the buffer area.
  • Step S404 judging whether the first order material box meets the second order requirement.
  • the second order requirement includes each to-be-extracted material container of the second order
  • the second order demand is 10 pieces of A clothing
  • the first order material box includes 2 material boxes, each containing 8 pieces of A clothing, it is determined that the first order material box meets the second order demand.
  • Step S405 when the first order material box meets the requirements of the second order, it is determined that the transportation of the second order is completed.
  • each second order material is determined based on the second order requirement. box or sort out the corresponding quantity of goods in the second order, so as to complete the second order.
  • the second order is a container extraction order
  • the first order container is placed in the corresponding container of the second order. Buffer slot.
  • the second order corresponding to each to-be-extracted material box is placed in the corresponding slot, the second order is completed.
  • the second order is an order for picking up goods
  • the first order bin meets the requirements of the second order, sort the second quantity of the goods to be picked up corresponding to the goods to be picked from the first order bin to the second order the slot in the buffer area corresponding to the order, the second order is completed.
  • Step S406 determining a second handling strategy of the first order according to the first order material box, the first order requirement and the second order demand, so as to complete the first order according to the second handling strategy.
  • the first order material box in the buffer area that meets the requirements of the first order has been used to complete the second order, it is necessary to use the first order material box in the current buffer area, the first order material box, the first order demand As well as the second order requirements, determine each material box that needs to be transported to complete the first order, and then formulate a corresponding second transportation strategy to transport each required material box to the buffer area to complete the first order material box.
  • the material box still to be transported of the first order can be determined according to the first order material box, the first order demand and the second order demand, and then according to the location of the material box still to be transported, the material box Size and other information to determine the second handling strategy.
  • the current buffer area includes three first order bins, namely bins 41 to 43, the first order requirements are bins 41 to 44, and the second order requirements are bins 42 and 44.
  • Container 43 it can be determined that the first order container in the current buffer area is sufficient to complete the second order, and at this time, the first order container corresponding to the buffer area for completing the first order is only the container 41, then according to the According to the requirements of an order, it is determined that the material boxes 42 to 44 need to be transported. Therefore, according to the information such as the positions of the material boxes 42 to 44 and the size of the material boxes, a second transportation strategy is determined to move the material boxes 42 to the material boxes 44. Transported to the buffer area to complete the first order.
  • Step S407 when the first order material box does not meet the second order requirement, determine the material box to be transported according to the second order requirement and the first order material box.
  • the container to be transported and the container of the first order can meet the requirements of the second order.
  • the number of the to-be-transported bins may be one or multiple, and it needs to be determined according to the difference between the demand of the second order and the bins of the first order.
  • the to-be-carried container is the second order container remaining in the second order requirement except the first order container.
  • the container to be transported is a container corresponding to the goods in the second order requirement that is not included in the first order container, and the quantity of the goods in the first order container is smaller than the quantity of the goods in the second order requirement. of the material box.
  • the second order requires 10 pieces of clothing B and 6 pieces of clothing C
  • the first order box includes 8 pieces of clothing B
  • One or more bins of B clothes and 6 C clothes are determined as to-be-transported bins.
  • the to-be-carried bins when the number of to-be-carried bins is large, it is also necessary to judge whether the remaining slots in the buffer area are sufficient. After determining the to-be-carried bins, it also includes: judging whether the remaining slots in the buffer zone are smaller than the to-be-carried slots. The required slot position of the material box; if it is, then according to the difference between the required slot position and the remaining slot position, determine the to-be-unloaded material box in the buffer area, wherein the to-be-unloaded material box is located in the buffer area.
  • the remaining slots in the buffer area refer to the slots in the buffer area that are not occupied by material boxes or goods.
  • the slots can be the storage positions of the shelves, the vacant areas of the buffer area, and the unoccupied storage areas of the robots in the buffer area. Units, etc., usually one slot corresponds to one bin. Under the premise of physical space and safety, one slot can correspond to multiple bins, and the multiple bins are as far as possible the bins corresponding to the same order.
  • the to-be-unloaded bins in the buffer area are used to move the to-be-unloaded bins away from the buffer area, so that the plurality of to-be-carried bins are placed on each free slot in the buffer area.
  • the carrying out instruction and the placing instruction may be executed by different robots.
  • FIG. 5 is a schematic diagram of the buffer area in the embodiment shown in FIG. 4 of the present disclosure.
  • the buffer area 400 includes 4 slots, namely slot 411 , slot 412 , slot 413 and Slot 414, only one material box can be placed in each slot, wherein the first order requirements are material box 421, material box 422, material box 423 and material box 424.
  • slot 411 , slot 412 and slot 413 are respectively placed 421, material box 422 and material box 423.
  • the second order requirement is the material box 422, the material box 423, the material box 424 and the material box 425, then the material box 424 and the material box 425 need to be placed in the two slots of the buffer area 400.
  • the buffer area 400 If there is only one slot left, namely slot 414, the bin 421 (the bin to be unloaded) needs to be removed from the slot 411, and then the bin 424 and the bin 425 are placed in the slot 411 and the slot 414.
  • Step S408 determining a first transport strategy for the second order according to the to-be transported container, so as to complete the second order according to the first transport strategy.
  • the first transportation strategy may be determined according to the location of each to-be-transported material box. And a handling instruction is generated according to the first handling strategy, so that the relevant robot moves each to-be-transported material box to the buffer area according to the handling instruction to complete the second order.
  • determining the first transportation strategy of the second order according to the to-be-transported container including:
  • one or more first target robots may be determined according to parameters such as the working state of each robot, the distance from the workstation, the distance from the material box to be transported, and the number and size of the robot's storage units. Among them, the first target robot preferentially selects an idle robot.
  • the first priority of the first target robot needs to be determined according to the priority of the second order, so as to avoid a path conflict with other robots based on the first priority.
  • the path of the first target robot can be determined according to the position of the first target robot and the position of the material box to be transported, and when there is a path conflict between other robots and the first target robot in the set road section, the first target robot can be reset as the first target robot.
  • the target robot performs path planning to avoid path conflicts, or, when the first priority of the first target robot is higher than that of other robots, the other robots are controlled to stop running before reaching the set section, and when the first target robot has a higher priority than other robots. If the first priority of the robot is lower than the priority of other robots, the first target robot is controlled to stop running before reaching the set road section, so as to avoid the conflict between the two paths.
  • the second order is received, and when the priority of the second order is higher than that of the first order, it is judged that the currently placed in the buffer area is Whether the first order material box can meet the second order requirements, if so, according to the second order requirements and the first order material box, complete the second order, and then continue to complete the first order; if the first order material box can not meet the requirements
  • the to-be-carried material box is determined according to the second order requirement and the first order material box, so as to move the to-be-carried material box to the buffer area to complete the second order.
  • the order processing strategy provided by the present disclosure does not need to process the orders according to the set order, but according to the priority of the order, in the process of processing the low priority order, the high priority order is preferentially processed, which improves the flexibility of the order processing , which ensures the processing efficiency of high-priority orders and improves the user experience.
  • FIG. 6 is a flowchart of an order processing method provided by another embodiment of the present disclosure.
  • the second order targeted by this embodiment is a goods pickup order, and the second order requirement includes at least one goods to be picked up and a second quantity of the goods to be picked up
  • the order processing method provided by this embodiment is a further refinement of step S302 on the basis of the embodiment shown in FIG. 3 .
  • the order processing method provided by this embodiment includes the following steps:
  • Step S601 when a second order is detected and the priority of the second order is higher than the priority of at least one first order, acquire the first order bin in the buffer area.
  • Step S602 for each item to be picked up, determine whether the item to be picked is included in the first order bin.
  • the goods to be picked up are one or more goods to be picked up corresponding to the second order, which can be any kind of items, such as clothing, building materials, cosmetics and other items.
  • Step S603 if no, generate a first handling strategy for the goods to be picked up according to the second quantity of the goods to be picked up.
  • the extracted quantity of the goods to be extracted is the second quantity .
  • the second order requires 2 pieces of A cosmetic, and the first order bin contains only one B cosmetic, it can be known that the first order bin does not include A cosmetic, so 2 A cosmetic needs to be extracted.
  • Step S604 if the first order container includes the goods to be extracted, determine whether the first quantity of the goods to be extracted in the first order container is less than the second quantity.
  • the first order material box when the goods to be extracted are placed in the first order material box, it is determined whether the first quantity of the goods to be extracted included in the first order material box is smaller than the second quantity corresponding to the goods to be extracted, that is, to determine whether Whether the first order bin contains a sufficient quantity of the goods to be picked up.
  • the second order requires 3 pieces of A cosmetics and 4 pieces of B cosmetics, and the first order box includes only 2 pieces of B cosmetics, it can be known that the first order box does not include A cosmetics, and the B cosmetics
  • the quantity is less than the second quantity required by the second order, so 3 pieces of A cosmetics and 2 pieces of B cosmetics need to be extracted.
  • Step S605 if yes, generate a first handling strategy for the goods to be picked up according to the difference between the first quantity and the second quantity.
  • the picked quantity of the goods to be picked up is the first quantity difference from the second quantity. Further, a first handling strategy of each to-be-extracted commodity is determined according to the extracted quantity of each to-be-extracted commodity.
  • the handling strategy of the second order may also be determined according to the first handling strategy of each of the goods to be picked up.
  • FIG. 7 is a flowchart of step S605 in the embodiment shown in FIG. 6 of the present disclosure. As shown in FIG. 7 , step S605 includes the following steps:
  • Step S6051 Determine a target bin according to the difference between the first quantity and the second quantity of the goods to be extracted.
  • the target bin may be one or more bins placed on the shelf, and the quantity of goods to be extracted included in the target bin is at least the difference between the first quantity and the second quantity.
  • Step S6052 determine the second target robot.
  • the second target robot may be determined according to the position of the target material box, the size of the material box, and the number of material boxes.
  • the steps of determining the second target robot are similar to the steps of determining the first target robot, and are not repeated here.
  • Step S6053 Determine the second priority of the second target robot according to the priority of the second order.
  • Step S6054 according to the material box information of the target material box, generate a second material box handling instruction of the second target robot, so that the second target robot is based on the second priority, according to the second The bin transport instruction transports the target bin to the buffer area.
  • the method further includes: when the first quantity of the goods to be picked up is less than the second quantity, generating a second sorting instruction of the goods to be picked up in the second order, to The second sorting instruction sorts the first quantity of the goods to be picked up from the first order bin; after the target bin is transported to the buffer area, the target bin is generated
  • the third sorting instruction is used to sort the substitute goods corresponding to the difference between the first quantity and the second quantity from the target bin according to the third sorting instruction.
  • the second sorting instruction is used to sort out the first quantity of goods to be extracted contained in the first order bin
  • the third sorting instruction is used to sort the goods to be extracted contained in the target bin Sorting out
  • the specific sorting quantity is the difference between the first quantity and the second quantity, so as to obtain the second quantity of the goods to be picked up in the second order.
  • Step S606 when the first quantity of the goods to be picked up is greater than or equal to the second quantity, generate a first sorting instruction of the goods to be picked up in the second order to A sorting instruction sorts the second quantity of the goods to be picked from the first order bin.
  • a first sorting instruction is generated to Two quantities of goods to be picked are sorted from the first order bin.
  • the second order is an order for picking up goods
  • the execution of the first order is suspended, and for each pending order of the second order Goods, determine whether the first order material box placed in the buffer area includes the goods to be extracted and whether the quantity meets the conditions, so as to obtain the handling strategy of each goods to be extracted, and then complete the second order.
  • the first order material in the buffer area is The container and the subsequently transported target container are sorted to obtain the goods to be picked up required by the second order, so as to complete the second order.
  • the order processing strategy provided by the present disclosure does not need to process the orders according to the set order, but according to the priority of the order, in the process of processing the low priority order, the high priority order is preferentially processed, which improves the flexibility of the order processing , which ensures the processing efficiency of high-priority orders and improves the user experience.
  • FIG. 8 is a schematic structural diagram of an order processing apparatus according to an embodiment of the present disclosure. As shown in FIG. 8 , the order processing apparatus includes: a first material box acquiring module 810 and a first handling strategy determining module 820 .
  • the first material box obtaining module 810 is configured to obtain the first order material box in the buffer area when a second order is detected and the priority of the second order is higher than that of at least one first order, wherein, the first order is an order that is currently being executed but not completed, and the first order bin is at least one bin in the bins corresponding to the first order; the first handling strategy determination module 820, A first handling strategy for determining the second order according to the first order bin and the second order requirement, so as to complete the second order according to the first handling strategy.
  • the order processing apparatus in the process of processing a first order with a low priority, when a second order with a high priority is detected, according to the material box of the first order and the requirements of the second order, formulate the first order.
  • the handling strategy of the second order is to complete the second order.
  • the order processing strategy provided by the present disclosure does not need to process the order according to the set order, but according to the priority of the order, in the order processing process of low priority, the priority is automatically Processing high-priority orders improves the flexibility of order processing, ensures the processing efficiency of high-priority orders, and improves user experience.
  • the first handling strategy determination module 820 includes: a demand judging unit for judging whether the first order material box meets the second order demand; a to-be-transported material box determination unit for when the When an order material box does not meet the second order requirement, determine the material box to be transported according to the second order demand and the first order material box; The box determines a first handling strategy for the second order.
  • the order processing device further includes: a second order completion determination module, configured to determine that the second order transportation is completed when the first order material box meets the second order requirement; the second order transportation is completed; A strategy determination module, configured to determine a second handling strategy of the first order according to the first order material box, the first order demand and the second order demand, so as to complete the first order according to the second handling strategy an order.
  • a second order completion determination module configured to determine that the second order transportation is completed when the first order material box meets the second order requirement
  • the second order transportation is completed
  • a strategy determination module configured to determine a second handling strategy of the first order according to the first order material box, the first order demand and the second order demand, so as to complete the first order according to the second handling strategy an order.
  • the first handling strategy determination unit is specifically configured to: determine the first target robot; determine the first priority of the first target robot according to the priority of the second order; and determine the first priority of the first target robot according to the priority of the second order;
  • the bin information of the bin is generated, and the first bin handling instruction of the first target robot is generated, so that the first target robot can transport the to-be-to-be-to-be based on the first priority and according to the first bin handling instruction.
  • Transport bins are specifically configured to: determine the first target robot; determine the first priority of the first target robot according to the priority of the second order; and determine the first priority of the first target robot according to the priority of the second order;
  • the bin information of the bin is generated, and the first bin handling instruction of the first target robot is generated, so that the first target robot can transport the to-be-to-be-to-be based on the first priority and according to the first bin handling instruction. Transport bins.
  • the order processing device further includes: a remaining slot judging module for judging whether the remaining slots in the buffer area are smaller than the required slots of the to-be-carried bin; a to-be-unloaded bin determination module, used for if If the remaining slot position is smaller than the required slot position, then according to the difference between the required slot position and the remaining slot position, the to-be-unloaded material box in the buffer area is determined, wherein the to-be-unloaded material box is located in the buffer area
  • the first order material box in the slot of the second order and not included in the second order requirement; the unloading instruction generation module is used to generate the unloading order of the to-be-unloaded material box, so that the robot can follow the unloading order according to the unloading order.
  • a placement instruction generation module is used to generate a placement instruction of the to-be-carried material box after the to-be-unloaded material box is moved out, so as to place the The to-be-transported material box is placed in the buffer area.
  • the second order is a cargo pickup order
  • the second order requirement includes at least one cargo to be picked up and a second quantity of the cargo to be picked up
  • the first handling strategy determination unit includes: determining the cargo to be picked up. a sub-unit, for determining whether the first order material box includes the to-be-extracted goods for each to-be-extracted goods; The second quantity of the goods to be picked up generates a first handling strategy of the goods to be picked up; a first quantity judgment subunit is used to judge the goods to be picked up if the goods to be picked are included in the first order bin.
  • the first handling strategy determines whether the first quantity of the goods to be picked up in the first order box is less than the second quantity; the first handling strategy generates a sub-unit, which is also used to, if the first quantity is less than the second quantity, according to the first The difference between the quantity and the second quantity generates a first handling strategy for the goods to be picked up.
  • the first handling strategy generation sub-unit is specifically configured to: determine a target bin according to the difference between the first quantity and the second quantity of the goods to be extracted; determine a second target robot; The priority of the second order determines the second priority of the second target robot; according to the material box information of the target material box, the second material box handling instruction of the second target robot is generated, so that all The second target robot transports the target bin to the buffer area according to the second bin transport instruction based on the second priority.
  • the order processing apparatus further includes: a first sorting instruction generation module, configured to generate the second order when the first quantity of the goods to be picked is greater than or equal to the second quantity the first sorting instruction of the goods to be picked, so as to sort the second quantity of the goods to be picked from the first order bin according to the first sorting instruction.
  • a first sorting instruction generation module configured to generate the second order when the first quantity of the goods to be picked is greater than or equal to the second quantity the first sorting instruction of the goods to be picked, so as to sort the second quantity of the goods to be picked from the first order bin according to the first sorting instruction.
  • the device further includes: a second sorting instruction generation module, configured to generate the to-be-picked goods of the second order when the first quantity of the goods to be picked is less than the second quantity a second sorting instruction for goods, to sort the first quantity of the goods to be picked from the first order bin according to the second sorting instruction; a third sorting instruction generating module for After the target bin is transported to the buffer area, a third sorting instruction of the target bin is generated, so as to sort the first quantity from the target bin according to the third sorting instruction the substitute goods corresponding to the difference of the second quantity.
  • a second sorting instruction generation module configured to generate the to-be-picked goods of the second order when the first quantity of the goods to be picked is less than the second quantity a second sorting instruction for goods, to sort the first quantity of the goods to be picked from the first order bin according to the second sorting instruction
  • a third sorting instruction generating module for After the target bin is transported to the buffer area, a third sorting instruction of the target bin is generated, so as
  • the first order bin in the buffer area includes the first order bin on the cache shelf, and/or the first order bin on the third target robot storage unit.
  • the first order bin in the buffer area is the first order bin on the third target robot storage unit, and the robot that executes the first handling strategy is a robot other than the third target robot. robot.
  • the device further includes: an order priority determination module, configured to acquire the initial level and deadline of the second order before acquiring the first order bin in the buffer area; The initial grade and deadline determine the priority of the second order.
  • an order priority determination module configured to acquire the initial level and deadline of the second order before acquiring the first order bin in the buffer area.
  • the order processing apparatus provided by the embodiment of the present disclosure can execute the order processing method provided by any embodiment of the present disclosure, and has functional modules and beneficial effects corresponding to the execution method.
  • FIG. 9 is a schematic structural diagram of an order processing apparatus provided by an embodiment of the present disclosure. As shown in FIG. 9 , the order processing apparatus includes: a memory 910 , a processor 920 and a computer program.
  • the computer program is stored in the memory 910 and configured to be executed by the processor 920 to implement the order processing method provided by any one of the embodiments corresponding to FIGS. 3 to 7 of the present disclosure.
  • the memory 910 and the processor 920 are connected through a bus 930 .
  • FIG. 10 is a schematic structural diagram of a storage system according to an embodiment of the present disclosure. As shown in FIG. 10 , the storage system includes: a robot 1010 , a shelf 1020 , and an order processing device 1030 .
  • the order processing device 1030 is the order processing device in the embodiment corresponding to FIG. 9 of the present disclosure; the robot 1010 is used to extract the bin corresponding to the instruction from the shelf 1020 according to the instruction of the order processing device 1030 to complete the corresponding order.
  • An embodiment of the present disclosure provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the order processing provided by any of the embodiments corresponding to FIG. 3 to FIG. 7 of the present disclosure method.
  • the computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
  • the present disclosure also provides a program product including executable instructions stored in a readable storage medium.
  • At least one processor of the order processing device or the warehouse management device can read the execution instruction from the readable storage medium, and the at least one processor executes the execution instruction to cause the order processing apparatus to implement the order processing methods provided by the above-mentioned various embodiments.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are only illustrative.
  • the division of the modules is only a logical function division. In actual implementation, there may be other division methods.
  • multiple modules may be combined or integrated. to another system, or some features can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or modules, and may be in electrical, mechanical or other forms.
  • modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional module in each embodiment of the present disclosure may be integrated in one processing unit, or each module may exist physically alone, or two or more modules may be integrated in one unit.
  • the units formed by the above modules can be implemented in the form of hardware, or can be implemented in the form of hardware plus software functional units.
  • the above-mentioned integrated modules implemented in the form of software functional modules may be stored in a computer-readable storage medium.
  • the above-mentioned software function modules are stored in a storage medium, and include several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute the various embodiments of the present disclosure. part of the method.
  • processor may be a central processing unit (Central Processing Unit, referred to as CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, referred to as DSP), application specific integrated circuit (Application Specific Integrated Circuit, Referred to as ASIC) and so on.
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the steps of the method disclosed in conjunction with the invention can be directly embodied as executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.
  • the memory may include high-speed RAM memory, and may also include non-volatile storage NVM, such as at least one magnetic disk memory, and may also be a U disk, a removable hard disk, a read-only memory, a magnetic disk or an optical disk, and the like.
  • NVM non-volatile storage
  • the bus can be an Industry Standard Architecture (ISA for short) bus, a Peripheral Component (PCI for short) bus, or an Extended Industry Standard Architecture (EISA for short) bus, or the like.
  • ISA Industry Standard Architecture
  • PCI Peripheral Component
  • EISA Extended Industry Standard Architecture
  • the bus can be divided into address bus, data bus, control bus and so on.
  • the buses in the drawings of the present disclosure are not limited to only one bus or one type of bus.
  • the above-mentioned storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable Except programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM erasable except programmable read only memory
  • PROM programmable read only memory
  • ROM read only memory
  • magnetic memory flash memory
  • flash memory magnetic disk or optical disk.
  • a storage medium can be any available medium that can be accessed by a general purpose or special purpose computer.
  • An exemplary storage medium is coupled to the processor, such that the processor can read information from, and write information to, the storage medium.
  • the storage medium can also be an integral part of the processor.
  • the processor and the storage medium may be located in Application Specific Integrated Circuits (ASIC for short).
  • ASIC Application Specific Integrated Circuits
  • the processor and the storage medium may also exist in the electronic device or the host device as discrete components.

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Abstract

一种订单处理方法、装置、设备、仓储***和存储介质,该订单处理方法包括:当检测到第二订单,且第二订单的优先级高于至少一个第一订单的优先级时,获取缓存区的第一订单料箱,其中,第一订单为当前正在执行且未执行完成的订单,第一订单料箱为第一订单对应的料箱中的至少一个料箱;根据第一订单料箱和第二订单需求确定第二订单的第一搬运策略,以根据第一搬运策略完成第二订单。基于优先级低的订单的已搬运料箱制定优先级较高的订单的料箱的搬运策略,提高了仓储***的订单处理的灵活性和效率,提高了用户体验。

Description

订单处理方法、装置、设备、仓储***和存储介质
本公开要求于2020年12月16日提交中国专利局、申请号为202011487959.4、申请名称为“订单处理方法、装置、设备、仓储***和存储介质”的中国专利申请的优先权,其全部内容通过引用结合在本公开中。
技术领域
本公开涉及智能仓储技术领域,尤其涉及一种订单处理方法、装置、设备、仓储***和存储介质。
背景技术
基于机器人的智能仓储***采用智能操作***,通过***指令实现货物的自动提取和存放,同时可以24小时不间断运行,代替了人工管理和操作,提高了仓储的效率,受到了广泛的应用和青睐。
智能仓储***往往需要根据各个订单,将各个订单中对应的料箱或者货物依次出库。现有技术中,往往仅可以按照***设计的固定顺序依次进行各个订单的料箱的出库,订单处理灵活性差,无法满足需求。
发明内容
本公开提供一种订单处理方法、装置、设备、仓储***和存储介质,在订单处理时,可自动根据各个订单的优先级,优先处理优先级高的订单,提高了订单处理的灵活性。
第一方面,本公开实施例提供了一种订单处理方法,该方法应用于仓储***,该方法包括:当检测到第二订单,且所述第二订单的优先级高于至少一个第一订单的优先级时,获取缓存区的第一订单料箱,其中,所述第一订单为当前正在执行且未执行完成的订单,所述第一订单料箱为所述第一订单对应的料箱中的至少一个料箱;根据所述第一订单料箱和所述第二订单需求确定所述第二订单的第一搬运策略,以根据所述第一搬运策略完成第二订单。
可选地,根据所述第一订单料箱和所述第二订单需求确定所述第二订单的第一搬运策略,包括:判断所述第一订单料箱是否满足所述第二订单需求; 当所述第一订单料箱不满足所述第二订单需求时,根据所述第二订单需求和所述第一订单料箱确定待搬运料箱;根据所述待搬运料箱确定所述第二订单的第一搬运策略。
可选地,该订单处理方法,还包括:当所述第一订单料箱满足所述第二订单需求时,确定所述第二订单搬运完成;根据所述第一订单料箱、第一订单需求和所述第二订单需求确定所述第一订单的第二搬运策略,以根据所述第二搬运策略完成所述第一订单。
可选地,所述根据所述待搬运料箱确定所述第二订单的第一搬运策略,包括:确定第一目标机器人;根据所述第二订单的优先级,确定所述第一目标机器人的第一优先级;根据所述待搬运料箱的料箱信息,生成所述第一目标机器人的第一料箱搬运指令,以使所述第一目标机器人基于所述第一优先级、根据所述第一料箱搬运指令搬运所述待搬运料箱。
可选地,该订单处理方法,还包括:判断缓存区的剩余槽位是否小于所述待搬运料箱的需求槽位;若是,则根据所述需求槽位与剩余槽位的差值,确定所述缓存区的待搬出料箱,其中,所述待搬出料箱为位于所述缓存区的槽位中、且不包含于所述第二订单需求的所述第一订单料箱,生成所述待搬出料箱的搬出指令,以使机器人根据所述搬出指令将所述待搬出料箱搬出所述缓存区;当所述待搬出料箱搬出完毕后,生成所述待搬运料箱的放置指令,以根据所述放置指令,将所述待搬运料箱放置于所述缓存区。
可选地,所述第二订单为货物提取订单,所述第二订单需求包括至少一个待提取货物以及所述待提取货物的第二数量,根据所述第一订单料箱和所述第二订单需求确定所述第二订单的第一搬运策略,包括:针对每个待提取货物,判断所述第一订单料箱中是否包括所述待提取货物;若否,则根据所述待提取货物的第二数量生成所述待提取货物的第一搬运策略;若所述第一订单料箱中包括所述待提取货物,则判断所述第一订单料箱中所述待提取货物的第一数量是否小于所述第二数量;若是,则根据所述第一数量和所述第二数量的差值,生成所述待提取货物的第一搬运策略。
可选地,该订单处理方法,还包括:当所述待提取货物的所述第一数量大于或等于所述第二数量时,生成所述第二订单的所述待提取货物的第一分拣指令,以根据所述第一分拣指令从所述第一订单料箱中分拣所述第二数量 的所述待提取货物。
可选地,根据所述第一数量和所述第二数量的差值,生成所述待提取货物的第一搬运策略,包括:根据所述待提取货物的所述第一数量和所述第二数量的差值,确定目标料箱;确定第二目标机器人;根据所述第二订单的优先级确定所述第二目标机器人的第二优先级;根据所述目标料箱的料箱信息,生成所述第二目标机器人的第二料箱搬运指令,以使所述第二目标机器人基于所述第二优先级、根据第二料箱搬运指令搬运所述目标料箱至所述缓存区。
可选地,该方法还包括:当所述待提取货物的所述第一数量小于所述第二数量时,生成所述第二订单的所述待提取货物的第二分拣指令,以根据所述第二分拣指令从所述第一订单料箱中分拣所述第一数量的所述待提取货物;当所述目标料箱搬运至所述缓存区后,生成所述目标料箱的第三分拣指令,以根据所述第三分拣指令从所述目标料箱中分拣所述第一数量和所述第二数量的差值对应的所述代替物货物。
可选地,所述缓存区的第一订单料箱包括缓存货架上的第一订单料箱,和/或,第三目标机器人存储单元上的第一订单料箱。
可选地,述缓存区的第一订单料箱为所述第三目标机器人存储单元上的第一订单料箱,执行所述第一搬运策略的机器人为除所述第三目标机器人之外的机器人。
可选地,在获取缓存区的第一订单料箱之前,还包括:获取所述第二订单的初始等级和截止时间;根据所述第二订单的初始等级和截止时间,确定所述第二订单的优先级。
第二方面,本公开实施例还提供了一种订单处理装置,该装置包括:第一料箱获取模块,用于当检测到第二订单,且所述第二订单的优先级高于至少一个第一订单的优先级时,获取缓存区的第一订单料箱,其中,所述第一订单为当前正在执行且未执行完成的订单,所述第一订单料箱为所述第一订单对应的料箱中的至少一个料箱;第一搬运策略确定模块,用于根据所述第一订单料箱和所述第二订单需求确定所述第二订单的第一搬运策略,以根据所述第一搬运策略完成所述第二订单。
第三方面,本公开实施例还提供了一种订单处理设备,包括存储器和至少一个处理器;所述存储器存储计算机执行指令;所述至少一个处理器执行 所述存储器存储的计算机执行指令,使得所述至少一个处理器执行如本公开第一方面对应的任意实施例提供的订单处理方法。
第四方面,本公开实施例还提供了一种仓储***,包括机器人、货架和本公开第三方面对应的实施例提供的订单处理设备,其中,所述机器人用于根据所述订单处理设备的指令,从所述货架上提取指令对应的料箱。
第五方面,本公开实施例还提供了一种计算机可读存储介质,所述计算机可读存储介质中存储有计算机执行指令,当处理器执行所述计算机执行指令时,实现如本公开第一方面对应的任意实施例提供的订单处理方法。
第六方面,本公开实施例还提供了一种计算机程序产品,包括计算机程序/指令,所述计算机程序/指令被处理器执行时实现如本公开第一方面对应的任意实施例提供的订单处理方法。
本公开实施例提供的订单处理方法、装置、设备、仓储***和存储介质,针对低优先级的第一订单处理的过程中,检测到高优先级的第二订单时,根据第一订单的料箱以及第二订单的需求,制定第二订单的搬运策略,以完成该第二订单,本公开提供的订单处理策略,无需按照设定顺序进行订单处理,而是根据订单的优先级,在低优先级的订单处理过程中,优先自动处理高优先级的订单,提高了订单处理的灵活性,保障了高优先级订单的处理效率,提高了用户体验。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分,示出了符合本公开的实施例,并与说明书一起用于解释本公开的原理。
图1为本公开实施例提供的订单处理方法的一种应用场景图;
图2A为本公开一个实施例提供的机器人的结构示意图;
图2B为本公开图2A所示实施例中的一种搬运装置的结构示意图;
图2C为本公开所示实施例中的一种机器人及其搬运装置的结构;
图2D为本公开图2A所示实施例中的一种搬运装置的结构示意图;
图2E为本公开图2A所示实施例中另一种搬运装置的结构示意图;
图2F为本公开图2A所示实施例的另一种搬运装置的结构示意图;
图2G为本公开图2A所示实施例的另一种搬运装置的结构示意图;
图3为本公开一个实施例提供的订单处理方法的流程图;
图4为本公开另一个实施例提供的订单处理方法的流程图;
图5为本公开图4所示实施例中缓存区的示意图;
图6为本公开另一个实施例提供的订单处理方法的流程图;
图7为本公开图6所示实施例中步骤S605的流程图;
图8为本公开一个实施例提供的订单处理装置的结构示意图;
图9为本公开一个实施例提供的订单处理设备的结构示意图;
图10为本公开一个实施例提供的仓储***的结构示意图。
通过上述附图,已示出本公开明确的实施例,后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本公开构思的范围,而是通过参考特定实施例为本领域技术人员说明本公开的概念。
具体实施方式
这里将详细地对示例性实施例进行说明,其示例表示在附图中。下面的描述涉及附图时,除非另有表示,不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反,它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
下面以具体地实施例对本公开的技术方案以及本公开的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合,对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图,对本公开的实施例进行描述。
下面对本公开实施例的应用场景进行解释:
图1为本公开实施例提供的订单处理方法的一种应用场景图,如图1所示,本公开实施例提供的订单处理方法可以运行在电子设备上,如计算机、服务器等,还可以由仓库管理设备执行或者由仓储***中的其他设备执行。智能仓储***100采用机器人110进行货架120上料箱的提取和/或存放,采用仓库管理设备130对机器人110进行路径规划、状态监控和调度等,以使机器人110移动至设定位置进行料箱的提取或存放,仓库管理设备130中还存储有货架120的各个库位的存放信息以及料箱的基本信息,以便于进行仓 库管理。当仓储***100存在订单任务时,由机器人110将订单任务对应位于货架120的一个或多个料箱121搬运至缓存区140,以完成该订单任务。
然而,现有的订单处理流程,仅可以根据预先设计的顺序依次进行处理,即当上一个订单完成之后,下一个订单才可以进行,当***出现较为紧急的订单时,仅可以通过人为控制的方式进行该紧急订单的处理,订单处理灵活性差。
为了提高订单处理的灵活性,本公开实施例提供了一种订单处理方法,针对上一订单尚未完成时,接收到下一订单的情况,根据订单的优先级,即当下一订单的优先级高于上一订单时,根据下一订单的需求以及已搬运至缓存区的上一订单的料箱确定下一订单的搬运策略,以优先完成优先级高的下一订单,实现了根据优先级进行订单处理的处理方式,提高了订单处理的灵活性。
图2A为本公开一个实施例提供的机器人的结构示意图,如图2A所示,机器人80包括移动底盘83,存储货架82,搬运装置84,升降组件81。其中,存储货架82、搬运装置84以及升降组件81均安装于所述移动底盘83,以及在存储货架82上设置若干存储单元。升降组件81用于驱动搬运装置84进行升降移动,使搬运装置84对准存储货架82上的任意一个存储单元,或者对准货架和/或货物。搬运装置84能以竖直方向为轴进行旋转而调整朝向,以对准至存储单元,或者对准货架和/或货物。搬运装置84用于执行货物的装载或卸除,以在货架与存储单元之间进行货物的搬运。
示例性的,存储货架82可以选择性的配置或不配置,在不配置存储货架82时,机器人80在搬运货物期间,货物是存放在搬运装置84的容置空间内。
上述实施例中的机器人80可以执行本公开任意实施例提供的订单处理方法中涉及料箱搬运的步骤,以实现货架、缓存区以及操作平台之间的货物搬运。
在机器人80执行存放货物任务的过程中,机器人80移动至货物被指定的存放空间的位置,通过调节组件,如旋转机构,配合搬运装置84,将目标物从机器人本体81的存储单元搬运至货架上。
示例性的,图2B为本公开图2A所示实施例中的一种搬运装置的结构示意图。
示例性的,搬运装置84通过旋转机构85安装于托架86,旋转机构85用于带动搬运装置84相对于托架86绕一竖直轴线旋转,以对准存储单元,或者对准货架和/或货物。搬运装置84用于在存储单元与货架之间搬运货物。若搬运装置84未对准货架和/或货物,可通过旋转机构85带动搬运装置84相对于托架86旋转,以保证搬运装置84对准货架和/或货物。
图2C为本公开所示实施例中的一种机器人及其搬运装置的结构。配合图2A与图2B可以理解的是,根据实际情况,旋转机构85可以省略,例如,搬运机器人80以固定的轨道移动,在移动至货架附近后,搬运装置84始终对准货架和/或货物,而货物配置在搬运装置84的取货方向上即可。
示例性的,图2D为本公开图2A所示实施例中的一种搬运装置的结构示意图,请配合图2B利于理解。如图2D所示,搬运装置84包括托板841和伸缩臂组件。托板841用于放置货物,可以为一水平设置的平板。伸缩臂组件用于将托板841所放置的货物推出托板841或者将货物拉至托板841。伸缩臂组件包括伸缩臂843、固定推杆842以及活动推杆844。伸缩臂843包括左伸缩臂与右伸缩臂,伸缩臂843可水平地伸出,在垂直于伸缩臂843的伸出方向且平行于托板841的方向上,伸缩臂843位于托板841的一侧。伸缩臂843由电机提供动力,由链轮机构传递动力,根据实际情况,链轮机构可以替换成带轮机构,丝杠机构等传动机构驱动。固定推杆842及活动推杆844皆安装于伸缩臂843,固定推杆842及活动推杆844可随伸缩臂843一并伸出。固定推杆842与托板841位于伸缩臂843的同一侧,在伸缩臂843伸出时,所述固定推杆842用于将货物从托板841上推出。活动推杆844可收入伸缩臂843,当活动推杆844未收入伸缩臂843时,活动推杆844、固定推杆842以及托板841三者皆位于伸缩臂843的同一侧,并且活动推杆844位于固定推杆842沿伸缩臂843的伸出方向上。活动推杆844可直接由电机驱动,根据实际情况,也可通过如齿轮组,连杆机构等传动机构传递动力。当活动推杆844未收入伸缩臂,并且伸缩臂843缩回时,活动推杆844用于将货物拉至托板841。
示例性的,搬运装置84的固定推杆842,可以设计如同活动推杆844的指杆结构。
示例性的,搬运装置84可以设计为伸缩臂组件的间距宽度为可调的结构。在存/取货物的时候,可因应着货物尺寸调整伸缩臂组件的间距宽度。
示例性的,该搬运装置84还可以包括转向结构,如转盘,该转向结构可以用于改变放置于其托板841上的货物的朝向。图2E为本公开图2A所示实施例中另一种搬运装置的结构示意图,结合图2E和图2D可知,搬运装置84还可以包括一个转向结构,即图2E中的转盘845,以改变放置于其托板841上的货物的朝向。
示例性的,图2F为本公开图2A所示实施例的另一种搬运装置的结构示意图,如图2F所示,搬运装置84a包括一个或多个吸盘846,其配置在固定推杆842上,固定推杆842可为杆状或板状。在存/取货物的时候,固定推杆842可被驱动而就朝向货物和/或货架方向,作往/返方向的位移。通过吸盘846吸附货物,配合固定推杆842的位移以搬运货物至货架上,或搬运货物至托板841上。
示例性的,图2G为本公开图2A所示实施例的另一种搬运装置的结构示意图。如图2G所示,搬运装置84b包括一个或多个机械臂847,其配置在固定推杆842和/或搬运装置84b上的适当位置。在存/取货物的时候,固定推杆842可被驱动而就朝向货物和/或货架方向,作往/返方向的位移。通过机械臂847抓取/钩取货物,配合固定推杆842的位移以搬运货物至货架上,或搬运货物至托板841上。
示例性的,搬运装置(84a、84b)还可以包括一个转向结构,如图2E、图2F中的转盘845,以改变放置于其托板841上的货物的朝向。
本公开所示实施例的搬运装置结构,可包括上述示例中,一个或多个的组合。
图3为本公开一个实施例提供的订单处理方法的流程图,如图3所示,该订单处理方法可以由仓储***的订单处理设备或仓储管理设备执行,具体可以是计算机、服务器等。本实施例提供的订单处理方法包括以下步骤:
步骤S301,当检测到第二订单,且所述第二订单的优先级高于至少一个第一订单的优先级时,获取缓存区的第一订单料箱。
其中,第一订单为当前正在执行且未执行完成的订单,所述第一订单料箱为所述第一订单对应的料箱中的至少一个料箱。第二订单下发的时间晚于 第一订单,第一订单或第二订单可以是仓储***中由用户或者***下发的一个订单任务,可以是料箱提取订单或货物提取订单。料箱提取订单的对象为仓储***货架上的料箱,而货物提取订单的对象则为仓储***货架上放置的料箱内存储的货物,如衣服、建材、电子设备等。
其中,各个订单的优先级可以由用户自行设定,也可以根据订单的等级和/或截止时间确定。
其中,缓存区可以是仓储***用于暂时存放各个订单对应的料箱的区域。可以是订单墙,还可以仅为一片指定的空地。缓存区也可以称为操作台,用于放置各个订单对应的料箱,缓存区可以包括一个或多个槽位,如缓存货架上的库位或者机器人的存储单元,一个订单对应的料箱或货物可以放置在一个槽位,也可以放置于多个槽位。
可选地,所述缓存区的第一订单料箱包括缓存货架上的第一订单料箱,和/或,第三目标机器人存储单元上的第一订单料箱。
其中,第三目标机器人为搬运第一订单料箱的一个或多个机器人。
可选地,所述缓存区的第一订单料箱为所述第三目标机器人存储单元上的第一订单料箱,执行所述第一搬运策略的机器人为除所述第三目标机器人之外的机器人。
其中,执行所述第一搬运策略的机器人,可以是后续的第一目标机器人或第二目标机器人。
本公开所提及的机器人,第一目标机器人、第二目标机器人或第三目标机器人,可以为图2A-图2G对应的任意一个实施例提供的机器人。
具体的,当检测到第二订单时,第一订单的状态可以是尚未完成,如第一订单料箱尚不满足第一订单需求。第一订单需求即该第一订单的任务需求,当第一订单为料箱提取订单时,第一订单需求可以是各个待提取的料箱;当第一订单为货物提取订单时,第一订单需求可以是各个待提取的货物及其数量。
具体的,第一订单为当前正在执行的订单。可以经由机器人根据第一订单的第一订单需求,将一个或多个第一订单料箱搬运至缓存区。
进一步地,可以根据各个第一订单料箱的位置、尺寸和数量确定至少一个机器人,进而控制该机器人将各个第一订单料箱搬运至缓存区。
示例性的,第一订单可以为:提取料箱A1、料箱B1和料箱C1,其中,料箱A1、料箱B1和料箱C1均为上述第一订单料箱,则需要经由机器人将料箱A1、料箱B1和料箱C1搬运至缓存区相应的槽位上或者指定的区域。
示例性的,第一订单可以为:货物a1:10件,货物b1:5个,和货物c1:3件,若仓储***根据第一订单的需求确定满足的第一订单料箱为料箱A2、料箱B2和料箱C2,其中,料箱A2、料箱B2和料箱C2均为上述第一订单料箱,料箱A2中装有12件货物a1,料箱B2中装有5个货物b1,料箱C2中装有5件货物c1,则需要经由机器人将料箱A2、料箱B2和料箱C2搬运至订单墙,进而从料箱A2中分拣出10件货物a1、从料箱B2中分拣出5个货物b1以及从料箱C2中分拣出3件货物c1,并将其放置于缓存区的指定槽位中,以完成该第一订单。
具体的,可以获取缓存区的第一订单料箱的料箱码,以根据该料箱码确定第一订单料箱中货物的存放情况,从而基于各个第一订单料箱的货物存放情况,判断第一订单料箱是否满足第一订单需求,若是,则完成该第一订单需求;若否,即当所述第一订单料箱未满足所述第一订单的第一订单需求时,则基于该第一订单料箱以及第二订单需求确定第二订单的第一搬运策略。
具体的,第一订单需求可以包括第一订单所需的各个料箱,或者各个预设数量的待提取货物,第一订单料箱未满足所述第一订单的第一订单需求,即缓存区中的第一订单料箱未包括第一订单中的全部料箱,或者未包括全部的待提取货物,或者至少一种待提取货物的数量未达到预设数量。
示例性的,假设第一订单需求为:料箱A3、料箱B3、料箱C3和料箱D3,而当前缓存区中的第一订单料箱为:料箱A3、料箱B3和料箱C3,未包括料箱D3,因此,第一订单料箱未满足第一订单的第一订单需求。
示例性的,假设第一订单需求为:货物a2:10件,货物b2:10个,和货物c2:10件,而当前缓存区中的第一订单料箱为:料箱A4、料箱B4和料箱C4,其中,料箱A4中包括10件货物a2,料箱B4中包括10件货物b2,料箱C4中包括8件货物c2,货物c2的数量不够,因此,第一订单料箱未满足第一订单的第一订单需求。
具体的,当缓存区中存放的第一订单料箱尚不能满足第一订单的第一订单需求时,检测到第二订单,且第二订单的优先级高于第一订单的优先级, 则需要基于第一订单的执行情况先完成第二订单。
步骤S302,根据所述第一订单料箱和所述第二订单需求确定所述第二订单的第一搬运策略,以根据所述第一搬运策略完成所述第二订单。
其中,第二订单需求表示第二订单的任务的需求,可以包括第二订单的各个待提取料箱,或者第二订单的各个待提取货物以及各个待提取货物的数量。第一搬运策略可以包括需要搬运的一个或多个料箱,以及执行搬运的一个或多个机器人。第一搬运策略还可以包括各个机器人的移动路径。
具体的,当第二订单为料箱提取订单时,根据第一订单料箱和第二订单需求确定未被搬运至缓存区的一个或多个第二订单料箱,基于该第二订单料箱确定第一搬运策略。
具体的,当第二订单为货物提取订单时,根据第一订单料箱和第二订单需求确定未被搬运至缓存区的一个或多个待提取货物,以及已被搬运至缓存区但数量不满足第二订单需求的待提取获取,基于不满足第二订单需求的各个待提取货物及其仍需搬运的数量确定第一搬运策略。
本公开实施例提供的订单处理方法,针对低优先级的第一订单处理的过程中,检测到高优先级的第二订单时,根据第一订单的料箱以及第二订单的需求,制定第二订单的搬运策略,以完成该第二订单,本公开提供的订单处理策略,无需按照设定顺序进行订单处理,而是根据订单的优先级,在低优先级的订单处理过程中,优先自动处理高优先级的订单,提高了订单处理的灵活性,保障了高优先级订单的处理效率,提高了用户体验。
图4为本公开另一个实施例提供的订单处理方法的流程图,本实施例提供的订单处理方法是在图3所示实施例的基础上,对步骤S302的进一步细化,以及在步骤S301之前增加确定第二订单的优先级的步骤,如图4所示,本实施例提供的订单处理方法包括以下步骤:
步骤S401,当检测到第二订单,获取所述第二订单的初始等级和截止时间。
其中,第二订单的初始等级,可以由用户自行设置,还可以由仓储***根据第二订单对应的料箱或货物的类型确定。截止时间指的是第二订单需要完成的最晚时间,如2020年10月17日上午12点。
具体的,可以根据第二订单对应的料箱或货物的热度,确定第二订单的 初始等级。如预先建立热度与初始等级的对应关系,进而根据第二订单的热度,确定其初始等级。其中,热度可以是位于0-100之间的数值,还可以采用百分比进行描述,热度越高,则相应的初始等级越高。
具体的,初始等级可以包括预设个等级,如3个、5个、8个、10个或者其他数值。
示例性的,假设热度满分为100,初始等级最高级别为10级,若第二订单对应的料箱或货物的热度为50,则其初始等级为5级。
步骤S402,根据所述第二订单的初始等级和截止时间,确定所述第二订单的优先级。
具体的,可以基于预设关系式,根据第二订单的初始等级和截止时间,确定第二订单的优先级。当第二订单的初始等级越高,截止时间与当前时间相差越接近,则第二订单的优先级越高。
示例性的,假设第二订单的初始等级为3级,其截止时间与当前时间相差60min,则其优先级为4级。假设第二订单的初始等级为3级,其截止时间与当前时间相差100min,则其优先级为3级。
示例性的,上述预设关系式可以为:
P 2=P 0+T th/ΔT
其中,P 2表示第二订单的优先级得分,P 0表示第二订单的初始等级,ΔT为第二订单的截止时间与当前时间的差值,T th为一个预设的时间阈值,可以是100min、60min、50min或者其他数值。进而可以根据第二订单的优先级得分所处的区间,确定第二订单的优先级。如第二订单的优先级得分位于0-2之间,则确定其优先级为一级,第二订单的优先级得分位于2-4之间,则确定其优先级为二级,第二订单的优先级得分位于4-6之间,则确定其优先级为三级,第二订单的优先级得分位于6-8之间,则确定其优先级为四级,第二订单的优先级得分位于8-10之间,则确定其优先级为五级。
步骤S403,当所述第二订单的优先级高于至少一个第一订单的优先级时,获取缓存区的第一订单料箱。
步骤S404,判断所述第一订单料箱是否满足所述第二订单需求。
具体的,当第二订单为料箱提取订单时,第二订单需求包括第二订单的各个待提取料箱,可以根据第一订单料箱是否包括第二订单需求的各个待提取料箱,判断缓存区中的第一订单料箱是否满足第二订单的第二订单需 求;当第二订单为货物提取订单时,第二订单需求包括第二订单的各个待提取货物及其数量,则可以根据第一订单料箱中存放的货物及其数量,判断缓存区中的第一订单料箱是否满足第二订单的第二订单需求。
示例性的,假设第二订单需求为10件A衣服,而第一订单料箱包括2个料箱,分别装有8件A衣服,则确定第一订单料箱满足第二订单需求。
步骤S405,当所述第一订单料箱满足所述第二订单需求时,确定所述第二订单搬运完成。
具体的,当缓存区的第一订单料箱满足第二订单需求时,即缓存区的第一订单对应的各个料箱可以完成第二订单,则基于第二订单需求,确定各个第二订单料箱或者分拣出第二订单中对应数量的货物,从而完成第二订单。
具体的,当第二订单为料箱提取订单时,当某个第一订单料箱为第二订单需求中的待提取料箱时,则将该第一订单料箱放置于第二订单对应的缓存区的槽位。当第二订单对应各个待提取料箱均放置于相应的槽位时,则该第二订单完成。当第二订单为货物提取订单时,当第一订单料箱满足第二订单需求时,将各个待提取货物对应的第二数量的各个待提取货物从第一订单料箱中分拣至第二订单对应的缓存区的槽位,则第二订单完成。
步骤S406,根据所述第一订单料箱、第一订单需求和所述第二订单需求确定所述第一订单的第二搬运策略,以根据所述第二搬运策略完成所述第一订单。
具体的,在第二订单完成之后,由于缓存区的符合第一订单需求的第一订单料箱已用于完成第二订单,故需要根据当前缓存区的第一订单料箱、第一订单需求以及第二订单需求,确定完成第一订单还需要搬运的各个料箱,进而制定相应的第二搬运策略,以将各个所需料箱搬运至缓存区,以完成第一订单料箱。
进一步地,可以根据第一订单料箱、第一订单需求和所述第二订单需求确定所述第一订单的仍需搬运的料箱,进而根据该仍需搬运的料箱所在位置、料箱尺寸等信息,确定第二搬运策略。
示例性的,假设当前缓存区包括3个第一订单料箱,分别为料箱41至料箱43,而第一订单需求为料箱41至料箱44,第二订单需求为料箱42和料箱43,则可以确定当前缓存区的第一订单料箱足以完成第二订单,而此时缓存 区对应的用于完成第一订单的第一订单料箱仅为料箱41,则根据第一订单需求,确定还需搬运料箱42至料箱44,因此,根据料箱42至料箱44所在位置、料箱尺寸等信息,确定第二搬运策略,以将料箱42至料箱44搬运至缓存区,从而完成第一订单。
步骤S407,当所述第一订单料箱不满足所述第二订单需求时,根据所述第二订单需求和所述第一订单料箱确定待搬运料箱。
其中,待搬运料箱与第一订单料箱可以满足第二订单需求。待搬运料箱的数量可以是一个,也可以为多个,具体需要根据第二订单需求与第一订单料箱的相差情况确定。
具体的,当第二订单为料箱提取订单时,待搬运料箱为第二订单需求中除去第一订单料箱之外剩余的第二订单料箱。待搬运料箱为第一订单料箱中未包括的第二订单需求中对应的货物对应的料箱,以及第一订单料箱中货物的数量小于第二订单需求中该货物的数量的货物对应的料箱。
示例性的,假设第二订单需求为10件B衣服和6件C衣服,而第一订单料箱中包括8件B衣服,则还剩余2件B衣服和6件C衣服,进而将满足2件B衣服和6件C衣服的一个或多个料箱确定为待搬运料箱。
可选地,当待搬运料箱的数量较多,还需要判断缓存区的剩余槽位是否充足,在确定待搬运料箱之后,还包括:判断缓存区的剩余槽位是否小于所述待搬运料箱的需求槽位;若是,则根据所述需求槽位与剩余槽位的差值,确定所述缓存区的待搬出料箱,其中,所述待搬出料箱为位于所述缓存区的槽位中、且不包含于所述第二订单需求的所述第一订单料箱,生成所述待搬出料箱的搬出指令,以使机器人根据所述搬出指令将所述待搬出料箱搬出所述缓存区;当所述待搬出料箱搬出完毕后,生成所述待搬运料箱的放置指令,以根据所述放置指令,将所述待搬运料箱放置于所述缓存区。
其中,缓存区的剩余槽位指的是缓存区未被料箱或者货物占据的槽位,该槽位可以是货架的库位、缓存区的空置区域、缓存区的机器人的未被占据的存储单元等,通常一个槽位对应一个料箱,在物理空间以及安全的前提下,一个槽位可以对应多个料箱,该多个料箱尽可能为同一订单对应的料箱。
具体的,当需要搬运多个待搬运料箱至缓存区,而缓存区目前剩余的槽位不足以放置该多个待搬运料箱时,需要根据需求槽位与剩余槽位的差值, 确定缓存区的待搬出料箱,以将待搬出料箱搬离缓存区,从而将该多个待搬运料箱放置于缓存区的各个空闲的槽位上。
具体的,搬出指令和放置指令可以由不同的机器人执行。
示例性的,图5为本公开图4所示实施例中缓存区的示意图,如图5所示,缓存区400包括4个槽位,分别为槽位411、槽位412、槽位413和槽位414,每个槽位仅可以放置1个料箱,其中,第一订单需求为料箱421、料箱422、料箱423和料箱424,在第二订单下发之前,槽位411、槽位412和槽位413分别放置421、料箱422和料箱423。第二订单需求为料箱422、料箱423、料箱424和料箱425,则需要将料箱424和料箱425放置于缓存区400的两个槽位中,然而,此时缓存区400仅剩下一个槽位,即槽位414,则需要将料箱421(待搬出料箱)从槽位411中移出,进而将料箱424和料箱425放置槽位411和槽位414中。
步骤S408,根据所述待搬运料箱确定所述第二订单的第一搬运策略,以根据所述第一搬运策略完成所述第二订单。
具体的,可以根据各个待搬运料箱所在的位置确定第一搬运策略。并根据第一搬运策略生成搬运指令,从而使得相关机器人根据该搬运指令将各个待搬运料箱搬运至缓存区,以完成第二订单。
可选地,根据所述待搬运料箱确定所述第二订单的第一搬运策略,包括:
确定第一目标机器人;根据所述第二订单的优先级,确定所述第一目标机器人的第一优先级,根据所述待搬运料箱的料箱信息,生成所述第一目标机器人的第一料箱搬运指令,以使所述第一目标机器人基于所述第一优先级、根据所述第一料箱搬运指令搬运所述待搬运料箱。
具体的,可以根据各个机器人的工作状态、与工作站距离、与待搬运料箱的距离、机器人的存储单元的数量和尺寸等参数,确定一个或多个第一目标机器人。其中,第一目标机器人优先选择空闲的机器人。
具体的,在确定第一目标机器人之后,需要根据第二订单的优先级,确定第一目标机器人的第一优先级,以基于该第一优先级在与其他机器人发生路径冲突时,进行避让。
进一步地,可以根据第一目标机器人的位置以及待搬运料箱的位置,确定第一目标机器人的路径,当存在其他机器人与第一目标机器人在设定路段 发生路径冲突时,可以重新为第一目标机器人进行路径规划,以避免出现路径冲突,或者,当第一目标机器人的第一优先级高于其他机器人的优先级,则控制其他机器人在达到设定路段之前停止运行,而当第一目标机器人的第一优先级低于其他机器人的优先级,则控制第一目标机器人在达到设定路段之前停止运行,从而避免两者之间的路径发生冲突。
本实施例,在根据第一订单的相关需求进行相应的第一订单料箱搬运时,接收到第二订单,当第二订单的优先级高于第一订单时,判断缓存区中目前放置的第一订单料箱是否可以满足第二订单需求,若是,则根据第二订单需求和第一订单料箱,完成所述第二订单,进而继续完成第一订单;若第一订单料箱不能满足第二订单需求,则根据第二订单需求和第一订单料箱确定待搬运料箱,以将该待搬运料箱搬运至缓存区,完成第二订单。本公开提供的订单处理策略,无需按照设定顺序进行订单处理,而是根据订单的优先级,在低优先级的订单处理过程中,优先处理高优先级的订单,提高了订单处理的灵活性,保障了高优先级订单的处理效率,提高了用户体验。
图6为本公开另一个实施例提供的订单处理方法的流程图,本实施例针对的第二订单为货物提取订单,第二订单需求包括至少一个待提取货物以及待提取货物的第二数量,本实施例提供的订单处理方法是在图3所示实施例的基础上,对步骤S302的进一步细化,如图6所示,本实施例提供的订单处理方法包括以下步骤:
步骤S601,当检测到第二订单,且所述第二订单的优先级高于至少一个第一订单的优先级时,获取缓存区的第一订单料箱。
步骤S602,针对每个待提取货物,判断所述第一订单料箱中是否包括所述待提取货物。
其中,待提取货物为第二订单对应的一个或多个需要提取的货物,可以是任意一种物品,如衣服、建材、化妆品等物品。
步骤S603,若否,则根据所述待提取货物的第二数量生成所述待提取货物的第一搬运策略。
具体的,若缓存区的第一订单料箱中为包括该待提取货物,则需要提取该待提取货物对应的第二数量的该待提取货物,即该待提取货物的提取数量为第二数量。
示例性的,如第二订单需求为2件A化妆品,而第一订单料箱仅包括1件B化妆品,则可知,第一订单料箱不包括A化妆品,从而需要提取2件A化妆品。
步骤S604,若所述第一订单料箱中包括所述待提取货物,则判断所述第一订单料箱中所述待提取货物的第一数量是否小于所述第二数量。
具体的,当第一订单料箱中放置有该待提取货物时,则判断第一订单料箱中包括的该待提取货物的第一数量是否小于该待提取货物对应的第二数量,即判断第一订单料箱中是否包括足够数量的该待提取货物。
示例性的,如第二订单需求为3件A化妆品和4件B化妆品,而第一订单料箱仅包括2件B化妆品,则可知,第一订单料箱不包括A化妆品,且B化妆品的数量小于第二订单需求的第二数量,从而需要提取3件A化妆品和2件B化妆品。
步骤S605,若是,则根据所述第一数量和所述第二数量的差值,生成所述待提取货物的第一搬运策略。
具体的,当第一订单料箱中的待提取货物的第一数量小于第二订单需求中所需的该待提取货物的第二数量时,则确定该待提取货物的提取数量为第一数量和第二数量的差值。进而根据各个待提取货物的提取数量,确定各个待提取货物的第一搬运策略。
进一步地,还可以根据各个待提取货物的第一搬运策略,确定第二订单的搬运策略。
可选地,图7为本公开图6所示实施例中步骤S605的流程图,如图7所示,步骤S605包括以下步骤:
步骤S6051,根据所述待提取货物的所述第一数量和所述第二数量的差值,确定目标料箱。
其中,该目标料箱可以是放置在货架上的一个或多个料箱,该目标料箱所包括的待提取货物的数量至少为第一数量和第二数量的差值。
步骤S6052,确定第二目标机器人。
具体的,可以根据目标料箱的位置、料箱尺寸、料箱数量确定第二目标机器人。确定第二目标机器人的步骤与确定第一目标机器人的步骤类似,在此不再赘述。
步骤S6053,根据所述第二订单的优先级确定所述第二目标机器人的第二优先级。
步骤S6054,根据所述目标料箱的料箱信息,生成所述第二目标机器人的第二料箱搬运指令,以使所述第二目标机器人基于所述第二优先级、根据所述第二料箱搬运指令搬运所述目标料箱至所述缓存区。
可选地,该方法还包括:当所述待提取货物的所述第一数量小于所述第二数量时,生成所述第二订单的所述待提取货物的第二分拣指令,以根据所述第二分拣指令从所述第一订单料箱中分拣所述第一数量的所述待提取货物;当所述目标料箱搬运至所述缓存区后,生成所述目标料箱的第三分拣指令,以根据所述第三分拣指令从所述目标料箱中分拣所述第一数量和所述第二数量的差值对应的所述代替物货物。
具体的,第二分拣指令是用于将第一订单料箱中包括的第一数量的待提取货物分拣出来,而第三分拣指令则是用于将目标料箱包括的待提取货物分拣出来,具体分拣数量为第一数量和第二数量的差值,从而得到第二订单中第二数量的待提取货物。
步骤S606,当所述待提取货物的所述第一数量大于或等于所述第二数量时,生成所述第二订单的所述待提取货物的第一分拣指令,以根据所述第一分拣指令从所述第一订单料箱中分拣所述第二数量的所述待提取货物。
具体的,当第一订单料箱中的待提取货物的数量多于或等于第二订单所需的数量,即第一数量大于或等于第二数量,则生成第一分拣指令,以将第二数量的待提取货物从第一订单料箱中分拣出来。
在本实施例中,针对第二订单为货物提取订单情况,当第一订单正在执行时,检测到优先级更高的第二订单,则暂停执行第一订单,针对第二订单的各个待提取货物,判断缓存区放置的第一订单料箱是否包括该待提取货物以及数量是否满足条件,从而得到各个待提取货物的搬运策略,进而完成第二订单,同时,对缓存区的第一订单料箱以及后续搬运的目标料箱进行货物分拣,以得到第二订单所需的各个待提取货物,以完成该第二订单。本公开提供的订单处理策略,无需按照设定顺序进行订单处理,而是根据订单的优先级,在低优先级的订单处理过程中,优先处理高优先级的订单,提高了订单处理的灵活性,保障了高优先级订单的处理效率,提高了用户体验。
图8为本公开一个实施例提供的订单处理装置的结构示意图,如图8所述,该订单处理装置包括:第一料箱获取模块810和第一搬运策略确定模块820。
其中,第一料箱获取模块810,用于当检测到第二订单,且所述第二订单的优先级高于至少一个第一订单的优先级时,获取缓存区的第一订单料箱,其中,所述第一订单为当前正在执行且未执行完成的订单,所述第一订单料箱为所述第一订单对应的料箱中的至少一个料箱;第一搬运策略确定模块820,用于根据所述第一订单料箱和所述第二订单需求确定所述第二订单的第一搬运策略,以根据所述第一搬运策略完成所述第二订单。
本公开实施例提供的订单处理装置,针对低优先级的第一订单处理的过程中,检测到高优先级的第二订单时,根据第一订单的料箱以及第二订单的需求,制定第二订单的搬运策略,以完成该第二订单,本公开提供的订单处理策略,无需按照设定顺序进行订单处理,而是根据订单的优先级,在低优先级的订单处理过程中,优先自动处理高优先级的订单,提高了订单处理的灵活性,保障了高优先级订单的处理效率,提高了用户体验。
可选地,第一搬运策略确定模块820,包括:需求判断单元,用于判断所述第一订单料箱是否满足所述第二订单需求;待搬运料箱确定单元,用于当所述第一订单料箱不满足所述第二订单需求时,根据所述第二订单需求和所述第一订单料箱确定待搬运料箱;第一搬运策略确定单元,用于根据所述待搬运料箱确定所述第二订单的第一搬运策略。
可选地,该订单处理装置,还包括:第二订单完成确定模块,用于当所述第一订单料箱满足所述第二订单需求时,确定所述第二订单搬运完成;第二搬运策略确定模块,用于根据所述第一订单料箱、第一订单需求和所述第二订单需求确定所述第一订单的第二搬运策略,以根据所述第二搬运策略完成所述第一订单。
可选地,第一搬运策略确定单元,具体用于:确定第一目标机器人;根据所述第二订单的优先级,确定所述第一目标机器人的第一优先级;根据所述待搬运料箱的料箱信息,生成所述第一目标机器人的第一料箱搬运指令,以使所述第一目标机器人基于所述第一优先级、根据所述第一料箱搬运指令搬运所述待搬运料箱。
可选地,该订单处理装置,还包括:剩余槽位判断模块,用于判断缓存区的剩余槽位是否小于所述待搬运料箱的需求槽位;待搬出料箱确定模块,用于若剩余槽位小于所述需求槽位,则根据所述需求槽位与剩余槽位的差值,确定所述缓存区的待搬出料箱,其中,所述待搬出料箱为位于所述缓存区的槽位中、且不包含于所述第二订单需求的所述第一订单料箱;搬出指令生成模块,用于生成所述待搬出料箱的搬出指令,以使机器人根据所述搬出指令将所述待搬出料箱搬出所述缓存区;放置指令生成模块,用于当所述待搬出料箱搬出完毕后,生成所述待搬运料箱的放置指令,以根据所述放置指令,将所述待搬运料箱放置于所述缓存区。
可选地,所述第二订单为货物提取订单,所述第二订单需求包括至少一个待提取货物以及所述待提取货物的第二数量,第一搬运策略确定单元,包括:待提取货物判断子单元,用于针对每个待提取货物,判断所述第一订单料箱中是否包括所述待提取货物;第一搬运策略生成子单元,用于若不包括所述待提取货物,则根据所述待提取货物的第二数量生成所述待提取货物的第一搬运策略;第一数量判断子单元,用于若所述第一订单料箱中包括所述待提取货物,则判断所述第一订单料箱中所述待提取货物的第一数量是否小于所述第二数量;第一搬运策略生成子单元,还用于若第一数量是小于第二数量,则根据所述第一数量和所述第二数量的差值,生成所述待提取货物的第一搬运策略。
可选地,第一搬运策略生成子单元,具体用于:根据所述待提取货物的所述第一数量和所述第二数量的差值,确定目标料箱;确定第二目标机器人;根据所述第二订单的优先级确定所述第二目标机器人的第二优先级;根据所述目标料箱的料箱信息,生成所述第二目标机器人的第二料箱搬运指令,以使所述第二目标机器人基于所述第二优先级、根据所述第二料箱搬运指令搬运所述目标料箱至所述缓存区。
可选地,该订单处理装置,还包括:第一分拣指令生成模块,用于当所述待提取货物的所述第一数量大于或等于所述第二数量时,生成所述第二订单的所述待提取货物的第一分拣指令,以根据所述第一分拣指令从所述第一订单料箱中分拣所述第二数量的所述待提取货物。
可选地,该装置还包括:第二分拣指令生成模块,用于当所述待提取货 物的所述第一数量小于所述第二数量时,生成所述第二订单的所述待提取货物的第二分拣指令,以根据所述第二分拣指令从所述第一订单料箱中分拣所述第一数量的所述待提取货物;第三分拣指令生成模块,用于当所述目标料箱搬运至所述缓存区后,生成所述目标料箱的第三分拣指令,以根据所述第三分拣指令从所述目标料箱中分拣所述第一数量和所述第二数量的差值对应的所述代替物货物。
可选地,所述缓存区的第一订单料箱包括缓存货架上的第一订单料箱,和/或,第三目标机器人存储单元上的第一订单料箱。
可选地,述缓存区的第一订单料箱为所述第三目标机器人存储单元上的第一订单料箱,执行所述第一搬运策略的机器人为除所述第三目标机器人之外的机器人。
可选地,所述装置还包括:订单优先级确定模块,用于在获取缓存区的第一订单料箱之前,获取所述第二订单的初始等级和截止时间;根据所述第二订单的初始等级和截止时间,确定所述第二订单的优先级。
本公开实施例所提供的订单处理装置可执行本公开任意实施例所提供的订单处理方法,具备执行方法相应的功能模块和有益效果。
图9为本公开一个实施例提供的订单处理设备的结构示意图,如图9所示,该订单处理设备包括:存储器910,处理器920以及计算机程序。
其中,计算机程序存储在存储器910中,并被配置为由处理器920执行以实现本公开图3-图7所对应的实施例中任一实施例提供的订单处理方法。
其中,存储器910和处理器920通过总线930连接。
相关说明可以对应参见图3-图7的步骤所对应的相关描述和效果进行理解,此处不做过多赘述。
图10为本公开一个实施例提供的仓储***的结构示意图,如图10所示,该仓储***包括:机器人1010、货架1020和订单处理设备1030。
其中,订单处理设备1030为本公开图9对应实施例中的订单处理设备;机器人1010用于根据订单处理设备1030的指令,从货架1020上提取指令对应的料箱,以完成相应的订单。
本公开一个实施例提供一种计算机可读存储介质,其上存储有计算机程序,计算机程序被处理器执行以实现本公开图3-图7所对应的实施例中任一 实施例提供的订单处理方法。
其中,计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
本公开还提供一种程序产品,该程序产品包括可执行指令,该可执行指令存储在可读存储介质中。订单处理设备或仓库管理设备的至少一个处理器可以从可读存储介质读取该执行指令,至少一个处理器执行该执行指令使得订单处理装置实施上述各种实施方式提供的订单处理方法。
在本公开所提供的几个实施例中,应该理解到,所揭露的设备和方法,可以通过其它的方式实现。例如,以上所描述的设备实施例仅仅是示意性的,例如,所述模块的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个模块可以结合或者可以集成到另一个***,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口,装置或模块的间接耦合或通信连接,可以是电性,机械或其它的形式。
所述作为分离部件说明的模块可以是或者也可以不是物理上分开的,作为模块显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
另外,在本公开各个实施例中的各功能模块可以集成在一个处理单元中,也可以是各个模块单独物理存在,也可以两个或两个以上模块集成在一个单元中。上述模块成的单元既可以采用硬件的形式实现,也可以采用硬件加软件功能单元的形式实现。
上述以软件功能模块的形式实现的集成的模块,可以存储在一个计算机可读取存储介质中。上述软件功能模块存储在一个存储介质中,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)或处理器(英文:processor)执行本公开各个实施例所述方法的部分步骤。
应理解,上述处理器可以是中央处理单元(Central Processing Unit,简称CPU),还可以是其他通用处理器、数字信号处理器(Digital Signal Processor,简称DSP)、专用集成电路(Application Specific Integrated Circuit,简称ASIC)等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。 结合发明所公开的方法的步骤可以直接体现为硬件处理器执行完成,或者用处理器中的硬件及软件模块组合执行完成。
存储器可能包含高速RAM存储器,也可能还包括非易失性存储NVM,例如至少一个磁盘存储器,还可以为U盘、移动硬盘、只读存储器、磁盘或光盘等。
总线可以是工业标准体系结构(Industry Standard Architecture,简称ISA)总线、外部设备互连(Peripheral Component,简称PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture,简称EISA)总线等。总线可以分为地址总线、数据总线、控制总线等。为便于表示,本公开附图中的总线并不限定仅有一根总线或一种类型的总线。
上述存储介质可以是由任何类型的易失性或非易失性存储设备或者它们的组合实现,如静态随机存取存储器(SRAM),电可擦除可编程只读存储器(EEPROM),可擦除可编程只读存储器(EPROM),可编程只读存储器(PROM),只读存储器(ROM),磁存储器,快闪存储器,磁盘或光盘。存储介质可以是通用或专用计算机能够存取的任何可用介质。
一种示例性的存储介质耦合至处理器,从而使处理器能够从该存储介质读取信息,且可向该存储介质写入信息。当然,存储介质也可以是处理器的组成部分。处理器和存储介质可以位于专用集成电路(Application Specific Integrated Circuits,简称ASIC)中。当然,处理器和存储介质也可以作为分立组件存在于电子设备或主控设备中。
本领域普通技术人员可以理解:实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时,执行包括上述各方法实施例的步骤;而前述的存储介质包括:ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是:以上各实施例仅用以说明本公开的技术方案,而非对其限制;尽管参照前述各实施例对本公开进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或对其中部分或者全部技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本公开各实施例技术方案的范围。

Claims (18)

  1. 一种订单处理方法,其特征在于,包括:
    当检测到第二订单,且所述第二订单的优先级高于至少一个第一订单的优先级时,获取缓存区的第一订单料箱,其中,所述第一订单为当前正在执行且未执行完成的订单,所述第一订单料箱为所述第一订单对应的料箱中的至少一个料箱;
    根据所述第一订单料箱和所述第二订单需求确定所述第二订单的第一搬运策略,以根据所述第一搬运策略完成所述第二订单。
  2. 根据权利要求1所述的方法,其特征在于,根据所述第一订单料箱和所述第二订单需求确定所述第二订单的第一搬运策略,包括:
    判断所述第一订单料箱是否满足所述第二订单需求;
    当所述第一订单料箱不满足所述第二订单需求时,根据所述第二订单需求和所述第一订单料箱确定待搬运料箱;
    根据所述待搬运料箱确定所述第二订单的第一搬运策略。
  3. 根据权利要求1或2所述的方法,其特征在于,还包括:
    当所述第一订单料箱满足所述第二订单需求时,确定所述第二订单搬运完成;
    根据所述第一订单料箱、第一订单需求和所述第二订单需求确定所述第一订单的第二搬运策略,以根据所述第二搬运策略完成所述第一订单。
  4. 根据权利要求2所述的方法,其特征在于,根据所述待搬运料箱确定所述第二订单的第一搬运策略,包括:
    确定第一目标机器人;
    根据所述第二订单的优先级,确定所述第一目标机器人的第一优先级,
    根据所述待搬运料箱的料箱信息,生成所述第一目标机器人的第一料箱搬运指令,以使所述第一目标机器人基于所述第一优先级、根据所述第一料箱搬运指令搬运所述待搬运料箱。
  5. 根据权利要求2-4任一项所述的方法,其特征在于,还包括:
    判断缓存区的剩余槽位是否小于所述待搬运料箱的需求槽位;
    若缓存区的剩余槽位小于所述待搬运料箱的需求槽位,则根据所述需求槽位与剩余槽位的差值,确定所述缓存区的待搬出料箱,其中,所述待搬出 料箱为位于所述缓存区的槽位中、且不包含于所述第二订单需求的所述第一订单料箱;
    生成所述待搬出料箱的搬出指令,以使机器人根据所述搬出指令将所述待搬出料箱搬出所述缓存区;
    当所述待搬出料箱搬出完毕后,生成所述待搬运料箱的放置指令,以根据所述放置指令,将所述待搬运料箱放置于所述缓存区。
  6. 根据权利要求1所述的方法,其特征在于,所述第二订单为货物提取订单,所述第二订单需求包括至少一个待提取货物以及所述待提取货物的第二数量,根据所述第一订单料箱和所述第二订单需求确定所述第二订单的第一搬运策略,包括:
    针对每个待提取货物,判断所述第一订单料箱中是否包括所述待提取货物;
    若所述第一订单料箱中不包括所述待提取货物,则根据所述待提取货物的第二数量生成所述待提取货物的第一搬运策略。
  7. 根据权利要求6所述的方法,其特征在于,所述方法还包括:
    若所述第一订单料箱中包括所述待提取货物,则判断所述第一订单料箱中所述待提取货物的第一数量是否小于所述第二数量;
    若所述第一数量小于所述第二数量,则根据所述第一数量和所述第二数量的差值,生成所述待提取货物的第一搬运策略。
  8. 根据权利要求7所述的方法,其特征在于,还包括:
    当所述第一数量大于或等于所述第二数量时,生成所述第二订单的所述待提取货物的第一分拣指令,以根据所述第一分拣指令从所述第一订单料箱中分拣所述第二数量的所述待提取货物。
  9. 根据权利要求7所述的方法,其特征在于,还包括:
    当所述待提取货物的所述第一数量小于所述第二数量时,生成所述第二订单的所述待提取货物的第二分拣指令,以根据所述第二分拣指令从所述第一订单料箱中分拣所述第一数量的所述待提取货物;
    当所述目标料箱搬运至所述缓存区后,生成所述目标料箱的第三分拣指令,以根据所述第三分拣指令从所述目标料箱中分拣所述第一数量和所述第二数量的差值对应的所述代替物货物。
  10. 根据权利要求6-9任一项所述的方法,其特征在于,根据所述第一数量和所述第二数量的差值,生成所述待提取货物的第一搬运策略,包括:
    根据所述待提取货物的所述第一数量和所述第二数量的差值,确定目标料箱;
    确定第二目标机器人;
    根据所述第二订单的优先级确定所述第二目标机器人的第二优先级;
    根据所述目标料箱的料箱信息,生成所述第二目标机器人的第二料箱搬运指令,以使所述第二目标机器人基于所述第二优先级、根据所述第二料箱搬运指令搬运所述目标料箱至所述缓存区。
  11. 根据权利要求1-10任一项所述的方法,其特征在于,所述缓存区的第一订单料箱包括缓存货架上的第一订单料箱和第三目标机器人存储单元上的第一订单料箱中的一项或多项。
  12. 根据权利要求11所述的方法,其特征在于,所述缓存区的第一订单料箱为所述第三目标机器人存储单元上的第一订单料箱,执行所述第一搬运策略的机器人为除所述第三目标机器人之外的机器人。
  13. 根据权利要求1-12任一项所述的方法,其特征在于,在获取缓存区的第一订单料箱之前,还包括:
    获取所述第二订单的初始等级和截止时间;
    根据所述第二订单的初始等级和截止时间,确定所述第二订单的优先级。
  14. 一种订单处理装置,其特征在于,包括:
    第一料箱获取模块,用于当检测到第二订单,且所述第二订单的优先级高于至少一个第一订单的优先级时,获取缓存区的第一订单料箱,其中,所述第一订单为当前正在执行且未执行完成的订单,所述第一订单料箱为所述第一订单对应的料箱中的至少一个料箱;
    第一搬运策略确定模块,用于根据所述第一订单料箱和所述第二订单需求确定所述第二订单的第一搬运策略,以根据所述第一搬运策略完成所述第二订单。
  15. 一种订单处理设备,其特征在于,包括:存储器和至少一个处理器;
    所述存储器存储计算机执行指令;
    所述至少一个处理器执行所述存储器存储的计算机执行指令,使得所述 至少一个处理器执行如权利要求1至13任一项所述的订单处理方法。
  16. 一种仓储***,其特征在于,包括:机器人、货架和权利要求15所述的订单处理设备;
    其中,所述机器人用于根据所述订单处理设备的指令,从所述货架上提取指令对应的料箱。
  17. 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,当处理器执行所述计算机执行指令时,实现如权利要求1至13任一项所述的订单处理方法。
  18. 一种计算机程序产品,包括计算机程序,其特征在于,所述计算机程序被处理器执行时实现如权利要求1至13任一项所述的订单处理方法。
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