CN108960708B - Goods shelving method, device and system, goods shelving terminal and storage medium - Google Patents
Goods shelving method, device and system, goods shelving terminal and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a goods shelving method, a device and a system, a goods shelving terminal and a storage medium, wherein the method comprises the following steps: setting a shelving strategy for goods to be shelved from at least one shelving strategy, wherein the at least one shelving strategy is generated according to preset shelving rules, and the shelving rules are generated according to current shelf screening conditions determined from preset shelf screening conditions to be selected; and selecting at least one shelf to be shelved for the goods to be shelved according to the attribute information, shelf information and goods location information of the goods to be shelved based on the shelving strategy of the goods to be shelved, and controlling the mobile robot to carry the selected at least one shelf to the operation area of the goods to be shelved for shelving operation. The problem of put on the shelf the tactics fixed and put on the shelf inefficiency is solved, satisfied the storehouse demand of depositing of ever-changing again when improving goods and putting on the shelf efficiency.
Description
Technical Field
The embodiment of the invention relates to the technical field of logistics storage, in particular to a goods shelving method, a device and a system, a goods shelving terminal and a storage medium.
Background
With the rapid development of electronic commerce, each large electronic commerce introduces the intelligent robot technology into the warehouse logistics industry, so as to promote the intelligent and automatic injection of fresh vitality for the industry. At present, a common method for putting cargos on a rack by a robot is to find a corresponding cargo space of the goods on the rack by using a fixed putting strategy and then control the robot to carry the cargos to the position of the cargo space for putting on the rack.
However, in the existing method for putting cargos on shelves by using a robot, a fixed putting strategy cannot meet the requirement of development of warehouse services, the cargo space is searched, and cargos are put on shelves one by one, so that the putting efficiency is low, and when the flow of stored goods is large, the overstock of the cargos to be put on shelves is easily caused, and the normal use of the warehouse is influenced.
Disclosure of Invention
The invention provides a goods shelving method, a device and a system, a goods shelving terminal and a storage medium, which are used for solving the problems of fixed shelving strategies and low shelving efficiency, improving the goods shelving efficiency and meeting the requirements of ever-changing storehouses on storage.
In a first aspect, an embodiment of the present invention provides a goods shelving method, where the method includes:
setting a shelving strategy for goods to be shelved from at least one shelving strategy, wherein the at least one shelving strategy is generated according to preset shelving rules, and the shelving rules are generated according to current shelf screening conditions determined from preset shelf screening conditions to be selected;
and selecting at least one shelf to be shelved for the goods to be shelved according to the attribute information, shelf information and goods location information of the goods to be shelved based on the shelving strategy of the goods to be shelved, and controlling the mobile robot to carry the selected at least one shelf to the operation area of the goods to be shelved for shelving operation.
Further, the candidate shelf screening conditions include: at least one of mutual exclusion requirements, association requirements, shelf requirements, stock space requirements, and document type requirements.
Further, a racking strategy is set for goods to be racked from at least one racking strategy, and the method comprises the following steps:
if the goods to be shelved does not have an associated goods shelving strategy, taking a goods owner shelving strategy of a goods owner to which the goods to be shelved belongs as a goods shelving strategy of the goods to be shelved;
and if the goods to be shelved does not have the associated goods shelving strategy and the goods owner to which the goods to be shelved belongs does not have the associated goods shelving strategy, taking the warehouse shelving strategy of the warehouse in which the goods to be shelved is located as the goods shelving strategy of the goods to be shelved.
Further, generating at least one shelving strategy according to various preset shelving rules, including:
setting priorities for various shelving rules contained in the at least one shelving policy;
and generating the shelving strategy of the at least one goods to be shelved according to various shelving rules and corresponding priorities contained in the at least one shelving strategy.
Further, based on the shelving strategy, selecting at least one shelf to be shelved for the goods to be shelved according to the attribute information, shelf information and goods location information of the goods to be shelved, including:
selecting an shelving rule with the highest priority as a current screening object in the shelving strategy;
selecting all shelves required by the goods to be shelved for the goods to be shelved according to the attribute information, shelf information and goods position information of the goods to be shelved based on the current screening object;
and if all the shelves required by the goods to be shelved are not selected, taking the shelving rule of the next priority in the shelving strategy as the current screening object, and returning to execute the operation of determining the shelves required by the goods to be shelved by the current screening object.
In a second aspect, an embodiment of the present invention further provides a goods shelving device, including:
the system comprises a strategy setting module, a selection module and a selection module, wherein the strategy setting module is used for setting a shelving strategy for goods to be shelved from at least one shelving strategy, the at least one shelving strategy is generated according to preset shelving rules, and the shelving rules are generated according to current shelf screening conditions determined from preset shelf screening conditions to be selected;
and the control module is used for selecting at least one goods shelf to be shelved for the goods to be shelved according to the property information, the goods shelf information and the goods position information of the goods to be shelved based on the shelving strategy of the goods to be shelved and controlling the mobile robot to carry the selected at least one goods shelf to the operation area of the goods to be shelved for carrying out shelving operation.
Further, the candidate shelf screening conditions include: at least one of mutual exclusion requirements, association requirements, shelf requirements, stock space requirements, and document type requirements.
Further, the policy setting module is specifically configured to:
if the goods to be shelved does not have an associated goods shelving strategy, taking a goods owner shelving strategy of a goods owner to which the goods to be shelved belongs as a goods shelving strategy of the goods to be shelved;
and if the goods to be shelved does not have the associated goods shelving strategy and the goods owner to which the goods to be shelved belongs does not have the associated goods shelving strategy, taking the warehouse shelving strategy of the warehouse in which the goods to be shelved is located as the goods shelving strategy of the goods to be shelved.
Further, the apparatus further comprises:
the policy generation module is specifically configured to: setting priorities for various shelving rules contained in the at least one shelving policy; and generating the shelving strategy of the at least one goods to be shelved according to various shelving rules contained in the at least one shelving strategy and the corresponding priority.
Further, the control module is specifically configured to:
selecting an shelving rule with the highest priority as a current screening object in the shelving strategy;
selecting all shelves required by the goods to be shelved for the goods to be shelved according to the attribute information, shelf information and goods position information of the goods to be shelved based on the current screening object;
and if all the shelves required by the goods to be shelved are not selected, taking the shelving rule of the next priority in the shelving strategy as the current screening object, and returning to execute the operation of determining the shelves required by the goods to be shelved by the current screening object.
In a third aspect, an embodiment of the present invention further provides a cargo racking system, including:
the goods shelf loading terminal and the at least one mobile robot;
the goods loading terminal comprises the goods loading device in any embodiment of the invention;
and the at least one mobile robot is used for receiving a control command of the goods loading terminal and transporting the selected at least one shelf to the operation area of the goods to be loaded for loading operation.
In a fourth aspect, an embodiment of the present invention provides a goods shelving terminal, including:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a method for shelving goods as described in any embodiment of the invention.
In a fifth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the goods shelving method according to any embodiment of the present invention.
The embodiment of the invention provides a goods shelving method, a device and a system, a goods shelving terminal and a storage medium, wherein a shelving strategy is set for goods to be shelved from at least one multi-dimensionally configured strategy to be shelved, and a shelf to be shelved is determined and a mobile robot is controlled to carry the goods according to attribute information, shelf information and goods location information of the goods to be shelved based on the shelving strategy of the goods. The problem of fixed and the inefficiency of putting on the shelf of strategy of putting on the shelf in order to solve, satisfied the storehouse demand of depositing of ever-changing again when improving goods efficiency of putting on the shelf.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, a brief description is given below of the drawings used in describing the embodiments. It should be clear that the described figures are only views of some of the embodiments of the invention to be described, not all, and that for a person skilled in the art, other figures can be derived from these figures without inventive effort.
Fig. 1 is a flowchart of a goods shelving method according to an embodiment of the present invention;
FIGS. 2A-2D are schematic diagrams of a shelving rule configuration interface according to an embodiment of the invention;
fig. 3 is a flowchart of a goods shelving method according to a second embodiment of the present invention;
fig. 4 is a flowchart of a goods shelving method according to a third embodiment of the present invention;
fig. 5 is a block diagram illustrating a cargo racking device according to a fourth embodiment of the present invention;
fig. 6 is a block diagram illustrating a cargo racking system according to a fifth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a goods shelving terminal according to a sixth 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.
Example one
Fig. 1 is a flowchart of a goods shelving method according to an embodiment of the present invention, where this embodiment is applicable to a situation where goods to be shelved in a warehouse are shelved, and the method may be executed by a goods shelving device or system according to an embodiment of the present invention, and specifically includes the following steps:
s101, setting a shelving strategy for goods to be shelved from at least one shelving strategy, wherein the at least one shelving strategy is generated according to preset shelving rules, and the shelving rules are generated according to current shelf screening conditions determined from preset shelf screening conditions to be selected.
The shelving strategy is a basis for arranging specific shelves and goods positions for goods to be shelved in the storeroom. For a warehouse for storing goods, a plurality of different goods need to be put on shelves every day, and for each kind of goods to be put on shelves, a corresponding putting strategy is needed to arrange the specific putting positions of the goods. In order to meet various requirements when the modern storeroom stores goods, preferably, the shelving strategy can be multiple, and the shelving strategy associated with each goods can be set for each goods according to different requirements when the goods are actually stored from at least one shelving strategy. For example, the goods may be the same goods owner, placed in an area, placed in a category according to the different production dates, and the like.
Specifically, the forming process of the shelving policy is described by taking the forming of a shelving policy as an example by combining the schematic diagrams of the shelving rule configuration interface in fig. 2A to 2D:
step (1): and determining the current shelf screening conditions from the pre-provided shelf screening conditions to be selected to generate a shelf loading rule.
The preset screening conditions of the shelves to be selected are many, and the screening conditions of the shelves to be selected optionally comprise: at least one of racking designation range, mutual exclusion requirement, association requirement, shelf requirement, cargo space requirement, and document type requirement. Specifically, the designated range of shelving refers to a designated area, a shelf and a goods position of goods shelving, for example, when the goods to be shelved are water ices, the designated range of shelving is a freezing area; the mutual exclusion requirement refers to a mutual exclusion table configured between goods or goods owners, and mutual exclusion levels (such as mutual exclusion to a goods position and mutual exclusion to a goods shelf) are configured, for example, food goods and pesticide goods are two mutually exclusive goods which cannot be placed together, and the mutual exclusion requirement needs to be set; the association requirement is opposite to the mutual exclusion requirement, and an association table and an association level are required to be configured between the goods or the goods owners, for example, the laptop and the mouse, the keyboard and the like matched with the laptop are associated goods, and the laptop and the mouse, the keyboard and the like are erected at similar positions, so that all related products can be conveniently and quickly found out during shipment. The requirements for the shelf/cargo space include: the limit requirements of the shelves/cargo space (such as volume, weight, quantity, ABC classification, item number and owner quantity limit), the recommendation requirements of the shelves/cargo space (such as vacancy rate, owner, commodity, batch, quality condition, etc.), the type limit of the shelves/cargo space (such as tray, partition, etc.), the type limit of the shelves/cargo space (such as piece picking, box picking, etc.). The document type requirement refers to the corresponding business document types (such as purchasing receiving, conventional receiving, ASN receiving, returning receiving, replenishment receiving and the like) when all goods to be placed on shelves are received in the storehouse and the quality states (such as genuine goods, defective goods, first-level defective goods, second-level defective goods and the like) of the goods.
And selecting a shelving rule associated with the goods to be shelved from the various shelf screening conditions to be selected according to the selectable various shelf screening conditions to be selected and different requirements in actual goods storage. For example, as shown in fig. 2A-2D, a part of the multiple candidate shelf filtering conditions with different dimensions is selected as the current shelf filtering condition, and the save button is clicked to generate an on-shelf rule.
Optionally, in order to prevent that the optimal shelf selected by the set shelving rule has already placed some respective goods, all the goods to be shelved at this time cannot be satisfied, therefore, a plurality of different shelving rules composed of different shelf selection conditions to be selected may be set.
Step (2): and (3) combining at least one shelving rule generated in advance in the step (1) to generate a shelving strategy.
Optionally, since the goods to be shelved are various different kinds of goods, and the attribute information of each kind of goods may not be the same, steps (1) and (2) are repeatedly performed, and a shelving rule to which the goods to be shelved belong is set for each kind of goods to be shelved.
Optionally, when a racking strategy is set for goods to be racked from a plurality of racking strategies, analysis can be performed from multiple dimensions, specifically including: (1) setting a warehouse shelving strategy corresponding to the warehouse for all goods to be shelved in the warehouse from the dimension of the warehouse; (2) setting a goods owner shelving strategy corresponding to a goods owner for all goods to be shelved of the same goods owner from the goods owner dimension; (3) setting a goods shelving strategy corresponding to the goods for the same kind of goods from the goods dimension; (4) setting a brand shelving strategy corresponding to the brand for all goods of the same brand from the brand dimension; (5) classifying various goods to be placed on shelves according to a certain characteristic from the classification dimension, and setting a classification placing strategy corresponding to the goods for each class of goods. It should be noted that the embodiments of the present invention include the above five dimensions, but are not limited to these five dimensions.
S102, selecting at least one goods shelf to be shelved for goods to be shelved according to attribute information, goods shelf information and goods location information of the goods to be shelved based on a shelving strategy of the goods to be shelved, and controlling a mobile robot to carry the selected at least one goods shelf to an operation area of the goods to be shelved to carry out shelving operation.
The attribute information of the goods to be shelved refers to the attribute of the goods to be shelved compared with other goods, for example, the storage condition of the goods, the owner information of the goods, and the like. The shelf/slot information refers to attributes specific to each shelf/slot, such as weighing capacity, type, and kind. The mobile robot may be a freely movable robot having a transfer function for transferring the racks to the work area where the goods are placed.
When the shelving strategy of goods to be shelved is set, the actual storage requirements of the goods to be shelved are determined according to the attribute information, the shelf information and the goods location information of the goods, so when the selection of the shelf required by the goods to be shelved is performed based on the shelving strategy of the goods to be shelved, the selection is performed according to the respective attribute information of the goods to be shelved, the information of all shelves in the storeroom and the goods location information, optionally, the number of the shelves to be shelved selected is also variable, and may be one or more.
The rack is placed in the warehouse, and the goods to be placed on the rack are placed in the work area (the work area of the goods to be placed on the rack refers to the area where the goods to be placed on the rack are placed) to wait for the placing operation. Therefore, after all the shelves required by the goods to be shelved are selected, a carrying instruction needs to be sent to the mobile robot responsible for carrying the shelves, the mobile robot is controlled to carry the selected shelves to the operation area of the goods to be shelved, and the staff carries out the shelving operation of the goods to be shelved.
Alternatively, since there may be a plurality of shelves for goods to be shelved, in order to improve the shelving efficiency, it may be possible to control the mobile robots to carry out the transportation of the shelves at the same time as the selected number of shelves. Preferably, can treat the goods of putting on the shelf according to different types and place the position in the workspace, will treat that the goods shelves of putting on the shelf place the goods place of waiting to put on the shelf that it corresponds, make things convenient for the quick accurate operation of putting on the shelf of waiting to put on the shelf goods of staff.
The embodiment of the invention provides a goods shelving method, which is characterized in that a shelving strategy is set for goods to be shelved from at least one multi-dimensionally configured strategy to be shelved, and based on the shelving strategy of the goods, shelves to be shelved are determined according to attribute information, shelf information and goods position information of the goods to be shelved and a mobile robot is controlled to carry the goods. The problem of fixed and the inefficiency of putting on the shelf of strategy of putting on the shelf in order to solve, satisfied the storehouse demand of depositing of ever-changing again when improving goods efficiency of putting on the shelf.
Example two
Fig. 3 is a flowchart of a cargo racking method according to a second embodiment of the present invention, where in this embodiment, based on the second embodiment, S101 is optimized to set a racking policy for a cargo to be racked from at least one racking policy. It should be noted that: the shelving strategy can be divided into three strategies, namely a cargo shelving strategy, a cargo owner shelving strategy and a storehouse shelving strategy. The warehouse shelving strategy is suitable for all goods to be shelved in the warehouse; the goods owner shelving strategy is suitable for all goods to be shelved of the same goods owner; the goods waiting shelving strategy is a shelving strategy of each kind of goods.
Specifically, the setting of the shelving strategy for each type of goods to be shelved may include at least one of the following three types:
(1) setting a storehouse racking strategy for each goods to be racked in a storehouse to which the goods to be racked belong;
(2) setting a goods owner shelving strategy for each goods to be shelved of a goods owner to which the goods to be shelved belong;
(3) and setting the goods shelving strategy related to the goods for shelving the goods.
For example, since a third-party warehouse stores a large amount of goods every day, and if a goods shelving strategy associated with each goods is set for each goods every time, a large amount of time is wasted, in order to further improve shelving efficiency, a warehouse shelving strategy associated with each goods can be set for the warehouse, and if goods to be shelved of a shipper does not have a special storage requirement, a shelving strategy of the warehouse can be used by default, so that the same warehouse shelving strategy can be set for goods to be shelved without special requirements; if a certain owner has the owner shelving strategy required by the owner, the owner shelving strategy of the owner can be set for all goods to be shelved of the owner; if some goods in the goods to be shelved by the owner cannot be used by the owner, for example, the goods to be shelved by the owner are various foods including water ices, and the water ices are required to be placed in a freezing area compared with other foods, the owner shelving strategy associated with the owner cannot be used, so that the owner can set the goods shelving strategy associated with the goods for some goods with special requirements of the owner.
Since there may be a plurality of racking strategies for the goods to be racked, and when selecting the shelf corresponding to the goods to be racked, the selection is performed according to one racking strategy of the goods, as shown in fig. 3, the step of setting the racking strategy for the goods to be racked from at least one racking strategy includes
And S301, starting.
S302, judging whether goods to be shelved are related to goods shelving strategies, if yes, executing S306, and if not, executing S303.
The goods shelving strategy is a shelving strategy set for the goods, and therefore the goods shelving strategy can best meet the goods storage requirement, and whether each kind of goods to be shelved has a goods shelving strategy related to the goods shelving strategy or not needs to be judged when the goods shelving strategy is set. If yes, S306 is executed, shelf selection of goods to be shelved is carried out, and if not, S303 is executed to continue judgment of a shelving strategy of the goods to be shelved.
S303, judging whether the goods owner of the goods on shelves has the goods owner on shelves strategy, if yes, executing S305, and if not, executing S304.
When a certain goods to be shelved does not have an associated goods shelving strategy, whether the goods to be shelved has a shelving strategy of a owner of the goods to be shelved is searched, if so, S305 is executed, a corresponding shelving strategy is set for the goods to be shelved, and if not, S304 is executed, a corresponding shelving strategy is set for the goods to be shelved.
S304, taking the shelving strategy of the storeroom where the goods to be shelved are located as the goods shelving strategy of the goods to be shelved.
When a certain goods to be shelved does not have an associated goods shelving strategy and a goods owner shelving strategy of the goods owner, the fact that the goods to be shelved and the goods owner do not have special requirements when the goods to be shelved are stored is shown, and shelving is carried out according to the shelving strategy of the storeroom, so that the storehouse shelving strategy of the goods to be shelved is used as the goods shelving strategy.
S305, taking a goods owner shelving strategy of a goods owner to which goods to be shelved belong as a goods shelving strategy of the goods to be shelved;
when a certain goods to be shelved does not have the goods shelving strategy associated with the goods, but has the goods owner shelving strategy of the goods owner, the fact that the goods to be shelved only have the storage requirement of the goods owner when stored is shown, and the goods do not have special requirements, therefore, the goods owner shelving strategy of the goods to be shelved is used as the goods shelving strategy.
S306, selecting at least one shelf to be shelved for the goods to be shelved according to the attribute information, shelf information and goods position information of the goods to be shelved based on the goods shelving strategy of the goods to be shelved, and controlling the mobile robot to carry the selected at least one shelf to the operation area of the goods to be shelved to carry out shelving operation.
The embodiment of the invention provides a goods shelving method, which comprises the steps of determining a goods shelving strategy from a goods shelving strategy of goods, a goods owner shelving strategy and a storehouse shelving strategy, determining a shelf to be shelved according to attribute information, shelf information and goods location information of goods to be shelved on the basis of the determined shelving strategy, and controlling a mobile robot to carry the goods. The problem of fixed and the inefficiency of putting on the shelf of strategy of putting on the shelf in order to solve, satisfied the storehouse demand of depositing of ever-changing again when improving goods efficiency of putting on the shelf.
EXAMPLE III
Fig. 4 is a flowchart of a cargo racking method according to a third embodiment of the present invention, which is optimized based on the foregoing embodiments, and as shown in fig. 4, the method includes:
s401, setting priorities for various shelving rules contained in at least one shelving strategy.
Each shelving strategy is composed of a plurality of shelving rules, and when the shelf required by goods to be shelved is selected according to the shelving strategy, the selection is carried out according to each shelving rule in the shelving strategies, so that priorities can be set for all the shelving rules in the shelving strategies, and the selection of the shelf required by the goods to be shelved is carried out in sequence according to the priorities of the shelving rules.
There are many methods for setting the priority for each shelving rule in the shelving policy, and optionally, the priority may be set according to the number of shelf screening conditions included in each shelving rule, for example, a shelving rule including a large number of shelf screening conditions has a higher priority than a shelving rule including a small number of shelf screening conditions. The priority may also be set according to the importance of the shelf screening conditions.
S402, generating at least one shelving strategy of goods to be shelved according to various shelving rules and corresponding priorities contained in the at least one shelving strategy.
For each shelving policy, the generation is based on all shelving rules and priorities contained in the shelving policy. For example, after setting the priority for all shelving rules in the shelving policy, the generation of the shelving policy may be completed after the save button is clicked on the setting interface. Preferably, a number and a name can be set for each generated shelving policy, so that the shelving policy can be conveniently and quickly searched and referred next time.
S403, setting a shelving strategy for goods to be shelved from at least one shelving strategy.
Due to the fact that attribute information of each goods to be shelved is different and selection of shelving strategies is different, a shelving strategy related to the goods to be shelved needs to be selected from at least one shelving strategy.
Specifically, a cargo shelving policy associated with the cargo may be set from the detailed information of the cargo, or a cargo shelving policy associated with all the cargos of the owner may be set from the detailed information of the owner, or a warehouse shelving policy associated with all the cargos of the warehouse may be set from the detailed information of the warehouse. Optionally, when the shelving strategy is set, the shelving strategy can be set for the goods to be shelved by selecting or inputting the number or name of the shelving strategy from at least one shelving strategy.
S404, selecting the shelving rule with the highest priority as the current screening object in the shelving strategy.
The screening object is a basis for screening the goods shelves required by goods to be placed on shelves. Because the shelving strategy is composed of a plurality of shelving rules with different priorities, the screening operation of shelves required by goods to be shelved can be carried out according to each shelving rule. In order to ensure that the storage requirements of goods are met as much as possible, when the goods shelves required by goods to be placed on shelves are screened, the goods shelves are placed on shelves with high priority as current screening objects.
S405, based on the current screening object, selecting all shelves required by the goods to be shelved for the goods to be shelved according to the attribute information, shelf information and goods location information of the goods to be shelved.
And S406, judging whether all the shelves required by the goods to be placed on the shelves are selected, if so, executing S408, and if not, executing S407.
And S405, judging whether the selection operation of the shelves is carried out, whether all shelves required by goods to be shelved are found from all shelves in the storehouse or not is judged, if all the shelves are selected, executing S408, controlling the mobile robot to carry the selected shelves, and if the shelves required by the goods to be shelved are not selected, executing S407, and re-determining the current screening object.
Optionally, put on the shelf goods for the convenience of staff, the goods position place position of waiting to put on the shelf is found to quick accuracy, can select the required goods shelves of waiting to put on the shelf goods, show that this goods of putting on the shelf specifically is the goods position of putting on the shelf that corresponds on goods shelves, for example, can be through showing the goods shelves serial number and the goods shelves schematic diagram of waiting to put on the shelf on the display screen at goods terminal of putting on the shelf, then mark the goods position place of putting on the shelf that the goods of waiting to put on the shelf correspond through different colours on goods shelves.
And S407, taking the racking rule of the next priority in the racking strategy as the current screening object, and returning to the operation S405 of executing the current screening object to determine the shelves required by the goods to be racked.
If all shelves required by the goods to be shelved are not selected after the shelf selection is performed based on the previous shelving rule, the shelving rule of the next priority in the shelving strategy is used as the current screening object, the step S405 is executed again, and the newly set current screening object is used for screening the shelves required by the goods to be shelved again.
Optionally, after all shelving rules in the shelving strategy are screened, or all shelves required by all goods to be shelved are not selected, the selection of the shelves is stopped, and the staff is notified to set the shelving strategy for the goods to be shelved again.
And S408, controlling the mobile robot to convey the selected at least one shelf to the working area of the goods to be shelved to carry out the shelving operation.
The embodiment of the invention provides a goods shelving method, which is characterized in that priorities are set for all shelving rules in a shelving strategy, shelves required by goods to be shelved are selected in sequence according to the priorities of the shelving rules until all shelves required by the goods to be shelved are found, and a mobile robot is controlled to carry the selected shelves to an operation area of the goods to be shelved to carry out goods shelving operation. The selection of the shelf to be put on shelf is more flexible, the goods putting-on efficiency is improved, and meanwhile, the diversified storage requirements of the storeroom are met to a greater extent.
Example four
Fig. 5 is a block diagram of a cargo racking device according to a fourth embodiment of the present invention, where the cargo racking device can execute a cargo racking method according to any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method. As shown in fig. 5, the apparatus includes:
a policy setting module 501, configured to set a shelving policy for goods to be shelved from at least one shelving policy, where the at least one shelving policy is generated according to preset shelving rules, and the shelving rules are generated according to current shelf screening conditions determined from preset shelf screening conditions to be selected;
optionally, the candidate shelf screening conditions include: at least one of mutual exclusion requirements, association requirements, shelf requirements, stock space requirements, and document type requirements.
The control module 502 is configured to select at least one shelf to be shelved for the goods to be shelved according to the attribute information, the shelf information, and the goods location information of the goods to be shelved based on the shelving strategy of the goods to be shelved, and control the mobile robot to carry the selected at least one shelf to the operation area of the goods to be shelved for shelving operation.
The embodiment of the invention provides a goods racking device, which is characterized in that a racking strategy is set for goods to be racked from at least one multi-dimensionally configured strategy to be racked, and based on the racking strategy of the goods, a rack to be racked is determined according to attribute information, rack information and goods position information of the goods to be racked and a mobile robot is controlled to carry the goods. The problem of fixed and the inefficiency of putting on the shelf of strategy of putting on the shelf in order to solve, satisfied the storehouse demand of depositing of ever-changing again when improving goods efficiency of putting on the shelf.
Further, the policy setting module 501 is specifically configured to:
if the goods to be shelved does not have an associated goods shelving strategy, taking a goods owner shelving strategy of a goods owner to which the goods to be shelved belongs as a goods shelving strategy of the goods to be shelved;
and if the goods to be shelved does not have the associated goods shelving strategy and the goods owner to which the goods to be shelved belongs does not have the associated goods shelving strategy, taking the warehouse shelving strategy of the warehouse in which the goods to be shelved is located as the goods shelving strategy of the goods to be shelved.
Further, the above apparatus further comprises:
the policy generation module is specifically configured to: setting priorities for various shelving rules contained in the at least one shelving policy; and generating the shelving strategy of the at least one goods to be shelved according to various shelving rules contained in the at least one shelving strategy and the corresponding priority.
Further, the control module 502 is specifically configured to:
selecting an shelving rule with the highest priority as a current screening object in the shelving strategy;
selecting all shelves required by the goods to be shelved for the goods to be shelved according to the attribute information, shelf information and goods position information of the goods to be shelved based on the current screening object;
and if all the shelves required by the goods to be shelved are not selected, taking the shelving rule of the next priority in the shelving strategy as the current screening object, and returning to execute the operation of determining the shelves required by the goods to be shelved by the current screening object.
It should be noted that, in the embodiment of the goods shelving device, the units and modules included in the embodiment are merely divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be implemented; for example, the apparatus may include only a communication module that enables communication with the mobile robot and a processing module; the processing module realizes the setting of the shelving strategy and the selection of the shelf to be shelved and the like. In addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
EXAMPLE five
Fig. 6 is a block diagram of a cargo racking system according to a fifth embodiment of the present invention, which can execute the method according to any embodiment of the present invention to achieve corresponding advantageous effects, where the cargo racking system 6 includes: a goods racking terminal 60 and at least one mobile robot 61.
The goods shelving terminal 60 includes the goods shelving device described in the fourth embodiment;
and the at least one mobile robot 61 is used for receiving a control command of the goods loading terminal and transporting the selected at least one shelf to the operation area of the goods to be loaded for loading operation.
Optionally, the goods shelving terminal 60 may be a server or a terminal device for implementing the goods shelving method according to any embodiment of the present invention. This is not limited in this application.
Alternatively, in order to improve the goods loading efficiency, the same number of mobile robots 61 as the number of the racks to be loaded may be selected to simultaneously carry the racks.
According to the goods shelving system, a shelving strategy is set for goods to be shelved from at least one multi-dimensionally configured goods to be shelved strategy, and based on the shelving strategy of the goods, shelves to be shelved are determined according to attribute information, shelf information and goods location information of the goods to be shelved and the robot is controlled to move to carry the goods. The problem of fixed and the inefficiency of putting on the shelf of strategy of putting on the shelf in order to solve, satisfied the storehouse demand of depositing of ever-changing again when improving goods efficiency of putting on the shelf.
EXAMPLE six
Fig. 7 is a schematic structural diagram of a goods shelving terminal according to a sixth embodiment of the present invention. Fig. 7 illustrates a block diagram of an exemplary goods racking terminal 60 suitable for use in implementing embodiments of the present invention. The goods shelf terminal 60 shown in fig. 7 is only an example, and should not bring any limitation to the function and the range of use of the embodiment of the present invention. Optionally, the goods shelving terminal 60 may be a server or a terminal device for implementing the goods shelving method according to any embodiment of the present invention. This is not limited in this application. As shown in fig. 7, the goods listing terminal 60 is embodied in the form of a general purpose computing device. The components of the goods racking terminal 60 may include, but are not limited to: one or more processors or processing units 601, a system memory 602, and a bus 603 that couples various system components including the system memory 602 and the processing unit 601.
The goods listing terminal 60 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by the shelf terminal 60, including both volatile and nonvolatile media, removable and non-removable media.
The system memory 602 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)604 and/or cache memory 605. The goods listing terminal 60 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 606 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, commonly referred to as a "hard drive"). Although not shown in FIG. 7, 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 603 by one or more data media interfaces. System memory 602 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 608 having a set (at least one) of program modules 607 may be stored, for example, in system memory 602, such program modules 607 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. The program modules 607 generally perform the functions and/or methods of the described embodiments of the invention.
The goods listing terminal 60 may also communicate with one or more external devices 606 (e.g., keyboard, pointing device, display 610, etc.), with one or more devices that enable a user to interact with the device, and/or with any devices (e.g., network card, modem, etc.) that enable the goods listing terminal 60 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 611. Also, the goods shelf terminal 60 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 612. As shown in fig. 7, the network adapter 612 communicates with other modules of the goods-racking terminal 60 through the bus 603. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the goods listing terminal 60, 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 processing unit 601 executes various functional applications and data processing by running a program stored in the system memory 602, for example, to implement the goods shelving method provided by the embodiment of the present invention.
EXAMPLE seven
The seventh embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, can implement the goods shelf-loading terminal method described in the foregoing embodiments.
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. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. 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, wire, fiber optic 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).
The above example numbers are for description only and do not represent the merits of the examples.
It will be appreciated by those of ordinary skill in the art that the modules or operations of the embodiments of the invention described above may be implemented using a general purpose computing device, which may be centralized on a single computing device or distributed across a network of computing devices, and that they may alternatively be implemented using program code executable by a computing device, such that the program code is stored in a memory device and executed by a computing device, and separately fabricated into integrated circuit modules, or fabricated into a single integrated circuit module from a plurality of modules or operations thereof. Thus, the present invention is not limited to any specific combination of hardware and software.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of racking a cargo, comprising:
setting a shelving strategy for goods to be shelved from at least one shelving strategy, wherein the at least one shelving strategy is generated according to preset shelving rules, and the shelving rules are generated by selecting a part of a plurality of shelf screening conditions to be selected with different dimensions as current shelf screening conditions according to the preset shelf screening conditions to be selected and the requirements of actual goods storage; the racking strategy comprises: a warehouse shelving strategy, a goods owner shelving strategy, a goods shelving strategy, a brand shelving strategy and a classification shelving strategy;
selecting at least one shelf to be shelved for the goods to be shelved according to the attribute information, shelf information and goods location information of the goods to be shelved based on the shelving strategy of the goods to be shelved, and controlling the mobile robot to carry the selected at least one shelf to the operation area of the goods to be shelved for shelving operation;
set up the strategy of putting on the shelf for waiting to put on the shelf goods from at least one strategy of putting on the shelf, include:
judging whether goods to be shelved are associated with goods shelving strategies, and if so, determining that the goods shelving strategies are shelving strategies of the goods to be shelved; if not, judging whether a goods owner to which the goods to be shelved belongs has a goods owner shelving strategy, and if so, determining that the goods owner shelving strategy is a shelving strategy of the goods to be shelved; and if not, taking the storehouse shelving strategy of the goods to be shelved as a shelving strategy of the goods to be shelved.
2. The method of claim 1, wherein the candidate shelf screening conditions comprise: at least one of mutual exclusion requirements, association requirements, shelf requirements, stock space requirements, and document type requirements.
3. The method of claim 1, wherein setting a racking strategy for goods to be racked from the at least one racking strategy comprises:
if the goods to be shelved does not have an associated goods shelving strategy, taking a goods owner shelving strategy of a goods owner to which the goods to be shelved belongs as a goods shelving strategy of the goods to be shelved;
and if the goods to be shelved does not have the associated goods shelving strategy and the goods owner to which the goods to be shelved belongs does not have the associated goods shelving strategy, taking the warehouse shelving strategy of the warehouse in which the goods to be shelved is located as the goods shelving strategy of the goods to be shelved.
4. The method according to claim 1, wherein generating at least one shelving policy according to various pre-set shelving rules comprises:
setting priorities for various shelving rules contained in the at least one shelving policy;
and generating the shelving strategy of the at least one goods to be shelved according to various shelving rules and corresponding priorities contained in the at least one shelving strategy.
5. The method of claim 4, wherein selecting at least one shelf to be shelved for the goods to be shelved based on the shelving policy in accordance with the attribute information, shelf information, and slot information of the goods to be shelved comprises:
selecting an shelving rule with the highest priority as a current screening object in the shelving strategy;
selecting all shelves required by the goods to be shelved for the goods to be shelved according to the attribute information, shelf information and goods position information of the goods to be shelved based on the current screening object;
and if all the shelves required by the goods to be shelved are not selected, taking the shelving rule of the next priority in the shelving strategy as the current screening object, and returning to execute the operation of determining the shelves required by the goods to be shelved by the current screening object.
6. A device for putting goods on shelf, comprising:
the system comprises a strategy setting module, a goods selection module and a goods selection module, wherein the strategy setting module is used for setting goods to be shelved from at least one shelving strategy, the at least one shelving strategy is generated according to preset shelving rules, and the shelving rules are generated by selecting a part of the goods shelf selection conditions to be selected from a plurality of goods shelf selection conditions with different dimensions as current goods shelf selection conditions according to the preset shelving selection conditions and the actual goods storage requirements; the racking strategy comprises: a warehouse shelving strategy, a goods owner shelving strategy, a goods shelving strategy, a brand shelving strategy and a classification shelving strategy;
the control module is used for selecting at least one goods shelf to be shelved for the goods to be shelved according to the property information, the goods shelf information and the goods location information of the goods to be shelved based on the shelving strategy of the goods to be shelved and controlling the mobile robot to carry the selected at least one goods shelf to the operation area of the goods to be shelved for shelving operation;
the policy setting module is specifically configured to:
judging whether goods to be shelved are associated with goods shelving strategies, and if so, determining that the goods shelving strategies are shelving strategies of the goods to be shelved; if not, judging whether a goods owner to which the goods to be shelved belongs has a goods owner shelving strategy, and if so, determining that the goods owner shelving strategy is a shelving strategy of the goods to be shelved; and if not, taking the storehouse shelving strategy of the goods to be shelved as a shelving strategy of the goods to be shelved.
7. The apparatus according to claim 6, wherein the policy setting module is specifically configured to:
if the goods to be shelved does not have an associated goods shelving strategy, taking a goods owner shelving strategy of a goods owner to which the goods to be shelved belongs as a goods shelving strategy of the goods to be shelved;
and if the goods to be shelved does not have the associated goods shelving strategy and the goods owner to which the goods to be shelved belongs does not have the associated goods shelving strategy, taking the warehouse shelving strategy of the warehouse in which the goods to be shelved is located as the goods shelving strategy of the goods to be shelved.
8. A cargo racking system, comprising: the goods shelf loading terminal and the at least one mobile robot;
the goods shelving terminal comprises the goods shelving device as claimed in any one of claims 6 to 7;
and the at least one mobile robot is used for receiving a control command of the goods loading terminal and transporting the selected at least one shelf to the operation area of the goods to be loaded for loading operation.
9. A goods shelf terminal, comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the goods listing method of any of claims 1-5.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a method for shelving goods as claimed in any one of claims 1 to 5.
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| CN109733783B (en) * | 2018-12-29 | 2021-01-05 | 北京极智嘉科技有限公司 | Goods shelving method and device, electronic equipment and storage medium |
| CN109753039B (en) * | 2018-12-29 | 2021-02-02 | 北京极智嘉科技有限公司 | Customizable article processing method and device, electronic equipment and storage medium |
| CN109784809A (en) * | 2019-01-10 | 2019-05-21 | 深圳市启海仓储有限公司 | Goods yard allocation management method and system |
| CN111489112B (en) * | 2019-01-29 | 2024-05-24 | 北京京东乾石科技有限公司 | Method and device for determining article loading information, storage medium and electronic equipment |
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| CN112396363A (en) * | 2019-08-12 | 2021-02-23 | 北京京东乾石科技有限公司 | Method, device, equipment and computer readable medium for shelving articles |
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