CN112474368A - Goods sorting method, device, equipment and computer readable medium - Google Patents
Goods sorting method, device, equipment and computer readable medium Download PDFInfo
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- CN112474368A CN112474368A CN201910865816.3A CN201910865816A CN112474368A CN 112474368 A CN112474368 A CN 112474368A CN 201910865816 A CN201910865816 A CN 201910865816A CN 112474368 A CN112474368 A CN 112474368A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
Abstract
The invention discloses a goods sorting method, a goods sorting device, goods sorting equipment and a computer readable medium, and relates to the technical field of computers. One embodiment of the method comprises: establishing a goods picking task, storing goods on goods shelves, forming a roadway between the goods shelves, and taking the end part of the goods shelf corresponding to the road junction as a parking spot; based on the goods picking task, determining a corresponding parking point of the goods picking task according to a picking condition with the least number of parking points; and planning a driving path of the robot based on the corresponding parking point, and sending the driving path to the robot executing the goods picking task. This embodiment can improve the efficiency of performing picking tasks.
Description
Technical Field
The invention relates to the technical field of warehousing, in particular to a goods sorting method, a goods sorting device, goods sorting equipment and a computer readable medium.
Background
In the warehouse, a robot loads a plurality of task boxes, travels to corresponding parking spots, and picks corresponding goods on a shelf to the corresponding task boxes by a picker. And the robot continues to drive to the next parking point until all goods of the loaded task box are picked, and drives to a discharging point for discharging. And loading the empty task box and executing the next picking task.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art: the robot is less efficient at performing picking tasks.
Disclosure of Invention
Embodiments of the present invention provide a method, an apparatus, a device and a computer readable medium for picking a cargo, which can improve the efficiency of executing a picking task.
To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a cargo picking method including:
establishing a goods picking task, storing goods on goods shelves, forming a roadway between the goods shelves, and taking the end part of the goods shelf corresponding to the road junction as a parking spot;
based on the goods picking task, determining a corresponding parking point of the goods picking task according to a picking condition with the least number of parking points;
and planning a driving path of the robot based on the corresponding parking point, and sending the driving path to the robot executing the goods picking task.
The determining the corresponding parking point of the goods picking task according to the picking condition with the least number of parking points based on the goods picking task comprises:
establishing a target function with the minimum number of parking points;
and under the constraint condition that each lane of the goods shelf has a corresponding parking point, solving the objective function and determining the corresponding parking point of the goods picking task.
The planning of the driving path of the robot based on the corresponding parking spot comprises the following steps:
the parking spot has a number;
and planning the running path of the robot according to the number of the corresponding parking spot.
After determining the corresponding parking point of the goods picking task according to the picking condition with the least number of parking points based on the goods picking task, the method further comprises the following steps:
the corresponding parking points are occupied, other parking points exist in a preset threshold range, the goods shelves corresponding to the other parking points are the same as the goods shelves corresponding to the corresponding parking points, the other parking points are used as the parking points of the goods, and the preset threshold range is an area which is far away from the corresponding parking points by a preset threshold.
After determining the corresponding parking point of the goods picking task according to the picking condition with the least number of parking points based on the goods picking task, the method further comprises the following steps:
the corresponding parking point is occupied, other parking points do not exist in a preset threshold range, the shelf corresponding to the other parking points is the same as the shelf corresponding to the corresponding parking point, the parking point closest to the corresponding parking point is used as a waiting parking point, and the robot stops at the waiting parking point to wait for using the corresponding parking point.
According to a second aspect of embodiments of the present invention there is provided a cargo picking apparatus comprising:
the establishment module is used for establishing a goods sorting task, goods are stored in the goods shelves, a roadway is formed between the goods shelves, and the end part of the goods shelf corresponding to the road junction of the roadway is a parking point;
the determining module is used for determining a corresponding parking point of the goods picking task according to the picking condition with the least number of parking points based on the goods picking task;
and the planning module is used for planning a driving path of the robot based on the corresponding parking point and sending the driving path to the robot executing the goods picking task.
The determining module is specifically used for establishing a target function with the minimum number of parking points;
and under the constraint condition that each lane of the goods shelf has a corresponding parking point, solving the objective function and determining the corresponding parking point of the goods picking task.
The planning module is specifically used for the parking spots to have numbers; and planning the running path of the robot according to the number of the corresponding parking spot.
According to a third aspect of embodiments of the present invention there is provided electronic goods-picking apparatus comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method as described above.
According to a fourth aspect of embodiments of the present invention, there is provided a computer readable medium, on which a computer program is stored, which when executed by a processor, implements the method as described above.
One embodiment of the above invention has the following advantages or benefits: because the goods sorting task is established, the goods are stored on the goods shelves, a roadway is formed between the goods shelves, and the end part of the goods shelf corresponding to the road junction is a parking point. Based on the goods picking task, determining a corresponding parking point of the goods picking task according to a picking condition with the least number of parking points; and planning a driving path of the robot based on the corresponding parking point, and sending the driving path to the robot executing the goods picking task.
The robot executing the task receives the goods at the parking point according to the traveling path. Since the number of parking spots is minimized, the number of parking spots can be reduced to reduce the influence on the efficiency of the picking task, thereby improving the efficiency of performing the picking task.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic view of a rack in a warehouse according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a main flow of a cargo picking method according to an embodiment of the invention;
FIG. 3 is a schematic illustration of a parking spot and roadway according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of a process of determining corresponding stop points for a cargo picking order in accordance with an embodiment of the present invention;
FIG. 5 is a schematic illustration of a cargo picking process according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the principal structure of a cargo picking apparatus according to an embodiment of the invention;
FIG. 7 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
fig. 8 is a schematic structural diagram of a computer system suitable for implementing a terminal device or a server according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Referring to fig. 1, fig. 1 is a schematic view of a shelf in a warehouse according to an embodiment of the present invention. In fig. 1, a plurality of shelves are included, and articles are placed on the shelves, and lanes are arranged between the shelves. Because of the greater density of rack placement in the warehouse, the aisles between the racks are generally narrow and accessible only by the picker.
The robot stops at the end of the roadway to wait for the picker to pick a product. When the robot stops at the end of one roadway, the robot can select the articles of a plurality of nearby roadways. Specifically, the picker is responsible for picking items from the shelves and placing the items in a task box that is parked at the end of the roadway and loaded by the robot.
In the case of a robot that loads multiple task bins, it is necessary to wait for the picker to pick at multiple stops. Since the robot needs to stop once when completing picking, the efficiency of the robot in executing the picking task is low.
In order to solve the technical problem that the efficiency of the robot for executing the picking task is low, the following technical scheme in the embodiment of the invention can be adopted.
Referring to fig. 2, fig. 2 is a schematic diagram of a main flow of a cargo picking method according to an embodiment of the present invention, in a plurality of parking points corresponding to a shelf, a corresponding parking point of a cargo picking task is determined according to a picking condition with the smallest number of parking points, and then a travel path of a robot is planned based on the corresponding parking point. As shown in fig. 2, the method specifically includes the following steps:
s201, establishing a goods sorting task, storing goods on goods shelves, forming a roadway between the goods shelves, and setting the end part of the goods shelf corresponding to the road junction as a parking spot.
In embodiments of the invention, the server may perform a cargo picking method. The server hosts one or more robots. The robot is coupled with the server, and the robot sends the position information of the robot and the information of the loaded goods to the server. As an example, the robot periodically transmits its own position information and information of loaded goods to the server. The server may send the relevant instructions to the robot. As one example, the server may send instructions to the robot to move from one location to another. Wherein the robot can stop at a stopping point. The end part of the goods shelf corresponding to the road junction is a parking spot
In the server, tasks may be established based on the item picking requirements, wherein the tasks may include picking one or more items. In embodiments of the present invention, the establishment of tasks based on cargo picking requirements typically includes a plurality of cargoes in one or more manifests. In this way, the robot may complete picking of one or more orders once around the warehouse.
As one example, the cargo picking requirements include three manifest, a first manifest, a second manifest, and a third manifest. The first manifest includes cargo 11 and cargo 12; the second manifest includes cargo 21, cargo 22, and cargo 23. The third manifest includes the goods 31. Based on the above three manifest, tasks are established, which include cargo 11, cargo 12, cargo 21, cargo 22, cargo 23, and cargo 31.
S202, based on the goods picking task, according to the picking condition with the minimum number of parking spots, determining the corresponding parking spot of the goods picking task.
The warehouse comprises a plurality of shelves, and goods are stored on the shelves. In the embodiment of the present invention, the space between the shelves is referred to as a lane.
Referring to fig. 3, fig. 3 is a schematic view of a parking spot and a roadway according to an embodiment of the present invention. Fig. 3 includes shelf 11, shelf 12, shelf 21, shelf 22, shelf 31, shelf 32, shelf 41, and shelf 42. It should be noted that the included shelf in fig. 3 is a part of a shelf in a warehouse. The space between the goods shelf 21 and the goods shelf 31 is a roadway A; the space between the shelf 32 and the shelf 32 is a lane B; the space between the shelf 31 and the shelf 41 is a lane C; the spacing between the shelves 32 and 42 is lane D. The robot may move on the road between the shelves 21 and 22. It will be appreciated that the robot moves at the end of the roadway.
The goods can be respectively placed in the goods shelves in fig. 3 according to the belonged classification, and the goods shelves have corresponding relations with the roadway. The picker moves between lanes to pick the goods on the shelves. As one example, a picker may move about lane a to pick items on the shelves 21. As another example, a picker may move about lane a to pick items on shelves 21 and 31.
Fig. 3 includes 4 parking spots, shown at 1, 2, 3 and 4, respectively. The corresponding relation between the parking points and the roadway is preset, namely the robot is located at the preset parking points, and then the goods in the corresponding roadway can be picked.
As one example, a parking spot 1 and a parking spot 2 are preset to correspond to a lane a, a lane B, a lane C, and a lane D. That is, when the robot is located at the parking spot 1, the robot can pick the goods in the lane a, the lane B, the lane C and the lane D; similarly, when the robot is located at the parking spot 2, the goods in the lane a, the lane B, the lane C and the lane D can be picked.
It is understood that one parking spot may correspond to a plurality of lanes, and one lane may correspond to a plurality of parking spots, i.e.: the relationship between the parking points and the roadways is a many-to-many mapping relationship. That is, the robot is located at a parking spot and can pick goods on a plurality of roadway shelves.
Because the corresponding relation exists between the roadway and the goods shelf, the corresponding relation also exists between the roadway and the parking spot. Specifically, the correspondence between the lanes and the parking spots is a many-to-many correspondence. In other words, one shelf corresponds to one or more parking spots.
The robot may park at a parking spot to pick the goods on the corresponding shelves. In the case that the goods on the goods shelf in the roadway need to be picked, the vehicle can be parked at a parking spot corresponding to the goods shelf. At the parking spot, the robot may pick up the goods on the racks in the roadway.
In order to complete the goods picking task, the robot needs to stop at the stopping points corresponding to different shelves to pick the goods on the shelves.
As an example, 5 items are picked, respectively item 1, item 2, item 3, item 4 and item 5. Goods 1 are placed on goods shelf A, goods 2 are placed on goods shelf B, goods 3 are placed on goods shelf C, goods 4 are placed on goods shelf D, and goods 5 are placed on goods shelf D. Each shelf corresponds to one or more parking spots.
The robot needs to complete the task of picking 5 goods, and then the robot needs to stop at the parking places of the shelves respectively to pick the goods. Such as: when 5 goods are picked, the vehicle can be parked at 5 parking spots, and one goods can be picked at one parking spot.
It is considered that parking takes time, which in turn reduces the efficiency of picking. Then, the number of parking spots can be reduced to improve the efficiency of picking.
The shelves correspond to one or more stops, and a stop may correspond to multiple shelves, where parking may be performed to pick up items on multiple shelves.
In one embodiment of the invention, the corresponding stop point of each goods picking task may be determined among the one or more stop points corresponding to the shelves according to the picking condition with the least number of stop points. And the picking condition is that the number of the parking spots is minimum, so that the number of the parking spots is minimized, and the picking efficiency is improved to the maximum extent.
In one embodiment of the invention, an objective function is established in conjunction with picking conditions to determine stopping points for picking orders for goods. Referring to fig. 4, fig. 4 is a schematic diagram of a process of determining a corresponding stop point for picking a cargo picking order according to an embodiment of the present invention, specifically including the steps of:
s401, establishing an objective function with the minimum number of parking spots.
Q is an m n matrix, where m is the number of parking spots and n is the number of lanes. QijThe representative parking spot i is a parking spot of the lane j. It should be noted that Q belongs to a 0-1 matrix. That is, each element in Q is 0 or 1. For example, a robot located at a parking spot that corresponds to an element of 1 in Q may pick up goods in the corresponding lane; the robot cannot pick the goods in the corresponding roadway when being located at the parking point, and the corresponding element of the parking point in Q is 0.
xiRepresenting whether the robot is parked at parking spot i, for example, if the robot is parked at parking spot i, xi1 is ═ 1; if the robot does not stop at the stopping point i, xi＝0。
Establishing an objective function with the minimum number of parking points:
min∑ixi (1)
s402, under the constraint condition that the roadway of each shelf has the corresponding parking point, solving an objective function, and determining the corresponding parking point of the goods picking task.
The task of the robot to pick the goods then requires a corresponding stop for each goods, otherwise the goods cannot be picked. Then, the constraint is: the roadway of each goods shelf is provided with a corresponding parking point.
P is the set of lanes for each shelf. In formula (2), there needs to be one parking spot for each rack lane.
In the case where the constraint is (2), solving the objective function in (1) can determine a stop point at which each cargo is picked. For example, solving the objective function in (1) may obtain a 0-1 matrix, and only the element with the element value of 1 may be considered, and the parking point may be determined in the above element.
Illustratively, when i and j are not large, the solution can be directly performed by using a solver. When i and j are large, a heuristic solution method can be adopted.
And S203, planning a driving path of the robot based on the corresponding parking point, and sending the driving path to the robot executing the goods picking task.
The robot stops at the parking spot for each goods to pick up the goods, and the robot needs to move from one parking spot to another. The driving path of the robot at the end of the roadway in the warehouse can be planned based on the parking point of each cargo. As an example, the travel path of the robot in the warehouse is planned according to the distance between the stop points of each cargo. Such as: and determining a parking point as a starting point, and then sequentially searching the parking point closest to the current parking point as the next parking point till the last parking point. In this way, the travel route can be planned on the principle that the distance is the shortest.
In the embodiment of the invention, the driving path can be sent to the robot executing the task. In this way, the robot can stop at the parking spot according to the travel path to pick up the goods.
In one embodiment of the present invention, a parking spot number may be set in advance in a warehouse in order to avoid road congestion caused by disordered movement of the robot. The driving path of the robot in the warehouse can be planned according to the number of the corresponding parking spot. The driving path of the robot can be planned in the order of the numbers of the parking spots from small to large or in the order of the numbers of the parking spots from large to small.
With continued reference to fig. 1, the black traces with arrows in fig. 1, i.e. in order of the parking spot numbers from small to large.
And planning the running path of the robot in the warehouse according to the number of the corresponding parking spot. Namely: the robot picks the goods according to the sequence of the parking spot numbers from small to large or the sequence of the parking spot numbers from large to small. The picking directions of the robots in the warehouse tend to be consistent, so that road congestion caused by disordered movement of the robots can be avoided.
In the above embodiment, in the picking condition in which the number of parking spots is the smallest, the parking spot corresponding to each cargo is determined at the end of the roadway among the parking spots corresponding to the racks. Thus, the number of parking spots is minimized, and the number of parking times can be reduced to the maximum extent. And planning a driving path of the robot at the end part of the roadway in the warehouse based on the corresponding parking point. Due to the fact that the number of the parking spots is reduced, the number of parking times is reduced, and the efficiency of the robot for executing the goods picking task is improved. It can be understood that since the robot cannot enter narrow roadways to pick goods, the efficiency of the picking task in the above scenario is improved by parking at a parking spot at the end of the roadway to load the picked goods.
In an embodiment of the present invention, when the parking spot is occupied during the robot travels along the travel path, the occupied parking spot needs to be adjusted. As an example, there are other parking spots within a preset threshold range, and the shelf corresponding to the other parking spots is the same as the shelf corresponding to the corresponding parking spots, and the other parking spots may be used as the parking spots. The preset threshold range is an area corresponding to a preset threshold of a parking point before the distance.
Such as: robot parking spot 1 corresponds goods shelves 1 and 2, and goods A is located goods shelves 1 and goods B is located goods shelves 2, and the next purpose parking spot of robot is parking spot 1, and parking spot 1 is occupied. And within the preset threshold range, determining the parking point 2 again, wherein the parking point 2 corresponds to the goods shelf 1 and the goods shelf 2, and replacing the parking point 1 with the parking point 2.
Therefore, even if the parking points in the driving path are occupied, the parking points can be adjusted in time, and the robot is ensured to smoothly execute the goods picking task.
As another example, if there is no other parking spot within the preset threshold range, the parking spot closest to the parking spot may be used as a waiting parking spot, and the robot stops at the waiting parking spot to wait for using the corresponding parking spot.
Such as: robot parking spot 1 corresponds goods shelves 1 and 2, and goods A is located goods shelves 1 and goods B is located goods shelves 2, and the next purpose parking spot of robot is parking spot 1, and parking spot 1 is occupied. And in the preset threshold range, no other parking points correspond to the shelves 1 and 2. Here, the parking spot 3 is the closest parking spot to the parking spot 1, and the parking spot 3 is set as a waiting parking spot. The robot waits at parking spot 3 until parking spot 1 is free, i.e. waiting for parking spot 1 to be unoccupied, the robot can stop at parking spot 1 to pick up goods a and goods B.
Therefore, even if the parking points in the driving path are occupied, the robot can wait at the waiting parking points to avoid road congestion, and can stop at the parking points to pick up goods if the parking points are not occupied, so that the robot can smoothly execute goods picking tasks.
The server is coupled with a plurality of robots, the robots can report position information to the server, and the server acquires the position of each robot. The server can quickly execute the technical scheme when acquiring that the next parking spot of the robot is occupied by other robots.
The technical solutions in the embodiments of the present invention are exemplarily described below with reference to specific embodiments. Referring to fig. 5, fig. 5 is a schematic view of a cargo picking process according to an embodiment of the present invention, which specifically includes:
and S501, periodically refreshing, and judging whether an idle robot exists.
The server is coupled to a plurality of robots. The server periodically refreshes the state of the robot to judge whether an idle robot exists. The refresh period can be preset, such as: for 2 seconds. For example, the robot reports its own state to the server periodically, such as: idle or working.
Executing S502 when the idle robot exists; when there is no idle robot, the method may return to S501 after waiting for a preset time period, for example: the preset time period is equal to 2 seconds. The purpose of waiting is to periodically refresh again after a preset duration to determine whether there is an idle robot.
S502, whether a service exists or not.
The server judges whether a service exists, if a cargo picking task is established, the service exists, and S503 is executed; if the cargo picking task is not established, it indicates that there is no service, the process may return to S502 after waiting for a preset time, where an exemplary preset time is equal to 2 seconds.
Note that the cargo picking task may be established as S201.
S503, determining a parking spot.
In the parking spots corresponding to the shelves, the corresponding parking spot of the goods picking task is determined according to the picking condition with the least number of parking spots, which may be specifically referred to as S202.
And S504, planning and sending a driving path of the robot at the end part of the roadway in the warehouse.
The server plans a driving path of the robot at the end of the roadway in the warehouse based on the parking point of each cargo, and sends the driving path to the robot executing the task, which may be specifically referred to as S203.
And S505, the robot drives to the next parking point according to the driving path.
And the robot drives to the next parking point according to the driving path sent by the server. At the next stop, the robot may pick the goods.
And S506, completing the current picking task.
The robot waits for picking personnel at a stopping point, picks corresponding goods on the goods shelf into the corresponding task box, and finishes the current picking task.
And S507, whether the next parking point exists or not.
The travel path includes one or more stop points, and the robot may determine whether a next stop point exists according to the travel path. When there is a next parking spot, it may return to S504; when there is no next parking spot, S508 may be performed.
The purpose of returning to S504 is to: in the warehouse, a plurality of robots simultaneously execute goods picking tasks, and each robot can feed back the position of the robot to a server in real time. And the server judges whether the next parking spot of the robot is occupied or not according to the position fed back by the robot in real time. In case the next parking spot of the robot is occupied, the server may determine again the corresponding parking spot to replace the occupied parking spot. It is therefore necessary to plan the travel path of the robot again. When the next parking point of the robot is not occupied, the server does not need to plan the running path of the robot again. The robot can perform the picking task according to the existing driving path.
And S508, driving to a discharging point.
After the robot finishes picking the goods at all the stop points of the traveling path, the robot can travel to the unloading point to unload the goods, and the goods picking task is finished.
Fig. 6 is a schematic diagram of a main structure of a cargo picking apparatus according to an embodiment of the present invention, where the cargo picking apparatus may implement a cargo picking method, as shown in fig. 6, the cargo picking apparatus specifically includes:
the establishing module 601 is used for establishing a goods sorting task, goods are stored in goods shelves, a roadway is formed between the goods shelves, and the end part of the goods shelf corresponding to the road junction is a parking point.
The determining module 602 is configured to determine, based on the cargo picking task, a corresponding parking point of the cargo picking task according to the picking condition with the smallest number of parking points.
And the planning module 603 is configured to plan a driving path of the robot based on the corresponding parking point, and send the driving path to the robot performing the cargo picking task.
In an embodiment of the present invention, the determining module 602 is specifically configured to establish an objective function with a minimum number of parking spots;
and under the constraint condition that the roadway of each goods shelf has the corresponding parking point, solving the objective function and determining the corresponding parking point of the goods picking task.
In an embodiment of the invention, the planning module 603, in particular for parking spots, has a number; and planning the running path of the robot according to the number of the corresponding parking spot.
In an embodiment of the present invention, the determining module 602 is further configured to determine that the corresponding parking spot is occupied, that other parking spots exist within a preset threshold range, that the shelf corresponding to the other parking spots is the same as the shelf corresponding to the corresponding parking spot, and that the other parking spots are taken as parking spots of goods, where the preset threshold range is an area away from the corresponding parking spot by a preset threshold.
In an embodiment of the present invention, the determining module 602 is further configured to determine that the corresponding parking point is occupied, that no other parking point exists within a preset threshold range, that a shelf corresponding to the other parking point is the same as a shelf corresponding to the corresponding parking point, and that the parking point closest to the corresponding parking point is used as a waiting parking point, and that the robot stops at the waiting parking point to wait for using the corresponding parking point.
Fig. 7 illustrates an exemplary system architecture 700 for a cargo picking method or a cargo picking apparatus to which embodiments of the present invention may be applied.
As shown in fig. 7, the system architecture 700 may include terminal devices 701, 702, 703, a network 704, and a server 705. The network 704 serves to provide a medium for communication links between the terminal devices 701, 702, 703 and the server 705. Network 704 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.
A user may use the terminal devices 701, 702, 703 to interact with a server 705 over a network 704, to receive or send messages or the like. The terminal devices 701, 702, 703 may have installed thereon various communication client applications, such as a shopping-like application, a web browser application, a search-like application, an instant messaging tool, a mailbox client, social platform software, etc. (by way of example only).
The terminal devices 701, 702, 703 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 705 may be a server providing various services, such as a background management server (for example only) providing support for shopping websites browsed by users using the terminal devices 701, 702, 703. The backend management server may analyze and perform other processing on the received data such as the product information query request, and feed back a processing result (for example, target push information, product information — just an example) to the terminal device.
It should be noted that the cargo picking method provided by the embodiment of the present invention is generally executed by the server 705, and accordingly, the cargo picking apparatus is generally disposed in the server 705.
It should be understood that the number of terminal devices, networks, and servers in fig. 7 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 8, shown is a block diagram of a computer system 800 suitable for use with a terminal device implementing an embodiment of the present invention. The terminal device shown in fig. 8 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 8, the computer system 800 includes a Central Processing Unit (CPU)801 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)802 or a program loaded from a storage section 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data necessary for the operation of the system 800 are also stored. The CPU 801, ROM 802, and RAM 803 are connected to each other via a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.
The following components are connected to the I/O interface 805: an input portion 806 including a keyboard, a mouse, and the like; an output section 807 including a signal such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 808 including a hard disk and the like; and a communication section 809 including a network interface card such as a LAN card, a modem, or the like. The communication section 809 performs communication processing via a network such as the internet. A drive 810 is also connected to the I/O interface 805 as necessary. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 810 as necessary, so that a computer program read out therefrom is mounted on the storage section 808 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 809 and/or installed from the removable medium 811. The computer program executes the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 801.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes a transmitting unit, an obtaining unit, a determining unit, and a first processing unit. The names of these units do not in some cases constitute a limitation to the unit itself, and for example, the sending unit may also be described as a "unit sending a picture acquisition request to a connected server".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise:
establishing a goods picking task, storing goods on goods shelves, forming a roadway between the goods shelves, and taking the end part of the goods shelf corresponding to the road junction as a parking spot;
based on the goods picking task, determining a corresponding parking point of the goods picking task according to a picking condition with the least number of parking points;
and planning a driving path of the robot based on the corresponding parking point, and sending the driving path to the robot executing the goods picking task.
According to the technical scheme of the embodiment of the invention, because the goods picking task is established, the goods are stored on the goods shelves, a roadway is formed between the goods shelves, and the end part of the goods shelf corresponding to the road junction is a parking spot. Based on the goods picking task, determining a corresponding parking point of the goods picking task according to a picking condition with the least number of parking points; and planning a driving path of the robot based on the corresponding parking point, and sending the driving path to the robot executing the goods picking task.
The robot executing the task receives the goods at the parking point according to the traveling path. Since the number of parking spots is minimized, the number of parking spots can be reduced to reduce the influence on the efficiency of the picking task, thereby improving the efficiency of performing the picking task.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of sorting goods, comprising:
establishing a goods picking task, storing goods on goods shelves, forming a roadway between the goods shelves, and taking the end part of the goods shelf corresponding to the road junction as a parking spot;
based on the goods picking task, determining a corresponding parking point of the goods picking task according to a picking condition with the least number of parking points;
and planning a driving path of the robot based on the corresponding parking point, and sending the driving path to the robot executing the goods picking task.
2. The cargo picking method according to claim 1, wherein the determining the corresponding parking point of the cargo picking task according to the picking condition with the least number of parking points based on the cargo picking task comprises:
establishing a target function with the minimum number of parking points;
and under the constraint condition that each lane of the goods shelf has a corresponding parking point, solving the objective function and determining the corresponding parking point of the goods picking task.
3. The method of picking cargo of claim 1, wherein planning a path of travel for the robot based on the corresponding stopping point comprises:
the parking spot has a number;
and planning the running path of the robot according to the number of the corresponding parking spot.
4. The cargo picking method according to claim 1, wherein after determining the corresponding stopping point of the cargo picking task according to the picking condition with the least number of stopping points based on the cargo picking task, the method further comprises:
the corresponding parking points are occupied, other parking points exist in a preset threshold range, the goods shelves corresponding to the other parking points are the same as the goods shelves corresponding to the corresponding parking points, the other parking points are used as the parking points of the goods, and the preset threshold range is an area which is far away from the corresponding parking points by a preset threshold.
5. The cargo picking method according to claim 1, wherein after determining the corresponding stopping point of the cargo picking task according to the picking condition with the least number of stopping points based on the cargo picking task, the method further comprises:
the corresponding parking point is occupied, other parking points do not exist in a preset threshold range, the shelf corresponding to the other parking points is the same as the shelf corresponding to the corresponding parking point, the parking point closest to the corresponding parking point is used as a waiting parking point, and the robot stops at the waiting parking point to wait for using the corresponding parking point.
6. A cargo picking apparatus, comprising:
the establishment module is used for establishing a goods sorting task, goods are stored in the goods shelves, a roadway is formed between the goods shelves, and the end part of the goods shelf corresponding to the road junction of the roadway is a parking point;
the determining module is used for determining a corresponding parking point of the goods picking task according to the picking condition with the least number of parking points based on the goods picking task;
and the planning module is used for planning a driving path of the robot based on the corresponding parking point and sending the driving path to the robot executing the goods picking task.
7. The device for sorting goods as claimed in claim 6, characterized in that the determination module is configured to establish an objective function with a minimum number of stops;
and under the constraint condition that each lane of the goods shelf has a corresponding parking point, solving the objective function and determining the corresponding parking point of the goods picking task.
8. The cargo picking apparatus of claim 6, wherein the planning module, in particular for the parking spot, has a number; and planning the running path of the robot according to the number of the corresponding parking spot.
9. An electronic device for picking goods, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.
10. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-5.
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