CN114148663A

CN114148663A - Cargo scheduling method, device, equipment, warehousing system and storage medium

Info

Publication number: CN114148663A
Application number: CN202210022805.0A
Authority: CN
Inventors: 喻润方
Original assignee: Shenzhen Kubo Software Co Ltd
Current assignee: Shenzhen Kubo Software Co Ltd
Priority date: 2021-08-18
Filing date: 2021-08-18
Publication date: 2022-03-08
Anticipated expiration: 2041-08-18
Also published as: CN113387102B; CN113387102A; CN115520543A; CN114148663B

Abstract

The embodiment of the disclosure provides a goods scheduling method, a device, equipment, a warehousing system and a storage medium, wherein the goods scheduling method comprises the following steps: determining each goods to be dispatched at a goods entrance of a target conveying line, wherein the target conveying line comprises at least two sub-conveying lines, and each sub-conveying line comprises at least two sorting positions; according to the picking positions corresponding to the goods to be dispatched and the first goods transported on the target conveying line, determining the placing sequence of the goods to be dispatched, and placing the goods to be dispatched on the sub-conveying lines of the target conveying line based on the placing sequence, so that the time required for picking all the goods to be dispatched by each picking position is reduced, the overall picking efficiency of each picking position is improved, and the goods picking efficiency of the warehousing system is further improved.

Description

Cargo scheduling method, device, equipment, warehousing system and storage medium

The invention is a divisional application of an invention patent application with the name of 'cargo scheduling method, device, equipment, warehousing system and storage medium', which is filed by the Chinese patent office with the application number of 202110945551.5 and the application date of 2021, 08 and 18.

Technical Field

The present disclosure relates to the field of smart warehousing technologies, and in particular, to a method, an apparatus, a device, a warehousing system and a storage medium for goods scheduling.

Background

The warehousing system based on the robot adopts an intelligent operating system, realizes automatic taking out and storage of goods through system instructions, can continuously run for 24 hours, replaces manual management and operation, improves warehousing efficiency, and is widely applied and favored.

When the warehousing system receives orders such as sorting, packing and ex-warehouse, each goods that need correspond the order through the robot is carried to the transfer chain, and then transports goods to each letter sorting position through the transfer chain, sorts or packs the goods through operating personnel or the robotic arm that letter sorting position corresponds to accomplish corresponding order. In the prior art, the set sequence is often adopted to place each goods placed on the robot on the conveying line in sequence, for example, from top to bottom or from bottom to top, and each goods is transported to the corresponding sorting position to be sorted. By adopting the mode, the condition that goods jam occurs in the conveying line is easily caused, the goods transportation and treatment efficiency is lower, and the demand can not be met.

Disclosure of Invention

The utility model provides a goods scheduling method, device, equipment, warehouse system and storage medium, based on the transport condition of transfer chain and the characteristics of letter sorting position, confirm the order of placing of each goods on this transfer chain, improved the efficiency of freight and processing.

In a first aspect, an embodiment of the present disclosure provides a cargo scheduling method, where the method includes: determining each goods to be dispatched at a goods entrance of a target conveying line, wherein the target conveying line comprises at least two sub-conveying lines, and each sub-conveying line comprises at least two sorting positions; and determining the placing sequence of the goods to be dispatched according to the picking positions corresponding to the goods to be dispatched and the first goods transported on the target conveying line, so as to place the goods to be dispatched on the sub-conveying line of the target conveying line based on the placing sequence.

Optionally, determining a placement order of the goods to be scheduled according to the picking positions corresponding to the goods to be scheduled and the first goods being transported on the target conveying line, where the placement order includes: determining first picking time of each picking position of the target conveying line according to the picking position corresponding to each first goods being conveyed on the target conveying line; and determining the placing sequence of each goods to be dispatched according to the sub-conveying line to which each picking position belongs, the first picking time of each picking position and the picking position corresponding to each goods to be dispatched.

Optionally, each of the sub-conveyor lines includes at least one manual picking position and at least one mechanical arm picking position, the manual picking position is picked by an operator, the mechanical arm picking position is picked by a mechanical arm, and the mechanical arm picking positions of the sub-conveyor lines of the target conveyor line correspond to the same mechanical arm; determining a first picking time of each picking position of the target conveying line according to the picking position corresponding to each first goods being transported on the target conveying line, wherein the first picking time comprises the following steps: aiming at the manual picking positions of the sub-conveying lines, determining first picking time of the manual picking positions of the sub-conveying lines according to picking tasks of the first goods corresponding to the manual picking positions of the sub-conveying lines; and determining first picking time of each mechanical arm picking position according to the picking tasks of the first goods corresponding to the mechanical arms of the target conveying line and the mechanical arm picking positions to which the first goods belong.

Optionally, determining a placement order of the goods to be scheduled according to the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, and the picking position corresponding to each goods to be scheduled, includes: for each sub-conveying line, if the first picking time of the picking position at the upstream of the sub-conveying line is less than the first picking time of the picking position at the downstream, determining the placing sequence of each to-be-dispatched goods corresponding to the sub-conveying line according to the difference value between the first picking time of the picking position at the upstream and the first picking time of the picking position at the downstream, the picking position corresponding to each to-be-dispatched goods corresponding to the sub-conveying line and the picking task of each to-be-dispatched goods corresponding to the sub-conveying line, wherein the conveying direction of the goods on the sub-conveying line is pointed to the picking position at the downstream by the picking position at the upstream.

Optionally, determining a placement order of each to-be-dispatched cargo corresponding to the sub-conveyor line according to a difference between a first picking time at an upstream picking position and a first picking time at a downstream picking position, a picking position corresponding to each to-be-dispatched cargo corresponding to the sub-conveyor line, and a picking task of each to-be-dispatched cargo corresponding to the sub-conveyor line, includes: for each sub-conveying line, determining the first time for conveying goods from the upstream picking position to the downstream picking position according to the distance between the upstream picking position and the downstream picking position of the sub-conveying line; calculating a first difference of the first picking time of the downstream picking position minus the first picking time of the upstream picking position; and determining the placing sequence of each to-be-dispatched cargo corresponding to the sub-conveying line according to the sum of the first difference and the first time, the picking positions corresponding to each to-be-dispatched cargo corresponding to the sub-conveying line and the picking tasks of each to-be-dispatched cargo corresponding to the sub-conveying line.

Optionally, determining a placement order of each to-be-scheduled cargo corresponding to the sub-conveyor line according to the sum of the first difference and the first time, the picking positions corresponding to each to-be-scheduled cargo corresponding to the sub-conveyor line, and the picking tasks of each to-be-scheduled cargo corresponding to the sub-conveyor line, includes: when the sum of the first difference value and the first time is less than preset time, determining a first target goods placed on the sub-conveying line from the goods to be dispatched, of which the corresponding picking position is a downstream picking position; and/or when the sum of the first difference value and the first time is greater than or equal to the preset time, determining a first target goods placed on the sub-conveying line from the goods to be dispatched, of which the corresponding picking position is the upstream picking position; and determining the placing sequence of each other goods to be dispatched according to the picking task of the target goods, the picking position corresponding to each other goods to be dispatched, the picking task of each other goods to be dispatched and the picking rate of each picking position.

Optionally, determining a placement order of each goods to be scheduled according to the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, and the picking position corresponding to each goods to be scheduled, includes: for each goods to be dispatched, determining the operation time of the goods to be dispatched according to the picking rate of the picking position corresponding to the goods to be dispatched and the picking task of the goods to be dispatched; and determining the placing sequence of each goods to be dispatched according to the sub-conveying line to which each picking position belongs, the first picking time of each picking position, the picking position corresponding to each goods to be dispatched and the operation time of each goods to be dispatched.

Optionally, determining a placement order of the goods to be scheduled according to the picking positions corresponding to the goods to be scheduled and the first goods being transported on the target conveying line, includes: determining each alternative sequence of the goods to be dispatched; for each alternative sequence, determining second picking time of the target conveying line according to each first goods being transported on the target conveying line, the picking positions corresponding to the goods to be scheduled and the sequence corresponding to the goods to be scheduled in the alternative sequence; determining the candidate order in which the second picking time is shortest as the placement order.

Optionally, determining the second picking time of the target conveying line according to each first cargo being transported on the target conveying line, the picking position corresponding to each cargo to be scheduled, and the sequence corresponding to each cargo to be scheduled in the alternative sequence, includes: determining first picking time of each picking position on the target conveying line according to the picking position and the picking task corresponding to each first cargo being transported on the target conveying line; and determining second picking time of each picking position of the target conveying line according to the first picking time corresponding to each picking position, the picking position corresponding to each goods to be scheduled, the picking task of each goods to be scheduled and the sequence corresponding to each goods to be scheduled in the alternative sequence.

In a second aspect, an embodiment of the present disclosure further provides a cargo scheduling apparatus, where the apparatus includes: the system comprises a to-be-dispatched goods determining module, a dispatching position determining module and a dispatching position determining module, wherein the to-be-dispatched goods determining module is used for determining each to-be-dispatched goods at a goods entrance of a target conveying line, the target conveying line comprises at least two sub-conveying lines, and each sub-conveying line comprises at least two sorting positions; and the placing sequence determining module is used for determining the placing sequence of the goods to be dispatched according to the picking positions corresponding to the goods to be dispatched and the first goods transported on the target conveying line, so as to place the goods to be dispatched on the sub-conveying line of the target conveying line based on the placing sequence.

In a third aspect, an embodiment of the present disclosure further provides a cargo scheduling apparatus, including: a memory and at least one processor; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the cargo scheduling method provided by any corresponding embodiment of the first aspect of the disclosure.

In a fourth aspect, an embodiment of the present disclosure further provides a warehousing system, including a target conveying line, a robot, and the goods scheduling device provided in the corresponding embodiment of the third aspect of the present disclosure, where the target conveying line includes at least two sub-conveying lines, and each sub-conveying line includes at least two sorting locations.

In a fifth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, where a computer executing instruction is stored in the computer-readable storage medium, and when a processor executes the computer executing instruction, the cargo scheduling method provided in any embodiment corresponding to the first aspect of the present disclosure is implemented.

In a sixth aspect, this disclosed embodiment further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the cargo scheduling method provided in any embodiment corresponding to the first aspect of this disclosure is implemented.

The goods scheduling method, the goods scheduling device, the goods scheduling equipment, the warehousing system and the storage medium are provided by the embodiment of the disclosure, the warehousing system comprises a target conveying line consisting of a plurality of sub-conveying lines, each sub-conveying line comprises at least two sorting positions, and the placing sequence of each to-be-scheduled goods is automatically determined based on the sorting position corresponding to each to-be-scheduled goods at the goods inlet of the target conveying line and each first goods currently transported on the target conveying line, so that the time required by the target conveying line to complete the sorting task of each to-be-sorted goods is reduced, the sorting efficiency of each sorting position of the target conveying line of the warehousing system is improved, and the goods sorting efficiency is improved.

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 an application scenario diagram of a cargo scheduling method according to an embodiment of the present disclosure;

fig. 2 is a flowchart of a cargo scheduling method according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a target conveyor line provided in an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a target conveyor line provided in another embodiment of the present disclosure;

fig. 5 is a flowchart of a cargo scheduling method according to another embodiment of the present disclosure;

FIG. 6 is a flowchart of step S503 in the embodiment shown in FIG. 5 according to the present disclosure;

fig. 7 is a flowchart of a cargo scheduling method according to another embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a cargo scheduling device according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a cargo scheduling apparatus according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a warehousing system according to an embodiment of the present disclosure.

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.

The following describes the technical solutions of the present disclosure and how to solve the above technical problems in specific embodiments. 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 disclosure will be described below with reference to the accompanying drawings.

The following explains an application scenario of the embodiment of the present disclosure:

fig. 1 is an application scenario diagram of a cargo scheduling method provided in the embodiment of the present disclosure, and as shown in fig. 1, the cargo scheduling method provided in the embodiment of the present disclosure may be executed by a cargo scheduling device, which may be a scheduling device of a warehousing system, and may be in the form of a computer or a server. When the order taking device 110 of the warehousing system receives the goods picking or delivery order, task information is generated and sent to the robot 120, such as any idle robot, the robot 120 transfers each corresponding cargo 130 in the order, for example, 2 cargos 130 in fig. 1, to the cargo entrance I of the conveyor line 140, and the goods 130 are placed on the conveying line 140 and the goods 130 are conveyed to the corresponding sorting positions by the conveying line 140, such as a manual sorting position or a mechanical arm sorting position, picking or packing of the goods 130 out of the warehouse is completed at the corresponding picking position, and if the goods 130 after picking needs to be returned to the warehouse, the goods 130 can be transported to the goods out of the warehouse E through the transportation line 140, the goods 130 are then carried by any one of the robots, such as robot 120, to a warehouse, and finish warehousing the goods 130, such as storing the goods 130 in the original warehouse location or the reallocated warehouse location.

In some embodiments, the conveying line 140 may have a U-shape, a ring shape, a long strip shape, a rectangular shape, or an irregular shape, such as a step shape, which may be determined according to the actual environment of the warehousing system.

In some embodiments, the conveying direction of conveying line 140 may be unidirectional or bidirectional.

In order to improve efficiency, a plurality of picking positions, two picking positions in fig. 1 as an example, are often provided on one conveying line 140. In the prior art, when a plurality of goods 130 exist at the goods entrance I of the conveying line 140, the goods 130 at each layer of the temporary storage shelves 121 of the robot 120 are often placed on the conveying line 140 according to a default order, such as from high to low or from low to high, due to the fact that different goods correspond to different sorting positions, by adopting the above manner, congestion at an upstream sorting position is easily caused, and idle situations at a downstream sorting position occur, so that the conveying line congestion, goods transportation and sorting efficiency are low.

In order to improve the efficiency of cargo transportation and picking, the embodiment of the disclosure provides a cargo scheduling method, and the method mainly includes: and determining the placing sequence of the goods to be dispatched, which is placed on the target conveying line, based on the picking positions corresponding to the goods to be dispatched corresponding to the target conveying line and the picking conditions of the current picking positions, so that the time for finishing picking of all the goods to be dispatched is reduced, and the goods picking efficiency is improved.

Fig. 2 is a flowchart of a cargo scheduling method according to an embodiment of the present disclosure, and as shown in fig. 2, the cargo scheduling method is applied to a warehousing system and can be executed by a cargo scheduling device. The cargo scheduling method provided by the embodiment comprises the following steps:

step S201, determining each goods to be dispatched at the goods entrance of the target conveying line.

Wherein, the goods entry is the position that the goods was placed to the target transfer chain. The target conveying line comprises at least two sub-conveying lines, and each sub-conveying line comprises at least two sorting positions. The picking level is configured as an area on a conveying line for picking, packing, etc. goods transported to a picking level work area. The goods to be dispatched may be goods placed in the warehouse of the warehousing system that need to be handled by the picking station.

In some embodiments, the target conveying line may include two, three, four or other number of sub-conveying lines, the number of picking positions on each sub-conveying line may be the same or different, and the sub-conveying lines may include 2, 3, 4 or other number of picking positions.

In some embodiments, the picking positions on the sub-conveyor line may include two types, a manual picking position where goods can be picked by an operator and a robotic picking position where goods can be picked by a robotic arm.

In some embodiments, robotic picking positions of individual sub-conveyor lines on the same target conveyor line may be picked by the same robotic arm.

For example, fig. 3 is a schematic structural diagram of a target transportation line according to an embodiment of the present disclosure, as shown in fig. 3, the target transportation line 300 includes two U-shaped sub-transportation lines 310, each sub-transportation line 310 includes two picking positions, a manual picking position 311 and a robotic picking position 312, which are respectively disposed on two straight edges of the U-shaped sub-transportation line, and the robotic picking positions 312 of the two sub-transportation lines 310 are picked by a same robotic arm 313, the robotic arm 313 can rotate, for example, in a direction corresponding to two arcs with arrows in fig. 3, and a maximum angle of rotation may be 90 °, 180 °, 360 ° or other angles, which is not limited by the present disclosure. The working range of the robot arm 313 is a circular region having the center of the robot arm 313 as the center and the arm length of the robot arm 313 as the radius, as shown by the region corresponding to the broken line circle in fig. 3.

For example, fig. 4 is a schematic structural diagram of a target conveying line according to another embodiment of the present disclosure, and as shown in fig. 4, the target conveying line 400 includes 4 sub-conveying lines, i.e., a sub-conveying line 401 to a sub-conveying line 404, where each sub-conveying line is provided with two sorting locations.

Specifically, the goods identifier of each goods to be dispatched can be identified by the goods entrance of the target conveying line, and then each goods to be dispatched is determined based on the goods identifier.

Further, each cargo to be dispatched can be carried to the cargo entrance of the target conveying line by the robot, and the cargo identification of each cargo to be dispatched is sent to the cargo dispatching equipment by the robot.

Specifically, after receiving the order, for example, the order receiving device receives the order, and further sends order information of the order to the goods scheduling device, where the order information may include information such as an order number and an order requirement. The goods dispatching equipment determines a target operation platform corresponding to the order, distributes the order to the target operation platform, determines a conveying line corresponding to the target operation platform as a target conveying line, and determines each goods to be dispatched corresponding to the target conveying line based on the order requirement of the order.

Step S202, determining a placing sequence of the goods to be dispatched according to the picking positions corresponding to the goods to be dispatched and the first goods transported on the target conveying line, and placing the goods to be dispatched on the sub conveying line of the target conveying line based on the placing sequence.

Specifically, when each cargo is first put in storage, a picking position may be configured for each cargo, and a first corresponding relationship is established according to the picking position corresponding to the cargo and the cargo identifier of the cargo to be scheduled, so as to determine the picking position corresponding to each cargo to be scheduled based on the first corresponding relationship.

Specifically, a sorting position may be allocated to each cargo to be scheduled in advance, for example, the sorting position may be allocated to the cargo to be scheduled according to parameters such as a cargo type, a cargo fragility grade, and a cargo size of the cargo to be scheduled.

Specifically, the placing sequence of the goods to be dispatched may be determined according to the picking positions corresponding to the respective goods to be dispatched and the picking positions corresponding to the respective first goods, so as to reduce the waiting time of the first and last goods to be dispatched placed on the target conveying line, thereby improving the picking efficiency of the target conveying line.

Further, the first quantity of the first goods corresponding to each picking position of the target conveying line may be counted according to the picking position corresponding to each first goods, and the placing order of each goods to be scheduled may be determined according to the first quantity corresponding to each picking position and the picking position corresponding to each goods to be scheduled.

Specifically, the picking positions may be sorted in a sequence of the first number from low to high, and the placing order of each goods to be scheduled is determined based on the sorting result, the difference value of the first number of two adjacent sorting positions and the picking position corresponding to each goods to be scheduled.

For example, assuming that the target conveying line has 5 picking positions, the picking position 01 to the picking position 05, the first quantity of the first goods respectively corresponding to the picking positions is: 3. 2, 4, 1, 0, the sorting result of the sorting bits is: the picking positions 05, 04, 02, 01 and 03 are selected, the number of the goods to be dispatched is 5, the goods 11 to 15 correspond to the picking positions 01 to 05 respectively, and the placing sequence can be that the goods 15, 14, 12, 11 and 13 are placed.

Further, after the placing sequence is determined, the goods to be scheduled are sequentially placed on the sub-conveying lines of the target conveying line based on the placing sequence, and when the goods to be scheduled in the placing sequence are conveyed for a preset distance, the goods to be scheduled can be placed in the placing sequence. The preset distance can be a fixed value, and the robot can judge whether the distance between the previous goods to be dispatched and the sub-conveying line reaches the preset distance.

In some embodiments, the conveying direction of the sub-conveying lines is from the goods inlet to the goods outlet, and the position of the picking positions is also considered when determining the placing sequence, so that the goods at the downstream picking position can be conveyed to the downstream picking position after the picking at the upstream picking position is finished or the goods at the downstream picking position are idle. Correspondingly, the placing sequence of the goods to be dispatched can be determined according to the sorting positions corresponding to the goods to be dispatched, the positions of the sorting positions and the first goods corresponding to the sorting positions.

For example, assuming that the number of the first goods being transported by the target transportation line is 3, which are respectively goods a, B and C, where the goods a and C correspond to the robotic picking positions of the second sub-transportation line, the goods B corresponds to the manual picking positions of the second sub-transportation line, the manual picking position of each sub-transportation line is an upstream picking position, the robotic picking position is a downstream picking position, the number of the goods to be dispatched is 4, which are respectively goods a, B, C and d, the goods a and B correspond to the manual picking positions and the robotic picking positions of the first sub-transportation line, and the goods C and d correspond to the manual picking positions and the robotic picking positions of the second sub-transportation line, respectively, the placement order of the first sub-transportation line may be B-a, and the placement order of the second sub-transportation line may be C-d.

The goods scheduling method provided by the embodiment of the disclosure is directed to a warehousing system comprising a target conveying line consisting of a plurality of sub-conveying lines, wherein each sub-conveying line comprises at least two sorting positions, and the placing sequence of each goods to be scheduled is automatically determined based on the sorting position corresponding to each goods to be scheduled at the goods inlet of the target conveying line and each first goods being transported on the current target conveying line, so that the time required by the target conveying line to complete the sorting task of each goods to be sorted is reduced, the sorting efficiency of each sorting position of the target conveying line of the warehousing system is improved, and the goods sorting efficiency is improved.

The first picking time is the time required by the picking position to complete the picking task of each corresponding first cargo.

Specifically, the first picking time of each picking position may be determined according to the picking position corresponding to each first cargo and the picking task of each first cargo.

Specifically, after the first picking time of each picking position is determined, the goods to be scheduled corresponding to the picking position with the small first picking time may be preferentially placed.

Specifically, since the target conveying line includes a plurality of sub-conveying lines, each sub-conveying line may correspond to one cargo entrance, and may place the cargo to be scheduled, when determining the placing order of the cargo to be scheduled, the placing order of the cargo to be scheduled may be determined based on the sub-conveying line corresponding to each picking position, the corresponding first picking time, and the picking position corresponding to each cargo to be scheduled.

For example, assuming that the target conveying line includes two sub-conveying lines, each sub-conveying line includes two sorting positions, the first picking time of the picking position a11 and the picking position a12 of the first sub-conveying line is 10s and 15s, respectively, the first picking time of the picking position a21 and the picking position a22 of the second sub-conveying line is 5s and 20s, respectively, and the picking positions corresponding to the goods to be scheduled B1 to B5 are a11, a12, a21, a21 and a22 in sequence, the placing sequence of the first sub-conveying line may be B1-B2, that is, the robot controlling the goods entrance of the first sub-conveying line to place the goods to be scheduled B1 and the goods to be scheduled B2 on the first sub-conveying line in sequence; the placing sequence of the second sub-conveyor line may be B3-B4-B5 or B4-B3-B5, that is, the robot at the cargo entrance of the second sub-conveyor line is controlled to sequentially place the cargo to be scheduled B3, the cargo to be scheduled B4 and the cargo to be scheduled B5 on the second sub-conveyor line, or sequentially place the cargo to be scheduled B4, the cargo to be scheduled B3 and the cargo to be scheduled B5 on the second sub-conveyor line.

In some embodiments, picking positions with different picking rates are arranged on the sub-conveyor line, so that for the same picking task, the picking time required for different picking positions is different due to the different picking rates.

The first picking time is the time required by all first goods which are picked by the picking position and correspond to the picking position.

Specifically, since the manual picking positions on each sub-conveyor line are independent, and an operator does not need to be shared by other sub-conveyor lines, the first picking time of each manual picking position can be determined directly based on the picking tasks of each first cargo corresponding to the manual picking positions of the sub-conveyor lines and the picking rate of the manual picking position for each manual picking position of the sub-conveyor line.

Specifically, since the mechanical arm sorting positions of different sub-conveyor lines are all sorted by one mechanical arm, when the sorting time of the first goods at the mechanical arm sorting position of the current sub-conveyor line is calculated, the sorting task of the first goods at the mechanical arm sorting positions of other sub-conveyor lines needs to be considered.

Further, a picking order of each first cargo corresponding to the mechanical arm may be determined, and then the first picking time of each mechanical arm picking position may be determined based on the picking order and the picking task of each first cargo corresponding to the mechanical arm.

Illustratively, the target conveying line comprises 4 sub-conveying lines, each sub-conveying line is provided with a mechanical arm sorting position, and each mechanical arm sorting position shares one mechanical arm. The first goods corresponding to the mechanical arm comprise 3 goods a51, a52 and a53, which respectively correspond to a first sub-conveying line, a third sub-conveying line and a fourth sub-conveying line, the picking sequence is a52, a51 and a53, the picking task of a51 is 100 clothes c1, the picking task of a52 is 50 clothes c1, the picking task of a53 is 10 clothes c1, the picking task of the mechanical arm for one clothes c1 averagely needs 0.1s, and then the first picking time of the mechanical arm picking positions on the first sub-conveying line to the fourth sub-conveying line sequentially: 15s, 0s, 5s and 16 s.

Specifically, the operation time of the goods to be scheduled may be determined according to a ratio of the picking rate of the picking position corresponding to the picking position to the picking task of the goods to be scheduled.

In some embodiments, cargo H to be dispatched_iTime t of operation_iMay be:

wherein m is_iFor goods H to be dispatched_iThe picking task of (1); v. of_iFor goods H to be dispatched_iA picking rate of the corresponding picking position; t is t₀For setting time constant, for indicating goods H to be dispatched_iThe time required for picking to start at the picking position after the corresponding picking position is conveyed.

Specifically, for each sub-conveyor line, whether the first picking time of the picking position at the upstream of the sub-conveyor line is less than the operation position time of the picking position at the downstream may be judged, if yes, one or more goods to be scheduled corresponding to the picking position at the upstream of the sub-conveyor line are determined as the first group of goods placed on the sub-conveyor line from the goods to be scheduled based on the difference between the first picking time of the downstream picking position and the first picking time of the picking position at the upstream, and then the second group of goods placed on the sub-conveyor line are determined as the goods to be scheduled corresponding to the picking position at the downstream of the sub-conveyor line, and so on and are placed alternately.

Further, if the picking rates of the upstream picking position and the downstream picking position are different, after the first batch of goods to be scheduled is removed, the remaining goods to be scheduled can be alternately placed according to the proportion of the picking rates, so that the idle time of each picking position is reduced, and the work efficiency is improved.

For example, if two picking positions are included on the sub-conveyor line, the ratio of the picking speed of the upstream picking position to the picking speed of the downstream picking position is 1: 3, the first picking time of the upstream picking position is 5s, the first picking time of the downstream picking position is 30s, the goods to be dispatched at the goods entrance of the sub-conveyor line include 10 goods, 4 goods corresponding to the upstream picking position, 6 goods corresponding to the downstream picking position, the picking task of each goods to be dispatched is the same, the picking task of the one goods to be dispatched is completed by 12s at the upstream picking position, the picking task of the downstream picking position is 4s, and the placing sequence can be as follows: 2 of H_U3, H _D1, H_U3, H_DAnd 1H_UWherein goods to be dispatched H_DThe corresponding sorting position is a downstream sorting position, and goods H to be dispatched_UWith corresponding picking position upstreamAnd (6) selecting positions.

When the first picking time of the picking positions at the upstream of the sub-conveying line is greater than or equal to the first picking time of the picking positions at the downstream, the placing sequence can be determined directly based on the proportion of the picking rates of the picking positions at the upstream and the downstream and the picking positions corresponding to the goods to be dispatched.

For example, the first picking times of the picking positions upstream and downstream of the sub-conveyor line are 20s and 10s respectively, and the ratio of the picking rates of the upstream picking position and the downstream picking position is 1: 2, the goods to be scheduled include 9, 3 picking positions corresponding to the upstream and 6 picking positions corresponding to the downstream, and the picking tasks of each goods to be scheduled are the same, then the placing order may be: 2 of H _D1, H_U2, 2H _D1, H_U2, 2H_DAnd 1H_U。

Fig. 5 is a flowchart of a cargo scheduling method according to another embodiment of the present disclosure, where for a case where each sub-conveying line is provided with an upstream picking position and a downstream picking position, the conveying direction of the sub-conveying line is from the upstream picking position to the downstream picking position. The cargo scheduling method provided in this embodiment is further refined in step S202 on the basis of the embodiment shown in fig. 2, and as shown in fig. 5, the cargo scheduling method provided in this embodiment may include the following steps:

step S501, determining each goods to be dispatched at the goods entrance of the target conveying line.

Step S502, determining a first picking time of each picking position of the target conveying line according to the picking position corresponding to each first cargo being transported on the target conveying line.

Specifically, if each sub-conveyor line of the target conveyor line independently executes processing tasks such as picking, transporting, and packaging of corresponding goods, for the picking position of each sub-conveyor line, the first picking time of the picking position may be determined according to the arrival time of each first goods corresponding to the picking position and the picking task of each corresponding first goods.

In some embodiments, the arrival time of the first goods may be ignored, and the first picking time of the picking position may be determined directly according to the picking tasks of the first goods corresponding to the picking position.

For example, if the number of first goods corresponding to the current picking position is 3, the picking position just starts to process the first goods, and the remaining two first goods are separated by a safe distance after the first goods and wait for picking, the first picking time of the picking position may be a ratio of the sum of picking tasks of the three first goods to the picking rate of the picking position.

Step S503, for each sub-conveyor line, if the first picking time of the picking position at the upstream of the sub-conveyor line is less than the first picking time of the picking position at the downstream, determining a placement order of each to-be-dispatched goods corresponding to the sub-conveyor line according to a difference between the first picking time of the picking position at the upstream and the first picking time of the picking position at the downstream, the picking position corresponding to each to-be-dispatched goods corresponding to the sub-conveyor line, and the picking task of each to-be-dispatched goods corresponding to the sub-conveyor line.

Wherein the conveying direction of the goods on the sub-conveying line is directed from the upstream picking position to the downstream picking position.

In some embodiments, two picking positions are arranged on each sub-conveying line, the upstream picking position can be a manual picking position, and the downstream picking position can be a mechanical arm picking position; alternatively, the upstream picking position may be a robotic picking position and the downstream picking position may be a manual picking position.

The first picking time of the upstream picking position is shorter than that of the downstream picking position, namely, the corresponding first goods are picked before the downstream picking position of the upstream picking position. The placing order of the goods to be dispatched corresponding to the sub-conveying line can be determined based on the difference value of the first picking time of the picking positions at the upstream and the downstream of the same sub-conveying line and the picking positions and picking tasks corresponding to the goods to be dispatched corresponding to the sub-conveying line.

Specifically, when the difference of the first picking time is smaller than the first difference, for example, 3s, it is determined that the first goods placed on the sub-conveyor line are the goods to be scheduled corresponding to the downstream picking position, and then it is determined that one or more goods to be scheduled are the first or the first group of goods to be scheduled placed on the sub-conveyor line from the goods to be scheduled whose corresponding picking positions are the downstream picking positions, and the goods to be scheduled placed on the sub-conveyor line are regarded as the first goods of the sub-conveyor line, and so on, the placing order of the subsequent goods to be scheduled is determined; and when the difference value of the first picking time is larger than a second difference value, for example, 10s, determining that the first goods placed on the sub-conveyor line is the goods to be scheduled corresponding to the picking position at the upstream, further determining one or more goods to be scheduled to be the first or the first group of goods to be scheduled placed on the sub-conveyor line from the goods to be scheduled, which are positioned at the picking position at the upstream corresponding picking position, regarding the goods to be scheduled placed on the sub-conveyor line as the first goods of the sub-conveyor line, and so on, determining the placing sequence of the subsequent goods to be scheduled.

Further, since the picking rates of the upstream and downstream picking positions are different, for example, the picking rate of the robotic picking position is higher than that of the manual picking position, when determining the placement order, the placement order of each to-be-scheduled goods corresponding to the sub-conveyor line may also be determined in combination with the picking rate, that is, based on the difference between the picking rates of the upstream and downstream picking positions of the same sub-conveyor line and the first picking time, and the picking positions and picking tasks corresponding to each to-be-scheduled goods corresponding to the sub-conveyor line.

In some embodiments, when the first picking time of the picking position upstream of the sub-conveyor line is greater than or equal to the first picking time of the picking position downstream, the placing order of the goods to be scheduled may be determined according to the picking position corresponding to the goods to be scheduled and the picking task of the goods to be scheduled, and the picking position corresponding to the goods to be scheduled, which is first placed on the sub-conveyor line, is the picking position downstream, so as to avoid that the goods to be scheduled of the picking position downstream cannot be conveyed to the picking position downstream because the picking position upstream is picking.

Optionally, for a case that the first picking time of the picking position upstream of the sub-conveying line is shorter than the first picking time of the picking position downstream, fig. 6 is a flowchart of step S503 in the embodiment shown in fig. 5 of the present disclosure, as shown in fig. 6, step S503 may include the following steps:

step S5031, determining, for each sub-conveyor line, a first time when the goods are conveyed from the upstream picking position to the downstream picking position according to a distance between the upstream picking position and the downstream picking position of the sub-conveyor line.

Since the conveying direction of the sub-conveying lines is one-way conveying along the direction of the goods inlet, the upstream sorting position, the downstream sorting position and the goods outlet, and a certain distance exists between the upstream sorting position and the downstream sorting position, in order to further improve the sorting efficiency, the time required by the goods to be conveyed from the upstream sorting position to the downstream sorting position, namely the first time, needs to be considered.

Specifically, the first time is specifically a ratio of a distance between a picking position upstream and a picking position downstream of the sub-conveyor line to a conveying speed of the sub-conveyor line.

Step S5032 calculates a first difference value of the first picking time of the downstream picking position minus the first picking time of the upstream picking position.

Step S5033, determining a placement order of each to-be-scheduled cargo corresponding to the sub-conveyor line according to the sum of the first difference and the first time, the picking positions corresponding to each to-be-scheduled cargo corresponding to the sub-conveyor line, and the picking tasks of each to-be-scheduled cargo corresponding to the sub-conveyor line.

When the first picking time of the upstream picking position of the sub-conveyor line is less than the first picking time of the downstream picking position, that is, the upstream picking position finishes picking the corresponding first goods earlier than the downstream picking position, for the same goods to be scheduled, it is assumed that the upstream picking position picks the corresponding first goods, the time when the upstream picking position starts picking the goods to be scheduled is t1, the time when the downstream picking position starts picking the goods to be scheduled is t2, and t2 is t1+ t3, where t3 is the sum of the first difference and the first time, and this parameter is used to evaluate the difference between the upstream picking position and the downstream picking position for the start picking time of the same goods to be scheduled.

Specifically, in order to improve the utilization rate of each picking position and reduce the idle time of the picking position, a target picking position to which a first goods to be scheduled placed on the sub-conveyor line belongs, namely an upstream picking position or a downstream picking position, may be determined according to a sum of a first difference value and a first time, and then a first goods to be scheduled, which is a first goods to be scheduled, placed on the sub-conveyor line is determined according to the target picking position, the picking position corresponding to each goods to be scheduled, and the picking task of each goods to be scheduled, and the picking position corresponding to the first goods to be scheduled is the target picking position, and when the target picking position is the upstream picking position, the time required by the upstream picking position to process the picking task of the first goods to be scheduled should be as close as possible to the sum of the first difference value and the first time; and when the target picking position is the downstream picking position, the first goods to be dispatched can be the goods to be dispatched, which has the smallest picking task and corresponds to the downstream picking position.

Wherein the preset time may be a default smaller time, such as 3s or 5 s; the preset time can also be the minimum time corresponding to the downstream picking position completing the picking task of one goods to be dispatched in the historical time.

Specifically, when the sum of the first difference and the first time is smaller than the preset time, it indicates that one goods to be scheduled is allocated to the upstream sorting level or the downstream sorting level, and the difference between the start time of picking is smaller. And when the sum of the first difference and the first time is larger than the preset time, that is, the sum is larger than the preset time, it indicates that one goods to be dispatched is allocated to the upstream sorting position or the downstream sorting position, and the time when the upstream sorting position starts to pick is far earlier than the downstream sorting position, the first goods to be dispatched placed on the sub-conveying line is determined as the goods to be dispatched corresponding to the upstream sorting position, so as to avoid that the idle time of the upstream sorting position is too long.

After the first target cargo placed on the sub-conveyor line is determined, the placement order of each other cargo to be scheduled may be determined based on the picking task of the target cargo, the picking position corresponding to each other cargo to be scheduled, the picking task of each other cargo to be scheduled, and the picking rates of the upstream and downstream picking positions.

And step S504, controlling the robot to place each goods to be dispatched on the sub-conveying line of the target conveying line based on the placing sequence.

In this embodiment, only one upstream sorting level and one downstream sorting level are taken as an example for description, and the determination manner of the placement order of the case where the sub-conveyor line includes three or more sorting levels can be obtained by analogy based on the above manner, and details are not described here again.

In this embodiment, for the case that the sub-conveyor lines of the target conveyor line include the upstream sorting level and the downstream sorting level, in order to further improve the picking efficiency, the overall idle time of each sorting level is reduced, the position of each sorting level is considered, when the first picking time of the upstream sorting level is less than the first picking time of the downstream sorting level, the placement order of the goods to be scheduled is determined based on the difference value of the first picking times of the upstream sorting level and the downstream sorting level, and the picking task and the corresponding sorting level of each goods to be scheduled, so that each goods to be scheduled placed on the sub-conveyor lines can be picked as early as possible, and the efficiency of goods picking is improved.

Fig. 7 is a flowchart of a cargo scheduling method according to another embodiment of the present disclosure, in which the cargo scheduling method according to this embodiment is based on the embodiment shown in fig. 2, and a step of determining a target shelf and a storage location is added after step S202, as shown in fig. 7, the cargo scheduling method according to this embodiment includes the following steps:

step S701, determining each goods to be dispatched at the goods entrance of the target conveying line.

Step S702, determining each alternative sequence of the goods to be dispatched.

The alternative sequence may be based on the permutation and combination, and the determined placing sequence of each cargo to be scheduled.

For example, taking 3 goods to be scheduled, i.e., goods H61, goods H62, and goods H63 as an example, the alternative sequence is 6(3 |), which are respectively goods H61, goods H62, goods H63, goods H61, goods H63, goods H62, goods H62, goods H61, goods H63, goods H62, goods H63, goods H61, goods H63, goods H61, goods H62, and goods H63, goods H62, goods H61, and six alternative sequences.

Step S703, determining, for each alternative sequence, a second picking time of the target conveying line according to each first cargo being transported on the target conveying line, the picking position corresponding to each cargo to be scheduled, and the sequence corresponding to each cargo to be scheduled in the alternative sequence.

The second picking time is a time required by the target conveying line to complete the picking task of each goods to be scheduled in the corresponding alternative sequence, and may be a time required by the target conveying line from the time when the first goods to be scheduled is placed on the target conveying line to the time when the last goods to be scheduled is picked by the corresponding picking position in the alternative sequence, or may be a time required by each goods to be scheduled from the time when the goods to be scheduled arrives at the goods entrance of the target conveying line to the time when each goods to be scheduled arrives at the goods exit of the target conveying line.

Specifically, the time required for each picking position to finish picking the corresponding first goods, that is, the first picking time, may be determined according to the picking task of each first goods, the picking position corresponding to each first goods, and the picking rate of each picking position.

Furthermore, for each candidate sequence, according to the first picking time corresponding to each picking position, the sequence corresponding to each to-be-scheduled goods in the candidate sequence, and the picking position and the picking task corresponding to each to-be-scheduled goods, the time required for each picking position of the target conveying line to complete picking of each to-be-scheduled goods in the candidate sequence, that is, the second picking time, is determined.

Specifically, the second picking time corresponding to each alternative sequence may be determined by simulating the operation process of the target conveying line, for example, building a simulation operation module, initializing the simulation operation module according to the current working condition of the target conveying line, the alternative sequence, the picking positions corresponding to the goods to be dispatched, and the picking position tasks, and then outputting the second picking time corresponding to the alternative sequence by the simulation operation module. The current working condition of the target conveying line comprises first goods corresponding to each picking position of the target conveying line, such as a picking task and a current position of the first goods.

In some embodiments, the number of the first goods may be 0, and then the second picking time of the target conveying line in the alternative order is determined directly based on the picking positions corresponding to the goods to be dispatched and the order corresponding to the goods to be dispatched in the alternative order.

Optionally, determining the second picking time of the target conveying line according to each first cargo being transported on the target conveying line, the picking position corresponding to each cargo to be scheduled, and the sequence corresponding to each cargo to be scheduled in the alternative sequence, includes:

determining first picking time of each picking position on the target conveying line according to the picking position and the picking task corresponding to each first cargo being transported on the target conveying line; and determining second picking time of each picking position of the target conveying line according to the first picking time corresponding to each picking position, the picking position corresponding to each goods to be scheduled, the picking task of each goods to be scheduled and the sequence corresponding to each goods to be scheduled in the alternative sequence.

Specifically, when the robot loaded with each item to be dispatched reaches the item inlet of the target conveying line, there may be one or more first items being transported on the target conveying line, and it is required to determine, based on the picking task of each first item, the picking position corresponding to each first item, and the picking rate of each picking position, the first picking time required for each picking position on the target conveying line to complete the picking task of the corresponding first item.

Further, the method further comprises: and determining the dispatching starting time of each sub-conveying line, and placing each goods to be dispatched corresponding to the sub-conveying line on the sub-conveying line according to the alternative sequence at the dispatching starting time. And determining a placing sequence from each alternative sequence according to the scheduling starting time and the second picking time corresponding to each sub-transmission line corresponding to each alternative sequence.

The dispatching starting time is the starting time when the picking position corresponding to the sub-conveying line starts to process the goods to be dispatched, for example, the time when the first goods to be dispatched is placed on the corresponding sub-conveying line.

In this embodiment, after the last goods in the placement area corresponding to the goods entrance of the sub-conveyor line is transported away, the latter goods can be placed on the placement area corresponding to the goods entrance of the sub-conveyor line.

Specifically, the scheduling start time of the sub-conveyor line may be determined according to the time when the last first cargo corresponding to the sub-conveyor line leaves the placement area corresponding to the cargo entrance of the sub-conveyor line.

Specifically, the time when the last first cargo leaves the placement area corresponding to the cargo entrance of the sub-conveyor line may be determined according to the picking position and the picking task corresponding to each first cargo except for the last first cargo.

In some embodiments, if there is no first cargo at the cargo entrance of the sub-conveyor line, the scheduling start time may be determined according to the time when the robot loaded with the cargo to be scheduled reaches the cargo entrance of the sub-conveyor line.

Step S704, determining the candidate order with the shortest second picking time as the placement order.

When at least two second picking times are equal, the time when the last goods to be dispatched are placed on the corresponding sub-conveying lines in each alternative sequence can be determined, and the alternative sequence with the earliest time is determined as the placing sequence, so that the robot can exit the goods entrance of the target conveying line as soon as possible to perform subsequent operation tasks.

Step S705, based on the placing sequence, controlling the robot to place each goods to be scheduled on the sub-conveying line of the target conveying line.

In this embodiment, by determining alternative orders of various possible goods to be scheduled, for each alternative order, second picking time required for each picking position of the target conveying line to complete each goods to be scheduled under the alternative order is determined, so that the alternative order with the shortest second picking time is determined as a placing order, and each goods to be scheduled are placed based on the placing order, so that the goods to be scheduled can be picked in the shortest time, and the picking efficiency is improved; meanwhile, when a plurality of alternative sequences with the minimum required time exist, the alternative sequence with the earliest moment when the last goods to be dispatched are placed on the target conveying line is determined to be the placing sequence, so that the robot can perform other operation tasks as soon as possible, the operation efficiency of the robot is improved, and the operation cost is reduced.

Fig. 8 is a schematic structural diagram of a cargo scheduling apparatus according to an embodiment of the present disclosure, and as shown in fig. 8, the cargo scheduling apparatus includes: a to-be-dispatched goods determination module 810 and a placement order determination module 820.

The to-be-dispatched goods determining module 810 is configured to determine each to-be-dispatched goods at a goods entrance of a target conveying line, where the target conveying line includes at least two sub-conveying lines, and each sub-conveying line includes at least two sorting locations; a placement order determining module 820, configured to determine, according to the picking positions corresponding to the goods to be scheduled and the first goods being transported on the target conveying line, a placement order of the goods to be scheduled, so as to place the goods to be scheduled on the sub-conveying lines of the target conveying line based on the placement order.

Optionally, the placement order determining module 820 includes: the first picking time determining unit is used for determining first picking time of each picking position of the target conveying line according to the picking position corresponding to each first goods being conveyed on the target conveying line; the first placement order determining unit is used for determining the placement order of each goods to be dispatched according to the sub-conveying line to which each picking position belongs, the first picking time of each picking position and the picking position corresponding to each goods to be dispatched.

Optionally, each of the sub-conveyor lines includes at least one manual picking position and at least one mechanical arm picking position, the manual picking position is picked by an operator, the mechanical arm picking position is picked by a mechanical arm, and the mechanical arm picking positions of the sub-conveyor lines of the target conveyor line correspond to the same mechanical arm; the first picking time determining unit is specifically configured to: aiming at the manual picking positions of the sub-conveying lines, determining first picking time of the manual picking positions of the sub-conveying lines according to picking tasks of the first goods corresponding to the manual picking positions of the sub-conveying lines; and determining first picking time of each mechanical arm picking position according to the picking tasks of the first goods corresponding to the mechanical arms of the target conveying line and the mechanical arm picking positions to which the first goods belong.

Optionally, the first placement order determining unit is specifically configured to: for each sub-conveying line, if the first picking time of the picking position at the upstream of the sub-conveying line is less than the first picking time of the picking position at the downstream, determining the placing sequence of each to-be-dispatched goods corresponding to the sub-conveying line according to the difference value between the first picking time of the picking position at the upstream and the first picking time of the picking position at the downstream, the picking position corresponding to each to-be-dispatched goods corresponding to the sub-conveying line and the picking task of each to-be-dispatched goods corresponding to the sub-conveying line, wherein the conveying direction of the goods on the sub-conveying line is pointed to the picking position at the downstream by the picking position at the upstream.

Optionally, the first placement order determining unit includes: for each sub-conveyor line, a first time determining subunit, configured to determine, according to a distance between an upstream picket location and a downstream picket location of the sub-conveyor line, a first time at which goods are conveyed from the upstream picket location to the downstream picket location; a time difference value calculating subunit for calculating a first difference value between the first picking time of the downstream picking position and the first picking time of the upstream picking position; and the placing sequence determining subunit is configured to determine a placing sequence of each to-be-scheduled cargo corresponding to the sub-conveyor line according to the first difference value and the sum of the first times, the picking positions corresponding to each to-be-scheduled cargo corresponding to the sub-conveyor line, and the picking tasks of each to-be-scheduled cargo corresponding to the sub-conveyor line.

Optionally, the placement order determining subunit is specifically configured to: when the sum of the first difference value and the first time is less than preset time, determining a first target goods placed on the sub-conveying line from the goods to be dispatched, of which the corresponding picking position is a downstream picking position; and/or when the sum of the first difference value and the first time is greater than or equal to the preset time, determining a first target goods placed on the sub-conveying line from the goods to be dispatched, of which the corresponding picking position is the upstream picking position; and determining the placing sequence of each other goods to be dispatched according to the picking task of the target goods, the picking position corresponding to each other goods to be dispatched, the picking task of each other goods to be dispatched and the picking rate of each picking position.

Optionally, the first placement order determining unit is specifically configured to: for each goods to be dispatched, determining the operation time of the goods to be dispatched according to the picking rate of the picking position corresponding to the goods to be dispatched and the picking task of the goods to be dispatched; and determining the placing sequence of each goods to be dispatched according to the sub-conveying line to which each picking position belongs, the first picking time of each picking position, the picking position corresponding to each goods to be dispatched and the operation time of each goods to be dispatched.

Optionally, the placement order determining module 820 includes: the alternative sequence determining unit is used for determining each alternative sequence of the goods to be dispatched; a second picking time determining unit, configured to determine, for each alternative order, a second picking time of the target conveying line according to each first cargo being transported on the target conveying line, a picking position corresponding to each cargo to be scheduled, and an order corresponding to each cargo to be scheduled in the alternative order; a second placing order determining unit configured to determine that the candidate order in which the second picking time is shortest is the placing order.

Optionally, the second picking time determining unit is specifically configured to: determining first picking time of each picking position on the target conveying line according to the picking position and the picking task corresponding to each first cargo being transported on the target conveying line; and determining second picking time of each picking position of the target conveying line according to the first picking time corresponding to each picking position, the picking position corresponding to each goods to be scheduled, the picking task of each goods to be scheduled and the sequence corresponding to each goods to be scheduled in the alternative sequence.

The goods scheduling device provided by the embodiment of the disclosure can execute the goods scheduling method provided by any embodiment of the disclosure, and has corresponding functional modules and beneficial effects of the execution method.

Fig. 9 is a schematic structural diagram of a cargo scheduling apparatus according to an embodiment of the present disclosure, and as shown in fig. 9, the cargo scheduling apparatus includes: memory 910, processor 920, and computer programs.

The computer program is stored in the memory 910 and configured to be executed by the processor 920 to implement the cargo scheduling method provided in any embodiment corresponding to fig. 2, fig. 5 to fig. 7 in the present disclosure.

Wherein the memory 910 and the processor 920 are connected by a bus 930.

The related description may be understood by referring to the related description and effects corresponding to the steps in fig. 2 and fig. 5 to fig. 7, and redundant description is not repeated here.

Fig. 10 is a schematic structural diagram of a warehousing system according to an embodiment of the present disclosure, as shown in fig. 10, the warehousing system includes: a target conveyor line 1010, a robot 1020, and a cargo scheduling device 1030.

The cargo scheduling apparatus 1030 is the cargo scheduling apparatus provided by the embodiment shown in fig. 10 of the present disclosure. The destination conveyor line 1010 includes at least two sub-conveyor lines 1011, each sub-conveyor line 1011 including at least two picking positions.

In some embodiments, the target transport line 1010 may be the target transport line provided by the embodiments shown in fig. 3 or fig. 4 of the present disclosure.

In some embodiments, the warehousing system further includes a console, unloader, elevator, transfer line, and the like.

One embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the cargo scheduling method provided in any one of the embodiments corresponding to fig. 2, fig. 5 to fig. 7 of the present disclosure.

The computer readable storage medium may be, among others, ROM, Random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

The present disclosure also provides a program product comprising an executable computer program stored in a readable storage medium. The computer program can be read from a readable storage medium by at least one processor of the goods scheduling apparatus or the warehousing system, and the at least one processor executes the computer program to make the goods scheduling device implement the goods scheduling method provided by the above various embodiments.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, functional modules in the embodiments of the present disclosure may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.

The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (english: processor) to execute some steps of the methods according to the embodiments of the present disclosure.

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 disclosure 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 (enhanced Industry Standard Architecture) 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 disclosure are not limited to only one bus or one type of bus.

The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand 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 such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. A method for scheduling goods, the method comprising:

determining each goods to be dispatched at a goods entrance of a target conveying line, wherein the target conveying line comprises at least two sub-conveying lines, and each sub-conveying line comprises at least two sorting positions;

according to one or more items of the goods types, the fragile goods grades and the goods sizes of the goods to be dispatched, allocating sorting positions for the goods to be dispatched;

and determining the placing sequence of the goods to be dispatched according to the picking positions corresponding to the goods to be dispatched and the first goods transported on the target conveying line, so as to place the goods to be dispatched on the sub-conveying line of the target conveying line based on the placing sequence.

2. The method of claim 1, wherein determining the placement order of the goods to be scheduled according to the picking position corresponding to each goods to be scheduled and each first goods being transported on the target conveying line comprises:

determining first picking time of each picking position of the target conveying line according to the picking position corresponding to each first goods being conveyed on the target conveying line;

and determining the placing sequence of each goods to be dispatched according to the sub-conveying line to which each picking position belongs, the first picking time of each picking position and the picking position corresponding to each goods to be dispatched.

3. The method of claim 2, wherein each of the sub-conveyor lines includes at least one manual picking position for picking by an operator and at least one robotic picking position for picking by a robotic arm, and wherein the robotic picking positions of the respective sub-conveyor lines of the target conveyor line correspond to the same robotic arm;

determining a first picking time of each picking position of the target conveying line according to the picking position corresponding to each first goods being transported on the target conveying line, wherein the first picking time comprises the following steps:

aiming at the manual picking positions of the sub-conveying lines, determining first picking time of the manual picking positions of the sub-conveying lines according to picking tasks of the first goods corresponding to the manual picking positions of the sub-conveying lines;

and determining first picking time of each mechanical arm picking position according to the picking tasks of the first goods corresponding to the mechanical arms of the target conveying line and the mechanical arm picking positions to which the first goods belong.

4. The method according to claim 2 or 3, wherein the determining the placement order of the goods to be dispatched according to the sub-conveying line to which each picking position belongs, the first picking time of each picking position and the picking position corresponding to each goods to be dispatched comprises:

for each sub-conveying line, if the first picking time of the picking position at the upstream of the sub-conveying line is less than the first picking time of the picking position at the downstream, determining the placing sequence of each to-be-dispatched goods corresponding to the sub-conveying line according to the difference value between the first picking time of the picking position at the upstream and the first picking time of the picking position at the downstream, the picking position corresponding to each to-be-dispatched goods corresponding to the sub-conveying line and the picking task of each to-be-dispatched goods corresponding to the sub-conveying line, wherein the conveying direction of the goods on the sub-conveying line is pointed to the picking position at the downstream by the picking position at the upstream.

5. The method of claim 4, wherein determining the placement order of the dispatched items corresponding to the sub-delivery line according to the difference between the first picking time of the upstream picking position and the first picking time of the downstream picking position, the picking position corresponding to each dispatched item corresponding to the sub-delivery line, and the picking task of each dispatched item corresponding to the sub-delivery line comprises:

for each sub-conveying line, determining the first time for conveying goods from the upstream picking position to the downstream picking position according to the distance between the upstream picking position and the downstream picking position of the sub-conveying line;

calculating a first difference of the first picking time of the downstream picking position minus the first picking time of the upstream picking position;

and determining the placing sequence of each to-be-dispatched cargo corresponding to the sub-conveying line according to the sum of the first difference and the first time, the picking positions corresponding to each to-be-dispatched cargo corresponding to the sub-conveying line and the picking tasks of each to-be-dispatched cargo corresponding to the sub-conveying line.

6. The method according to claim 5, wherein determining the placement order of the goods to be scheduled corresponding to the sub-conveyor line according to the sum of the first difference and the first time, the picking position corresponding to each goods to be scheduled corresponding to the sub-conveyor line, and the picking task of each goods to be scheduled corresponding to the sub-conveyor line comprises:

when the sum of the first difference value and the first time is less than preset time, determining a first target goods placed on the sub-conveying line from the goods to be dispatched, of which the corresponding picking position is a downstream picking position; and/or when the sum of the first difference value and the first time is greater than or equal to the preset time, determining a first target goods placed on the sub-conveying line from the goods to be dispatched, of which the corresponding picking position is the upstream picking position;

and determining the placing sequence of each other goods to be dispatched according to the picking task of the target goods, the picking position corresponding to each other goods to be dispatched, the picking task of each other goods to be dispatched and the picking rate of each picking position.

7. The method according to claim 2 or 3, wherein determining the placement order of each goods to be dispatched according to the sub-conveying line to which each picking position belongs, the first picking time of each picking position and the picking position corresponding to each goods to be dispatched comprises:

for each goods to be dispatched, determining the operation time of the goods to be dispatched according to the picking rate of the picking position corresponding to the goods to be dispatched and the picking task of the goods to be dispatched;

and determining the placing sequence of each goods to be dispatched according to the sub-conveying line to which each picking position belongs, the first picking time of each picking position, the picking position corresponding to each goods to be dispatched and the operation time of each goods to be dispatched.

8. The method of claim 1, wherein determining the placement order of the goods to be dispatched according to the picking position corresponding to each goods to be dispatched and each first goods being transported on the target conveyor line comprises:

determining each alternative sequence of the goods to be dispatched;

for each alternative sequence, determining second picking time of the target conveying line according to each first goods being transported on the target conveying line, the picking positions corresponding to the goods to be scheduled and the sequence corresponding to the goods to be scheduled in the alternative sequence;

determining the candidate order in which the second picking time is shortest as the placement order.

9. The method of claim 8, wherein determining the second picking time for the target conveyor line based on the respective first goods being transported on the target conveyor line, the picking position corresponding to the respective goods to be scheduled, and the order corresponding to the respective goods to be scheduled in the alternative order comprises:

determining first picking time of each picking position on the target conveying line according to the picking position and the picking task corresponding to each first cargo being transported on the target conveying line;

and determining second picking time of each picking position of the target conveying line according to the first picking time corresponding to each picking position, the picking position corresponding to each goods to be scheduled, the picking task of each goods to be scheduled and the sequence corresponding to each goods to be scheduled in the alternative sequence.

10. A method for scheduling goods, the method comprising:

determining each goods to be dispatched at a goods entrance of a target conveying line, wherein the target conveying line comprises at least two sub-conveying lines, and each sub-conveying line comprises at least one manual sorting position and at least one mechanical arm sorting position;

determining first picking time of each mechanical arm picking position according to the picking tasks of the first goods corresponding to the mechanical arms of the target conveying line and the mechanical arm picking positions to which the first goods belong;

and determining the placing sequence of each goods to be dispatched according to the sub-conveying line to which each picking position belongs, the first picking time of each picking position and the picking position corresponding to each goods to be dispatched, so as to place each goods to be dispatched on the sub-conveying line of the target conveying line based on the placing sequence.

11. The method of claim 10, further comprising:

and allocating a sorting position for each cargo to be dispatched according to one or more items of the cargo type, the cargo fragility grade and the cargo size of the cargo to be dispatched.

12. A cargo-dispatching device, comprising:

the system comprises a to-be-dispatched goods determining module, a dispatching position determining module and a dispatching position determining module, wherein the to-be-dispatched goods determining module is used for determining each to-be-dispatched goods at a goods entrance of a target conveying line, the target conveying line comprises at least two sub-conveying lines, and each sub-conveying line comprises at least two sorting positions;

the sorting position distribution module is used for distributing sorting positions for the goods to be dispatched according to one or more items of the goods types, the fragile goods grades and the goods sizes of the goods to be dispatched;

and the placing sequence determining module is used for determining the placing sequence of the goods to be dispatched according to the picking positions corresponding to the goods to be dispatched and the first goods transported on the target conveying line, so as to place the goods to be dispatched on the sub-conveying line of the target conveying line based on the placing sequence.

13. A cargo-dispatching device, comprising:

the system comprises a to-be-dispatched goods determining module, a dispatching position determining module and a dispatching position determining module, wherein the to-be-dispatched goods determining module is used for determining each to-be-dispatched goods at a goods entrance of a target conveying line, the target conveying line comprises at least two sub conveying lines, and each sub conveying line comprises at least one manual sorting position and at least one mechanical arm sorting position;

the first picking time determining unit is used for determining first picking time of the manual picking positions of the sub-conveying lines according to picking tasks of the first goods corresponding to the manual picking positions of the sub-conveying lines aiming at the manual picking positions of the sub-conveying lines; determining first picking time of each mechanical arm picking position according to the picking tasks of the first goods corresponding to the mechanical arms of the target conveying line and the mechanical arm picking positions to which the first goods belong;

the first placing sequence determining unit is used for determining the placing sequence of each goods to be dispatched according to the sub-conveying line to which each picking position belongs, the first picking time of each picking position and the picking position corresponding to each goods to be dispatched, so that each goods to be dispatched is placed on the sub-conveying line of the target conveying line based on the placing sequence.

14. A cargo handling apparatus, comprising:

a memory and at least one processor;

the memory stores computer-executable instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the cargo scheduling method of any of claims 1-11.

15. A warehousing system, comprising: the target conveyor line, the robot, and the cargo dispatching device of claim 14, wherein the target conveyor line comprises at least two sub-conveyor lines, each sub-conveyor line comprising at least two picking places thereon.

16. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, implement the cargo scheduling method of any one of claims 1-11.

17. A computer program product comprising a computer program, wherein the computer program when executed by a processor implements the cargo scheduling method according to any of claims 1-11.