CN113695235B - Logistics sorting method, device and system and readable storage medium - Google Patents
Logistics sorting method, device and system and readable storage medium Download PDFInfo
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- CN113695235B CN113695235B CN202111019387.1A CN202111019387A CN113695235B CN 113695235 B CN113695235 B CN 113695235B CN 202111019387 A CN202111019387 A CN 202111019387A CN 113695235 B CN113695235 B CN 113695235B
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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
- B07C3/02—Apparatus characterised by the means used for distribution
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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
- B07C3/003—Destination control; Electro-mechanical or electro- magnetic delay memories
- B07C3/006—Electric or electronic control circuits, e.g. delay lines
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Abstract
The application discloses a logistics picking method, a device, a system and a readable storage medium, wherein the method comprises the steps of detecting picking task information of preset picking equipment; calculating the interval time length of the current picking task and the next picking task according to the picking task information; judging the interval duration according to the preset threshold, and if the interval duration is larger than the preset threshold, scheduling the next picking task at intervals of preset interval time after the current picking task to obtain scheduling task information; and scheduling preset picking object supply equipment according to the scheduling task information to enable the preset picking equipment to execute picking. The picking process is automated, so that the efficiency is improved, and the technical problem of low manual picking efficiency in the prior art is solved.
Description
Technical Field
The application relates to the field of logistics, in particular to a logistics sorting method, a device, a system and a readable storage medium.
Background
At present, along with the rapid development of the logistics industry, the prior art of the picking work of articles in a warehouse is further subjected to manual picking, and an AGV trolley and specialized conveying equipment are also adopted to assist, wherein the AGV trolley conveys a pallet loaded with articles from a storage position to a station position of a mechanical arm through an order, the process is realized by manually picking by a picker in the prior art, and the technical problem of low efficiency of a logistics picking link is caused. Therefore, a logistic picking method is urgently needed, and the picking process is automated, so that the efficiency is improved, and the technical problem of low manual picking efficiency in the prior art is solved.
Disclosure of Invention
The application provides a logistics picking method, which aims to pick goods by automatic scheduling of picking tasks, mobilizing preset picking equipment and picking object supply equipment, and is beneficial to solving the technical problem of low manual picking efficiency in the prior art.
Detecting picking task information of preset picking equipment;
calculating the interval time length of the current picking task and the next picking task according to the picking task information;
judging the interval duration according to the preset threshold, and if the interval duration is larger than the preset threshold, scheduling the next picking task at intervals of preset interval time after the current picking task to obtain scheduling task information;
and scheduling preset picking object supply equipment according to the scheduling task information to enable the preset picking equipment to execute picking.
In an embodiment, the calculating the interval duration of the current picking task and the next picking task according to the picking task information includes:
judging whether the preset picking equipment has a current picking task or not according to the picking task information, if the preset picking equipment has the current picking task, calculating interval time between the current picking task and the next picking task of the preset picking equipment, setting the current picking task as the highest priority, and setting the next picking task as the lowest priority.
In an embodiment, the determining whether the preset picking device has the current picking task according to the picking task information further includes:
and if the preset picking equipment does not have the current picking task, taking the next picking task as the current picking task, and executing the follow-up steps.
In one embodiment, the scheduling of preset picking item supply equipment based on the scheduling task information to cause the preset picking equipment to perform picking includes:
acquiring a current position of preset picking item supply equipment;
estimating a pickup distance from the current position to a pickup position according to the current position;
selecting target preset picking equipment according to the current task quantity of different preset picking equipment;
calculating comprehensive cost according to different priorities and the picking distance as well as the task quantity of the target preset picking equipment and the distance between picking positions;
and according to the arrangement mode of the comprehensive cost, the preset picking article supply equipment is mobilized to enable the target preset picking equipment to execute picking.
In one embodiment, the present application also provides a logistic picking system comprising a background host and a set of preset picking devices, and at least one AGV;
the preset picking equipment comprises a mechanical arm and at least one tray conveying device;
the background host
The system comprises a mechanical arm, a detection device and a detection device, wherein the detection device is used for detecting picking task information of preset picking equipment; calculating the interval time length of the current picking task and the next picking task according to the picking task information; judging the interval duration according to the preset threshold, and if the interval duration is larger than the preset threshold, scheduling the next picking task at intervals of preset interval time after the current picking task to obtain scheduling task information; and according to the scheduling task information, scheduling a preset picking object supply device to enable the preset picking device to perform picking so that the preset picking device can pick the objects, wherein the picking object supply device is the AGV trolley.
In one embodiment, the at least one tray transfer device comprises two tray transfer devices;
if calculating the interval time length of the current picking task and the next picking task according to the picking task information comprises the following steps:
judging whether the preset picking equipment has a current picking task or not according to the picking task information, if the preset picking equipment has the current picking task, calculating interval time between the current picking task and a next picking task of the preset picking equipment, setting the current picking task as the highest priority, and setting the next picking task as the lowest priority;
the current picking task is marked as an ith task, the next picking task is marked as an (i+2) th task, and the ith task and the (i+2) th task are the same as the pallet conveying device 3.
In an embodiment, the at least one set of preset picking devices includes a plurality of sets of preset picking devices;
the background host is used for acquiring the current position of preset picking article supply equipment; estimating a pickup distance from the current position to a pickup position according to the current position; selecting target preset picking equipment according to the current task quantity of different preset picking equipment; calculating comprehensive cost according to different priorities and the picking distance as well as the task quantity of the target preset picking equipment and the distance between picking positions; and according to the arrangement mode of the comprehensive cost, the preset AGV trolley is mobilized to enable the target preset picking equipment to execute picking.
In one embodiment, the present application provides a logistic picking device comprising:
the detection module is used for detecting picking task information of preset picking equipment;
the calculating module is used for calculating the interval duration of the current picking task and the next picking task according to the picking task information;
the judging module is used for judging the interval duration according to the preset threshold value, and if the interval duration is larger than the preset threshold value, scheduling the next picking task for a preset interval time after the current picking task to obtain scheduling task information;
and the mobilizing module is used for mobilizing preset picking article supply equipment according to the scheduling task information to enable the preset picking equipment to execute picking.
In one embodiment, the present application also provides a logistics picking apparatus, the apparatus comprising: a processor and a memory;
the memory stores an application executable by the processor for causing the processor to perform the steps of the method of sorting the stream.
In an embodiment, the application also provides a computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor implements the steps of the method of sorting a stream.
As can be seen from the above, based on the above embodiments, by automating the scheduling of picking tasks, mobilizing preset picking devices and picking item supply devices to pick items, a logistic picking method is provided, which helps to solve the technical problem of low manual picking efficiency in the prior art.
Drawings
FIG. 1 is a schematic diagram of a flow 100 of a method for sorting logistics according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a flow 200 of a method of sorting a material flow according to another embodiment of the present application;
FIG. 3 is a schematic diagram of a physical distribution picking system according to another embodiment of the present application;
FIG. 4 is a schematic diagram of a flow 300 of a method of sorting a material flow according to another embodiment of the present application;
FIG. 5 is a schematic diagram of a physical distribution picking device according to another embodiment of the present application.
Detailed Description
In the prior art, picking work in logistics storage is achieved by manual work, firstly, the trays are picked through an AGV trolley 1 or manual force, at this time, goods which need to be picked are arranged on the trays, then the trays are taken down, the goods which need to be arranged on the trays are placed on an empty tray according to the order requirement, because the goods which need to be arranged on each order are possibly not one type but a plurality of types, a plurality of trays which carry different goods are possibly required, then the goods which need to be arranged on the trays of different types are placed on one empty tray according to the required number of orders, the goods which need to be arranged on the empty tray are displayed in a background system, because the goods which need to be arranged on the empty tray are respectively provided with one code, namely, the system has a plurality of codes when the goods which need to be arranged on the empty tray are identified. In the process, the transport pallet can be transported by the AGV trolley 1 in the picking process, but the picking operation is performed manually, so that the automation degree is obviously low and the efficiency is relatively low.
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
FIG. 1 is a flow chart 100 of a method for sorting logistics according to an embodiment of the present application. As shown in fig. 1, in one embodiment, the present application provides a method of sorting a stream, the method comprising:
s101, detecting picking task information of preset picking equipment.
In this step, in order to enable the picking process to be completed by using the equipment, the picking task information can be generated through the received order, for example, 10 mobile phones, 3 notebook computers and 3 earphone computers are needed, then the picking task information is an instruction text for picking three goods, the instruction text comprises codes and corresponding numbers of different goods, the picking process of each goods needs to meet two conditions, and the first need is to find a tray with all goods in the order, for example, three trays with three goods in the mobile phones and notebook computers and the earphone computers are needed. Secondly, an empty tray configured for the order needs to be found, so that the task content required by different goods is related to the picking task information corresponding to each order, namely, the picking of 10 mobile phones, the picking of 3 notebook computers and the picking of 3 ear phones. Of course, it is also understood that different orders may also have different said pick order information, which is not simply for items in a certain order, but may also be extended to said pick order information between different orders.
S102, calculating the interval duration of the current picking task and the next picking task according to the picking task information.
This step provides a specific step of calculating the interval duration of the current pick task and the next pick task. If the current picking task exists, the preset picking equipment is in a working state, at this time, the interval duration between the next picking tasks is calculated, the interval duration comprises two influencing factors, namely the time for the AGV trolley 1 to acquire the goods trays and the time for the AGV trolley 1 to transport the empty trays, and the two durations can be calculated according to information in an order, for example, the two durations can be calculated by adopting the following formula:
wherein alpha is 1 And alpha 2 Is a weight coefficient;
for the straight running cost, for example, the time required for the AGV 1 to run straight for one meter is 1 second, then the required time can be calculated after the distance traveled by the AGV 1 is determined, and the straight running cost can be understood as the time taken for straight running.
In order to be able to make a turn at a cost,similarly, the time required for the AGV cart 1 to turn, for example, 4 seconds, can be calculated, and the cost of turning can be understood as the time taken to turn.
Any section of path is formed by splicing straight and turning, so that the sum of the straight and the turning is the calculation mode of the current picking task duration, the duration of the next picking task can be calculated similarly, and the subtraction of the straight and the turning is the interval duration.
S103, judging the interval duration according to the preset threshold, and if the interval duration is larger than the preset threshold, scheduling the next picking task at intervals of preset interval time after the current picking task to obtain scheduling task information.
In this step, a specific embodiment for determining the interval duration according to the predetermined threshold is provided. The purpose in this step is to generate a reasonable schedule of tasks, both to ensure a correct order and to ensure compactness between tasks, so the duration of the interval is an important measure with respect to controlling the time frame between adjacent tasks. If the interval time is too long, the time needs to be adjusted in time, the next picking task is supplemented again, and a proper interval time, namely the preset interval time, is obtained, and the condition that the interval time is relatively long is easy to occur among different items or orders.
S104, scheduling a preset picking item supply device according to the scheduling task information to enable the preset picking device to execute picking.
In this step, a specific step of mobilizing preset picking item supply devices according to the scheduling task information to enable the preset picking devices to execute picking is provided. In this step, the picking item supply device may be understood as an AGV trolley 1, and it should be noted that in this step, the method is not limited to the AGV trolley 1 that can be called in the current order, but all the AGV trolleys 1 in the scene may be called to perform a picking task in cooperation with the preset picking device.
In an embodiment, the calculating the interval duration of the current picking task and the next picking task according to the picking task information includes:
judging whether the preset picking equipment has a current picking task or not according to the picking task information, if the preset picking equipment has the current picking task, calculating interval time between the current picking task and the next picking task of the preset picking equipment, setting the current picking task as the highest priority, and setting the next picking task as the lowest priority. In this embodiment, a specific implementation manner is provided in which the next picking task is set to the lowest priority, and the current picking task is set to the highest priority. The present embodiment clarifies the order of the current picking task and the next picking task, and facilitates the processing of the subsequent steps.
In an embodiment, the determining whether the preset picking device has the current picking task according to the picking task information further includes:
and if the preset picking equipment does not have the current picking task, taking the next picking task as the current picking task, and executing the follow-up steps.
In this embodiment, a specific implementation of the preset picking device without the current picking order is provided. In this case, it is stated that the robot arm 2 is currently in an idle state, and a new picking order needs to be supplemented as soon as possible.
The aim of this embodiment is to design for the subsequent palletizing of the robot arm 2 to ensure the order of picking the goods.
FIG. 2 is a flow chart 200 of a method for sorting logistics according to another embodiment of the present application. As shown in fig. 2, in an embodiment, the invoking the preset picking item supply apparatus according to the scheduling task information causes the preset picking apparatus to perform picking includes:
s201, acquiring the current position of the preset picking item supply equipment.
In this step, a specific step of computationally acquiring the preset pickles is provided. The scheduling task information has ordered the picking tasks of different kinds of goods, and when the picking article supply device is mobilized, the picking article supply device can be understood as an AGV trolley 1, and the AGV trolley 1 needs to determine the current position.
S202, estimating the pickup distance from the current position to the pickup position according to the current position.
A specific step of calculating the pick distance is provided in this step. First, when the preset picked item supply device receives an item to be taken, a distance between the current position and the pick-up position, that is, the pick-up distance, may be calculated.
S203, selecting target preset picking equipment according to the current task quantity of different preset picking equipment.
In the step, a specific step of evaluating the current task amount according to the preset picking device is provided, in a scene, the mechanical arm 2 is not one, in a large logistics, a plurality of mechanical arms 2 can exist, the current task amount of each mechanical arm 2 is different, so that one mechanical arm 2 with the minimum current task amount is selected as the target preset picking device.
S204, calculating the comprehensive cost according to different priorities and the picking distance as well as the task quantity of the target preset picking equipment and the distance between the picking positions.
In this step a concrete implementation step is provided for calculating said integrated cost from the above-mentioned elements. The comprehensive cost in the process of picking a task is calculated because of different priorities, different picking distances, and different distances between the target preset picking device and the picking position, resulting in different final comprehensive costs.
S205, according to the arrangement mode of the comprehensive cost, a preset picking item supply device is mobilized to enable the target preset picking device to execute picking.
In step (c) a specific way of manoeuvring preset said pick item supply devices to perform picking in accordance with said arrangement of integrated costs is provided.
In order to better mobilize the relation between the picking item supply device and the picking item supply device in this embodiment, first, the current position of a preset picking item supply device is obtained, it being noted that before this step, it should be confirmed whether the preset picking item supply device is in an idle state, and when it is found that the preset picking item supply device is in an idle state, the subsequent steps are performed. For example, when the preset picking article supply device is the AGV trolley 1, the AGV trolley 1 obtains the current position of the preset picking article supply device, then the AGV trolley 1 needs to pick the article first, and the tray with the article to be picked needs to be transferred to the conveyor stations on two sides of the mechanical arm 2, then the AGV trolley 1 locates the current position first, then estimates the picking distance from the current position to the picking position, then determines the current task amount of different mechanical arms 2, where the current task amount of different mechanical arms 2 is different, and in principle, the mechanical arm 2 with the smallest current task amount should be sought as the target preset picking device. In addition to the above elements, the distance from the pick-up location to the target preset picking device is the delivery distance, which also needs to be taken into account, the aggregate costs are calculated according to the above elements and the aggregate costs are sorted according to different weights to obtain the arrangement, so that the AGV trolley 1 is moved to provide goods to cause the target preset picking device to perform picking work.
FIG. 3 is a schematic diagram of a physical distribution picking system according to another embodiment of the present application. As shown in fig. 3, in one embodiment, the present application also provides a logistic picking system comprising: the automatic sorting system comprises a background host machine, at least one group of preset sorting equipment and at least one AGV trolley 1;
the preset picking equipment comprises a mechanical arm 2 and at least one tray conveying device 3;
the background host is used for detecting picking task information of preset picking equipment, wherein the preset picking equipment is the mechanical arm; calculating the interval time length of the current picking task and the next picking task according to the picking task information; judging the interval duration according to the preset threshold, and if the interval duration is larger than the preset threshold, scheduling the next picking task at intervals of preset interval time after the current picking task to obtain scheduling task information; and according to the scheduling task information, scheduling a preset picking object supply device to enable the preset picking device to perform picking so that the preset picking device can pick the objects, wherein the picking object supply device is the AGV trolley.
In an embodiment, the at least one tray conveyor 3 comprises two tray conveyors 3;
the calculating the interval time length of the current picking task and the next picking task according to the picking task information comprises the following steps:
judging whether the preset picking equipment has a current picking task or not according to the picking task information, if the preset picking equipment has the current picking task, calculating interval time between the current picking task and a next picking task of the preset picking equipment, setting the current picking task as the highest priority, and setting the next picking task as the lowest priority;
the current picking task is marked as an ith task, the next picking task is marked as an (i+2) th task, and the ith task and the (i+2) th task are the same as the pallet conveying device 3.
Why are the i-th task and the i+2-th task calibrated in this embodiment? The reason is that the present embodiment is based on a picking mode having two pallet conveyors 3, and as the robot arm 2, the two pallet conveyors 3 are picked at intervals, and when one pallet conveyor 3 is a reference object, the i-th task and the i+2th task are adjacent tasks, instead of the i-th task and the i+1th task.
In an embodiment, the at least one set of preset picking devices includes a plurality of sets of preset picking devices;
the background host is used for acquiring the current position of preset picking article supply equipment; estimating a pickup distance from the current position to a pickup position according to the current position; selecting target preset picking equipment according to the current task quantity of different preset picking equipment; calculating comprehensive cost according to different priorities and the picking distance as well as the task quantity of the target preset picking equipment and the distance between picking positions; and according to the arrangement mode of the comprehensive cost, the preset AGV trolley 1 is mobilized to enable the target preset picking equipment to execute picking.
Based on the above-mentioned logistic picking system, the whole scheme is carded and exemplified, and the picking work in the prior art needs to be converted into an automatic picking method in the application. The logistics picking system comprises the background host machine, at least one group of preset picking devices and at least one AGV trolley 1.
The preset picking devices include a mechanical arm 2 and at least one pallet conveying device 3, and in the following, each group of preset picking devices is described by taking two pallet conveying devices as an example, the picking article supply device is an AGV trolley 1, and in a big logistics environment, the AGV trolley 1 can be mobilized to configure tasks in a cluster mode.
So a group of preset picking devices comprises one mechanical arm 2 and two tray conveying devices 3, the two tray conveying devices 3 can be arranged on two sides of the mechanical arm 2, and the two sides of the mechanical arm 2 can be used for picking goods at intervals, for example, the mechanical arm can grasp one tray conveying device 3 and then grasp the other tray conveying device 3. The working position of the mechanical arm 2 should also have a position for placing an empty tray.
The above-mentioned logistics link should also have cargo trays with goods in the shelf position and empty trays. The AGV trolley 1 firstly obtains corresponding cargo pallets according to specific sorting task information and scheduling task information, places the corresponding cargo pallets on the pallet conveying device 3, then configures an empty pallet on a station of the mechanical arm 2, and the mechanical arm 2 places goods of the cargo pallets on the empty pallet according to order demands.
FIG. 4 is a flow chart 300 of a method for sorting logistics according to another embodiment of the present application. As shown in fig. 4, according to the above workflow, the present application provides a method for sorting logistics, the method comprising:
s301, detecting picking task information of preset picking equipment by the background host.
In this step, a trigger condition should be provided, so that the background host detects picking order information of the robot arm 2 according to the trigger condition. In this step, however, since the current pick order information is detected, the following steps can be performed, and the trigger condition can be set to a time, for example, an adjustment is made every 10 seconds.
S302, the background host judges whether the preset picking equipment has a current picking task according to the picking task information, if the preset picking equipment has the current picking task, the interval duration is calculated for the current picking task and the next picking task of the preset picking equipment, and the current picking task is set to be the highest priority. And if the preset picking equipment does not have the current picking task, taking the next picking task as the current picking task, and executing the follow-up steps.
In this step it is determined whether the robot arm 2 has the current picking order, since at this time the robot arm 2 may have the order being picked and may be in an idle state. When the robotic arm 2 now has the current picking order, the current picking order remains unchanged in order to ensure proper operation. It should be noted that, since the robotic arms 2 may be in different groups of preset picking devices, the robotic arms 2 of each group of preset picking devices may be detected concurrently, or detection and judgment may be performed on one of the robotic arms 2.
S303, judging the interval time length according to the preset threshold value, if the interval time length is larger than the preset threshold value, scheduling the next picking task after the current picking task to obtain scheduling task information, and if the preset picking equipment does not have the current picking task, taking the next picking task as the current picking task, and executing the subsequent steps.
The relation between the interval duration and the predetermined threshold is calculated in this step in order to ensure that the interval between the current picking order and the next picking order is a reasonable range interval. The essence of this step is that the interval between picking tasks is adjusted, the interval is too large, and the efficiency is low, so that the interval duration needs to be calculated, and the specific calculation mode is already described above and will not be repeated here. Finally, in this way, the order picking tasks of all different orders of different categories can be ordered. The next pick task is set to the lowest priority. And taking the current picking task and the next picking task as a sequential arrangement unit, wherein the calibration of the highest priority and the lowest priority is to define the absolute sequence between the two.
S304, the background host acquires the current position of the preset picking item supply equipment, estimates the picking distance from the current position to the picking position according to the current position, selects target preset picking equipment according to the current task quantity of different preset picking equipment, and calculates the comprehensive cost according to different priorities and the picking distance as well as the distance between the task quantity of the target preset picking equipment and the picking position.
In this step, the robot arm 2 is not targeted, but all the AGV dollies 1 in the scene are targeted for uniform movement.
The calculation mode of the comprehensive cost is as follows:
α 1 f 1 +α 2 f 2 +α 3 f 3 +α 4 f 4
wherein f 1 Is a parameter corresponding to the highest priority and the lowest priority, wherein the highest priority is 0, and the lowest priority is 1;
f 2 the current task amounts of different groups of preset picking devices are calculated according to different values, for example 100 is 100 picking tasks and 20 is 20 picking tasks.
f 3 The distance from the current position to the picking position, i.e. the distance to pick up the pallet, of the AGV 1 is objectively indiscriminate, so if the picking distance is K, f 3 ＝1/K。
f 4 The distance from the pick position to the target preset picking device is the distance from the AGV 1 carrying the pallet.
α 1 And alpha 2 And alpha 3 And alpha 4 Is a weight coefficient.
S305, the background host computer mobilizes preset picking article supply equipment according to the arrangement mode of the comprehensive cost to enable the target preset picking equipment to execute picking.
In this step, the AGV 1 is finally provided with the bearing tray corresponding to the order according to the arrangement mode of the comprehensive cost.
In very special cases, there may still be a problem of out-of-order, demarcating the area adjacent to the workstation as a buffer area, and setting local unnecessary points as parking waiting areas. When the task with the lowest priority reaches the buffer area, the AGV trolley 1 and the tray temporarily wait in the parking waiting area, and continue to execute when the task is updated to the highest priority.
In this embodiment, a specific logistics picking method is provided, and the manual picking mode in the prior art is changed into automatic production scheduling and is executed by automatic equipment.
FIG. 5 is a schematic diagram of a physical distribution picking device according to another embodiment of the present application. As shown in fig. 5, in an embodiment, the present application further provides a logistic sorting device, which includes:
a detection module 101, configured to detect picking task information of a preset picking device;
a calculating module 102, configured to calculate an interval duration between a current picking task and a next picking task according to the picking task information;
a judging module 103, configured to judge the interval duration according to the predetermined threshold, and if the interval duration is greater than the predetermined threshold, schedule the next picking task for a predetermined interval time after the current picking task to obtain scheduling task information;
and the mobilizing module 104 is used for mobilizing preset picking article supply equipment according to the scheduling task information to enable the preset picking equipment to perform picking.
In one embodiment, the present application also provides a logistics picking apparatus, the apparatus comprising: a processor and a memory;
the memory has stored therein an application executable by the processor for causing the processor to perform the steps of the method of sorting a stream as described.
In an embodiment, the application also provides a computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor implements the steps of the method of sorting a stream.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the application.
Claims (10)
1. A method of sorting a stream, the method comprising:
detecting picking task information of preset picking equipment;
calculating the interval time length of the current picking task and the next picking task according to the picking task information;
judging the interval duration according to a preset threshold value, and if the interval duration is larger than the preset threshold value, scheduling the next picking task at intervals of preset interval time after the current picking task to obtain scheduling task information;
according to the scheduling task information, a preset picking object supply device is mobilized to enable the preset picking device to execute picking;
the calculating the interval duration of the current picking task and the next picking task according to the picking task information comprises the following steps:
calculating the time for the current picking task to acquire the goods trays and the sum of the time for transporting the empty trays as the time for the current picking task;
calculating the time for the next picking task to acquire the goods trays and the sum of the time for transporting the empty trays as the time for the next picking task;
calculating the difference between the time length of the current picking task and the time length of the next picking task as the interval time length of the current picking task and the next picking task;
calculating the time for the current picking task to acquire the goods with the trays and the time for transporting the empty trays, and the time for the next picking task to acquire the goods with the trays and the time for transporting the empty trays according to the following formula:
α 1 P i w +α 2 Q i w the method comprises the steps of carrying out a first treatment on the surface of the Wherein alpha is 1 And alpha 2 Is a weight coefficient; p (P) i w Time spent for straight travel; q (Q) i w Time spent for turning.
2. The logistic picking method according to claim 1, wherein the calculating the interval duration of the current picking order and the next picking order according to the picking order information includes:
judging whether the preset picking equipment has a current picking task or not according to the picking task information, if the preset picking equipment has the current picking task, calculating interval time between the current picking task and the next picking task of the preset picking equipment, setting the current picking task as the highest priority, and setting the next picking task as the lowest priority.
3. The logistic picking method according to claim 2, wherein the determining whether the preset picking device has a current picking order according to the picking order information further comprises:
and if the preset picking equipment does not have the current picking task, taking the next picking task as the current picking task, and executing the follow-up steps.
4. The logistic picking method according to claim 2, wherein the mobilizing a preset picking item supply apparatus according to the scheduling task information to cause the preset picking apparatus to perform picking includes:
acquiring a current position of preset picking item supply equipment;
estimating a pickup distance from the current position to a pickup position according to the current position;
selecting target preset picking equipment according to the current task quantity of different preset picking equipment;
calculating comprehensive cost according to different priorities and the picking distance as well as the task quantity of the target preset picking equipment and the distance between picking positions;
and according to the arrangement mode of the comprehensive cost, the preset picking article supply equipment is mobilized to enable the target preset picking equipment to execute picking.
5. A logistic picking system, the logistic picking system comprising: the automatic sorting system comprises a background host machine, at least one group of preset sorting equipment and at least one AGV;
the preset picking equipment comprises a mechanical arm and at least one tray conveying device;
the background host is used for detecting picking task information of preset picking equipment, wherein the preset picking equipment is the mechanical arm; calculating the interval time length of the current picking task and the next picking task according to the picking task information; judging the interval duration according to a preset threshold value, and if the interval duration is larger than the preset threshold value, scheduling the next picking task at intervals of preset interval time after the current picking task to obtain scheduling task information; according to the scheduling task information, a preset picking object supply device is mobilized to enable the preset picking device to perform picking so that the preset picking device can pick the objects, wherein the picking object supply device is the AGV;
the background host is specifically configured to calculate a time for the current picking task to acquire a pallet with goods, and a sum of time lengths for transporting empty pallets as a time length of the current picking task; calculating the time for the next picking task to acquire the goods trays and the sum of the time for transporting the empty trays as the time for the next picking task; calculating the difference between the time length of the current picking task and the time length of the next picking task as the interval time length of the current picking task and the next picking task; calculating the time for the current picking task to acquire the goods with the trays and the time for transporting the empty trays, and the time for the next picking task to acquire the goods with the trays and the time for transporting the empty trays according to the following formula: alpha 1 P i w +α 2 Q i w The method comprises the steps of carrying out a first treatment on the surface of the Wherein alpha is 1 And alpha 2 Is a weight coefficient; p (P) i w Time spent for straight travel; q (Q) i w Time spent for turning.
6. The logistic picking system according to claim 5, wherein the at least one tray transfer device comprises two tray transfer devices;
the calculating the interval time length of the current picking task and the next picking task according to the picking task information comprises the following steps:
judging whether the preset picking equipment has a current picking task or not according to the picking task information, if the preset picking equipment has the current picking task, calculating interval time between the current picking task and a next picking task of the preset picking equipment, setting the current picking task as the highest priority, and setting the next picking task as the lowest priority;
the current picking task is marked as an ith task, the next picking task is marked as an (i+2) th task, and the ith task and the (i+2) th task are the same as the pallet conveying device 3.
7. The logistic picking system according to claim 6 wherein the at least one set of preset picking devices comprises a plurality of sets of preset picking devices;
the background host is used for acquiring the current position of preset picking article supply equipment; estimating a pickup distance from the current position to a pickup position according to the current position; selecting target preset picking equipment according to the current task quantity of different preset picking equipment; calculating comprehensive cost according to different priorities and the picking distance as well as the task quantity of the target preset picking equipment and the distance between picking positions; and according to the arrangement mode of the comprehensive cost, the preset AGV trolley is mobilized to enable the target preset picking equipment to execute picking.
8. A logistic sorting device, the device comprising:
the detection module is used for detecting picking task information of preset picking equipment;
the calculating module is used for calculating the interval duration of the current picking task and the next picking task according to the picking task information;
the judging module is used for judging the interval duration according to a preset threshold value, and if the interval duration is larger than the preset threshold value, scheduling the next picking task at intervals of preset interval time after the current picking task to obtain scheduling task information;
the mobilizing module is used for mobilizing preset picking article supply equipment according to the scheduling task information to enable the preset picking equipment to execute picking;
the calculation module is specifically configured to calculate, when calculating the interval duration of the current picking task and the next picking task according to the picking task information, a sum of a time for the current picking task to acquire a goods tray and a time for transporting the goods tray to be used as the sum of the time for transporting the goods tray to the next picking taskThe duration of the current picking task; calculating the time for the next picking task to acquire the goods trays and the sum of the time for transporting the empty trays as the time for the next picking task; calculating the difference between the time length of the current picking task and the time length of the next picking task as the interval time length of the current picking task and the next picking task; calculating the time for the current picking task to acquire the goods with the trays and the time for transporting the empty trays, and the time for the next picking task to acquire the goods with the trays and the time for transporting the empty trays according to the following formula: alpha 1 P i w +α 2 Q i w The method comprises the steps of carrying out a first treatment on the surface of the Wherein alpha is 1 And alpha 2 Is a weight coefficient; p (P) i w Time spent for straight travel; q (Q) i w Time spent for turning.
9. A logistic picking device, the device comprising: a processor and a memory;
the memory has stored therein an application executable by the processor for causing the processor to perform the steps of the method of sorting a stream as claimed in any one of claims 1 to 4.
10. A computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor implements the steps of the method for sorting logistics according to any one of claims 1 to 4.
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