Disclosure of Invention
In view of the foregoing drawbacks and deficiencies of the prior art, the present invention provides a dual cycle zero picking system that addresses all or part of the foregoing problems.
In one aspect of the invention, there is provided a dual cycle zero-picking system comprising:
the storage goods shelf is used for storing turnover containers for bearing goods, and each turnover container corresponds to one type of goods;
The container robot is used for taking out the turnover container required by the picking workstation from the storage shelf, conveying the turnover container to the connection entrance of the corresponding picking workstation for unloading, recovering the turnover container which is not required by any order form from the connection exit, and conveying the turnover container back to the storage shelf;
the picking conveyor line comprises a first circulating conveyor line and a second circulating conveyor line, wherein the first circulating conveyor line is used for circulating and conveying the turnover container among all the picking stations and across stations;
a picking station for picking the goods in the transfer containers transferred by the picking line to the order containers in the station, and
And the second circulating conveyor line is controlled to circularly convey the turnover container in each picking workstation, and if the current picking workstation does not need a certain turnover container and other picking workstations need the turnover container, the turnover container is transferred from the current second circulating conveyor line to the first circulating conveyor line, and then the turnover container is transferred to a second circulating conveyor line corresponding to the picking workstation needing the turnover container through the first circulating conveyor line.
The first circulating conveyor line comprises a first conveyor line driven along a first direction, a second conveyor line driven along a second direction opposite to the first direction, and a steering mechanism arranged between the first conveyor line and the second conveyor line, wherein a connection port is arranged on the first conveyor line, a picking workstation is arranged on one side of the second conveyor line, the second circulating conveyor line is arranged corresponding to each picking workstation, the second circulating conveyor line comprises a third conveyor line driven along the first direction, a fourth conveyor line driven along the second direction and a steering mechanism arranged between the third conveyor line and the fourth conveyor line, the third conveyor line is a part of the first conveyor line, and the fourth conveyor line is a part of the second conveyor line.
Further, the control device is further used for taking the order with the highest item detail as the first order of the first enabled picking workstation and distributing a plurality of orders with the highest item detail overlapping degree to the same picking workstation in the distribution process of each order wave.
The control device is further used for traversing each turnover container allocated in the current picking workstation according to the order being executed by the current picking workstation to obtain the goods surplus of each product, checking the unallocated orders of the system one by one according to the priority order, allocating the unallocated orders to the current picking workstation if the goods surplus meets the requirement of a certain unallocated order, calculating the satisfaction degree of each unallocated order according to the ratio of the number of the satisfied goods to the total demand of the goods of the order if the goods surplus cannot meet the requirement of any unallocated order, and allocating the order with the highest satisfaction degree to the current picking workstation, and allocating according to the order creation time sequence if the satisfaction degree of a plurality of unallocated orders is the same.
Further, the control device is further used for acquiring storage information of a preset number of turnover containers with the closest path sequence in the order distributed by each picking workstation after the order is distributed to each enabled picking workstation, and issuing a container distribution task for conveying the preset number of turnover containers to the picking workstation to a container robot, wherein the reuse containers distributed by other picking workstations are not distributed repeatedly.
Further, the control device is further used for combining the turnover containers to be allocated in the current picking workstation and the turnover containers to be allocated in other picking workstations into a container allocation task to be issued to the container robot if the number of turnover containers to be allocated in the current picking workstation is lower than a preset threshold value.
Further, the control device is further used for controlling the picking conveying line to transfer the turnover container to a connection outlet of a corresponding picking workstation when the turnover container on the picking conveying line is no longer needed by any order, and giving an instruction for recycling the turnover container to the container robot.
Further, the system also includes a packing conveyor line for conveying the order containers to the packing area.
The picking station comprises a seeding wall and a picking station, wherein the seeding wall comprises goods places and order containers which are bound with orders, roller slide rails which are convenient to push the order containers to the packing conveying lines are arranged on each goods place, and the picking station is used for picking goods in turnover containers conveyed by the picking conveying lines to the order containers.
Further, the control device is further used for marking the order being executed as abnormal if the inventory of the turnover container required by the order being executed by the picking workstation is insufficient, and binding the container with the new order in response to the releasing operation of the operator on the container occupied container of the abnormal order.
The double-circulation zero-dismantling picking system provided by the invention realizes the following technical effects through the collaborative design of the large circulation line (crossing the workstation) and the small circulation line (inside the workstation):
(1) Hierarchical optimization resource scheduling, and global efficiency improvement
The large circulation line is responsible for the container flowing between the workstations, so that cross-station resource scheduling is realized, and the containers are globally allocated as required. The small circulation line enables containers in the workstation to meet multiplexing of orders in the workstation without bypassing the large circulation line, and the picking path is shortened. In addition, emergency orders can be processed by the small circulation line in a priority mode, regular orders can be scheduled by the large circulation line in a global mode, and order allocation efficiency is greatly improved.
(2) The invalid transportation is reduced, and the energy consumption of the system is reduced
According to the invention, only the necessary containers are dispatched to the target working stations through a dynamic distribution algorithm, the containers with the same path sequence are intensively dispatched, and scattered containers of a plurality of working stations are combined and dispatched, so that the defect that the traditional closed-loop conveying line forcedly bypasses is avoided, the invalid conveying distance of the containers on the conveying line is reduced, the invalid path of a robot is shortened, and the energy consumption of a system is reduced.
(3) Enhancing system resilience and fault tolerance
If a certain workstation fails, the large circulation line can quickly bypass the container to other available workstations, so that global fault tolerance is realized. And for a container released by the abnormal order in the workstation, other order allocation can be timely participated through a small circulation line, and the freezing time of the abnormal order resource is greatly shortened. Therefore, the large circulation line is responsible for cross-station resource scheduling compensation, and the small circulation line realizes quick recovery of local resources, so that dual fault-tolerant guarantee is formed.
(4) Supporting high concurrency order processing
The large circulation line enables the system to dynamically distribute containers according to the load of each work station, and uneven load of the work stations in the traditional scheme is avoided. Each workstation independently processes local orders through a small loop line, and cross-station coordination waiting time is reduced.
(5) Reducing hardware modification cost
The large-small circulation line framework can be modified on the basis of the existing fixed closed-loop conveying line, the large circulation line is only connected with a trunk node, the small circulation line is deployed by utilizing the existing space of a workstation, and large-scale hardware modification is not needed. When a workstation is newly added, only a large circulation line is needed to be accessed and an independent small circulation line is needed to be configured, and a global conveying network is not needed to be reconstructed.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this embodiment of the invention, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that although the terms first, second, third, etc. may be used in embodiments of the present invention to describe the acquisition modules, these acquisition modules should not be limited to these terms. These terms are only used to distinguish the acquisition modules from each other.
The term "if" as used herein may be interpreted as "at" or "when" depending on the context "or" in response to a determination "or" in response to a detection. Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
It should be noted that, the terms "upper", "lower", "left", "right", and the like in the embodiments of the present invention are described in terms of the angles shown in the drawings, and should not be construed as limiting the embodiments of the present invention. In addition, in the context, it will also be understood that when an element is referred to as being formed "on" or "under" another element, it can be directly formed "on" or "under" the other element or be indirectly formed "on" or "under" the other element through intervening elements.
The picking is a core link of the whole warehousing operation, and the operation cost and efficiency of the whole logistics distribution center are directly determined by the picking efficiency, and even the service capacity and the service level of the whole supply chain are influenced. Among them, the zero-dismantling and sorting are particularly important, and the operation cost is highest, the manpower consumption is greatest, and the time occupation is most. Along with the promotion of various new retail modes, the rapid development of electronic commerce and the integration of online and offline all-channel modes of book enterprises, massive personalized demands are realized, fragmented orders are continuously updated, the proportion of zero removal and sorting operations is improved more remarkably, and basically, more than 90% of all varieties are zero removal tasks. The zero-dismantling picking technology not only relates to the picking action, but also synchronously considers a series of complex processes of warehousing, replenishment, carrying, conveying, packaging and the like. It is because of the critical and high complexity of zero picking systems that a wide variety of zero picking solutions are derived. In order to overcome the technical problems mentioned in the background art, the application provides a double-circulation zero-dismantling picking system and a picking method adapting to the picking system, and the specific structure and function of the system are described and illustrated in detail below.
Referring to fig. 1, the double cycle zero picking system 100 of the present embodiment includes warehouse racks 110, a container robot 120, a picking conveyor line 130, a picking workstation 140, and a control device.
The specific components of the system are described in detail below in conjunction with fig. 2:
1. Storage goods shelf
The storage racks 110 are typically disposed in storage areas for storing transfer containers 111 carrying goods, one for each transfer container 111. The warehouse shelf 110 is arranged to maximize the storage space, and to facilitate the dynamic hierarchical management of the warehouse and optimize the warehouse structure. For example, the goods stored in the storage area are classified according to the size of the goods delivered for a certain period of time, for example, the goods with the front delivery amount are still expected to have higher delivery amount in the next stage, the goods are classified into a class-A goods, or the goods with the normal high delivery amount are classified into a class-A goods, the goods with the moderate delivery amount are classified into a class-B goods, the goods with the lower delivery amount are classified into a class-C goods, the stock of the goods is placed on storage positions (or optimal positions) with different distances from the picking workstation according to the ABC grade, for example, the container of the class-A goods is placed on the storage position closest to the picking workstation, so as to reduce the picking path of the container robot.
As an alternative implementation, the storage shelf 110 adopts a customized design, the shelf height is 5.1 meters, the total number of layers is 13, the whole structure adopts a detachable structure, and the whole structure is divided into a shelf upright post and a beam structure which are respectively fixed by adopting a buckle type, so that the stability of the shelf is improved. The storage mode is a double-deep storage rack design, dense storage is realized by one-to-one binding of the two-dimensional codes of the storage position, the two-dimensional codes of the container and the unique codes of the goods, the storage density is 1.5 times of that of the single-deep storage, and the effective storage area is utilized to the maximum extent.
2. Container robot
The container robot 120 is used to remove the transfer containers 111 required for the picking stations 140 from the storage racks 110, transport the transfer containers 111 to the docking entrances 134 of the respective picking stations 140 for unloading, retrieve transfer containers 111 not required for any orders from the docking exits 135, and transport back to the storage racks 110. The cargo box robot 120 of this embodiment is matched with the storage shelf 110, preferably adopts a double-depth robot, can realize double-depth cargo box inventory and pickup, promotes the overall inventory density, and the cargo box robot 120 can automatically judge the depth distance of the cargo space, and the navigation mode preferably adopts inertial navigation and two-dimensional code visual navigation.
3. Picking conveying line
The architecture of the pick delivery line 130 is the core inventive point of this embodiment. The picking transfer lines 130 include a first circulation transfer line 131 for circulating transfer of the transfer containers 111 across the stations between all of the picking stations 140 and all of the ports 133, and a second circulation transfer line 132 for circulating transfer of the transfer containers 111 within the stations between one of the picking stations 140 and the respective port 133. The first circulation conveyor line 131 is also called a large circulation line, and is responsible for the container flowing between picking workstations 140, so that cross-station resource scheduling is realized, and containers are globally allocated as required. The second endless conveyor line 132, also referred to as a small endless line, allows containers within the workstation to meet the reuse of orders within the workstation without bypassing the large endless line, shortening the picking path. In addition, emergency orders can be processed by the small circulation line in a priority mode, regular orders can be scheduled by the large circulation line in a global mode, and order allocation efficiency is greatly improved.
As an alternative embodiment, the first circulation conveyor line 131 includes a first conveyor line 1311 driven in a first direction, a second conveyor line 1312 driven in a second direction opposite the first direction, and a steering mechanism 1313 located between the first conveyor line 1311 and the second conveyor line 1312. Wherein, be provided with the connection port 133 on the first transfer chain 1311, one side of second transfer chain 1312 is provided with picking workstation 140. A second endless conveyor line 132 is provided for each picking station 140, the second endless conveyor line 132 comprising a third conveyor line 1314 driven in said first direction, a fourth conveyor line 1315 driven in said second direction and a steering mechanism 1316 located between the third conveyor line 1314 and the fourth conveyor line 1315, wherein the third conveyor line 1314 is part of the first conveyor line 1311 and the fourth conveyor line 1315 is part of the second conveyor line 1312. The large-small circulating line framework can be modified on the basis of the existing fixed closed-loop conveying line, the large circulating line is only connected with a main node, the small circulating line is deployed by utilizing the existing space of a workstation, and large-scale hardware modification is not needed. When a workstation is newly added, only a large circulation line is needed to be accessed and an independent small circulation line is needed to be configured, and a global conveying network is not needed to be reconstructed.
Still further, the picking conveyor line 130 includes a double-deck conveyor line structure of picking lines and empty box lines, and the conveyor line may be formed as a circulation line by conveyor belts, roller conveyors, 90-degree and 180-degree curved conveyor, steering mechanisms, transplanting mechanisms, parking mechanisms, etc. Wherein the transfer containers 111 are located on a picking line, empty transfer containers 111 may be transported centrally to the recovery mechanism on the empty line by an operator at the picking station 140. In addition, the system includes a bagging conveyor line 160 for conveying the order containers of the seed wall to a bagging area, the bagging conveyor line 160 for receiving the picked order containers and thus is typically disposed on one side of the seed wall.
4. Picking workstation
The picking workstation 140 is used to pick the goods in the transfer containers 111 conveyed by the picking conveyor line 130 to the order containers within the station. Wherein picking workstation 140 comprises a number of picking stations 1401 and a number of sowing walls 1402. A pick station 1401 is used to pick the goods in the transfer containers 111 conveyed by the pick transfer lines 130 to the order containers. The seeding wall 1402 includes cargo spaces (also referred to as seeding wall apertures) that bind with the order and order containers, with roller tracks provided on each cargo space that facilitate pushing the order containers to the packing conveyor line 160. The picking station 140 of this embodiment is specifically designed for a warehouse, and each picking station has 3 layers, 1.16 meters at most, and the table top is antistatic, and the picking station is equipped with a computer and a wireless scanning gun. The total height of each sowing wall is 1.5 meters, the sowing wall is suitable for manual operation height, the total number of layers is 2, 6 allocation positions are designed, and each layer is provided with a roller sliding rail. The seeding wall is also provided with an electronic tag for prompting the current picking position. Each picking station 140 is preferably provided with two sets of sowing walls, which can pick 12 orders simultaneously.
5. Control device
The double-circulation zero-dismantling picking system 100 of the embodiment realizes WCS dispatching, RCS remote control and system monitoring of various automatic and intelligent equipment through a control device, a communication system, a sensor, a middle platform system and a WMS warehouse management system so as to update the goods storage of a picking area in time, reasonably adjust the layout of a warehouse structure and complete the picking operation of orders by a quick and accurate container allocation robot.
Specifically, the control device is configured to assign a task and a task of recycling containers to the container robot 120, control the second circulation conveyor line 132 to circulate and convey the circulation container 111 in each picking station 140, and transfer the circulation container 111 from the current second circulation conveyor line 132 to the first circulation conveyor line 131 if the current picking station 140 no longer needs a circulation container 111 and other picking stations 140 need the circulation container 111, and then transfer the circulation container 111 to the second circulation conveyor line 132 corresponding to the picking station 140 that needs the circulation container through the first circulation conveyor line 131. The control mode of the embodiment ensures that the large circulation line is responsible for the container flowing among the workstations, cross-station resource scheduling is realized, the containers are globally allocated according to the needs, and order stagnation caused by insufficient inventory of a single workstation is avoided.
Further, the control device is further configured to take the order with the most item detail as the first order of the first enabled picking workstation 140, and allocate a plurality of orders with the highest item detail overlapping ratio to the same picking workstation 140 in the allocation process of each order wave.
The control mode is adopted because the first order of the first enabled picking workstation selects the order with the most detailed goods, the priority processing can release the container resources as soon as possible because the orders with the more goods types need more container support, the matching difficulty of other orders can be reduced by consuming high-frequency goods in advance, the efficiency of the first order processing is maximized, the complexity of subsequent order allocation is reduced, and secondly, the highest degree of coincidence of the goods of different orders means that a plurality of orders in each picking workstation can multiplex the turnover containers of the same goods, the higher the multiplexing degree of containers in the stations is, the more the time of cross-station coordination waiting can be effectively reduced, the time of a container robot for transporting new containers from a storage shelf is saved, and the order picking efficiency is higher.
Further, the control device is further configured to traverse each of the turnover containers 111 allocated in the current picking workstation 140 according to the order being executed by the current picking workstation 140, calculate a remaining amount of the goods of each item, that is, a remaining amount of the goods of each turnover container 111, check the unallocated orders of the system, such as an urgent order, an aging order, and the like, one by one according to a priority order, allocate the unallocated orders to the current picking workstation 140 if the remaining amount of the goods meets a requirement of a certain unallocated order, that is, a required amount of the goods of the order is less than or equal to the remaining amount of each of the goods, calculate a satisfaction degree of each unallocated order according to a ratio of the number of the goods that is satisfied to a total required amount of the goods of the order if the remaining amount of the goods cannot meet the requirement of any unallocated order, allocate the order to the current picking workstation 140, and allocate the order with the highest satisfaction degree to the order according to a sequential order of creation time if the satisfaction degree of the unallocated orders is the same.
The control mode is adopted because firstly, the allocation of orders adopts complete matching priority, so that the cooperation complexity of multiple work stations can be reduced, the secondary dispatching of goods is avoided, and secondly, the resource utilization rate can be maximized by adopting a satisfaction suboptimal strategy, and the whole work station stagnation and the order backlog caused by partial goods shortage are prevented. Thus, the follow-up orders can be continuously distributed on the small circulation conveying line of each picking workstation, and even if the current circulating container on the small circulation conveying line is insufficient in inventory, the workstation can be made to pick in advance, and the container robot can supplement containers for the picking workstation subsequently.
Further, the control device is further configured to mark the number of the current picking workstation for the successfully allocated order, designate the execution position number of the order on the seeding wall 1402, update the system database, and lock the inventory of the cargo types of the corresponding containers.
By the control mode, the sorting paths can be traced, dislocation of containers is avoided, and the inventory is locked to prevent other sorting workstations from being repeatedly distributed.
Further, the control device is further configured to obtain, after an order is allocated to each enabled picking station 140, storage information of a predetermined number of containers 111 with paths closest to each other in the order allocated by each picking station 140, and assign a container allocation task to the container robot to transfer the predetermined number of containers 111 to the picking station 140, where the multiplexed containers already allocated by other picking stations 140 are not allocated repeatedly.
The control mode is adopted because firstly, the container robot is controlled to carry containers according to the task package sequence, the containers with the paths closest to each other (the most forward path) are preferentially transported, the containers with the paths consistent with each other can be intensively scheduled, invalid paths of the robot are shortened, the transport time is saved, and the energy consumption of the robot is reduced.
Further, the control device is further configured to combine the to-be-allocated transfer containers 111 (e.g. 4 containers) of the current picking station 140 with the to-be-allocated transfer containers 111 (e.g. 6 containers) of other picking stations 140 into one container allocation task (e.g. allocation task of 10 containers) for the container robot 120 if the number of to-be-allocated transfer containers 111 in the current picking station 140 is below a preset threshold, for example below 5 containers.
The control mode is adopted because the carrying capacity of the robot can be fully utilized by combining the container distribution tasks, so that the multiple carrying tasks of a plurality of workstations are combined and completed once again, the carrying times of the container robot are reduced, the carrying time is saved, and the energy consumption of the system is reduced.
Further, the control device is further configured to control the picking line 130 to transfer the transfer container 111 to the docking outlet of the corresponding picking station 140 when the transfer container 111 on the picking line 130 is no longer required by any one order, and to issue an instruction to the container robot 120 to retrieve the transfer container 111.
The reason for adopting the control mode is that when the turnover container is no longer needed by the orders of any work station, the whole order currently being executed on the conveying line does not need the goods of the turnover container, and the space of the conveying line is not occupied if the turnover container is not recovered. Therefore, the space of the conveying line can be released by recycling the turnover container, the situation that the invalid container occupies a logistics channel is avoided, the turnover rate of the inventory position can be improved, and the demand of a new order is supported.
Further, the control device is also used for marking the order being executed as abnormal if the inventory of the turnover container 111 required by the order being executed by the picking workstation 140 is insufficient, and binding the container with the new order in response to the releasing operation of the operator on the container occupied container of the abnormal order.
The reason for adopting the control mode is that the binding of the order and the picking workstation is realized by binding the order with the goods space number of the sowing wall in the workstation and the goods box number of the order. When the inventory of an order being executed is insufficient, the space on the seeding wall is always occupied by the order that cannot be completed without releasing the order, which results in a new order being bound to the space on the seeding wall, resulting in limited processing capacity of the workstation. Therefore, the invention carries out the release operation of the goods space on the abnormal orders with insufficient inventory, and immediately binds new orders, thereby greatly improving the processing efficiency of the picking workstation. The release operation of the abnormal order occupying the goods space is preferably that a worker directly pushes an unfinished order container onto a packing conveying line, and conveys the unfinished order container to a packing area to pack a part of finished order, so that the abnormal order occupies the goods space, and then the abnormal order is delivered in advance, and the abnormal order is restocked when inventory is full.
The double-circulation zero-dismantling picking system provided by the embodiment can be used for optimizing resource scheduling in a layered manner, improving global efficiency, reducing invalid handling, reducing system energy consumption, enhancing system elasticity and fault tolerance, supporting high concurrency order processing and reducing hardware transformation cost.
Referring to fig. 3, the picking process of the double cycle zero picking system is described in further detail below. The step sequence number is only used for distinguishing each step, and is not used for specially limiting the sequence of the steps, and the execution sequence of the following steps can be adjusted according to the actual situation of the site.
Step S101, taking an order with the highest item detail as a first order of a first enabled picking workstation during initial order allocation, and allocating a plurality of orders with the highest item detail overlapping ratio to the same picking workstation in the allocation process of order frequency;
step S102, in response to the selection operation of distributing orders to the system by staff of a picking workstation, binding the orders with the goods space of the sowing wall and the order container;
Step S103, obtaining storage information of a preset number of turnover containers with the closest path sequence in the current order of each picking workstation, and issuing a container allocation task for carrying the preset number of turnover containers to the picking workstation to a container robot, wherein the multiplexing containers which are already allocated to other picking workstations are not repeatedly allocated;
Step S105, in response to a command of a cargo box allocation task issued by the system, a cargo box robot conveys a preset number of turnover cargo boxes to a connection entrance of a picking conveying line and discharges the turnover cargo boxes, and a first circulating conveying line conveys the turnover cargo boxes to a second circulating conveying line of a corresponding picking workstation;
Step S106, if the picking workstation is executing the picking task, the allocated turnover container is circulated and waited on the second circulation conveying line, if the picking workstation is not executing the picking task, the allocated turnover container enters the picking platform of the picking workstation;
step S107, the staff scans the inbound container, determines the sort and the quantity of picking, picks the goods in the turnover container into the order container of the corresponding goods place of the sowing wall, pushes the completed order container to the packing conveyor line if the order is completed, clicks the box change if the order is not completed and the current order container is full, pushes the full order container to the packing conveyor line, binds the next empty order container with the goods place, continues picking the goods, and continues picking the goods in the next turnover container if the order is not completed, the current order container is not full and the current turnover container is empty;
Step S108, controlling a second circulation conveyor line to circularly convey a turnover container in each picking workstation, if a certain turnover container is not needed by the current picking workstation and is needed by other picking workstations, transferring the turnover container from the current second circulation conveyor line to the first circulation conveyor line, and then transferring the turnover container to a second circulation conveyor line corresponding to the picking workstation needing the turnover container through the first circulation conveyor line;
Step S109, continuous order allocation is carried out in the picking process, each turnover container allocated in the current picking workstation is traversed according to the order being executed by the current picking workstation, the goods residual quantity of each product is calculated, the unallocated orders of the system are checked one by one according to the order of priority, if the goods residual quantity meets the requirement of a certain unallocated order, the unallocated orders are allocated to the current picking workstation, if the goods residual quantity can not meet the requirement of any unallocated order, the satisfaction degree of each unallocated order is calculated according to the ratio of the number of the satisfied goods to the total demand of the goods of the order, the order with the highest satisfaction degree is allocated to the current picking workstation, and if the satisfaction degree of a plurality of unallocated orders is the same, the allocation is carried out according to the order creation time sequence;
Step S109, when the turnover container on the picking conveying line is no longer needed by any order, controlling the picking conveying line to transfer the turnover container to a connection outlet of a corresponding picking workstation, and sending an instruction for recycling the turnover container to the container robot;
Step S110, if the inventory of the turnover container required by the order being executed by the picking workstation is insufficient, marking the order being executed as abnormal;
And S111, conveying the order container to a rechecking and packaging area by a packaging conveying line, and carrying out centralized delivery after packaging.
The foregoing description is only of the preferred embodiments of the invention. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in the present invention is not limited to the specific combinations of technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the spirit of the disclosure. Such as the above-mentioned features and the technical features disclosed in the present invention (but not limited to) having similar functions are replaced with each other.