Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein is merely one type of relationship describing the associated object, meaning that there may be three relationships, e.g., A and/or B, and that there may be three cases where A exists alone, while A and B exist alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In the related art, the conventional warehouse general storage area, sorting area and sorting area for goods storage are mutually independent, the warehouse occupies large area, and the sorting area generally adopts a sowing wall, because the order box storage lattice opening that the sowing wall can provide is limited, the number of order boxes that can be put on the wall is less, and the problems of unreasonable warehouse layout and low warehouse efficiency exist.
An embodiment of the present application provides a warehouse, see fig. 1, comprising a warehouse entry register 11, a warehouse entry restocking station 12, an inventory zone 13, a sorting station 14, a collection zone 15, and an outbound packaging station 16.
The warehouse entry area temporary storage area 11 is mainly used for receiving cargoes entering a warehouse, the cargoes are sent to the warehouse entry and replenishment work station 12, and after the warehouse entry and replenishment work station 12 is inspected and changed, the cargoes are loaded into a raw material box and stored in the stock area 13. When an order task is to be placed, the stock boxes will be moved out to the sorting station 14 for picking and sorting, after which the sorted goods are delivered into the corresponding order boxes. After the sorting task is completed, the order boxes are transported to the goods collection area 15 for goods collection, and when the time for leaving the goods is up, the order boxes are transported from the goods collection area 15 to the leaving packaging workstation 16 for packaging and sending.
At least one shelf is provided in the storage area 13, and in one embodiment, the shelf has a raw box storage area and an order box storage area, and the raw box storage area and the order box storage area may have various arrangements, which are specifically as follows:
the raw material box storage area and the order box storage area are positioned on the same goods shelf, and the order box storage area is positioned below the raw material box storage area, or
The stock box storage area and the order box storage area are positioned on the same shelf, and the order box storage area and the stock box storage area are alternately arranged in the height direction or in the horizontal direction, or
The raw bin storage area and the order bin storage area are located on different shelves and the order bin storage area is closer to the sorting workstation than the raw bin storage area.
It will be appreciated that the order box storage area may be located below the bin storage area on the same shelf, taking into account that the shipping task of the sorted goods is heavier than the shipping task of the bins. The order box storage areas and the raw box storage areas may be alternately arranged on the same shelf, for example, when the order box storage areas and the raw box storage areas are alternately arranged in the height direction, the order box storage areas and the raw box storage areas may be alternately arranged according to the same number of layers or different layers of the interval, for example, when the order box storage areas and the raw box storage areas are alternately arranged in the horizontal direction, the order box storage areas and the raw box storage areas may be alternately arranged according to the same number of columns or different columns of storage positions of the storage areas. The order box storage area and the raw material box storage area can be arranged on different shelves, and the order box storage area is arranged on the shelf which is closer to the target sorting workstation, so that the conveying efficiency of the sorted cargoes can be ensured.
The goods collecting area 15 is mainly used for collecting goods to be delivered after the sorting is completed, and the goods collecting area 15 can be arranged outside the goods storing area 13, and the goods collecting area 15 and the goods storing area 13 are independent. The collection area 15 may also be disposed within the storage area 13, where the collection area 15 occupies a portion of the shelves or cargo spaces on the shelves within the storage area 13.
In an embodiment, the cargo collecting area 15 in the warehouse may be disposed on a shelf, that is, the shelf may be further provided with the cargo collecting area 15, and when the cargo collecting area 15 is disposed on the shelf, there are various arrangement manners, specifically, the area division difference of the shelf where the cargo collecting area 15 is disposed, and in practical application, the shelf where the cargo collecting area 15 is disposed may be arranged according to the following scheme:
The goods shelf where the goods collecting area is located is provided with a material box storage area, and the goods collecting area is partially overlapped with the material box storage area, or
The goods shelf where the goods collecting area is located is provided with a material box storage area, and the goods collecting area is not overlapped with the material box storage area, or
The goods shelves of the goods collecting area are not provided with a raw material box storage area, and the goods collecting area is closer to the warehouse-out packaging workstation of the warehouse system relative to the raw material box storage area.
It is understood that the storage area and the storage area of the raw material box can be arranged on the same goods shelf, in this case, the storage space in part of the storage area of the raw material box can be used as the middle storage space of the storage area of the raw material box, so that the storage area of the raw material box is partially overlapped with the storage area of the raw material box, or the storage area of the raw material box can be arranged on the same goods shelf in an area outside the storage area of the raw material box, so that the storage area of the raw material box is not overlapped with the storage area of the raw material box.
In this embodiment, the overlapping is understood to mean that at least part of the cargo space in the collection area is identical to at least part of the cargo space in the storage area of the raw material tank, i.e. at least part of the cargo space in the collection area is the cargo space in the storage area of the raw material tank, in the case of partial overlapping or non-overlapping of the collection area and the storage area of the raw material tank.
In practical application, collection goods district and raw materials case deposit the district and still can locate different goods shelves, under this kind of circumstances, in order to be convenient for follow-up ex warehouse process more high-efficient, can locate collection goods district and deposit the goods shelves of the ex warehouse packing workstation that the district is closer to warehouse system for the raw materials case.
In some embodiments, a crawling guide rail for the robot to climb is further arranged on the goods shelf, so that the robot can move to a target goods place on the goods shelf in a climbing manner to pick and place goods.
In the warehouse provided in this embodiment, the sorting workstation 14 may be disposed on one side of the storage area 13, and in an embodiment, the sorting workstation 13 may specifically include a sorting station, and a first channel and a second channel disposed on two sides of the sorting station, where:
The first stop position is arranged in the first channel, the second stop position is arranged in the second channel, and the sorting position is arranged between the first stop position and the second stop position.
It will be appreciated that the first and second channels may be used for different robots to walk on. For example, in the sorting step, the first channel is used for the traveling of a transfer robot for transferring the raw material box, and the second channel is used for the traveling of a sorting robot for transferring the sorted goods or the order box filled with the sorted goods.
Through setting up first passageway and second passageway, can separate the orbit of different robots for different robots are not interfered with each other in the course of the work, for example can make transfer robot and letter sorting robot not interfere with each other in letter sorting link, guarantee the orderly going on of letter sorting process.
In an embodiment, the first channel and the second channel may be disposed at intervals, the sorting station is disposed in an interval space between the first channel and the second channel, and the first docking station and the second docking station are adjacent to the sorting station.
The first channel and the second channel are both U-shaped channels, openings of the U-shaped channels face the storage area, one side of each opening is an inlet of the U-shaped channel, and the other side of each opening is an outlet of the U-shaped channel.
The inlets and outlets of the first channel and the second channel face the storage area.
It is understood that the first channel and the second channel may be disposed at intervals, for example, the first channel and the second channel may be symmetrically disposed at two sides of the sorting position. The arrangement direction of the first channel and the second channel may be the same or different, for example, the first channel and the second channel may be arranged in parallel, or may be arranged along two different directions, for example, in an "eight" shape.
In one particular implementation, the U-shaped channel has two side-by-side branch channels with an opening between the ends of the two branch channels, the ends of the branch channels on one side of the opening forming the inlet of the U-shaped channel and the ends of the branch channels on the other side of the opening forming the outlet of the U-shaped channel.
In some embodiments, the first channel and the second channel may also adopt other curved structural channels similar to the U-shaped channel, mainly having an entrance and an exit for the corresponding robots to enter and exit, so as to meet the work demands of the different robots in and out, and meanwhile, in order to facilitate the sorting link, the handling robot and the sorting robot can efficiently transport goods between the storage area and the sorting workstation, the entrance and the exit of the channel may be directed towards the storage area.
Fig. 2 exemplarily shows the structures of the first channel 31 and the second channel 32, and referring to fig. 2, the first channel 31 and the second channel 32 are each U-shaped channels.
The first channel 31 includes a first branch channel 311, a second branch channel 312, and a first connection portion 313. An opening is provided between the ends of the first branch passage 311 and the second branch passage 312. The end of the first branch channel 311 forms the inlet of the U-shaped channel and the end of the second branch channel 312 forms the outlet of the U-shaped channel. The first rest position a is provided at the first connection portion 313. In practical application, taking a sorting link as an example, the transfer robot can load the raw material box from the first cargo space according to the received first scheduling instruction, then transport the raw material box to the first stop position a through the first branch channel 311, and after the sorting of the present wheel is finished, drive the transfer robot away from the target sorting workstation through the second branch channel 312.
The second passage 32 includes a third branch passage 321, a fourth branch passage 322, and a second connection portion 323. An opening is provided between the ends of the third and fourth branch passages 321 and 322. The end of the third branch channel 321 forms an inlet of the U-shaped channel, and the end of the fourth branch channel 322 forms an outlet of the U-shaped channel. The second stop position B is provided at the second connecting portion 323. Still taking a sorting link as an example, the sorting robot may move to the second stopping position B through the third branch channel 321 according to the received second scheduling instruction, and an operator at the sorting position C takes the target cargo from the raw material box on the handling robot and places the target cargo on the sorting robot, so that the cargo becomes the sorted cargo. After the present round of sorting is completed, the sorting robot delivers the sorted goods to the second cargo space via the fourth branch channel 322.
It should be understood that the transfer robot is not limited to the transfer robot moving from the first branch passage 311 and moving from the second branch passage 312, and may be moving from the second branch passage 312 and moving from the first branch passage 311 when moving on the first passage 31. In the sorting link, two robots each occupy a channel, so that the running tracks of the two robots in the sorting link are not intersected.
In one embodiment, the storage area may include a plurality of shelves with lanes formed between adjacent shelves. The inlet and outlet of the U-shaped channel may correspond to the roadway, respectively.
It will be appreciated that during storage, robots carrying the goods need to travel within the aisle in order to pick and place the goods from the designated shelves. In order to facilitate efficient running of the robot between the goods shelf and the target sorting workstation, the inlets and outlets of the two branch channels of the first channel and the second channel can respectively correspond to roadway openings of a plurality of roadways when being arranged, so that the running track of the robot is closer to a straight line in the process of conveying goods, and fewer turns are generated, and the running route is shorter and more efficient when sorting tasks are completed.
In a specific implementation, the specific orientations of the entrances and exits of the two branch channels of the first channel and the second channel can be determined according to the storage area corresponding to the goods carried by the robot running on the first channel and the second channel. For example, the transfer robot may travel in the first lane, and since the transfer robot transfers the raw material box, the directions of the inlets and outlets of the two branch lanes of the first lane may be determined according to the storage area of the raw material box, for example, the raw material box is stored on three shelves of the plurality of shelves, two lanes are formed between the three shelves, and the inlets and outlets of the two branch lanes of the first lane may correspond to the lane openings of the two lanes.
For another example, the material box and the sorted goods do not correspond to a specific goods shelf when being stored, and the same goods shelf is provided with a storage area of the material box and a storage area of the sorted goods. In this case, the entrances and exits of the two branch passages of the first passage and the second passage may correspond to the tunnel openings of all the shelf areas near the middle position, so that the distances from the respective shelves to the first passage or the second passage are closer when the robot transports the goods.
In practical application, can set up a plurality of letter sorting workstations, every letter sorting workstation all can include letter sorting position, and locate first passageway and the second passageway of letter sorting position both sides. In the context of a plurality of sorting stations, each sorting station may be assigned a respective sorting task. For example, each sorting workstation may be assigned a respective order to be processed, and according to the assigned order to be processed, the handling robot and the sorting robot are scheduled to move to the first lane and the second lane of the corresponding sorting workstation to perform the sorting task.
When the corresponding sorting tasks are allocated to the sorting workstations, the sorting tasks corresponding to the to-be-processed orders with shorter conveying routes can be allocated to the sorting workstations according to the cargo information on two sides of the roadway opening corresponding to the entrances and exits of the two branch channels of the first channel and the second channel. For example, D-type goods and E-type goods are stored at two sides of roadway openings corresponding to the entrances and exits of the first channel and the second channel of a certain sorting workstation, and the goods information of the target to-be-processed order only contains a plurality of D-type goods and E-type goods, so that the target to-be-processed order can be distributed to the first channel and the second channel of the group.
Fig. 3 shows an exemplary layout of the aisle and shelf 20 when two sorting stations are present. Referring to fig. 3, taking one sorting station as an example, the outlet of the branch channel of the first channel 31 corresponds to a lane formed between the third row of shelves and the fourth row of shelves arranged from left to right, and the inlet of the branch channel of the first channel 31 corresponds to a lane formed between the fourth row of shelves and the fifth row of shelves arranged from left to right. The outlet of the branch channel of the second channel 32 corresponds to a lane formed between the second row of shelves and the third row of shelves arranged from left to right, and the inlet of the branch channel of the second channel 32 corresponds to a lane formed between the first row of shelves and the second row of shelves arranged from left to right.
Taking the case that the transfer robot travels on the first channel 31 and the sorting robot travels on the second channel 32, the traveling directions of the transfer robot and the sorting robot may be shown by arrows in fig. 3, and after receiving the first scheduling instruction, the transfer robot takes out the raw material box from the first cargo space of the designated layer on the fifth row of shelves arranged from left to right, and then conveys the raw material box to the first stop position through the branch channel on one side of the first channel 31, as shown by the arrows in fig. 3.
After receiving the second scheduling instruction, the sorting robot reaches a second stop position through a branch channel at one side of the second channel 32, loads the sorted cargoes, and conveys the sorted cargoes to a second cargo position of a designated layer on a third row of shelves arranged from left to right through a branch channel at the other side of the second channel 32.
After the sorting of the present wheel is finished, the transfer robot drives away from the target sorting workstation through the branch channel on the other side of the first channel 31. At this time, if the raw material boxes on the transfer robot are not empty, the transfer robot transfers the raw material boxes to the designated raw material box storage place and continues to store the raw material boxes. If the empty box is picked up by the transfer robot, the transfer robot transfers the empty box to the recycling table to recycle, and the transfer robot can climb the shelf 20 or move on the ground during the movement.
In one embodiment, the U-shaped channel is a ramp, and the height of the outlet and inlet of the U-shaped channel are each lower than the height of the first rest position or the second rest position.
It will be appreciated that if the sorting step requires manual sorting, during the sorting process, an operator takes the goods from the material box on the transfer robot at the sorting position and places the goods on the sorting robot, under this condition, on the one hand, when the heights of the first channel and the second channel near one end of the sorting position (i.e. the side far away from the outlet and the inlet) are set, the operation comfort of the operator can be considered, the heights of the first stop position and the second stop position near the sorting position can be set to the heights that the operator can contact in a standing or sitting state, so that the operator can complete the sorting operation without bending over or other complex body actions.
On the other hand, when the heights of the exits and entrances of the first and second passages are set, it is necessary to consider the running safety of the robot, and the heights of the exits and entrances may be set to the heights allowed by the safe running of the robot.
In summary, the two factors are that one end far away from the sorting position in the two ends of the ramp is low, and one end close to the sorting position is high.
In an embodiment, the first channel and/or the second channel may be provided with an anti-slip structure. The anti-slip structure may in particular comprise anti-slip strips and/or anti-slip bumps distributed according to the corresponding robot track.
It can be understood that when the first channel and the second channel are ramps, the phenomenon that the robot slides possibly due to insufficient friction force between the travelling wheel of the robot and the surface of the ramps during climbing and running can influence the running safety and stability of the robot, and the sliding risk can be reduced and the running safety and stability of the robot can be improved by additionally arranging the anti-sliding structure.
In a specific implementation, when the anti-slip structure is the anti-slip strips distributed according to the wheel track of the robot, two or more anti-slip strips can be arranged, and the distance between two adjacent anti-slip strips is equal to the wheel track of the robot or the difference value between the two anti-slip strips is within a specified numerical range, so that the running wheel of the robot can accurately contact with the anti-slip strips in the ramp running process.
When the anti-skid structure is the anti-skid convex blocks distributed according to the wheel track of the robot, the anti-skid convex blocks can be provided with two or more groups. Each set of cleat projections may be arranged along the direction of extension of the ramp. The interval between two adjacent anti-skid lugs in each group of anti-skid lugs can be designated at intervals, the interval between two adjacent anti-skid lugs in the adjacent groups of anti-skid lugs or the interval between two adjacent anti-skid lugs in the width direction of the ramp is equal to the wheel distance of the robot, or the difference value of the two is within a designated numerical range, so that the running wheel of the robot can accurately contact with the anti-skid lugs in the running process of the ramp.
In practical applications, the anti-slip structure may be in other structural forms, for example, may be one or more anti-slip layers laid on the surface of the first channel and/or the second channel, and for example, may be one or more anti-slip pads fixed on the surface of the first channel and/or the second channel, which may be specifically and reasonably set according to practical situations.
In an embodiment, the first rest position is higher than the second rest position.
It will be appreciated that in the sorting step, the operator needs to take the goods to be sorted out of the stock box on the transfer robot and put them on the sorting robot. Because the sorting robot can adopt the board robot turns over, turn over the board if set up the multilayer, turn over the board itself and have certain height, can be with the second that is used for the sorting robot to dock to place goods to the sorting robot that guarantees that operating personnel can be more convenient, the height that highly sets up of position is berthhed to some to can improve operating personnel's operation comfort level.
As shown in fig. 2 and 3, for the sorting robot without the single-layer structure of the turning plate, the influence of the height of the turning plate on the operation comfort level of the operator is not required to be considered, in this case, the raw material box carried by the carrying robot is considered to have a certain height, so that the operator can conveniently take goods from the raw material box, the height of the first stop position for stopping the carrying robot is set to be slightly lower, and the height of the first stop position is lower than the height of the second stop position, thereby improving the operation comfort level of the operator.
In the warehouse provided by this embodiment, the ex-warehouse packaging workstation is mainly used for packaging the sorted order boxes according to the ex-warehouse requirement, for example, the to-be-ex-warehouse order boxes corresponding to the same receiving address can be uniformly packaged and sent.
In summary, through the reasonable layout of warehouse, can realize the three-dimensional storage of goods through the goods shelves in the storage area to can collect stock functions such as raw materials case storage, order case storage and collection goods in an organic whole, improve the space utilization in the storage area, and through the reasonable structural design of letter sorting workstation, can realize letter sorting and select work and go on in step, improve goods letter sorting and select efficiency, reduced the area of letter sorting region.
An embodiment of the present application further provides a warehouse system, referring to fig. 2 and 3, which specifically includes a shelf 20, a transfer robot 21, and a sorting robot 22. Optionally, the pallet 20 has a raw bin storage area and an order bin storage area. The handling robot 21 and the sorting robot 22 are connected to the server via a network, respectively, and the respective instructions sent by the server are capable of controlling the handling robot 21 and/or the sorting robot 22 to perform respective actions, respectively. The network may be a wired network or a wireless network, and is not particularly limited herein. It will be appreciated that the server may include one or more management terminals, and/or one or more management servers.
The server is configured to send at least a first scheduling instruction and a second scheduling instruction, and it is understood that the first scheduling instruction or the second scheduling instruction is not limited to a single instruction, but may be a combination of multiple instructions.
The transfer robot 21 is configured to receive the first scheduling instruction and to transfer the raw material box from the first cargo space to the first stop position a of the target sorting workstation according to the first scheduling instruction.
The sorting robot 22 is configured to receive a second scheduling instruction, and to reach a second stop position B of the target sorting workstation according to the second scheduling instruction, so that the goods to be sorted in the raw material box on the transfer robot 21 at the first stop position a can be sorted to the sorting robot 22 at the second stop position B to become the sorted goods. The sorting robot 22 is also used to transport the sorted goods or the target order boxes containing the sorted goods from the second docking station to the second cargo station.
Wherein the first cargo space is a cargo space in the raw material box storage area and the second cargo space is determined from the order box storage area according to an order box allocation policy.
It will be appreciated that the transfer robot 21 may be a first robot capable of performing a cargo transfer task and the sorting robot 22 may be a second robot capable of performing a post-sorting cargo transfer task.
In practical applications, the server may determine the type and quantity of the goods to be sorted according to the types and quantities of the goods required by the orders related to the order sorting task, and schedule one or more transfer robots 21 to transfer the raw boxes with the corresponding goods to be sorted to the first stop position of the target sorting workstation for the next sorting according to the stock information.
It will be appreciated that the number of items in the stock box carried by the transfer robot 21 may be greater than or equal to the number of corresponding items required for the plurality of orders. In addition, one transfer robot 21 can be dispatched to obtain a plurality of raw material boxes from the same or different goods places according to the load capacity of the transfer robot 21 and transfer the raw material boxes to the first stop position of the target sorting work station at one time, so that the transfer times are reduced, and the transfer efficiency is improved.
In one specific implementation, the server generates the first scheduling instruction according to pre-stored inventory information, the received demand cargo information for the plurality of orders related to the one-order sorting task, and the current state information of the transfer robot 21. The first dispatching instruction comprises position information of a first goods position, wherein the first goods position is a placing goods position of goods to be sorted, which is determined according to the information of the goods required by the orders. The current state information of the transfer robot 21 includes, for example, the current position of the transfer robot 21, whether or not it is currently free, and the like.
On the other hand, the server generates a second scheduling instruction based on a second cargo space corresponding to an order having the sorted cargo among the plurality of orders, and the current state information of the sorting robot 22. The second dispatch instruction includes location information for the second cargo space. The current status information of the sorting robot 22 includes, for example, the current position of the sorting robot 22, whether it is currently free, and the like.
In some embodiments, a plurality of handling robots 21 and/or a plurality of sorting robots 22 are included in the warehousing system. The plurality of transfer robots 21 sequentially enter and exit the first stop position a of the target sorting work station along the same first movement track (for example, the path indicated by the arrow in fig. 3), the first movement track comprises a first entering track and a first exiting track, and the plurality of sorting robots 22 sequentially enter and exit the second stop position B of the target sorting work station along the same second movement track (for example, the path indicated by the arrow in fig. 3), the second movement track comprises a second entering track and a second exiting track, wherein the first movement track and the second movement track do not intersect. Through the fixed, disjoint first motion trail and the setting of second motion trail, optimize transfer robot 21 and letter sorting robot 22 by the course of action of dispatch in order to improve efficiency, improve efficiency when guaranteeing letter sorting precision, avoid goods transportation to appear chaotic in the warehouse system.
In an alternative embodiment, when the plurality of carrying robots 21 and the plurality of sorting robots 22 enter and exit the target sorting workstation along the first movement track and the second movement track, specific cargo information required by the order box, performances, working efficiency, cost and other practical situations of the carrying robots 21 and the sorting robots 22 can be comprehensively considered to control the dispatching of the plurality of carrying robots 21 and the plurality of sorting robots 22, so that the sorting work of cargoes from the carrying robots 21 to the sorting robots 22 is completed. The following list a few cases, but are not limited to the following:
In the first case, when the transfer robot 21 located at the first stop position transfers the material box in which the goods to be sorted are more than the goods required for the plurality of orders involved in the order sorting task, the transfer robot 21 may be maintained at the first stop position a, schedule the plurality of sorting robots 22 to queue in order to enter and exit the second stop position B, sort the goods to be sorted in the material box on the same transfer robot 21 into different sorting robots 22, and cause the sorting robot 22 to sequentially move the sorted goods from the second stop position B to the second goods position for storing the order box corresponding to the sorted goods.
It will be appreciated that the sorting robot 22 may be moved to the second location after obtaining a portion of the required goods for the corresponding order, or may be moved to the second location after obtaining all of the required goods for the corresponding order.
In the second case, for example, in the case where the load required for a plurality of orders related to one sorting job exceeds the load carrying capacity of one transfer robot 21 or other transfer efficiency of the material boxes by a plurality of transfer robots 21 is the highest, the plurality of transfer robots 21 may be scheduled to transfer the material boxes as required. Taking an example that two transfer robots (a first transfer robot and a second transfer robot) are required to transfer a raw material box, the two transfer robots sequentially enter a first channel, the first transfer robot reaches a first parking position, the second transfer robot is located behind the first transfer robot, the sorting robot is located at a second parking position, after the first transfer robot sorts required goods to the sorting robot, the first transfer robot is scheduled to move out of the first parking position, the second transfer robot is scheduled to move to the first parking position, and after the second transfer robot sorts additional required goods to the sorting robot, the sorting robot is shifted to the second goods position from the second parking position. And for the second transfer robot, the server can judge whether the second transfer robot has the required goods according to the requirement of the next order, if so, the second transfer robot can be enabled to continuously stay at the first stop position, the next sorting robot in the queue is allocated to enter the second stop position so as to realize sorting, and otherwise, the second transfer robot is scheduled to move out of the first stop position.
In the third case, the sorting robot 22 may include a first sorting robot and a second sorting robot, based on the second case. The first sorting robot is arranged in front of the second sorting robot. When the first sorting robot obtains the sorted goods and moves to the second goods location, the second sorting robot sequentially enters the second parking location. If the transfer robot currently located at the first stop position cannot meet the requirement of the order corresponding to the second sorting robot, but the transfer robot can also meet the order requirement of the sorting robot arranged behind the second sorting robot, in order not to influence sorting of subsequent orders, the second sorting robot is scheduled to go out along the second outbound track and then to be transferred to the sorting robot located at the tail part and then to be queued again until the goods to be transported are obtained and then transferred to the second goods space.
In some embodiments, the sorting robot 22 detects whether the delivered sorted goods match the target goods according to the sorting detection instructions. The sorting detection instruction may be sent by the server or may be generated by the sorting robot 22 after the pickup of the sorted goods is detected.
In one embodiment, the second scheduling instruction or the sorting detection instruction may include a target cargo type and/or number. After the sorting robot 22 obtains the sorted goods, the type and/or number of the obtained sorted goods may be detected and compared with the type and/or number of the target goods in the second scheduling instruction to determine whether the obtained sorted goods match the target goods. The sorting robot 22 may take images to determine the type and/or number of sorted goods obtained, and may also detect them by sensing devices, such as weight sensors. And if the obtained sorted cargoes are matched with the target cargoes, conveying the sorted cargoes to a second cargo position, and if the obtained sorted cargoes are not matched with the target cargoes, feeding back to a server. The server makes further decisions such as causing the sorting robot 22 at the second stop to continue moving to the second cargo space, or returning to the rearmost end for re-queuing, or moving to a preset fault handling location, etc.
It will be appreciated that the raw material boxes carried by the transfer robot 21 may be determined according to the number and/or type of goods to be sorted required for a plurality of orders involved in one order sorting task, the number of goods to be sorted in the raw material boxes being not less than the order requirement. That is, when the transfer robot 21 transfers the goods to be sorted, the information of the quantity, the kind, etc. of the goods required by the order may be obtained in advance, and according to the order requirement, the one or more transfer robots 21 obtain the goods to be sorted of the corresponding kind and the quantity not less than the order requirement according to the corresponding first dispatch instruction to the corresponding first goods space.
In one embodiment, in the target sorting station, an operator stands at the sorting station to sort the goods to be sorted in the material box on the transfer robot 21 located at one side thereof, and sort the goods directly from the transfer robot 21 to the sorting robot 22. Thus, the sorting work of the goods to be sorted can be conveniently and quickly realized according to the order demands corresponding to the sorting robot 22.
In some embodiments, the warehousing system may also be configured to automatically sort, the warehousing system including at least one sorting mechanism, the target sorting workstation being located in a working area of the sorting mechanism. The sorting mechanism is used instead of the manual sorting in the above, so that the goods required for the order can be acquired from the stock box of the transfer robot 21 to the sorting robot 22 by controlling the sorting mechanism.
The transfer robot 21 and the sorting robot 22 may have the same structure or may have different structures. In picking and placing goods, the first goods location and/or the second goods location may be a storage goods location on the goods shelf, and the transfer robot 21 and/or the sorting robot 22 may climb the goods shelf to move to the target goods location for picking and placing goods. In this case, the transfer robot 21 and/or the sorting robot 22 have climbing wheels adapted to the climbing rails of the pallet, and can freely move on the climbing rails of the pallet through the climbing wheels to realize the function of climbing the pallet to pick and place the goods.
In one embodiment, the transfer robot may include a first chassis for walking on a support surface, a first carrier device disposed on the first chassis, and a first controller. The first bearing device specifically comprises a first bearing piece used for bearing the raw material box and a first transfer mechanism used for moving the raw material box to or from the first bearing piece. The first controller can be electrically connected with the first chassis, the first bearing piece and the first transfer mechanism, and the first chassis, the first bearing piece and the first transfer mechanism can be controlled to accurately act through the first controller, so that corresponding carrying tasks are completed.
For example, in the sorting step, the first controller may be configured to receive the first scheduling instruction and control the first transfer mechanism to transfer the raw material tank from the first cargo space to the first carrier according to the first scheduling instruction. The first controller may be configured to control movement of the first chassis to transport the raw material bin from the first location to a first stop of the target sorting station such that the goods to be sorted within the raw material bin are transported by the sorting robot to a second location after the target sorting station is sorted to the second stop of the target sorting station as the sorted goods. Wherein the first cargo space is a cargo space in a raw material box storage area of the shelf and the second cargo space is determined from the order box storage area of the shelf according to an order box allocation strategy.
In some embodiments, the first transfer mechanism of the transfer robot may be a double-clasping fork, a suction cup, a hook, or the like.
In one embodiment, the sorting robot specifically comprises a second chassis for walking on a support surface, a second carrying device arranged on the second chassis, and a second controller. The second carrying device specifically comprises a second carrying piece and a second transfer mechanism, wherein the second carrying piece is used for carrying target goods or target containers, for example, the second carrying piece can be used for carrying sorted goods or target order boxes, the second transfer mechanism is used for carrying the target goods or the target containers to or from the second carrying piece, for example, the sorted goods or the target order boxes can be carried to or from the second carrying piece, and the second controller is used for controlling the second chassis, the second carrying piece and the second transfer mechanism to act so as to complete corresponding conveying tasks.
For example, in the sorting link, the second controller may be configured to receive the second scheduling instruction, and control the second chassis to move to the second stop position of the target sorting workstation according to the second scheduling instruction, so that the goods to be sorted in the raw material box on the transfer robot at the first stop position of the target sorting workstation may be sorted onto the second carrier to become the sorted goods. The second controller may be configured to control movement of the second chassis to transport the sorted cargo, or the target order box containing the sorted cargo, from the second dock to the second cargo space. Wherein the first cargo space is a cargo space in a raw material box storage area of the shelf and the second cargo space is determined from the order box storage area of the shelf according to an order box allocation strategy.
In practical application, the sorting robot can adopt a robot with a single-layer turning plate or a multi-layer turning plate and other structural forms, and the second transfer mechanism can be a conveyor belt, a turning plate or a pushing plate and the like.
For the conveyor robot, it is also possible to subdivide into two structural forms, in the first of which the conveyor belt can only perform a translational movement. In this case, taking the sorting robot as an example, the second transfer mechanism may include a conveyor belt sleeved on the second carrier, and carrying the sorted goods together with the second carrier, and being rotatable relative to the second carrier, so as to move the sorted goods located on the conveyor belt to the second cargo space.
Referring to fig. 4, in the case that the conveyor belt can only make translational movement when there is a cargo transferring task, the operation control process of the conveyor robot is as follows:
s410, controlling the chassis of the conveyor robot to move to the target cargo space and enabling the conveyor to be aligned with the target cargo space.
And S420, controlling the conveyor belt to move to one side of the target cargo space so as to move the cargos or the containers filled with the cargos on the conveyor belt to the second cargo space.
In the second embodiment, the conveyor belt can be moved in translation and in overturning. In this case, taking the sorting robot as an example, the second transfer mechanism may include a conveyor belt and a driving member, where the conveyor belt is sleeved on the second carrier member and may rotate relative to the second carrier member, that is, move along the surface of the carrier member. The driving piece is connected with the second bearing piece and is used for driving the second bearing piece and the conveyor belt to turn over relative to the second chassis so as to deliver the sorted cargoes to the second goods space in a manner of moving the conveyor belt and tilting the conveyor belt and the second bearing piece.
Referring to fig. 5, in the case where the conveyor belt can perform translational and tilting movements when there is a cargo conveyance task, the operation control process of the conveyor robot is as follows:
And S510, controlling the chassis of the conveyor robot to move to the target cargo space, and enabling the conveyor belt to be aligned with the target cargo space.
And S520, controlling the conveyor belt to move to one side of the target cargo space, and controlling the driving piece to drive the conveyor belt and the second bearing piece to turn over relative to the chassis so as to deliver the cargos on the conveyor belt to the containers in the second cargo space.
For a tray-turning robot, the goods can be dumped to the target goods space in a mode that the tray turns on one's side relative to the chassis. Taking the sorting robot as an example, the second carrying member may include a tray, and the second transfer mechanism is connected to the tray and configured to drive the tray to turn on one side with respect to the second chassis, so as to dump the sorted cargo to the second cargo space.
Referring to fig. 6, when there is a cargo transferring task, the operation control process of the tray robot is as follows:
S610, controlling the chassis of the tray-turning robot to move to the target cargo space and enabling the tray to be aligned to the target cargo space.
S620, controlling the second transfer mechanism to drive the turnover plate to turn over relative to the chassis so as to pour the cargoes on the turnover plate to the target cargo space.
For a push plate robot, cargo may be pushed to a target cargo space by a push plate. Taking the sorting robot as an example, referring to fig. 7, the second transfer mechanism may include a push plate 41 disposed on the second carrier, and the push plate 41 may translate with respect to the second carrier to push the sorted goods located on the second carrier to the second cargo space.
Referring to fig. 8, when there is a cargo conveyance task, the operation control process of the push plate robot is as follows:
s710, controlling the chassis of the pushing plate type robot to move to the target cargo space, and enabling the pushing plate to be aligned to the target cargo space.
S720, controlling the pushing plate to move to one side of the target cargo space so as to push the cargo on the second bearing piece to the second cargo space.
For single-layer turning plate or multi-layer turning plate type robots, cargoes can be fallen onto the bearing piece through turning plate turning, and then the cargoes on the bearing piece are moved to a target cargo space through the transfer mechanism. Taking a single-layer flap-type sorting robot as an example, in an embodiment, referring to fig. 9, the second carrying device further comprises a flap 51 disposed above the second carrying member. The turning plate 51 is used for carrying the sorted goods, and the turning plate 51 can be turned relative to the second carrying piece, so that the sorted goods on the turning plate 51 fall to the second carrying piece.
It can be appreciated that for a scenario with low cargo handling efficiency requirements or a small sorting task, the flap may be provided with a single layer, and fig. 9 shows a robot structure provided with a single layer flap. For the scenes with high cargo carrying efficiency requirements or large sorting task amount, the turnover plates can be provided with multiple layers. When setting up the multilayer and turning over the board, each layer turns over board can parallel arrangement, and certain interval is separately spaced to guarantee that each layer turns over the board and can hold enough quantity and wait to sort goods.
Fig. 10 exemplarily shows a structure of a multi-layered flap type sorting robot, which includes a second chassis 52 and a second carrying device provided to the second chassis 52, as shown in fig. 10. The second carrying device specifically includes a second carrying member 53, a multi-layer flap 51, and a second transfer mechanism (not shown). Wherein the second carrier 53 is for carrying an order box.
Taking the sorting link as an example, at the operation position, an operator can sort out the goods required in the order corresponding to the order box on the second carrier 53 into the sorted goods, and place the sorted goods in the order box on the second carrier 53. The operator continues sorting and places the sorted goods on any one of the layers of flaps 51. In other embodiments, the second carrier 53 may carry the goods directly, rather than carrying the order box.
It can be understood that the sorting robot adopts a single-layer or multi-layer turning plate structure, and the turning plate and the second transfer mechanism are matched to synchronously transport various sorted cargoes, so that the cargo delivery tasks of a plurality of order boxes are completed in one transport link, and the sorting efficiency of cargoes is improved.
When a cargo transportation task exists, the operation control process of the flap robot is divided into two cases, one is a case where the cargo is directly placed on the carrier, and the other is a case where the container is placed on the carrier.
Referring to fig. 11, in the case where the load is directly placed on the carrier, the operation control process of the flap robot is as follows:
And S810, controlling the chassis of the flap robot to move to the target cargo space, and aligning the bearing piece with the container on the target cargo space.
S820, controlling the transfer mechanism to move the current goods on the bearing piece into the container on the target goods space.
And S830, controlling the turning plate at the bottommost layer to be opened so as to drop the goods on the turning plate to the empty bearing piece.
And S840, controlling the chassis to move to the other target cargo space, and aligning the bearing piece with the container on the other target cargo space.
S850, controlling the transfer mechanism to move the current goods on the bearing piece into the container on the other target goods place.
Wherein, step S830 may be performed before, after or during the execution of step S840.
Referring to fig. 12, for the case where a container is placed on a carrier, the operation control procedure of the flap robot is as follows:
s910, controlling the chassis of the turnover type robot to move to the target cargo space.
S920, controlling the transfer mechanism to move the container on the carrier to the target goods space.
And S930, controlling the chassis to move to the other target cargo space and aligning the bearing piece with the container on the other target cargo space.
S940, controlling the transfer mechanism to take out the container from the other target goods space to the empty bearing piece.
And S950, controlling the bottom-most turning plate to be opened so that the goods on the turning plate fall into the current container on the bearing piece.
S960, controlling the transfer mechanism to move the current container filled with the goods to another target goods space.
Wherein step S950 may be performed before, after or during the execution of step S960.
In an embodiment, the transfer robot may arrive at the first location by climbing the shelf and obtain the stock box from the first location, and/or the sorting robot may transfer the sorted goods or the target order box with the sorted goods to the second location by climbing the shelf.
In some embodiments, the transfer robot and/or sorting robot may also each be provided with two sets of gear train structures, one set of gear train structure for the transfer robot or sorting robot to walk on the ground and the other set of gear train structure for the transfer robot or sorting robot to climb the shelves.
In one particular implementation, the robot may further include a climbing assembly and a walking assembly. Specifically, the climbing assembly includes a climbing train and a climbing drive member for driving the climbing train. The climbing wheel train can drive the chassis to climb along the goods shelf under the drive of the climbing driving component. The walking assembly comprises a walking wheel train and a walking driving component for driving the walking wheel train. The travelling gear train drives the chassis to move along the supporting surface under the drive of the travelling driving component. Wherein the support surface may be the ground, or a horizontal rail on a shelf.
The robot mentioned in the specific implementation may be a transfer robot or a sorting robot, and the chassis may be a first chassis or a second chassis, accordingly.
In practice, the transfer robot and the sorting robot may be configured to be able to be lifted and lowered in a manner compatible with the same pallet. In this way, the function of each goods shelf can be flexibly adjusted or changed without being limited by whether the carrying robot and the sorting robot can lift and unload. Or the transfer robot and the sorting robot are configured to climb in match with either one of the shelves.
In this embodiment, the transfer robot may transfer the raw material tank. Before the sorting link, the raw material boxes are required to be placed on a first goods position in a raw material box storage area according to a raw material box storage strategy, so that the follow-up sorting link is ensured, and the transfer robot can accurately transfer the required raw material boxes from the first goods position according to a first dispatching instruction.
In practical application, the first cargo space is determined according to the storage strategy of the raw material boxes in various ways, and in the embodiment, the reasonable storage of the raw material boxes is realized mainly according to the principle that various cargoes to be sorted are uniformly distributed in each roadway corresponding to the raw material boxes, and/or the principle that cargoes to be sorted with higher heat are placed at the lower layer of the goods shelf.
In one embodiment, the first cargo space is determined according to a raw material box warehousing strategy, and the method specifically comprises the step of calculating the number of the storage boxes of various cargoes to be sorted in each roadway according to current inventory data. According to the number of the storage boxes of various cargoes to be sorted in each roadway, and according to the goal that the raw material boxes corresponding to various cargoes to be sorted are uniformly distributed in each roadway, determining a first cargo position corresponding to the raw material boxes to be stored.
In this embodiment, each raw material box can be stored in a corresponding storage position according to the principle that raw material boxes corresponding to various cargoes to be sorted are uniformly distributed in each roadway. In practical application, the warehouse-in task of the goods to be sorted in the current roadway and the warehouse-in task of other goods to be sorted in other roadways can be replaced, so that the number of the warehouse boxes of each roadway SKU is guaranteed to be approximately balanced, and the goods to be sorted in the embodiment can be various types of SKUs. It will be appreciated that SKU is the minimum stock keeping unit, collectively referred to as Stock Keeping Unit, the base unit for inventory in-out metering.
In some embodiments, the process of warehousing the raw material boxes can be divided into two steps, specifically as follows:
Firstly, according to the principle that the number of the warehouse-in boxes of each roadway is equal, the raw material boxes to be warehouse-in are initially separated, and the warehouse-in tasks of each roadway after the initial separation are ensured to be balanced.
Secondly, calculating the number of in-warehouse boxes of each roadway according to the current inventory information, and finely adjusting the warehouse-in tasks corresponding to at least part of the roadways after primary separation according to the goal that the raw boxes corresponding to various goods to be sorted are uniformly distributed in each roadway, wherein in the fine adjustment process, the warehouse-in tasks obtained by primary separation in the current roadway can be replaced with the warehouse-in tasks of other roadways, and finally, the number of in-warehouse boxes of each SKU in each roadway is guaranteed to be approximately balanced.
The following describes the distribution process of the raw material boxes by taking the distribution of 100 raw material boxes to be put in storage in two roadways, namely a first roadway and a second roadway as an example. In this embodiment, 100 raw material boxes to be put in storage correspond to the first put-in task, the second put-in task, the third put-in task and the fourth put-in task. The first warehousing task needs a class A SKU10 box, the second warehousing task needs a class A SKU30 box, the third warehousing task needs a class A SKU40 box, and the fourth warehousing task needs a class A SKU20 box. The specific distribution flow of the raw material box to be put in storage is as follows:
firstly, according to the principle that the warehouse-in box numbers of all the roadways are equal, a first warehouse-in task and a third warehouse-in task are distributed to a first roadway, a second warehouse-in task and a fourth warehouse-in task are distributed to a second roadway, and after primary distribution, the first roadway and the second roadway can be respectively distributed to 50A-type SKUs.
Then, according to the current inventory information, the number of the in-warehouse boxes of the A-type SKUs in the first roadway is calculated to be 10 boxes, the number of the in-warehouse boxes of the A-type SKUs in the second roadway is calculated to be 30 boxes, and at this time, in order to ensure that the number of the in-warehouse boxes of the A-type SKUs in the two roadways is balanced, the first warehousing task allocated to the first roadway and the fourth warehousing task allocated to the second roadway can be replaced, and finally, the number of the in-warehouse boxes of the A-type SKUs in the first roadway and the second roadway is ensured to be 70 boxes.
In practical application, the same type of goods to be sorted is allowed to have N boxes higher than the number of other roadway boxes in a single roadway, but the N value needs to be ensured not to exceed a specified threshold, and the specified threshold can be specifically determined through an order structure and is not specifically limited.
In another embodiment, determining the first cargo space according to a bin warehousing strategy specifically includes:
According to current inventory data and historical sales heat data of various cargoes to be sorted, determining a first cargo position corresponding to a raw material box to be put in storage according to a target that the cargoes to be sorted with higher heat are put on a lower layer of a goods shelf.
In this embodiment, each raw material box can be stored in a corresponding storage position according to the principle that the goods to be sorted with higher heat are placed on the lower layer of the goods shelf. In practical application, the historical sales heat is higher goods, and the probability of being sorted and going out of the warehouse is higher later, and the goods are placed on the bottom layer of the goods shelf, so that the walking distance of the transfer robot along the height direction in the process of taking the goods can be reduced, the transfer track length of the robot is reduced, and the goods transfer efficiency is improved.
In practical application, the heat degree sorting can be carried out on various goods to be sorted according to the historical sales heat degree, and the storage shelf of the various goods to be sorted is determined according to the principle that the heat degree is inversely related to the height of the shelf according to the sorting result. The specific goods shelf position and the storage area can be reasonably distributed according to the number of the raw material boxes corresponding to the goods to be sorted, for example, the number of the raw material boxes corresponding to certain goods to be sorted can occupy one layer of area of the goods shelf, the historical sales heat of the goods to be sorted is highest, and all storage goods positions at the lowest layer of the goods shelf can be used as the storage area of the goods to be sorted.
In another embodiment, determining the first cargo space according to a bin warehousing strategy specifically includes:
According to current inventory data, the number of storage boxes of various goods to be sorted in each roadway and historical sales heat data of various goods to be sorted, according to the targets that raw material boxes corresponding to various goods to be sorted are uniformly distributed in each roadway and the goods to be sorted with higher heat are placed on the lower layer of a goods shelf, determining a first goods position corresponding to the raw material boxes to be stored.
In this embodiment, can be according to each tunnel corresponding raw materials case evenly distributed and the higher principle of placing the goods of waiting to sort of heat in goods shelves low floor of each goods of waiting to sort, deposit corresponding deposit goods shelves with each raw materials case, above-mentioned raw materials case warehouse entry mode can take into account each tunnel raw materials case evenly distributed and high heat raw materials case deposit two aspect factors to goods shelves bottom, confirm first goods shelves according to this tactics, can guarantee the convenience of follow-up sorting link raw materials case taking process, can guarantee transfer robot and transport the efficiency of goods in sorting link again.
In practical application, the number of the goods boxes corresponding to each roadway can be determined according to the principle that the raw boxes corresponding to various goods to be sorted are uniformly distributed in each roadway, and then the storage positions of the raw boxes corresponding to the goods to be sorted are determined according to the principle that the goods to be sorted with higher heat are placed on the lower layer of the goods shelf, so that more reasonable storage positions are distributed for the raw boxes of the goods to be sorted.
In the above embodiments, the roadway is formed by the gap between two adjacent racks, and since a plurality of racks for storing the raw material box can be provided in the storage area, a plurality of roadways can be formed by the gap between each two of the plurality of racks.
For order boxes containing sorted goods, a second cargo space can be determined from a plurality of cargo spaces in an order box storage area in an inventory area according to an order box distribution strategy, so that a sorting link is convenient, and a sorting robot can accurately convey the sorted goods to the second cargo space.
In one embodiment, the order box allocation policy may specifically include:
And determining the number of the order boxes and/or the sorting times required by the current ex-warehouse order set according to the data of the current ex-warehouse order set and the principle that the single order box corresponds to the unique order. The data of the current ex-warehouse order set at least comprises the SKU and the quantity required by each order.
And determining a second cargo space from the order box storage areas of the shelves corresponding to the designated multiple lanes according to the required order box number and/or sorting times and the target of robot flow balance of each lane in the designated multiple lanes.
When empty order boxes are distributed for all the roadways, the allocation is performed according to the goal of balancing the sorting task quantity of the robots of all the roadways, and the sorting task quantity of the robots of all the roadways is basically consistent after the allocation of the order boxes, so that the problem that the conveying efficiency is affected due to the fact that the sorting task quantity of one or more roadways is more, and the robots are jammed in the roadways, can be avoided.
In practical application, the robot sorting task amount of one roadway is allowed to be higher than that of other roadways, but the robot sorting task amount of each roadway has a specified upper limit value, and the robot sorting task amount of each roadway should not exceed the specified upper limit value. For example, the specified upper limit value may be set to 1.1 times the average value of the sorting task amount of each tunnel robot. Under the condition, the sorting task amount of the robots in a single tunnel is not allowed to exceed 10% of the average value, if the sorting task amount of the robots in a certain tunnel exceeds more than 10% of the average value, the order boxes among the tunnels can be replaced, so that the balance of the sorting task amount of the robots among the tunnels is ensured, and the replacement mode of the order boxes can be referred to the replacement mode of the raw material boxes.
In some embodiments, determining the number of required order boxes specifically includes:
And multiplying the number of the goods corresponding to each order by the unit volume of the goods to obtain the total volume of the goods corresponding to each order.
And (5) the total volume of the goods of each order is multiplied by the unit volume of the order boxes to obtain the required order box number of each order.
It will be appreciated that in determining the number of order boxes required for each order, the total volume of the items corresponding to the order and the unit volume of the order boxes may be determined comprehensively. If the total volume of the goods per order is calculated by multiplying the unit volume of the order box by the sum of the goods per order, the calculated value is not an integer, and an integer value slightly larger than the calculated value is required to be taken as the required number of order boxes. For example, the value obtained by the manufacturer is 8.3, 9 should be taken as the number of order boxes required by the order, so as to ensure that all goods corresponding to the order can be loaded into the corresponding order boxes.
The sorting times of each order can be determined according to the sorting times of each order box corresponding to the order, and the sorting times of the order boxes can be comprehensively determined according to the quantity and the type of goods required in the order boxes and the maximum quantity corresponding to various types of goods which can be transported by the sorting robot at a time.
In an embodiment, according to the number of required order boxes and/or sorting times, according to the goal of balancing the robot flow of each lane in the designated multiple lanes, in the step of determining the second cargo space from the order box storage areas of the shelves corresponding to the designated multiple lanes, the order boxes corresponding to the same SKU are not present on the same shelf layer of the same lane.
It will be appreciated that when determining the second cargo space, the order boxes corresponding to each tunnel may be determined first, that is, the tunnels in which each order box is located are determined, where the process needs to target the balance of the sorting task amount of each tunnel robot, and the following details are described by an example:
For example, there are 8 lanes within the inventory area of the current warehouse system, each lane is designated as R1 through R8, and the currently generated robot sorting tasks are designated as a (n), B (n)..h (n). When the robot sorting tasks are distributed, tasks A (1) to A (8) are distributed to lanes R1 to R8, at the moment, each lane corresponds to 1 group of robot sorting tasks, and when the robot sorting tasks are delivered, each lane corresponds to 1 group of delivery tasks.
And sequentially distributing the tasks B (1) to B (8), the tasks C (1) to C (8) and the tasks D (1) to D (8) to the lanes R1-R8 according to the distribution mode, wherein each lane corresponds to 4 groups of tasks respectively, and the task numbers of the lanes are balanced.
For tasks E (1) to E (6) and tasks F (1) to F (6), it is necessary to distribute the tasks to lanes R1 to R6 in order first, where lanes R1 to R6 correspond to 6 groups of tasks and lanes R7 and R8 correspond to only 4 groups of tasks.
For unassigned tasks G (1) and G (2) and tasks H (1) and H (2), the task numbers corresponding to the lanes R1 to R8 may be summarized first, and the tasks G (1) and G (2) and the tasks H (1) and H (2) may be assigned to the lanes R7 and R8, respectively, in a reverse order. At the moment, the task numbers of all the roadways are balanced, and the tasks respectively correspond to 6 groups of robot sorting tasks, so that the balanced distribution of the robot sorting tasks is realized.
After the tunnels in which all the order boxes are located are determined, according to the condition that the order boxes corresponding to the same SKU do not appear in the same tunnel of the goods shelf on the same layer, the corresponding goods positions of all the order boxes in the determined tunnels are determined, and the order boxes corresponding to the same SKU distributed to the same tunnel are distributed to different layers of the tunnel.
In an embodiment, according to the required number of order boxes and/or sorting times, determining the second cargo space from the order box storage area of the shelf corresponding to the designated plurality of lanes according to the target of robot flow equalization of each lane of the designated plurality of lanes includes:
And according to the number of the required order boxes and/or sorting times, combining the current task quantity allocated to each roadway, and determining a second cargo space from the order box storage areas of the shelves corresponding to the specified multiple roadways according to the targets of robot flow balance of the specified multiple roadways.
In some embodiments, in the case where the number of required order boxes is large, the allocation process of the order boxes may be performed in two steps, specifically as follows:
First, first order boxes of a first group are initially divided according to the condition that the order boxes corresponding to the same SKU are not arranged on the same layer of the same tunnel of the goods shelf. And after the primary sorting, collecting SKU order boxes by taking the lanes as units, and counting the sorting task quantity corresponding to each lane after the primary sorting of the first group of order boxes.
And secondly, distributing the second group of order boxes which do not meet the wall-mounting condition to the goods positions of all layers in each roadway of the goods shelf according to a dealing principle. After distribution is completed according to a card distribution principle, counting the sorting task quantity corresponding to each roadway again, further obtaining a single roadway sorting task quantity average value, and if the sorting task quantity corresponding to a certain roadway exceeds the single roadway sorting task quantity average value by more than 10%, replacing order boxes among the roadways to ensure that the sorting task quantity among the roadways is balanced.
It should be noted that, if all layers of the same roadway are allocated with order boxes of the same SKU, all other order boxes of the SKU are second group of order boxes which do not meet the condition of wall-up.
It can be understood that the second cargo space can be allocated by combining the current allocated task quantity of each roadway, so that the sorting task quantity of the robots among the roadways is balanced, the situation that the sorting robots are jammed in one or more roadways due to frequent occurrence in the process of conveying the cargoes is avoided, and the reliability and the safety of the sorting process are improved.
After the sorting link is finished, the sorted goods are loaded into corresponding order boxes, and when a delivery task is subsequently received, a delivery flow is executed. In some embodiments, the handling task of the order box in the ex-warehouse process may be performed by the fifth robot, and the specific process may be as follows:
after receiving the fifth scheduling instruction, the fifth robot can transport the target order box meeting the ex-warehouse condition to the ex-warehouse packaging workstation from the second cargo space or the cargo collecting space in the cargo collecting area according to the fifth scheduling instruction.
It will be appreciated that the shipment condition may be that a preset shipment time is reached or that the target order box has been completed, at which point the target order box to be shipped may be shipped to the shipment packaging workstation. In this embodiment, the ex-warehouse packaging workstation is capable of packaging the target order boxes to be ex-warehouse according to the shipment requirement and sending out at the designated shipment time.
It is to be understood that the fifth robot may have the same structure as the transfer robot or the sorting robot, or may have a different structure from the transfer robot or the sorting robot. In some embodiments, the fifth robot has a structure for climbing a rack, and is capable of taking out the target order box from the second cargo space of the designated rack by climbing the rack, and transporting the target order box to the target location.
In practical application, the fifth robot can be directly scheduled to convey the target order box from the second goods space to the ex-warehouse packaging workstation, and the target order box can be directly conveyed out after the appointed delivery time is reached. And the fifth robot can be scheduled to convey the target order boxes to a goods collecting position in the goods collecting area for goods collection, and when the delivery condition is met, for example, the delivery time is reached or after all the order boxes corresponding to the current order are packaged, the fifth robot is scheduled to convey the target order boxes to a delivery packaging workstation from the goods collecting position for delivery.
It can be understood that the ex-warehouse packaging workstation is mainly used for packaging and sending out goods in an order box to be ex-warehouse according to ex-warehouse requirements, for example, packaging all the goods in an order placed by an order-placing client and sending out the packaged goods uniformly.
In some embodiments, in order to ensure the balance of the delivery tasks of each roadway, the delivery link may be implemented according to a preset delivery policy. When the warehouse system receives the warehouse-out task, the information of the order picking number in the warehouse-out task is summarized, the inventory information of each SKU is combined, the number of the cases carried by each SKU is counted, and the case picking task is uniformly distributed to each roadway. Because the raw material boxes are uniformly distributed to all the lanes in the raw material box warehousing link, the large probability that the carrying robot takes the raw material boxes corresponding to the target SKU in other lanes can be guaranteed, the probability that a plurality of carrying robots take the raw material boxes of the same SKU in the same lane is reduced, and the problem that the working efficiency is affected due to the congestion phenomenon of the carrying robots in the working process is avoided.
Before the delivery, the order boxes can be collected according to the requirements, and the order boxes which have completed the sorting task can be put into corresponding collection positions in a collection area for caching. For a warehouse logistics center, the timeliness of a delivery link is an important index for measuring warehouse operation capacity, and a cargo collection link is a key factor for limiting delivery efficiency. In the related art, the cargo collecting link is usually completed by manual operation, the manual cargo collecting mode adopts the layout design of upper storage and lower picking, and zero picking positions are arranged at the bottom layer of the high-level goods shelf while the storage quantity of the storage area is ensured, so that the place for independently arranging the picking area is saved. In addition, through setting up and selecting the transfer chain, reduced the walking of selecting personnel to do the tunnel confluence through selecting the transfer chain, improved artifical efficiency of selecting. However, the manual picking mode also has great drawbacks, such as the rigid division of the warehouse area by conveyor lines into forklift restocking areas and manual picking areas. On the one hand, a forklift circulation path cannot be formed, and the efficiency of warehouse entry and goods supplement and zero-picking position goods supplement is reduced. On the other hand, the zero picking area is divided into single lanes, if the flow of the single lane or a plurality of lanes is increased, the warehouse-out efficiency is difficult to ensure, and task overtime or bin explosion is easy to occur. Therefore, the conventional cargo collecting mode has the problems of unreasonable arrangement of cargo collecting areas and low cargo collecting efficiency.
In some embodiments, a cargo collection area for collection may be disposed on the shelf, and the cargo collection task may be performed by the third robot, which specifically includes the following steps:
After receiving the third dispatching instruction, the third robot conveys the order boxes meeting the preset conditions in the order box storage area to the goods collection position of the goods collection area according to the goods collection strategy to collect goods so as to release the goods position of the order box storage area.
It is understood that the third robot may be a transfer robot different from the transfer material tank, or may be another transfer robot. The third robot may have the same structure as the transfer robot or may have a different structure from the transfer robot. In some embodiments, the third robot may be configured with a shelf climbing structure when the collection space is located on a shelf.
Through the mode of gathering goods to order case, can make order case after the letter sorting is accomplished and go out the storehouse before according to certain rule centralized buffering, when satisfying the condition of going out the storehouse, order case in the collection goods district can go out the storehouse fast, can improve goods and go out storehouse efficiency.
In one embodiment, the order boxes meeting the preset conditions include an order box that has completed order picking but not up to the time of delivery, or an order box that has been filled but not up to the time of delivery, or an order box that has completed the specified task but not up to the time of delivery.
It can be understood that, the order boxes meeting the preset conditions mainly aim at part of the order boxes not reaching the delivery time, if the order boxes not reaching the delivery time are picked to be completed, or are filled or have completed the designated task, the order boxes can be placed in a goods collection area for goods collection and caching, and can be sent out after the delivery conditions are met. When the order includes multiple sets of packages, each set of packages needs to be individually packaged, and then multiple sets of packages of the order are assembled and packaged, the order needs to correspond to multiple order boxes, and each order box corresponds to one set of packages. In this case, the order box performs the designated task, meaning that the order box has already contained all of the goods for which one package corresponds. For example, an order includes 10 sets of computer, mouse and keyboard, and 10 order boxes are needed, and only one computer, one mouse and one keyboard are placed in each order box. In the warehouse-out packaging area, a computer, a mouse and a keyboard in each order box are packaged into a small package, and then 10 small packages are packaged into a large package. At this point, the order box completes the designated task, meaning that the order box already houses a computer, a mouse and a keyboard.
In one embodiment, the triggering condition of the third scheduling instruction specifically includes:
the goods space of the order box storage area is occupied, and the order boxes on the goods space of the order box storage area cannot meet the loading requirements of all order boxes in a single wave or a single day.
It can be understood that if all the available cargo spaces in the storage areas of the plurality of preset order boxes are occupied, and all the order boxes of a single wave or a single day still cannot be guaranteed to be put on shelf, new empty order boxes need to be fed in for many times in a dynamic release mode at this time, so that the number of the order boxes to be put on shelf is increased, and the put-on demand of all the order boxes of the single wave or the single day is met. The goods storage pressure of the order box storage area can be relieved in a dynamic release mode, and meanwhile follow-up goods can be conveniently and efficiently delivered out of the warehouse.
In one embodiment, the pallet where the collection area is located has a bin storage area and the collection area is partially coincident with the bin storage area, or
The goods shelf where the goods collecting area is located is provided with a material box storage area, and the goods collecting area is not overlapped with the material box storage area, or
The goods shelves of the goods collecting area are not provided with a raw material box storage area, and the goods collecting area is closer to the warehouse-out packaging workstation of the warehouse system relative to the raw material box storage area.
In one embodiment, the pick strategy comprises:
And determining the goods collecting areas and the goods collecting positions of the order boxes meeting the preset conditions from the plurality of goods collecting areas according to the order goods collecting information of the order boxes meeting the preset conditions.
The goods collecting areas are not overlapped and are respectively positioned on the goods shelves corresponding to different roadways, different columns of the goods shelves corresponding to the same roadway or different layers of the goods shelves corresponding to the same roadway.
The order pickup information includes at least one of store information, a delivery line, a delivery area, and a delivery order.
It will be appreciated that in the collection link, a plurality of separate collection areas may be provided, which may be divided according to different stores, or different shipping routes, or different shipping areas. For example, the goods collecting areas can be divided according to different stores, the order boxes belonging to the same store are all stored in the goods collecting areas corresponding to the stores, or the goods collecting areas corresponding to the goods collecting areas can be divided according to different goods collecting lines, in the dividing process, the goods collecting areas close to the goods collecting lines can be adjacently arranged, or the order boxes belonging to the same goods collecting area can be divided into the same goods collecting area according to different goods collecting areas.
By dividing the goods collecting area in the mode, the conveying efficiency of the order boxes in the process of delivering the goods can be improved, and the probability of false delivery and missed delivery of the order boxes is reduced.
In practical application, different goods collecting areas correspond to different order goods collecting information, and different goods collecting areas can be distinguished through different columns, different layers or different areas on the same goods shelf, or can be distinguished through different goods shelves, for example, each goods collecting area corresponds to one goods shelf.
In some embodiments, it may be desirable to collect goods on multiple lines, each with multiple stores distributed on it. In this case, a certain roadway may be set as a cargo collecting area of the same line, a certain column may be set as a cargo collecting area of a certain store, or a plurality of columns may be set as cargo collecting areas of a certain line.
Because part of the goods space in the storage area of the order box is released in an idle state in the process of collecting goods, in order to meet the requirements of placing more order boxes on shelves, the empty order boxes can be filled in the released goods space so as to improve the utilization rate of the goods space, and in some embodiments, the task of filling the empty order boxes can be executed by a fourth robot, and the specific process is as follows:
And after receiving the fourth scheduling instruction, the fourth robot supplements the empty order boxes to the released goods spaces in the order box storage area according to the order box allocation strategy according to the fourth scheduling instruction.
In one particular implementation, the filled empty order boxes may be determined based on order information, information about the load of the transfer robot and/or the sorting robot currently at the target sorting station, and the like. For example, in the case that the required goods corresponding to the order associated with the order box satisfying the preset condition are not sorted, the empty order box may be determined according to the order information corresponding to the order which is not sorted. For another example, if the sorted goods currently carried by the sorting robot at the target sorting workstation correspond to the type and number of goods required by a certain to-be-processed order, an empty order box may be determined according to order information corresponding to the to-be-processed order. In addition, the empty order box can be determined according to the delivery time of the order and the delivery urgency condition, and is not particularly limited herein.
It will be appreciated that the fourth robot may take the same or different configuration as the third robot, and in some embodiments, the third robot and/or the fourth robot may take a transfer robot, and the fourth robot may be configured with a shelf climbing configuration when the order box storage locations are located on the shelves.
In practical application, the delivery strategy of the delivery link can be related to the division mode of the goods collecting area, a single roadway can not only place the order boxes to be delivered corresponding to one line, but also arrange the order boxes corresponding to other delivery tasks of non-own wave number to be stored in the roadway when the number of goods positions of the single roadway is far greater than that of the order boxes of the same line.
In some embodiments, the number of lines that can be taken out of the warehouse in the same time period is determined by the back-end crossing, and one crossing corresponds to one line. In practical application, a logistics batch table is generated during logistics center delivery, and different delivery time periods and logistics lines covered in the time periods can be checked through the table, for example, a logistics center warehouse for the shop delivery in the east China area delivers the goods to the shop in the Ningbo area in the time period of 13:00 to 15:00, the time period described above is the wave number, and the shop delivery in the Ningbo area is the line for the No. 4 dock. During collection, the warehouse system distributes goods positions based on wave times and routes, namely goods with different wave times and different routes are distributed in a single roadway, for example, goods corresponding to wave times 1 and routes 1 are in a roadway M1, goods corresponding to wave times 1 and routes 2 are in a roadway M2, goods corresponding to wave times 2 and routes 1 can be in the roadway 1 and also in the roadway 2, and meanwhile order box storage is carried out according to the layout that the wave times are closer to a warehouse-out packaging workstation before.
Based on the wave times and the lines, the delivery tasks can be evenly distributed to all the roadways according to the dealing principle, for example, 100 roadways M1 deliver 100 cases, the roadway M2 deliver 100 cases, the transfer robot carries the cases according to the rhythms of the roadways, and the problem that a plurality of robots carry the cases in the same roadway in a concentrated mode and the transfer efficiency of the robots is not affected can be avoided. If a certain crossing is emptied in advance, the warehouse system can immediately supplement the warehouse-out tasks of other lines corresponding to the roadway.
If the collection requirement is met, for example, part of the order boxes are sorted, the order boxes are taken out from the lower order box goods positions or certain upper goods positions of the goods shelves by the transfer robot and are transferred to the collection goods positions for temporary storage. And when an order box is delivered by a delivery instruction, the delivery robot carries the order box to a delivery packaging workstation, and the delivery packaging workstation carries the order box to a delivery temporary storage area along with a delivery line, the tail end of the delivery line is divided into a plurality of distribution road junctions, each distribution road junction can correspond to a certain logistics line, the order box flows out from different road junctions and is manually stacked on trays corresponding to different stores, and the delivery operation according to the logistics lines and stores is completed.
Based on at least the above warehouse, warehouse system and partial related schemes in the warehouse process, raw material box warehouse, order box warehouse, warehouse-out and collection process, the application also provides a warehouse-out method which can be executed by a server, see fig. 13, and specifically comprises the following steps:
S1010, sending a first scheduling instruction to the transfer robot so that the transfer robot executes a first type of task, wherein the first type of task comprises conveying the raw material box from a first goods space to a first stop position of a target sorting work station according to the first scheduling instruction.
S1020, sending a second scheduling instruction to the sorting robot to enable the sorting robot to execute a second type of task, wherein the second type of task comprises the steps of reaching a second stop position of the target sorting workstation according to the second scheduling instruction, enabling the goods to be sorted in the raw material box on the carrying robot at the first stop position to be sorted to the sorting robot at the second stop position to become sorted goods, and conveying the sorted goods or the target order box with the sorted goods from the second stop position to the second goods position. Wherein the first cargo space is a cargo space in a raw material box storage area of the shelf and the second cargo space is determined from the order box storage area of the shelf according to an order box allocation strategy.
In some embodiments, the transfer robot may reach the first cargo space by climbing the racks and obtain the raw material tank from the first cargo space, and/or,
The sorting robot may transport the sorted goods or the target order boxes filled with the sorted goods to the second cargo space by climbing the racks.
In some embodiments, the raw material bin storage area and the order bin storage area are located on the same shelf and the order bin storage area is located below the raw material bin storage area, or
The stock box storage area and the order box storage area are positioned on the same shelf, and the order box storage area and the stock box storage area are alternately arranged in the height direction or in the horizontal direction, or
The tote storage area and the order tote storage area are located on different shelves and the order tote storage area is closer to the target sorting workstation than the tote storage area.
In one embodiment, the order box allocation policy includes:
And determining the number of the order boxes and/or the sorting times required by the current ex-warehouse order set according to the data of the current ex-warehouse order set and the principle that the single order box corresponds to the unique order, wherein the data of the current ex-warehouse order set at least comprises the SKU and the number required by each order.
And determining a second cargo space from the order box storage areas of the shelves corresponding to the designated multiple lanes according to the required order box number and/or sorting times and the target of robot flow balance of each lane in the designated multiple lanes.
When empty order boxes are distributed for all the roadways, the allocation is performed according to the goal of balancing the sorting task quantity of the robots of all the roadways, and the sorting task quantity of the robots of all the roadways is basically consistent after the allocation of the order boxes, so that the problem that the conveying efficiency is affected due to the fact that the robots are jammed in one or more roadways due to the fact that the sorting task quantity of one or more roadways is large can be avoided.
In an embodiment, according to the number of required order boxes and/or sorting times, according to the goal of balancing the robot flow of each lane in the designated multiple lanes, in the step of determining the second cargo space from the order box storage areas of the shelves corresponding to the designated multiple lanes, the order boxes corresponding to the same SKU are not present on the same shelf layer of the same lane.
In an embodiment, according to the required number of order boxes and/or sorting times, determining the second cargo space from the order box storage area of the shelf corresponding to the designated plurality of lanes according to the target of robot flow equalization of each lane of the designated plurality of lanes includes:
And according to the number of the required order boxes and/or sorting times, combining the task quantity allocated to each roadway at present, and according to the target of robot flow balance of each roadway in the designated multiple roadways, determining a second cargo space from the order box storage areas of the shelves corresponding to the designated multiple roadways.
It can be understood that the second cargo space can be allocated by combining the current allocated task quantity of each roadway, so that the sorting task quantity of the robots among the roadways is balanced, the situation that the sorting robots are jammed in one or more roadways due to frequent occurrence in the process of conveying the cargoes is avoided, and the reliability and the safety of the sorting process are improved.
In an embodiment, before sending the first scheduling instruction to the transfer robot, the method further includes:
and determining a first cargo space according to the storage strategy of the raw material boxes so as to store the raw material boxes to be stored, which are filled with the cargoes to be sorted, into the first cargo space.
In one embodiment, determining the first cargo space according to a tote warehousing strategy includes:
And calculating the number of the storage boxes of various cargoes to be sorted in each roadway according to the current inventory data.
According to the number of the storage boxes of various cargoes to be sorted in each roadway, and according to the goal that the raw material boxes corresponding to various cargoes to be sorted are uniformly distributed in each roadway, determining a first cargo position corresponding to the raw material boxes to be stored.
In one embodiment, determining the first cargo space according to a tote warehousing strategy includes:
According to current inventory data and historical sales heat data of various cargoes to be sorted, determining a first cargo position corresponding to a raw material box to be put in storage according to a target that the cargoes to be sorted with higher heat are put on a lower layer of a goods shelf.
In one embodiment, determining the first cargo space according to a tote warehousing strategy includes:
According to current inventory data, the number of storage boxes of various goods to be sorted in each roadway and historical sales heat data of various goods to be sorted, according to the targets that raw material boxes corresponding to various goods to be sorted are uniformly distributed in each roadway and the goods to be sorted with higher heat are placed on the lower layer of a goods shelf, determining a first goods position corresponding to the raw material boxes to be stored.
In an embodiment, before sending the second scheduling instruction to the sorting robot, further comprising:
And determining respective corresponding second cargo positions for a plurality of empty order boxes of the current ex-warehouse order set according to the order box allocation strategy.
And sending a sixth scheduling instruction to the sixth robot to enable the sixth robot to execute a sixth type of task, wherein the sixth type of task comprises the steps of taking an empty order box from the designated box taking position and conveying the empty order box to a corresponding second goods position.
In practical application, the function of the sixth robot can be realized by a transfer robot, the transfer robot is mainly used for transferring the raw material box, and in an idle period, the transfer robot can also be used for transferring an empty order box and executing an empty order box warehousing task, so that equipment resources can be fully utilized, and the investment of whole equipment is reduced.
In a specific implementation, the sixth robot can previously designate a box taking position in the empty order box storage area to take the empty order box, the empty order box is manually scanned and bound with order information, the empty order box is placed into a box receiving and conveying line through the sixth robot, the sixth robot receives the box from the conveying line by means of a transfer mechanism, then goes to a designated second goods position, and after reaching the second goods position, the empty order box is unloaded to the second goods position by means of the transfer mechanism, so that one empty order box loading operation is completed, and the operation flow is repeated until all the empty order box warehousing tasks are completed.
In practical application, the goods space of the storage area of the order box on the goods shelf can be emptied every day, which indicates that the task of leaving the warehouse on the same day is completed completely, so that the next day can meet the requirements of placing a larger number of order boxes on the shelf.
In an embodiment, the method for ex-warehouse further includes:
And when the triggering condition is met, a third scheduling instruction is sent to a third robot so that the third robot executes a third type of task, wherein the third type of task comprises the step of conveying the order boxes meeting the preset condition in the order box storage area to a goods collection position of the goods collection area for goods collection according to a goods collection strategy so as to release the goods position of the order box storage area.
In some embodiments, the order boxes meeting the preset conditions include an order box that has completed order picking but not up to the time of delivery, or an order box that has been filled but not up to the time of delivery, or an order box that has completed the specified task but not up to the time of delivery.
In some embodiments, the pallet in which the collection area is located has a bin storage area and the collection area is partially coincident with the bin storage area, or
The goods shelf where the goods collecting area is located is provided with a material box storage area, and the goods collecting area is not overlapped with the material box storage area, or
The goods shelves of the goods collecting area are not provided with a raw material box storage area, and the goods collecting area is closer to the warehouse-out packaging workstation of the warehouse system relative to the raw material box storage area.
The goods collection area is arranged in various areas of the goods shelf, so that the efficient goods collection function can be realized, corresponding arrangement modes can be reasonably selected according to actual storage requirements, for example, the goods shelf with the goods collection area is not provided with a raw material box storage area in a storage scene with large storage space and high requirement on the independence of the goods collection function, and the goods collection area is closer to a warehouse-out packing workstation of a storage system relative to the raw material box storage area.
In some embodiments, the pick strategy comprises:
And determining the goods collecting areas and the goods collecting positions of the order boxes meeting the preset conditions from the plurality of goods collecting areas according to the order goods collecting information of the order boxes meeting the preset conditions.
The goods collecting areas are not overlapped and are respectively positioned on the goods shelves corresponding to different roadways, different columns of the goods shelves corresponding to the same roadway or different layers of the goods shelves corresponding to the same roadway.
The order pickup information includes at least one of store information, a delivery line, a delivery area, and a delivery order.
Through the goods collection mode, the order boxes after sorting can be cached in a centralized manner according to the goods collection strategy, and the goods to be delivered in the goods collection area can be uniformly delivered in the follow-up delivery link due to the fact that the goods collection strategy refers to information related to centralized delivery, such as shop information, delivery lines and the like in the goods collection information of the order, and the delivery efficiency is effectively improved.
In some embodiments, the trigger condition of the third scheduling instruction includes:
the goods space of the order box storage area is occupied, and the order boxes on the goods space of the order box storage area cannot meet the loading requirements of all order boxes in a single wave or a single day.
In an embodiment, the method for ex-warehouse further includes:
And sending a fourth scheduling instruction to the fourth robot so that the fourth robot executes a fourth type of task, wherein the fourth type of task comprises filling empty order boxes into the released goods spaces in the order box storage area according to an order box allocation strategy.
It can be appreciated that by means of dynamic release, the storage pressure of the goods in the order box storage area can be relieved, and meanwhile, the subsequent goods can be conveniently and efficiently delivered out of the warehouse.
In some embodiments, the method for ex-warehouse further includes:
and sending a fifth scheduling instruction to the fifth robot so that the fifth robot can convey the target order box meeting the ex-warehouse conditions to an ex-warehouse packaging workstation from the second goods space or the goods collection space according to the fifth scheduling instruction.
It can be appreciated that the cargo delivery process realized by the fifth robot is more efficient than the cargo delivery mode by manual handling.
The method for delivering the goods in the embodiment can be applied to a goods delivering scene corresponding to a common order, for example, the same customer corresponds to one order, or the same customer corresponds to a plurality of orders, but the goods of the plurality of orders are positioned in the same storage area, and under the scene, the method for delivering the goods in the embodiment can achieve efficient delivery of the goods.
In one application scenario, the same customer may generate multiple orders, and the goods of the multiple orders need to be packaged together into a package. For example, the single scenario is commonly found in some airport tax free shops at home and abroad, such as fig. 14 illustrates a single delivery process of the airport tax free shops. Referring to fig. 14, a customer 61 may purchase multiple goods at an airport tax free store 62 to generate multiple orders, such as three orders, which are respectively shipped from a first warehouse 63, a second warehouse 64, and a third warehouse 65, and then the three warehouses are collected into the same package, packaged and sent in a unified way, and sent directly to a gate 66 before the customer boarding, so as to facilitate the direct taking away of the customer.
For the bill collection scenario, an embodiment of the present application provides a cargo sorting method, that is, another delivery method applied in the bill collection scenario, referring to fig. 15, the cargo sorting method includes:
s1110, acquiring an order to be processed, and judging the order type of the order to be processed, wherein the order type comprises a newly added order and an additional order.
And S1120, if the order to be processed is the newly added order, a target order box is allocated for the newly added order, and a second goods space is determined, and if the order to be processed is the additional order, the target order box and the second goods space are determined according to the established order corresponding to the additional order.
S1130, sending a second dispatching instruction to the sorting robot according to the second goods space, so that the sorting robot conveys the sorted goods corresponding to the to-be-processed order or the target order box filled with the sorted goods to the second goods space.
It will be appreciated that the order to be processed may be an order that has been generated but not sorted for goods. The newly added order is the first order to be processed in the same order mark, for example, a plurality of orders are correspondingly generated after the same customer purchases a plurality of commodities, and the newly added order is the first order entering an order processing link in the plurality of orders corresponding to the same customer. At this point, the order is the first order to be processed, and the order is not associated with an order box, so that a new order needs to be assigned a target order box.
The additional order identifies a non-first processed order for the same order. For example, in the case that the same receiving address corresponds to a plurality of orders, there are orders with an already assigned order box, or orders that have been processed, the additional order is the nth pending order, where N is greater than or equal to 2, and since before the additional order, there are already orders with an already assigned order box under the same order identifier, or orders that have been processed, the target order box can be determined according to the established order corresponding to the additional order. In this embodiment, the second cargo space is a storage cargo space of the target order box.
The server judges the order type of the order to be processed, and determines the target order box corresponding to the order to be processed and the second goods space according to the order type, so that the sorting robot is scheduled to convey the sorted goods corresponding to the order to be processed or the target order box filled with the sorted goods to the second goods space, automatic sorting of the goods in the single-gathering situation is achieved, and compared with the manual sorting process, the goods sorting process is time-saving and labor-saving, and the sorting efficiency of the goods in the single-gathering situation is effectively improved.
In an embodiment, the second scheduling instructions further cause the sorting robot to reach a target sorting workstation to obtain the sorted goods.
The method for leaving a warehouse may further include, before the second dispatch instruction is sent to the sorting robot according to the second cargo space:
And sending a first dispatching instruction to the transfer robot, so that the transfer robot transfers the raw material box from a first goods position to a target sorting workstation, and the goods to be sorted in the raw material box on the transfer robot can be sorted to the sorting robot to become sorted goods, wherein the first goods position is a goods position in a storage area of the raw material box.
In one embodiment, assigning a target order box for the new order and determining the second cargo space includes:
after determining the second goods space from the order box storage area according to the order box distribution strategy, binding the target order box on the second goods space with the newly added order, or
And determining a target order box for the newly added order, and binding the target order box with the second cargo space after determining the second cargo space from the order box storage area according to an order box allocation strategy.
In the link of allocating a target order box for a new order, two situations can be distinguished, namely, a situation in which an empty order box is already placed on the second cargo space. In this case, the second cargo space may be determined first, and then the target order box on the second cargo space may be bound with the newly added order. Another situation is one where no empty order boxes are placed on the second cargo space. In this case, the target order box may be determined first, then a second cargo space may be allocated to the target order box, and then the newly added order, the target order box, and the second cargo space may be bound.
The two modes can be correspondingly selected according to actual situations, and then the newly added orders are distributed to a reasonable target order box.
In an embodiment, if the to-be-processed order is an additional order, determining a target order box according to an established order corresponding to the additional order includes:
if the to-be-processed order is the additional order, judging whether the goods of the additional order can be put into an order box of the established order corresponding to the additional order.
If so, determining the order box of the established order as a target order box of the additional order, if not, assigning a new target order box to the additional order, and associating the new target order box with the order box of the established order.
It will be appreciated that for an add order, it may first be determined whether the items of the add order can be placed in the order box of the established order for the add order. For example, if the order box of the established order corresponding to the additional order is full, the goods of the additional order cannot be put into the order box of the established order corresponding to the additional order, and at this time, a new target order box needs to be allocated for the additional order, and the allocation process of the new target order box is substantially identical to that of the new target order box.
In an embodiment, before sending the first scheduling instruction to the transfer robot, the method further includes:
and determining a first cargo space according to the storage strategy of the raw material boxes so as to store the raw material boxes to be stored, which are filled with the cargoes to be sorted, into the first cargo space.
Wherein, confirm first goods position according to raw materials case warehouse entry tactics, include:
according to the number of the stock boxes of various goods to be sorted in each roadway, according to the target that the stock boxes corresponding to various goods to be sorted are uniformly distributed in each roadway, determining a first cargo position corresponding to the stock boxes to be put in warehouse, or
According to the current stock data and the historical sales heat data of various goods to be sorted, determining the first goods position corresponding to the raw material box to be put in storage according to the target that the goods to be sorted with higher heat are put on the lower layer of the goods shelf, or
According to current inventory data, the number of storage boxes of various goods to be sorted in each roadway and historical sales heat data of various goods to be sorted, according to the targets that raw material boxes corresponding to various goods to be sorted are uniformly distributed in each roadway and the goods to be sorted with higher heat are placed on the lower layer of a goods shelf, determining a first goods position corresponding to the raw material boxes to be stored.
In an embodiment, before sending the second scheduling instruction to the sorting robot, further comprising:
And determining respective corresponding second cargo positions for a plurality of empty order boxes of the current ex-warehouse order set according to the order box allocation strategy.
And sending a sixth scheduling instruction to the sixth robot so that the sixth robot obtains the target empty order box from the designated box taking position according to the sixth scheduling instruction and conveys the target empty order box to the corresponding second goods position.
In one embodiment, the order box allocation policy includes:
And determining the number of the order boxes and/or the sorting times required by the current order set according to the data of the current ex-warehouse order set and the principle that the single order box corresponds to the unique order, wherein the data of the current order set at least comprises the SKU and the number required by each order.
And determining a second cargo space from the order box storage areas of the shelves corresponding to the designated multiple lanes according to the required order box number and/or sorting times and the target of robot flow balance of each lane in the designated multiple lanes.
In an embodiment, according to the number of required order boxes and/or sorting times, according to the goal of balancing the robot flow of each lane in the designated multiple lanes, in the step of determining the second cargo space from the order box storage areas of the shelves corresponding to the designated multiple lanes, the order boxes corresponding to the same SKU are not present on the same shelf layer of the same lane.
In an embodiment, according to the required number of order boxes and/or sorting times, determining the second cargo space from the order box storage area of the shelf corresponding to the designated plurality of lanes according to the target of robot flow equalization of each lane of the designated plurality of lanes includes:
And according to the number of the required order boxes and/or sorting times, combining the current task quantity allocated to each roadway, and determining a second cargo space from the order box storage areas of the shelves corresponding to the specified multiple roadways according to the targets of robot flow balance of the specified multiple roadways.
In an embodiment, the cargo sorting method may further include:
and sending a third dispatching instruction to the third robot so that the third robot conveys the order boxes meeting the preset conditions in the order box storage area to the goods collection position of the goods collection area for goods collection according to the third dispatching instruction, so as to release the goods position of the order box storage area.
In an embodiment, the cargo sorting method may further include:
and sending a fourth dispatching instruction to the fourth robot so that the fourth robot supplements the empty order boxes to the released goods spaces in the order box storage area according to the order box distribution strategy according to the fourth dispatching instruction.
In one embodiment, the triggering condition of the third scheduling instruction includes:
the goods space of the order box storage area is occupied, and the order boxes on the goods space of the order box storage area cannot meet the loading requirements of all order boxes in a single wave or a single day.
In one embodiment, the sorting robot may transport the sorted goods or the target order boxes with the sorted goods to the second place by climbing the shelves, and/or
The transfer robot reaches the first goods space by climbing the goods shelf and acquires the raw material box from the first goods space.
In some embodiments, after the shipping time is up, the sorting robot can directly carry the sorted order boxes to the ex-warehouse packaging workstation for rechecking and packaging, and randomly deliver the order boxes in warehouse, so that the order boxes with finished collection can be timely sent after a plurality of orders of customers are collected to the same order box.
In conclusion, through the cooperation of the server and the sorting robot and the carrying robot, the processing flows of sorting, delivering and the like of cargoes under the single scene can be realized, and compared with the manual processing scheme under the single scene, the processing task of the cargoes under the single scene can be more conveniently and efficiently completed, and the high-timeliness delivery requirement under the single scene can be more satisfied.
In the returning scene, the processing process of the goods in the warehouse system not only comprises the processes of warehousing, sorting, collecting goods, delivering goods and the like, but also relates to a goods returning scheme, wherein the returned goods returned to the warehouse are required to be subjected to a series of processing and then warehoused again, and then the goods processing process before resale is carried out.
Referring to fig. 16, an embodiment of the present application provides a method for processing returned goods, which is executed by a server, and specifically includes:
s1210, determining a target cargo position of a raw material box for storing the goods to be returned according to the goods information of the goods to be returned.
S1220, the scheduling and carrying robot operates to a workstation to acquire goods to be returned to the warehouse, and the goods to be returned to the warehouse are transported to a target goods place, wherein the goods to be returned to the warehouse are goods processed by the goods returned to the warehouse.
It should be noted that, the goods to be put in storage and returned are the goods sent into the warehouse in the SKU unit, that is, the goods to be put in storage and returned are SKUs of one piece.
It is understood that the cargo information may include information such as the identity of the cargo, the type of cargo, etc. of the returned cargo to be warehoused. In practical application, the label on the goods to be put in storage and returned can be scanned by the scanning equipment so as to upload the goods information of the goods to be put in storage and returned to the server.
The stock boxes for storing the current goods to be put in storage and returned can be determined through the goods information. In practical application, the material box can be allocated to the goods to be put in storage for returning according to the goods information, for example, the material box can be allocated to the goods according to the goods category in the goods information, and further the target goods position corresponding to the material box can be further determined.
In a specific implementation, the goods to be put in storage are goods after the goods returning treatment, and the goods returning treatment can be a series of treatments such as quality inspection, label replacement, ironing, stacking, cleaning and the like.
Through the cooperation of server and transfer robot, can realize the accurate processing to the goods of returning goods, this processing procedure compares in manual processing mode, labour saving and time saving more, can be more convenient and efficient realization to the processing of goods of returning.
In one embodiment, determining a target cargo space for storing a raw material box of the to-be-stocked return cargo according to cargo information of the to-be-stocked return cargo includes:
Judging whether an existing raw material box matched with the goods information exists or not according to the goods information of the goods to be put in storage for returning.
If the existing raw material box exists and the existing raw material box has a storage space, the goods position of the existing raw material box is determined to be a target goods position of the raw material box for storing goods to be put in storage for return.
If the existing raw material boxes are not present, or if the existing raw material boxes are present but the existing raw material boxes have no storage space, a new raw material box is allocated to the goods to be put in storage for return, and the goods position corresponding to the new raw material box is determined to be the target goods position of the raw material box for storing the goods to be put in storage for return.
It can be understood that, determining the raw material box link can firstly determine whether there is an existing raw material box matched with the cargo information of the current to-be-put returned cargo and whether the existing raw material box has a storage space, and determining the target cargo position corresponding to the raw material box based on the determination results of the two determination links that the to-be-put returned cargo is matched with the raw material box.
Through the flow, the server can be utilized to realize the recommendation function of the target goods space, and favorable conditions are provided for accurately and efficiently warehousing goods returned.
In an embodiment, in the absence of an existing tote or in the presence of an existing tote but no storage space, the dispatch transfer robot transfers the to-be-warehoused return cargo to the target cargo space, comprising:
Dispatch transfer robot to transfer the goods to be put in storage to the target goods location for unloading to the new raw material box at the target goods location, or
The dispatching and carrying robot carries the new raw material boxes with the goods to be put in storage and returned to the target goods position.
It will be appreciated that if there is no existing stock box, or there is an existing stock box but there is no storage space for the existing stock box, there are two situations in which it is necessary to allocate a new stock box for the goods to be returned to the warehouse, during the warehouse entry link:
In one case, a new raw material box is placed at a target cargo space, and then the transfer robot is dispatched to transfer the to-be-put returned cargo to the target cargo space, and the to-be-put returned cargo is unloaded into a new order box at the target cargo space.
In another case, the transfer robot may be scheduled to transfer the new raw material box to the workstation, load the to-be-put return goods into the new raw material box at the workstation, and then transfer the new raw material box loaded with the to-be-put return goods to the target goods location.
The two situations can realize the warehousing flow of the goods to be warehoused and the warehousing process of the goods to be warehoused by the dispatching and carrying robot, and compared with the manual warehousing flow, the warehousing process of the goods to be warehoused is more efficient and more convenient.
In one embodiment, a dispatch transfer robot transfers a new tote containing return cargo to be warehoused to a target cargo space, comprising:
and determining a target cargo space according to the cargo box warehousing strategy so as to convey a new cargo box filled with the cargo to be warehoused and returned to the target cargo space.
Wherein, confirm the target goods position according to the raw materials case warehouse entry tactics, include:
According to the number of the stock boxes of various goods to be put in storage in each lane, according to the targets of the stock boxes corresponding to various goods to be put in storage in uniform distribution in each lane, determining the target cargo positions corresponding to the new stock boxes, or
According to the current stock data and the historical sales heat data of various goods to be put in storage and returned, determining the target goods position corresponding to the new raw material box according to the target of the goods to be put in storage and returned with higher heat in the lower layer of the goods shelf, or
According to current inventory data, the number of storage boxes of various goods to be stored and returned in each roadway and historical sales heat data of various goods to be stored and returned, determining a target cargo position corresponding to a new raw material box according to the targets that raw material boxes corresponding to various goods to be stored and returned are uniformly distributed in each roadway and the goods to be stored and returned with higher heat are placed in the lower layer of a goods shelf.
In one embodiment, the workstation is a return processing workstation for performing a return processing on a to-be-processed return cargo in the return package to become a to-be-stocked return cargo.
It will be appreciated that the return goods are typically delivered to the return warehouse in the form of packages, which are typically mixed with a plurality of return goods to be processed. In practical application, the package to be returned can be transported to a station for processing the returned goods, such as quality inspection, label replacement, ironing, stacking and cleaning, and the like, and the package to be returned is obtained after the process of returning goods, and at this time, the package to be returned usually exists in a SKU form.
In the return scenario, fig. 17 exemplarily shows a regional layout of a warehouse with a return function, and referring to fig. 17, a return receiving area 71 and a return processing workstation 72 are disposed in a return area of the warehouse, and the return warehouse further includes a storage area 13, a sorting workstation 14, a collecting area 15 and a delivery packaging workstation 16, in accordance with the above-described warehouse layout.
The return receiving area 71 is used for receiving return packages returned by stores or customers, and may also perform a process of warehousing the return packages, such as verifying and recording the goods information of the return packages in the warehouse.
The return processing workstation 72 is used for carrying out return processing on to-be-processed return cargos in return packages, and in practical application, the return processing workstation 72 is provided with return processing equipment. Such as cleaning and ironing machines, etc., can perform a series of treatments such as quality inspection, label replacement, ironing, stacking, cleaning, etc. of returned goods to be treated.
The storage area 13 is used for storing goods entering the return warehouse. For example, the storage area 33 can store goods to be put in storage and returned, and the storage area 13 can be provided with one or more shelves, so that the goods can be stored in a three-dimensional manner, and the occupied area is reduced.
The sorting station 14 is used to sort and sort goods.
The collection area 15 is used to collect the designated order boxes containing the sorted goods.
The ex-warehouse packaging workstation 16 is used for temporarily storing the order boxes to be ex-warehouse, and directly sending the order boxes after the ex-warehouse conditions are met.
In addition, fig. 17 also shows a warehouse entry temporary storage area 11 and a warehouse entry replenishment work station 12, and after the goods from the suppliers are inspected in the warehouse entry temporary storage area 11 and are replaced, the goods can be transported to the warehouse entry replenishment work station 12 for storage in whole boxes.
In one embodiment, the to-be-returned goods are to-be-returned goods formed by directly conveying to the to-be-returned processing workstation from the to-be-returned receiving area to be returned for processing.
In this embodiment, referring to fig. 18, in the side-by-side mode, the return package is directly transported from the return receiving area 71 to the return processing workstation 72, and after the return processing is performed at the return workstation 72, the obtained return package to be put in storage is transported to the target goods location in the stock area 13 by the transfer robot for storage, and the whole process can be simplified into the process of putting in storage while sorting.
In the side-sorting and side-entering mode, the returned packages are directly returned to be processed and put in storage, so that the whole processing process of returned goods is more efficient, no extra site is occupied, and the requirement on the site area is lower.
In an embodiment, before the transfer robot is scheduled to run to the workstation to obtain the goods to be put in storage for return, the method may further include:
The dispatching and carrying robot obtains a to-be-returned goods processing bin and carries the to-be-returned goods processing bin to a caching goods position in an inventory area for caching, wherein the to-be-returned goods processing bin is a bin for storing to-be-processed returned goods, and the to-be-processed returned goods are goods which are not returned after the goods in the returned package are subjected to box changing.
The dispatch transfer robot transfers the to-be-returned goods handling bin from the cache goods position to the to-be-returned goods handling workstation so as to carry out the to-be-handled to-be-returned goods handling in the to-be-returned goods handling bin.
In this embodiment, referring to fig. 19, in the first-in-last-out mode, after receiving the return package, the return package may be first changed in the return receiving area 71, and specifically, the to-be-processed return package in the return package may be mixed and loaded into the to-be-returned processing bin. At this time, the goods in the goods to be returned processing bin are not returned processing and sorting. The server then dispatches the transfer robot to take the bin to be returned to the buffer location in the inventory zone 13 for buffering.
The transfer robot may then be dispatched to remove the load lock from the buffer location and transport it to the load handling workstation 72 for load handling. In this process, the server may locate the to-be-returned processing bins cached in the same batch, and convey the to-be-returned processing bins of the same batch to the return processing workstation 72, where the to-be-returned goods obtained by the return processing are conveyed to the target goods location in the stock area 13 by the transfer robot, so as to complete the processing task of the returned goods.
In the first-in and last-out mode, the goods to be processed in the returned package can be directly put in storage and cached without being returned to the goods processing and sorting, so that the returned goods can be quickly returned to the shelf, a returned temporary storage place is saved, and the requirement on the place is reduced. Meanwhile, the subsequent goods returning processing process can be completed timely according to actual conditions, the goods processing pressure of the goods returning processing workstation 72 can be relieved to a certain extent, and the problem that the goods returning processing progress is affected by the pressure of goods to be processed in the goods returning processing workstation is avoided.
In an embodiment, the workstation is a sorting workstation, and before the transfer robot is scheduled to run to the workstation to obtain the returned goods to be put in storage, the method further comprises:
The dispatch transfer robot transfers the warehouse-in return good from the inventory area to the sorting workstation.
In this embodiment, the goods to be put in storage and returned in the stock area are stored in the material box in a mixed manner, and after the mixed goods to be put in storage and returned are sorted in the sorting workstation, they are re-boxed in a single SKU manner, so that the goods to be put in storage and returned in the target goods space can be directly sorted and sorted before the order box is boxed.
In one embodiment, before the dispatch transfer robot transfers the to-be-stocked return cargo from the inventory area to the sorting workstation, further comprising:
and the dispatching and carrying robot carries the goods to be put in storage and returned to the stock area for caching after the goods are returned to the goods returning processing workstation.
In this embodiment, referring to fig. 20, after the return receiving area 71 receives the return package, the to-be-processed return goods in the return package can be directly transported to the return processing workstation 72, the to-be-warehouse return goods are obtained after the return processing, the to-be-warehouse return goods are mixed and loaded into the bin, and the transfer robot is scheduled to transport the to-be-warehouse return goods to the buffer goods position in the inventory area 13 for buffering, at this time, the return goods are stored in the SKU bin.
In order to facilitate the picking of the returned goods, the transfer robot can be scheduled to transfer the returned goods to be put in storage stored in the buffer goods space from the stock area to the sorting work station 14, the mixed returned goods to be put in storage are sorted in the sorting work station 14, the raw material boxes are reassigned in a single SKU single box storage mode, and the returned goods to be put in storage are transferred to the target goods space in the stock area 13 through the transfer robot, so that the processing task of the returned goods is completed.
In the first-order and last-order mode, the goods to be processed in the goods returning package can be returned first and then mixed into the box for storage and caching, the goods returning package can be quickly put on shelf more efficiently, the problem that the backlog of the goods returning package influences the normal operation of a warehouse is avoided, the goods to be stored in the mixed box for storage and the goods returning in the box for storage are sorted and then stored again, and the goods to be stored and returned in the storage can be timely conveyed to the sorting workstation according to the workload condition of the sorting workstation, so that the normal operation of the sorting workstation can be guaranteed.
In one embodiment, the transfer robot transfers the returned goods to be put in storage to the target goods location by climbing the shelf.
In one embodiment, after transporting the return good to be warehoused to the target cargo space, further comprising:
A dispatch transfer robot for transferring the raw material boxes from the first cargo space to the sorting work station, and
The sorting robot is dispatched to the sorting workstation so that the goods to be sorted in the raw material boxes on the transfer robot can be sorted to the sorting robot as the sorted goods, and the sorted goods or the target order boxes filled with the sorted goods are transferred from the sorting workstation to the second goods location.
Wherein the goods to be sorted are the goods after the goods to be put in storage and returned to the target goods place.
It can be understood that after some goods returned are put in storage after the goods returned are processed, the goods can be sold again later, and in the process of selling again, the goods to be sorted stored in the target goods space are sorted according to the order information and then are put into the target order box.
It should be noted that, the above-mentioned transfer robots for performing different transfer tasks may be the same transfer robot, may be different transfer robots, or may partially perform different transfer tasks, and may be the same robot, which may be reasonably set according to actual cargo transfer requirements.
In an embodiment, before the dispatch sorting robot reaches the sorting workstation, further comprising:
a corresponding second cargo space is determined for each of the plurality of empty order boxes of the current set of outgoing orders according to the order box allocation policy.
The sixth robot is dispatched to retrieve the target empty order box from the designated box pick location and to transfer the target empty order box to the corresponding second cargo space.
In one embodiment, the order box allocation policy includes:
And determining the number of the order boxes and/or the sorting times required by the current ex-warehouse order set according to the data of the current ex-warehouse order set and the principle that the single order box corresponds to the unique order, wherein the data of the current ex-warehouse order set at least comprises the SKU and the number required by each order.
And determining a second cargo space from the order box storage areas of the shelves corresponding to the designated multiple lanes according to the required order box number and/or sorting times and the target of robot flow balance of each lane in the designated multiple lanes.
In an embodiment, the method for delivering the goods in the return scenario may further include:
And dispatching the third robot to convey the order boxes meeting the preset conditions in the order box storage area to a goods collection position of the goods collection area for goods collection according to a goods collection strategy so as to release the goods position of the order box storage area.
In an embodiment, the method for processing returned goods in the returned goods scenario may further include:
And scheduling the fourth robot to fill empty order boxes into the released goods spaces in the order box storage area according to the order box distribution strategy.
In a return scenario, an embodiment of the present application further provides a return cargo handling method, which is performed by a warehousing robot, referring to fig. 21, and includes:
S1310, receiving a dispatching instruction, wherein the dispatching instruction comprises a goods taking position and a target position, the goods taking position comprises a work station, and the target position comprises a target goods position determined according to goods information of goods to be put in storage for return.
S1320, running to a workstation according to the dispatching instruction to acquire goods to be returned to the warehouse, and conveying the goods to be returned to the target goods position, wherein the goods to be returned to the warehouse are goods subjected to goods returning treatment.
The method in this embodiment may be the above-mentioned transfer robot.
In one embodiment, the pick locations in the dispatch instructions further include cache locations for the totes to be returned, and the target locations in the dispatch instructions further include the return processing workstations.
The method may further comprise, prior to running to the workstation to retrieve the return good to be warehoused:
And conveying the to-be-returned goods processing bin from the cache goods position to a to-be-returned goods processing workstation according to the dispatching instruction so as to carry out the to-be-processed returned goods in the to-be-returned goods processing bin.
In one embodiment, the pick locations in the dispatch instructions further include a storage area and the target locations in the dispatch instructions further include a sort station.
The method may further comprise, prior to running to the workstation to retrieve the return good to be warehoused:
And conveying the goods to be put in storage to a sorting work station from the stock area according to the dispatching instruction so that the goods to be put in storage are sorted to a carrying robot at the sorting work station.
It can be understood that, the above-mentioned method embodiments in the single scenario and the method embodiments in the return scenario may refer to the specific descriptions of the corresponding features in the foregoing warehouse, warehousing system and the method embodiments in the common scenario, and will not be repeated.
The application also provides a server for the warehousing system, which comprises a memory and a processor. It will be appreciated that the server may include one or more management terminals, and/or one or more management servers.
The electronic device includes a memory and a processor.
The Processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may include various types of storage units, such as system memory, read Only Memory (ROM), and persistent storage. Wherein the ROM may store static data or instructions that are required by the processor or other modules of the computer. The persistent storage may be a readable and writable storage. The persistent storage may be a non-volatile memory device that does not lose stored instructions and data even after the computer is powered down. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the persistent storage may be a removable storage device (e.g., diskette, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as dynamic random access memory. The system memory may store instructions and data that are required by some or all of the processors at runtime.
Furthermore, the memory may comprise any combination of computer-readable storage media including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic disks, and/or optical disks may also be employed. In some embodiments, the memory may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a digital versatile disc read only (e.g., DVD-ROM, dual layer DVD-ROM), a blu-ray read only disc, an ultra-dense disc, a flash memory card (e.g., SD card, min SD card, micro-SD card, etc.), a magnetic floppy disk, and the like. The computer readable storage medium does not contain a carrier wave or an instantaneous electronic signal transmitted by wireless or wired transmission.
The memory has stored thereon executable code that, when processed by the processor, can cause the processor to perform some or all of the methods described above.
Furthermore, the method according to the application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing part or all of the steps of the above-described method of the application.
Or the application may also be embodied as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) having stored thereon executable code (or a computer program or computer instruction code) which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform some or all of the steps of the above-described method according to the application.
The foregoing description of embodiments of the application has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.