CN113762839A - Cargo handling method and apparatus - Google Patents
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Abstract
The cargo processing method and device provided by the embodiment of the application can comprise the following steps: after a to-be-processed task comprising storage position identifiers corresponding to a plurality of to-be-processed goods is obtained, the identifiers of preset stop points corresponding to the storage position identifiers are determined, target stop points corresponding to the storage positions are determined according to the storage position identifier sets corresponding to the preset stop points, and any two storage positions in the storage positions with the distance smaller than a preset threshold value correspond to the same target stop point, namely, the target stop points are determined according to different to-be-processed tasks and the storage positions corresponding to the to-be-processed goods in different to-be-processed tasks.
Description
Technical Field
The invention relates to the technical field of logistics storage, in particular to a cargo processing method and a cargo processing device.
Background
Goods are selected to be an important link of logistics storage, when carrying out goods and select, in order to alleviate the work load of picking the goods person, can set up the robot and assist the picking person to carry out the work of transport usually, the picking person only need pay close attention to the operation of picking of robot can.
When the robot assisted the goods picker to carry out the handling work, for the convenience of stopping the robot and the goods picker to pick up the goods, in the prior art, each storage position for placing the goods is provided with a stopping point in front of the storage position. When the robot receives the picking task, the robot automatically drives to a stop point corresponding to the storage position where the first article to be picked in the picking task is located, the picking personnel picks the articles and puts the picked articles into a container of the robot, after the picking of the storage position where the first article to be picked is located is finished, the robot automatically drives to the stop point corresponding to the storage position where the next article to be picked is located, and so on until all picking operations in the picking task are finished, and the robot automatically drives to a rechecking table again until all picking operations in the picking task are finished.
However, each storage position is provided with its corresponding stop point, so that when the storage position corresponding to the picking task is more, the robot needs to stop at the stop point corresponding to each storage position, and the robot needs to start and stop every stop, thereby resulting in low picking efficiency.
Disclosure of Invention
The embodiment of the invention provides a cargo processing method and a cargo processing device, which improve the cargo processing efficiency when processing cargos.
In a first aspect, an embodiment of the present application provides a cargo handling method, which may include:
and acquiring a task to be processed, wherein the task to be processed comprises storage position identifications corresponding to a plurality of goods to be processed respectively.
And determining the identifier of the preset stop point corresponding to each storage position identifier.
And determining a storage position identification set corresponding to each preset stop point, wherein the storage position identification set comprises at least one storage position identification corresponding to the goods to be processed.
And determining target stop points corresponding to the storage positions according to the storage position identification sets, wherein any two storage positions with the distance smaller than a preset threshold value in the storage positions correspond to the same target stop point.
And processing the plurality of goods to be processed at the target stop point.
In a possible implementation manner, the determining, according to each of the bin identifier sets, a target stop point corresponding to the multiple bins includes:
and determining a storage bit index set corresponding to each storage bit identification set, wherein each storage bit identification in the storage bit identification sets corresponds to one storage bit index, and the storage bit indexes corresponding to different storage bit identifications are different.
And determining target stop points corresponding to the storage positions according to the storage position index sets and preset constraint conditions.
In a possible implementation manner, the preset constraint condition includes:
the storage positions corresponding to the determined target stop points can cover the storage positions corresponding to the multiple goods to be processed respectively, and one storage position can only correspond to one stop point.
In a possible implementation manner, the determining a storage location identifier set corresponding to each preset docking point includes:
and determining a plurality of preset storage position identifications corresponding to the preset parking points according to the corresponding relation between the preset parking points and the storage position identifications.
And determining a set consisting of storage position identifiers which are the same as the storage position identifiers respectively corresponding to the goods to be processed in the plurality of preset storage position identifiers as a storage position identifier set corresponding to the preset stop point.
In a possible implementation manner, the storage location identifiers and the preset stop point identifiers are in one-to-one correspondence.
In a possible implementation manner, at least one of the bin identifier sets includes at least two bin identifiers.
In a second aspect, an embodiment of the present application further provides a cargo handling apparatus, which may include:
the system comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring a task to be processed, and the task to be processed comprises storage position identifications corresponding to a plurality of goods to be processed.
The processing unit is used for determining the identifier of the preset stop point corresponding to each storage position identifier; and determining a storage position identification set corresponding to each preset stop point, wherein the storage position identification set comprises at least one storage position identification corresponding to the goods to be processed.
The processing unit is further configured to determine, according to each storage location identifier set, target stop points corresponding to the plurality of storage locations, where any two storage locations having a distance smaller than a preset threshold value among the plurality of storage locations correspond to the same target stop point.
The processing unit is further configured to process the plurality of goods to be processed at the target anchor point.
In a possible implementation manner, the processing unit is specifically configured to determine a storage index set corresponding to each storage identifier set, and determine target stop points corresponding to the multiple storage locations according to each storage index set and a preset constraint condition; each storage position identification in the storage position identification set corresponds to one storage position index, and the storage position indexes corresponding to different storage position identifications are different.
In a possible implementation manner, the preset constraint condition includes:
the storage positions corresponding to the determined target stop points can cover the storage positions corresponding to the multiple goods to be processed respectively, and one storage position can only correspond to one stop point.
In a possible implementation manner, the processing unit is specifically configured to determine, according to a corresponding relationship between preset docking points and storage location identifiers, a plurality of preset storage location identifiers corresponding to the preset docking points; and determining a set consisting of storage location identifiers which are the same as the storage location identifiers respectively corresponding to the goods to be processed in the plurality of preset storage location identifiers as a storage location identifier set corresponding to the preset stop point.
In a possible implementation manner, the storage location identifiers and the preset stop point identifiers are in one-to-one correspondence.
In a possible implementation manner, at least one of the bin identifier sets includes at least two bin identifiers.
In a third aspect, an embodiment of the present application further provides a cargo handling apparatus, which may include a memory and a processor; wherein the content of the first and second substances,
the memory is used for storing the computer program.
The processor is configured to read the computer program stored in the memory, and execute the cargo processing method in any one of the possible implementation manners of the first aspect according to the computer program in the memory.
In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and when a processor executes the computer-executable instructions, the cargo handling method described in any one of the possible implementation manners of the first aspect is implemented.
Therefore, after the goods processing method and the goods processing device provided by the embodiment of the application acquire the to-be-processed tasks including the storage position identifiers corresponding to the multiple to-be-processed goods, by determining the marks of the preset stop points corresponding to the marks of the storage positions and determining the target stop points corresponding to the plurality of storage positions according to the storage position mark sets corresponding to the preset stop points, and any two storage positions with the distance less than the preset threshold value in the plurality of storage positions correspond to the same target stop point, namely, aiming at different tasks to be processed, and combining with the storage positions corresponding to a plurality of goods to be processed in different tasks to be processed to determine a target stop point, therefore, when a plurality of goods to be processed are processed at the determined target stop point, the processing operation of the existing goods is not influenced, and the stop times of the robot are reduced, so that the goods processing efficiency is improved when the goods are processed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic diagram of a position between a storage location and a stop point provided in the prior art;
FIG. 2 is a schematic diagram illustrating a position between a storage location and a stop point according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a cargo handling method according to an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a position between a parking spot and another storage site provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a cargo handling device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a cargo handling apparatus according to an embodiment of the present invention.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
In the embodiments of the present invention, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. In the description of the present invention, the character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The cargo processing method provided by the embodiment of the application can be applied to a cargo picking scene, a cargo storage scene, or other similar scenes. Taking a scenario applied to goods picking as an example, in the prior art, when goods are picked, a stop point is set in front of each storage position for placing articles, for example, please refer to fig. 1, fig. 1 is a schematic diagram of positions between the storage positions and the stop points provided in the prior art, and for a storage position a, a storage position B, a storage position C, a storage position D, a storage position E, a storage position F, a storage position G, a storage position H, a storage position I, a storage position J, a storage position K and a storage position L, each storage position is correspondingly provided with a stop point. Referring to fig. 1, the stop point corresponding to the storage location a is stop point 1, the stop point corresponding to the storage location B is stop point 2, the stop point corresponding to the storage location C is stop point 3, the stop point corresponding to the storage location D is stop point 4, the stop point corresponding to the storage location E is stop point 5, the stop point corresponding to the storage location F is stop point 6, the stop point corresponding to the storage location G is stop point 7, the stop point corresponding to the storage location H is stop point 8, the stop point corresponding to the storage location I is stop point 9, the stop point corresponding to the storage location J is stop point 10, the stop point corresponding to the storage location K is stop point 11, and the stop point corresponding to the storage location L is stop point 12.
When the robot receives a picking task, assuming that the picking task comprises storage position identifications corresponding to six goods to be picked respectively, and the storage position identifications corresponding to the six goods to be picked are a storage position B, a storage position C, a storage position D, a storage position I, a storage position J and a storage position K in sequence, the robot automatically drives to a stop point corresponding to the storage position B where the first goods to be picked are located, picks the goods by a picker and puts the goods in the storage position B into a container of the robot; the robot automatically drives to a stop point corresponding to the storage position C where the second article to be picked is located, a picker picks the articles and puts the articles in the storage position C into a container of the robot; the robot automatically drives to a stop point corresponding to the storage position D where the third article to be picked is located, a picker picks the articles and puts the articles in the storage position D into a container of the robot; and by parity of reasoning, the robot automatically drives to a stop point corresponding to the storage position K where the sixth article to be picked is located, a goods picker picks up goods and places the articles in the storage position K into a container of the robot, and after all goods picking operations in the goods picking task are completed, the robot automatically drives to a rechecking table, so that all goods picking operations in the goods picking task are completed.
However, when the picking task shown in fig. 1 is executed, since the six storage positions are provided with the corresponding stop points, the robot needs to stop at the stop point 2 corresponding to the storage position B, the stop point 3 corresponding to the storage position C, the stop point 4 corresponding to the storage position D, the stop point 9 corresponding to the storage position I, the stop point 10 corresponding to the storage position J, and the stop point 11 corresponding to the storage position K, and the number of stops is large, and the robot needs to start and stop every stop, so that the picking efficiency is low.
In order to reduce the number of times of stopping of the robot and improve the picking efficiency, the conceivable technical scheme is as follows: when setting up the stop point, no longer set up a stop point for every storage position, but set up a stop point for the storage position that the adjacent distance is close, a plurality of adjacent storage positions that are close carry out many-to-one mapping with the stop point, can refer to as shown in fig. 2, fig. 2 is the position schematic diagram between a storage position and the stop point that this application embodiment provided, can see that, to storing position a, storing position B, storing position C, storing position D, storing position E, storing position F, storing position G, storing position H, storing position I, storing position J, storing position K and storing position L, no longer every stores up the position and all corresponds and is set up a stop point. But rather the same stop 1 is provided for storage position a, storage position B and storage position C, the same stop 2 is provided for storage position D, storage position E and storage position F, the same stop 3 is provided for storage position G, storage position H and storage position I, and the same stop 4 is provided for storage position J, storage position K and storage position L. Similarly, assuming that the storage position identifications corresponding to six goods to be picked in the picking task are a storage position B, a storage position C, a storage position D, a storage position I, a storage position J and a storage position K in sequence, the robot automatically drives to a stop point 1, a picker picks the goods and puts the goods in the storage position B and the storage position C into a container of the robot; the robot automatically drives to the stop point 2, a goods picker picks up goods and puts the goods in the storage position D into a container of the robot; the robot automatically drives to the stop point 3, a goods picker picks up goods and puts the goods in the storage position I into a container of the robot; the robot automatically drives to the stop point 4, a goods picker picks up goods and puts the goods in the storage position J and the storage position K into a container of the robot; and after all the picking operations in the picking task are finished, the robot automatically drives to the rechecking table, and all the picking operations in the picking task are finished.
It can be seen that, by mapping a plurality of storage positions and stop points adjacent to each other many to one, when the robot performs a picking task at the stop point, compared with the prior art in which 6 stops are needed, the picking task can be completed only by stopping 4 times by using the scheme shown in fig. 2, so that the stop times can be reduced to a certain extent, and the picking efficiency is improved. However, in the solution shown in fig. 2, the many-to-one mapping relationship between the storage locations and the stop points is statically configured, and the randomness of the storage location distribution corresponding to the items to be picked in different picking tasks is not considered, so that the most reasonable stop points corresponding to different picking tasks cannot be dynamically calculated.
As can be seen from fig. 1 or fig. 2, when the storage location identifiers corresponding to the six goods to be picked in the picking task are the storage location B, the storage location C, the storage location D, the storage location I, the storage location J, and the storage location K in sequence, the most reasonable parking scheme is: stopping at a stopping point 3 corresponding to the storage position C once, picking up goods by a goods picker, and putting the goods in the storage position B, the storage position C and the storage position D into a container of the robot; the picking task can be finished only by stopping twice.
Based on the above description, in order to improve the processing efficiency of goods when processing goods, the processing of goods may include not only picking up goods but also storing goods, an embodiment of the present application provides a method for processing goods, where a task to be processed is first obtained, the task to be processed includes storage space identifiers corresponding to a plurality of goods to be processed, an identifier of a preset docking point corresponding to each storage space identifier is determined, and a storage space identifier set corresponding to each preset docking point is determined, where the storage space identifier set includes storage space identifiers corresponding to a plurality of goods to be processed; determining target stop points corresponding to the plurality of storage positions according to the storage position identification sets, wherein any two storage positions with the distance smaller than a preset threshold value in the plurality of storage positions correspond to the same target stop point; after the target stop point is determined, a plurality of goods to be processed can be processed at the target stop point. The storage position identifier corresponding to each of the multiple goods to be processed can be understood as an identifier of a storage position corresponding to each of the multiple goods to be processed.
It can be understood that, in this embodiment of the application, the number of the determined target stop points may be one or multiple, and specifically may be determined according to an actual task to be processed, as long as the storage location corresponding to the determined target stop point can cover the storage location corresponding to the goods to be processed in the task to be processed.
Therefore, according to the cargo processing method provided by the embodiment of the application, after a to-be-processed task including storage location identifiers corresponding to multiple to-be-processed cargos is obtained, the identifiers of the preset stop points corresponding to the storage location identifiers are determined, the target stop points corresponding to the storage locations are determined according to the storage location identifier sets corresponding to the preset stop points, any two storage locations with the distance smaller than the preset threshold value in the storage locations correspond to the same target stop point, namely, different to-be-processed tasks are targeted, and the target stop points are determined by combining the storage locations corresponding to the multiple to-be-processed cargos in the to-be-processed task.
The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 3 is a schematic flowchart of a cargo handling method according to an embodiment of the present disclosure, where the cargo handling method may be executed by software and/or a hardware device, for example, the hardware device may be a mobile device, such as a robot as described above. For example, referring to fig. 3, the cargo handling method may include:
s301, acquiring a task to be processed.
The task to be processed comprises storage position identifications corresponding to a plurality of goods to be processed.
For example, when obtaining the task to be processed, the task to be processed input by the staff on the display screen of the cargo processing device may be received, and the task to be processed sent by other devices may also be received.
After the storage space identifiers corresponding to the multiple goods to be processed are obtained, the identifier of the preset stop point corresponding to each storage space identifier may be determined, that is, the following S302 is executed:
s302, the identification of the preset stop point corresponding to each storage position identification is determined.
Wherein, store up one-to-one between position sign and the predetermined stop point sign.
Referring to fig. 1, each of the storage positions includes a storage position a, a storage position B, a storage position C, a storage position D, a storage position E, a storage position F, a storage position G, a storage position H, a storage position I, a storage position J, a storage position K, and a storage position L, and each of the storage positions is provided with a stop point. Assuming that the acquired task to be processed includes storage location identifiers corresponding to six goods to be picked, and the storage location identifiers corresponding to the six goods to be picked are storage location B, storage location C, storage location D, storage location I, storage location J, and storage location K in sequence, as shown in fig. 4, fig. 4 is a schematic position diagram between another storage location and a stop point provided in the embodiment of the present application, it can be determined that the identifier of the preset stop point corresponding to the storage location B is 2, that is, the preset stop point corresponding to the storage location B is the stop point 2, the identifier of the preset stop point corresponding to the storage location C is 3, that is, the preset stop point corresponding to the storage location C is the stop point 3, the identifier of the preset stop point corresponding to the storage location D is 4, that is, the preset stop point corresponding to the storage location D is the stop point 4, the identifier of the preset stop point corresponding to the storage location I is 9, that is, the preset stop point corresponding to the storage location I is the stop point 9, the identification of the preset stop point corresponding to the storage position J is 10, that is, the preset stop point corresponding to the storage position J is 10, the identification of the preset stop point corresponding to the storage position K is 11, that is, the preset stop point corresponding to the storage position K is 11.
After the identifier of the preset stop point corresponding to each storage space identifier included in the task to be processed is respectively determined, the following S303 may be executed:
s303, determining a storage position identification set corresponding to each preset docking point.
The storage position identification set comprises at least one storage position identification corresponding to goods to be processed.
For example, when determining the storage space identifier set corresponding to each preset docking point, a plurality of preset storage space identifiers corresponding to each preset docking point may be determined according to the corresponding relationship between the preset docking point and the storage space identifier; and determining a set consisting of storage position identifiers which are the same as the storage position identifiers respectively corresponding to the plurality of goods to be processed in the plurality of preset storage position identifiers as a storage position identifier set corresponding to the preset stop point.
As shown in fig. 4, assuming that the preset storage location identifiers corresponding to the preset stop point 2 are respectively the storage location a, the storage location B and the storage location C according to the corresponding relationship between the preset stop point and the storage location identifier, it can be understood that at the preset stop point 2, not only the goods in the storage location B corresponding to the preset stop point 2 can be processed, but also the goods in the two adjacent storage locations, the storage location a and the storage location C, of the storage location B, that is, the storage locations that can be processed by the preset stop point 2 in the respective storage locations corresponding to the six goods to be picked are the storage location B and the storage location C, so that the storage location identifier set corresponding to the preset stop point can be obtained and includes the storage location B and the storage location C, as shown in table 1, similarly, the preset storage location identifiers corresponding to the preset stop point 3 can be determined to be the storage location B, the storage location B and the storage location identifier respectively according to the corresponding relationship between the preset stop point and the storage location identifier, The storage location C and the storage location D can be understood as being at the preset stop point 3, and can process not only goods in the storage location C corresponding to the preset stop point 3, but also goods in the storage location B and the storage location D of two adjacent storage locations of the storage location C, that is, the storage locations that can be processed by the preset stop point 3 in the respective storage locations corresponding to the six goods to be picked are the storage location B, the storage location C and the storage location D, so that it can be obtained that the storage location identifier set corresponding to the preset stop point 3 includes the storage location B, the storage location C and the storage location D; similarly, according to the corresponding relationship between the preset stop point and the storage place identifier, the storage place identifier set corresponding to the preset stop point 4 corresponding to the storage place D, including the storage place C and the storage place D, can be obtained; the storage position identification set corresponding to the preset stop point 9 corresponding to the storage position I comprises a storage position I and a storage position J; the storage position identification set corresponding to the preset stop point 10 corresponding to the storage position J comprises a storage position I, a storage position J and a storage position K; the storage position identification set corresponding to the preset stop point 11 corresponding to the storage position K comprises a storage position J and a storage position K.
TABLE 1
The storage position index corresponding to the storage position identifier corresponding to the goods to be processed in the task to be processed is shown in a column of table 1 in table 1, the storage position identifier corresponding to the goods to be processed in the task to be processed is shown in a column 2 in table 1, the preset stop point corresponding to the storage position identifier corresponding to the goods to be processed in the task to be processed is shown in a column 3 in table 1, the storage position identifier set corresponding to each preset stop point is shown in a column 4 in table 1, and the storage position index set corresponding to each preset stop point is shown in a column 5 in table 1.
Illustratively, at least one storage place identifier set in each storage place identifier set comprises at least two storage place identifiers, and when at least one storage place identifier set comprises at least two storage place identifiers, it is described that the preset stop point corresponding to the storage place identifier set can process goods in at least two storage places, so that the goods in the at least two storage places can be processed at the preset stop point once.
With reference to table 1, after the storage location identifier sets corresponding to the preset docking points are respectively determined, the target docking points corresponding to a plurality of storage locations can be determined according to the storage location identifier sets, that is, the following S304 is executed:
s304, determining target stop points corresponding to the storage positions according to the storage position identification sets.
And any two storage positions with the distance smaller than a preset threshold value in the plurality of storage positions correspond to the same target stop point.
For example, when determining the target stop points corresponding to the multiple storage locations according to the storage location identifier sets, the storage location index set corresponding to each storage location identifier set may be determined first, and the target stop points corresponding to the multiple storage locations may be determined according to each storage location index set and a preset constraint condition. Each storage position identification in the storage position identification set corresponds to one storage position index, and the storage position indexes corresponding to different storage position identifications are different. Wherein the preset constraint condition comprises: the storage positions corresponding to the determined target stop points can cover the storage positions corresponding to the multiple goods to be processed respectively, and one storage position can only correspond to one stop point. It is understood that, when determining the target stop point, in addition to the preset constraint condition, the method may further include: the smaller the number of determined target anchor points, the better.
When determining the target stop point according to the preset constraint condition, if the ith stop point is selected, xiIs 1, conversely, if the ith stop point is selected, xiIs 0, x is used to indicate whether the stop point is selected, which can be expressed by the following equation 1:
the objective function for calculating the target docking point correspondence can be expressed by the following equation 2:
cmin＝∑i∈Ixi equation 2
And the above formula 2 needs to satisfy the preset constraint condition:
the storage positions corresponding to the target stop points determined by the constraint of formula 3 can cover the storage positions corresponding to a plurality of goods to be processed, one storage position can only correspond to one stop point, and the constraint of formula 4 is used for constraining xiIs 0 or 1. I represents a storage place index corresponding to a storage place identifier corresponding to goods to be processed in the task to be processed, i.e., column 1 in table 1, and P represents a storage place index set corresponding to each preset stop point in the task to be processed, i.e., column 5 in table 1.
When calculating and solving according to the formula 2, the service data corresponding to the task to be processed can be converted into solver parameters, the solver calculates an optimal solution, and then the solving result is converted into an actual stop point, wherein the actual stop point is a target stop point corresponding to the finally determined plurality of storage positions.
With reference to table 1, when determining the storage index set corresponding to the storage identifier set corresponding to the preset docking point 2, since the storage identifier set corresponding to the preset docking point 2 includes the storage B and the storage C, and the storage index corresponding to the storage B is 0 and the storage index corresponding to the storage C is 1, the storage index set corresponding to the storage identifier set corresponding to the preset docking point 2 includes 0 and 1; when the storage bit index set corresponding to the storage bit identification set corresponding to the preset stop point 3 is determined, because the storage bit identification set corresponding to the preset stop point 3 includes the storage bit B, the storage bit C and the storage bit D, the bit index corresponding to the bit B is 0, the bit index corresponding to the bit C is 1, the bit index corresponding to the bit D is 2, the bin index set corresponding to the bin identity set corresponding to the preset docking point 3 comprises 0, 1 and 2, and similarly, it can be determined that the storage bit index set corresponding to the storage bit identifier set corresponding to the preset docking point 4 includes 0 and 1, the storage bit index set corresponding to the storage bit identifier set corresponding to the preset docking point 9 includes 3 and 4, the storage bit index set corresponding to the storage bit identifier set corresponding to the preset docking point 10 includes 3, 4 and 5, and the storage bit index set corresponding to the storage bit identifier set corresponding to the preset docking point 11 includes 4 and 5.
After the storage place index sets corresponding to the storage place identifier sets respectively corresponding to the preset stop points 2, 3, 4, 9, 10 and 11 are respectively determined, the target stop points corresponding to a plurality of goods to be processed in the task to be processed can be calculated and solved according to the target function shown in the formula 2. In accordance with the above formula 2cmin＝∑i∈IxiIn conjunction with table 1 above, equation 2 above can be described as: x is the number of0+x1+x2+x3+x4+x5Wherein x is0Indicates whether the preset stop point 2 is selected, x1Indicates whether the preset stop point 3 is selected, x2Indicates whether a preset stop 4 is selected, x3Indicates whether the preset stop 9 is selected, x4Indicates whether the preset stop point 10 is selected, x5Indicating whether the preset stop point 11 is selected.
In obtaining x0+x1+x2+x3+x4+x5Then, the parameters can be converted into solver parameters, and the converted solver parameters are: [1,1,1,1,1,1]The 1 st element 1 in the matrix is x0The 2 nd element 1 in the matrix is x1The 3 rd element 1 in the matrix is x2The 4 th element 1 in the matrix is x3The 5 th element 1 in the matrix is x4The 6 th element 1 in the matrix is x5The value of (a). And combining the constraint conditions to obtain a matrix corresponding to the storage bit B as follows: [1,1,0,0,0,0]The matrix corresponding to the storage bit C is 1: [1,1,1,0,0,0]1, the matrix corresponding to the storage bit D is: [0,1,1,0,0,0]1, the matrix corresponding to the storage position I is: [0,0,0,1,1,0]1, the matrix corresponding to the storage bit J is: [0,0,0,1,1,1]1, the matrix corresponding to the storage bit K is: [0,0,0,0,1,1]1 is ═ 1; solving through a solver to obtain: [0,1,0,0,1,0]I.e. x11, and x41, and then converting itFor the actual stop point, the stop point with index identifier 1 is the preset stop point 3, and the stop point with index identifier 4 is the preset stop point 10, so that the target stop points corresponding to the storage locations corresponding to the six goods to be picked in the task to be processed can be determined to be the preset stop point 3 and the preset stop point 10.
And S305, processing a plurality of goods to be processed at the target stop point.
As shown in fig. 4, after the target stop point 3 and the target stop point 10 are determined, the robot may first travel to the target stop point 3, stop at the target stop point 3 once, pick up goods by a picker, and put the goods in the storage location B, the storage location C, and the storage location D into the container of the robot; then, the robot travels to the target stop point 10, stops at the target stop point 10 once, and picks the goods by the picker and puts the goods in the storage position I, the storage position J and the storage position K into the container of the robot.
Therefore, the goods processing method provided by the embodiment of the application firstly receives the tasks to be processed comprising the storage position identifications corresponding to a plurality of goods to be processed, by determining the marks of the preset stop points corresponding to the marks of the storage positions and determining the target stop points corresponding to the plurality of storage positions according to the storage position mark sets corresponding to the preset stop points, and any two storage positions with the distance less than the preset threshold value in the plurality of storage positions correspond to the same target stop point, namely, aiming at different tasks to be processed, and combining with the storage positions corresponding to a plurality of goods to be processed in different tasks to be processed to determine a target stop point, therefore, when a plurality of goods to be processed are processed at the determined target stop point, the processing operation of the existing goods is not influenced, and the stop times of the robot are reduced, so that the goods processing efficiency is improved when the goods are processed.
Fig. 5 is a schematic structural diagram of a cargo handling device 50 according to an embodiment of the present application, and for example, please refer to fig. 5, the cargo handling device 50 may include:
the acquiring unit 501 is configured to acquire a to-be-processed task, where the to-be-processed task includes storage location identifiers corresponding to multiple to-be-processed goods.
A processing unit 502, configured to determine an identifier of a preset stop point corresponding to each storage location identifier; and determining a storage position identification set corresponding to each preset stop point, wherein the storage position identification set comprises at least one storage position identification corresponding to the goods to be processed.
The processing unit 502 is further configured to determine, according to each storage location identifier set, target stop points corresponding to multiple storage locations, where any two storage locations with a distance smaller than a preset threshold value in the multiple storage locations correspond to the same target stop point.
The processing unit 502 is further configured to process a plurality of goods to be processed at the target stop.
Optionally, the processing unit 502 is specifically configured to determine a storage index set corresponding to each storage identifier set, and determine target stop points corresponding to a plurality of storage locations according to each storage index set and a preset constraint condition; each storage position identification in the storage position identification set corresponds to one storage position index, and the storage position indexes corresponding to different storage position identifications are different.
Optionally, the preset constraint condition includes:
the storage positions corresponding to the determined target stop points can cover the storage positions corresponding to the multiple goods to be processed respectively, and one storage position can only correspond to one stop point.
Optionally, the processing unit 502 is specifically configured to determine a plurality of preset storage location identifiers corresponding to the preset docking points according to a corresponding relationship between the preset docking points and the storage location identifiers; and determining a set consisting of storage position identifiers which are the same as the storage position identifiers respectively corresponding to the plurality of goods to be processed in the plurality of preset storage position identifiers as a storage position identifier set corresponding to the preset stop point.
Optionally, the storage location identifiers correspond to preset stop point identifiers one to one.
Optionally, at least one bin identifier set in each bin identifier set includes at least two bin identifiers.
The cargo processing device 50 provided in this embodiment of the application can execute the technical solution of the cargo processing method in any of the above embodiments, and the implementation principle and the beneficial effect thereof are similar to those of the cargo processing method, and reference may be made to the implementation principle and the beneficial effect of the cargo processing method, which is not described herein again.
Fig. 6 is a schematic structural diagram of an article processing device 60 according to an embodiment of the present invention, for example, referring to fig. 6, the article processing device 60 may include a processor 601 and a memory 602; wherein the content of the first and second substances,
the memory 602 is used for storing computer programs.
The processor 601 is configured to read the computer program stored in the memory 602, and execute the technical solution of the cargo processing method in any of the embodiments according to the computer program in the memory 602.
Alternatively, the memory 602 may be separate or integrated with the processor 601. When the memory 602 is a device separate from the processor 601, the cargo handling apparatus may further include: a bus for connecting the memory 602 and the processor 601.
Optionally, this embodiment further includes: a communication interface, which may be connected to the processor 601 through a bus. The processor 601 may control the communication interface to implement the receiving and transmitting functions of the cargo handling apparatus described above.
The cargo processing device 60 shown in the embodiment of the present invention can implement the technical solution of the cargo processing method in any of the above embodiments, and the implementation principle and the beneficial effects thereof are similar to those of the cargo processing method, and reference may be made to the implementation principle and the beneficial effects of the cargo processing method, which are not described herein again.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer execution instruction is stored in the computer-readable storage medium, and when a processor executes the computer execution instruction, the technical solution of the cargo processing method in any of the above embodiments is implemented, and implementation principles and beneficial effects of the cargo processing method are similar to those of the cargo processing method, and reference may be made to the implementation principles and beneficial effects of the cargo processing method, which is not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts shown as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention.
It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present invention are not limited to only one bus or one type of bus.
The computer-readable storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (14)
1. A cargo handling method, comprising:
acquiring a task to be processed, wherein the task to be processed comprises storage position identifiers corresponding to a plurality of goods to be processed;
determining the identifier of a preset stop point corresponding to each storage position identifier;
determining a storage position identification set corresponding to each preset docking point, wherein the storage position identification set comprises at least one storage position identification corresponding to goods to be processed;
determining target stop points corresponding to the storage positions according to the storage position identification sets, wherein any two storage positions with the distance smaller than a preset threshold value in the storage positions correspond to the same target stop point;
and processing the plurality of goods to be processed at the target stop point.
2. The method according to claim 1, wherein determining the target waypoints corresponding to the plurality of bins according to each of the bin identification sets comprises:
determining a storage bit index set corresponding to each storage bit identification set, wherein each storage bit identification in the storage bit identification sets corresponds to one storage bit index, and the storage bit indexes corresponding to different storage bit identifications are different;
and determining target stop points corresponding to the storage positions according to the storage position index sets and preset constraint conditions.
3. The method of claim 2, wherein the preset constraints comprise:
the storage positions corresponding to the determined target stop points can cover the storage positions corresponding to the multiple goods to be processed respectively, and one storage position can only correspond to one stop point.
4. The method according to any one of claims 1 to 3, wherein the determining the set of bin identifiers corresponding to each of the preset docking points comprises:
determining a plurality of preset storage position identifications corresponding to the preset parking points according to the corresponding relation between the preset parking points and the storage position identifications;
and determining a set consisting of storage position identifiers which are the same as the storage position identifiers respectively corresponding to the goods to be processed in the plurality of preset storage position identifiers as a storage position identifier set corresponding to the preset stop point.
5. A method according to any of claims 1-3, characterized in that there is a one-to-one correspondence between the bin identities and the preset stop point identities.
6. The method according to any one of claims 1 to 3, wherein at least one of the bin identity sets comprises at least two bin identities.
7. A cargo handling device, comprising:
the system comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring a task to be processed, and the task to be processed comprises storage position identifiers corresponding to a plurality of goods to be processed;
the processing unit is used for determining the identifier of the preset stop point corresponding to each storage position identifier; determining a storage position identification set corresponding to each preset stop point, wherein the storage position identification set comprises at least one storage position identification corresponding to goods to be processed;
the processing unit is further configured to determine, according to each of the storage location identifier sets, target stop points corresponding to the plurality of storage locations, where any two storage locations having a distance smaller than a preset threshold value among the plurality of storage locations correspond to the same target stop point;
the processing unit is further configured to process the plurality of goods to be processed at the target anchor point.
8. The apparatus of claim 7,
the processing unit is specifically configured to determine a storage index set corresponding to each storage identifier set, and determine target stop points corresponding to the multiple storage locations according to each storage index set and a preset constraint condition; each storage position identification in the storage position identification set corresponds to one storage position index, and the storage position indexes corresponding to different storage position identifications are different.
9. The apparatus of claim 8, wherein the preset constraints comprise:
the storage positions corresponding to the determined target stop points can cover the storage positions corresponding to the multiple goods to be processed respectively, and one storage position can only correspond to one stop point.
10. The apparatus according to any one of claims 7 to 9,
the processing unit is specifically configured to determine a plurality of preset storage place identifiers corresponding to the preset docking points according to the corresponding relationship between the preset docking points and the storage place identifiers; and determining a set consisting of storage location identifiers which are the same as the storage location identifiers respectively corresponding to the goods to be processed in the plurality of preset storage location identifiers as a storage location identifier set corresponding to the preset stop point.
11. The apparatus according to any one of claims 7-9, wherein there is a one-to-one correspondence between the bin identifiers and the preset stop point identifiers.
12. The apparatus according to any one of claims 7-9, wherein at least one of said bin identity sets comprises at least two bin identities.
13. A cargo handling device comprising a memory and a processor; wherein the content of the first and second substances,
the memory for storing a computer program;
the processor is used for reading the computer program stored in the memory and executing the cargo processing method according to any one of the claims 1-6 according to the computer program in the memory.
14. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, implement the cargo handling method of any of claims 1-6.
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| CN110766228A (en) * | 2019-10-25 | 2020-02-07 | 北京京东乾石科技有限公司 | Method, device, picking system, electronic device and medium for picking |
| CN111553548A (en) * | 2019-02-12 | 2020-08-18 | 北京京东尚科信息技术有限公司 | Goods picking method and device |
| US20210354921A1 (en) * | 2018-09-26 | 2021-11-18 | Beijing Geekplus Technology Co., Ltd. | Warehousing management system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20210354921A1 (en) * | 2018-09-26 | 2021-11-18 | Beijing Geekplus Technology Co., Ltd. | Warehousing management system and method |
| CN111553548A (en) * | 2019-02-12 | 2020-08-18 | 北京京东尚科信息技术有限公司 | Goods picking method and device |
| CN110766228A (en) * | 2019-10-25 | 2020-02-07 | 北京京东乾石科技有限公司 | Method, device, picking system, electronic device and medium for picking |
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