CN109987369A - The scheduling system and method for storage article - Google Patents
The scheduling system and method for storage article Download PDFInfo
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- CN109987369A CN109987369A CN201910375723.2A CN201910375723A CN109987369A CN 109987369 A CN109987369 A CN 109987369A CN 201910375723 A CN201910375723 A CN 201910375723A CN 109987369 A CN109987369 A CN 109987369A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The embodiment of the invention discloses a kind of scheduling system and methods of article of storing in a warehouse.The system include: include: control module, for generating the first dispatch command that target item container is moved to buffer zone from current location；Robot, for moving target item container to buffer zone；Storting apparatus, for got in stocks to target item container and/or picking operation；Control module is also used to generate the second dispatch command that the target item container after operation is moved to target position；Robot, for moving target item container to target position；Target item container is provided with buckle, for being clamped in storage region with adjacent article container, to form the stacking for the stack manner being clamped between article container.The working efficiency of logistic storage can be improved in the technical solution of the embodiment of the present invention, and the labour cost of logistic storage is reduced without manual sorting, and has sorting machine people to carry out sorting the complete and accurate of the information that article storage can be improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of material handling, in particular to a dispatching system and a dispatching method for storage goods.
Background
With the rapid development of electronic commerce, a rapid chance is brought to the warehouse logistics industry, and an unprecedented challenge is brought to the warehouse logistics industry. How to improve the sorting efficiency, reduce the time from order to delivery and reduce the labor load is an important problem to be solved urgently in the warehouse logistics industry. The existing intelligent warehouse logistics solution mainly comprises a hybrid automatic scheme of a machine and a human, such as 'goods-to-human' sorting, automatic sorting and the like, and still needs to manually carry out goods loading/picking work in a front-end or tail-end process.
However, in the existing warehouse model, a shelf is used as a storage unit. Although can guarantee like this that goods shelves can neatly place in the storage space, because the workbin above the goods shelves is inconvenient to catch through the robot and gets, consequently, current practice is, when needing to pick up goods or load onto the goods in certain workbin above certain goods shelves, need directly carry the goods shelves to picker's operating position through the robot, and then pick up goods or load by picker, pick up goods or load and carry back to the storage space by the robot after accomplishing. It can be seen that this mode of operation is extremely inefficient and the availability of bins within the rack is not high after the entire rack has been transported. And pick-up or delivery of the articles in the material box also needs to be finished manually, so that the working efficiency of storage and logistics is low, and the cost is increased continuously.
Disclosure of Invention
In view of the above problems, embodiments of the present invention provide a system and a method for scheduling storage items, which can place and sort the storage items through a stacking manner between the storage containers and a sorting device in a cache area, and can only carry the storage containers to improve the work efficiency of storage logistics, and do not need manual sorting to reduce the labor cost of storage logistics, and a sorting robot can improve the integrity and accuracy of information of storage of the storage items.
In a first aspect, an embodiment of the present invention provides a dispatching system for warehouse goods, including a control module, a robot and a picking apparatus; wherein:
the control module is used for determining a target article container to be operated, generating a first scheduling instruction for moving the target article container from the current position to the cache region, and sending the first scheduling instruction to the robot;
the robot is used for moving the target article container from the current position to the cache area after receiving the first scheduling instruction;
a picking device for loading and/or picking the target item container;
the control module is further used for determining one position in the storage area as a target position, generating a second scheduling instruction for moving the operated target article container to the target position, and sending the second scheduling instruction to the robot;
the robot is used for moving the target article container to a target position from the cache area after receiving the second scheduling instruction;
the object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to form a stacking mode of transverse and/or vertical clamping between the object containers.
Further, the system further comprises:
and the multi-layer elevator is used for lifting to a target layer position where the target article container is located when the target article container or the target position is located at two or more layers of the stack in the storage area, taking out the target article container from the target layer position and placing the target article container on the ground, or picking up the target article container from the ground, lifting to the target layer position where the target position is located, and placing the article container into the stack at the target layer position.
Further, the robot employs an autonomous navigation setting for autonomously planning a path in a process of moving the target item container from the current location to the buffer area and in a process of moving the target item container from the buffer area to the target location.
Further, a container identifier is arranged outside the target object container; the robot and the picking device determine the target item receptacle from the receptacle identification.
Further, the control module determines a position from a storage area as a target position according to the heat information of the target article container.
The target article container
In a second aspect, an embodiment of the present invention further provides a dispatching system for warehouse goods, including a control module, a robot and a picking apparatus; wherein:
the control module is used for generating a third scheduling instruction for moving the current position of a target article container to be operated to a cache region according to an order request after receiving the order request for extracting the articles, and sending the third scheduling instruction to the robot;
the robot is used for moving the target article container from the current position to the cache area after receiving the third scheduling instruction;
a picking apparatus for extracting an item from a target item receptacle and placing the extracted item in an extraction receptacle;
the control module is further used for determining one position in the storage area as a replacement position, generating a fourth scheduling instruction for moving the target article container after the articles are extracted to the replacement position, and sending the fourth scheduling instruction to the robot;
the robot is used for moving the target article container to the target position from the buffer area after receiving the fourth scheduling instruction;
the target object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to form a stacking mode of transverse and/or vertical clamping between the object containers.
Further, the system further comprises:
and the multi-layer elevator is used for lifting to a target layer position where the target article container is located when the target article container or the replacement position is located at two or more layers of the stack in the storage area, taking out the target article container from the target layer position and placing the target article container on the ground, or picking up the target article container from the ground, lifting to the target layer position where the replacement position is located, and placing the article container into the stack at the target layer position.
Further, the robot employs an autonomous navigation setting for autonomously planning a path in a process of moving the current position of the target item container to the buffer area and in a process of moving the target item container from the buffer area to the put-back position.
Further, a container identifier is arranged outside the target object container; the robot and picking device determine a target item receptacle from the receptacle identification. The target article container
In a third aspect, an embodiment of the present invention further provides a method for scheduling a storage item, where the method includes:
when a task for placing an article exists, the dispatching robot carries the target article container from the current position to a cache area;
controlling a picking device to load and/or pick a target item container;
determining a position in the storage area as a target position;
controlling a robot to move a target item container to the target location;
the target object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to form a stack of the object containers in a longitudinal and/or transverse clamping stacking mode.
Further, before the scheduling robot carries the target item container from the current location to the buffer area, the method further includes:
determining a target horizon in the stack for a current location of a target item container;
if the position is two or more than two layers, the target position is lifted through a plurality of layers of elevators, and the target object container is taken out and placed on the ground; and the number of the first and second groups,
after determining that one free location in the storage area is the target location, the method further comprises:
determining the position of the target position in the stack;
if the layer is located at two or more layers, controlling the robot to move the target article container to the target position, including:
and controlling the robot to move the target article container to the ground position within the preset range of the target position, and lifting the target article container to the position through the multi-layer elevator and placing the target article container into the target position.
Further, determining a location in the storage area as a target location comprises:
and determining a position from the storage area as a target position according to the heat information of the target article container.
In a fourth aspect of the target article container, an embodiment of the present invention further provides a method for scheduling a storage article, where the method includes:
determining a current location of the target item container when an order for the pickup item exists; the dispatching robot carries the target article container from the current position to the cache area;
controlling a picking apparatus to extract items from a target item receptacle;
determining a location in the storage area as a retrieval location;
controlling the robot to move the target item container to the put-back position;
the target object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to form a stack of the object containers in a longitudinal and/or transverse clamping stacking mode. The target object container
The embodiment of the invention provides a dispatching scheme of storage articles, which comprises a control module, a robot and a picking device, wherein the control module is used for controlling the robot to pick the storage articles; wherein: the control module is used for determining a target article container to be operated, generating a first scheduling instruction for moving the target article container from the current position to the cache region, and sending the first scheduling instruction to the robot; the robot is used for moving the target article container from the current position to the cache area after receiving the first scheduling instruction; a picking device for loading and/or picking the target item container; the control module is further used for determining one position in the storage area as a target position, generating a second scheduling instruction for moving the operated target article container to the target position, and sending the second scheduling instruction to the robot; the robot is used for moving the target article container to a target position from the cache area after receiving the second scheduling instruction; the target object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to stack the target object container in a stacking mode of transverse and/or vertical clamping between the object containers. By adopting the technical scheme of the embodiment of the invention, the articles can be placed and sorted by the stacking mode among the article containers and the sorting equipment in the cache area, the article containers can be carried to improve the working efficiency of the warehouse logistics, the manual sorting is not needed to reduce the labor cost of the warehouse logistics, and the sorting by the sorting robot can improve the completeness and accuracy of the information of the article storage.
The above summary of the present invention is merely an overview of the technical solutions of the present invention, and the present invention can be implemented in accordance with the content of the description in order to make the technical means of the present invention more clearly understood, and the above and other objects, features, and advantages of the present invention will be more clearly understood.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic illustration of a dispatch of a storage item provided in an embodiment of the invention;
FIG. 2 is a schematic diagram of a bin inventory dispatching system provided in an embodiment of the present invention;
FIG. 3 is a schematic illustration of containers of articles provided in an embodiment of the invention stacked in a stack;
fig. 4 is a schematic structural view of a multi-deck elevator provided in an embodiment of the present invention;
FIG. 5 is a schematic view of a bin inventory dispatching system provided in an embodiment of the present invention;
FIG. 6 is a schematic illustration of a method of dispatching warehouse items provided in an embodiment of the invention;
FIG. 7 is a schematic illustration of a method of dispatching a warehouse item provided in an embodiment of the invention;
fig. 8 is a schematic structural diagram of a control module provided in the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations (or steps) can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
For better understanding of the technical solution of the embodiment of the present invention, a schematic diagram of scheduling of a warehouse item is provided in detail below, and please refer to the schematic diagram of scheduling an item container among an operation area, a cache area and a storage area shown in fig. 1. Referring to fig. 1, a plurality of article containers 101 may be disposed in a storage area 110, a stack 102 may be formed between the article containers, and various articles may be placed on the article containers 101. Referring to fig. 1, the robot 103 may determine one article container 101 as a conveyance target in a stack and convey it to the buffer area 120. In the cache area 120, the item containers may be arranged regularly. Picking device 104 may place items in item containers 101 in operational area 130 in item containers 101 of cache area 120 to complete storage of the items. Items within the item containers 101 in the buffer area 120 may also be removed and placed in the item containers 101 in the operations area 130 to complete the order.
The following provides a detailed description of the system and method for dispatching storage items according to embodiments of the present invention.
Fig. 2 is a schematic diagram of a dispatching system for storage articles provided in an embodiment of the present invention, which can be applied to a case where articles are placed in an article container for storage (racking). The system can be used for executing the dispatching method of the warehouse goods provided by the embodiment of the invention, and the system can be realized in a software and/or hardware manner.
As shown in fig. 2, the system for dispatching storage items according to the embodiment of the present invention includes: a control module 100, a robot 103 and a picking apparatus 104;
wherein:
the control module 100 is configured to determine a target item container 101 to be operated, generate a first scheduling instruction for moving the target item container 101 from a current position to a cache area, and send the first scheduling instruction to the robot 103;
the robot 103 is used for moving the target article container 101 from the current position to the cache area after receiving the first scheduling instruction;
a picking device 104 for loading and/or picking the target item container 101;
the control module 100 is further configured to determine a position in the storage area as a target position, generate a second scheduling instruction for moving the operated target article container 101 to the target position, and send the second scheduling instruction to the robot 103;
the robot 103 is configured to move the target item container 101 to a target position from a cache area after receiving the second scheduling instruction;
wherein the target article container 101 is provided with a snap for snapping into an adjacent article container in the storage area to form a stack of article containers in a stacked manner by lateral and/or vertical snapping. The target object container
Wherein the control module may be connected in network communication with the robot and the picking apparatus. The control module may dispatch tasks to the robots and picking equipment, such as item container handling tasks, item placement tasks, and order configuration tasks. The article container transportation task may be to transport the article container from the storage area to the buffer area, to transport the article container from the buffer area to the storage area, or to transport the article container in the operation area as shown in fig. 1. The object placing task can be to place objects into the object container to realize storage of the objects, and can also be to extract the objects in the object container to realize configuration of an order.
In this embodiment, one robot and one picking device may be included, or a plurality of robots may be included, and in the case of a plurality of robots, a target robot or a target picking device is determined before tasks need to be issued again.
In this embodiment, the item containers in the buffer area may be arranged in sequence. The article containers are transported to the buffer area, and the picking device can place and pick the articles. After the operation is completed, the picking device may report the placement number and the corresponding item container. The control module can update the original data of the article container after receiving the reported information, and issue an instruction for returning the article container to the storage area. The robot then returns the article container to the storage area in accordance with the received instructions. It is noted that the retrieval position of the article container may be different from the retrieval position, and the robot may determine a specific location to retrieve the article container before it is transported back to the storage area, such as the 3 rd row, 4 th row, 2 nd layer.
Fig. 3 is a schematic illustration of containers of articles provided in an embodiment of the invention stacked in a stack. As shown in fig. 3, the article containers 101 are provided with a catch 1011 for snapping into engagement with adjacent article containers in the storage area to form a stack 102 of the article containers in a lateral, vertical snap-fit stacking arrangement.
Wherein the article containers can be snapped in the stack with laterally adjacent or longitudinally adjacent article containers due to the snap-in. In this case, the article container can be pulled out at any position in the stack, so that through-openings are present in the stack. For example, after the article containers of the second row and the second layer are drawn out, the article containers of the second row and the third layer can be prevented from falling down because the article containers of the second row and the third layer are clamped with the article containers adjacent to the article containers in the transverse direction. The advantage of this embodiment is that this arrangement can be used to extract product containers at any position in the stack, while ensuring that other product containers in the stack are not affected.
In this embodiment, optionally, a container identifier is provided outside the target object container; the robot and the picking device determine the target item receptacle from the receptacle identification. Wherein the container identification may be a two-dimensional code. When the robot and the picking equipment carry and pick the article container, the specific information of the article container can be determined through the two-dimensional code. Such as which items are currently contained therein, the specific quantity, and whether placing and picking of the item is complete, and the current location of the item container, etc. The advantage that this technical scheme set up like this can be after confirming the article container through the container sign, and all information to this article container are synchronized to it is more healthy to let the storage information, is favorable to realizing the automation of article container and controls.
In this embodiment, it can be stated that, since the stack is formed by longitudinally stacking the article containers, the article containers can be theoretically placed all the way upward above the stack, but in practical use, in order to ensure the stability of the stack and consider the practical storage environment, the total layer of the stack can be set to 6-8 layers, for example, so as to ensure the stability of the stack, and at the same time, the structural safety of the article container box can be ensured, and the phenomenon of damage caused by excessive pressure is avoided.
In this embodiment, optionally, the system further includes: and the multi-layer elevator is used for lifting to a target layer position where the target article container is located when the target article container or the target position is located at two or more layers of the stack in the storage area, taking out the target article container from the target layer position and placing the target article container on the ground, or picking up the target article container from the ground, lifting to the target layer position where the target position is located, and placing the article container into the stack at the target layer position. The control of the multi-layer elevator can also be realized by communication control through the control module. Can realize taking out and putting into the article container of optional position in the stack through the cooperation of multilayer companion ladder and robot, improve the efficiency to warehouse article dispatch.
Fig. 4 is a schematic structural view of a multi-deck elevator provided in an embodiment of the present invention. Referring to fig. 4, the multi-level elevator 105 may have a clamp assembly that may include telescoping members 1051, which telescoping members 1051 may be used to clamp a product container from a stack. The clamp assembly may further comprise a lifting member 1052 which may lift or lower the telescopic member 1051 to a height corresponding to any level of the stack, such that the clamp assembly may be adjusted to clamp an article container from the stack or to place an article container into the stack. The clamping and holding assembly can further comprise anti-slip pads arranged on the inner sides of the telescopic parts 1051 respectively, the anti-slip pads can be folded, the anti-slip pads are folded when the article container is not clamped and held, and the anti-slip pads are unfolded when the article container is clamped and held.
Specifically, the multi-level elevator may also be a forklift robot having a forklift arm to remove a target item container from a target inventory container in the first area, and may include: controlling a forklift arm of the multi-level elevator to remove the target item container from the target inventory container in the first area.
In this embodiment, optionally, the robot adopts an autonomous navigation setting, and is configured to autonomously plan a path in a process of moving the target item container from the current location to the cache area and in a process of moving the target item container from the cache area to the target location. The robot has an autonomous navigation function and can run along a specified route; the robot is matched with the grabbing function module, can grab and carry the goods container to the cache area for order picking and goods placing, and can move the order container after picking to the actually needed position. The advantage that this embodiment set up like this can be need not to set up the trapped orbit for the ground in storage space, can avoid because the robot is more, the unable reasonable in design of track appears, influences the handling efficiency's of article container the condition.
In this embodiment, optionally, the control module determines one of the idle positions in the warehousing area as the target position according to the reference information of the articles. In this embodiment, the free position in each stack in the current warehousing area may be determined by the control module after picking of the item containers is completed or after placing of the items on the item containers is completed. When there are two or more idle positions, the control module may determine which of the plurality of idle positions is most suitable for placing the item container based on reference information of the item currently carried in the item container. In the present embodiment, for example, the placement height of the article may be determined according to the weight of the article in the article container, the distance between the placement position of the article and the buffer area may be determined according to the usage rate of the article, and the like. The advantage that this technical scheme set up like this can improve the order and select and the handling efficiency of article placing process through the mode of macroscopic scheduling, can save consumption and time cost for ordinary piling up.
In this embodiment, optionally, the control module determines a position from the storage area as the target position according to the heat information of the target item container. Wherein, besides the heat information, the method can also comprise the following steps: the shape information may be the outer size of the article, the weight information may be the individual weight of the article and the total weight of the article container. For example, the earphone and the hat have high heat of entering and exiting the storage bin in autumn and winter, the article container with the hat can be placed at a position close to the buffer area, and the article container with the earphone can be placed at a position close to the buffer area in spring and summer. Therefore, the placement position of the article container filled with the articles can be determined according to the attributes of the articles, and the reasonability of the placement position of the articles in the storage area is improved.
In this technical solution, the heat information may be determined according to the heat level of the shelf, specifically, the heat information may be determined in the following manner:
determining shelf heat levels and position heat levels corresponding to at least part of shelves in the warehouse according to a preset period, and storing the shelf heat levels and the position heat levels in a shelf information table;
when a position adjusting condition is generated, if the shelf heat level of the current shelf is larger than the position heat level corresponding to the current shelf, inquiring whether at least one candidate shelf exists in the shelf information table; wherein the shelf heat level corresponding to the candidate shelf is less than the location heat level corresponding to the candidate shelf;
when at least one candidate shelf is inquired from the shelf information table, determining a target shelf which is interchanged with the current shelf in the at least one candidate shelf;
and controlling the robot to convey the current shelf to the position of the target shelf, and conveying the target shelf to the position of the current shelf.
Further, the determining a target shelf interchanged with the current shelf in the at least one candidate shelf includes:
determining whether at least one target shelf exists in the at least one candidate shelf; the position heat level corresponding to the target shelf is greater than the position heat level corresponding to the current shelf, and the shelf heat level corresponding to the target shelf is less than the shelf heat level corresponding to the current shelf;
when at least one target shelf exists in the at least one candidate shelf, a target shelf that is interchanged with the current shelf is determined among the at least one target shelf.
Further, the position adjustment condition includes: before it is necessary to return the shelf from the location of any workstation located in the warehouse to the location of the shelf, or when the shelf is in an idle state.
Further, determining the corresponding position heat level of at least part of the shelves in the warehouse according to a preset period comprises:
calculating the average value of the preferred paths from the position of the shelf to each work station in the warehouse according to the position of the shelf and the position of each work station in the warehouse aiming at any one shelf in at least part of shelves in the warehouse;
determining the position heat level corresponding to at least part of the shelves in the warehouse according to the average value of the preferred paths from the positions of the shelves to the work stations; wherein the smaller the average value of the preferred route is, the greater the location heat level corresponding to the shelf is.
Further, determining the shelf heat level corresponding to at least part of the shelves in the warehouse according to a preset period includes:
calculating the shelf score of each shelf according to the sales volume influence factor corresponding to the shelf aiming at any one of at least partial shelves in a warehouse;
and determining the shelf heat level corresponding to at least part of the shelves in the warehouse according to the shelf scores of the shelves, wherein the shelf heat level corresponding to the shelf is larger when the shelf score is smaller.
Further, the calculating the shelf score of the shelf according to the sales volume influence factor corresponding to the shelf includes:
calculating the predicted sales volume of the commodities on the goods shelf according to the sales volume influence factor corresponding to the commodities on the goods shelf and the weight corresponding to the sales volume influence factor; wherein the sales impact factors include: at least one of an order pool factor, a historical sales factor, a historical listing factor, an inventory factor, and a specified sales factor;
and calculating the shelf score corresponding to the shelf according to the predicted sales volume of the commodities on the shelf, the total stock of the warehouse and the number of the commodities on the shelf.
Fig. 5 is a schematic diagram of a dispatching system for storage goods according to an embodiment of the present invention, which is applicable to the case of order configuration (order picking) of storage goods. The system can be used for executing the dispatching method of the warehouse goods provided by the embodiment of the invention, and the system can be realized in a software and/or hardware manner.
As shown in fig. 5, the system for dispatching storage items according to the embodiment of the present invention includes: a control module 100, a robot 103 and a picking apparatus 104;
wherein:
the control module 100 is configured to generate a third scheduling instruction for moving the current position of the target item container 101 to be operated to the cache area according to an order request after receiving the order request for extracting the item, and send the third scheduling instruction to the robot 103;
the robot 103 is used for moving the target article container 101 from the current position to the cache area after receiving the third scheduling instruction;
a picking apparatus 104 for extracting an item from a target item receptacle 101 for placement in the extraction receptacle;
the control module 100 is further configured to determine a position in the storage area as a replacement position, generate a fourth scheduling instruction for moving the target article container 101 with the article extracted to the replacement position, and send the fourth scheduling instruction to the robot 103;
a robot 103, configured to, after receiving the fourth scheduling instruction, move the target item container 101 from a cache area to the target location;
the target object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to form a stacking mode of transverse and/or vertical clamping between the object containers.
On the basis of the technical scheme, the dispatching system for the storage goods comprises a control module, a robot and a sorting device; wherein:
the control module is used for generating a third scheduling instruction for moving the current position of a target article container to be operated to a cache region according to an order request after receiving the order request for extracting the articles, and sending the third scheduling instruction to the robot; the robot is used for moving the target article container from the current position to the cache area after receiving the third scheduling instruction; a picking apparatus for extracting an item from a target item receptacle and placing the extracted item in an extraction receptacle; the control module is further used for determining one position in the storage area as a replacement position, generating a fourth scheduling instruction for moving the target article container after the articles are extracted to the replacement position, and sending the fourth scheduling instruction to the robot; the robot is used for moving the target article container to the target position from the buffer area after receiving the fourth scheduling instruction; the target object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to form a stacking mode of transverse and/or vertical clamping between the object containers. By adopting the technical scheme of the embodiment of the invention, the articles can be placed and sorted by the stacking mode among the article containers and the sorting equipment in the cache area, the article containers can be carried to improve the working efficiency of the warehouse logistics, the manual sorting is not needed to reduce the labor cost of the warehouse logistics, and the sorting by the sorting robot can improve the completeness and accuracy of the information of the article storage.
On the basis of the above technical solution, optionally, the system further includes:
and the multi-layer elevator is used for lifting to a target layer position where the target article container is located when the target article container or the replacement position is located at two or more layers of the stack in the storage area, taking out the target article container from the target layer position and placing the target article container on the ground, or picking up the target article container from the ground, lifting to the target layer position where the replacement position is located, and placing the article container into the stack at the target layer position.
On the basis of the above technical solution, optionally, the robot adopts an autonomous navigation setting, and is configured to autonomously plan a path in a process of moving the current position of the target item container to the cache area and in a process of moving the target item container from the cache area to the replacement position.
On the basis of the above technical solution, optionally, a container identifier is arranged outside the target article container; the robot and picking device determine a target item receptacle from the receptacle identification.
The system can perform order configuration (order picking) on the storage articles corresponding to the storage (shelving) of the articles in the article container, has corresponding implementation modes and beneficial effects, and is not repeated herein.
Fig. 6 is a schematic diagram of a method for scheduling warehouse goods according to an embodiment of the present invention, and the embodiment may be applied to a case where goods are placed in a goods container for storage (shelving). The method can be executed by the warehouse goods scheduling system provided by the embodiment of the invention, and the system can be realized in a software and/or hardware manner.
As shown in fig. 6, the method for scheduling warehouse items according to the embodiment of the present invention includes:
and S610, when the task of placing the object exists, the dispatching robot conveys the object container to the buffer area from the current position.
And S620, controlling the picking device to load and/or pick the target item container.
S630, determining one position in the storage area as a target position.
And S640, controlling the robot to move the target article container to the target position.
The target object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to form a stack of the object containers in a longitudinal and/or transverse clamping stacking mode.
By adopting the technical scheme of the embodiment of the invention, the articles can be placed and sorted by the stacking mode among the article containers and the sorting equipment in the cache area, the article containers can be carried to improve the working efficiency of the warehouse logistics, the manual sorting is not needed to reduce the labor cost of the warehouse logistics, and the sorting by the sorting robot can improve the completeness and accuracy of the information of the article storage.
On the basis of the technical scheme, optionally,
before the scheduling robot carries the target item container from the current location to the buffer zone, the method further comprises:
determining a target horizon in the stack for a current location of a target item container;
if the position is two or more than two layers, the target position is lifted through a plurality of layers of elevators, and the target object container is taken out and placed on the ground; and the number of the first and second groups,
after determining that one free location in the storage area is the target location, the method further comprises:
determining the position of the target position in the stack;
if the layer is located at two or more layers, controlling the robot to move the target article container to the target position, including:
and controlling the robot to move the target article container to the ground position within the preset range of the target position, and lifting the target article container to the position through the multi-layer elevator and placing the target article container into the target position.
On the basis of the above technical solution, optionally, determining a position in the storage area as the target position includes:
and determining a position from the storage area as a target position according to the heat information of the target article container.
On the basis of the above technical solution, optionally, the reference information further includes: a relative positional relationship between the position of the item and the free position in the storage area has been stored.
The method can be executed by a system corresponding to the implementation of the storage (shelving) of the articles in the article container, and has corresponding implementation modes and beneficial effects, and details are not repeated here.
Fig. 7 is a schematic diagram of a method for scheduling warehouse items according to an embodiment of the present invention, which may be applied to the case of performing order configuration (order picking) on warehouse items. The method can be executed by the warehouse goods scheduling system provided by the embodiment of the invention, and the system can be realized in a software and/or hardware manner.
As shown in fig. 7, the method for scheduling warehouse items according to the embodiment of the present invention includes:
s710, when an order for extracting the goods exists, determining the current position of the target goods container; and the robot is dispatched to transport the target item container from the current position to the buffer area.
And S720, controlling the picking device to extract the item from the target item container.
And S730, determining one position in the storage area as a replacement position.
And S740, controlling the robot to move the target article container to the replacement position.
The target object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to form a stack of the object containers in a longitudinal and/or transverse clamping stacking mode.
By adopting the technical scheme of the embodiment of the invention, the articles can be placed and sorted by the stacking mode among the article containers and the sorting equipment in the cache area, the article containers can be carried to improve the working efficiency of the warehouse logistics, the manual sorting is not needed to reduce the labor cost of the warehouse logistics, and the sorting by the sorting robot can improve the completeness and accuracy of the information of the article storage.
Fig. 8 is a schematic structural diagram of a control module provided in the embodiment of the present invention. FIG. 8 illustrates a block diagram of an exemplary control module 812 suitable for use in implementing embodiments of the present invention. The control module 812 shown in fig. 8 is only an example and should not bring any limitation to the function and the scope of use of the embodiment of the present invention.
As shown in FIG. 8, the control module 812 may take the form of a general purpose computing device. The components of the control module 812 may include, but are not limited to: one or more processors 816, a memory 828, and a bus 818 that couples the various system components including the memory 828 and the processors 816.
Bus 818 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Control module 812 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by control module 812 and includes both volatile and nonvolatile media, removable and non-removable media.
Memory 828 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)830 and/or cache 832. The control module 812 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 834 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 8, often referred to as a "hard disk drive"). Although not shown in FIG. 8, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 818 by one or more data media interfaces. Memory 828 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 840 having a set (at least one) of program modules 842, including but not limited to an operating system, one or more application programs, other program modules, and program data, may be stored in, for example, memory 828, each of which examples or some combination thereof may include an implementation of a network environment. Program modules 842 generally perform the functions and/or methodologies of the described embodiments of the invention.
Control module 812 may also communicate with one or more external devices 814 (e.g., keyboard, pointing device, display 824, etc.), with one or more devices that enable a user to interact with control module 812, and/or with any devices (e.g., network card, modem, etc.) that enable control module 812 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 822. Also, the control module 812 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet) via the network adapter 820. As shown, the network adapter 820 communicates with the other modules of the control module 812 over the bus 818. It should be appreciated that although not shown in FIG. 8, other hardware and/or software modules may be used in conjunction with the control module 812, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processor 816 executes various functional applications and data processing by executing programs stored in the memory 828, for example, implementing a method for scheduling warehouse items provided in an embodiment of the present invention, the method including:
when a task for placing an article exists, the dispatching robot carries the target article container from the current position to a cache area;
controlling a picking device to load and/or pick a target item container;
determining a position in the storage area as a target position;
controlling a robot to move a target item container to the target location;
the target object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to form a stack of the object containers in a longitudinal and/or transverse clamping stacking mode.
Or,
determining a current location of the target item container when an order for the pickup item exists; the dispatching robot carries the target article container from the current position to the cache area;
controlling a picking apparatus to extract items from a target item receptacle;
determining a location in the storage area as a retrieval location;
controlling the robot to move the target item container to the put-back position;
the target object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to form a stack of the object containers in a longitudinal and/or transverse clamping stacking mode.
Of course, those skilled in the art will understand that the processor may also implement the technical solution in the method for scheduling warehouse items provided in any embodiment of the present invention.
Also provided in an embodiment of the present invention is a computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing a method for scheduling warehouse items as provided in an embodiment of the present invention, the method including:
when a task for placing an article exists, the dispatching robot carries the target article container from the current position to a cache area;
controlling a picking device to load and/or pick a target item container;
determining a position in the storage area as a target position;
controlling a robot to move a target item container to the target location;
the target object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to form a stack of the object containers in a longitudinal and/or transverse clamping stacking mode.
Or,
determining a current location of the target item container when an order for the pickup item exists; the dispatching robot carries the target article container from the current position to the cache area;
controlling a picking apparatus to extract items from a target item receptacle;
determining a location in the storage area as a retrieval location;
controlling the robot to move the target item container to the put-back position;
the target object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to form a stack of the object containers in a longitudinal and/or transverse clamping stacking mode.
Of course, the storage medium provided in the embodiments of the present invention includes computer-executable instructions, and the computer-executable instructions are not limited to the operations of the scheduling method for warehouse items described above, and may also perform related operations in the scheduling method for warehouse items provided in any embodiment of the present invention, and have corresponding functions and advantages.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A dispatching system for warehouse goods is characterized by comprising a control module, a robot and a picking device; wherein:
the control module is used for determining a target article container to be operated, generating a first scheduling instruction for moving the target article container from the current position to the cache region, and sending the first scheduling instruction to the robot;
the robot is used for moving the target article container from the current position to the cache area after receiving the first scheduling instruction;
a picking device for loading and/or picking the target item container;
the control module is further used for determining one position in the storage area as a target position, generating a second scheduling instruction for moving the operated target article container to the target position, and sending the second scheduling instruction to the robot;
the robot is used for moving the target article container to a target position from the cache area after receiving the second scheduling instruction;
the object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to form a stacking mode of transverse and/or vertical clamping between the object containers.
2. The system of claim 1, further comprising:
and the multi-layer elevator is used for lifting to a target layer position where the target article container is located when the target article container or the target position is located at two or more layers of the stack in the storage area, taking out the target article container from the target layer position and placing the target article container on the ground, or picking up the target article container from the ground, lifting to the target layer position where the target position is located, and placing the article container into the stack at the target layer position.
3. The system of claim 1, wherein the robot employs autonomous navigation settings for autonomously planning a path during movement of the target item container from a current location to a buffer zone and during movement of the target item container from the buffer zone to a target location.
4. The system of claim 1, wherein the target item container is externally provided with a container identifier; the robot and the picking device determine the target item receptacle from the receptacle identification.
5. The system of claim 1, wherein the control module determines a location from a storage area as a target location based on heat information of the target item container.
6. A dispatching system for warehouse goods is characterized by comprising a control module, a robot and a picking device; wherein:
the control module is used for generating a third scheduling instruction for moving the current position of a target article container to be operated to a cache region according to an order request after receiving the order request for extracting the articles, and sending the third scheduling instruction to the robot;
the robot is used for moving the target article container from the current position to the cache area after receiving the third scheduling instruction;
a picking apparatus for extracting an item from a target item receptacle and placing the extracted item in an extraction receptacle;
the control module is further used for determining one position in the storage area as a replacement position, generating a fourth scheduling instruction for moving the target article container after the articles are extracted to the replacement position, and sending the fourth scheduling instruction to the robot;
the robot is used for moving the target article container to the target position from the buffer area after receiving the fourth scheduling instruction;
the target object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to form a stacking mode of transverse and/or vertical clamping between the object containers.
7. The system of claim 6, further comprising:
and the multi-layer elevator is used for lifting to a target layer position where the target article container is located when the target article container or the replacement position is located at two or more layers of the stack in the storage area, taking out the target article container from the target layer position and placing the target article container on the ground, or picking up the target article container from the ground, lifting to the target layer position where the replacement position is located, and placing the article container into the stack at the target layer position.
8. The system of claim 6, wherein the robot employs an autonomous navigation setting for autonomously planning a path during movement of the current location of the target item container to a buffer zone and during movement of the target item container from the buffer zone to the drop-back location.
9. A method of scheduling a warehouse item, comprising:
when a task for placing an article exists, the dispatching robot carries the target article container from the current position to a cache area;
controlling a picking device to load and/or pick a target item container;
determining a position in the storage area as a target position;
controlling a robot to move a target item container to the target location;
the target object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to form a stack of the object containers in a longitudinal and/or transverse clamping stacking mode.
And determining a position from the storage area as a target position according to the heat information of the target article container.
10. A method of scheduling a warehouse item, comprising:
determining a current location of the target item container when an order for the pickup item exists; the dispatching robot carries the target article container from the current position to the cache area;
controlling a picking apparatus to extract items from a target item receptacle;
determining a location in the storage area as a retrieval location;
controlling the robot to move the target item container to the put-back position;
the target object container is provided with a buckle which is used for clamping with an adjacent object container in the storage area so as to form a stack of the object containers in a longitudinal and/or transverse clamping stacking mode.
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