CN114148663B

CN114148663B - Cargo scheduling method, device, equipment, warehousing system and storage medium

Info

Publication number: CN114148663B
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: 2024-04-30
Anticipated expiration: 2041-08-18
Also published as: CN113387102B; CN113387102A; CN114148663A; CN115520543A

Abstract

The embodiment of the disclosure provides a cargo scheduling method, a device, equipment, a warehousing system and a storage medium, wherein the cargo scheduling method comprises the following steps: determining each cargo to be scheduled at a cargo 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 picking positions; according to the picking positions corresponding to the goods to be dispatched and the first goods being transported on the target conveying line, the placing sequence of the goods to be dispatched is determined, so that the goods to be dispatched are placed on the sub conveying line of the target conveying line based on the placing sequence, the time required for the picking of all the goods to be dispatched by the picking positions is shortened, the overall picking efficiency of the picking positions is improved, and further the goods picking efficiency of the warehousing system is improved.

Description

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

The application relates to a method, a device, equipment, a warehouse system and a storage medium for dispatching goods, which are filed by China patent office, the application number is 202110945551.5, the application date is 2021, the application date is 08 and the application date is 18.

Technical Field

The disclosure relates to the technical field of intelligent warehousing, in particular to a cargo scheduling method, a device, equipment, a warehousing system and a storage medium.

Background

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

When the warehousing system receives orders such as sorting, packaging and warehouse-out, the robot is required to carry all cargoes corresponding to the orders to the conveying line, and then the cargoes are conveyed to all sorting positions through the conveying line, and the cargoes are sorted or packaged through operators or mechanical arms corresponding to the sorting positions, so that corresponding orders are completed. In the prior art, each goods placed on the robot are often placed on the conveying line in sequence by adopting a set sequence, for example, each goods is transported to a corresponding sorting position from top to bottom or from bottom to top for sorting. By adopting the mode, the condition that the conveying line is jammed easily causes the goods, the goods transportation and treatment efficiency is lower, and the requirements cannot be met.

Disclosure of Invention

The disclosure provides a cargo scheduling method, a device, equipment, a warehouse system and a storage medium, which are used for determining the placement sequence of each cargo on a conveying line based on the conveying condition of the conveying line and the characteristics of sorting positions, so that the cargo transportation and processing efficiency is improved.

In a first aspect, an embodiment of the present disclosure provides a cargo scheduling method, including: determining each cargo to be scheduled at a cargo 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 picking positions; and determining the placement sequence of the goods to be scheduled according to the picking positions corresponding to the goods to be scheduled and the first goods which are being transported on the target conveying line, so as to place the goods to be scheduled on the sub conveying line of the target conveying line based on the placement sequence.

Optionally, determining the placing 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, including: determining first picking time of each picking position of the target conveying line according to the picking position corresponding to each first cargo being conveyed on the target conveying line; and determining the placing sequence of each to-be-dispatched cargo according to the sub-conveying line to which each to-be-dispatched cargo belongs, the first picking time of each to-be-dispatched cargo and the corresponding to each to-be-dispatched cargo.

Optionally, each sub-conveying line comprises at least one manual picking position and at least one mechanical arm picking position, wherein 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 all the sub-conveying lines of the target conveying 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 cargo being conveyed on the target conveying line, including: for each manual picking position of each sub-conveying line, determining first picking time of the manual picking position of the sub-conveying line according to picking tasks of each first cargo corresponding to the manual picking position of the sub-conveying line; and determining the first picking time of each mechanical arm picking position according to the picking task of each first cargo corresponding to the mechanical arm of the target conveying line and the mechanical arm picking position to which each first cargo belongs.

Optionally, determining the order of placing the goods to be scheduled according to the sub-conveying line to which each of the picking positions belongs, the first picking time of each of the picking positions, and the picking position corresponding to each of the 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 smaller than the first picking time of the picking position at the downstream, determining the placing sequence of each to-be-dispatched cargo 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 cargo corresponding to the sub-conveying line and the picking task of each to-be-dispatched cargo corresponding to the sub-conveying line, wherein the conveying direction of the cargo on the sub-conveying line is from the upstream picking position to the downstream picking position.

Optionally, determining, according to a difference between the first picking time of the upstream picking position and the first picking time of the downstream picking position, the picking positions corresponding to the to-be-dispatched cargos corresponding to the sub-conveying lines and the picking tasks corresponding to the to-be-dispatched cargos corresponding to the sub-conveying lines, a placement sequence of each to-be-dispatched cargos corresponding to the sub-conveying lines includes: determining, for each sub-conveyor line, a first time at which the load is conveyed from an upstream pick-up location to a downstream pick-up location, based on a distance between the pick-up location upstream and the pick-up location downstream of the sub-conveyor line; calculating a first difference of the first picking time of the downstream picking station minus the first picking time of the upstream picking station; and determining the placing sequence of each to-be-scheduled cargo corresponding to the sub-conveying line according to the sum of the first difference and the first time, the picking position corresponding to each to-be-scheduled cargo corresponding to the sub-conveying line and the picking task of each to-be-scheduled cargo corresponding to the sub-conveying line.

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

Optionally, determining the placing sequence of each to-be-dispatched cargo according to the sub-conveying line to which each to-be-dispatched cargo belongs, the first picking time of each to-be-dispatched cargo and the corresponding to each to-be-dispatched cargo, including: for each to-be-dispatched cargo, determining the operation time of the to-be-dispatched cargo according to the picking rate of the picking position corresponding to the to-be-dispatched cargo and the picking task of the to-be-dispatched cargo; and determining the placing sequence of each to-be-scheduled cargo according to the sub-conveying line to which each to-be-scheduled cargo belongs, the first picking time of each to-be-scheduled cargo, the corresponding to-be-scheduled cargo and the working time of each to-be-scheduled cargo.

Optionally, determining the order of placing the goods to be dispatched according to the picking positions corresponding to the goods to be dispatched and the first goods being transported on the target conveying line, including: determining each alternative sequence of goods to be scheduled; for each alternative sequence, determining second picking time of the target conveying line according to each first cargo being conveyed on the target conveying line, picking positions corresponding to each to-be-dispatched cargo and sequences corresponding to each to-be-dispatched cargo in the alternative sequence; and determining the alternative sequence with the shortest second picking time as the placing sequence.

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 dispatched, and the sequence corresponding to each cargo to be dispatched 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 the 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 to-be-dispatched cargo, the picking task of each to-be-dispatched cargo and the sequence corresponding to each to-be-dispatched cargo in the alternative sequence.

In a second aspect, embodiments of the present disclosure further provide a cargo scheduling device, the device including: the system comprises a to-be-dispatched goods determining module, a to-be-dispatched goods determining module and a storage module, wherein the to-be-dispatched goods determining module is used for determining each to-be-dispatched goods at a goods inlet 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 picking positions; and the placement order determining module is used for determining the placement order of the goods to be scheduled according to the picking positions corresponding to the goods to be scheduled and the first goods which are being transported on the target conveying line, so that the goods to be scheduled are placed on the sub conveying line of the target conveying line based on the placement order.

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 embodiment corresponding to the first aspect of the present disclosure.

In a fourth aspect, an embodiment of the present disclosure further provides a warehousing system, including a target conveying line, a robot, and a cargo scheduling device provided in an embodiment corresponding to 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 picking positions.

In a fifth aspect, embodiments of the present disclosure further provide a computer readable storage medium, where computer executable instructions are stored, and when executed by a processor, implement a cargo scheduling method according to any embodiment corresponding to the first aspect of the present disclosure.

In a sixth aspect, embodiments of the present disclosure further provide a computer program product, including a computer program, which when executed by a processor implements a cargo scheduling method as provided by any of the embodiments corresponding to the first aspect of the present disclosure.

According to the goods scheduling method, the device, the equipment, the warehousing system and the storage medium, aiming at the warehousing system comprising the target conveying line composed of a plurality of sub conveying lines, each sub conveying line comprises at least two picking positions, and the placing sequence of each goods to be scheduled is automatically determined based on the picking position corresponding to each goods to be scheduled at the goods inlet of the target conveying line and each first goods currently being transported on the target conveying line, so that the time required by the target conveying line to complete the picking task of each goods to be picked is shortened, the picking efficiency of each picking position of the target conveying line of the warehousing system is improved, and the goods picking efficiency is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the 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 provided in an embodiment of the present disclosure;

FIG. 2 is a flow chart of a cargo scheduling method provided by one embodiment of the present disclosure;

FIG. 3 is a schematic view of a structure of a target conveyor line according to one embodiment of the present disclosure;

Fig. 4 is a schematic structural view of a target conveying line according to another embodiment of the present disclosure;

FIG. 5 is a flow chart of a cargo scheduling method provided by another embodiment of the present disclosure;

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

FIG. 7 is a flow chart of a cargo scheduling method provided by another embodiment of the present disclosure;

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

Fig. 9 is a schematic structural view 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 disclosure.

Specific embodiments of the present disclosure have been shown by way of the above drawings and will be described in more detail below. These drawings and the written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the disclosed concepts to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.

The following describes the technical solutions of the present disclosure and how the technical solutions of the present disclosure solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

The application scenario of the embodiments of the present disclosure is explained below:

Fig. 1 is an application scenario diagram of a cargo scheduling method provided by an embodiment of the present disclosure, where, as shown in fig. 1, the cargo scheduling method provided by the embodiment of the present disclosure may be executed by a cargo scheduling device, and the cargo scheduling device may be a scheduling device of a warehouse system, and may be in a form of a computer or a server. When the order receiving device 110 of the warehousing system receives a picking or delivering order of a cargo, task information is generated and sent to a robot 120, such as any idle robot, each cargo 130 corresponding to the order is carried to a cargo inlet I of a conveying line 140 by the robot 120, in fig. 1, 2 cargos 130 are taken as an example, and the cargos 130 are placed on the conveying line 140 and transported to a corresponding picking position, such as a manual picking position or a mechanical arm picking position, at the corresponding picking position, the picking or packaging delivering of the cargos 130 is completed, if the cargos 130 after picking need to be returned to a warehouse, the cargos 130 can be transported to a cargo delivering E through the conveying line 140, and then the cargos 130 can be carried to the warehouse by any robot, such as the robot 120, and the warehousing of the cargos 130 is completed, such as the storage of the cargos 130 in the original warehouse position or the redistributed warehouse position.

In some embodiments, the conveying line 140 may be U-shaped, ring-shaped, elongated, rectangular, etc., and may be irregularly shaped, such as stepped, and may be specifically determined according to the actual environment of the warehouse system.

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

To improve efficiency, a plurality of picking stations, two for example in fig. 1, are often provided on one conveyor line 140. In the prior art, when there are a plurality of cargos 130 at the cargo entrance I of the conveyor line 140, the cargos 130 on each layer of the temporary storage shelf 121 of the robot 120 are often placed on the conveyor line 140 according to a default sequence, such as from high to low or from low to high, and due to different cargos corresponding to different picking positions, the above manner is easy to cause congestion of the upstream picking position, while the condition of idle downstream picking position occurs, thereby causing congestion of the conveyor line, transportation of cargos, and lower picking efficiency.

In order to improve efficiency of cargo transportation and picking, embodiments of the present disclosure provide a cargo scheduling method, which has the main concept that: and determining the placing sequence of the goods to be scheduled placed on the target conveying line based on the picking positions corresponding to the goods to be scheduled and the picking conditions of the current picking positions, so that the time for all the goods to be scheduled to be picked 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 applicable to a warehouse system and may be executed by cargo scheduling equipment. The cargo scheduling method provided by the embodiment comprises the following steps:

step S201, determining each cargo to be scheduled at the cargo entrance of the target transport line.

Wherein, the goods entry is the position that the goods was placed for the target transfer chain. The target conveyor line comprises at least two sub conveyor lines, each sub conveyor line comprising at least two picking stations. The picking station is configured as an area on a conveyor line for picking, bagging, etc. of goods transported to the working area of the picking station. The goods to be dispatched may be goods placed in a warehouse of the warehousing system that need to be handled by the picking station.

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

In some embodiments, the picking stations on the sub-conveyor line may include both types of manual picking stations that may be used by an operator to pick goods and robotic arm picking stations that may be used by a robotic arm to pick goods.

In some embodiments, the robotic arm picking stations of each sub-conveyor line 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 conveying line according to an embodiment of the present disclosure, as shown in fig. 3, the target conveying line 300 includes two U-shaped sub-conveying lines 310, each sub-conveying line 310 includes two picking positions, a manual picking position 311 and a mechanical arm picking position 312, which are respectively disposed on two straight sides of the U-shaped sub-conveying line, and the mechanical arm picking positions 312 of the two sub-conveying lines 310 are picked by the same mechanical arm 313, where the mechanical arm 313 is rotatable, and the maximum angle of rotation may be 90 °, 180 °, 360 ° or other angles, as the directions corresponding to the two arrowed arcs in fig. 3 are rotated, which is not limited in this disclosure. The working range of the mechanical arm 313 is a circular area with the center of the mechanical arm 313 as the center and the arm length of the mechanical arm 313 as the radius, such as the area corresponding to the dashed circle in fig. 3.

Illustratively, 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, a target conveying line 400 includes 4 sub conveying lines, namely, sub conveying lines 401 to 404, each of which is provided with two picking positions.

Specifically, the cargo entrance of the target conveying line can identify the cargo identification of each cargo to be scheduled, and then each cargo to be scheduled is determined based on the cargo identification.

Further, each to-be-scheduled cargo can be carried to the cargo entrance of the target conveying line by the robot, and the cargo identification of each to-be-scheduled cargo is sent to the cargo scheduling device by the robot.

Specifically, after receiving the order, for example, the order receiving device receives the order, and then 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 scheduling 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 scheduled corresponding to the target conveying line based on the order requirement of the order.

Step S202, 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, so as to place the goods to be scheduled on the sub conveying line of the target conveying line based on the placement order.

Specifically, when each cargo is put in storage for the first time, a picking position can be configured for each cargo, and a first corresponding relation is established according to the picking position corresponding to the cargo and the cargo identification of the cargo to be dispatched, so that the picking position corresponding to each cargo to be dispatched is determined based on the first corresponding relation.

Specifically, a picking position may be allocated to each to-be-dispatched cargo in advance, for example, according to parameters such as a cargo type, a cargo fragile level, a cargo size, etc. of the to-be-dispatched cargo, a picking position may be allocated to the to-be-dispatched cargo.

Specifically, the placement sequence of the goods to be dispatched can be determined according to the picking positions corresponding to the goods to be dispatched and the picking positions corresponding to the first goods to be dispatched, so that the waiting time of the first goods to be dispatched and the last goods to be dispatched placed on the target conveying line is shortened, and the picking efficiency of the target conveying line is improved.

Further, the first number of the first cargoes corresponding to each picking position of the target conveying line can be counted according to the picking positions corresponding to each first cargoes, and the placing sequence of each cargoes to be scheduled is determined according to the first number corresponding to each picking position and the picking position corresponding to each cargoes to be scheduled.

Specifically, the sorting positions can be sorted according to the order from low to high of the first quantity, and the placing order of the goods to be sorted is determined based on the sorting result, the difference value of the first quantity of the two sorting positions adjacent to each other in the sorting position and the sorting position corresponding to the goods to be sorted.

For example, assuming a total of 5 picking stations for the target conveyor line, the first number of first loads corresponding to picking stations 01 through 05, respectively, is: 3. 2, 4, 1, 0, the sorting result of the pick bits is: picking position 05, picking position 04, picking position 02, picking position 01 and picking position 03, the goods to be dispatched comprise 5, goods 11 to 15, respectively correspond to picking positions 01 to 05, and then the placing sequence can be that goods 15, goods 14, goods 12, goods 11 and goods 13 are placed.

Further, after the placement order is determined, each to-be-scheduled cargo is placed on each sub-conveying line of the target conveying line in sequence based on the placement order, and after the previous to-be-scheduled cargo is conveyed for a preset distance in the placement order, the next to-be-scheduled cargo in the placement order can be placed. The preset distance can be a fixed value, and the robot can judge whether the distance between the former goods to be scheduled and the sub-conveying line reaches the preset distance.

In some embodiments, the direction of conveyance of the sub-conveyor line is from the entry of the load to the exit of the load, and then the position of the picking station is also considered when determining the order of placement, and the load at the downstream picking station is required to be conveyed to the downstream picking station after the picking of the upstream picking station is completed or is idle. Correspondingly, the placing sequence of each to-be-dispatched cargo can be determined according to the picking position corresponding to each to-be-dispatched cargo, the position of each picking position and the first cargo corresponding to each picking position.

For example, assuming that the number of first cargoes being transported by the target conveyor line is 3, namely, cargoes a, cargoes B and cargoes C, wherein cargoes a and C correspond to the mechanical arm picking positions of the second sub-conveyor line, cargoes B correspond to the manual picking positions of the second sub-conveyor line, the manual picking position of each sub-conveyor line is an upstream picking position, the mechanical arm picking position is a downstream picking position, the number of cargoes to be dispatched is 4, namely, cargoes a, cargoes B, cargoes C and cargoes d, respectively correspond to the manual picking positions and the mechanical arm picking positions of the first sub-conveyor line, cargoes C and cargoes d respectively correspond to the manual picking positions and the mechanical arm picking positions of the second sub-conveyor line, then the first sub-conveyor line placement order may be B-a, and the second sub-conveyor line placement order may be C-d.

According to the goods scheduling method, aiming at a warehousing system comprising a target conveying line composed of a plurality of sub conveying lines, each sub conveying line comprises at least two picking positions, and the placing sequence of each goods to be scheduled is automatically determined based on the picking position corresponding to each goods to be scheduled at the goods inlet of the target conveying line and each first goods currently being transported on the target conveying line, so that the time required by the target conveying line to complete the picking task of each goods to be picked is reduced, the picking efficiency of each picking position of the target conveying line of the warehousing system is improved, and the goods picking 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 determining the first picking time of each picking position, the goods to be dispatched corresponding to the picking position with the small first picking time may be placed preferentially.

Specifically, since the target conveying line includes a plurality of sub conveying lines, each sub conveying line can correspond to a cargo inlet, and the cargo to be scheduled can be placed, when the placing sequence of the cargo to be scheduled is determined, the placing sequence of the cargo to be scheduled can 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 comprises two sub conveying lines, each sub conveying line comprises two picking positions, the first picking time of the picking position A11 and the picking position A12 of the first sub conveying line is respectively 10s and 15s, the first picking time of the picking position A21 and the picking position A22 of the second sub conveying line is respectively 5s and 20s, the picking positions corresponding to the cargos to be scheduled B1 to B5 are respectively A11, A12, A21 and A22 in sequence, the placing sequence of the first sub conveying line can be B1-B2, namely a robot at the entrance of the cargos of the first sub conveying line is controlled to place the cargos to be scheduled B1 and the cargos to be scheduled B2 on the first sub conveying line in sequence; the placement sequence of the second sub-conveying line may be B3-B4-B5 or B4-B3-B5, that is, the robot controlling the cargo entrance of the second sub-conveying line sequentially places the cargo B3 to be scheduled, the cargo B4 to be scheduled and the cargo B5 to be scheduled on the second sub-conveying line, or sequentially places the cargo B4 to be scheduled, the cargo B3 to be scheduled and the cargo B5 to be scheduled on the second sub-conveying line.

In some embodiments, picking stations with different picking rates may be provided on the sub-conveyor lines, such that for the same picking order, different picking times are required for different picking stations due to the different picking rates.

The first picking time is the time required by picking all the first cargoes corresponding to the completion of picking.

Specifically, because the manual picking positions on each sub-conveying line are independent, an operator is not required to be shared with other sub-conveying lines, the picking tasks of the first cargoes corresponding to the manual picking positions of the sub-conveying lines can be directly determined based on the picking tasks of the first cargoes corresponding to the manual picking positions of the sub-conveying lines and the picking rate of the manual picking positions, and the first picking time of the manual picking positions is determined.

Specifically, since the mechanical arm picking positions of different sub-conveying lines are all picked by one mechanical arm, when the picking time of the first goods at the mechanical arm picking positions of the current sub-conveying line is calculated, the picking tasks of the first goods at the mechanical arm picking positions of other sub-conveying lines also need to be considered.

Further, the picking sequence of each first cargo corresponding to the mechanical arm can be determined, and then the first picking time of each mechanical arm picking position is determined based on the picking sequence and the picking task of each first cargo corresponding to the mechanical arm.

For example, taking an example that the target conveying line comprises 4 sub conveying lines, each sub conveying line is provided with a mechanical arm picking position, and each mechanical arm picking position shares one mechanical arm. The first cargoes corresponding to the mechanical arm comprise 3 cargoes a51, a52 and a53, which correspond to a first sub-conveying line, a third sub-conveying line and a fourth sub-conveying line respectively, the picking order is a52, a51, a53, the picking order of a51 is 100 clothes c1, the picking order of a52 is 50 clothes c1, the picking order of a53 is 10 clothes c1, the average requirement of the mechanical arm to pick one clothes c1 is 0.1s, and the first picking time of the mechanical arm picking positions on the first sub-conveying line to the fourth sub-conveying line is as follows in sequence: 15s, 0s, 5s and 16s.

Specifically, the working time of the goods to be dispatched can be determined according to the ratio of the picking task of the goods to be dispatched to the picking rate of the corresponding picking position.

In some embodiments, the relationship of the job time t _i of the good H _i to be scheduled may be:

Wherein m _i is the picking task of the goods H _i to be scheduled; v _i is the picking rate of the picking position corresponding to the shipment to be scheduled H _i; t ₀ is a set time constant representing the time required to begin picking up to a corresponding picking station after the shipment to be dispatched H _i has been delivered to that picking station.

Specifically, for each sub-conveying line, whether the first picking time of the picking position at the upstream of the sub-conveying line is smaller than the working position time of the picking position at the downstream can be judged, if yes, based on the difference value between the first picking time of the picking position at the downstream and the first picking time of the picking position at the upstream, one or more to-be-dispatched cargos corresponding to the picking position at the upstream of the sub-conveying line are determined to be the cargos placed on the sub-conveying line in the first batch, further, the cargos placed on the sub-conveying line in the second batch are determined to be the to-be-dispatched cargos corresponding to the picking position at the downstream of the sub-conveying line, and the like are performed alternately.

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

For example, if two picking stations are included on the sub-conveyor line, the ratio of the picking speeds of the upstream picking station to the downstream picking station 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 inlet of the sub-conveying line comprises 10, 4 corresponding upstream picking positions and 6 corresponding downstream picking positions, the picking tasks of each goods to be dispatched are the same, the upstream picking position needs 12s to finish the picking task of the goods to be dispatched, the downstream picking position needs 4s, and the placing sequence can be as follows: 2H _U, 3H _D, 1H _U, 3H _D and 1H _U, wherein the picking position corresponding to the goods to be scheduled H _D is the downstream picking position, and the picking position corresponding to the goods to be scheduled H _U is the upstream picking position.

When the first picking time of the picking stations upstream of the sub-conveyor line is greater than or equal to the first picking time of the picking stations downstream, then the order of placement may be determined directly based on the ratio of the picking rates of the picking stations upstream to the picking rates of the picking stations downstream, and the picking stations corresponding to the respective goods to be scheduled.

Illustratively, the first picking times of the upstream picking stations and the downstream picking stations of the sub-conveyor line are 20s and 10s, respectively, and the ratio of the picking rates of the upstream picking stations and the downstream picking stations is 1:2, the goods to be scheduled comprise 9, 3 corresponding upstream picking positions, 6 corresponding downstream picking positions, and the picking tasks of each goods to be scheduled are the same, and then the placing sequence can be as follows: 2H _D, 1H _U, 2H _D, 1H _U, 2H _D and 1H _U.

Fig. 5 is a flowchart of a cargo scheduling method according to another embodiment of the present disclosure, where, for each sub-conveying line, there is one upstream picking station and one downstream picking station, the conveying direction of the sub-conveying line is from the upstream picking station to the downstream picking station. The cargo scheduling method provided in this embodiment is further refined in step S202 based on 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 cargo to be scheduled at the cargo entrance of the target transport line.

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

Specifically, if each sub-conveying line of the target conveying line independently executes processing tasks such as picking, conveying and packing of corresponding cargos, then for a picking position of each sub-conveying line, the first picking time of the picking position can be determined according to the arrival time of each first cargos corresponding to the picking position and the picking tasks of each corresponding first cargos.

In some embodiments, the arrival time of the first shipment may be ignored, and the first picking time for the picking station may be determined directly from the picking order of each first shipment corresponding to the picking station.

For example, if the current picking station corresponds to 3 first loads, the picking station just begins to process the first load, and the remaining two first loads wait for picking after the first load by a safe distance, the first picking time of the picking station may be a ratio of a sum of the picking tasks of the three first loads to a picking rate of the picking station.

Step S503, for each sub-conveying line, if the first picking time of the picking position at the upstream of the sub-conveying line is smaller than the first picking time of the picking position at the downstream, determining the placing sequence of each to-be-dispatched cargo 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 cargo corresponding to the sub-conveying line, and the picking task of each to-be-dispatched cargo corresponding to the sub-conveying line.

Wherein the direction of conveyance of the load on the sub-conveyor line is directed from the upstream picking station to the downstream picking station.

In some embodiments, two picking stations are provided on each sub-conveyor line, the upstream picking station may be an artificial picking station, and the downstream picking station may be a robotic picking station; or the upstream picking station may be a robotic arm picking station and the downstream picking station may be a manual picking station.

The first picking time of the upstream picking station is smaller than the first picking time of the downstream picking station, i.e. the upstream picking station picks the corresponding first goods earlier than the downstream picking station. The order of placement of the respective items to be scheduled corresponding to the sub-transport line may be determined based on the difference in the first picking times of the upstream and downstream picking positions of the same sub-transport line and the picking positions and picking tasks corresponding to the respective items to be scheduled corresponding to the sub-transport line.

Specifically, when the difference value of the first picking time is smaller, if the difference value is smaller than the first difference value, for example, 3s, determining that the first goods placed on the sub-conveying line is the goods to be dispatched corresponding to the downstream picking position, further determining that one or more goods to be dispatched are the first goods to be dispatched or the first goods to be dispatched placed on the sub-conveying line from the goods to be dispatched of the picking position corresponding to the downstream picking position, and determining the placement sequence of the subsequent goods to be dispatched by analogy; when the difference of the first picking time is larger, if the difference is larger than the second difference, for example, 10s, it is determined that the first goods placed on the sub-conveying line are the goods to be dispatched corresponding to the picking position at the upstream, then one or more goods to be dispatched are determined to be the first goods to be dispatched or the goods to be dispatched placed on the sub-conveying line in the first batch from the goods to be dispatched corresponding to the picking position at the upstream, the goods to be dispatched placed on the sub-conveying line are regarded as the first goods on the sub-conveying line, and then the following goods to be dispatched are determined by analogy.

Further, since the types of the upstream and downstream picking positions are different, the picking rates may also be different, for example, the picking rate of the mechanical arm picking position is higher than the picking rate of the manual picking position, so when determining the placing sequence, the placing sequence of each to-be-dispatched cargo corresponding to the sub-conveying line can also be determined by combining the picking rates, namely, based on the difference of the picking rates of the upstream and downstream picking positions of the same sub-conveying line, the first picking time, and the picking positions and the picking tasks corresponding to each to-be-dispatched cargo corresponding to the sub-conveying line.

In some embodiments, when the first picking time of the picking position at the upstream of the sub-conveying line is greater than or equal to the first picking time of the picking position at the downstream, the placing order of each to-be-scheduled cargo may be determined according to the picking position corresponding to each to-be-scheduled cargo and the picking task of each to-be-scheduled cargo, and the picking position corresponding to the to-be-scheduled cargo placed at the first to-be-scheduled cargo of the sub-conveying line is the downstream picking position, so as to avoid that the to-be-scheduled cargo at the downstream picking position cannot be conveyed to the downstream picking position due to the fact that the upstream picking position is at the picking time.

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

step S5031, for each sub-conveyor line, determining a first time for the shipment to be conveyed from an upstream picking station to a downstream picking station based on a distance between the upstream picking station and the downstream picking station of the sub-conveyor line.

Since the conveying direction of the sub-conveying line is unidirectional along the direction of the goods inlet, the upstream picking position, the downstream picking position and the goods outlet, and a certain distance exists between the upstream picking position and the downstream picking position, in order to further improve the picking efficiency, the time required for conveying the goods from the upstream picking position to the downstream picking position, namely the first time, needs to be considered.

In particular, the first time is in particular the ratio of the distance of the picking stations upstream and downstream of the sub-conveyor line to the conveying speed of the sub-conveyor line.

In step S5032, a first difference is calculated between the first picking time of the downstream picking digit minus the first picking time of the upstream picking digit.

Step S5033, determining a placement sequence of each to-be-scheduled cargo corresponding to the sub-conveying line according to the sum of the first difference and the first time, the picking position corresponding to each to-be-scheduled cargo corresponding to the sub-conveying line, and the picking task of each to-be-scheduled cargo corresponding to the sub-conveying line.

When the first picking time of the upstream picking position of the sub-conveying line is smaller than the first picking time of the downstream picking position, namely, the upstream picking position firstly picks the corresponding first goods before the downstream picking position, for the same goods to be dispatched, assuming that the upstream picking position picks, the moment when the upstream picking position starts picking the goods to be dispatched is t1, the moment when the downstream picking position starts picking the goods to be dispatched is t2, t2=t1+t3, wherein t3 is the sum of the first difference and the first time, and the parameter is used for evaluating the difference value of the starting picking moments of the upstream picking position and the downstream picking position for the same goods to be dispatched.

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, namely an upstream picking position or a downstream picking position, to which a first to-be-dispatched cargo placed on the sub-conveying line belongs can be determined according to the sum of the first difference value and the first time, and then according to the target picking position, the picking positions corresponding to each to-be-dispatched cargo and the picking tasks of each to-be-dispatched cargo, the first to-be-dispatched cargo placed on the sub-conveying line is determined, namely the first to-be-dispatched cargo, the picking position corresponding to the first to-be-dispatched cargo 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 to-be-dispatched cargo 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 a downstream picking position, the first to-be-dispatched cargo can be the to-be-dispatched cargo corresponding to the downstream picking position with the smallest picking task.

The preset time can be a default smaller time, such as 3s and 5s; the preset time can also be the minimum time corresponding to the picking task of the goods to be scheduled for the downstream picking position to finish the picking task in the historical time.

Specifically, when the sum of the first difference and the first time is smaller, that is, smaller than the preset time, it indicates that the to-be-dispatched goods are distributed to the upstream picking position or the downstream picking position, and the difference between the starting picking moments is smaller. When the sum of the first difference and the first time is larger, that is, the sum is larger than the preset time, the fact that one to-be-dispatched goods are distributed to an upstream picking position or a downstream picking position is indicated, the upstream picking position begins to pick at a time far earlier than the downstream picking position, and the first to-be-dispatched goods placed on the sub-conveying line are determined to be the to-be-dispatched goods corresponding to the upstream picking position, so that the idle time of the upstream picking position is prevented from being overlong.

After determining the first target cargo placed on the sub-conveyor line, the order of placing the other cargoes to be scheduled may be determined based on the picking task of the target cargo, the picking positions corresponding to the other cargoes to be scheduled, the picking tasks of the other cargoes to be scheduled, and the picking rates of the upstream and downstream picking positions, and the specific manner is similar to the determination manner of the target cargo, which is not repeated herein.

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

In this embodiment, only one upstream picking position and one downstream picking position are taken as an example for explanation, and a determination manner of a placement sequence in a case that the sub-conveying line includes three or more picking positions is obtained by analogy based on the above manner, and is not described herein.

In this embodiment, in order to further improve the picking efficiency, reduce the overall idle time of each picking station, consider the position of each picking station, when the first picking time of the upstream picking station is smaller than the first picking time of the downstream picking station, determine the order of placing the goods to be dispatched based on the difference between the first picking times of the upstream picking station and the downstream picking station, and the picking task and the corresponding picking station of each goods to be dispatched, so that each goods to be dispatched placed on the sub-conveying line can be picked as early as possible, and improve the efficiency of picking the goods.

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

step S701, determining each cargo to be scheduled at the cargo entrance of the target transport line.

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

The alternative sequence can be based on permutation and combination, and the placement sequence of each goods to be scheduled is determined.

For example, taking 3 cargoes to be dispatched, namely, a cargo H61, a cargo H62 and a cargo H63 as an example, the candidate sequence is 6 (3 |) kinds, namely, a cargo H61, a cargo H62, a cargo H63, a cargo H61, a cargo H63, a cargo H62, a cargo H63, a cargo H61, a cargo H62, a cargo H63, a cargo H62, a cargo H61, and six candidate sequences.

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

The second picking time is the time required by the target conveying line to complete the picking task of each to-be-dispatched cargo under the corresponding alternative sequence, and may be the time required by the first to-be-dispatched cargo in the alternative sequence from the time when the first to-be-dispatched cargo is placed on the target conveying line to the time when the last to-be-dispatched cargo is picked by the corresponding picking position, or may be the time required by each to-be-dispatched cargo from the cargo inlet reaching the target conveying line to the cargo outlet reaching the target conveying line.

Specifically, the time required for completing the picking of the corresponding first cargoes at each picking position, namely the first picking time, can be determined according to the picking task of each first cargoes, the picking position corresponding to each first cargoes and the picking rate of each picking position.

Further, for each alternative sequence, determining the time required by each picking position of the target conveying line to finish picking of each to-be-dispatched cargo in the alternative sequence, namely, the second picking time according to the first picking time corresponding to each picking position, the sequence corresponding to each to-be-dispatched cargo in the alternative sequence, and the picking position and the picking task corresponding to each to-be-dispatched cargo.

Specifically, the second picking time corresponding to each alternative sequence can be determined through simulating the operation process of the target conveying line, for example, a simulation operation module is built, and the simulation operation module is initialized according to the current working condition of the target conveying line, the alternative sequence, the picking position corresponding to each to-be-scheduled goods and the picking position task, and then the second picking time corresponding to the alternative sequence is output by the simulation operation module. The current working condition of the target conveying line comprises first cargoes corresponding to each picking position of the target conveying line, such as picking tasks comprising the first cargoes, current positions and the like.

In some embodiments, the number of the first cargoes may be 0, and the second picking time of the target conveying line under the alternative sequence is determined directly based on the picking position corresponding to each of the cargoes to be scheduled and the sequence corresponding to each of the cargoes to be scheduled in the alternative sequence.

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 dispatched, and the sequence corresponding to each cargo to be dispatched 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 the 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 to-be-dispatched cargo, the picking task of each to-be-dispatched cargo and the sequence corresponding to each to-be-dispatched cargo in the alternative sequence.

Specifically, when the robot loaded with each cargo to be dispatched reaches the cargo entrance of the target conveying line, one or more first cargos in transportation may exist on the target conveying line, and then the first picking time required by each picking position on the target conveying line to complete the picking task of the corresponding first cargos is required to be determined based on the picking task of each first cargo and the picking position corresponding to each first cargo, and the picking rate of each picking position.

Further, the method further comprises: and determining the scheduling starting time of each sub-conveying line according to each sub-conveying line, so as to place each to-be-scheduled cargo corresponding to the sub-conveying line in the sub-conveying line according to the alternative sequence at the scheduling starting time. And further determining the placement sequence from the alternative sequences according to the scheduling starting time and the second picking time corresponding to each sub-conveying line corresponding to each alternative sequence.

The starting time of the dispatching is the starting time of the picking position corresponding to the sub-conveying line to start to process the goods to be dispatched, such as the time when the first goods to be dispatched are placed on the corresponding sub-conveying line.

In this embodiment, after the last cargo in the placement area corresponding to the cargo inlet of the sub-conveying line is carried away, the last cargo can be placed in the placement area corresponding to the cargo inlet of the sub-conveying line.

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

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

In some embodiments, if there is no first cargo at the cargo access 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 arrives at the cargo access of the sub-conveyor line.

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

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

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

In this embodiment, by determining the alternative orders of the various possible goods to be scheduled, and thus determining, for each alternative order, the second picking time required for each picking position of the target conveying line to complete each goods to be scheduled in the alternative order, and thus determining the alternative order with the shortest second picking time as the placement order, each goods to be scheduled is placed based on the placement 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 earliest alternative sequence of the last goods to be scheduled when being placed on the target conveying line is determined to be the placement sequence, so that the robot can perform other operation tasks as early 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 device according to an embodiment of the disclosure, as shown in fig. 8, where the device includes: a to-be-scheduled cargo 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 good 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 picking positions thereon; and the placement order determining module 820 is configured to determine a placement order of the to-be-scheduled cargos according to the picking positions corresponding to the to-be-scheduled cargos and the first cargos being transported on the target conveying line, so that the to-be-scheduled cargos are placed on the sub conveying line of the target conveying line based on the placement order.

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

Optionally, each sub-conveying line comprises at least one manual picking position and at least one mechanical arm picking position, wherein 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 all the sub-conveying lines of the target conveying line correspond to the same mechanical arm; the first picking time determining unit is specifically configured to: for each manual picking position of each sub-conveying line, determining first picking time of the manual picking position of the sub-conveying line according to picking tasks of each first cargo corresponding to the manual picking position of the sub-conveying line; and determining the first picking time of each mechanical arm picking position according to the picking task of each first cargo corresponding to the mechanical arm of the target conveying line and the mechanical arm picking position to which each first cargo belongs.

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 smaller than the first picking time of the picking position at the downstream, determining the placing sequence of each to-be-dispatched cargo 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 cargo corresponding to the sub-conveying line and the picking task of each to-be-dispatched cargo corresponding to the sub-conveying line, wherein the conveying direction of the cargo on the sub-conveying line is from the upstream picking position to the downstream picking position.

Optionally, the first placement order determining unit includes: for each sub-conveyor line, a first time determining subunit for determining a first time for conveying goods from an upstream picking station to a downstream picking station according to a distance between the upstream picking station and the downstream picking station of the sub-conveyor line; a time difference calculation subunit for calculating a first difference of a first picking time of the downstream picking station minus a first picking time of the upstream picking station; and the placement sequence determining subunit is used for determining the placement sequence of each to-be-scheduled cargo corresponding to the sub-conveying line according to the first difference value, the sum value of the first time, the picking position corresponding to each to-be-scheduled cargo corresponding to the sub-conveying line and the picking task of each to-be-scheduled cargo corresponding to the sub-conveying line.

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

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

Optionally, the placement order determining module 820 includes: an alternative sequence determining unit for determining each alternative sequence of the goods to be scheduled; the second picking time determining unit is used for determining the second picking time of the target conveying line according to each first cargo being conveyed on the target conveying line, the picking position corresponding to each cargo to be dispatched and the sequence corresponding to each cargo to be dispatched in the alternative sequences; and the second placing order determining unit is used for determining the alternative order with the shortest second picking time as 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 the 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 to-be-dispatched cargo, the picking task of each to-be-dispatched cargo and the sequence corresponding to each to-be-dispatched cargo in the alternative sequence.

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

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

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

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

The relevant descriptions and effects corresponding to the steps of fig. 2, 5 to 7 may be understood correspondingly, and are not repeated here.

Fig. 10 is a schematic structural diagram of a warehousing system according to an embodiment of the disclosure, and 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 device 1030 is provided in the embodiment shown in fig. 10 of the present disclosure. The target conveyor line 1010 includes at least two sub-conveyor lines 1011, each sub-conveyor line 1011 including at least two picking stations thereon.

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

In some embodiments, the warehousing system further includes a handling station, tripper, elevator, conveyor line, and the like.

An embodiment of the present disclosure provides a computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the cargo scheduling method provided in any of the embodiments corresponding to fig. 2, 5 to 7 of the present disclosure.

The computer readable storage medium may be, among other things, ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

The present disclosure also provides a program product comprising an executable computer program stored in a readable storage medium. The computer program may be readable from a readable storage medium by at least one processor of a cargo scheduling device or a warehousing system, execution of the computer program by at least one processor causing a cargo scheduling apparatus to implement the cargo scheduling methods provided by the various embodiments described above.

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 embodiments of the apparatus are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.

The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

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

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

It should be appreciated that the Processor may be a central processing unit (Central Processing Unit, abbreviated as CPU), or may be other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, abbreviated as DSP), application SPECIFIC INTEGRATED Circuit (ASIC), or the like. 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 for execution, or in a combination of hardware and software modules in a processor for execution.

The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile memory NVM, such as at least one magnetic disk memory, and may also be a U-disk, a removable hard disk, a read-only memory, a magnetic disk or optical disk, etc.

The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (PERIPHERAL COMPONENT, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present disclosure are not limited to only one bus or to one type of bus.

The storage medium may be implemented by any type or combination of volatile or nonvolatile 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 disk. 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. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an Application SPECIFIC INTEGRATED Circuits (ASIC). It is also possible that the processor and the storage medium reside as discrete components in an electronic device or a master device.

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

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present disclosure, and not for limiting the same; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

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

Determining each cargo to be scheduled at a cargo 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 picking positions;

distributing a picking position for each to-be-dispatched cargo according to one or more of the cargo type, the cargo fragile grade and the cargo size of the to-be-dispatched cargo;

Determining the placement sequence of the goods to be scheduled according to the picking positions corresponding to the goods to be scheduled and the first goods which are being transported on the target conveying line, so as to place the goods to be scheduled on a sub conveying line of the target conveying line based on the placement sequence;

According to the picking positions corresponding to the goods to be dispatched and the first goods being transported on the target conveying line, determining the placing sequence of the goods to be dispatched comprises the following steps:

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

Determining the placing sequence of each to-be-dispatched cargo according to the sub-conveying line to which each to-be-dispatched cargo belongs, the first picking time of each to-be-dispatched cargo and the corresponding to each to-be-dispatched cargo;

Each sub-conveying line comprises at least one manual picking position and at least one mechanical arm picking position, wherein 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 all the sub-conveying lines of the target conveying 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 cargo being conveyed on the target conveying line, including:

For each manual picking position of each sub-conveying line, determining first picking time of the manual picking position of the sub-conveying line according to picking tasks of each first cargo corresponding to the manual picking position of the sub-conveying line;

and determining the first picking time of each mechanical arm picking position according to the picking task of each first cargo corresponding to the mechanical arm of the target conveying line and the mechanical arm picking position to which each first cargo belongs.

2. The method of claim 1, wherein determining the order of placement of the items to be dispatched based on the sub-conveyor line to which each of the pick stations belongs, the first pick time of each of the pick stations, and the pick station to which each of the items to be dispatched corresponds, comprises:

For each sub-conveying line, if the first picking time of the picking position at the upstream of the sub-conveying line is smaller than the first picking time of the picking position at the downstream, determining the placing sequence of each to-be-dispatched cargo 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 cargo corresponding to the sub-conveying line and the picking task of each to-be-dispatched cargo corresponding to the sub-conveying line, wherein the conveying direction of the cargo on the sub-conveying line is from the upstream picking position to the downstream picking position.

3. The method of claim 2, wherein determining the order of placement of the respective items to be scheduled corresponding to the sub-conveyor lines based on the difference between the first pick time of the upstream pick location and the first pick time of the downstream pick location, the pick location corresponding to the respective item to be scheduled corresponding to the sub-conveyor line, and the pick order of the respective item to be scheduled corresponding to the sub-conveyor line, comprises:

Determining, for each sub-conveyor line, a first time at which the load is conveyed from an upstream pick-up location to a downstream pick-up location, based on a distance between the pick-up location upstream and the pick-up location downstream of the sub-conveyor line;

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

and determining the placing sequence of each to-be-scheduled cargo corresponding to the sub-conveying line according to the sum of the first difference and the first time, the picking position corresponding to each to-be-scheduled cargo corresponding to the sub-conveying line and the picking task of each to-be-scheduled cargo corresponding to the sub-conveying line.

4. A method according to claim 3, wherein determining the order of placement of the respective items to be scheduled corresponding to the sub-conveyor line according to the sum of the first difference and the first time, the picking positions corresponding to the respective items to be scheduled corresponding to the sub-conveyor line, and the picking tasks corresponding to the respective items to be scheduled corresponding to the sub-conveyor line comprises:

When the sum of the first difference value and the first time is smaller than a preset time, determining a first target cargo placed on the sub-conveying line from all cargoes to be scheduled, wherein the corresponding picking position is a downstream picking position; and/or when the sum of the first difference and the first time is greater than or equal to the preset time, determining a first target cargo placed on the sub-conveying line from all cargoes to be scheduled, of which the corresponding picking position is an upstream picking position;

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

5. The method of claim 1, wherein determining the order of placement of each item to be dispatched based on the sub-conveyor line to which each item to be dispatched belongs, the first picking time of each item to be dispatched, and the corresponding item to be dispatched, comprises:

For each to-be-dispatched cargo, determining the operation time of the to-be-dispatched cargo according to the picking rate of the picking position corresponding to the to-be-dispatched cargo and the picking task of the to-be-dispatched cargo;

And determining the placing sequence of each to-be-scheduled cargo according to the sub-conveying line to which each to-be-scheduled cargo belongs, the first picking time of each to-be-scheduled cargo, the corresponding to-be-scheduled cargo and the working time of each to-be-scheduled cargo.

6. The method of claim 1, wherein determining the order of placement of the items to be scheduled based on the picking positions corresponding to the items to be scheduled and the respective first items being transported on the target conveyor line comprises:

Determining each alternative sequence of goods to be scheduled;

For each alternative sequence, determining second picking time of the target conveying line according to each first cargo being conveyed on the target conveying line, picking positions corresponding to each to-be-dispatched cargo and sequences corresponding to each to-be-dispatched cargo in the alternative sequence;

and determining the alternative sequence with the shortest second picking time as the placing sequence.

7. The method of claim 6, wherein determining a second pick time for the target conveyor line based on each first item being transported on the target conveyor line, a pick location corresponding to each item to be scheduled, and an order corresponding to each item 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 the 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 to-be-dispatched cargo, the picking task of each to-be-dispatched cargo and the sequence corresponding to each to-be-dispatched cargo in the alternative sequence.

8. A method of scheduling goods, the method comprising:

Determining each cargo to be dispatched at a cargo access of a target conveyor line, wherein the target conveyor line comprises at least two sub-conveyor lines, each sub-conveyor line comprising at least one manual picking station and at least one robotic picking station;

Determining a first picking time of each mechanical arm picking position according to the picking task of each first cargo corresponding to the mechanical arm of the target conveying line and the mechanical arm picking position to which each first cargo belongs;

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 to-be-dispatched cargo, determining the placing sequence of each to-be-dispatched cargo, and placing each to-be-dispatched cargo on the sub-conveying line of the target conveying line based on the placing sequence.

9. The method of claim 8, wherein the method further comprises:

And distributing the picking positions for the goods to be dispatched according to one or more of the goods type, the goods fragile grade and the goods size of the goods to be dispatched.

10. A cargo scheduling device, the device comprising:

the system comprises a to-be-dispatched goods determining module, a to-be-dispatched goods determining module and a storage module, wherein the to-be-dispatched goods determining module is used for determining each to-be-dispatched goods at a goods inlet 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 picking positions;

The picking position distribution module is used for distributing the picking positions for the goods to be dispatched according to one or more of the goods type, the goods fragile grade and the goods size of the goods to be dispatched;

The placing order determining module is used for determining the placing order of the goods to be scheduled according to the picking positions corresponding to the goods to be scheduled and the first goods which are being transported on the target conveying line, so that the goods to be scheduled are placed on the sub conveying line of the target conveying line based on the placing order;

The placing order determining module is specifically configured to determine a first picking time of each picking position of the target conveying line according to a picking position corresponding to each first cargo being conveyed on the target conveying line; determining the placing sequence of each to-be-dispatched cargo according to the sub-conveying line to which each to-be-dispatched cargo belongs, the first picking time of each to-be-dispatched cargo and the corresponding to each to-be-dispatched cargo;

The placement sequence determining module is specifically configured to determine, for each sub-conveying line, a first picking time of the manual picking position of the sub-conveying line according to a picking task of each first cargo corresponding to the manual picking position of the sub-conveying line; and determining the first picking time of each mechanical arm picking position according to the picking task of each first cargo corresponding to the mechanical arm of the target conveying line and the mechanical arm picking position to which each first cargo belongs.

11. A cargo scheduling device, the device comprising:

The system comprises a to-be-dispatched goods determining module, a to-be-dispatched goods determining module and a control module, wherein the to-be-dispatched goods determining module is used for determining each to-be-dispatched good at a goods inlet 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 picking position and at least one mechanical arm picking position;

The first picking time determining unit is used for determining the first picking time of the manual picking position of each sub-conveying line according to the picking task of each first cargo corresponding to the manual picking position of the sub-conveying line; determining a first picking time of each mechanical arm picking position according to the picking task of each first cargo corresponding to the mechanical arm of the target conveying line and the mechanical arm picking position to which each first cargo belongs;

the first placing order determining unit is used for determining the placing order of each to-be-scheduled cargo according to the sub-conveying line to which each to-be-scheduled cargo belongs, the first selecting time of each to-be-scheduled cargo and the corresponding to each to-be-scheduled cargo, so that each to-be-scheduled cargo is placed on the sub-conveying line of the target conveying line based on the placing order.

12. A cargo scheduling apparatus, comprising:

A memory and at least one processor;

The memory stores computer-executable instructions;

The at least one processor executing computer-executable instructions stored in the memory, causing the at least one processor to perform the cargo scheduling method of any one of claims 1-9.

13. A warehousing system, comprising: the cargo scheduling apparatus of claim 12, wherein the target transport line comprises at least two sub-transport lines, each sub-transport line comprising at least two picking stations thereon.

14. A computer readable storage medium having stored therein computer executable instructions which, when executed by a processor, implement the cargo scheduling method of any one of claims 1-9.