CN110639818B

CN110639818B - Goods picking method and device for logistics storage, computer equipment and storage medium

Info

Publication number: CN110639818B
Application number: CN201910754679.6A
Authority: CN
Inventors: 李宏业; 董华来; 裴益峰; 陶熠昆
Original assignee: Zhejiang Guozi Robot Technology Co Ltd
Current assignee: Zhejiang Guozi Robot Technology Co Ltd
Priority date: 2019-08-15
Filing date: 2019-08-15
Publication date: 2022-05-10
Anticipated expiration: 2039-08-15
Also published as: CN110639818A

Abstract

The application relates to a goods picking method and device for logistics storage, computer equipment and a storage medium. The method comprises the following steps: obtaining order information in a preset time period, classifying the order information and distributing a picking device; binding order information corresponding to the picking device with a turnover box; controlling the goods picking device to pick goods according to the order information and transporting the goods to a packing station; and packaging the goods in the turnover box according to the order information. The orders are classified through the control center, corresponding turnover boxes are bound, the picking device is controlled to pick corresponding orders according to the planned path, the orders are transported to a packing station, and goods in the orders are packed in the packing station. The automatic goods selecting mode can save manpower, improves the goods selecting efficiency and further saves the cost.

Description

Goods picking method and device for logistics storage, computer equipment and storage medium

Technical Field

The application relates to the technical field of logistics storage, in particular to a goods picking method and device, computer equipment and a storage medium for logistics storage.

Background

The intelligent logistics is widely applied to basic activities of transportation, storage, distribution, packaging, loading and unloading and the like in the logistics industry through an information processing and network communication technology platform by utilizing advanced internet of things technologies such as bar codes, radio frequency identification technologies, sensors, global positioning systems and the like, so that the automatic operation and high-efficiency optimized management of the goods transportation process are realized, the service level of the logistics industry is improved, the cost is reduced, and the consumption of natural resources and social resources is reduced.

In the current traditional technology, logistics storage all needs staff, and the corresponding goods picking work is carried out to the order received by the manual work, and the work load is large, the goods picking efficiency is low, and the cost is high.

Disclosure of Invention

In view of the above, there is a need to provide a picking method, a picking apparatus, a computer device and a storage medium for logistics storage, which can improve the picking efficiency and save the cost.

A method of picking in logistics storage, the method comprising: obtaining order information in a preset time period, classifying the order information and distributing a picking device; binding order information corresponding to the picking device with a turnover box; controlling the goods picking device to pick goods according to the order information and transporting the goods to a packing station; and packaging the goods in the turnover box according to the order information.

In one embodiment, the sorting and assigning order information picking device comprises: according to the order information, extracting the number of the order lines in each order and the hot sales degree of the order lines in each order; classifying the orders in the preset time period according to the number of the rows of the orders in each order and the hot sales degree of the orders in each order; and distributing a picking device for each type of order information.

In one embodiment, the classifying the orders within the preset time period includes: taking the order with the order line number of 1 and the order line hot-selling degree as a first type order; taking the order with the order line number of 1 and the order line hot-selling degree of slow selling as a second type of order; taking the order with the order line quantity larger than 1 and the order line hot-selling degree being the full hot-selling degree as a third type order; taking the order with the order line quantity larger than 1 and the order with the hot selling degree of the order as a fourth type of order; and taking the order with the order line quantity larger than 1 and the order line hot-selling degree as a fifth type order.

In one embodiment, the assigning a picking device for each type of the order information comprises: acquiring the total amount of the order according to the order information; comparing the total amount of the orders with a preset first threshold value; and if the total order amount is larger than or equal to a preset first threshold value, the five types of orders are distributed and picked one by one.

In one embodiment, the comparing the total order amount with a preset threshold further includes: and if the total amount of the orders is smaller than a preset first threshold value, the orders are distributed and picked in a multi-to-one mode for five types of orders.

In one embodiment, the one-to-one allocation order picking device for five types of orders if the total order amount is greater than or equal to a preset first threshold value comprises: if the order is a fifth type order, acquiring the number of order lines in the current order; comparing the number of order lines in the current order with a preset second threshold value; and if the number of the order lines in the current order is less than a second threshold value, allocating a picking device to the slow-sales order line and the hot-sales order line in the fifth order.

In one embodiment, comparing the number of order lines in the current order with a preset second threshold further comprises: and if the number of the order lines in the current order is larger than or equal to a second threshold value, respectively allocating a picking device to a slow-sales order line and a hot-sales order line in a fifth order.

In one embodiment, the binding the order information corresponding to the picking device to the turnover box includes: acquiring order information of all orders in an order pool of a corresponding category of the order picking device; dividing the order pool into a plurality of sub order pools according to the order information; acquiring turnover box set information; distributing corresponding sub order pools for the turnover box set according to the turnover box set information and the priority order of the plurality of sub order pools; distributing a plurality of order information in a sub-order pool for the turnover box set, wherein the total volume of goods of all order lines in the order information is smaller than or equal to the total volume of the turnover box set, and the total weight of the goods of all order lines in the order information is smaller than or equal to the total allowable weight of the turnover box set.

In one embodiment, the obtaining order information of all orders in the order pool of the corresponding category of the order picking device comprises: the order information comprises order cut-off time and all order line information; the order line information comprises a cargo volume, a cargo weight and a cargo area; acquiring order information of all orders in an order pool of a corresponding category of the order picking device; and if the goods volume of all order lines in the order information is smaller than or equal to the volume of the turnover box, and the goods weight of all order lines is smaller than or equal to the allowable weight of the turnover box, acquiring the corresponding order information.

In one embodiment, the dividing the order pool into a plurality of sub-order pools according to the order information includes: dividing the order pool into an emergency order pool and a normal order pool according to the order cut-off time and a preset time threshold; and dividing the emergency order pool and the normal order pool into a plurality of sub order pools according to the cargo area.

In one embodiment, the allocating, according to the turnover box set information and the priority order of the plurality of sub-order pools, corresponding sub-order pools to the turnover box set includes: the turnover box set information comprises picking area information and turnover box information; the turnover box information comprises the volume and the allowable weight of the turnover box; selecting a plurality of sub order pools according to the picking area information; and distributing the corresponding sub order pools for the turnover box set according to the priority order of the sub order pools.

In one embodiment, the allocating the plurality of order information in the sub-order pool to the turnover box set further includes: binding order lines in the plurality of order information with corresponding turnover boxes in the turnover box set respectively; the volume of the turnover box is larger than or equal to the total volume of the goods of the corresponding order lines, and the allowable weight of the turnover box is larger than or equal to the total weight of the goods of the corresponding order lines.

In one embodiment, the packaging the goods in the turnover box according to the order information includes: acquiring first bar code information; the first bar code information comprises the bar code information of the turnover box; extracting an order set corresponding to the first bar code information according to the first bar code information; acquiring second bar code information; the second bar code information comprises commodity bar code information; according to the second bar code information, extracting order information of corresponding orders in the order set; and packaging the corresponding order according to the order information.

In one embodiment, the extracting, according to the second barcode information, the order information of the corresponding order in the order set includes: distributing order types according to the second bar code information and preset priority; the order types include: a single order line single order, a plurality of orders in a single order line and a plurality of orders in a plurality of order lines; and extracting order information of the corresponding order type according to the order type.

In one embodiment, the packaging the corresponding order according to the order type and the order information includes: and if the order type is a single order row and single order, placing a second bar code information commodity into an order packing box corresponding to the order information, and finishing packing.

In one embodiment, the packaging the corresponding order according to the order type and the order information includes: if the order type is a single order line and a plurality of orders, acquiring the number of the order line; and placing the second bar code information commodities with the number corresponding to the order line into the order packing box corresponding to the order information to finish packing.

In one embodiment, the packaging the corresponding order according to the order type and the order information includes: if the order type is a multi-order line and multi-order, acquiring all order lines and the quantity of corresponding order lines; and putting all order row commodities with the corresponding order row quantity into the order packing box corresponding to the order information, and finishing packing.

In one embodiment, the controlling the order picking device to pick orders according to the order information comprises: and acquiring a service map, a positioning map and obstacle information, and performing corresponding protection actions according to the obstacle information.

In one embodiment, the obtaining a service map, a positioning map, and obstacle information, and performing a corresponding protection action according to the obstacle information includes: acquiring a service map, a positioning map and obstacle information, wherein the service map is used for indicating a driving route of the picking device, the positioning map is used for indicating the position of the picking device, the positioning map is matched with the service map, and the obstacle information comprises obstacle size information and obstacle coordinate information; and if the obstacle information exists, executing corresponding protection actions according to the obstacle information, the positioning map and the safety protection configuration on the driving route in the service map.

In one embodiment, the executing of the corresponding protection action according to the obstacle information, the positioning map and the safety protection configuration on the driving route in the service map comprises: acquiring safety protection configuration information of the service map on a current driving route; and executing corresponding protection actions according to the obstacle information, the positioning map, the service map and the safety configuration information.

In one embodiment, the performing the corresponding protection action according to the obstacle information, the positioning map, the service map and the security configuration information includes: obtaining the distance between the goods picking device and the barrier according to the coordinate information of the barrier and a positioning map; and executing corresponding protection actions according to the distance between the picking device and the barrier and the safety configuration information.

In one embodiment, the performing the corresponding protection action according to the distance between the picking device and the obstacle and the safety configuration information comprises: the first preset distance is greater than the second preset distance, the second preset distance is greater than the third preset distance, and the first preset speed is greater than the second preset speed; if the distance between the goods picking device and the barrier is smaller than or equal to a first preset distance, adjusting the traveling speed of the goods picking device to a first preset speed; if the distance between the goods picking device and the barrier is smaller than or equal to a second preset distance, adjusting the traveling speed of the goods picking device to a second preset speed; and if the distance between the goods picking device and the barrier is less than or equal to a third preset distance, controlling the goods picking device to stop moving.

In one embodiment, the performing the corresponding protection action according to the obstacle information, the positioning map, the service map and the security configuration information includes: obtaining the distance between the goods picking device and the barrier according to the coordinate information of the barrier and a positioning map; if the distance between the goods picking device and the barrier is equal to a fourth preset distance, controlling the goods picking device to stop moving, and counting the stop moving time; and if the stop traveling time is longer than the preset time, re-planning the traveling path of the picking device according to the positioning map and the service map.

In one embodiment, the performing the corresponding protection action according to the obstacle information, the positioning map, the service map and the security configuration information includes: acquiring environmental information of the position of a goods picking device; configuring a temporary route to bypass the obstacle according to the obstacle size and the environmental information.

A picking device for logistics storage, the device comprising: the acquisition module is used for acquiring order information in a preset time period, classifying the order information and distributing the order picking device; the binding module is used for binding the order information corresponding to the goods picking device with the turnover box; the control module is used for controlling the picking device to pick goods according to the order information and transport the goods to the packing station; and the packaging module is used for packaging the goods in the turnover box according to the order information.

A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of any of the methods described above when executing the computer program.

A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of any of the methods described above.

According to the method and the device for picking the goods in the logistics storage, the computer equipment and the storage medium, the control center is used for obtaining the order information in the preset time period, classifying the order information and distributing the picking devices, and then binding the order information corresponding to the picking devices with the turnover box; controlling the goods picking device bound with the turnover box to pick goods according to the order information and transporting the goods to a packing station; and finally, packaging the goods in the turnover box according to the order information. The orders are classified through the control center, corresponding turnover boxes are bound, the picking device is controlled to pick corresponding orders according to the planned path, the orders are transported to a packing station, and goods in the orders are packed in the packing station. The automatic goods selecting mode can save manpower, improves the goods selecting efficiency and further saves the cost.

Drawings

Fig. 1 is a block diagram of a logistics storage system according to an embodiment;

FIG. 2 is a flow chart illustrating a method for picking in logistics storage according to one embodiment;

FIG. 3 is a flow diagram illustrating a method for order sorting according to one embodiment;

FIG. 4 is a flow diagram that illustrates a method for order binding in one embodiment;

FIG. 5 is a schematic flow chart diagram of a method for order packaging in one embodiment;

FIG. 6 is a flowchart illustrating a method for securing a picking device according to one embodiment;

FIG. 7 is a second flowchart of a method for securing a picking device according to an embodiment;

fig. 8 is a third flowchart of a method for securing a picking device according to an embodiment;

FIG. 9 is a schematic illustration of a zone of protection classes provided by an embodiment;

FIG. 10 is a fourth flowchart illustrating a method for securing a picking device according to an embodiment;

fig. 11 is a schematic view of a travel path of an obstacle avoidance device according to an embodiment;

FIG. 12 is a fifth flowchart illustrating a method for securing a picking device according to an exemplary embodiment;

fig. 13 is a schematic view of a travel path of an obstacle avoidance device according to another embodiment;

fig. 14 is a block diagram of a picking device for logistics storage in one embodiment;

FIG. 15 is a diagram showing an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

As shown in fig. 1, fig. 1 is a block diagram of a logistics storage system according to an embodiment.

The Warehouse Management System (WMS) integrates the functions of batch management, material correspondence, inventory checking, quality inspection management, virtual warehouse management, instant inventory management and the like through the functions of warehouse-in business, warehouse-out business, warehouse allocation, inventory allocation, virtual warehouse management and the like, effectively controls and tracks the whole process of logistics and cost management of the warehouse business, and realizes perfect enterprise warehouse information management.

An Order Management System (OMS) is an important component of intelligent logistics, the main function of the order management system is to provide one-stop supply chain service integrated by a user through unified orders, and the order management and the order tracking management can enable the logistics service of the user to be met in a whole process. The order management system is an indispensable part in the logistics management chain, through the management and distribution of orders, the warehousing management and the transportation management are organically combined, all links in the logistics management are stably and effectively played, the warehousing, the transportation and the orders form an organic whole, and the informatization requirement of the logistics system is met.

And the Order Analysis System (OAS) analyzes the composition of the order, the commodity cooling degree and the commodity quantity, and splits, merges and classifies the order by combining the information of the warehouse management system so as to improve the back-end order completion efficiency.

A Warehousing Execution System (WES) is a new generation of bar-coded warehouse execution system, and by means of technical means such as bar codes/RFID/3G wireless terminals and the like and matching with a set of complete warehousing logistics management processes, the execution management and process optimization of enterprise global logistics are realized, an enterprise can accurately manage inventory after adopting the warehousing execution system, the cost is reduced, and the efficiency of internal logistics operation is improved. The warehousing execution system distributes orders to order frames (boxes) according to order analysis of the order analysis system in combination with loading capacity of the picking device through a volume algorithm in consideration of order taking time, and then generates carrying tasks of the order frames in combination with the warehouse management system, wherein the carrying tasks comprise starting points, process stopping points and end point information.

The robot execution system (REX) is a main body for executing a transport task, and includes a goods picking device (AGV), a charging device, a communication device, a scheduling monitoring device, and the like. The warehousing execution system issues the generated carrying tasks to the robot execution system, and the robot execution system performs task assignment, path planning and traffic management on the multiple goods picking devices through an optimal algorithm to realize the carrying task with the highest efficiency.

The Picking Prompt System (PPS) is an essential important tool in the goods picking process and comprises electronic tag lighting picking (P2L), voice picking (P2V), user man-machine display (GUI), display equipment (PDA) and the like. The order picker directly obtains the order picking task through senses such as vision, sense of hearing, promotes the efficiency, the accuracy of choosing work.

The AGV is a transport vehicle equipped with an electromagnetic or optical automatic guidance device, is controlled by a computer, is characterized by wheeled movement, has a power conversion device or a power conversion device, and can automatically travel along a predetermined guidance route. Conventionally, an AGV is a mobile picking device for transportation, which is a carrier that transports goods from a location a to B.

The AGV comprises a Cart vehicle and an Order vehicle, wherein the Cart vehicle is larger in size, stronger in load bearing capacity and capable of containing a plurality of boxes, but the large size of the vehicle body can also cause the vehicle to occupy more space (wasting storage area of a warehouse) during running, the running speed of the vehicle cannot be too fast, and the vehicle is heavier. The Order car has small size, is more flexible and has higher speed, but only can contain a smaller amount of boxes at one time, and the load is lower than that of Cart. If the warehouse area is large, the space is not wasted; if the types of the commodities stored in the warehouse are many and the average re-picking rate is low; if the average weight of the goods stored in the warehouse is heavier and the volume is larger; then the comparison applies to Cart. The Order picking device of the application is described by taking an Order vehicle as an example.

In one embodiment, as shown in fig. 2, a picking method for logistics storage is provided, which is exemplified by the system in fig. 1, and comprises the following steps:

step S102, obtaining order information in a preset time period, classifying the order information and distributing a picking device.

Specifically, according to the order information, the number of order lines in each order and the hot sales degree of the order lines in each order are extracted; classifying the orders in the preset time period according to the number of the rows of the orders in each order and the hot sales degree of the orders in each order; and distributing a picking device for each type of order information. When the orders in the preset time period are classified, taking the orders with the order line number of 1 and the hot sales degree of the order line as a first-class order; taking the order with the order line number of 1 and the order line hot-selling degree of slow selling as a second type of order; taking the order with the order line quantity larger than 1 and the order line hot-selling degree being the full hot-selling degree as a third type order; taking the order with the order line quantity larger than 1 and the order hot-selling degree of full slow-selling as a fourth type order; and taking the order with the order line quantity larger than 1 and the order line hot-selling degree as a fifth type order. More specifically, when a goods picking device is distributed to each type of order information, the total amount of the orders is obtained according to the order information; comparing the total amount of the orders with a preset first threshold value; and if the total order amount is larger than or equal to a preset first threshold value, the five types of orders are distributed and picked one by one. And if the total amount of the orders is smaller than a preset first threshold value, the orders are distributed and picked in a multi-to-one mode for five types of orders. If the order is a fifth type order, acquiring the number of order lines in the current order; comparing the number of order lines in the current order with a preset second threshold value; and if the number of the order lines in the current order is less than a second threshold value, allocating a picking device to the slow-sales order line and the hot-sales order line in the fifth order. And if the number of the order lines in the current order is larger than or equal to a second threshold value, respectively allocating a picking device to a slow-sales order line and a hot-sales order line in a fifth order.

And step S104, binding the order information corresponding to the picking device with the turnover box.

Specifically, order information of all orders in an order pool of a category corresponding to the picking device is obtained; dividing the order pool into a plurality of sub order pools according to the order information; acquiring turnover box set information; distributing corresponding sub order pools for the turnover box set according to the turnover box set information and the priority order of the plurality of sub order pools; distributing a plurality of order information in a sub-order pool for the turnover box set, wherein the total volume of goods of all order lines in the order information is smaller than or equal to the total volume of the turnover box set, and the total weight of the goods of all order lines in the order information is smaller than or equal to the total allowable weight of the turnover box set. The order information comprises order cut-off time and all order line information; the order line information includes cargo volume, cargo weight, and cargo area. The order information acquisition specifically comprises the following steps: acquiring order information of all orders in an order pool of a corresponding category of the order picking device; and if the goods volume of all order lines in the order information is smaller than or equal to the volume of the turnover box, and the goods weight of all order lines is smaller than or equal to the allowable weight of the turnover box, acquiring the corresponding order information. The sub-order pool is divided into: dividing the order pool into an emergency order pool and a normal order pool according to the order cut-off time and a preset time threshold; and dividing the emergency order pool and the normal order pool into a plurality of sub order pools according to the cargo area. The turnover box set information comprises picking area information and turnover box information; the turnover box information comprises the volume of the turnover box and the allowable weight of the turnover box. Selecting a plurality of sub order pools according to the picking area information; and distributing the corresponding sub order pools for the turnover box set according to the priority order of the sub order pools. The order lines in the order information can be respectively bound with corresponding turnover boxes in the turnover box set; the volume of the turnover box is larger than or equal to the total volume of the goods of the corresponding order lines, and the allowable weight of the turnover box is larger than or equal to the total weight of the goods of the corresponding order lines.

And S106, controlling the picking device to pick goods according to the order information and transporting the goods to a packing station.

In particular, when order information is picked, the picking device may encounter an obstacle in a planned path during the traveling process, and corresponding protective measures are required after the obstacle is encountered. And acquiring a service map, a positioning map and obstacle information, and performing corresponding protection actions according to the obstacle information. More specifically, a service map, a positioning map and obstacle information are obtained, wherein the service map is used for indicating a running route of the picking device, the positioning map is used for indicating the position of the picking device, the positioning map and the service map are matched with each other, and the obstacle information comprises obstacle size information and obstacle coordinate information; and if the obstacle information exists, executing corresponding protection actions according to the obstacle information, the positioning map and the safety protection configuration on the driving route in the service map. Namely, the safety protection configuration information of the service map on the current driving route is obtained, and corresponding protection actions are executed according to the barrier information, the positioning map, the service map and the safety configuration information. The protection action can specifically be to obtain the distance between the picking device and the obstacle according to the obstacle coordinate information and a positioning map; and executing corresponding protection actions according to the distance between the picking device and the barrier and the safety configuration information. The protection mode can be as follows: if the distance between the goods picking device and the barrier is smaller than or equal to a first preset distance, adjusting the traveling speed of the goods picking device to a first preset speed; if the distance between the goods picking device and the barrier is smaller than or equal to a second preset distance, adjusting the traveling speed of the goods picking device to a second preset speed; and if the distance between the goods picking device and the obstacle is less than or equal to a third preset distance, controlling the goods picking device to stop moving. The first preset distance is greater than the second preset distance, the second preset distance is greater than the third preset distance, and the first preset speed is greater than the second preset speed. The protection mode can also be as follows: obtaining the distance between the goods picking device and the barrier according to the coordinate information of the barrier and a positioning map; if the distance between the goods picking device and the barrier is equal to a fourth preset distance, controlling the goods picking device to stop moving, and counting the stop moving time; and if the stop traveling time is longer than the preset time, replanning the traveling path of the picking device according to the positioning map and the service map. The protection mode can also be as follows: acquiring environmental information of the position of a goods picking device; configuring a temporary route to bypass the obstacle according to the obstacle size and the environmental information. The goods are finally transported to a baling station.

And S108, packaging the goods in the turnover box according to the order information.

Specifically, first bar code information is obtained; the first bar code information comprises the bar code information of the turnover box; extracting an order set corresponding to the first bar code information according to the first bar code information; acquiring second bar code information; the second bar code information comprises commodity bar code information; according to the second bar code information, extracting order information of corresponding orders in the order set; and packaging the corresponding order according to the order information. When order information of corresponding orders in the order set is extracted, firstly, the order types are distributed according to the second bar code information and the preset priority; the order types include: and extracting order information of corresponding order types according to the order types. When different order types are packed, if the order type is a single order row and single order, placing a second bar code information commodity into an order packing box corresponding to the order information, and completing packing. If the order type is a single order line and a plurality of orders, acquiring the number of the order line; and placing the second bar code information commodities with the number corresponding to the order line into the order packing box corresponding to the order information to finish packing. If the order type is a multi-order line and multi-order, acquiring all order lines and the quantity of corresponding order lines; and putting all order row commodities with the corresponding order row quantity into the order packing box corresponding to the order information, and finishing packing.

According to the method for picking the goods in the logistics storage, the control center is used for obtaining the order information in the preset time period, classifying the order information and distributing the goods picking devices, and then binding the order information corresponding to the goods picking devices with the turnover box; controlling the goods picking device bound with the turnover box to pick goods according to the order information and transporting the goods to a packing station; and finally, packaging the goods in the turnover box according to the order information. The orders are classified through the control center, corresponding turnover boxes are bound, the picking device is controlled to pick corresponding orders according to the planned path and transport the orders to the packing station, and goods in the orders are packed in the packing station. The automatic goods selecting mode can save manpower, improves the goods selecting efficiency and further saves the cost.

In one embodiment, as shown in fig. 3, there is provided an order sorting method comprising the steps of:

and step S202, according to the order information, extracting the number of the order lines in each order and the hot sales degree of the order lines in each order.

Specifically, a period of time is preset firstly, then the order is received in real time, and when the time for receiving the order meets the preset time period, the order in the current time period is sorted. For the orders in the current time period, firstly obtaining order information of all orders, wherein the order information comprises: the number of order lines, the number of commodities corresponding to the order lines, the model number corresponding to the commodities, the actual image of the commodities and the hot sales degree of the order lines. The hot pin degree is divided into: hot pins and slow pins. More specifically, the hot-pin is a hot-pin order line, namely a hot-pin commodity type; the slow selling is a slow selling ordering line, namely the slow selling commodity category. Correspondingly, in the logistics warehouse, hot sales goods and slow sales goods are also respectively placed in the two areas. And respectively extracting the order line quantity and the order hot-sell degree of each order from the obtained order information of all the orders.

And step S204, classifying the orders in the preset time period according to the number of the rows of the orders in each order and the hot sales degree of the orders in each order.

Specifically, the orders in the preset time period are divided into five types according to the number of the order lines in each order and the hot sales degree of the orders in each order. More specifically, taking the order with the order line number of 1 and the order line hot-selling degree as a first type order; that is, an order in which only one order line exists in the order and the order line belongs to the hot-pin order line is taken as the first type order. Taking the order with the order line number of 1 and the order line hot-selling degree of slow selling as a second type of order; that is, an order in which only one order line exists in the order and the order line belongs to the slow-selling order line is taken as the second type order. Taking the order with the order line quantity larger than 1 and the order line hot-selling degree being the full hot-selling degree as a third type order; that is, orders in which a plurality of order lines exist in the order and each of the plurality of order lines belongs to the hot-pin order line are regarded as the third type of order. Taking the order with the order line quantity larger than 1 and the order hot-selling degree of full slow-selling as a fourth type order; that is, orders in which there are a plurality of order lines in the order and the plurality of order lines all belong to the slow-selling order line are regarded as the fourth kind of orders. Taking the order with the order line quantity larger than 1 and the order line hot-selling degree of slow-selling and hot-selling as a fifth type order; that is, orders in which there are a plurality of order lines and there are both hot-sales order lines and slow-sales order lines among the plurality of order lines are taken as the fifth type of order.

In step S206, a picking device is assigned to each type of the order information.

Specifically, the total order amount is obtained according to the order information; comparing the total order quantity with a preset first threshold value; if the total amount of the orders is larger than or equal to a preset first threshold value, the orders are picked by one-to-one distribution and picking device for five types of orders; and if the total amount of the orders is smaller than a preset first threshold value, the orders are picked by five types of multi-to-one distribution picking devices for placing the orders. More specifically, according to the order information in the current time period, the total order amount in the current time period is counted. Dividing the current time period into an order sufficient time period and an order lack time period according to the total order amount in the current time period, namely dividing the total order amount in the current time period according to a first preset threshold value, and if the total order amount is greater than or equal to the preset first threshold value, the current time period is the order sufficient time period, and then picking is carried out by the five types of orders through the one-to-one distribution picking device; if the total order amount is smaller than a preset first threshold value, the current time period is an order shortage period, and five types of multi-to-one distribution picking devices for placing orders are used for picking. More specifically, if the current time period is the order sufficiency period, the order picking devices are correspondingly distributed according to the categories for five types of orders, namely, each order picking device is only responsible for one type of orders. If the current time period is the order shortage period, combining a plurality of five types of orders into corresponding order picking devices, for example, combining the first type of orders and the third type of orders into one type, and distributing the corresponding order picking devices; the orders of the second type, the orders of the fourth type and the orders of the fifth type can also be combined into one type, and corresponding picking devices are distributed. In this embodiment, no specific limitation is imposed on the merge type, and only the order classification can be correspondingly reduced in the order shortage period according to the actual situation.

In one embodiment, if the order is a fifth type order, acquiring the number of order lines in the current order; comparing the number of order lines in the current order with a preset second threshold value; if the number of the order lines in the current order is smaller than a second threshold value, a goods picking device is distributed to a slow-sales order line and a hot-sales order line in a fifth order for picking; and if the number of the order lines in the current order is larger than or equal to a second threshold value, respectively allocating a picking device to a slow-pin order line and a hot-pin order line in a fifth order for picking.

Specifically, in the order sufficiency period, if the type of the order requiring order sorting is the fifth type of order, the hot-sold goods and the slow-sold goods are placed in two different areas because the fifth type of order includes both the hot-sold goods and the slow-sold goods. Classifying the fifth type of orders according to the workload of order combination, and sorting goods devices for a slow-selling order line and a hot-selling order line in the fifth type of orders respectively when the workload of order combination is large, namely the number of order lines in the current order is greater than or equal to a second threshold value; when the workload of order combination is small, namely the number of the order lines in the current order is smaller than a second threshold value, a picking device is allocated to the slow-sales order line and the hot-sales order line in the fifth order for picking, namely the picking device picks the order line of the slow-sales order first and then picks the order line of the hot-sales order, or picks the order line of the hot-sales order first and then picks the order line of the slow-sales order.

According to the order sorting method, the order information in the preset time period is obtained, and the order line quantity and the order hot-sell degree are extracted. And classifying the obtained orders according to the number of order lines and the hot sales degree of the order lines, and controlling a picking device to pick at least one classified order. Through categorised to the order in the predetermined time quantum, the order of difference classification is whole to be chosen goods respectively again, can reduce the regional device of choosing goods that operates of storage, and further messenger's whole storage area manages clearly, has reduced the degree of difficulty of choosing goods, further shortening the time of choosing goods.

In one embodiment, as shown in FIG. 4, there is provided an order binding method comprising the steps of:

step S302, obtaining order information of all orders in the order pool of the corresponding category of the order picking device.

Specifically, each order includes demand information for one or more goods, i.e., order information. The order information comprises order cut-off time and all order line information. The cutoff time is a reference cutoff time for an order requiring completion of the pick. Each order line includes information on the goods of a type of goods and information on the quantity required. That is, order line information includes cargo volume, cargo weight, and cargo area. The goods area is a storage position of goods in the warehouse, such as an area A, an area B and the like. After the warehouse logistics system receives the orders, the order sorting method divides the orders into multiple types and stores each type of order in a corresponding order pool. When picking corresponding orders, firstly, the order information of all orders in the order pool is obtained. Wherein, the order information of all orders can be directly obtained; or obtaining order information of all orders in the order pool; and if the goods volume of all order lines in the order information is smaller than or equal to the volume of the turnover box, and the goods weight of all order lines is smaller than or equal to the allowable weight of the turnover box, acquiring the corresponding order information. And if the goods volume of the order line is larger than the volume of the turnover box and/or the goods weight of the order line is larger than the allowable weight of the turnover box in the order information, giving an alarm prompt. More specifically, all the order information in the order pool can be directly acquired. Or all the order information in the order pool can be obtained first, the order line information of all the orders in the order pool is checked, and if the goods volume of all the order lines in the order is smaller than or equal to the volume of the turnover box and the goods weight of all the order lines is smaller than or equal to the allowable weight of the turnover box, the corresponding order information is obtained. And if the goods volume of at least one order line in the order is larger than the volume of the turnover box, or the acquired weight of at least one order line in the order is larger than the allowable weight of the turnover box, or the goods volume of at least one order line in the order is larger than the volume of the turnover box and the acquired weight of at least one order line in the order is larger than the allowable weight of the turnover box, an alarm prompt is given. Wherein, the warning suggestion can be for the buzzer with certain frequency sound production, also can be for the warning light with certain frequency scintillation, only need can to the user carry out the suggestion can. Orders in the order pool can add new orders or delete completed orders as time changes.

Step S304, dividing the order pool into a plurality of sub order pools according to the order information.

Specifically, the obtained order information is used as an order pool R1, and the order pool is divided into an emergency order pool and a normal order pool according to the order deadline and a preset time threshold; and dividing the emergency order pool and the normal order pool into a plurality of sub order pools according to the cargo area. More specifically, the order pool R1 is divided into an emergency order pool R3 and a normal order pool R2 according to the order deadline in the order information. Namely, the preset time threshold is preset, and the preset time threshold can be set according to the use habit of the user. When the difference value between the order cut-off time in the order pool R1 and the current time is larger than a preset time threshold value, corresponding order information is used as an emergency order pool R3; and when the difference value between the order cut-off time and the current time in the order pool R1 is equal to the preset time threshold value, taking the corresponding order information as a normal order pool R2. And dividing the emergency order pool and the normal order pool into a plurality of sub order pools according to different areas of goods areas in the order line information. For example, the cargo area is a storage location of the cargo in the warehouse, such as area a, area B, and the like. The cargo area includes: zone A and zone B. The emergency order pool R3 is divided into: an emergency sub-order pool in area a R3-A, B an emergency sub-order pool in area a R3-B and an emergency sub-order pool in area AB R3-AB; the normal order pool R2 is divided into: normal order pool in section A R2-A, B Normal order pool R2-B and Normal order pool in section AB R2-AB.

And step S306, acquiring the turnover box set information.

Specifically, a plurality of turnover boxes are used as a turnover box set, and turnover box set information is acquired. The turnover box set information comprises picking area information and turnover box information. The picking area information is the picking area corresponding to the container collection, for example, the container collection is picked in the area a, and the container collection is picked in the area B. The turnover box information comprises the volume of the turnover box and the allowable weight of the turnover box. The allowed weight of the turnover box is the maximum weight which can be carried by the turnover box. The acquired turnover boxes in the turnover box set can be empty turnover boxes or turnover boxes loaded with part of goods. The volume and allowable weight of the container that has been loaded with a portion of the cargo requires deduction of the volume and weight of the stored cargo.

And step S308, distributing corresponding sub order pools to the turnover box set according to the turnover box set information and the priority order of the plurality of sub order pools.

Specifically, a plurality of sub order pools are selected according to the picking area information; and distributing the corresponding sub order pools for the turnover box set according to the priority order of the sub order pools. For example, the sub-order pool includes: an emergency sub-order pool in area a R3-A, B an emergency sub-order pool in area a R3-B, AB an emergency sub-order pool in area R3-AB, a normal order pool in area a R2-A, B an normal order pool in area R2-B and a normal order pool in area AB R2-AB. And if the picking area information of the turnover box set is that picking is carried out in the area B, selecting an emergency sub-order pool R3-B in the area B and a normal order pool R2-B in the area B for the corresponding turnover box set. All the sub-order pools are assigned with priorities, for example, the priorities are from top to bottom: an emergency sub-order pool in area a R3-A, B an emergency sub-order pool in area a R3-B, AB an emergency sub-order pool in area R3-AB, and a normal order pool in area a R2-A, B a normal order pool in area a R2-B, AB a normal order pool in area R2-AB. According to the priority order, the priority order of the selected sub-order pools is as follows: a B-zone emergency sub-order pool R3-B and a B-zone normal order pool R2-B. The priority order can be adjusted accordingly according to the washing of the user. Thus, the B-zone emergency sub-order pool R3-B is allocated for the turnover set.

Step S310, allocating a plurality of order information in a sub-order pool to the turnover box set, where a total volume of goods of all order lines in the plurality of order information is less than or equal to a total volume of the turnover box set, and a total weight of goods of all order lines in the plurality of order information is less than or equal to a total allowable weight of the turnover box set.

Specifically, a plurality of order information in the selected sub-order pool is distributed to the corresponding turnover box set. The total volume of all goods in the plurality of order information is smaller than the total volume of the turnover box set, and the total weight of all goods in the plurality of order information is smaller than the total allowable weight of the turnover box set. The total volume of all the goods is the volume of all the goods, the total volume of the turnover box set is the total volume of the turnover boxes, and the total allowable weight of the turnover box set is the sum of the allowable weights of the turnover boxes. For example, a group of boxes is allocated with a B-area emergency sub-order pool R3-B, a group of orders is selected from the B-area emergency sub-order pool R3-B, the total volume of all goods of the group of orders is required to be not more than the total volume of the group of boxes, and the total weight of all goods of the group of orders is required to be not more than the total allowable weight of the group of boxes. When the order in the sub order pool with the highest priority has no selectable order, the order can be extended to the sub order pool with the next priority for selection, and so on until the turnover box set is filled. Filling the turnover box set, namely, adding one order, so that the total weight of the goods exceeds the total allowable weight of the turnover box set or the total volume of the goods exceeds the total volume of the turnover box set. When the turnover box set selects orders in the sub-order pool, orders with the same goods are preferentially selected.

In one embodiment, after allocating the plurality of order information in the sub-order pool to the turnover box set, the method further includes: binding order lines in the plurality of order information with corresponding turnover boxes in the turnover box set respectively; the volume of the turnover box is larger than or equal to the total volume of the goods of the corresponding order lines, and the allowable weight of the turnover box is larger than or equal to the total weight of the goods of the corresponding order lines. And binding all the order lines in the selected order information with corresponding turnover boxes respectively. And the volume of the turnover box is required to be more than or equal to the total volume of the order row goods bound by the corresponding turnover box, and the allowable weight of the turnover box is required to be more than or equal to the total weight of the order row goods bound by the corresponding turnover box. For example, a B-area emergency sub-order pool R3-B is allocated to the container collection, a batch of orders is selected from the B-area emergency sub-order pool R3-B, a corresponding container in the container collection is bound to each order row in the batch of orders, the total weight of goods bound by each container is less than or equal to the allowable weight of the container, and the total volume of goods bound by each container is less than or equal to the volume of the container. The method comprises the steps that one order row is preferentially bound to one turnover box, and when a plurality of goods in one order row cannot be accommodated by one turnover box, the order row is bound to the plurality of turnover boxes. One order is preferentially bound with one turnover box, and when various goods in one order cannot be accommodated by one turnover box, the order is bound with a plurality of turnover boxes. Orders with the same goods are preferably bound to one tote.

In one embodiment, the allocating the plurality of order information in the sub-order pool to the turnover box set further includes: and deleting the order information of the bound turnover box set in the sub order pool. For example, a B-zone emergency sub-order pool R3-B is allocated to the turnover box set, a batch of orders are selected from the B-zone emergency sub-order pool R3-B, and after binding is completed, corresponding order information is deleted from the B-zone emergency sub-order pool R3-B. When an order line is deleted, the order to which the order belongs needs to be deleted in the corresponding sub-order pool. And after the order information of the bound turnover box set is deleted from the sub-order pool, continuously binding orders for the new turnover box set until the orders are completely processed or no available turnover box exists.

The order binding method comprises the steps of firstly obtaining order information of all orders in an order pool, and then dividing the order pool into a plurality of sub order pools according to the order information. Acquiring turnover box set information, allocating corresponding sub order pools to the turnover box set according to the turnover box set information and the priority order of the sub order pools, and selecting a plurality of order information from the selected sub order pools to allocate the corresponding turnover box set. The turnover box is used for sorting orders with the same characteristics, so that the sorting efficiency of the turnover box can be improved, and the working efficiency of the whole warehouse logistics is further improved.

In one embodiment, as shown in FIG. 5, there is provided an order packing method comprising the steps of:

step S402, acquiring first bar code information; the first bar code information comprises the bar code information of the turnover box.

Specifically, the sorting device transports the turnover box filled with goods to the packing table. First bar code information is obtained at a packing station. The first bar code information is the bar code information of the turnover box. Each goods picking device is provided with a turnover box; the turnover boxes are correspondingly bound with orders received by logistics storage within preset time, and all the orders bound by each turnover box are an order set. More specifically, the turnover boxes are provided with bar codes or two-dimensional codes, the bar code or two-dimensional code information on each turnover box corresponds to the order sets, and the order sets bound by the corresponding turnover boxes can be found by scanning the bar codes or two-dimensional code information of the turnover boxes. After the turnover boxes on the picking device are bound to complete the order set, the picking device picks all the commodities of the orders in the order set from the corresponding turnover boxes according to the order set. When the picking device finishes picking, the picking device needs to pack according to a corresponding order, firstly, the bar code or the two-dimensional code of the turnover box is scanned, and the bar code information of the turnover box is obtained, namely, the first bar code information is obtained. The goods picking device is a trolley with a grabbing mechanism.

And S404, extracting an order set corresponding to the first bar code information according to the first bar code information.

Specifically, each turnover box is bound with a corresponding order set, barcode information of the turnover box, namely first barcode information, is obtained by scanning barcodes or two-dimensional codes of the turnover box, and the order set corresponding to the first barcode information can be obtained by searching a table through the first barcode information. Each order set includes at least one order.

Step S406, acquiring second bar code information; the second bar code information comprises commodity bar code information.

Specifically, the second barcode information is barcode information of the commodity. And grabbing the commodities in the turnover box, and scanning the two-dimensional codes of the corresponding commodities to obtain the two-dimensional code information of the commodities, namely the second bar code information.

Step S408, according to the second barcode information, extracting order information of a corresponding order in the order set.

Specifically, the order type is allocated according to the second bar code information and the preset priority; and extracting order information of the corresponding order type according to the order type. Wherein, the order type includes: single order line single order, single order line multiple orders, and multiple order line multiple orders. Order lines are categories of goods, one order line is a category of goods, and multiple order lines are categories of goods. The order form of the order form line is that only one type of commodity exists in the order form, and the number of the commodities is one; the multiple orders in the single order line are that only one type of commodity exists in the order, and the number of the commodities is multiple; the multiple orders are carried out by multiple orders, namely that the orders comprise multiple types of commodities, and the number of the commodities is multiple. Wherein the priority order may be: the single order in the single order row is the highest priority, the multiple orders in the single order row are the second priority, and the multiple orders in the multiple order row are the third priority; the priority order may also be: the orders in the single order row are the highest priority, the orders in the single order row are the second priority, and the orders in the multiple order row are the third priority. Preferably, the priority order is that the single order in the single order line is the highest priority, the multiple orders in the single order line are the second priority, and the multiple orders in the multiple order line are the third priority. And allocating order types according to the second barcode information and the preset priority, namely allocating orders of the commodities corresponding to the second barcode information according to the order type priority according to the second barcode information. More specifically, when the highest priority order exists in the orders of the corresponding goods including the second barcode information, the highest priority order is allocated first, and when the highest priority order does not exist, the second priority order is allocated, and so on. The time required by the order to leave the warehouse and a time threshold value can be set; and when the time required by the order to be taken out of the warehouse is less than the time threshold, adjusting the corresponding order to be the highest priority and performing limited distribution. And acquiring corresponding order information according to the distributed order type. Wherein the order information includes: order line, number of order lines, etc.

And step S410, packaging the corresponding order according to the order information.

Specifically, if the order type is a single order row and single order, placing the second barcode information commodity into an order packing box corresponding to the order information, and completing packing. When the order information of the order type of the order form line is distributed, the grabbed commodities are directly placed into a packing box of the corresponding order form to complete packing. If the order type is a single order line and a plurality of orders, acquiring the number of the order line; and placing the second bar code information commodities with the number corresponding to the order line into the order packing box corresponding to the order information to finish packing. When the order information of a plurality of order types is distributed to the single order line, the grabbed commodities are firstly placed into the packing box of the corresponding order, and then the same commodities with the rest quantity are grabbed and placed into the packing box to be packed. If the order type is a multi-order line and multi-order, acquiring all order lines and the quantity of corresponding order lines; and putting all order row commodities with the corresponding order row quantity into the order packing box corresponding to the order information, and finishing packing. When the order information of a plurality of order types in a multi-order line is distributed, the grabbed commodities are firstly placed into the packing box of the corresponding order, then the same commodities with the rest quantity are grabbed and placed into the packing box, and then the other commodities with the corresponding quantity are grabbed and placed into the packing box to complete packing.

When the order packing method is applied specifically, the picking device bears the completed order turnover boxes to the packing station, each picking device bears a plurality of turnover boxes, one turnover box is selected, the bar codes of the turnover boxes are scanned, and the order set corresponding to the bar code information of the turnover boxes is obtained. And grabbing a commodity from the turnover box, and distributing orders to the commodity from the corresponding order set according to the priority order according to the scanned commodity bar codes. If the assigned order is a single order linepiece order, the order is complete. If the order is a multiple order in a single order line, the remaining pick quantities are prompted for the order and the order is completed. If the order is a multi-order line multi-order, the remaining order lines and the picking quantity of the order are prompted, and the order is finished. And when the order is finished, scanning the next commodity, and automatically jumping to the next order for packaging. The order may also be switched manually by the packager.

The order packing method comprises the steps of firstly obtaining first bar code information, extracting a corresponding order set according to the first bar code information, then obtaining second bar code information, extracting order information of a corresponding order according to the second bar code information, and finally packing according to the order information. The order set corresponding to the picking device is selected through the first bar code information, then the commodities are distributed to different orders in the order set according to the second bar code information, and the commodities are packaged after distribution is completed, so that the order packaging efficiency in a logistics peak period can be improved.

In one embodiment, as shown in fig. 6, a safety protection method for a picking device is provided, which is used for acquiring a service map, a positioning map and obstacle information and performing corresponding protection actions according to the obstacle information, and includes the following steps:

step S502, a service map, a positioning map and obstacle information are obtained, wherein the service map is used for indicating a running route of the picking device, the positioning map is used for indicating the position of the picking device, the positioning map is matched with the service map, and the obstacle information comprises obstacle size information and obstacle coordinate information.

Specifically, a business map is generally composed of nodes, routes, and task points. Wherein the nodes are coordinates on a traffic map; the route comprises parameters such as a starting node, a terminating node, a driving direction, a driving posture, a speed and the like, wherein the starting node is the starting position of the Order vehicle, and the terminating node is the target position of the Order vehicle. The service map is planned for the Order vehicle by the dispatching system, and after the Order vehicle receives the task instruction, the corresponding service map is obtained to complete the carrying task. The positioning map is used for indicating the current position of the picking device. The Order vehicle can maintain map information for positioning, namely a positioning map, under different navigation modes, and the positioning map and the service map have a matching relationship. The positioning map may have a plurality of obtaining manners, and the embodiment lists the following three manners: (1) positioning map of two-dimensional code mode: a two-dimensional code is stored in the Order car, the two-dimensional code is bound with coordinate information, a coordinate corresponding to the two-dimensional code and a coordinate on a service map are in the same coordinate system, and the position information of the dike store can be acquired by identifying the two-dimensional code information. (2) Positioning map with reflective column laser: the Order vehicle scans the position information of the reflecting columns after all the reflecting columns in the environment by emitting laser, and judges the current coordinate of the Order vehicle by measuring the distances to a plurality of reflecting columns, wherein the coordinate and the service map are in the same coordinate system. (3) Positioning map of environmental laser: the Order vehicle scans two-dimensional or three-dimensional point cloud after the environment by emitting laser, the laser sensor obtains the current coordinate of the Order vehicle by comparing the point cloud information of the current environment, and the coordinate and the service map are in the same coordinate system. It is understood that the positioning map may be obtained by other methods, and the embodiment is not particularly limited. In one embodiment, the obstacle information includes: obstacle size information and obstacle coordinate information.

And step S504, if the obstacle information exists, executing corresponding protection actions according to the obstacle information, the positioning map and the safety protection configuration on the driving route in the service map.

Specifically, if the obstacle information exists, it is described that the Order vehicle recognizes that the obstacle exists on the current driving route, and the Order vehicle acquires the obstacle information. Specifically, the Order vehicle may acquire obstacle information through sensors, such as a touch edge sensor, an infrared sensor, a security laser scanner, a laser scanner, and the like. The touch edge sensor is used for detecting whether the Order vehicle touches an obstacle or not and acquiring information of the obstacle; the infrared sensor is used for detecting the condition of obstacles in a certain range around the Order vehicle; the safety laser scanner is used for detecting a safety level area of obstacles around the Order vehicle; laser scanners are used to scan the size of obstacles. And after the obstacle information is acquired, executing corresponding protection actions according to the obstacle information, the positioning map and the safety protection configuration on the driving route in the service map. The safety protection configuration can be configured for each Order vehicle by the dispatching system, or can be manually configured for the Order vehicle, and the Order vehicle can execute corresponding protection actions according to the safety protection configuration. So as to realize obstacle avoidance. In one embodiment, the safety protection configuration information of the service map on the current driving route can be acquired; and executing corresponding protection actions according to the barrier information, the positioning map, the service map and the safety configuration information. The security configuration information includes specific protection actions that are stored inside the Order vehicle to instruct the Order vehicle to execute.

The safety protection method for the goods picking device provided by the embodiment comprises the steps of obtaining a service map, a positioning map and obstacle information, wherein the service map is used for indicating a running route of the goods picking device, the positioning map is used for indicating the position of the goods picking device, and the positioning map is matched with the service map; if the obstacle information exists, corresponding protection actions are executed according to the obstacle information, the positioning map and the safety protection configuration on the driving route in the service map, and the obstacle avoidance processing can be timely carried out when the goods picking device meets the obstacle on the driving route, so that the goods picking device is prevented from being damaged.

In one embodiment, as shown in fig. 7, there is provided a method for safeguarding a picking device, comprising the steps of:

step S602, obtaining a distance between the picking device and the obstacle according to the obstacle coordinate information and the positioning map.

Step S604, according to the distance between the picking device and the obstacle and the safety configuration information, executing a corresponding protection action.

The Order vehicle can acquire the current coordinate position of the Order vehicle according to the positioning map and the service map, can acquire the coordinate position of the obstacle according to the sensor, and can acquire the distance between the Order vehicle and the obstacle according to the coordinate position of the Order vehicle and the coordinate position of the obstacle. The safety configuration information stored in the Order vehicle can be set according to the distance between the Order vehicle and the barrier, and different distances correspond to different safety protection actions. For example, when the picking device is not close to the obstacle, the picking device can be controlled to stop moving to prevent the picking device from colliding with the obstacle to cause damage. Specifically, safe edge-touching sensors or photoelectric switches can be arranged on the front edge, the rear edge, the left edge and the right edge of the Order vehicle respectively, whether the Order vehicle touches an obstacle or not is detected in real time, and once the edge-touching sensors or the photoelectric switches on one edge touch the obstacle, the Order vehicle is controlled to stop moving immediately. The edge touch sensor or the photoelectric switch is used as the last safety of safety protection, and when other safety protection on the Order vehicle fails and the Order vehicle really collides with an obstacle, the movement of the Order vehicle is stopped. Typically, such a shutdown will be a "hardware" shutdown to prevent software control failure.

In one embodiment, as shown in fig. 8, there is provided a method for safeguarding a picking device, comprising the steps of:

step S702, if the distance between the picking device and the obstacle is less than or equal to a first predetermined distance, adjusting the traveling speed of the picking device to a first predetermined speed.

In step S704, if the distance between the picking device and the obstacle is less than or equal to a second predetermined distance, the traveling speed of the picking device is adjusted to a second predetermined speed.

In step S706, if the distance between the picking device and the obstacle is less than or equal to a third preset distance, the picking device is controlled to stop moving.

The first preset distance is greater than the second preset distance, the second preset distance is greater than the third preset distance, and the first preset speed is greater than the second preset speed. And a sensor arranged on the Order vehicle scans the configured safety protection area and the safety triggering condition on the software level in real time. The Order car can safe laser scanner real-time detection Order car barrier condition all around, and safe laser scanner can set up position such as the preceding of Order car, rear respectively. The safety laser scanner is provided with three safety level areas to acquire obstacle information of different safety areas and make different protection actions.

As shown in fig. 9, the security laser scanner is provided with three security level areas, a white sector at the periphery is a range scanned by laser energy, a central dot is a position of a laser sensor, and figures, i.e., guard areas, are drawn as a first level area 401, a second level area 402, and a third level area 403, respectively. It is understood that the safety laser scanner can be respectively provided with a plurality of stages in one type of protection area, and a plurality of types of safety protection areas can be configured. Safety trigger conditions are as follows: according to business requirements, the safety protection area can be selected when the safety protection area is configured on a route of a business map, for example, an Order vehicle is on a forward route, wherein when a third-level area is triggered (when a sensor scans that an obstacle exists in the third-level area), the vehicle is required to be decelerated to 0.5m/s, when a second-level area is triggered, the vehicle is required to be decelerated to 0.2m/s, and when a first-level area is triggered, the vehicle speed is reduced to 0. Specifically, when the safety laser scanner of the Order vehicle detects that the obstacle is in the third level area of the safety laser, that is, the distance between the Order vehicle and the obstacle is smaller than or equal to the first preset distance, which indicates that the Order vehicle is further away from the obstacle, the Order vehicle is controlled to decelerate to the first preset speed, which may be 0.5m/s, for example. And obstacle avoidance is carried out through proper speed reduction so as to reduce the influence on the task execution efficiency of the Order vehicle. When the safety laser scanner of the Order vehicle detects that the obstacle is in the second-level safety laser area, namely the distance between the Order vehicle and the obstacle is smaller than or equal to the second preset distance, and the obstacle avoidance is not successfully achieved even when the Order vehicle runs at a reduced speed, the Order vehicle is controlled to be reduced to the second preset speed, for example, the speed can be 0.2m/s, and the obstacle avoidance is achieved through further reduction. When the safety laser scanner of the Order vehicle detects that the obstacle is in the first grade area of the safety laser, namely the distance between the Order vehicle and the obstacle is smaller than or equal to the third preset distance, the Order vehicle and the obstacle are very close to each other, and the Order vehicle is controlled to stop traveling in Order to avoid colliding with the obstacle. In the embodiment, the distance between the Order vehicle and the barrier is obtained; according to the distance between the goods picking device and the barrier and the safety configuration information, corresponding protection actions are executed, the working efficiency of the Order car can be guaranteed as far as possible, and the Order car can be prevented from colliding with the barrier on a driving route.

In one embodiment, as shown in fig. 10, there is provided a method for safeguarding a picker device, comprising the steps of:

step S802, obtaining the distance between the picking device and the obstacle according to the coordinate information of the obstacle and the positioning map.

Step S804, if the distance between the picking device and the obstacle is equal to the fourth preset distance, controlling the picking device to stop traveling, and counting the stop traveling time.

In step S806, if the stop time is longer than the preset time, the travel path of the picking device is re-planned according to the positioning map and the service map.

And after the distance between the Order vehicle and the barrier is obtained according to the coordinate information of the barrier and the positioning map, judging whether the distance between the Order vehicle and the barrier is equal to a fourth preset distance or not, if the distance between the goods picking device and the barrier is equal to the fourth preset distance, controlling the goods picking device to stop moving, and counting the stop moving time. The fourth predetermined distance can be understood as a distance between the Order car and the obstacle, i.e. a distance that the Order car does not collide with the obstacle in a short time. The step of controlling the goods picking device to stop moving can be understood as waiting for a preset time at the current position and acquiring the obstacles in real time, if the obstacles are detected not to exist in the preset time, the Order vehicle is controlled to continue moving, if the waiting time is longer than the preset time, the obstacles still exist, and at the moment, the moving path of the goods picking device can be re-planned according to the positioning map and the service map.

Specifically, as shown in fig. 11, the service map allocated to the Order vehicle by the dispatch system is to travel from the start node 1 to the node 2 along the route 1, to the node 3 along the route 2, and to travel to the task node 4 along the route 2 for traveling. However, when the Order vehicle runs on the route 1, the Order vehicle can continue to run to the node 6 along the route 7, to the node 7 along the route 5, to the node 3 along the route 8, and to the task node 4 along the route 3 according to the service map to walk to bypass the obstacle on the route 2, so that obstacle avoidance is realized. Or, the vehicle continuously runs to the node 6 along the route 7, runs to the node 7 along the route 5, runs to the node 8 along the route 6, and runs to the task node 4 along the route 10 to walk so as to bypass the obstacle on the route 2, thereby realizing obstacle avoidance.

In one embodiment, as shown in fig. 12, there is provided a method for safeguarding a picker device, comprising the steps of:

in step S902, environmental information of the location of the order picking device is obtained.

Step S904, a temporary route is configured to bypass the obstacle according to the obstacle size and the environmental information.

Specifically, the infrared sensors can be respectively arranged on the front, the rear, the left and the right four sides of the Order vehicle, so that the obstacle information in a certain range of the Order vehicle can be obtained in real time. If the obstacle information exists, the approximate size of the obstacle is scanned, and a temporary route is selected to bypass the obstacle based on the surrounding environment condition scanned by the infrared sensor.

As shown in fig. 13, the service map allocated to the Order vehicle by the dispatching system is that the Order vehicle travels from the start node 1 to the node 2 along the route 1, travels to the node 3 along the route 2, and travels to the task node 4 along the route 2 for traveling. However, when the Order vehicle is running on the route 1, it is recognized that an obstacle exists on the route 2, the Order vehicle can scan the size of the obstacle through the sensor, and the surrounding environment conditions of the obstacle scanned through the sensor, such as whether the left side, the right side and the like of the obstacle can pass or not, a temporary route is selected from the routes which can pass, and if the sensor in fig. 8 recognizes that the upper shaded area is the area which can not pass, the Order vehicle runs from the lower area, namely the route 4 in fig. 8, to the node 3 according to the size of the obstacle, so that the obstacle on the route 2 can be bypassed, and obstacle avoidance is realized.

Most AGV applications are not allowed to get out of order, the safest mode is to stop before the obstacle and give an alarm, and other manual intervention processing problems, but the mode can seriously affect the task execution efficiency of the AGV. The embodiment allows the AGV to bypass the obstacle through configuration, so that the execution efficiency of the AGV can be effectively improved.

It should be understood that although the various steps in the flowcharts of fig. 2-8, 10, 12 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-8, 10, and 12 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.

In one embodiment, as shown in fig. 14, there is provided a logistic warehousing goods-picking device comprising: an obtaining module 100, a binding module 200, a control module 300, and a packaging module 400, wherein:

the obtaining module 100 is configured to obtain order information within a preset time period, classify the order information, and allocate a picking device.

And the binding module 200 is used for binding the order information corresponding to the picking device with the turnover box.

And the control module 300 is used for controlling the picking device to pick goods according to the order information and transport the goods to the packing station.

And the packaging module 400 is configured to package the goods in the turnover box according to the order information.

Specific limitations of the picking device for the logistics warehouse can be referred to the above limitations of the picking method for the logistics warehouse, and will not be described herein. The modules in the picking device for logistics storage can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 15. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize a picking method of logistics storage. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the architecture shown in fig. 15 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

obtaining order information in a preset time period, classifying the order information and distributing a picking device; binding order information corresponding to the picking device with a turnover box; controlling the goods picking device to pick goods according to the order information and transporting the goods to a packing station; and packaging the goods in the turnover box according to the order information.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A method of picking in logistic storage, the method comprising:

obtaining order information in a preset time period, classifying the order information and distributing a picking device;

binding order information corresponding to the picking device with a turnover box;

controlling the goods picking device to pick goods according to the order information and transporting the goods to a packing station;

packaging the goods in the turnover box according to the order information;

the order information binding turnover box corresponding to the picking device comprises: acquiring order information of all orders in an order pool of a corresponding category of the order picking device; dividing the order pool into a plurality of sub order pools according to the order information; acquiring turnover box set information; distributing corresponding sub order pools for the turnover box set according to the turnover box set information and the priority order of the plurality of sub order pools;

the device for classifying and distributing order information comprises: dividing the order information into five types, acquiring the total order amount according to the order information, and comparing the total order amount with a preset first threshold value; if the total order quantity is larger than or equal to a preset first threshold value, the five types of orders are distributed and picked one by one; and if the total amount of the orders is smaller than a preset first threshold value, the orders are distributed and picked in a multi-to-one mode for five types of orders.

2. The method of claim 1, wherein said classifying the order information comprises:

according to the order information, extracting the number of the order lines in each order and the hot sales degree of the order lines in each order;

and classifying the orders in the preset time period according to the number of the lines of the orders in each order and the hot sales degree of the orders in each order.

3. The method of claim 2, wherein the classifying the orders within the preset time period comprises:

taking the order with the order line number of 1 and the order line hot-selling degree as a first type order;

taking the order with the order line number of 1 and the order line hot-selling degree of slow selling as a second type of order;

taking the order with the order line quantity larger than 1 and the order line hot-selling degree being the full hot-selling degree as a third type order;

taking the order with the order line quantity larger than 1 and the order hot-selling degree of full slow-selling as a fourth type order;

taking the order with the order line quantity larger than 1 and the order with the hot sales degree of slow sales and hot sales as a fifth type order.

4. The method according to claim 3, wherein the one-to-one allocation order picking device for five types of orders if the total order amount is greater than or equal to a preset first threshold comprises:

if the order is a fifth type order, acquiring the number of order lines in the current order;

comparing the number of order lines in the current order with a preset second threshold value;

and if the number of the order lines in the current order is less than a second threshold value, allocating a picking device to the slow-sales order line and the hot-sales order line in the fifth order.

5. The method of claim 4, wherein comparing the number of order lines in the current order to a preset second threshold further comprises:

and if the number of the order lines in the current order is larger than or equal to a second threshold value, respectively allocating a picking device to a slow-sales order line and a hot-sales order line in a fifth order.

6. The method of claim 1, wherein binding the order information corresponding to the picking device to the turnover box comprises:

distributing a plurality of order information in a sub-order pool for the turnover box set, wherein the total volume of goods of all order lines in the order information is smaller than or equal to the total volume of the turnover box set, and the total weight of the goods of all order lines in the order information is smaller than or equal to the total allowable weight of the turnover box set.

7. The method of claim 6, wherein the obtaining order information for all orders in an order pool of a category corresponding to a picking device comprises: the order information comprises order cut-off time and all order line information; the order line information comprises a cargo volume, a cargo weight and a cargo area;

acquiring order information of all orders in an order pool of a corresponding category of the order picking device;

and if the goods volume of all order lines in the order information is smaller than or equal to the volume of the turnover box, and the goods weight of all order lines is smaller than or equal to the allowable weight of the turnover box, acquiring the corresponding order information.

8. The method of claim 7, wherein the dividing the order pool into a plurality of sub-order pools according to the order information comprises:

dividing the order pool into an emergency order pool and a normal order pool according to the order cut-off time and a preset time threshold;

and dividing the emergency order pool and the normal order pool into a plurality of sub order pools according to the cargo area.

9. The method of claim 8, wherein assigning the respective sub-order pools to the tote collection according to the tote collection information and the priority order of the plurality of sub-order pools comprises: the turnover box set information comprises picking area information and turnover box information; the turnover box information comprises the volume and the allowable weight of the turnover box;

selecting a plurality of sub order pools according to the picking area information;

and distributing the corresponding sub order pools for the turnover box set according to the priority order of the sub order pools.

10. The method of claim 9, wherein the assigning the set of totes with the plurality of order information in the sub-order pool further comprises:

binding order lines in the plurality of order information with corresponding turnover boxes in the turnover box set respectively; the volume of the turnover box is larger than or equal to the total volume of the goods of the corresponding order lines, and the allowable weight of the turnover box is larger than or equal to the total weight of the goods of the corresponding order lines.

11. The method of claim 10, wherein packaging the goods within the tote in accordance with the order information comprises:

acquiring first bar code information; the first bar code information comprises the bar code information of the turnover box;

extracting an order set corresponding to the first bar code information according to the first bar code information;

acquiring second bar code information; the second bar code information comprises commodity bar code information;

according to the second bar code information, extracting order information of corresponding orders in the order set;

and packaging the corresponding order according to the order information.

12. The method of claim 11, wherein extracting the order information of the corresponding order in the order set according to the second bar code information comprises:

distributing order types according to the second bar code information and preset priority; the order types include: a single order line single order, a plurality of orders in a single order line and a plurality of orders in a plurality of order lines;

and extracting order information of the corresponding order type according to the order type.

13. The method of claim 12, wherein packaging the corresponding order according to the order type and the order information comprises:

and if the order type is a single order row and single order, placing a second bar code information commodity into an order packing box corresponding to the order information, and finishing packing.

14. The method of claim 12, wherein packaging the corresponding order according to the order type and the order information comprises:

if the order type is a single order line and a plurality of orders, acquiring the number of the order line;

and placing the second bar code information commodities with the number corresponding to the order line into the order packing box corresponding to the order information to finish packing.

15. The method of claim 12, wherein packaging the corresponding order according to the order type and the order information comprises:

if the order type is a multi-order line and multi-order, acquiring all order lines and the quantity of corresponding order lines;

and putting all order row commodities with the corresponding order row quantity into the order packing box corresponding to the order information, and finishing packing.

16. The method of claim 12, wherein the controlling the order picking device to pick orders according to the order information comprises:

and acquiring a service map, a positioning map and obstacle information, and performing corresponding protection actions according to the obstacle information.

17. The method of claim 16, wherein the obtaining a service map, a positioning map and obstacle information and performing a corresponding protection action according to the obstacle information comprises:

acquiring a service map, a positioning map and obstacle information, wherein the service map is used for indicating a driving route of the picking device, the positioning map is used for indicating the position of the picking device, the positioning map is matched with the service map, and the obstacle information comprises obstacle size information and obstacle coordinate information;

and if the obstacle information exists, executing corresponding protection actions according to the obstacle information, the positioning map and the safety protection configuration on the driving route in the service map.

18. The method of claim 17, wherein performing the corresponding safeguard action according to the safety safeguard configuration on the driving route in the obstacle information, the positioning map and the service map comprises:

acquiring safety protection configuration information of the service map on a current driving route;

and executing corresponding protection actions according to the obstacle information, the positioning map, the service map and the safety configuration information.

19. The method of claim 18, wherein performing the corresponding safeguard action based on the obstacle information, the positioning map, the traffic map, and the security configuration information comprises:

obtaining the distance between the goods picking device and the barrier according to the coordinate information of the barrier and a positioning map;

and executing corresponding protection actions according to the distance between the picking device and the barrier and the safety configuration information.

20. The method of claim 19, wherein performing the corresponding safeguarding actions based on the distance between the picking device and the obstacle and the safety configuration information comprises: the first preset distance is greater than the second preset distance, the second preset distance is greater than the third preset distance, and the first preset speed is greater than the second preset speed;

if the distance between the goods picking device and the barrier is smaller than or equal to a first preset distance, adjusting the traveling speed of the goods picking device to a first preset speed;

if the distance between the goods picking device and the barrier is smaller than or equal to a second preset distance, adjusting the traveling speed of the goods picking device to a second preset speed;

and if the distance between the goods picking device and the barrier is less than or equal to a third preset distance, controlling the goods picking device to stop moving.

21. The method of claim 20, wherein performing the corresponding safeguard action based on the obstacle information, the positioning map, the traffic map, and the security configuration information comprises:

if the distance between the goods picking device and the barrier is equal to a fourth preset distance, controlling the goods picking device to stop moving, and counting the stop moving time;

and if the stop traveling time is longer than the preset time, re-planning the traveling path of the picking device according to the positioning map and the service map.

22. The method of claim 21, wherein performing the corresponding safeguard action according to the obstacle information, the positioning map, the business map, and the security configuration information comprises:

acquiring environmental information of the position of a goods picking device;

configuring a temporary route to bypass the obstacle according to the obstacle size and the environmental information.

23. A picking device for logistics storage, the device comprising:

the acquisition module is used for acquiring order information in a preset time period, classifying the order information and distributing the order picking device;

the binding module is used for binding the order information corresponding to the goods picking device with the turnover box;

the binding module is also used for acquiring order information of all orders in the order pool of the corresponding category of the order picking device; dividing the order pool into a plurality of sub order pools according to the order information; acquiring turnover box set information; distributing corresponding sub order pools for the turnover box set according to the turnover box set information and the priority order of the plurality of sub order pools;

the control module is used for controlling the picking device to pick goods according to the order information and transport the goods to the packing station;

the acquisition module is further used for dividing the order information into five types, acquiring the total order amount according to the order information, and comparing the total order amount with a preset first threshold value; if the total amount of the orders is larger than or equal to a preset first threshold value, the orders are distributed and picked one by one for five types of orders; if the total amount of the orders is smaller than a preset first threshold value, the orders are distributed and picked in a multi-to-one mode for five types of orders;

and the packaging module is used for packaging the goods in the turnover box according to the order information.

24. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program implements the steps of the method of any one of claims 1 to 22.

25. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 22.