CN111768140A - Method and device for preventing goods shelf from toppling - Google Patents

Method and device for preventing goods shelf from toppling Download PDF

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Publication number
CN111768140A
CN111768140A CN201910641353.2A CN201910641353A CN111768140A CN 111768140 A CN111768140 A CN 111768140A CN 201910641353 A CN201910641353 A CN 201910641353A CN 111768140 A CN111768140 A CN 111768140A
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China
Prior art keywords
goods
shelf
weight
grid
information
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CN201910641353.2A
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Chinese (zh)
Inventor
沈婧楠
韩宁
张安业
曾振
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Beijing Jingdong Qianshi Technology Co Ltd
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Beijing Jingdong Qianshi Technology Co Ltd
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Priority to CN201910641353.2A priority Critical patent/CN111768140A/en
Publication of CN111768140A publication Critical patent/CN111768140A/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • G06Q10/0875—Itemisation or classification of parts, supplies or services, e.g. bill of materials
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
    • G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/24—Reminder alarms, e.g. anti-loss alarms

Abstract

The embodiment of the invention provides a method and a device for preventing a goods shelf from toppling over. This in-process, whether can take place to empty through automatic judgement goods shelves, improve the accuracy that the aassessment goods shelves were emptyd, guarantee goods shelves, robot and staff's safety.

Description

Method and device for preventing goods shelf from toppling
Technical Field
The embodiment of the invention relates to the technical field of storage, in particular to a method and a device for preventing a goods shelf from toppling.
Background
At present, the logistics and warehousing industry is developed vigorously, a plurality of logistics centers introduce a robot picking system, the robot picking system moves a goods shelf through a mobile robot, so that the goods shelf can freely shuttle in a warehouse and run to a workstation to carry out warehouse-out or warehouse-in operation on goods, and the traditional mode of 'person to goods' is converted into a 'goods to person' mode.
In the process of goods delivery and storage, the stock structure of goods on the goods shelf changes, and in the process of carrying the goods shelf by the mobile robot, due to the need of avoiding other robots, the goods shelf and the like, the mobile robot is frequently switched between a moving state and a stopping state, so that acceleration or deceleration is generated. In the process of acceleration or deceleration of the mobile robot, if the goods on the carried goods shelf are uneven and the gravity center of the goods shelf is unstable, the goods shelf is easy to swing, so that the goods shelf topples over, and the safety of the goods, the goods shelf and even staff is threatened. In order to avoid the phenomenon, after goods on the goods shelf are taken out of a warehouse or put in the warehouse at each time, the goods shelf is evaluated by workers, whether the goods shelf topples over is evaluated, and if the goods shelf topples over, the goods on the goods shelf are manually adjusted.
In the above method for preventing the falling of the shelf, the shelf is evaluated manually. Obviously, the manual evaluation mode cannot accurately evaluate whether the goods shelf can be toppled or not, and the goods shelf cannot be prevented from toppling.
Disclosure of Invention
The embodiment of the invention provides a method and a device for preventing a goods shelf from toppling, which improve the accuracy of evaluating the toppling of the goods shelf and ensure the safety of the goods shelf, a robot and workers by automatically judging whether the goods shelf topples.
In a first aspect, an embodiment of the present invention provides a method for preventing a shelf from toppling, where the method is applied to a shelf provided with a plurality of goods, and the method includes:
acquiring scanning information, wherein the scanning information carries cargo information of the operated cargos on the goods shelf and cargo grid information corresponding to the operated cargos, and the operated cargos comprise ex-warehouse cargos and/or in-warehouse cargos;
determining whether the weight distribution of the goods on the goods shelf is symmetrical or not according to the goods information and the goods grid information;
and if the weight distribution of the goods on the goods shelf is asymmetric, pushing reminding information, wherein the reminding information is used for indicating that the weight distribution of the goods on the goods shelf is asymmetric.
In one possible design, the determining whether the weight distribution of the goods on the shelf is symmetrical according to the goods information and the goods grid information includes:
acquiring a first weight difference according to the goods information and the goods grid information, wherein the first weight difference is a difference value between the weight of the goods in the goods grid on the first surface of the goods shelf and the weight of the goods in the goods grid on the second surface of the goods shelf;
if the first weight difference is larger than a first threshold value, determining that the weight distribution of the goods on the goods shelf is asymmetric, and if the first weight difference is smaller than or equal to the first threshold value, determining that the weight distribution of the goods on the goods shelf is symmetric.
In one possible design, the method further comprises:
if the weight distribution of the goods on the goods shelf is asymmetric, determining first tally information according to a first constraint condition, wherein the first tally information comprises an identifier of the goods to be placed on the shelf and an identifier of a goods grid where the goods to be placed on the shelf are located, and the first constraint condition comprises at least one of the following items:
the weight of the goods to be placed on the shelf is greater than or equal to the difference value between the first weight difference and a first preset value, and the first preset value is the maximum value of the difference value between the weight of the goods on the first surface and the weight of the goods on the second surface when the weight distribution of the goods on the shelf is symmetrical;
the weight of the goods to be off-shelved is less than or equal to the sum of the first weight difference and the first preset value;
after the goods to be shelved are shelved, the difference value between the weight of the goods in the upper layer of the goods shelf and the weight of the goods in the lower layer of the goods shelf is larger than or equal to the difference value between a second weight difference and a second preset value, wherein the second weight difference is the difference value between the weight of the goods in the upper layer of the goods shelf and the weight of the goods in the lower layer of the goods shelf before the goods to be shelved are shelved, and the second preset value is the maximum value of the difference value between the weight of the goods in the upper layer of the goods shelf and the weight of the goods in the lower layer of the goods shelf when the weight distribution of the goods on the goods shelf is symmetrical.
In one possible design, the method further comprises:
if the weight distribution of the goods on the goods shelf is asymmetric, sorting the goods in the goods grid on the first surface according to the layer number of the goods grid where the goods are located and the quality of the goods to obtain a first sequence;
and determining first tallying information according to the first sequence, wherein the first tallying information comprises an identifier of goods to be placed on shelves and an identifier of a goods grid where the goods to be placed on shelves are located, the goods to be placed on shelves comprise X kinds of goods which are ranked at the top in the first sequence and serve as the goods to be placed on shelves, and X is not less than 1 and is an integer.
In one possible design, the last cargo of the X kinds of cargo is a plurality of cargos, and after determining the first tally information according to the first order, the method further includes:
judging whether the difference value between the weight of the goods in the goods grid on the first surface of the goods shelf and the weight of the goods in the goods grid on the second surface of the goods shelf is smaller than a first preset value or not after all the goods in the X kinds of goods are placed off the shelf;
and if the difference value between the weight of the goods in the goods grid on the first surface of the goods shelf and the weight of the goods in the goods grid on the second surface of the goods shelf is smaller than a first preset value after all the goods in the X kinds of goods are placed on the shelf, determining that all the last goods in the X kinds of goods are placed on the shelf.
In one possible design, the method further includes:
and if the difference value between the weight of the goods in the goods grid on the first surface of the goods shelf and the weight of the goods in the goods grid on the second surface of the goods shelf is larger than or equal to a first preset value after all the goods in the X kinds of goods are placed on the shelf, determining the number of the last goods in the X kinds of goods to be placed on the shelf, wherein the number of the last goods in the X kinds of goods is equal to a downward integer of the difference value and the unit weight.
In one possible design, the determining whether the weight distribution of the goods on the shelf is symmetrical according to the goods information and the goods grid information includes:
acquiring a second weight difference according to the goods information and the goods grid information, wherein the second weight difference is a difference value between the weight of the goods in the upper-layer goods grid of the goods shelf and the weight of the goods in the lower-layer goods grid of the goods shelf;
if the second weight difference is greater than a second threshold, determining that the weight distribution of the goods on the shelf is asymmetric, and if the second weight difference is less than or equal to the second threshold, determining that the weight distribution of the goods on the shelf is symmetric.
In one possible design, the method further comprises:
if the weight distribution of the goods on the goods shelf is asymmetric, determining second tally information according to a second constraint condition, wherein the second tally information comprises an identifier of the goods to be moved, an identifier of a goods grid where the goods to be moved are located, and an identifier of a target goods grid, and the second constraint condition comprises at least one of the following items:
the weight of the goods to be moved is twice as large as the weight of the goods to be moved, and is larger than or equal to a value obtained by subtracting a second preset constant from the second weight difference, wherein the second preset value is the maximum value of the difference value between the weight of the goods in the upper layer goods grid of the goods shelf and the weight of the goods in the lower layer goods grid of the goods shelf when the weight distribution of the goods on the goods shelf is symmetrical;
after the goods are tallied, the volume of the goods in the lower layer goods grid is smaller than the maximum volume of the lower layer goods grid.
In a second aspect, an embodiment of the present invention provides an apparatus for preventing a shelf from toppling, including:
the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring scanning information, the scanning information carries cargo information of operated cargos on a goods shelf and cargo grid information corresponding to the operated cargos, the operated cargos comprise ex-warehouse cargos and/or in-warehouse cargos, and the goods shelf is provided with a plurality of cargo grids;
the first determining module is used for determining whether the weight distribution of the goods on the goods shelf is symmetrical or not according to the goods information and the goods grid information;
the pushing module is used for pushing reminding information if the weight distribution of the goods on the goods shelf is asymmetric, and the reminding information is used for indicating that the weight distribution of the goods on the goods shelf is asymmetric.
In a possible design, the first determining module is configured to obtain a first weight difference according to the cargo information and the cargo space information, where the first weight difference is a difference between a weight of the cargo in the cargo space on the first side of the shelf and a weight of the cargo in the cargo space on the second side of the shelf; if the first weight difference is larger than a first threshold value, determining that the weight distribution of the goods on the goods shelf is asymmetric, and if the first weight difference is smaller than or equal to the first threshold value, determining that the weight distribution of the goods on the goods shelf is symmetric.
In one possible design, the apparatus further comprises:
a second determining module, configured to determine first tally information according to a first constraint condition if weight distribution of goods on the shelf is asymmetric, where the first tally information includes an identifier of goods to be shelved and an identifier of a shelf in which the goods to be shelved are located, and the first constraint condition includes at least one of:
the weight of the goods to be placed on the shelf is greater than or equal to the difference value between the first weight difference and a first preset value, and the first preset value is the maximum value of the difference value between the weight of the goods on the first surface and the weight of the goods on the second surface when the weight distribution of the goods on the shelf is symmetrical;
the weight of the goods to be off-shelved is less than or equal to the sum of the first weight difference and the first preset value;
after the goods to be shelved are shelved, the difference value between the weight of the goods in the upper layer of the goods shelf and the weight of the goods in the lower layer of the goods shelf is larger than or equal to the difference value between a second weight difference and a second preset value, wherein the second weight difference is the difference value between the weight of the goods in the upper layer of the goods shelf and the weight of the goods in the lower layer of the goods shelf before the goods to be shelved are shelved, and the second preset value is the maximum value of the difference value between the weight of the goods in the upper layer of the goods shelf and the weight of the goods in the lower layer of the goods shelf when the weight distribution of the goods on the goods shelf is symmetrical.
In one possible design, the apparatus further comprises:
the third determining module is used for sequencing the goods in the goods grids on the first surface according to the layer number of the goods grids in which the goods are positioned and the quality of the goods to obtain a first sequence if the weight distribution of the goods on the goods shelf is asymmetric; and determining first tallying information according to the first sequence, wherein the first tallying information comprises an identifier of goods to be placed on shelves and an identifier of a goods grid where the goods to be placed on shelves are located, the goods to be placed on shelves comprise X kinds of goods which are ranked at the top in the first sequence and serve as the goods to be placed on shelves, and X is not less than 1 and is an integer.
In one possible design, the last cargo of the X cargos is a plurality of pieces, the apparatus further comprising:
the processing module is used for judging whether the difference value between the weight of the goods in the goods grid on the first surface of the goods shelf and the weight of the goods in the goods grid on the second surface of the goods shelf is smaller than a first preset value after the third determining module determines the first tally information according to the first sequence and after all the goods in the X kinds of goods are placed off the shelf; and if the difference value between the weight of the goods in the goods grid on the first surface of the goods shelf and the weight of the goods in the goods grid on the second surface of the goods shelf is smaller than a first preset value after all the goods in the X kinds of goods are placed on the shelf, determining that all the last goods in the X kinds of goods are placed on the shelf.
In a possible design, the processing module is further configured to determine the number of pieces of the last item of the X kinds of items that are placed on the shelf, where the difference between the weight of the item in the cell on the first surface of the shelf and the weight of the item in the cell on the second surface of the shelf after all of the X kinds of items are placed on the shelf is greater than or equal to a first preset value, and the number of pieces is equal to a lower rounded value of the difference and the unit weight.
In a possible design, the first determining module is configured to obtain a second weight difference according to the cargo information and the cargo space information, where the second weight difference is a difference between the weight of the cargo in the upper cargo space of the shelf and the weight of the cargo in the lower cargo space of the shelf; if the second weight difference is greater than a second threshold, determining that the weight distribution of the goods on the shelf is asymmetric, and if the second weight difference is less than or equal to the second threshold, determining that the weight distribution of the goods on the shelf is symmetric.
In one possible design, the apparatus further comprises:
a fourth determining module, configured to determine second tally information according to a second constraint condition if the weight distribution of the goods on the shelf is asymmetric, where the second tally information includes an identifier of the goods to be moved, an identifier of a goods grid where the goods to be moved are located, and an identifier of a destination goods grid, and the second constraint condition includes at least one of:
the weight of the goods to be moved is twice as large as the weight of the goods to be moved, and is larger than or equal to a value obtained by subtracting a second preset constant from the second weight difference, wherein the second preset value is the maximum value of the difference value between the weight of the goods in the upper layer goods grid of the goods shelf and the weight of the goods in the lower layer goods grid of the goods shelf when the weight distribution of the goods on the goods shelf is symmetrical;
after the goods are tallied, the volume of the goods in the lower layer goods grid is smaller than the maximum volume of the lower layer goods grid.
In a third aspect, an embodiment of the present invention provides an apparatus for preventing a shelf from toppling, including a processor, a memory, and a computer program stored in the memory and being executable on the processor, where the processor implements the method according to the first aspect or various possible implementations of the first aspect when executing the program.
In a fourth aspect, embodiments of the present invention provide a storage medium having stored therein instructions that, when executed on a server, cause the server to perform a method as set forth in the first aspect or in the various possible implementations of the first aspect.
In a fifth aspect, embodiments of the present invention provide a computer program product, which when run on a computer, causes the computer to perform the method according to the first aspect or the various possible implementations of the first aspect.
According to the method and the device for preventing the goods shelf from toppling, provided by the embodiment of the invention, in the process of entering and exiting the warehouse, the server acquires the goods information and the goods lattice information carrying the operated goods, determines whether the weight distribution of the goods on the goods shelf is symmetrical or not according to the goods information and the goods lattice information, and pushes the reminding information to prompt that the weight distribution of the goods on the goods shelf is asymmetrical when the weight distribution of the goods on the goods shelf is asymmetrical. This in-process, whether can take place to empty through automatic judgement goods shelves, improve the accuracy that the aassessment goods shelves were emptyd, guarantee goods shelves, robot and staff's safety.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1A is a schematic view of a pallet to which the method for preventing the pallet from toppling according to the embodiment of the present invention is applied;
FIG. 1B is a schematic view of another pallet to which the method for preventing toppling of the pallet according to the embodiment of the present invention is applied;
fig. 2 is a schematic view illustrating an example of a scenario in which the method for preventing rack toppling according to the embodiment of the present invention is applied;
FIG. 3 is a flow chart of a method for preventing a rack from toppling, according to an embodiment of the present invention;
FIG. 4 is a flow chart of another method for preventing tipping of goods provided by embodiments of the present invention;
FIG. 5 is a schematic structural diagram of an apparatus for preventing a shelf from toppling over according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of another device for preventing a shelf from toppling over according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of another device for preventing a shelf from toppling over according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the goods-to-people mode, in the process of carrying the goods shelf by the mobile robot, the goods shelf and the robot are not integrated, so that the robot is switched between a moving state and a stopping state to generate an acceleration or deceleration process, if goods on the carried goods shelf are uneven and the gravity center of the goods shelf is unstable, the goods shelf is easy to swing, the goods shelf is toppled, and the safety of the goods, the goods shelf and even staff is threatened. In order to avoid the phenomenon, after goods on the goods shelf are taken out of a warehouse or put in the warehouse at each time, the goods shelf is evaluated by workers, whether the goods shelf topples over is evaluated, and if the goods shelf topples over, the goods on the goods shelf are manually adjusted. Obviously, the manual evaluation mode cannot accurately evaluate whether the goods shelf can be toppled or not, and the goods shelf cannot be prevented from toppling.
In view of this, embodiments of the present invention provide a method and an apparatus for preventing a shelf from toppling, so as to improve accuracy of evaluating toppling of the shelf and ensure safety of the shelf, a robot, and workers by automatically determining whether the shelf is toppled.
Fig. 1A is a schematic view of a shelf to which the method for preventing toppling of the shelf according to the embodiment of the present invention is applied. Referring to fig. 1A, a shelf includes a front surface and a rear surface, hereinafter referred to as a first surface and a second surface, each of which is divided into a plurality of layers, each layer having a plurality of compartments, each compartment being capable of storing one or more kinds of goods. In the process of continuously delivering and storing goods, the storage structure of the goods on the goods shelf can be changed, so that the weight distribution of the goods on the goods shelf is asymmetric, the gravity center of the goods shelf is unstable due to the asymmetry, and the goods shelf is toppled over in the process of carrying the goods shelf by the robot. Wherein, the goods weight distribution asymmetry includes on the goods shelves: the difference between the weight of the goods in the cells on the first side and the weight of the goods in the cells on the second side exceeds a first threshold value, and/or the difference between the weight of the goods in the upper cell and the weight of the goods in the lower cell exceeds a second threshold value.
Fig. 1B is a schematic view of another shelf to which the method for preventing toppling of the shelf according to the embodiment of the present invention is applied. Referring to fig. 1B, a shelf includes a plurality of shelves, each of the shelves has a plurality of compartments, each of the compartments can store one or more kinds of goods, and the compartments are divided into an upper compartment and a lower compartment. For example, a shelf has 5 layers, which are the 1 st layer, the 2 nd layer, the 3 rd layer, the 4 th layer and the 5 th layer from bottom to top in sequence, so that the 1 st layer and the 2 nd layer are lower layer grids, and the rest are upper layer grids; or the 1 st, 2 nd and 3 rd layers are lower layer grids, and the rest are upper layer grids; for another example, a shelf has 4 layers, which are the 1 st layer, the 2 nd layer, the 3 rd layer and the 4 th layer from bottom to top in sequence, and then the 1 st layer and the 2 nd layer are lower layer grids, and the 3 rd layer and the 4 th layer are upper layer grids. In the embodiment of the invention, the upper layer or the lower layer can be flexibly set. In the process of continuously delivering and storing goods, the storage structure of the goods on the goods shelf can be changed, so that the weight distribution of the goods on the goods shelf is asymmetric, the gravity center of the goods shelf is unstable due to the asymmetry, and the goods shelf is toppled over in the process of carrying the goods shelf by the robot. Wherein, the goods weight distribution asymmetry includes on the goods shelves: the difference between the weight of the cargo in the upper grid and the weight of the cargo in the lower grid exceeds a second threshold. Note that the grid is not shown in the figure.
Fig. 2 is a schematic view illustrating an example of a scenario in which the method for preventing rack toppling according to the embodiment of the present invention is applied. The scene comprises the following steps: the system comprises a first electronic device, a server and a second electronic device, wherein the server is connected with the first electronic device and the second electronic device through a network, the first electronic device can be an electronic device of an warehouse entry and exit workbench, the second electronic device is an electronic device of a tally workbench, and before tally is stored in the server, the types, the weights, the identifications, the numbers and the like of goods in each goods grid of each layer of each surface of one goods shelf are stored. In the warehousing-out process, the mobile robot carries the goods shelf to a warehousing-out workbench, workers carry out warehousing-out, warehousing-in and other operations, in the operation process, the operated goods are scanned by a bar code gun and the like connected with the first electronic equipment, so that the goods information of the operated goods and the goods grid information of the operated goods are sent to the server, the server determines whether the weight distribution of the goods on the goods shelf is symmetrical or not according to the goods information of the operated goods, the goods grid information and the pre-stored information of the goods in each goods grid on the goods shelf, and if the weight distribution of the goods on the goods shelf is asymmetrical, the server sends reminding information to the second electronic equipment to remind a goods picking work station of arranging the goods shelf. In addition to pushing the reminder information, the server may also determine which goods in which shelf of which floor need to be processed.
It should be noted that, although the foregoing scenario includes the first electronic device, the second electronic device, and the server, the embodiment of the present invention is not limited thereto. For example, the above-mentioned scenario includes only one electronic device, and does not include a server, and in this case, the electronic device is required to store in advance the item type, weight, identification, number of pieces, and the like of goods in each shelf of each floor of each face on one shelf. For another example, the above scenario only includes the first electronic device and the service, but not the second electronic device, in this case, the first electronic device may be an electronic device of an in-out warehouse workbench, and may also be an electronic device of a tally workbench.
Next, a detailed description will be given of a method for preventing a rack from falling as shown in an embodiment of the present invention based on the scenario shown in fig. 2, taking the rack shown in fig. 1A as an example. For example, see fig. 3.
Fig. 3 is a flowchart of a method for preventing a rack from toppling according to an embodiment of the present invention, which is described in the context of a server in the present embodiment, and includes:
101. and acquiring scanning information, wherein the scanning information carries cargo information of the operated cargos on the goods shelf and cargo grid information corresponding to the operated cargos, and the operated cargos comprise ex-warehouse cargos and/or in-warehouse cargos.
Illustratively, when the operated goods are warehoused goods, in the warehousing process, after the bar code gun and the like connected with the first electronic device scan the goods and the goods grids, the goods are placed into the goods grids, and the scanning information is sent to the server, so that the server obtains goods information carrying the operated goods and goods grid information corresponding to the operated goods, the goods information comprises the weight, the category and the like of the goods, and the goods grid information comprises the identification of a goods shelf where the goods grids are located, the identification of a layer, the identification of the goods grids and the like.
When the operated goods are goods for delivery, in the delivery process, after the bar code gun and the like connected with the first electronic equipment scan the goods and the goods grids, the goods are removed from the goods grids, and the scanned information is sent to the server, so that the server obtains goods information and goods grid information.
102. Determining whether the weight distribution of the goods on the goods shelf is symmetrical or not according to the goods information and the goods grid information, and if the weight distribution of the goods on the goods shelf is asymmetrical, executing a step 103; if the weight distribution of the goods on the shelves is symmetrical, step 104 is executed.
For example, when no goods are placed on the shelf, the center of gravity of the shelf is stable, and the phenomenon that the weight distribution of the goods on the shelf is not symmetrical does not exist. In the process of continuous delivery and/or storage of goods, a large quantity of goods in a certain surface, a certain layer or a certain goods grid can be delivered or stored, so that the weight distribution of the goods on the goods shelf is asymmetric, namely the weight of the goods shelf is unstable. Therefore, during the warehouse-out and/or warehouse-in process, or after the warehouse-out and/or warehouse-in process is finished, the server determines whether the weight distribution of the goods on the goods shelf is symmetrical according to the scanning information and the information of the goods on the goods shelf before the warehouse-in and warehouse-out, if so, the step 103 is executed; if the weight distribution of the goods on the shelves is not symmetrical, step 104 is executed.
103. And pushing reminding information, wherein the reminding information is used for indicating that the weight distribution of the goods on the goods shelf is asymmetric.
When the server determines that the weight distribution of the goods on the goods shelf is asymmetric according to the scanning information, the gravity center of the goods shelf is considered to be unstable, the toppling phenomenon is possible to happen, and therefore the server pushes the reminding information to the second electronic equipment to indicate that the weight distribution of the goods on the goods shelf is asymmetric.
104. And instructing the transfer robot to transfer the goods shelf to the warehouse.
Illustratively, when the server determines that the weight distribution of the goods on the shelf is symmetrical according to the scanning information, the weight of the shelf is considered to be stable, and the phenomenon of dumping generally cannot occur. At this time, the server transmits an instruction to the robot that carried the rack, so that the robot carries the rack to the warehouse.
In the method for preventing the goods shelf from toppling, provided by the embodiment of the invention, in the process of entering and exiting the warehouse, the server acquires the goods information and the goods lattice information carrying the operated goods, determines whether the weight distribution of the goods on the goods shelf is symmetrical or not according to the goods information and the goods lattice information, and pushes the reminding information to prompt that the weight distribution of the goods on the goods shelf is asymmetrical when the weight distribution of the goods on the goods shelf is asymmetrical. This in-process, whether can take place to empty through automatic judgement goods shelves, improve the accuracy that the aassessment goods shelves were emptyd, guarantee goods shelves, robot and staff's safety.
In the above embodiment, the weight distribution of the goods on the shelf is asymmetric, and three conditions can be distinguished: in a first situation, the difference between the weight of the goods in the compartments on the first side of the shelf and the weight of the goods in the compartments on the second side of the shelf exceeds a first threshold; in the second case: the difference between the weight of the goods in the upper-layer goods grid of the goods shelf and the weight of the goods in the lower-layer goods grid of the goods shelf exceeds a second threshold value; in the third case: the first and second conditions occur simultaneously. The first case and the second case will be described in detail below.
First, the first case.
In a feasible design, when determining whether the weight distribution of the goods on the shelf is symmetrical according to the goods information and the goods grid information, a server obtains a first weight difference according to the goods information and the goods grid information, wherein the first weight difference is the weight of the goods in the goods grid on a first surface of the shelf and the difference value between the weight of the goods in the goods grid on a second surface of the shelf, if the first weight difference is greater than a first threshold value, the weight distribution of the goods on the shelf is determined to be asymmetrical, and if the first weight difference is less than or equal to the first threshold value, the weight distribution of the goods on the shelf is determined to be symmetrical.
For example, a first threshold value may be preset, which is, for example, 60 kilograms (kg), that is, if the weight difference of the goods on two faces of a shelf, that is, the first weight difference exceeds 60kg, a warning message is pushed to prompt a worker that the shelf must be tallied. The first threshold may be flexibly set according to the size of the shelf, the category of the goods carried on the shelf, and the like, and the embodiment of the present invention is not limited.
In the embodiment of the present invention, two first threshold values may be set, and different first threshold values correspond to different push information. For example, the first threshold comprises an emergency tallying threshold and a recommended tallying threshold, and when the first weight difference exceeds the emergency tallying threshold, the server pushes reminding information of the tallying to the staff to prompt the staff to tally the shelf; when the first weight difference exceeds the recommended tally threshold value, the server pushes reminding information of the recommended tally to the staff to prompt the staff that the goods on the shelf are respectively asymmetrical, but the goods have not yet to be tallied.
In the second case.
In a feasible design, when determining whether the weight distribution of the goods on the shelf is symmetrical according to the goods information and the goods grid information, the server obtains a second weight difference according to the goods information and the goods grid information, wherein the second weight difference is a difference value between the weight of the goods in an upper-layer goods grid of the shelf and the weight of the goods in a lower-layer goods grid of the shelf; if the second weight difference is greater than a second threshold, determining that the weight distribution of the goods on the shelf is asymmetric, and if the second weight difference is less than or equal to the second threshold, determining that the weight distribution of the goods on the shelf is symmetric.
For example, a second threshold value, which is, for example, 40 kilograms (kg), may be preset, that is, if the weight of the goods in the upper cargo compartment of one shelf is different from the weight of the goods in the lower cargo compartment, that is, the weight difference exceeds 40kg, a warning message is pushed to prompt the staff that the shelf must be tallied. The second threshold may be flexibly set according to the size of the shelf, the category of the goods carried on the shelf, and the like, which is not limited in the embodiments of the present invention.
In the embodiment of the present invention, two second threshold values may be set, and different second threshold values correspond to different push information. For example, the second threshold comprises an emergency tallying threshold and a recommended tallying threshold, and when the second weight difference exceeds the emergency tallying threshold, the server pushes reminding information of the tallying to the staff to prompt the staff to tally the shelf; when the second weight difference exceeds the recommended tally threshold value, the server pushes reminding information of the recommended tally to the staff to prompt the staff that the goods on the shelf are respectively asymmetrical, but the goods have not yet to be tallied.
In the embodiment of the invention, when the goods shelf meets the first condition, a part of goods in the goods grid on the side with heavier goods needs to be put down, and when the goods shelf meets the second condition, a part of goods in the goods grid on the high level on the goods shelf needs to be moved to the goods grid on the lower level, and in the moving process, if the goods grid on the lower level is full of goods, the part of goods in the goods grid on the high level needs to be put down continuously. When the goods shelf meets the first condition and the second condition at the same time, the goods shelf needs to be processed according to the scheme corresponding to the second condition. Therefore, in order to prevent the rack from falling, it is necessary to determine the conditions satisfied by the rack and then perform processing according to the different conditions. This process will be described in detail below. For example, referring to fig. 4, fig. 4 is a flowchart of another method for preventing goods from falling down according to an embodiment of the present invention. The embodiment comprises the following steps:
201. determining that the shelf satisfies the first condition or the second condition.
Illustratively, for the first case, when the emergency tally is configured in advance, the first threshold is T1 urgencyWhen tallying is recommended, the first threshold is T1 recommendFirst preset value T1The first preset value is the maximum value of the difference between the weight of the goods on the first surface and the weight of the goods on the second surface when the weight distribution of the goods on the goods shelf is symmetrical. Wherein, T1 urgency＞T1 recommend＞T1. E.g. T1 urgency、T1 recommend、T160kg, 25kg and 10kg respectively.
For the second case, when the emergency tally is configured in advance, the second threshold value is T2 urgencyWhen tallying is recommended, the second threshold is T2 recommendFirst preset value T2And the second preset value is the maximum value of the difference value between the weight of the goods in the upper layer of the goods grid and the weight of the goods in the lower layer of the goods grid when the weight distribution of the goods on the goods shelf is symmetrical. Wherein, T2 urgency＞T2 recommend＞T2. E.g. T2 urgency、T2 recommend、T240kg, 25kg and 10kg respectively.
After the goods on the goods shelf are put in and/or taken out of the goods shelf each time, the server determines a first weight difference and a second weight difference of the goods shelf according to the goods information of the operated goods and the goods grid information corresponding to the operated goods, wherein the first weight difference is recorded as△m1And the second weight difference is recorded as △ m2When | △ m1|≥T1 recommend、|△m2|＜T2 recommendWhen, or when | △ m1|≥T1 recommend、|△m2|≥T2 recommendWhen the server marks the shelf as one satisfying the first condition, when △ m2|≥T2 recommend、|△m1|＜T1 recommendThe server marks the shelf as one that satisfies the second condition.
When the shelf satisfies either of the first and second cases, the server transmits a command to the robot that carries the shelf, so that the robot carries the shelf to the tallying workstation. And the goods management station sorts the goods of the goods shelves needing to be managed according to the priority. The priority is, for example, the first case and the second case. When a plurality of goods shelves simultaneously meet a first condition, the tallying workstation can tally the goods shelves according to the sequence of the first weight difference from large to small; similarly, when the plurality of shelves meet the second condition, the tallying workstation can tally the shelves according to the sequence from large to small of the second weight difference, and when the second weight differences of two or more shelves are equal, the tallying workstation can tally the shelves according to the sequence of arriving at the tallying workstation.
202. And determining a tally scheme and forming a virtual warehousing bill.
Hereinafter, different mathematical models will be used to describe in detail the stock-keeping schemes of the shelves satisfying the first and second cases.
First, for a shelf that satisfies the first condition.
Illustratively, let the mathematical model be as follows:
Figure BDA0002131972740000132
in the mathematical model, the first term represents the number of the goods shelves under the shelf, and the second term represents the goods of the goods under the shelfClass number, the third term represents the total volume of the goods that are off-shelf. A. the1Is the weight value of the first term, A2Is the weight value of the second term, A3Is the weight value of the third term, A1Has a value range of [0,1 ]]，A2Has a value range of [0,1 ]]，
Figure BDA0002131972740000131
Vmax＝∑i∈BVi，a3Can be in the range of [0,10 ]]. For example, A1＝0.8，A2＝0.2，a3＝2。
The above mathematical model is initialized as follows:
s: a collection of categories of goods stored on one face of the shelf;
Vj、mjvolume, weight of piece goods j, j ∈ S;
b: a set of all of the bins on one face of the shelf;
BH、BL: a high-level goods grid set and a low-level goods grid set;
Bja set of shelves with goods j, j ∈ S,
Figure BDA0002131972740000133
Sithe set of categories of goods stored in bin i, i ∈ B,
Figure BDA0002131972740000134
Vivolume of grid i, i ∈ B;
qijnumber of goods j in goods grid i before tallying, j ∈ Si；i∈B；
The decision variables of the above mathematical model are as follows:
xij：xij1 denotes the goods j, j ∈ S which are put on the shelf from the goods grid ii，i∈B；
yi：yi1 denotes at least one kind of goods shelved from grid i, i ∈ B;
zj：zj1 indicates that at least one piece of goods j is placed under one face of the shelf, j ∈ S.
The one face refers to the first face or the second face of the shelf.
In the embodiment of the invention, after the goods shelf meets the first condition, the first tally information is determined according to the first constraint condition, and the first tally information comprises the identification of the goods to be placed on the shelf and the identification of the goods grid where the goods to be placed on the shelf are located. As is exemplary. The first constraint includes at least one of the following conditions:
condition a: and when the weight of the goods to be placed on the shelf is more than or equal to the difference value between the first weight difference and a first preset value, wherein the first preset value is the maximum value of the difference value between the weight of the goods on the first surface and the weight of the goods on the second surface when the weight distribution of the goods on the shelf is symmetrical.
Illustratively, based on the above mathematical model, the condition a can be expressed as:
Figure BDA0002131972740000141
condition b: the weight of the goods to be placed on the shelves is less than or equal to the sum of the first weight difference and the first preset value.
Illustratively, based on the above mathematical model, the condition b can be expressed as:
Figure BDA0002131972740000142
and c, after the goods to be shelved are shelved, the difference value between the weight of the goods in the upper layer of the goods shelf and the weight of the goods in the lower layer of the goods shelf is larger than or equal to the difference value between a second weight difference and a second preset value, wherein the second weight difference is the difference value between the weight of the goods in the upper layer of the goods shelf and the weight of the goods in the lower layer of the goods shelf before the goods to be shelved are shelved, and the second preset value is the maximum value of the difference value between the weight of the goods in the upper layer of the goods shelf and the weight of the goods in the lower layer of the goods shelf when the weight distribution of the goods on the goods shelf is symmetrical.
Illustratively, based on the above mathematical model, the condition c can be expressed as:
Figure BDA0002131972740000143
conditions d,
Figure BDA0002131972740000144
Based on condition d, guarantee xijAnd yiThere is a constraint relationship between: if y isi0, i.e. no goods are put off from the first side, for the goods
Figure BDA0002131972740000151
xij0, namely any goods in the goods grid are not put on shelves; if y isi1, then
Figure BDA0002131972740000152
xijThe values are unconstrained.
Conditions e,
Figure BDA0002131972740000153
Based on this condition e, guarantee xijAnd zjThere is a constraint relationship between: if z isjWhen the number of the goods j which are not put off from the shelf requiring tallying (hereinafter referred to as "source shelf") is 0, the number of the goods j is set to 0
Figure BDA0002131972740000157
xij0, i.e. no shelf j is available from any shelf of the source shelf; if z isj1, then
Figure BDA0002131972740000158
xijThe values are unconstrained.
Conditions f,
Figure BDA0002131972740000154
Conditions g,
Figure BDA0002131972740000155
Based on conditions f and g, guarantee xij、yi、zjCan only take values of 0 or 1.
Thus, the number of the goods j which are placed from the goods grid i can be obtained according to the mathematical model,
Figure BDA0002131972740000156
and a virtual warehousing entry strategy is formed for carrying out shelving recommendation. That is, after the first tally information is generated, the target shelf may be recommended for the goods indicated by the first tally information.
In the above-described determination of the first tally information based on the mathematical model, an alternative may be initiated if the first tally information is not determined within a given time (time _ limit). This alternative is explained in detail below.
In a feasible design, if the weight distribution of the goods on the shelf is asymmetric, the server sorts the goods in the goods grid on the first surface according to the number of layers of the goods grid where the goods are located and the quality of the goods to obtain a first sequence, and then determines first tally information according to the first sequence, wherein the first tally information includes an identifier of the goods to be shelved and an identifier of the goods grid where the goods to be shelved are located, the goods to be shelved include X kinds of goods ranked first in the first sequence as the goods to be shelved, and X is greater than or equal to 1 and is an integer.
Illustratively, the server orders the items on the first side of the shelf from large to small in number of layers and basis weight. For example, the cargo compartments on the shelf are divided into upper cargo compartments and lower cargo compartments, the cargo in the upper cargo compartments are sorted from the top by the unit weight, and the cargo in the lower cargo compartments are sorted from the top by the unit weight, so that the first order is obtained. If one kind of goods is stored in the high-layer goods grid and the low-layer goods grid at the same time, the server compares the number of the goods in the high-layer goods grid with the number of the goods in the low-layer goods grid, and the number of the goods is larger. And then, the server determines a first tallying sequence according to the first sequence.
In the embodiment of the invention, a plurality of pieces of goods can be arranged on the goods shelf, if the weight of a single piece of the goods is larger, when the goods to be placed on the shelf comprises the goods, the goods to be placed on the shelf needs to be determined, before the goods are placed on the shelf, the difference between the weight of the goods in the first side goods grid and the weight of the goods in the second side goods grid is larger, so that the dumping phenomenon is caused, and after the goods are placed on the shelf completely, the difference between the weight of the goods in the second side goods grid and the weight of the goods in the first side goods grid is larger, so that the dumping phenomenon is caused. Next, how the server determines the number of lower racks of the last item in the first sort order after determining the first sort order according to the first sort order will be described in detail.
In a possible design, the last goods in the above-mentioned X kinds of goods are multiple, and the server determines, according to the first order, after the first tally information is determined, and further determines whether a difference between the weight of the goods in the cells on the first side of the shelf and the weight of the goods in the cells on the second side of the shelf after all the goods in the X kinds of goods are dropped from the shelf is smaller than a first preset value; and if the difference value between the weight of the goods in the goods grid on the first surface of the goods shelf and the weight of the goods in the goods grid on the second surface of the goods shelf is smaller than a first preset value after all the goods in the X kinds of goods are placed on the shelf, determining that all the last goods in the X kinds of goods are placed on the shelf.
Illustratively, continuing to use the initialized parameters, after each of the X items is completely dropped, the weight of the item in the compartment on the first side of the shelf differs from the weight of the item in the compartment on the second side by △ m, then-T1＜△m＜T1. At this time, the server generates a tally plan, that is, first tally information, for the X kinds of goods.
In the above embodiment, if the difference between the weight of the goods in the cells on the first surface of the shelf and the weight of the goods in the cells on the second surface of the shelf is greater than or equal to the first preset value after all of the X kinds of goods are placed on the shelf, the number of the last goods in the X kinds of goods is determined, and the number of the last goods is equal to the lower rounded value of the difference and the unit weight.
Illustratively, if all of the X items are placed on the shelf, the difference between the weight of the items in the compartments on the first side of the shelf and the weight of the items in the compartments on the second side of the shelf is greater than or equal to a first predetermined value, i.e., △ m < -T1When the last goods in the X kinds of goods are all off shelf, the difference between the weight of the goods in the second side of the goods grid and the weight of the goods in the first side of the goods grid is larger than the first threshold value, which causes the dumping phenomenon. At this time, assume that the single piece weight of the last cargo is msThe number of the goods which are put on the shelf is x,
Figure BDA0002131972740000161
secondly, for a shelf that satisfies the second condition.
In this case, the processing operation includes a first stage of moving a part of the goods in the upper cell to the lower cell on the shelf, and a second stage of continuously moving the part of the goods in the upper cell to the lower cell if the lower cell is filled with the goods and the weights of the goods in the upper and lower cells are still asymmetrical during the moving in the first stage, and at this time, after the completion of the first stage, the type and number of the goods in the upper cell to the lower cell are determined, and the second weight difference △ m is updated2Then, according to the updated △ m2The type and number of goods placed on the shelf from the high-rise shelf are determined. These two stages will be described in detail below.
The first stage, illustratively, lets the mathematical model as follows:
Figure BDA0002131972740000171
in the above mathematical model, the first term represents the unsatisfied high-low layer quality difference, the second term represents the number of upper layer grids involved in moving the goods in the upper layer grids to the goods in the lower layer grids, the third term represents the number of categories of the goods moved from the upper layer grids, and the fourth term represents the total volume of the goods moved from the upper layer grids. A. the0Is the weight of the first term, A1Is the weight of the second term, A2Is the weight of the third term, A3Is the weight of the fourth term, A0Should be much larger than A1、A2And a3，A1Has a value range of [0,1 ]]，A2Has a value range of [0,1 ]]，
Figure BDA0002131972740000172
a3Can be in the range of [0,10 ]]. For example, A0＝100，A1＝0.8，A2＝0.2，a3＝2。
The decision list of the above mathematical model is as follows:
uij：uij1 denotes taking the goods j from the upper goods grid i to the lower goods grid, j ∈ Si，i∈BH，
Condition h: and the weight of the goods to be moved is twice as large as the weight of the goods to be moved, and is larger than or equal to a value obtained by subtracting a second preset constant from the second weight difference, wherein the second preset value is the maximum value of the difference value between the weight of the goods in the upper layer goods grid of the goods shelf and the weight of the goods in the lower layer goods grid of the goods shelf when the weight distribution of the goods on the goods shelf is symmetrical.
Illustratively, based on the above mathematical model, the condition h can be expressed as:
Figure BDA0002131972740000173
based on the condition h, the weight difference of the high-low layer cargo grids after the tally is ensured, namely the second weight difference is smaller than the second preset value.
Condition i: after the goods are tallied, the volume of the goods in the lower layer goods grid is smaller than the maximum volume of the lower layer goods grid.
Illustratively, based on the above mathematical model, the condition i can be expressed as:
Figure BDA0002131972740000174
based on the condition i, the goods in the lower layer goods grid after tallying can be guaranteed not to exceed the maximum volume of the lower layer goods grid, and the problem that the lower layer goods grid cannot be loaded is prevented.
Condition j:
Figure BDA0002131972740000181
based on this condition j, u can be guaranteedijAnd yiThere is a constraint relationship between: if y isi0, i.e. no cargo is taken from the high-rise cargo grid i, then for
Figure BDA0002131972740000182
uijIf the number is 0, any goods in the goods grid are not moved to the low-level goods shelf; if y isi1, then
Figure BDA0002131972740000183
uijThe values are unconstrained.
Condition k:
Figure BDA0002131972740000184
based on this condition k, u is guaranteedijAnd ziThere is a constraint relationship between: if z isjWhen the number of the goods j is 0, that is, the goods j is not moved from the upper shelf to the lower shelf of the shelf requiring tallying (hereinafter, referred to as source shelf)
Figure BDA0002131972740000185
uij0, i.e., no moving cargo j from any high shelf of the source shelf; if z isj1, then
Figure BDA0002131972740000186
uijThe values are unconstrained.
Condition l:
Figure BDA0002131972740000187
condition m;
Figure BDA0002131972740000188
based on conditions l and m, guarantee uij、yi、zjCan only take values of 0 or 1.
Therefore, the number of the goods j moving from the high-level goods grid i to the low-level goods grid can be obtained according to the mathematical model, and a virtual warehousing entry strategy is formed. If the weight distribution of the goods on the shelf is still asymmetric after the first stage is performed, the second stage is performed.
In the first stage, the processing procedure can be referred to the shelf meeting the first condition, and the description is omitted here.
Finally, the shelf satisfies both the first condition and the second condition.
In this case, the processing is performed in a manner that satisfies the first condition of the shelf, and the description thereof is omitted.
203. And sorting the goods shelves according to the virtual warehousing list.
For example, for a shelf satisfying the first condition, the goods on the side with larger weight are placed off the shelf according to the virtual warehousing entry; and moving the goods in the high-level goods grids to the low-level goods grids according to the virtual warehousing list if the goods shelves meet the second condition.
Fig. 5 is a schematic structural diagram of an apparatus for preventing a shelf from toppling, which may be implemented by software and/or hardware. As shown in fig. 5, the apparatus 100 for preventing a shelf from falling includes:
the system comprises an acquisition module 11, a storage module and a display module, wherein the acquisition module 11 is used for acquiring scanning information, the scanning information carries cargo information of operated cargos on a goods shelf and cargo grid information corresponding to the operated cargos, the operated cargos comprise ex-warehouse cargos and/or in-warehouse cargos, and the goods shelf is provided with a plurality of cargo grids;
a first determining module 12, configured to determine whether weight distribution of the goods on the shelf is symmetric according to the goods information and the goods grid information;
the pushing module 13 is configured to push a reminding message if the weight distribution of the goods on the shelf is asymmetric, where the reminding message is used to indicate that the weight distribution of the goods on the shelf is asymmetric.
In a possible design, the first determining module 12 is configured to obtain a first weight difference according to the cargo information and the cargo space information, where the first weight difference is a difference between a weight of the cargo in the cargo space on the first side of the shelf and a weight of the cargo in the cargo space on the second side of the shelf; if the first weight difference is larger than a first threshold value, determining that the weight distribution of the goods on the goods shelf is asymmetric, and if the first weight difference is smaller than or equal to the first threshold value, determining that the weight distribution of the goods on the goods shelf is symmetric.
Fig. 6 is a schematic structural diagram of another device for preventing shelf from falling, according to an embodiment of the present invention, and the device for preventing shelf from falling further includes, on the basis of fig. 5:
a second determining module 14, configured to determine first tally information according to a first constraint condition if the weight distribution of the goods on the shelf is asymmetric, where the first tally information includes an identifier of a goods to be placed on the shelf and an identifier of a goods grid in which the goods to be placed on the shelf are located, and the first constraint condition includes at least one of:
the weight of the goods to be placed on the shelf is greater than or equal to the difference value between the first weight difference and a first preset value, and the first preset value is the maximum value of the difference value between the weight of the goods on the first surface and the weight of the goods on the second surface when the weight distribution of the goods on the shelf is symmetrical;
the weight of the goods to be off-shelved is less than or equal to the sum of the first weight difference and the first preset value;
after the goods to be shelved are shelved, the difference value between the weight of the goods in the upper layer of the goods shelf and the weight of the goods in the lower layer of the goods shelf is larger than or equal to the difference value between a second weight difference and a second preset value, wherein the second weight difference is the difference value between the weight of the goods in the upper layer of the goods shelf and the weight of the goods in the lower layer of the goods shelf before the goods to be shelved are shelved, and the second preset value is the maximum value of the difference value between the weight of the goods in the upper layer of the goods shelf and the weight of the goods in the lower layer of the goods shelf when the weight distribution of the goods on the goods shelf is symmetrical.
Referring to fig. 6 again, the apparatus further includes:
a third determining module 15, configured to sort, if the weight distribution of the goods on the shelf is asymmetric, the goods in the goods grid on the first surface according to the number of layers of the goods grid in which the goods are located and the quality of the goods, so as to obtain a first order; and determining first tallying information according to the first sequence, wherein the first tallying information comprises an identifier of goods to be placed on shelves and an identifier of a goods grid where the goods to be placed on shelves are located, the goods to be placed on shelves comprise X kinds of goods which are ranked at the top in the first sequence and serve as the goods to be placed on shelves, and X is not less than 1 and is an integer.
Referring to fig. 6 again, the apparatus further includes:
a processing module 16, configured to determine, after the third determining module 15 determines the first tally information according to the first order, whether a difference between the weight of the goods in the grid on the first surface of the shelf and the weight of the goods in the grid on the second surface of the shelf is smaller than a first preset value after all the goods in the X kinds of goods are placed on the shelf; and if the difference value between the weight of the goods in the goods grid on the first surface of the goods shelf and the weight of the goods in the goods grid on the second surface of the goods shelf is smaller than a first preset value after all the goods in the X kinds of goods are placed on the shelf, determining that all the last goods in the X kinds of goods are placed on the shelf.
In one possible design, the processing module 16 is further configured to determine the number of pieces of the last goods of the X kinds of goods that are placed on the shelf, where the difference between the weight of the goods in the cells on the first surface of the shelf and the weight of the goods in the cells on the second surface of the shelf after all of the X kinds of goods are placed on the shelf is greater than or equal to a first preset value, and the number of pieces is equal to a lower rounded value of the difference and the unit weight.
In a possible design, the first determining module 12 is configured to obtain a second weight difference according to the cargo information and the cargo space information, where the second weight difference is a difference between the weight of the cargo in the upper cargo space of the shelf and the weight of the cargo in the lower cargo space of the shelf; if the second weight difference is greater than a second threshold, determining that the weight distribution of the goods on the shelf is asymmetric, and if the second weight difference is less than or equal to the second threshold, determining that the weight distribution of the goods on the shelf is symmetric.
Referring to fig. 6 again, the apparatus further includes:
a fourth determining module 17, configured to determine second tally information according to a second constraint condition if the weight distribution of the goods on the shelf is asymmetric, where the second tally information includes an identifier of the goods to be moved, an identifier of a cargo space where the goods to be moved are located, and an identifier of a destination cargo space, and the second constraint condition includes at least one of:
the weight of the goods to be moved is twice as large as the weight of the goods to be moved, and is larger than or equal to a value obtained by subtracting a second preset constant from the second weight difference, wherein the second preset value is the maximum value of the difference value between the weight of the goods in the upper layer goods grid of the goods shelf and the weight of the goods in the lower layer goods grid of the goods shelf when the weight distribution of the goods on the goods shelf is symmetrical;
after the goods are tallied, the volume of the goods in the lower layer goods grid is smaller than the maximum volume of the lower layer goods grid.
Fig. 7 is a schematic structural diagram of another device for preventing a shelf from toppling over according to an embodiment of the present invention. As shown in fig. 7, the apparatus 200 for preventing a shelf from falling includes:
at least one processor 21 and memory 22;
the memory 22 stores computer-executable instructions;
the at least one processor 21 executes computer-executable instructions stored by the memory 22 to cause the at least one processor 21 to perform a method of preventing rack toppling as described above.
For a specific implementation process of the processor 21, reference may be made to the above method embodiments, which implement similar principles and technical effects, and this embodiment is not described herein again.
Optionally, the device for preventing the rack from toppling 200 further comprises a communication component 23. The processor 21, the memory 22, and the communication unit 23 may be connected by a bus 24.
The embodiment of the invention also provides a storage medium, wherein the storage medium stores computer execution instructions, and the computer execution instructions are used for realizing the method for preventing the goods shelf from toppling when being executed by the processor.
Embodiments of the present invention also provide a computer program product, which when running on a server, causes the server to execute the method for preventing rack toppling as described above.
In the above embodiments, it should be understood that the described apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.
The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions to enable a device (which may be a personal computer, a server, or a network device) or a processor (processor) for preventing the rack from falling, to perform some steps of the method according to various embodiments of the present invention.
It should be understood that the processor may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present invention are not limited to only one bus or one type of bus.
The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in a terminal or server.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (11)

1. A method for preventing a shelf from toppling over is applied to a shelf provided with a plurality of goods grids, and comprises the following steps:
acquiring scanning information, wherein the scanning information carries cargo information of the operated cargos on the goods shelf and cargo grid information corresponding to the operated cargos, and the operated cargos comprise ex-warehouse cargos and/or in-warehouse cargos;
determining whether the weight distribution of the goods on the goods shelf is symmetrical or not according to the goods information and the goods grid information;
and if the weight distribution of the goods on the goods shelf is asymmetric, pushing reminding information, wherein the reminding information is used for indicating that the weight distribution of the goods on the goods shelf is asymmetric.
2. The method of claim 1, wherein said determining whether the weight distribution of the items on the shelves is symmetrical based on the item information and the shelf information comprises:
acquiring a first weight difference according to the goods information and the goods grid information, wherein the first weight difference is a difference value between the weight of the goods in the goods grid on the first surface of the goods shelf and the weight of the goods in the goods grid on the second surface of the goods shelf;
if the first weight difference is larger than a first threshold value, determining that the weight distribution of the goods on the goods shelf is asymmetric, and if the first weight difference is smaller than or equal to the first threshold value, determining that the weight distribution of the goods on the goods shelf is symmetric.
3. The method of claim 2, further comprising:
if the weight distribution of the goods on the goods shelf is asymmetric, determining first tally information according to a first constraint condition, wherein the first tally information comprises an identifier of the goods to be placed on the shelf and an identifier of a goods grid where the goods to be placed on the shelf are located, and the first constraint condition comprises at least one of the following items:
the weight of the goods to be placed on the shelf is greater than or equal to the difference value between the first weight difference and a first preset value, and the first preset value is the maximum value of the difference value between the weight of the goods on the first surface and the weight of the goods on the second surface when the weight distribution of the goods on the shelf is symmetrical;
the weight of the goods to be off-shelved is less than or equal to the sum of the first weight difference and the first preset value;
after the goods to be shelved are shelved, the difference value between the weight of the goods in the upper layer of the goods shelf and the weight of the goods in the lower layer of the goods shelf is larger than or equal to the difference value between a second weight difference and a second preset value, wherein the second weight difference is the difference value between the weight of the goods in the upper layer of the goods shelf and the weight of the goods in the lower layer of the goods shelf before the goods to be shelved are shelved, and the second preset value is the maximum value of the difference value between the weight of the goods in the upper layer of the goods shelf and the weight of the goods in the lower layer of the goods shelf when the weight distribution of the goods on the goods shelf is symmetrical.
4. The method of claim 2, further comprising:
if the weight distribution of the goods on the goods shelf is asymmetric, sorting the goods in the goods grid on the first surface according to the layer number of the goods grid where the goods are located and the quality of the goods to obtain a first sequence;
and determining first tallying information according to the first sequence, wherein the first tallying information comprises an identifier of goods to be placed on shelves and an identifier of a goods grid where the goods to be placed on shelves are located, the goods to be placed on shelves comprise X kinds of goods which are ranked at the top in the first sequence and serve as the goods to be placed on shelves, and X is not less than 1 and is an integer.
5. The method of claim 4, wherein the last of the X items is a plurality of items, and wherein determining the first tally information according to the first order further comprises:
judging whether the difference value between the weight of the goods in the goods grid on the first surface of the goods shelf and the weight of the goods in the goods grid on the second surface of the goods shelf is smaller than a first preset value or not after all the goods in the X kinds of goods are placed off the shelf;
and if the difference value between the weight of the goods in the goods grid on the first surface of the goods shelf and the weight of the goods in the goods grid on the second surface of the goods shelf is smaller than a first preset value after all the goods in the X kinds of goods are placed on the shelf, determining that all the last goods in the X kinds of goods are placed on the shelf.
6. The method of claim 5, further comprising:
and if the difference value between the weight of the goods in the goods grid on the first surface of the goods shelf and the weight of the goods in the goods grid on the second surface of the goods shelf is larger than or equal to a first preset value after all the goods in the X kinds of goods are placed on the shelf, determining the number of the last goods in the X kinds of goods to be placed on the shelf, wherein the number of the last goods in the X kinds of goods is equal to a downward integer of the difference value and the unit weight.
7. The method of claim 1, wherein said determining whether the weight distribution of the items on the shelves is symmetrical based on the item information and the shelf information comprises:
acquiring a second weight difference according to the goods information and the goods grid information, wherein the second weight difference is a difference value between the weight of the goods in the upper-layer goods grid of the goods shelf and the weight of the goods in the lower-layer goods grid of the goods shelf;
if the second weight difference is greater than a second threshold, determining that the weight distribution of the goods on the shelf is asymmetric, and if the second weight difference is less than or equal to the second threshold, determining that the weight distribution of the goods on the shelf is symmetric.
8. The method of claim 7, further comprising:
if the weight distribution of the goods on the goods shelf is asymmetric, determining second tally information according to a second constraint condition, wherein the second tally information comprises an identifier of the goods to be moved, an identifier of a goods grid where the goods to be moved are located, and an identifier of a target goods grid, and the second constraint condition comprises at least one of the following items:
the weight of the goods to be moved is twice as large as the weight of the goods to be moved, and is larger than or equal to a value obtained by subtracting a second preset constant from the second weight difference, wherein the second preset value is the maximum value of the difference value between the weight of the goods in the upper layer goods grid of the goods shelf and the weight of the goods in the lower layer goods grid of the goods shelf when the weight distribution of the goods on the goods shelf is symmetrical;
after the goods are tallied, the volume of the goods in the lower layer goods grid is smaller than the maximum volume of the lower layer goods grid.
9. A device for preventing tipping of a shelf, comprising:
the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring scanning information, the scanning information carries cargo information of operated cargos on a goods shelf and cargo grid information corresponding to the operated cargos, the operated cargos comprise ex-warehouse cargos and/or in-warehouse cargos, and the goods shelf is provided with a plurality of cargo grids;
the first determining module is used for determining whether the weight distribution of the goods on the goods shelf is symmetrical or not according to the goods information and the goods grid information;
the pushing module is used for pushing reminding information if the weight distribution of the goods on the goods shelf is asymmetric, and the reminding information is used for indicating that the weight distribution of the goods on the goods shelf is asymmetric.
10. A server comprising a processor, a memory and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of the preceding claims 1-8 when executing the program.
11. A storage medium having stored therein instructions which, when run on a server, cause the server to perform the method of any one of claims 1-9.
CN201910641353.2A 2019-07-16 2019-07-16 Method and device for preventing goods shelf from toppling Pending CN111768140A (en)

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