CN110239868A - Picking method for allocating tasks and its kinds of goods sorting system - Google Patents
Picking method for allocating tasks and its kinds of goods sorting system Download PDFInfo
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- CN110239868A CN110239868A CN201910582493.7A CN201910582493A CN110239868A CN 110239868 A CN110239868 A CN 110239868A CN 201910582493 A CN201910582493 A CN 201910582493A CN 110239868 A CN110239868 A CN 110239868A
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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 present embodiments relate to a kind of picking method for allocating tasks and its kinds of goods sorting systems.The picking method for allocating tasks includes: the target goods position according to picking task, determines the priority of picking task；According to the priority of the current location of robot and the picking task, at least one picking task is distributed for the robot.This method can carry out pool and optimization planning to multiple robots and multiple picking tasks, breach the binding relationship one by one between individual machine people and specific picking task, the degree of optimization of distribution picking task is improved, is conducive to the corresponding kinds of goods of promotion order sorting and sorts out efficiency.
Description
[technical field]
The present invention relates to warehousing management technical field more particularly to a kind of picking method for allocating tasks and kinds of goods sorting systems
System.
[background technique]
With the continuous reinforcement and development of social commerce and trade, the importance and concerned degree of logistics and warehousing management
Start constantly promoted.How fast and efficiently logistics is provided and warehousing management service is current hot issue.
Rely on the development of the automation industries such as electronic information technology, such as industrial robot, existing store of goods warehouse
When carrying out warehousing management, it is all made of robot or the mutually matched mode of other automation equipments, it is efficient to realize
Cargo or warehousing management.
But existing automated warehousing management system is usually mutually to be bound using single order with specific robot
Mode complete picking and order packaging operation.Robot can be only done the picking task an of order, degree of optimization every time
Not high, picking efficiency still has very big room for improvement.
[summary of the invention]
In order to solve the above-mentioned technical problem, the embodiment of the present invention provides a kind of degree of optimization higher picking task distribution side
Method and its sorting system.
In order to solve the above technical problems, the embodiment of the present invention is the following technical schemes are provided: a kind of picking method for allocating tasks.
The picking method for allocating tasks includes:
According to the target goods position of picking task, the priority of picking task is determined；According to the position of robot and/or
The priority of the picking task distributes at least one picking task for the robot.
It is optionally, described that for robot, to distribute at least one picking task include: when the current position of the robot
When workspace, in the picking task of at least one highest priority, for robot distribution, there are target goods positions
Current position belongs to the picking task in identical tunnel with the robot.
Optionally, described to distribute at least one picking task for robot, it specifically includes: when the present bit of the robot
When setting in nonclient area, the picking task of highest priority is distributed for the robot.
Optionally, the priority of the picking task includes the first priority；The target goods according to picking task
Position determines the priority of picking task, specifically includes:
When the adjoining tunnel in target tunnel and the target tunnel where the target goods position of the picking task
There is no when robot, determine that the picking task is the first priority；It is the machine according to the priority of the picking task
Device people distributes the picking task of the first priority.
Optionally, further preferential to select taking for the first priority when determining the picking task is the first priority
The most picking task of target goods quantity in the target tunnel of goods task.
Optionally, the priority of the picking task further comprises the second priority；The mesh according to picking task
Cargo location is marked, the priority of picking task is determined, specifically includes:
While robot is not present in the target tunnel where the target goods position of picking task, the target tunnel
Adjoining tunnel there are when robot, determine the picking task be the second priority；According to the priority of the picking task
Order, the picking task of the first priority and/or the second priority is distributed for the robot, and first priority is higher than institute
State the second priority.
Optionally, the priority of the picking task further includes third priority；The target goods according to picking task
Object location determines the priority of picking task, specifically includes:
When the target tunnel where the target goods position of the picking task is there are while robot, the target lane
When robot is not present in the adjoining tunnel in road, determine that the picking task is third priority；According to the excellent of the picking task
First grade order distributes the picking task of the first priority, the second priority, and/or third priority for the robot, described
First priority is higher than second priority, and the second priority is higher than third priority.
Optionally, the priority of the picking task further includes the 4th priority；The target goods according to picking task
Object location determines the priority of picking task, specifically includes:
When the target tunnel where the target goods position of the picking task is there are while robot, the target lane
The adjoining tunnel in road determines that the picking task is the 4th priority there are robot；According to the priority of the picking task
Order, the picking for distributing the first priority, the second priority, third priority and/or the 4th priority for the robot are appointed
Business, first priority are higher than second priority, and the second priority is higher than third priority, and third priority is higher than the
Four priority.
Optionally, the method also includes: the picking task index completed of judgement accounts for total picking task index
Toatl proportion whether reach it is preset first complete threshold value；If it is not, distributing the first priority and/or the second priority for robot
Picking task；If so, distributing the picking task of highest priority for robot.
Optionally, the method also includes: the picking task index completed accounts for the total of total picking task index
When ratio reaches preset first completion threshold value, further determine whether that reaching preset second completes threshold value；If it is not, being then institute
When stating the picking task of robot distribution highest priority, two or two or less robots is allowed to enter same tunnel；If so,
When then distributing the picking task of highest priority for the robot, three or three or less robots is allowed to enter same lane
Road.
Optionally, the method also includes: judge in target tunnel, whether the corresponding target goods quantity of picking task big
In the remaining cargo dead-weight of the robot, the target tunnel is the tunnel where the target goods position of the picking task；
If so, distributing the preceding n target goods closest to the access adit in the target tunnel, n is the remaining cargo dead-weight of the robot.
Optionally, when two or more robots enters the same target tunnel, the mesh is entered according to robot
The direction in tunnel is marked, the picking task with corresponding target goods position is distributed；The target tunnel is the picking task
Tunnel where target goods position.
Optionally, the method also includes: when the picking task of Liang Ge robot is unable to simultaneously perform and described in two
When the corresponding picking station of picking task is identical, the picking task of two robots is exchanged.
In order to solve the above technical problems, the embodiment of the present invention is also the following technical schemes are provided: a kind of non-volatile computer
Readable storage medium storing program for executing.
The non-volatile computer readable storage medium storing program for executing is stored with computer-executable program instructions, and the computer can
It executes program instructions when being called by processor, so that the processor executes picking method for allocating tasks as described above.
In order to solve the above technical problems, the embodiment of the present invention is also the following technical schemes are provided: a kind of kinds of goods sorting system.It should
Kinds of goods sorting system includes: processing terminal, picking station and robot；
The picking station from target goods for sorting out one or more kinds of goods；The robot is used in storehouse
The target goods are carried between library and the picking station；The processing terminal respectively with the picking station and institute
Robot communication connection is stated, for executing picking method for allocating tasks as described above, the robot is controlled and carries the mesh
Cargo is marked to corresponding picking station so that kinds of goods corresponding with order are picked.
Compared with prior art, the offer picking method for allocating tasks of the embodiment of the present invention can to multiple robots and
Multiple picking tasks plan as a whole and optimization planning, the binding one by one breached between individual machine people and specific picking task are closed
System.There are the potentiality handled simultaneously multiple and different order sortings as a result, improve the optimization journey of distribution picking task
Degree is conducive to the corresponding kinds of goods of promotion order sorting and sorts out efficiency.
[Detailed description of the invention]
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is the application environment schematic diagram of the embodiment of the present invention；
Fig. 2 is the structural block diagram of processing terminal provided in an embodiment of the present invention；
Fig. 3 is the method flow diagram of picking method for allocating tasks provided in an embodiment of the present invention；
Fig. 4 is the method flow diagram of picking task priority allocation strategy provided in an embodiment of the present invention；
Fig. 5 be another embodiment of the present invention provides picking task priority allocation strategy method flow diagram；
Fig. 6 is the schematic diagram of congestion settlement mechanism provided in an embodiment of the present invention；
Fig. 7 be another embodiment of the present invention provides congestion settlement mechanism schematic diagram.
[specific embodiment]
To facilitate the understanding of the present invention, in the following with reference to the drawings and specific embodiments, the present invention will be described in more detail.
It should be noted that be expressed " being fixed on " another element when element, it can directly on the other element or therebetween
There may be one or more elements placed in the middle.When an element is expressed " connection " another element, it, which can be, directly connects
It is connected to another element or there may be one or more elements placed in the middle therebetween.Term " on " used in this specification,
The orientation or positional relationship of the instructions such as "lower", "inner", "outside", " bottom " is to be based on the orientation or positional relationship shown in the drawings, only
It is that for the convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning must have specifically
Orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " the
Two " " thirds " etc. are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
Unless otherwise defined, technical and scientific term all used in this specification is led with technology of the invention is belonged to
The normally understood meaning of the technical staff in domain is identical.Used term is only in the description of the invention in this specification
The purpose of description specific embodiment is not intended to the limitation present invention.Term "and/or" used in this specification includes one
Any and all combinations of a or multiple relevant listed items.
In addition, as long as technical characteristic involved in invention described below difference embodiment is not constituted each other
Conflict can be combined with each other.
Kinds of goods sorting, which refers to, takes out kinds of goods corresponding with order from warehouse or the kinds of goods of other suitable types storage ground
And kinds of goods packing is completed, form the process of final order package outbound.The efficiency of kinds of goods sorting can be by the unit time
The order package quantity that reason is completed is determined.The order package quantity that processing is completed in unit time is more, the effect of kinds of goods sorting
Rate is also higher.
Final kinds of goods sorting efficiency may be influenced by many aspects, such as order issues mode and for machine
The picking method for allocating tasks of people.The optimization carried out to the step of involved in kinds of goods sort process can be to kinds of goods sorting efficiency
Promotion generate favorable influence.In order to express easily, the present invention in the course of the description, the corresponding target goods of picking task with
For container, other picking target configurations are not limited.
In the kinds of goods sort process of automation, identical kinds of goods are commonly stored in the same container.Each container
It according to specific storage rule, is placed on the specific position in warehouse, two dimensional code (such as can be by feature outside container
Or the mark such as bar code) kinds of goods to mark container to be stored.
Fig. 1 is application environment provided in an embodiment of the present invention.As shown in Figure 1, the application environment includes by processing terminal
10, the kinds of goods sorting system and apply the kinds of goods sorting system that picking station 20 and robot 30 form, are stored with more
The warehouse 40 of part kinds of goods.
Processing terminal 10 can be with any kind of electronic computing platform or equipment, as entire kinds of goods sorting system
Control core.It can have corresponding memory space or computing capability according to the needs of actual conditions, to provide one
Either multinomial application service or function, such as the order to outbound is received, it issues order or control robot executes pick-and-place
Goods task.
Fig. 2 is the structural block diagram of the electronic computing platform for realizing all or part of function of processing terminal 10.Such as Fig. 2
Shown, which may include: processor 110, memory 120 and communication module 130.
Between the processor 110, memory 120 and communication module 130 by way of bus, establish both any
Between communication connection.
Processor 110 can be any type, have the processor of one or more processing core.It can execute list
The operation of thread or multithreading obtains data, executes logical operation function and issues operation for analyzing the instruction to execute
The operation such as processing result.
A kind of non-volatile computer readable storage medium storing program for executing of the conduct of memory 120, a for example, at least disk memory,
Flush memory device, the distributed storage device remotely located relative to processor 110 or other non-volatile solid state memory parts.
Memory 120 can have program storage area, for storing non-volatile computer executable program instructions (another
In some embodiments, " non-volatile software program " can also be referred to as), it is called for processor 110 so that processor 110 executes
One or more method and step, such as realize one in picking method for allocating tasks provided in an embodiment of the present invention or more
A step.Memory 120 can also have data storage area, and the calculation process result of output is issued to storage processor 110.
Communication module 130 is communicated to connect for establishing with the equipment such as robot and/or picking station, and physics letter is provided
The functional module in road.
Picking station 20 is the automation equipment for taking out kinds of goods from container.It specifically can be according to actual goods
Product sort out principle or warehouse design needs, are provided with one or more different types of actuating mechanism and functional module (example
Conveyer belt such as matched with robot).
The quantity of picking station 20 can be by the occupied area in warehouse, required for construction cost and kinds of goods sorting system
The practical index such as the picking efficiency of realization is determined.Such as it can be set to 3 or more picking stations 20.
Robot 30 can be moved between picking station 20 and warehouse with walking mechanism, carry container with into
Row picks and places the automation equipment, such as AGV trolley etc. of goods operation.The walking mechanism can use the dynamical system of any suitable type
System.
In some embodiments, which can be driven by the way of electric power.As shown in Figure 1, corresponding
It is also provided with the charging zone 50 charged for robot 30, robot 30 works from charging zone, and can
It is charged with returning to charging zone in the case where not enough power supply.
Robot 30 has one or more functional parameter, and including but not limited to cargo dead-weight (that is, at most may be used each time
With the container quantity of loading), course continuation mileage, guidance mode, container pick and place speed and the speed of service etc..
Analogously, the quantity of robot 30 can also occupied area, the quantity and mesh of picking station by warehouse
The actual designs indexs such as mark picking efficiency are determined.Processing terminal 10 then can position according to robot 30 and functional parameter
(such as current cargo dead-weight, remaining course continuation mileage) information, optimizes and plans to realize the control to robot 30.
Warehouse 40 is the region for storing container.For the ease of being managed, multiple goods can be set in warehouse 40
Frame is placed with multiple same or different containers according to specific placement rule on each shelf.
As shown in Figure 1, these shelf intervals divide to form multiple tunnels for the entrance of robot 30.Robot 30 is entering
To after tunnel, specific container (such as container 1, container 2 or container 3) is taken out or put back to.Robot can be from tunnel
Both ends pass in and out tunnel.Here, the opening for being located at tunnel both ends is known as " access adit ", going out for robot 30 both can be used as
Mouthful, it can also be used as the entrance of robot 30.
In some embodiments, the direction between the tunnel of part is identical, and access adit between the two is opposite and makes
Robot 30 can be directly by, for example, tunnel 1 shown in FIG. 1 and tunnel 2.Here, such two tunnels are known as " adjacent
Tunnel ".Also that is, robot 30 is walked from tunnel 1 when abutting tunnel-tunnel 2 to it, or lane is abutted from the walking of tunnel 2 to it
When road-tunnel 1, not needing to turn to can be directly entered.
The cargo that container stores in warehouse 40 is unit progress with quantity in stock unit (SKU stock keeping unit)
Management.Quantity in stock unit is that inventory passes in and out the metering basic unit that perhaps control saves it can be and is with part, disk or box etc.
Unit (depends on specific kinds of goods).Identical cargo may also because of date of manufacture, size and color etc. difference and belong to
In different SKU.
Please continue to refer to Fig. 1, during carrying out kinds of goods sorting, 10 one side of processing terminal is needed order with suitable
Mode be handed down to each picking station, determine in order other than the corresponding target picking station of each quantity in stock unit.
On the other hand, processing terminal 10 also needs to distribute suitable picking task for each robot 30, makes it in warehouse and picking
Corresponding container is carried in movement between station.
In application scenarios shown in Fig. 1, picking method for allocating tasks provided in an embodiment of the present invention can be used, obtain
It reduces robot sky to run, promotes the technical effect of picking efficiency etc..Fig. 3 is picking task provided in an embodiment of the present invention distribution side
The method flow diagram of method.As shown in figure 3, the picking method for allocating tasks includes:
310, according to the target goods position of picking task, the priority of picking task is determined.
The target goods can be container corresponding with SKU (quantity in stock unit) or cargo etc.；The picking task is
Refer to the data packet for having included at least target goods corresponding with quantity in stock unit, target goods location information.It can specifically be adopted
With any suitable data type or data format.
By taking target goods are container as an example, the priority of picking task and the opposite position of container position and other robots
Set closely related, to need to be performed for measuring picking task urgent degree.For example, it can indicate that picking task is completed
It is required to face congestion risk, waiting time etc..The priority of picking task is higher, and congestion risk when executing is smaller, holds
The row time is shorter, and (for example, according to the roadway position where robot 30, preferential distribution has identical tunnel or adjacent tunnel
New picking task).
320, according to the position of robot and/or the priority of the picking task, for robot distribution at least one
A picking task.
Robot 30 can come and go between warehouse 10 and picking station 20 under the guide of picking task, will be described
The corresponding container of picking task takes out from the shelf in warehouse, and is carried to corresponding picking station 20 so that quantity in stock list
The corresponding target goods of member are picked.And after target goods sort out completion, equally container is transported back again by robot 30
The corresponding container position in warehouse.
In embodiments of the present invention, it by carrying out pool and optimization planning to multiple robots and multiple picking tasks, dashes forward
The binding relationship one by one between individual machine people and specific picking task is broken.Have simultaneously to multiple and different sortings as a result,
The potentiality that order is handled improve the degree of optimization of distribution picking task, are conducive to promote the corresponding kinds of goods of order sorting
Efficiency is sorted out, is had a good application prospect.
Please continue to refer to Fig. 1, in complete picking task assignment procedure, the position of robot is likely to be at two kinds of differences
State.In some embodiments, robot may not be carried in container and mobile region in (such as initial phase is located at and fills
Robot in electric area).
At this point, to the distance that picking task to be moved is executed significant shadow can't occur for the location of robot
It rings.As a result, when distributing picking task can directly for these robots distribution have highest priority picking task without
Need to refer to the current position of robot.
In the present specification, robot can be not to tunnel and picking station and other items carrying and moving area
Position be known as " non-active area ".Also that is, when the current position of robot be not belonging to the connected region between tunnel, tunnel with
And carrying moving area between warehouse and picking station etc. execute container handling work when be not related to region when, determine
The position of robot is in nonclient area.
In further embodiments, when robot completes one or more picking task, it is also possible to just in some lane
Picking in road gives back container or also in the working region of picking station.It should be understood that such robot location with it is non-
Workspace is different, is the influence factor that can not ignore when distributing picking task.
As a result, when distributing picking task, need to determine the position that the robot is current first.Then, according to described
The current position of robot and/or the target goods position of picking task, in the picking task of multiple highest priorities, for institute
It states robot and distributes suitable picking task so that the moving distance of the robot is minimum.In the present specification, it can incite somebody to action
In addition to the overseas region in nonclient area is known as " workspace " in entire picking operating system and warehouse.Also that is, robot is being carried
The region that may be passed by during container.
The smallest effect of moving distance of robot can be specifically obtained using any suitable allocation strategy.For example,
It can be preferably the current location category of the robot distribution target goods position and the robot when distributing picking task
In identical tunnel picking task so that the tunnel that robot does not need to move away from current location is gone to obtain target goods
Object.
In the actual process of processing terminal 10, processing terminal 10 can be according to the priority of picking task, for place
An initial picking task is distributed in the robot 30 in charging zone.
When robot 30 complete some picking task, after container is put back to warehouse, robot 30 will be released to
It can continue to new picking task.Processing terminal 10 at this time appoints the position being currently located according to robot 30 and picking
The priority of business continues as robot 30 and distributes new picking task.
In some embodiments, when where the target goods position of the picking task target tunnel and with the mesh
There is no when robot, determine that the picking task is the first priority in the adjoining tunnel that the access adit in mark tunnel connects.Such as
Refering to what is shown in Fig. 1, tunnel 2 is to connect with the access adit in target tunnel 1 while tunnel 1 is that robot is not present in target tunnel
Adjoining tunnel robot is also not present, the picking task under such feelings be the first priority.
First priority is the highest priority in picking task, shows that the first priority picking task is entirely to take relatively
Cost performance is highest in goods task, by distributing priority to picking task, picking task can be made as far as possible to complete as early as possible.
Correspondingly, when there are the picking task of the first priority, the picking that the first priority can be preferentially distributed for robot is appointed
Business.
It (is especially operated in picking specifically, the quantity of the picking task in the first priority is typically not limited to one
When just starting to execute).In order to further improve the efficiency of robot picking, in the picking task with multiple first priority
When, it can be preferentially selected as the picking task that target goods quantity is most in the target tunnel of robot distribution picking task, with
The moving distance of robot is reduced as far as possible.
During practical picking is operated and executed, in addition to the first priority, there is also many to belong to other situations
Picking task.
In some embodiments, when there is no the same of robot for the target tunnel where the target goods position of picking task
When, there are when robot, determine that the picking task is the second priority in the adjoining tunnel in the target tunnel.Such as with reference to figure
Shown in 1, while tunnel 1 is that robot is not present in target tunnel, tunnel 2 is the neighbour to connect with the access adit in target tunnel 1
Connecing tunnel, there are robots, and picking task is the second priority at this time.
Second priority is different from the first priority, another priority of order after the first priority.It is corresponding
Ground, when there are the first priority, the preferential picking task for distributing the first priority.And when the first priority is not present, then
The picking task of the second priority is distributed for robot.
With the continuous progress that picking operates, the target goods position of picking task also can increasingly be concentrated.At this point, picking
Task is likely to both be not belonging to the first priority, is also not belonging to the second priority.In further embodiments, when the picking is appointed
There are while robot, machine is not present in the adjoining tunnel in the target tunnel in target tunnel where the target goods position of business
When device people, determine that the picking task is third priority.Such as refering to what is shown in Fig. 1, when tunnel 1 is that there are machines in target tunnel
While people, tunnel 2 is that robot is not present in the adjoining tunnel to connect with the access adit in target tunnel 1, and picking task is at this time
Third priority.
Third priority is that the priority of further division is carried out to picking task.Secondly tagmeme is in the first priority and the
After two priority.Correspondingly, only in the case that the picking task of the first priority and the second priority is not present,
The picking task of third priority can be further distributed for robot.
In further embodiments, remaining picking task can further be divided into the 4th priority.In other words,
When the target tunnel where the target goods position of the picking task is there are while robot, the adjoining in the target tunnel
Tunnel determines that the picking task is the 4th priority there are robot.Such as refering to what is shown in Fig. 1, when tunnel 1 is target tunnel
There are while robot, tunnel 2 is that there is also robots for the adjoining tunnel that connects with the access adit in target tunnel 1, is taken at this time
Goods task is the 4th priority.
4th priority refers to that the order of priority of the picking task is minimum, is the picking task for finally distributing to robot.
Correspondingly, on the basis of existing first priority, the second priority and third priority, when these three priority
When picking task has all been assigned, the picking task of the 4th priority is just belonged to for robot distribution.
In summary, it according to the difference of the target goods position of picking task, can be formed following several different preferential
Grade: the first priority, the second priority, third priority and the 4th priority.
Wherein, target tunnel of first priority where target goods position and the neighbour with the target tunnel
Connecing tunnel, there is no robots.Second priority is that the same of robot is not present in the target tunnel where target goods position
When, there are robots in the adjoining tunnel in the target tunnel.The third priority is the target lane where target goods position
There are while robot, robot is not present in the adjoining tunnel in the target tunnel in road.4th priority is target goods
Target tunnel where object location is there are while robot, and there are robots in the adjoining tunnel in the target tunnel.
According to priority order, the first priority is higher than the second priority, and the second priority is higher than third priority, third
Priority is higher than the 4th priority.
In actual picking task assignment procedure, along with the continuous progress that picking operates, the field that picking task is faced
Scape or actual conditions also will appear some significant changes.For example, in the initial stage of picking operation, picking task is corresponding
Target goods position may be evenly distributed in most of tunnel in warehouse 40.And picking operation proceed to coda or
When the later period, the corresponding target goods of remaining picking task may be concentrated in a few specific tunnels.
In order to adapt to the variation of these scenes, during picking operates progress, plan can also be distributed to picking task
Carry out reasonable adjustment slightly to obtain better optimization planning effect.Fig. 4 be another embodiment of the present invention provides picking task
Distribution method.
As shown in figure 4, the method includes following strategies:
410, the toatl proportion that the picking task index completed accounts for total picking task index is calculated.
For example, the completed picking task index can for completed the corresponding number of lanes of picking task,
It can be the picking task quantity completed, or other forms.
Specifically, this, which has completed the corresponding number of lanes of picking task, accounts for the sum that total picking task corresponds to tunnel
The quantity in tunnel where amount ratio can refer to the corresponding container of remaining picking task number, which show picking operations
Performance level.
420, judge whether the toatl proportion reaches preset first and complete threshold value.Step 430 is executed if not；If executing step
Rapid 440；
The completion threshold value is an empirical value.It can be arranged by technical staff, such as 20% or 30% etc., may be used also
To be adjusted or be handled according to the actual situation by technical staff to obtain preferable divided stages effect.
It should be noted that can also determine or divide using other suitable judgment criterias locating for picking operation
The case where stage or completeness.
430, the picking task of the first priority and/or the second priority is distributed for robot.
In the initial stage for not reaching the first completion threshold value.Picking task is scattered in different tunnels substantially.Place
The first priority can be used in reason terminal 10 and the second priority is that robot 30 distributes picking task, so that robot 30 only exists
Picking case and picking station is returned in target tunnel and adjacent tunnel, without continuing to move in other tunnels, convenient for fast
The completion picking task of speed
440, the picking task of highest priority is distributed for robot.
After having reached the first completion threshold value, processing terminal 10 can adjust allocation strategy accordingly, appoint according to picking
The priority order of business is followed successively by robot distribution picking task (for example, robot distribution third or the 4th priority
Picking task).
It in further embodiments, can also be further before the picking task of highest priority is distributed for the robot
Judge whether that reaching preset second completes threshold value；If further reaching the second completion threshold value, illustrate that picking ratio reaches first
Completion status when completing threshold value is further, has had progressed to the state soon terminated, then can divide for robot
When picking task with third priority and/or the 4th priority, three or three or less robots are further allowed to enter same
One tunnel；If not reaching the second completion threshold value, it can permit two or two or less robots into same tunnel.
Fig. 5 be another embodiment of the present invention provides picking method for allocating tasks method flow diagram.As shown in figure 5, with
Method shown in Fig. 4 is compared, and this method may include steps of:
510, the toatl proportion that the picking task index completed accounts for total picking task index is obtained.
Disclosed by as above, which specifically can be indicated or be determined using any suitable way or data
Justice, it is only necessary to can indicate the level of enforcement of picking operation.
520, judge whether that reaching preset first completes threshold value.If it is not, executing step 530；If so, executing step 540.
530, the picking task of the first priority and/or the second priority is distributed for robot.
For example, robot can be firstly moved to take in target tunnel when the container useful load of robot is 5
The corresponding container of goods task.After taking full 5 containers, target picking station is just gone directly to.
If full 5 containers can not be taken in target tunnel, it is moved in the adjoining tunnel in target tunnel and takes out container.Nothing
By that whether can take out 5 containers, machine leaves from adjacent tunnel per capita and goes to target picking station.
As above documented by, picking operation just started execute stage, may there are many picking task belong to
First priority.It therefore, in the preferred embodiment, can also be preferential to select further in the picking task of the first priority
Select the most picking task of container quantity in the same tunnel.Such mode can reduce robot 30 and execute picking
The path length of required walking when task, to promote the efficiency of picking as far as possible.
540, whether the toatl proportion that the picking task index that judgement has been completed accounts for total picking task index reaches pre-
If second complete threshold value.If it is not, executing step 550；If so, executing step 560.
Threshold value is completed analogously with above-mentioned first, and the second completion threshold value is also an empirical numerical value.Second completes threshold
Value is greater than first and completes threshold value, so that the process that entire picking operates is divided into three different stages.
550, when distributing the picking task of highest priority for the robot, allow two or two or less robots into
Enter same tunnel.
It is understood that the robot quantity into same tunnel is more, it is more easy to appear the spy of robot congestion etc.
Different situation.As a result, in the present embodiment, the process entire picking operated according to completion ratio, be divided into three it is different
Stage.
In second stage, it is contemplated that the quantity of picking task starts to become to concentrate to allow two or machine below
Device people enters same tunnel, makes a concentrated effort to finish picking task.
560, when distributing the picking task of highest priority for the robot, allow three or three or less robots into
Enter same tunnel.
It had been greater than for the second phase III for completing threshold value, the target goods position of picking task can become more to concentrate.Into
More robots are enabled to enter the same tunnel one step to complete complete picking operation as early as possible.For example, reaching the first completion
The corresponding result of threshold value is that only remaining 6 tunnels have the picking task of execution or not in warehouse；Reach the second completion threshold value pair
The result answered is that only remaining 3 tunnels have the picking task of execution or not in warehouse；Processing terminal 10, which can specifically use, appoints
What suitable strategy controls the quantity that robot enters the same tunnel, to optimize picking process, raising efficiency as far as possible.Example
Such as, when only there is the picking task not executed also in remaining 6 tunnels in warehouse 40, processing terminal 10 can permit Liang Ge robot
The same tunnel is gone to simultaneously.And when only there is the demand of picking task in remaining 3 tunnels in warehouse 40, processing terminal 10 may be used also
Further to extend, allows three robots while going to the same tunnel.
Further, since the width in tunnel is typically designed to only a robot be allowed to pass through (to improve as far as possible
The utilization rate of warehouse floor space).Therefore, the asking it is easy to appear robot congestion when multiple robots enter the same tunnel simultaneously
Topic impacts (that is, mutually stopping between Liang Ge robot) to picking efficiency.It the problem of in order to avoid congestion, can also be into
One step uses following one or more kinds of optimisation strategies to carry out the distribution of picking task with raising efficiency as far as possible.
Have the characteristics that two opposite outlets based on the same tunnel, can enter in two or more robots same
When one target tunnel, the direction in the target tunnel is entered according to robot, distributing has taking for corresponding target goods position
Goods task, to avoid the problem that getting congestion between robot.
By taking situation shown in fig. 6 as an example, when robot 1 and robot 2 need to enter the same tunnel, can be respectively
It is that A1, A2, A3 and A4 are distributed close to the picking task of one side outlet A of tunnel for robot 2 that robot 1, which distributes container position,
Container position is B1, B2, B3 and B4, close to the picking task of one side outlet B of tunnel.
It is such, although robot 1 and robot 2 in the same tunnel, can also distinguish when executing picking task
From outlet A and outlet B disengaging, congestion not will cause.
It is limited by one or more condition, the picking task between Liang Ge robot can not be performed simultaneously no matter
When what kind of path planning all not can avoid congestion using, the mechanism of picking task switching can also be established to avoid asking for congestion
Topic, the picking task between Liang Ge robot is exchanged, so that picking task can be performed simultaneously.
Please continue to refer to Fig. 6, when the task of robot 1 and robot 2 is respectively to take out container B3 and take out container A3,
The two picking tasks can not be performed simultaneously, it may appear that the case where congestion.Processing terminal 10 can control 1 He of robot as a result,
The picking task of robot 2 is exchanged with each other, to avoid the generation of congestion.
Certainly, the container of loading is transported into picking station to complete picking task due to robot needs.Therefore, exist
When exchanging picking task, therefore, to assure that the corresponding picking station of two picking tasks is identical.
It is needed when should be noted that the picking task switching that those skilled in the art are disclosed based on the embodiment of the present invention full
The principle (picking station need to be consistent) of foot, can also be according to the kinds of goods method for sorting of practical application to above-mentioned technical proposal
Be adjusted, change or replace all and can be based on what the prior art was readily apparent that, belong to the scope of protection of the present invention within.
In further embodiments, it is limited by the maximum cargo dead-weight of robot, robot is possibly can not be disposable complete
At all containers for including in picking task.It is greater than the residue of the robot in the corresponding container quantity of picking task as a result,
When cargo dead-weight, processing terminal 10 for robot 30 distributes the preceding n container of access adit closest to the target tunnel, and (n is institute
State the remaining cargo dead-weight of robot), to optimize the movement routine of robot, the container acquisition sequence adjusted in picking task is come
Reduce the moving distance of robot.
It is 5 in the corresponding container quantity of picking task, but the remaining of robot 30 carries by taking scene shown in Fig. 7 as an example
When goods amount is only 3, processing terminal 10 can distribute three containers C1, B1 and C2 close to access adit for robot 30.Machine
Device people 30 directly exits from access adit after taking out these three containers, is moved to picking station.
In this way, robot only needs to pass in and out from the access adit of target tunnel side, without covering
Entire target tunnel can be very good to reduce the mobile distance of robot, realize the optimization of movement routine.
In conclusion picking method for allocating tasks provided in an embodiment of the present invention, can carry out more quantity in stock units simultaneously
Picking with more orders operates, and realizes the path planning to multiple robots and pool, is conducive to reduce robot as far as possible
Total moving distance, working efficiency with higher, can be good at promoted warehouse, logistics management effect.
The functional steps executed required for the processing terminal that those skilled in the art can disclose according to embodiments of the present invention
Perhaps it is served by selection and realizes (such as one or more using the mode of corresponding software, hardware or software and hardware combining
A comparison circuit).It according to the functional steps to be realized or is served by, selects and design the mode of hardware circuit as ability
It is the common knowledge of the art, therefore not to repeat here known to field technique personnel.
Those skilled in the art should further appreciate that, described in conjunction with the examples disclosed in this document to show
Each step of the kinds of goods method for sorting of example property, can be realized with electronic hardware, computer software, or a combination of the two, be
The interchangeability for clearly demonstrating hardware and software, in the above description generally describes each example according to function
Composition and step.These functions are implemented in hardware or software actually, depending on technical solution specific application and
Design constraint.
Those skilled in the art can use different methods to achieve the described function each specific application, but
It is that such implementation should not be considered as beyond the scope of the present invention.The computer software can be stored in computer-readable storage and be situated between
In matter, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be
Magnetic disk, CD, read-only memory or random access memory etc..
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
It under the thinking of invention, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with
It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have
Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field
Member is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill
Art feature is equivalently replaced；And these are modified or replaceed, each reality of the present invention that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.
Claims (15)
1. a kind of picking method for allocating tasks characterized by comprising
According to the target goods position of picking task, the priority of picking task is determined；
According to the current location of robot and/or the priority of the picking task, at least one is distributed for the robot and is taken
Goods task.
2. distribution method according to claim 1, which is characterized in that described to distribute at least one picking task for robot
Include:
When the current location of the robot is in workspace, in the picking task of at least one highest priority, for institute
Stating robot distribution, there are the picking tasks that target goods position and the current position of the robot belong to identical tunnel.
3. distribution method according to claim 1, which is characterized in that described to distribute at least one picking times for robot
Business, specifically includes:
When the current location of the robot is in nonclient area, the picking for distributing highest priority for the robot is appointed
Business.
4. distribution method according to any one of claims 1 to 3, which is characterized in that the priority of the picking task includes
First priority；
The target goods position according to picking task, determines the priority of picking task, specifically includes:
When the adjoining tunnel in target tunnel and the target tunnel where the target goods position of the picking task is not deposited
In robot, determine that the picking task is the first priority；
According to the priority of the picking task, the picking task of the first priority is distributed for the robot.
5. distribution method according to claim 4, which is characterized in that when determine the picking task be the first priority
When, further preferentially select the picking task that target goods quantity is most in the target tunnel of the picking task of the first priority.
6. distribution method according to claim 4 or 5, which is characterized in that the priority of the picking task is further wrapped
Include the second priority；
The target goods position according to picking task, determines the priority of picking task, specifically includes:
While robot is not present in the target tunnel where the target goods position of picking task, the neighbour in the target tunnel
Connecing tunnel, there are when robot, determine that the picking task is the second priority；
It is that the robot distributes the first priority and/or the second priority according to the priority order of the picking task
Picking task, first priority are higher than second priority.
7. distribution method according to claim 6, which is characterized in that the priority of the picking task further includes that third is excellent
First grade；
The target goods position according to picking task, determines the priority of picking task, specifically includes:
When the target tunnel where the target goods position of the picking task is there are while robot, the target tunnel
When robot is not present in adjacent tunnel, determine that the picking task is third priority；
According to the priority order of the picking task, for the robot distribute the first priority, the second priority, and/or
The picking task of third priority, first priority are higher than second priority, and it is preferential that the second priority is higher than third
Grade.
8. distribution method according to claim 7, which is characterized in that the priority of the picking task further includes the 4th excellent
First grade；
The target goods position according to picking task, determines the priority of picking task, specifically includes:
When the target tunnel where the target goods position of the picking task is there are while robot, the target tunnel
Adjacent tunnel determines that the picking task is the 4th priority there are robot；
According to the priority order of the picking task, it is excellent that the first priority, the second priority, third are distributed for the robot
The picking task of first grade and/or the 4th priority, first priority are higher than second priority, and the second priority is higher than
Third priority, third priority are higher than the 4th priority.
9. the distribution method according to claim 6 or 8, which is characterized in that the method also includes:
Whether the toatl proportion that the picking task index that judgement has been completed accounts for total picking task index reaches preset first
Complete threshold value；
If it is not, distributing the picking task of the first priority and/or the second priority for robot；
If so, distributing the picking task of highest priority for robot.
10. distribution method according to claim 9, which is characterized in that the method also includes:
The toatl proportion that the picking task index completed accounts for total picking task index reaches preset first and completes threshold value
When, further determine whether that reaching preset second completes threshold value；
If it is not, when then distributing the picking task of highest priority for the robot, allow two or two or less robots into
Enter same tunnel；
If so, when distributing the picking task of highest priority for the robot, allow three or three or less robots into
Enter same tunnel.
11. distribution method according to any one of claims 1 to 10, which is characterized in that the method also includes:
Judge in target tunnel, whether the corresponding target goods quantity of picking task is greater than the remaining cargo dead-weight of the robot,
The target tunnel is the tunnel where the target goods position of the picking task；
If so, distributing the preceding n target goods closest to the access adit in the target tunnel, n is that the remaining of the robot carries
Goods amount.
12. distribution method according to claim 11, which is characterized in that enter in two or more robots same
When target tunnel, the direction in the target tunnel is entered according to robot, distributing, there is the picking of corresponding target goods position to appoint
Business；The target tunnel is the tunnel where the target goods position of the picking task.
13. distribution method according to claim 12, which is characterized in that the method also includes: when Liang Ge robot
When picking task is unable to simultaneously perform and the corresponding picking station of two picking tasks is identical, two machines are exchanged
The picking task of device people.
14. a kind of non-volatile computer readable storage medium storing program for executing, which is characterized in that the non-volatile computer readable storage medium
Matter is stored with computer-executable program instructions, when the computer-executable program instructions are called by processor, so that described
Processor executes such as the described in any item picking method for allocating tasks of claim 1-13.
15. a kind of kinds of goods sorting system, which is characterized in that including processing terminal, picking station and robot；
The picking station from target goods for sorting out one or more kinds of goods；The robot be used for warehouse with
The target goods are carried between the picking station；
The processing terminal is connect with the picking station and the robot communication respectively, for executing such as claim
The described in any item picking method for allocating tasks of 1-13 control the robot carrying target goods to corresponding picking and grasp
Make platform so that kinds of goods corresponding with order are picked.
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| CN202110321578.7A CN112978190B (en) | 2019-06-29 | 2019-06-29 | Goods taking task distribution method and goods sorting system thereof |
| CN201910582493.7A CN110239868B (en) | 2019-06-29 | 2019-06-29 | Goods taking task allocation method and goods sorting system thereof |
| CN202110321573.4A CN112967002A (en) | 2019-06-29 | 2019-06-29 | Goods taking task allocation method and goods sorting system thereof |
| CN202110320452.8A CN112978189B (en) | 2019-06-29 | 2019-06-29 | Goods taking task allocation method and goods sorting system thereof |
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| CN202110320452.8A Division CN112978189B (en) | 2019-06-29 | 2019-06-29 | Goods taking task allocation method and goods sorting system thereof |
| CN202110321578.7A Division CN112978190B (en) | 2019-06-29 | 2019-06-29 | Goods taking task distribution method and goods sorting system thereof |
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| CN202110321578.7A Active CN112978190B (en) | 2019-06-29 | 2019-06-29 | Goods taking task distribution method and goods sorting system thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112978190B (en) | 2023-07-25 |
| CN112978189A (en) | 2021-06-18 |
| CN112978190A (en) | 2021-06-18 |
| CN110239868B (en) | 2021-05-11 |
| CN112967002A (en) | 2021-06-15 |
| CN112978189B (en) | 2022-07-26 |
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