CN111105193B - Article transfer method and device, electronic equipment and storage medium - Google Patents
Article transfer method and device, electronic equipment and storage medium Download PDFInfo
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- CN111105193B CN111105193B CN201911305667.1A CN201911305667A CN111105193B CN 111105193 B CN111105193 B CN 111105193B CN 201911305667 A CN201911305667 A CN 201911305667A CN 111105193 B CN111105193 B CN 111105193B
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Abstract
The embodiment of the application provides an article moving method, an article moving device, electronic equipment and a storage medium, wherein the method comprises the following steps: determining an object to be moved on the current shelf according to the current goods position information of the current shelf; generating an article file to be moved according to the object to be moved, wherein the article file to be moved comprises the end point position of each object to be moved; identifying the end point position of each object to be moved in the object file to be moved to obtain an identification result; and obtaining an execution instruction file according to the identification result, wherein the execution instruction file comprises a plurality of execution instructions corresponding to all the objects to be migrated and the execution sequence of the execution instructions. Therefore, the problem of low library moving efficiency in the prior art can be solved.
Description
Technical Field
The application relates to the technical field of warehouse location arrangement, in particular to an article moving method and device, electronic equipment and a storage medium.
Background
In the field of warehouse management, the goods in the warehouse often need to be subjected to warehouse sorting, that is, goods in the warehouse are moved.
The common library shifting method is as follows: the goods are moved out manually, the moved goods are placed at the positions where the goods are to be placed, however, the method has great contingency, the storage data in the later period are easily disordered due to inconvenient recording in an artificial warehouse moving mode, and the warehouse moving efficiency is low.
If all the goods are simply cleared out, and then the cleared goods are put on the goods shelves one by one, although the recording is convenient, the moving efficiency is low.
Disclosure of Invention
An object of the embodiments of the present application is to provide an article transferring method, an article transferring device, an electronic apparatus, and a storage medium, so as to solve the problem of low transferring efficiency in the prior art.
In a first aspect, an embodiment of the present application provides an article transfer method, where the method includes:
determining an object to be moved on a current shelf according to the current goods position information of the current shelf;
generating an article file to be moved according to the objects to be moved, wherein the article file to be moved comprises the end point position of each object to be moved;
identifying the end point position of each object to be moved in the object file to be moved to obtain an identification result;
and obtaining an execution instruction file according to the identification result, wherein the execution instruction file comprises a plurality of execution instructions corresponding to all the objects to be moved and the execution sequence of the execution instructions.
In the method, the objects to be warehoused are determined from the articles on the current shelf based on the current goods location information of the current shelf, so that for the article files to be warehoused including the end positions of all the objects to be warehoused, the execution instruction file capable of performing warehouse transfer on all the objects to be warehoused in the article files to be warehoused is generated according to the end position identification result of each object to be warehoused in the article files to be warehoused. Because the execution order of a plurality of execution instructions is limited in the execution instruction file, the data recording and the efficient library shifting operation of an execution mechanism according to the instructions are facilitated.
In an optional embodiment, the determining, according to the current location information of the current shelf, an object to be moved on the current shelf, where the current location information includes a current weight of an item corresponding to each location of the current shelf, includes:
calculating the weight range of each layer of articles on the current shelf according to the current article weight corresponding to each goods space of the current shelf;
and determining the articles which do not conform to the corresponding weight range in each layer of articles from all the articles on the current shelf according to the weight range of each layer of articles on the current shelf, and taking the articles as the objects to be moved to the warehouse.
Through the implementation mode, the weight range of each layer of articles on the current shelf can be calculated based on the weight of the current articles corresponding to each goods space in the current state, dynamic distribution on the number of layers of all the articles on the current shelf is performed based on the weight range at each time, the center of gravity of the shelf can be reduced under the condition that less objects are moved, objects to be moved are quickly determined under the condition that the service life of the shelf is prolonged, the number of the objects to be moved can be reduced, the objects to be moved are not required to be moved, instructions required for moving the shelf are reduced, and the efficiency of moving the shelf can be improved.
In an optional embodiment, the generating an article file to be moved according to the object to be moved includes:
according to the current goods position information, taking the goods position where the object to be moved on the current goods shelf is located and the goods position where no object is currently placed as virtual empty goods positions, and taking all goods positions except all the virtual empty goods positions as fixed goods positions to obtain a temporary goods position file;
determining a target goods position of each object to be moved to the warehouse based on a set goods position placing rule and a virtual empty goods position in the temporary goods position file;
and generating the object files to be moved by taking the current goods position of each object to be moved as an initial position and the target goods position as a final position.
Through the implementation mode, the target goods position of each object to be moved can be determined firstly, then the object files to be moved are generated according to the target goods position of each object to be moved, and the identification of the files based on the target goods positions is facilitated subsequently, so that the execution instruction files are generated quickly.
In an optional embodiment, the obtaining an execution instruction file according to the recognition result includes:
when the identification result indicates that a first object with an empty goods position as a terminal position exists in the article file to be moved, generating a first moving instruction for the first object, wherein the first moving instruction is used as an execution instruction in the execution instruction file;
updating the current goods position information and the object file to be moved according to the first moving instruction;
judging whether the article file to be moved has an object to be moved;
and when the object to be moved does not exist in the object file to be moved, obtaining a current execution instruction file.
Through the implementation mode, when the first object with the end position being the empty goods position exists in the file to be shifted, a batch of first shifting instructions can be generated for the corresponding first object, and the first shifting instructions are stored in the execution instruction file according to the sequence of the generated instructions. The method can preferentially move the objects to be moved which only need to be moved once, so that repeated moving operation can be reduced, the number of times of adjusting the goods position can be reduced, and the method is also beneficial to moving out new empty goods positions for other objects to be moved.
In an optional embodiment, after the determining whether there is an object to be moved in the item file to be moved, the method further includes:
and when the article files to be moved have the objects to be moved, skipping to execute the step of identifying the end point position of each object to be moved in the article files to be moved to obtain an identification result.
Through the implementation mode, the objects to be moved in the object files to be moved can be continuously identified, when the first objects in the object files to be moved are identified each time, a batch of first moving instructions are generated for the first objects with the end positions being empty goods spaces, and the sequence of the generated instructions is recorded, so that the execution instruction files containing multiple execution instructions can be obtained, and the moving efficiency is favorably improved.
In an optional embodiment, the article file to be warehoused further includes a start position of each object to be warehoused, and obtaining the execution instruction file according to the identification result includes:
when the identification result indicates that the first object with the terminal position being the empty goods position does not exist in the article file to be moved, traversing each object to be moved in the article file to be moved;
when a second object with the end position being the starting position of other objects is identified to exist in the article file to be moved, generating a second moving instruction for any second object, wherein the second moving instruction serves as an execution instruction in the execution instruction file, and the second moving instruction is used for moving the selected second object to any empty goods position on the current shelf;
updating the current goods position information and the object file to be moved according to the second moving instruction;
and skipping to execute the step of identifying the end point position of each object to be moved in the object file to be moved to obtain an identification result.
Through the implementation mode, the execution instruction file with the least execution instructions can be generated aiming at the condition that the identification result indicates that the first object with the empty goods position as the terminal position does not exist in the article file to be moved and aiming at the internal circulation condition existing in the article file to be moved, and the efficiency of moving the warehouse is favorably improved.
In an optional embodiment, after obtaining the execution instruction file according to the recognition result, the method further includes:
and sending the execution instruction file to an execution mechanism corresponding to the current shelf, so that the execution mechanism can carry out warehouse moving operation on the articles on the current shelf according to the execution sequence of each execution instruction in the execution instruction file.
Through the implementation mode, the scheme of executing the least execution instructions recorded in the instruction file can be sent to the execution mechanism corresponding to the current shelf by fewer equipment interaction times, so that the execution mechanism can quickly perform the warehouse moving operation.
In a second aspect, an embodiment of the present application provides an article transferring device, including:
the system comprises a to-be-moved warehouse object determining module, a to-be-moved warehouse object determining module and a to-be-moved warehouse object determining module, wherein the to-be-moved warehouse object determining module is used for determining to-be-moved warehouse objects on a current goods shelf according to current goods location information of the current goods shelf;
the first generation module is used for generating an article file to be moved according to the object to be moved, wherein the article file to be moved comprises the end point position of each object to be moved;
the identification module is used for identifying the end point position of each object to be moved in the object file to be moved to obtain an identification result;
and the second generation module is used for obtaining an execution instruction file according to the identification result, wherein the execution instruction file comprises a plurality of execution instructions corresponding to all the objects to be moved and the execution sequence of the execution instructions.
The device can execute the method provided by the first aspect, and can determine the objects to be moved from the articles on the current shelf based on the current goods position information of the current shelf, so as to generate an execution instruction file capable of moving all the objects to be moved according to the end point position identification result of the objects to be moved. Because the execution order of a plurality of execution instructions is limited in the execution instruction file, the data recording and the efficient library shifting operation of an execution mechanism according to the instructions are facilitated.
In a third aspect, an embodiment of the present application provides an electronic device, including:
a memory;
a processor;
the memory has stored thereon a computer program executable by the processor, which computer program, when executed by the processor, performs the method of the first aspect as described above.
In a fourth aspect, an embodiment of the present application provides a storage medium, on which a computer program is stored, and the computer program, when executed by a processor, performs the method of the first aspect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic view of a storage structure according to an embodiment of the present disclosure.
Fig. 2 is a flowchart of an article moving method according to an embodiment of the present disclosure.
Fig. 3 is a partial flowchart of an item moving library method according to an example provided in an embodiment of the present application.
Fig. 4 is a functional block diagram of an article library transfer device according to an embodiment of the present disclosure.
Fig. 5 is a block diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
In order to realize efficient warehouse moving under the automatic three-dimensional storage condition, the inventor provides the following embodiment, so that a warehouse moving scheme suitable for a current shelf is quickly determined based on existing articles on the current shelf by counting state data of the current shelf, and the warehouse moving efficiency is improved by a dynamic allocation mode and an execution scheme with the least warehouse moving instructions.
Referring to fig. 1, fig. 1 is a schematic view of a warehouse structure in an example provided by an embodiment of the present application.
The warehousing structure shown in fig. 1 comprises a first shelf X and a second shelf Y, wherein the first shelf X and the second shelf Y are symmetrically arranged, and the first shelf X and the second shelf Y respectively comprise four layers, two rows and ten columns. The first shelf X and the second shelf Y may be regarded as separate two shelves, or may be regarded as sub-shelves on the same main shelf.
The first goods shelf X/the second goods shelf Y are provided with corresponding goods delivery channels. The executing mechanism for carrying out the warehouse moving operation can move the articles on each goods position on the corresponding goods shelf according to the goods delivering channels, for example, the executing mechanism can fix the selected articles in the modes of clamping, grabbing, adsorbing, inserting and fixing and the like, and move the selected articles to the target goods position, thereby realizing the warehouse moving.
In one example, the executing mechanism is a manipulator, and the manipulator can grab the object to be moved to the warehouse and move the grabbed object to the destination goods space according to each execution instruction obtained by the article moving warehouse method provided by the embodiment of the application.
In another example, the actuator is a stacker, and the fork or the string rod of the stacker is used as a fetching device to grab, carry and stack goods in a warehouse, a workshop or the like, or pick and place unit goods from a high-rise shelf.
Referring to fig. 2, fig. 2 is a flowchart of an article moving library method according to an embodiment of the present application, where the method is applicable to an electronic device with an arithmetic processing capability, where the electronic device may be a stand-alone device other than an execution mechanism, and the electronic device may also be an internal structure of the execution mechanism, which is not limited in the present application.
The article shifting method can be used for generating executing instructions required by shifting the library, and a set of the executing instructions can be stored in the form of an executing instruction file.
As shown in FIG. 2, the item transfer method may include steps S11-S14.
S11: and determining the object to be moved on the current shelf according to the current goods position information of the current shelf.
The current shelf may be any shelf in the warehouse, for example, a main shelf having multiple layers, multiple rows and multiple columns composed of the first shelf and the second shelf in fig. 1, or a first shelf or a second shelf having fewer rows in fig. 1. For convenience of description, in the following description, the present application will be described with respect to a single shelf having a smaller number of rows of the first shelf or the second shelf.
The current goods position information of the current goods shelf comprises data of each goods position on the goods shelf, which goods positions on the goods shelf are empty goods positions, which goods positions place goods and the positions of the corresponding goods positions place multiple goods can be known through the current goods position information.
By dynamically analyzing the current goods location information, the objects to be moved which need to be moved under the current state can be obtained. The object to be moved may be any item on the current shelf, for example, one or more material boxes (actual goods are placed in the boxes) on the shelf.
S12: and generating an article file to be moved according to the objects to be moved, wherein the article file to be moved comprises the end point position of each object to be moved.
Optionally, the article file to be moved may further include a starting point location of each object to be moved.
In the embodiment of the application, various ways can be used for determining the object to be moved and obtaining the object file to be moved.
As an implementation manner, a manner of importing a library transfer effect table can be used to learn which articles on a shelf need to be subjected to library transfer operation, so as to obtain a library transfer article file containing a library transfer object, and an execution instruction file is generated for the part of the library transfer object needing to be subjected to library transfer operation.
As another implementation manner, in order to optimize the weight distribution of the shelf, a suitable placement position may be determined for each object to be warehoused as a target goods location of the corresponding object to be warehoused based on a set goods placement rule, the goods state of each goods location on the current shelf, and a shelf effect to be achieved. The current actual positions of the objects to be warehoused are combined with the planned and calculated target goods space, the object files to be warehoused containing the initial positions and the end positions of the objects to be warehoused can be generated, the object files to be warehoused with fewer objects to be warehoused can be generated in a dynamic allocation mode, and the number of the objects to be warehoused is reduced.
S13: and identifying the end point position of each object to be warehoused in the object file to be warehoused to obtain an identification result.
The terminal position of each object to be moved in the object file to be moved can be judged, so as to judge whether the terminal position of the corresponding object to be moved is the empty goods position on the current goods shelf, and the obtained judgment result is used as the identification result. After each identification judgment, an execution instruction can be generated, and the sequence of generating the execution instruction is recorded.
S14: and obtaining an execution instruction file according to the identification result, wherein the execution instruction file comprises a plurality of execution instructions corresponding to all the objects to be moved and the execution sequence of the execution instructions.
After the corresponding execution instructions are generated according to the identification result of each time, a plurality of execution instructions and the execution sequence of the execution instructions can be obtained.
As an implementation manner, a bank shifting command may be sent to the execution mechanism according to the execution order of each execution instruction, so that the execution mechanism implements the execution instructions in order to perform a bank shifting operation on each object to be shifted. The implementation mode can enable the execution mechanism to start executing the library shifting operation as early as possible, and after all the execution instructions are executed, the corresponding execution instruction file can be used as a warehouse management record.
As another implementation manner, an execution instruction file including an execution sequence of each execution instruction may be sent to the execution mechanism, so that the execution mechanism can read and execute the content in the execution instruction file, thereby performing a library transfer operation on each object to be subjected to library transfer. The implementation mode can reduce the communication times among the devices, and the electronic device does not need to consider the current state of the execution mechanism when processing data, and only needs to send the generated execution instruction file to the execution mechanism.
In the method of S11-S14, objects to be warehoused may be determined from the items on the current shelf based on the current cargo space information of the current shelf, and a file of the items to be warehoused including the end positions of all the objects to be warehoused may be generated. And then generating an execution instruction file capable of performing library transfer on all objects to be subjected to library transfer in the object files to be subjected to library transfer according to the end point position identification result of each object to be subjected to library transfer in the object files to be subjected to library transfer. Because the execution order of a plurality of execution instructions is limited in the execution instruction file, the data recording and the efficient library shifting operation of an execution mechanism according to the instructions are facilitated.
In this embodiment, the step of obtaining the execution instruction file according to the recognition result in S14 may include S141 to S144.
S141: and when the identification result indicates that a first object with an end point position being an empty goods position exists in the article file to be moved, generating a first moving instruction for the first object, wherein the first moving instruction is used as an execution instruction in the execution instruction file.
S142: and updating the current goods location information and the files of the goods to be moved according to the first moving instruction.
S143: and judging whether the object to be moved exists in the object file to be moved.
S144: and when the object to be moved does not exist in the object file to be moved, obtaining the current execution instruction file.
In one example, a virtual cargo level table may be created based on current cargo level information for a current shelf, the initial virtual cargo level table being a simulation of the various cargo levels on the current shelf.
By matching the item file to be warehoused obtained in step S13 with the created virtual goods location table, it is known that, of the 15 objects to be warehoused in the item file to be warehoused, the end positions of 5 objects to be warehoused are actually 5 empty goods locations on the current shelf (corresponding to the virtual empty goods locations in the virtual goods location table), and then the 5 objects to be warehoused are regarded as first objects, and 5 first warehouse moving instructions are preferentially generated for the batch of first objects, so that the execution mechanism can preferentially execute the 5 first warehouse moving instructions to perform warehouse moving operations on the 5 objects to be warehoused.
After the 5 first warehouse moving instructions are generated, it can be considered that the first object (the 5 objects to be warehoused) has been moved to the corresponding empty goods space on the current shelf, and at this time, the virtual goods space table and the goods file to be warehoused can be updated. The updated virtual cargo level table changes the positions of 5 items as compared to the virtual cargo level table before updating. Compared with the virtual goods location table before updating, the state of the 5 objects to be moved is updated, for example, the 5 objects may be deleted from the object file to be moved, or the update may be implemented by updating the starting positions of the 5 objects to be moved, and for an object with the same starting position and ending position, the object may be regarded as not existing in the object file to be moved.
After the update is completed, S143 is performed, so as to determine whether S13 needs to be further performed to identify each object in the library item file.
And if the object to be moved exists in the article file to be moved, jumping to the step of S13. Therefore, each object to be moved in the updated object file to be moved can be continuously identified.
For example, the updated article file to be warehoused may be continuously matched with the updated virtual goods location table, and if there are 3 new first objects whose end positions are empty goods locations (which means virtual empty goods locations in the updated virtual goods location table) identified in the updated article file to be warehoused, a next batch of first warehouse-moving instructions (3 items) may be generated for the 3 objects. In actual execution, the execution sequence of the 3 first library shifting instructions is later than that of the 5 first library shifting instructions, and for convenience of recording, the execution instructions required by each generated library shifting are recorded in the execution instruction file.
Through the implementation mode, all objects to be moved in the object files to be moved can be identified continuously, when the first object in the object files to be moved is identified each time, a batch of first moving instructions are generated for the first object with the end position being the empty goods space, and the sequence of the generated instructions is recorded.
If the object to be moved in the object file to be moved is deleted through multiple updating processes, so that the object file to be moved is not the object to be moved, or each object to be moved in the object file to be moved is marked through multiple updating processes, so that all objects to be moved in the object file to be moved are regarded as the condition of no existence, it can be determined that the object to be moved does not exist in the object file to be moved any more, at this time, each batch of first move instructions can be used as execution instructions according to the sequence of generating the first move instructions each time, an execution instruction file is obtained, and the process of generating the move instructions (or execution instructions) each time can be regarded as updating of the execution instruction file.
Through the implementation mode, once the first object with the end position being the empty goods position exists in the file to be shifted, a batch of first shifting instructions can be generated for the corresponding first object, and the first shifting instructions are stored in the execution instruction file according to the sequence of the generated instructions. The object to be moved which only needs to be moved once can be moved preferentially, repeated operation of moving the object can be reduced, and new empty goods positions can be moved for other objects to be moved.
In the actual identification process, another identification result may also occur for each object to be moved in the object file to be moved, that is, the identification result indicates that there is no first object whose end point is an empty goods location in the object file to be moved.
Referring to fig. 3 for such recognition results, S14 may include sub-steps S145-S148.
S145: and traversing each object to be moved in the object file to be moved when the identification result indicates that the first object with the empty goods position as the terminal position does not exist in the object file to be moved.
Wherein, the traversal is the starting position and the end position of each object to be moved in the object file to be moved.
S146: and when a second object with the end position being the starting position of the other object is identified to exist in the article file to be moved, generating a second moving instruction for any second object.
And the second warehouse moving instruction is used for moving the selected second object to any empty goods position on the current goods shelf.
S147: and updating the current goods location information and the files of the goods to be moved according to the second moving instruction.
S148: and skipping to execute the step of identifying the end point position of each object to be moved in the object file to be moved to obtain an identification result.
For example, for a plurality of objects to be warehoused in the object file to be warehoused, when the first object can no longer be identified, the plurality of objects to be warehoused in the object file to be warehoused are internally traversed. Assuming that 3 objects a1, a2 and a3 to be moved exist in the article file to be moved, traversing and identifying the starting positions and the end positions of the 3 objects to be moved, when the traversing results are a1-a2, a2-a3 and a3-a1, that is, when an alternate inner circulation condition occurs that the end position of at least one object to be moved is just the starting position of other objects to be moved, randomly selecting one object from the 3 objects to be moved as a second object, for example, a1 may be used as the second object, and generating a second moving instruction for the article represented by the a1 so that the a2 can be moved to any specified empty goods position on the current shelf, where the specified empty goods position is currently in an idle state and is not the end position of any object to be moved.
By generating the second library moving instruction for the second object, the internal circulation state can be skipped, and an empty goods location capable of performing library moving is created for other objects to be moved except the second object in the article file to be moved, that is, the current starting position of the second object is changed into the empty goods location, so that corresponding first library moving instructions can be generated for other objects to be moved except the second object through the steps of S141 to S144.
After generating corresponding first library moving instructions for other objects to be subjected to library moving except the second object, the other objects to be subjected to library moving except the second object are regarded as having completed library moving, and since the second object is the empty goods space moved to the non-destination position at the moment, a third library moving instruction needs to be generated for the second object so as to move the second object moved to the aforementioned "any empty goods space" to the correct destination position.
It is to be understood that the foregoing embodiments are only for convenience of understanding, and are illustrated by using a few inner loop cases, in practical applications, there may be a plurality of simpler (e.g., two-by-two exchange) or more complex alternate inner loop cases in one article file to be moved, and there may also be a case of inner loop nested loop, so that the foregoing implementations may be used in combination to generate a corresponding execution instruction file for a more complex article file to be moved.
Through the combination of the foregoing implementations of S13, S141-S144, and S145-S148, the library transfer operation can be performed on each object to be subjected to library transfer in the article file to be subjected to library transfer quickly with the minimum execution instructions and execution order in the case that the end position of each object to be subjected to library transfer in the article file to be subjected to library transfer has been determined.
As an implementation manner, if the electronic device and the executing mechanism are independent devices, after the electronic device obtains the final execution instruction file, the executed article library moving method may further include step S15.
S15: and sending the execution instruction file to an execution mechanism corresponding to the current shelf, so that the execution mechanism can carry out the warehouse moving operation on the articles on the current shelf according to the execution sequence of each execution instruction in the execution instruction file.
Through the implementation mode, the scheme of executing the least execution instructions recorded in the execution instruction file can be sent to the execution mechanism corresponding to the current shelf by fewer equipment interaction times, so that the execution mechanism can rapidly perform the warehouse moving operation.
It should be noted that, through the above-described scheme, it can be implemented to improve the warehouse moving efficiency with the minimum execution instruction, and reduce the cargo space adjustment time. On the basis, in order to prolong the service life of the shelf, the process of screening the objects to be moved and determining the end positions of the objects to be moved is improved from the angle of optimizing the weight distribution of the shelf during moving the shelf, and the angle of uneven stress of the shelf caused by the fact that the shelf is pulled up is reduced, and the process can be embodied as the optimization improvement of the object files to be moved.
In order to achieve the effects of shifting the center of gravity of the shelf down and balancing the column/row weight of the shelf, so as to optimize the weight distribution of the shelf, reduce the deformation caused by uneven stress such as shelf lifting, improve the service life of the shelf, further reduce induction misjudgment caused by shelf deformation, and ensure that an actuating mechanism can normally take and place objects, S11 and S12 in the method are briefly described.
As one implementation, the aforementioned current cargo space information may include the current item weight corresponding to each cargo space of the current shelf, and S11 may include sub-steps S111-S112.
S111: and calculating the weight range of each layer of articles on the current shelf according to the current article weight corresponding to each goods space of the current shelf.
S112: and determining the articles which do not conform to the corresponding weight range in each layer of articles from all the articles on the current shelf according to the weight range of each layer of articles on the current shelf, and taking the articles as the objects to be moved to the warehouse.
For example, for a first shelf with 4 layers, 2 rows, and 10 columns and 80 cargo spaces, the weight data of the 80 cargo spaces on the current shelf can be obtained, it is known how many cargo spaces among the 80 cargo spaces have items placed, and the weight of the items on each cargo space can be known.
As an implementation manner, in order to facilitate obtaining the weight data, weighing and recording may be performed in advance at the warehousing stage of each article, so as to facilitate reading the existing weight data of the articles at the moving warehouse stage.
As another implementation manner, in order to obtain the measured weight data, a weight sensor may be disposed on the shelf, the weight change of the articles on each cargo space is obtained through the weight sensor, and the weight of the articles on each cargo space is obtained by combining the articles placed each time.
After the current weight of the items corresponding to each goods space of the current shelf is obtained, in order to enable all the items on the current shelf to be distributed on the shelf in a manner of more balanced weight, the weights of all the items existing on the current shelf can be sorted according to the total number of the items existing on the current shelf and the weight of the items and the principle that the weight is lower and the weight is upper, and the weight interval is divided and can be regarded as the weight range of a single item. Wherein, each weight interval corresponds to a layer of goods shelves.
For example, the number of layers of the items may be determined by dividing the total number of items present by the number of layers of the shelf, and taking the remainder. For example, when 53 (possibly each layer has distribution) articles are placed on the current shelf with 4 layers and 20 cargo spaces on each layer, the rest number of 54 is divided by 4, so that 13 articles can be placed on each layer, and the redundant 2 articles are placed from the bottom layer, so that the distribution effect of the 54 articles is that 14 articles in the 53 articles are placed on the first layer, 14 articles are placed on the second layer, 13 articles are placed on the third layer, and 13 articles are placed on the fourth layer (top layer) from the bottom layer. To determine which 14 items are placed on the first level, the weight values of the current 53 items may be sorted into 4 weight intervals by the number of 14, 13. Each weight interval may represent the weight range of each item on the respective layer, for example a weight interval of 50-70 kg for a first layer, representing the weight range of 50-70 kg for each item placed on the first layer. Based on the principle, the number of layers of all goods positions on the current shelf can be distributed according to the weight, and the destination layer data of each item is obtained. When the target item on the current shelf is identified not to be at the destination layer, for example, when the weight value of one target item currently at the first layer is 20 kg, the target item does not conform to the weight range of the first layer, but matches the weight range of the third layer, so that the destination layer of the target item should be the third layer, and the target item is regarded as the object to be moved to the warehouse.
Through the implementation manner of the S111-S112, the weight range of each layer of articles on the current shelf can be calculated based on the current article weight corresponding to each goods space in the current state, so that dynamic allocation on the layer number is performed on all the articles on the current shelf based on each weight range, the center of gravity of the shelf can be reduced under the condition that fewer objects are moved, the number of the articles on each layer is as close as possible, and the object to be moved can be quickly determined. Because the objects needing to be subjected to the library shifting operation are reduced, the identification times of the subsequent S13 can be reduced, the number of instructions in the execution instruction file in the S14 is reduced, and the library shifting operation efficiency is improved.
After the layer number is dynamically allocated, the position of the goods position on which layer the object to be moved to store is located can be determined by combining the set goods position placing rule based on the row distribution condition and the column distribution condition of each article on the goods shelf, and the target goods position of each object to be moved to store is obtained.
The general principle of the goods position arrangement rule is that the heavy objects are preferably considered to be on the bottom layer, the quantity of the goods on each layer is as close as possible (distributed uniformly as possible), and when the goods cannot be distributed uniformly, the redundant goods are placed from the bottom layer. Under the condition of definite layer number distribution, the general principle of row and column distribution can be to select the row and the column with lighter weight for distributing, so as to avoid the stress points from concentrating on a single row and a single column of the shelf to deform the shelf as far as possible. In other embodiments, the specific cargo space placing rule is not limited, as long as the objects to be moved and the end positions of the objects to be moved can be determined.
As one implementation, S12 may include sub-steps S121-S123.
S121: according to the current goods position information, the goods position of the object to be moved on the current goods shelf and the goods position of the object which is not placed with goods are used as virtual empty goods positions, and all the goods positions except all the virtual empty goods positions are used as fixed goods positions, so that a temporary goods position file is obtained.
The goods positions of the objects to be moved in the article files to be moved are the goods positions of the real placed articles on the current goods shelf.
S122: and determining the target goods position of each object to be moved to the warehouse based on the set goods position placing rule and the virtual empty goods position in the temporary goods position file.
Wherein, the set goods position placing rule can be a set warehousing rule. Before the target goods of each object to be moved are not determined, each object to be moved can be regarded as an object to be warehoused, the remaining empty goods spaces (namely all virtual empty goods spaces in the temporary goods space file) obtained by removing each object to be moved on the current shelf are taken as optional positions, and the target goods space of each object to be moved is re-determined according to a warehousing distribution mode by combining all virtual empty goods spaces in the temporary goods space file and the object to be warehoused on the basis of set warehousing rules, so that dynamic distribution can be performed on the basis of the real state of the current shelf, and dynamic warehouse moving is favorably realized.
For the principle of the cargo space arrangement rule, please refer to the related description above, and the description thereof is omitted here.
S123: and taking the current goods position of each object to be moved as an initial position and the target goods position as a terminal position to generate the file of the object to be moved.
In one example, the identifier of each object to be warehoused may be used as a key value of the object file to be warehoused, the start position and the end position of each object to be warehoused are stored based on the identifier of each object to be warehoused, and the object file to be warehoused, which includes data of a plurality of objects to be warehoused, is generated.
The implementation mode can determine the objects to be moved from the aspect of prolonging the service life of the goods shelf as much as possible under the condition of considering the stress distribution of the goods shelf, optimize the weight distribution of the goods shelf, reduce the probability of deformation of the goods shelf due to uneven stress and prolong the service life of the goods shelf, and by combining the implementation modes of S13-S14, the weight distribution of the goods shelf can be optimized by the minimum execution instructions, and the moving efficiency is high.
Based on the same inventive concept, please refer to fig. 4, an embodiment of the present application further provides an article moving device 400, which includes: the system comprises a to-be-moved library object determining module 401, a first generating module 402, a recognition module 403 and a second generating module 404.
And the to-be-moved-warehouse object determining module 401 is configured to determine, according to the current goods location information of the current shelf, an object to be moved on the current shelf.
The first generating module 402 is configured to generate an article file to be moved according to an object to be moved, where the article file to be moved includes an end position of each object to be moved.
The identifying module 403 is configured to identify a destination position of each object to be warehoused in the item file to be warehoused, so as to obtain an identification result.
The second generating module 404 is configured to obtain an execution instruction file according to the identification result, where the execution instruction file includes a plurality of execution instructions corresponding to all the objects to be migrated and an execution sequence of the plurality of execution instructions.
The device can execute the goods moving method, and can determine the objects to be moved from the goods on the current shelf based on the current goods position information of the current shelf, so that an execution instruction file capable of moving all the objects to be moved is generated according to the end point position identification result of the objects to be moved. Because the execution order of a plurality of execution instructions is limited in the execution instruction file, the data recording and the efficient library shifting operation of an execution mechanism according to the instructions are facilitated.
Optionally, the to-be-moved-warehouse object determining module 401 may be further configured to calculate a weight range of each layer of articles on the current shelf according to the current article weight corresponding to each goods space of the current shelf; and determining the articles which do not conform to the corresponding weight range in each layer of articles from all the articles on the current shelf according to the weight range of each layer of articles on the current shelf, and taking the articles as the objects to be moved to the warehouse.
Optionally, the first generating module 402 may be further configured to, according to the current goods location information, use the goods location where the object to be moved on the current shelf is located and the goods location where no article is currently placed as virtual empty goods locations, and use all goods locations except all virtual empty goods locations as fixed goods locations, so as to obtain a temporary goods location file; determining a target goods position of each object to be moved to the warehouse based on a set goods position placing rule and a virtual empty goods position in the temporary goods position file; and generating the object files to be moved by taking the current goods position of each object to be moved as an initial position and the target goods position as a final position.
Optionally, the second generating module 404 may be further configured to generate a first transfer instruction for the first object when the identification result indicates that the first object whose end point position is an empty goods position exists in the article file to be transferred, where the first transfer instruction is an execution instruction in the execution instruction file; updating the current goods position information and the object file to be moved according to the first moving instruction; judging whether the article file to be moved has an object to be moved; and when the object to be moved does not exist in the object file to be moved, obtaining a current execution instruction file.
Optionally, the second generating module 404 may be further configured to, when a to-be-moved object still exists in the to-be-moved item file, skip to execute the step of identifying the end position of each to-be-moved object in the to-be-moved item file to obtain an identification result.
Optionally, the second generating module 404 may be further configured to traverse each object to be warehoused in the item file to be warehoused when the identification result indicates that there is no first object whose end point is an empty goods location in the item file to be warehoused; when a second object with the end position being the starting position of other objects is identified to exist in the article file to be moved, generating a second moving instruction for any second object, wherein the second moving instruction serves as an execution instruction in the execution instruction file, and the second moving instruction is used for moving the selected second object to any empty goods position on the current shelf; updating the current goods position information and the object file to be moved according to the second moving instruction; and skipping to execute the step of identifying the end point position of each object to be moved in the object file to be moved to obtain an identification result.
Optionally, the apparatus may further include a sending module, where the sending module may be configured to send the execution instruction file to an execution mechanism corresponding to the current shelf, so that the execution mechanism performs a warehouse moving operation on the articles on the current shelf according to an execution sequence of each execution instruction in the execution instruction file.
For other details of the article warehousing device 400 provided in the embodiment of the present application, please refer to the related description of the article warehousing method, which is not repeated herein.
Based on the same inventive concept, please refer to fig. 5, an embodiment of the present application further provides an electronic device 500, where the electronic device 500 has an operation processing capability, may be a device independent from an execution mechanism, and may send an execution instruction file to the execution mechanism, and the electronic device 500 may also be an internal device of the execution mechanism, and directly obtains an instruction in the execution instruction file. The electronic device 500 may be used to perform the aforementioned item-warehousing method.
As shown in fig. 5, the electronic device 500 includes: memory 501, processor 502, communication component 503. The communication component 503 includes a communication bus for enabling direct or indirect connections between various components in the electronic device 500.
The memory 501 is a storage medium, and may be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The memory 501 may be used to store various functional modules and corresponding computer programs in the article library database system 400.
The Processor 502 has an arithmetic Processing capability, and may be a general-purpose Processor such as a Central Processing Unit (CPU) or a Network Processor (NP); but may also be a dedicated processor or a processor built from other programmable logic devices. Processor 502 may implement the methods, steps, and logic blocks provided by embodiments of the present application.
The memory 501 stores a computer program executable by the processor 502, and the processor 502 is configured to execute the computer program stored in the memory 501, so as to implement the aforementioned item moving library method.
It should be noted that the structure shown in fig. 5 is only an illustration, and there may be more components in a specific application, or there may be other configurations than those shown in fig. 5.
Based on the same inventive concept, the embodiment of the present application further provides a storage medium, where a computer program is stored on the storage medium, and when the computer program is executed, the article library moving method is executed.
The storage medium may be any available medium that can be accessed by the processor, and may be a magnetic medium (e.g., floppy disks, hard disks, tapes), an optical medium (e.g., DVDs), a semiconductor medium (e.g., Solid State Disks (SSDs)), or the like.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a division of one logic function, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the connections discussed above may be indirect couplings or communication connections between devices or units through some communication interfaces, and may be electrical, mechanical or other forms.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above embodiments are merely examples of the present application and are not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. An item transfer method, comprising:
calculating the weight range of each layer of articles on the current shelf according to the current article weight corresponding to each goods position in the current goods position information of the current shelf;
determining the articles which do not conform to the corresponding weight range in each layer of articles from all the articles on the current shelf as the objects to be moved to the warehouse according to the weight range of each layer of articles on the current shelf on the basis of the principle that the heavy objects are on the bottom and the light objects are on the top;
generating an article file to be moved according to the object to be moved, wherein the article file to be moved comprises an end point position of each object to be moved, and the end point position is obtained based on the weight range of each layer of articles on a shelf, the row distribution condition and the column distribution condition of each article on the shelf, and the principle that heavy objects are under and light objects are over;
identifying the end point position of each object to be moved in the object file to be moved to obtain an identification result;
and obtaining an execution instruction file according to the identification result, wherein the execution instruction file comprises a plurality of execution instructions corresponding to all the objects to be moved and the execution sequence of the execution instructions.
2. The method according to claim 1, wherein the generating an item file to be moved according to the object to be moved comprises:
according to the current goods position information, taking the goods position where the object to be moved on the current goods shelf is located and the goods position where no object is currently placed as virtual empty goods positions, and taking all goods positions except all the virtual empty goods positions as fixed goods positions to obtain a temporary goods position file;
determining a target goods position of each object to be moved to the warehouse based on a set goods position placing rule and a virtual empty goods position in the temporary goods position file;
and generating the object files to be moved by taking the current goods position of each object to be moved as an initial position and the target goods position as a final position.
3. The method of claim 1, wherein obtaining an execution instruction file according to the recognition result comprises:
when the identification result indicates that a first object with an empty goods position as a terminal position exists in the article file to be moved, generating a first moving instruction for the first object, wherein the first moving instruction is used as an execution instruction in the execution instruction file;
updating the current goods position information and the object file to be moved according to the first moving instruction;
judging whether the article file to be moved has an object to be moved;
and when the object to be moved does not exist in the object file to be moved, obtaining a current execution instruction file.
4. The method according to claim 3, wherein after the determining whether the object to be moved exists in the article file to be moved, the method further comprises:
and when the article files to be moved have the objects to be moved, skipping to execute the step of identifying the end point position of each object to be moved in the article files to be moved to obtain an identification result.
5. The method according to claim 1, wherein the item file to be warehoused further comprises a starting position of each object to be warehoused, and the obtaining of the execution instruction file according to the identification result comprises:
when the identification result indicates that the first object with the terminal position being the empty goods position does not exist in the article file to be moved, traversing each object to be moved in the article file to be moved;
when a second object with the end position being the starting position of other objects is identified to exist in the article file to be moved, generating a second moving instruction for any second object, wherein the second moving instruction serves as an execution instruction in the execution instruction file, and the second moving instruction is used for moving the selected second object to any empty goods position on the current shelf;
updating the current goods position information and the object file to be moved according to the second moving instruction;
and skipping to execute the step of identifying the end point position of each object to be moved in the object file to be moved to obtain an identification result.
6. The method of claim 1, wherein after obtaining the execution instruction file according to the recognition result, the method further comprises:
and sending the execution instruction file to an execution mechanism corresponding to the current shelf, so that the execution mechanism can carry out warehouse moving operation on the articles on the current shelf according to the execution sequence of each execution instruction in the execution instruction file.
7. An article transfer device, comprising:
the object-to-be-moved-to-garage determining module is used for calculating the weight range of each layer of articles on the current goods shelf according to the current article weight corresponding to each goods space in the current goods space information of the current goods shelf, and determining the articles which do not conform to the corresponding weight range in each layer of articles from all the articles on the current goods shelf as the object to be moved to the garage according to the weight range of each layer of articles on the current goods shelf on the principle that a heavy object is arranged below and a light object is arranged above;
the first generation module is used for generating an article file to be moved according to the object to be moved, wherein the article file to be moved comprises an end point position of each object to be moved, and the end point position is obtained based on the weight range of each layer of articles on a shelf, the row distribution condition and the column distribution condition of each article on the shelf, and the principle that heavy objects are below and light objects are above;
the identification module is used for identifying the end point position of each object to be moved in the object file to be moved to obtain an identification result;
and the second generation module is used for obtaining an execution instruction file according to the identification result, wherein the execution instruction file comprises a plurality of execution instructions corresponding to all the objects to be moved and the execution sequence of the execution instructions.
8. An electronic device, characterized in that the electronic device comprises:
a memory;
a processor;
the memory has stored thereon a computer program executable by the processor, the computer program, when executed by the processor, performing the method of any of claims 1-6.
9. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, performs the method of any one of claims 1-6.
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Effective date of registration: 20220829 Address after: 516057 No.4, Xinpeng Road, Ma'an Town, Huicheng District, Huizhou City, Guangdong Province Patentee after: GUANGDONG LYRIC ROBOT INTELLIGENT AUTOMATION Co.,Ltd. Patentee after: Huizhou Haikui Information Technology Co.,Ltd. Address before: No.512, Huizhou Vocational School Road, Huizhou City, Guangdong Province Patentee before: GUANGDONG LYRIC ROBOT INTELLIGENT AUTOMATION Co.,Ltd. |