CN114229312A

CN114229312A - Cargo handling method, device, server and storage medium

Info

Publication number: CN114229312A
Application number: CN202210071603.5A
Authority: CN
Inventors: 李萌; 何方; 郭娅明; 林犀; 柳清泉; 赵桐
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2022-01-21
Filing date: 2022-01-21
Publication date: 2022-03-25
Anticipated expiration: 2042-01-21
Also published as: CN114229312B

Abstract

The invention discloses a cargo carrying method, a cargo carrying device, a server and a storage medium, wherein the method comprises the following steps: after the carrying equipment is selected, determining a goods taking path of target goods contained in the current order; sending the goods taking path to the carrying equipment so that the carrying equipment moves based on the goods taking path; when the transporting equipment reaches the goods shelf with the target goods stored in the stack form, the goods taking arrival information is sent to the goods shelf so that the goods shelf can deliver the target goods to the transporting equipment. According to the technical scheme, the carrying equipment is selected, the goods taking path is determined according to the target goods contained in the current order, the carrying equipment goes to the goods shelf with the target goods stored in the stack form based on the goods taking path, the target goods are put in the carrying equipment based on the goods channel of the stack type goods shelf after the carrying equipment reaches the goods shelf and the goods shelf receives the arrival information, the goods taking of the target goods is achieved under the condition of no manual participation, unmanned and information storage goods taking are achieved, and the storage goods taking efficiency is improved.

Description

Cargo handling method, device, server and storage medium

Technical Field

The embodiment of the invention relates to an intelligent warehousing technology, in particular to a cargo handling method, a cargo handling device, a cargo handling server and a storage medium.

Background

With the rapid development of electronic commerce and the improvement of logistics informatization degree, the requirement on the operation capability of the storage operation link is continuously improved. Meanwhile, the warehouse delivery efficiency is also required to be high so as to rapidly deliver the goods to all over the country.

Among the prior art, in the cargo handling process, can remove haulage equipment to near goods shelves, warehouse staff carries the goods to haulage equipment, and after haulage equipment loaded the goods, further remove to the destination, realize getting the goods process, reduced staff's removal, also reduced the time that the staff looked for the goods shelves that correspond of goods, this has improved work efficiency and rate of accuracy to a certain extent.

However, in the prior art, the picking process with manual participation still costs much and is inefficient.

Disclosure of Invention

The invention provides a goods carrying method, a goods carrying device, a server and a storage medium, which are used for realizing unmanned and informatization storage goods taking and improving the goods taking efficiency.

In a first aspect, an embodiment of the present invention provides a cargo handling method, where the method includes: after the carrying equipment is selected, determining a goods taking path of target goods contained in the current order; sending the goods taking path to the carrying equipment so that the carrying equipment moves based on the goods taking path; when the carrying equipment reaches a shelf in which the target goods are stored in a stack form, goods taking arrival information is sent to the shelf, so that the shelf puts the target goods to the carrying equipment.

The embodiment of the invention provides a cargo handling method, which comprises the following steps: after the carrying equipment is selected, determining a goods taking path of target goods contained in the current order; sending the goods taking path to the carrying equipment so that the carrying equipment moves based on the goods taking path; when the carrying equipment reaches a shelf in which the target goods are stored in a stack form, goods taking arrival information is sent to the shelf, so that the shelf puts the target goods to the carrying equipment. According to the technical scheme, after the idle carrying equipment for taking goods is selected, the goods taking path of the carrying equipment can be determined according to the position information of the carrying equipment, the position information of the target goods contained in the current order and the target position, the goods taking path is sent to the carrying equipment, the carrying equipment can go to the goods shelf with the target goods stored in the stack form based on the goods taking path, the carrying equipment reaches the goods shelf, the target goods can be released to the carrying equipment based on the goods channel of the stack type goods shelf after the goods shelf receives the reaching information, the goods taking of the target goods is achieved under the condition of no manual participation, unmanned and the goods taking of the information storage are achieved, and the goods taking efficiency of the storage is improved.

Further, the rack includes at least one vertically arranged lane, each lane includes at least one storage unit, and each storage unit of each lane stores goods in a stack form, and the rack drops the target goods near the handling apparatus to the handling apparatus when the handling apparatus reaches the rack.

Further, determining a pickup path of the target goods contained in the current order includes: determining target position information and target position information of target goods contained in the current order; and determining the goods taking path of the carrying equipment according to the first initial position information, the target position information and the target position information of the carrying equipment.

Further, determining the target position information and the destination position information of the target goods contained in the current order includes: determining the current position of the target cargo as the target position information, and determining the target position information according to the target address of the target cargo; wherein determining the destination location information according to the destination address of the target cargo comprises: and determining a sorting port corresponding to the target goods according to the corresponding relation between the destination address and the sorting port, and determining the sorting position information of the sorting port as the destination position information.

Further, the goods taking path is a space-time path, and accordingly, after determining the goods taking path of the target goods contained in the current order, the method further includes: determining whether the goods taking path and other current space-time paths have position conflicts at the same time or not; if the goods taking path is determined to have position conflict with other current space-time paths at the same time, the goods taking is carried out on the target goods contained in the next order; otherwise, continuing to send the goods taking path to the carrying equipment.

Further, still include: after a goods replenishment instruction is determined, determining a goods replenishment path according to the selected carrying equipment and the goods replenishment instruction, and sending the goods replenishment path to the carrying equipment, so that the carrying equipment carries goods to be replenished to a goods shelf to be replenished from an upstream goods replenishment port of the goods to be replenished on the basis of the goods replenishment path; when the carrying equipment arrives at the goods shelf to be supplemented, the goods supplementing arrival information is sent to the goods shelf to be supplemented, so that the goods shelf to be supplemented supplements the goods to be supplemented to the goods shelf to be supplemented, wherein the goods shelf to be supplemented stores the goods to be supplemented in a stack mode.

Further, determining a replenishment path according to the selected handling equipment and the replenishment order, comprising: determining upstream position information corresponding to an upstream replenishing port of goods to be replenished contained in the replenishing instruction and position information corresponding to goods to be replenished of goods shelves of the goods to be replenished; and determining the replenishment path according to the selected second initial position information of the carrying equipment, the upstream position information and the position information to be replenished.

In a second aspect, an embodiment of the present invention further provides a cargo handling apparatus, including:

the determining module is used for determining a goods taking path of the target goods contained in the current order after the carrying equipment is selected; the first sending module is used for sending the goods taking path to the carrying equipment so as to enable the carrying equipment to move based on the goods taking path; and the second sending module is used for sending the goods taking arrival information to the goods shelf when the carrying equipment arrives at the goods shelf in which the target goods are stored in a stacking mode, so that the goods shelf puts the target goods in the carrying equipment.

In a third aspect, an embodiment of the present invention further provides a server, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the cargo handling method according to any one of the first aspect.

In a fourth aspect, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are used to execute the cargo handling method according to any one of the first aspect when executed by a computer processor.

In a fifth aspect, the present application provides a computer program product comprising computer instructions which, when run on a computer, cause the computer to perform the method of cargo handling as provided in the first aspect.

It should be noted that all or part of the computer instructions may be stored on the computer readable storage medium. The computer readable storage medium may be packaged with the processor of the cargo handling device or may be packaged separately from the processor of the cargo handling device, which is not limited in this application.

For the descriptions of the second, third, fourth and fifth aspects in this application, reference may be made to the detailed description of the first aspect; in addition, for the beneficial effects described in the second aspect, the third aspect, the fourth aspect and the fifth aspect, reference may be made to the beneficial effect analysis of the first aspect, and details are not repeated here.

In the present application, the names of the above-mentioned cargo handling devices do not limit the devices or functional modules themselves, which may appear under other names in a practical implementation. Insofar as the functions of the respective devices or functional modules are similar to those of the present application, they fall within the scope of the claims of the present application and their equivalents.

These and other aspects of the present application will be more readily apparent from the following description.

Drawings

Fig. 1 is a schematic structural diagram of a storage system according to an embodiment of the present invention;

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

fig. 3 is a schematic structural diagram of a shelf compartment reservoir in a cargo handling method according to an embodiment of the present invention;

fig. 4 is a flowchart of a cargo handling method according to a second embodiment of the present invention;

fig. 5 is a flowchart illustrating a step 410 of a cargo handling method according to a second embodiment of the present invention;

fig. 6 is a flowchart illustrating an implementation of a cargo handling method according to a second embodiment of the present invention;

fig. 7 is a structural diagram of a cargo handling apparatus according to a third embodiment of the present invention;

fig. 8 is a schematic structural diagram of a server according to a fourth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone.

The terms "first" and "second" and the like in the description and drawings of the present application are used for distinguishing different objects or for distinguishing different processes for the same object, and are not used for describing a specific order of the objects.

Furthermore, the terms "including" and "having," and any variations thereof, as referred to in the description of the present application, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.

It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.

In the description of the present application, the meaning of "a plurality" means two or more unless otherwise specified.

Fig. 1 is a schematic structural diagram of a warehousing system according to an embodiment of the present invention, where the warehousing system may be an intelligent warehousing system, and as shown in fig. 1, the warehousing system may include a server 110, at least one handling device 120, and at least one shelf 130, where the shelf 130 may be an intelligent networked shelf, and the server 110, the handling device 120, and the shelf 130 are communicatively connected to each other.

Of course, in practical applications, the server 110 may be communicatively connected to a plurality of handling devices 120 and a plurality of shelves 130, respectively, to implement management of the warehousing system.

The following embodiments will describe the cargo handling method in detail with reference to the warehousing system shown in fig. 1.

Example one

Fig. 2 is a flowchart of a cargo handling method according to an embodiment of the present invention, where the present embodiment is applicable to a situation of fast picking up a cargo based on an intelligent warehousing system, and the method may be executed by a cargo handling device, as shown in fig. 2, the method specifically includes the following steps:

step 210, after the handling equipment is selected, a pickup path of the target goods included in the current order is determined.

The handling device may be an intelligent handling robot for picking up goods, such as an Automated Guided Vehicle (AGV) or the like. The current order may be an order sent by the shopping platform to the warehousing system, and the current order may include the type, quantity, and destination of the target goods.

Specifically, the server may receive status information of the handling equipment in the warehousing system, where the status information may include whether the handling equipment is idle, location information, power information, and the like. The server can select the carrying equipment in the idle state and with the power information larger than the low power threshold value for taking goods. Meanwhile, the server can also determine the target position information of the target goods contained in the current order and the sorting opening corresponding to the destination of the target goods.

The current order may contain at least one target good, and each target good may include at least one. Of course, if the number of the target goods included in the current order is greater than the threshold value of the transportable goods by one transporting apparatus, a plurality of idle transporting apparatuses may be selected for transporting the target goods included in the current order. In practical applications, each target cargo may be randomly allocated to each transporting device for transporting, or each target cargo may be allocated to each transporting device for transporting according to a distance between each target cargo and each transporting device, for example, a target cargo stored close to a transporting device in a current order may be allocated to the transporting device for transporting.

In practical application, the server may further correspondingly send the corresponding relationship between each target item and the transporting device in the current order to the shelf storing each target item. The server can determine the goods taking path according to the first initial position information of the carrying equipment, the target position information of the target goods distributed by the carrying equipment and the sorting opening. When the target goods allocated by the transporting device are stored on different shelves, the picking sequence of each target goods may be determined in sequence according to the distance information between the target position information and the first initial position information of each target goods, for example, the target goods closest to the transporting device may be first moved to a shelf where the target goods are located to pick the target goods, and the target goods may be moved to shelves where other target goods are located to pick the target goods in sequence according to the distance information.

In practical applications, the pickup path may be a spatiotemporal path. The server may determine time information of the conveying apparatus from the initial position to each piece of target position information and time information to each sorting gate based on the speed of the conveying apparatus, the first initial position information, each piece of target position information and distance information between the sorting gates, and determine the pickup path based on each piece of target position information and time information to the target position information and each sorting gate and time information to the sorting gate.

In the embodiment of the invention, after the carrying equipment which can be used for picking up goods is selected, the goods picking up path can be determined according to the first initial position information of the carrying equipment, the target position information of the target goods contained in the current order and the destination.

Step 220, sending the goods taking path to the carrying equipment so that the carrying equipment moves based on the goods taking path.

Specifically, after determining the pickup path, the server may correspondingly send the pickup path to the selected handling apparatus. The transport facility may move based on the pickup path after receiving the pickup path, and may have shelves storing respective target items in the front and back.

In the embodiment of the invention, the server can send the determined goods taking path to the carrying equipment, so that the carrying equipment moves based on the goods taking path and goes to the goods shelf of each target goods, and the operation efficiency of the carrying equipment is improved.

And 230, when the transporting equipment reaches the goods shelf in which the target goods are stored in a stack form, sending goods taking arrival information to the goods shelf so that the goods shelf can deliver the target goods to the transporting equipment.

Wherein, the goods shelves include goods shelves main part and sensor, and a plurality of goods shelves parallel arrangement in proper order can constitute the goods shelves array. The goods shelf main body can be divided into a storage layer and a sorting layer in the vertical direction, and the vertical height of the goods shelf main body can be adjusted according to requirements. The goods shelves can set up storage and letter sorting in same vertical area, improve space utilization, practice thrift the place cost. Of course, the sorting area may leave room for the handling device to move freely.

Fig. 3 is a schematic structural diagram of a shelf storage layer in a cargo handling method according to an embodiment of the present invention, as shown in fig. 3, the storage layer may include at least one layer and at least one column of storage units, the size of the storage units in the same column may be the same, the size of each column of storage units in the same row may be different, and the size of each column of storage units may be adjusted according to the size of stored cargo, so as to store large cargo and small cargo. In addition, the storage units in the same column can form a cargo way, and the storage units in the same cargo way store one same cargo in a stacking mode. The bottom of each storage unit is a telescopic bottom surface, after the telescopic bottom surfaces of the storage units are contracted, the goods in the storage units can fall to the next storage unit along the goods channel, and the goods in the bottommost storage unit of the same goods channel can fall to the carrying equipment below the goods channel. When the handling device reaches the sorting area below the lane, a load can be dropped from the bottom.

Each storage unit is provided with a combination of various sensors, including an infrared sensor, a Radio Frequency Identification (RFID) module and/or a code scanning module. Whether goods are stored in the storage unit or not can be known through the sensor combination. If the storage unit stores goods, the sensor combination can acquire goods information and send the goods information to the server so as to manage the goods.

Specifically, the position information of the carrying equipment can be sent to the server in the moving process of the carrying equipment based on the goods taking path, and of course, the server can also monitor the moving state of the carrying equipment in real time and send the goods taking arrival information to the goods shelf when the carrying equipment arrives at a goods channel in which target goods are stored in a stack form. After receiving the goods taking arrival information, the goods shelf can contract the bottom surface of the bottommost storage unit of the corresponding goods channel so as to release the goods stored in the bottommost storage unit to the carrying equipment. Of course, if the handling device needs to handle a plurality of goods in the lane, the bottom surface of the penultimate storage unit may continue to be retracted until the target number of goods is dropped onto the handling device.

In practical application, during the moving process of the carrying equipment based on the goods taking path, the position information of the carrying equipment can be directly sent to the goods shelf with the target goods stored in the stack form, and the goods taking arrival information is sent to the goods shelf after the position information is superposed with the position information of the goods channel with the target goods stored.

In addition, after receiving all the target goods, the carrying equipment can continue to carry the target goods to the sorting ports corresponding to the target goods based on the goods taking path, so that the goods taking in the warehousing system is realized.

In the embodiment of the invention, the goods shelf for storing the target goods in the stack form can deliver the stored target goods to the carrying equipment under the condition of no manual participation, so that the unmanned delivery of the target goods is realized, and the carrying equipment can further carry the target goods to the corresponding sorting ports of the target goods, so that the goods taking and sorting of the target goods contained in the current order are realized, and the goods taking efficiency is improved.

The cargo handling method provided by the embodiment of the invention comprises the following steps: after the carrying equipment is selected, determining a goods taking path of target goods contained in the current order; sending the goods taking path to the carrying equipment so that the carrying equipment moves based on the goods taking path; when the carrying equipment reaches a shelf in which the target goods are stored in a stack form, goods taking arrival information is sent to the shelf, so that the shelf puts the target goods to the carrying equipment. According to the technical scheme, after the idle carrying equipment for taking goods is selected, the goods taking path of the carrying equipment can be determined according to the position information of the carrying equipment, the position information of the target goods contained in the current order and the target position, the goods taking path is sent to the carrying equipment, the carrying equipment can go to the goods shelf with the target goods stored in the stack form based on the goods taking path, the carrying equipment reaches the goods shelf, the target goods can be released to the carrying equipment based on the goods channel of the stack type goods shelf after the goods shelf receives the reaching information, the goods taking of the target goods is achieved under the condition of no manual participation, unmanned and the goods taking of the information storage are achieved, and the goods taking efficiency of the storage is improved.

Example two

Fig. 4 is a flowchart of a cargo handling method according to a second embodiment of the present invention, which is embodied on the basis of the second embodiment. As shown in fig. 4, in this embodiment, the method may further include:

step 410, after the handling equipment is selected, the pick-up path of the target goods included in the current order is determined.

Fig. 5 is a flowchart of step 410 of a cargo handling method according to a second embodiment of the present invention, as shown in fig. 5, in an implementation manner, determining a pickup path of a target cargo included in a current order includes:

step 4110, determining target position information and destination position information of the target goods contained in the current order.

In the embodiment of the present invention, the manner of allocating the target goods to each transporting device and then determining the goods taking path of each transporting device is the same, and the following description will take an example in which the server allocates the target goods to one transporting device and determines the goods taking path of the transporting device.

In one embodiment, determining the target location information and the destination location information of the target goods included in the current order includes: and determining the current position of the target cargo as the target position information, and determining the target position information according to the target address of the target cargo.

Specifically, the current position of a lane in a shelf storing target goods, each of which may include at least one due to at least one target goods, may be determined as the target position information. Therefore, at least one lane of at least one shelf may store the target item, and thus, the current order may correspond to at least one target location information to instruct the handling apparatus to move to each lane to receive the target item.

Preferably, determining the destination location information according to the destination address of the target cargo includes: and determining a sorting port corresponding to the target goods according to the corresponding relation between the destination address and the sorting port, and determining the sorting position information of the sorting port as the destination position information.

Specifically, the destination address may include province and city information, and the server may store a correspondence between the province and city information and sorting ports, for example, the black dragon river province, the liang province, and the jilin province may correspond to a first sorting port, and the beijing city, the tianjin city, and the hebei province may correspond to a second sorting port, and the like. In practical applications, the destination address may further include area information, and the server may store a correspondence between the area information and the sorting openings, for example, the east China area may correspond to the first sorting opening, the north China area may correspond to the second sorting opening, the northwest China area may correspond to the third sorting opening, and the like. The server can determine province and city information contained in the destination address, and further determine a sorting opening corresponding to the destination address according to the province and city information and the corresponding relation between the province and city information and the sorting opening. Of course, the server may also store sorting position information, which is position information of each sorting opening, and after determining the sorting opening corresponding to the destination address, the server may determine the sorting position information of the sorting opening as the destination position information.

In the embodiment of the invention, the current position of the goods channel in the goods shelf for storing the target goods can be determined as the target position information, and the sorting position information of the sorting port corresponding to the destination of the target goods can be determined as the target position information, so that the goods taking path can be determined.

Step 4120, determining a goods taking path of the conveying equipment according to the first initial position information, the target position information and the target position information of the conveying equipment.

After the selected carrier device is selected, the selected carrier device may transmit its first initial position information to the server.

Specifically, the server may sequentially connect first initial position information of the conveying apparatus, target position information of each target cargo, and the sequentially connected first initial position, each target position information, and each target position information may constitute a plurality of preselected pickup paths.

The system comprises a sorting port, a conveying device, a sorting port, a conveying device, a sorting port and a receiving device, wherein the sorting port is arranged on the conveying device, the conveying device is arranged on the sorting port, and the receiving device is arranged on the sorting port.

In the embodiment of the invention, the shortest path in the plurality of preselected goods taking paths can be determined as the goods taking path.

As mentioned above, in practical applications, the pick path may be a spatiotemporal path. The server may determine time information of the conveying apparatus from the first initial position to each piece of target position information and time information to each sorting gate based on the speed of the conveying apparatus, the first initial position information, each piece of target position information and distance information between the sorting gates, and determine a plurality of preselected pickup paths based on each piece of target position information and time information to the target position information and each sorting gate and time information to the sorting gate. Of course, the shortest spatiotemporal path among the plurality of preselected pickup paths may also be determined as the pickup path.

In one embodiment, after determining the pickup path of the target goods included in the current order, the method further includes: determining whether the goods taking path and other current space-time paths have position conflicts at the same time or not; if the goods taking path is determined to have position conflict with other current space-time paths at the same time, the goods taking is carried out on the target goods contained in the next order; otherwise, continuing to send the goods taking path to the carrying equipment.

Specifically, after the pickup path is determined, other spatiotemporal paths in the same warehouse in the warehousing system can be searched, whether position conflicts exist between the pickup path and the current other spatiotemporal paths at the same time or not is determined, and specifically, whether coincidence exists between each position information in the pickup path and the corresponding time information, and whether coincidence exists between each position information in the current other spatiotemporal paths and the corresponding time information. If the goods taking path is determined to have position conflict with other current space-time paths at the same time, the goods taking is carried out on the target goods contained in the next order; otherwise, the goods taking path is continuously sent to the carrying equipment.

It should be noted that the server may receive an order pool sent by another system, for example, a shopping platform, where a preset number of orders may be stored in the order pool, and if the pickup path of the current order and the current other spatiotemporal path have a position conflict at the same time, return the current order to the order pool, and re-determine the pickup path of the next order until the determined pickup path and the current other spatiotemporal path have no position conflict at the same time. Of course, the orders returned to the order pool may be processed after the next order is placed, or the order of processing may be randomly determined.

In the embodiment of the invention, the server can determine the shortest space-time path without the conflict space-time path as the goods taking path and can lock the goods taking path so as to take the goods taking path as other current space-time paths of the next goods taking path determined by the next order and determine the next goods taking path conveniently.

Step 420, sending the pickup path to the carrying device so that the carrying device moves based on the pickup path.

In the first embodiment, step 420 has already been described in detail, and is not described herein again.

And 430, when the transporting equipment reaches a shelf in which the target goods are stored in a stack form, sending goods taking arrival information to the shelf so that the shelf puts the target goods to the transporting equipment.

Preferably, the rack includes at least one vertically arranged lane, each lane includes at least one storage unit, and each storage unit of each lane stores goods in a stack form, and the rack drops the target goods near the handling apparatus to the handling apparatus when the handling apparatus reaches the rack.

In the embodiment of the invention, when the carrying equipment reaches the goods channel with the target goods stored in the goods shelf, the goods shelf can control to open the bottom surface of the bottommost storage unit of the goods channel so as to release the goods stored in the bottommost storage unit to the carrying equipment.

And 440, after determining a replenishment instruction, determining a replenishment path according to the selected carrying equipment and the replenishment instruction, and sending the replenishment path to the carrying equipment, so that the carrying equipment carries the goods to be replenished to the goods shelf to be replenished from the upstream replenishment port of the goods to be replenished on the basis of the replenishment path.

The server may generate a replenishment instruction in an idle time period, where the idle time period indicates that the number of the handling devices in the idle state is greater than a preset value, the preset value may be determined according to the total number of the handling devices, and specifically, 70% of the total number of the handling devices may be determined as the preset value. If the number of the conveyance devices in the idle state is greater than 70% of the total number of the conveyance devices, a replenishment instruction is generated. Of course, the server can also generate a replenishment instruction after receiving replenishment information input by a manager based on the terminal equipment. In addition, the goods shelf can determine whether goods are out of stock according to the sensor combination, and the server can also generate a goods replenishment instruction after acquiring the goods out-of-stock instruction sent by the goods shelf. The selected handling device may be any idle handling device.

In one embodiment, determining a replenishment path based on the selected handling equipment and the replenishment order comprises: determining upstream position information corresponding to an upstream replenishing port of goods to be replenished contained in the replenishing instruction and position information corresponding to goods to be replenished of goods shelves of the goods to be replenished; and determining the replenishment path according to the selected second initial position information of the carrying equipment, the upstream position information and the position information to be replenished.

Specifically, the replenishment instruction may include type information of the goods to be replenished, and the storage location of the goods of the type may be determined according to the type information, so as to determine an upstream replenishment port corresponding to the storage location and upstream location information of the upstream replenishment port. The replenishment instruction can also comprise a cargo channel of the cargo shelf to be replenished, and the position information of the cargo channel can be determined as the position information of the cargo to be replenished.

In the embodiment of the invention, the carrying equipment can replenish goods to be replenished of at least one goods channel at one time.

As described above, the pick-up path may be determined, and the replenishment path may be determined based on the second initial position information, the upstream position information, and the to-be-replenished position information of the selected carrier.

Specifically, the server may sequentially connect the second initial position information of the handling apparatus, the upstream position information of each item to be replenished, and the item to be replenished position information of each item to be replenished, and the sequentially connected second initial position information, each upstream position information, and each item to be replenished may constitute a plurality of pre-selected replenishment paths.

The system comprises a conveying device, a goods channel, a goods shelf, a goods channel and a goods channel.

Likewise, the shortest path of the plurality of preselected replenishment paths may be determined to be a replenishment path.

As mentioned above, in practical applications, the replenishment path may also be a spatiotemporal path. The server can determine time information from the second initial position to each upstream replenishment port and time information to the lane of each shelf to be replenished of the carrying equipment according to the speed of the carrying equipment, the second initial position information and the distance information between each upstream replenishment port and the lane of the shelf to be replenished, and determine a plurality of preselected replenishment paths according to each upstream position information and the time information to the upstream replenishment port and each position information to be replenished and the time information to the lane of the shelf to be replenished.

Of course, the shortest spatiotemporal path among the plurality of pre-selected replenishment paths may also be determined as the replenishment path.

After determining the replenishment path, the method further comprises the following steps: determining whether a replenishment path and other current space-time paths have position conflicts at the same time; if the position conflict between the replenishment path and other current space-time paths at the same time is determined, replenishing goods for the next goods to be replenished; otherwise, continuing to send the replenishment path to the carrying equipment.

Specifically, after the replenishment path is determined, other space-time paths in the same warehouse in the warehousing system can be searched, whether position conflicts exist between the replenishment path and the current other space-time paths at the same time or not is determined, and specifically, whether coincidence exists between each position information in the replenishment path and the corresponding time information, and whether coincidence exists between each position information in the replenishment path and the corresponding time information in the current other space-time paths or not can be determined. If the position conflict between the replenishment path and other current space-time paths at the same time is determined, replenishing goods for the next goods to be replenished; otherwise, continuing to send the replenishment path to the carrying equipment.

In the embodiment of the invention, the server can also determine the shortest space-time path without the conflict space-time path as the goods taking and supplementing path and can lock the goods supplementing path so as to determine other goods supplementing paths to be conveniently supplemented. Of course, the determination of the pick path is also facilitated.

And 450, when the carrying equipment reaches the goods shelf to be supplemented, sending goods supplementing arrival information to the goods shelf to be supplemented so that the goods shelf to be supplemented supplements the goods to be supplemented to the goods shelf to be supplemented.

Wherein the goods shelf to be restocked stores the restocked goods in a stack form.

Similarly, the position information of the carrying equipment can be sent to the server in the moving process based on the replenishment path, and of course, the server can also monitor the moving state of the carrying equipment in real time and send the replenishment arrival information to the shelf when the carrying equipment arrives at the goods channel of the shelf to be replenished. After the goods shelf receives the goods supplementing arrival information, goods to be supplemented loaded by the carrying equipment can be grabbed based on the grabbing equipment, and the bottom surface of the bottommost storage unit of the corresponding goods channel is contracted, so that the goods to be supplemented are stored based on the bottommost storage unit. Of course, if a plurality of goods to be replenished are needed, the bottom surface of the penultimate storage unit can be continuously contracted until all goods to be replenished are replenished to the goods passage. In practical application, the carrying equipment can directly send the position information of the carrying equipment to a goods shelf to be replenished in the moving process based on the replenishment path, and the replenishment arrival information is sent to the goods shelf after the position information is superposed with the position information of a goods channel of the goods shelf to be replenished.

In the embodiment of the invention, goods to be supplemented can be supplemented to the goods channel of the goods shelf to be supplemented without manual participation, so that unmanned goods supplementation is realized, and the goods supplementing efficiency is improved.

In the cargo handling method provided by the second embodiment of the invention, after the handling equipment is selected, the goods taking path of the target cargo contained in the current order is determined; sending the goods taking path to the carrying equipment so that the carrying equipment moves based on the goods taking path; when the carrying equipment reaches a shelf in which the target goods are stored in a stack form, goods taking arrival information is sent to the shelf, so that the shelf puts the target goods to the carrying equipment. According to the technical scheme, after the idle carrying equipment for taking goods is selected, the goods taking path of the carrying equipment can be determined according to the position information of the carrying equipment, the position information of the target goods contained in the current order and the target position, the goods taking path is sent to the carrying equipment, the carrying equipment can go to the goods shelf with the target goods stored in the stack form based on the goods taking path, the carrying equipment reaches the goods shelf, the target goods can be released to the carrying equipment based on the goods channel of the stack type goods shelf after the goods shelf receives the reaching information, the goods taking of the target goods is achieved under the condition of no manual participation, unmanned and the goods taking of the information storage are achieved, and the goods taking efficiency of the storage is improved. In addition, the replenishment of the target goods is realized based on similar processes under the condition of no manual participation, the unmanned and informatization warehousing replenishment is realized, and the efficiency of the warehousing replenishment is improved.

Fig. 6 is a flowchart of an implementation of a cargo handling method according to a second embodiment of the present invention, which exemplarily shows one implementation manner. As shown in fig. 6, includes:

step 610, after the handling equipment is selected, target position information and target position information of the target goods contained in the current order are determined.

And step 620, determining a goods taking path of the carrying equipment according to the first initial position information, the target position information and the target position information of the carrying equipment.

Step 630, determining whether the goods taking path and other current space-time paths have position conflict at the same time; if the goods taking path is determined to have position conflict with other current space-time paths at the same time, the goods taking is carried out on the target goods contained in the next order; otherwise, continuing to send the goods taking path to the carrying equipment.

And step 640, sending the goods taking path to the conveying equipment so that the conveying equipment moves based on the goods taking path.

And 650, when the transporting equipment reaches the goods shelf in which the target goods are stored in a stack form, sending goods taking arrival information to the goods shelf so that the goods shelf can deliver the target goods to the transporting equipment.

And 660, after determining a replenishment instruction, determining a replenishment path according to the selected carrying equipment and the replenishment instruction, and sending the replenishment path to the carrying equipment, so that the carrying equipment carries the goods to be replenished to the goods shelf to be replenished from the upstream replenishment port of the goods to be replenished on the basis of the replenishment path.

Step 670, when the carrying device reaches the goods shelf to be supplemented, sending goods supplementing arrival information to the goods shelf to be supplemented, so that the goods shelf to be supplemented supplements the goods to be supplemented to the goods shelf to be supplemented.

In the implementation manner of the cargo handling method provided by the second embodiment of the invention, after the handling equipment is selected, the target position information and the target position information of the target cargo contained in the current order are determined; determining a goods taking path of the carrying equipment according to the first initial position information, the target position information and the target position information of the carrying equipment; determining whether the goods taking path and other current space-time paths have position conflicts at the same time or not; if the goods taking path is determined to have position conflict with other current space-time paths at the same time, the goods taking is carried out on the target goods contained in the next order; otherwise, continuing to send the goods taking path to the carrying equipment; sending the goods taking path to the carrying equipment so that the carrying equipment moves based on the goods taking path; when the carrying equipment reaches a goods shelf in which the target goods are stored in a stack form, sending goods taking arrival information to the goods shelf so that the goods shelf can deliver the target goods to the carrying equipment; after a goods replenishment instruction is determined, determining a goods replenishment path according to the selected carrying equipment and the goods replenishment instruction, and sending the goods replenishment path to the carrying equipment, so that the carrying equipment carries goods to be replenished to a goods shelf to be replenished from an upstream goods replenishment port of the goods to be replenished on the basis of the goods replenishment path; when the carrying equipment arrives at the goods shelf to be supplemented, the goods supplementing arrival information is sent to the goods shelf to be supplemented, so that the goods shelf to be supplemented supplements the goods to be supplemented to the goods shelf to be supplemented. According to the technical scheme, after the idle carrying equipment for picking is selected, the picking path of the carrying equipment can be determined according to the position information of the carrying equipment, the position information of the target goods contained in the current order and the target position, and after the picking path is determined to have no position conflict with other current space-time paths at the same time, the picking path is sent to the carrying equipment, the carrying equipment can move to the goods shelf with the target goods stored in the stack form based on the picking path, and after the carrying equipment reaches the goods shelf and the goods shelf receives the arrival information, the target goods can be released to the carrying equipment based on the goods channel of the stack type goods shelf, picking of the target goods is achieved under the condition of no manual participation, unmanned and information storage picking is achieved, and storage picking efficiency is improved. And the replenishment of the target goods can be realized based on similar processes under the condition of no manual participation, so that the unmanned and informatization warehousing replenishment is realized, and the efficiency of warehousing replenishment is improved.

EXAMPLE III

Fig. 7 is a structural diagram of a cargo handling device according to a third embodiment of the present invention, where the cargo handling device is applicable to an unmanned cargo picking situation in an intelligent warehouse, so as to improve the cargo picking efficiency. The apparatus may be implemented by software and/or hardware and is typically integrated in a computer device.

As shown in fig. 7, the apparatus includes: the determining module 710 is configured to determine a pickup path of the target cargo included in the current order after the handling equipment is selected; a first sending module 720, configured to send the pickup path to the handling apparatus, so that the handling apparatus moves based on the pickup path; the second sending module 730 is configured to send the pickup arrival information to the shelf when the transporting apparatus arrives at the shelf storing the target cargo in a stack form, so that the shelf releases the target cargo to the transporting apparatus.

In the cargo handling apparatus provided in the third embodiment, after the handling device is selected, the pickup path of the target cargo included in the current order is determined; sending the goods taking path to the carrying equipment so that the carrying equipment moves based on the goods taking path; when the carrying equipment reaches a shelf in which the target goods are stored in a stack form, goods taking arrival information is sent to the shelf, so that the shelf puts the target goods to the carrying equipment. According to the technical scheme, after the idle carrying equipment for taking goods is selected, the goods taking path of the carrying equipment can be determined according to the position information of the carrying equipment, the position information of the target goods contained in the current order and the target position, the goods taking path is sent to the carrying equipment, the carrying equipment can go to the goods shelf with the target goods stored in the stack form based on the goods taking path, the carrying equipment reaches the goods shelf, the target goods can be released to the carrying equipment based on the goods channel of the stack type goods shelf after the goods shelf receives the reaching information, the goods taking of the target goods is achieved under the condition of no manual participation, unmanned and the goods taking of the information storage are achieved, and the goods taking efficiency of the storage is improved.

On the basis of the above embodiment, the rack includes at least one vertically arranged lane, each lane includes at least one storage unit, and each storage unit of each lane stores goods in a stack form, and when the conveying device reaches the rack, the rack drops the target goods close to the conveying device.

On the basis of the foregoing embodiment, the determining module 710 is specifically configured to: after the carrying equipment is selected, determining target position information and target position information of target goods contained in the current order; and determining the goods taking path of the carrying equipment according to the first initial position information, the target position information and the target position information of the carrying equipment.

On the basis of the above embodiment, determining the target position information and the destination position information of the target goods included in the current order includes: determining the current position of the target cargo as the target position information, and determining the target position information according to the target address of the target cargo; wherein determining the destination location information according to the destination address of the target cargo comprises: and determining a sorting port corresponding to the target goods according to the corresponding relation between the destination address and the sorting port, and determining the sorting position information of the sorting port as the destination position information.

On the basis of the above embodiment, the pick-up path is a space-time path, and accordingly, the apparatus further includes: the conflict determination module is used for determining whether the position conflict exists between the goods taking path and other current space-time paths at the same time; if the goods taking path is determined to have position conflict with other current space-time paths at the same time, the goods taking is carried out on the target goods contained in the next order; otherwise, continuing to send the goods taking path to the carrying equipment.

On the basis of the above embodiment, the apparatus further includes: the replenishment path sending module is used for determining a replenishment instruction, then determining a replenishment path according to the selected carrying equipment and the replenishment instruction, and sending the replenishment path to the carrying equipment so that the carrying equipment carries the goods to be replenished to the shelf to be replenished from the upstream replenishment port of the goods to be replenished on the basis of the replenishment path; and the replenishment module is used for sending replenishment arrival information to the shelf to be replenished when the carrying equipment arrives at the shelf to be replenished so as to make the shelf to be replenished replenish replenishing the goods to be replenished to the shelf to be replenished, wherein the shelf to be replenished stores the replenishment goods in a stack form.

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

Example four

Fig. 8 is a schematic structural diagram of a server according to a fourth embodiment of the present invention. FIG. 8 illustrates a block diagram of an exemplary server 8 suitable for use in implementing embodiments of the present invention. The server 8 shown in fig. 8 is only an example, and should not bring any limitation to the function and the scope of use of the embodiment of the present invention.

As shown in fig. 8, the server 8 is in the form of a general purpose computing electronic device. The components of the server 8 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus. The server 8 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by server 8 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The server 8 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 8, and commonly referred to as a "hard drive"). Although not shown in FIG. 8, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.

The server 8 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with the server 8, and/or with any devices (e.g., network card, modem, etc.) that enable the server 8 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the server 8 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet) via a network adapter 20. As shown in FIG. 8, the network adapter 20 communicates with the other modules of the server 8 via the bus 18. It should be appreciated that although not shown in FIG. 8, other hardware and/or software modules may be used in conjunction with the server 8, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 16 executes various functional applications and page displays by running programs stored in the system memory 28, for example, to implement the cargo handling method provided by the embodiment of the present invention, the method includes:

after the carrying equipment is selected, determining a goods taking path of target goods contained in the current order;

sending the goods taking path to the carrying equipment so that the carrying equipment moves based on the goods taking path;

when the carrying equipment reaches a shelf in which the target goods are stored in a stack form, goods taking arrival information is sent to the shelf, so that the shelf puts the target goods to the carrying equipment.

Of course, those skilled in the art will understand that the processor may also implement the technical solution of the cargo handling method provided in any embodiment of the present invention.

EXAMPLE five

An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a cargo handling method provided in this embodiment, for example, where the method includes:

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It will be understood by those skilled in the art that the modules or steps of the invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented by program code executable by a computing device, such that it may be stored in a memory device and executed by a computing device, or it may be separately fabricated into various integrated circuit modules, or it may be fabricated by fabricating a plurality of modules or steps thereof into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method of cargo handling, the method comprising:

2. The cargo handling method according to claim 1, wherein the rack includes at least one lane arranged vertically, each lane includes at least one storage unit, and each storage unit of each lane stores the cargo in a stack, and the rack drops the target cargo near the handling apparatus to the handling apparatus when the handling apparatus reaches the rack.

3. The method for handling goods according to claim 1, wherein determining the pickup path of the target goods included in the current order comprises:

determining target position information and target position information of target goods contained in the current order;

and determining the goods taking path of the carrying equipment according to the first initial position information, the target position information and the target position information of the carrying equipment.

4. The method for transporting goods according to claim 3, wherein determining the destination position information and the destination position information of the target goods included in the current order includes:

determining the current position of the target cargo as the target position information, and determining the target position information according to the target address of the target cargo;

wherein determining the destination location information according to the destination address of the target cargo comprises:

and determining a sorting port corresponding to the target goods according to the corresponding relation between the destination address and the sorting port, and determining the sorting position information of the sorting port as the destination position information.

5. The method for transporting goods according to claim 1, wherein the pickup path is a space-time path, and accordingly, after determining the pickup path of the target goods included in the current order, the method further comprises:

determining whether the goods taking path and other current space-time paths have position conflicts at the same time or not;

if the goods taking path is determined to have position conflict with other current space-time paths at the same time, the goods taking is carried out on the target goods contained in the next order;

otherwise, continuing to send the goods taking path to the carrying equipment.

6. The cargo handling method according to claim 1, further comprising:

after a goods replenishment instruction is determined, determining a goods replenishment path according to the selected carrying equipment and the goods replenishment instruction, and sending the goods replenishment path to the carrying equipment, so that the carrying equipment carries goods to be replenished to a goods shelf to be replenished from an upstream goods replenishment port of the goods to be replenished on the basis of the goods replenishment path;

when the carrying equipment arrives at the goods shelf to be supplemented, the goods supplementing arrival information is sent to the goods shelf to be supplemented, so that the goods shelf to be supplemented supplements the goods to be supplemented to the goods shelf to be supplemented, wherein the goods shelf to be supplemented stores the goods to be supplemented in a stack mode.

7. The method of cargo handling according to claim 6, wherein determining a restocking path based on the selected handling equipment and the restocking instructions comprises:

determining upstream position information corresponding to an upstream replenishing port of goods to be replenished contained in the replenishing instruction and position information corresponding to goods to be replenished of goods shelves of the goods to be replenished;

and determining the replenishment path according to the selected second initial position information of the carrying equipment, the upstream position information and the position information to be replenished.

8. A cargo handling apparatus, comprising:

the determining module is used for determining a goods taking path of the target goods contained in the current order after the carrying equipment is selected;

the first sending module is used for sending the goods taking path to the carrying equipment so as to enable the carrying equipment to move based on the goods taking path;

and the second sending module is used for sending the goods taking arrival information to the goods shelf when the carrying equipment arrives at the goods shelf in which the target goods are stored in a stacking mode, so that the goods shelf puts the target goods in the carrying equipment.

9. A server comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method of cargo handling according to any of claims 1-7.

10. A storage medium containing computer-executable instructions for performing the method of cargo handling according to any of claims 1-7 when executed by a computer processor.