CN114408425B

CN114408425B - Cargo scheduling method, device, equipment, warehousing system and storage medium

Info

Publication number: CN114408425B
Application number: CN202210023765.1A
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: 2024-05-07
Anticipated expiration: 2041-08-18
Also published as: CN114408425A; CN113387103B; CN113387103A; CN115520544A

Abstract

The embodiment of the disclosure provides a cargo scheduling method, a device, equipment, a warehousing system and a storage medium, wherein the 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 picking positions, and the picking rates of the at least two picking positions are different; according to the picking positions corresponding to the first cargoes which are being transported on the target conveying line and the picking rates of the picking positions, the picking positions and the placing sequence corresponding to the cargoes to be scheduled are determined, so that the cargoes to be scheduled are placed on the target conveying line based on the placing sequence, the cargoes to be scheduled are picked by the corresponding picking positions, the picking rates and the picking conditions of the picking positions based on the conveying line are achieved, the picking positions are automatically distributed for the cargoes to be scheduled, the placing sequence is determined, the time that the cargoes to be scheduled are all picked is shortened, and the cargo picking efficiency 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 to China patent office, the application number is 202110945552.X, the application date is 2021, and the application date is 08, 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 picking positions, and the picking rates of at least two picking positions in all the picking positions are different; and determining the picking positions and the placing orders corresponding to the goods to be dispatched according to the picking positions corresponding to the first goods which are being transported on the target conveying line and the picking rate of the picking positions, so that the goods to be dispatched are placed on the target conveying line based on the placing orders, and the goods to be dispatched are picked by the corresponding picking positions.

Optionally, determining, according to the picking positions corresponding to the first cargoes being transported on the target conveying line and the picking rates of the picking positions, the picking positions and the placing sequence corresponding to the cargoes to be scheduled, where the determining includes: according to the picking positions corresponding to the first cargoes which are being transported on the target conveying line and the picking rates of the picking positions, determining the picking positions corresponding to the cargoes to be scheduled; and determining the placing sequence of each to-be-scheduled cargo according to the corresponding picking position of each to-be-scheduled cargo.

Optionally, determining, according to the picking positions corresponding to the first cargoes being transported on the target conveying line and the picking rates of the picking positions, the picking positions corresponding to the cargoes to be scheduled, includes: determining the dispatching quantity of the goods to be dispatched corresponding to each picking position according to the picking position corresponding to each first goods being transported on the target conveying line and the picking rate of each picking position so as to minimize the difference value of a first ratio and a second ratio, wherein the first ratio is the ratio of the picking quantity corresponding to each picking position, the second ratio is the ratio of the picking rate of each picking position, and the picking quantity is the sum of the dispatching quantity corresponding to the picking position and the quantity of the first goods; and determining the picking positions corresponding to the goods to be dispatched according to the dispatching quantity corresponding to the picking positions.

Optionally, determining the placing sequence of each to-be-scheduled cargo according to the picking position corresponding to each to-be-scheduled cargo includes: and determining the placing sequence of each to-be-scheduled cargo according to the picking positions corresponding to each to-be-scheduled cargo, the picking rate of each picking position and the quantity of the first cargoes corresponding to each picking position.

Optionally, determining the placing order of each to-be-dispatched cargo according to the picking position corresponding to each to-be-dispatched cargo, the picking rate of each picking position and the number of the first cargos corresponding to each picking position, including: determining a first picking time of each picking station according to the quantity of the first cargoes corresponding to each picking station and the picking rate of each picking station; and determining the placing sequence of each to-be-dispatched cargo according to the first picking time of each to-be-dispatched cargo, the corresponding picking position of each to-be-dispatched cargo and the position of each to-be-dispatched cargo.

Optionally, the target conveying line comprises at least two sub conveying lines, each sub conveying line comprises at least one manual picking position and at least one mechanical arm picking position, the picking rate of the manual picking position is smaller than that of the mechanical arm picking position, the manual picking position is picked by an operator, the mechanical arm picking position is picked by a mechanical arm, and the mechanical arm picking positions of the sub conveying lines of the target conveying line all correspond to the same mechanical arm; according to the picking positions corresponding to the first cargos being transported on the target conveying line and the picking rates of the picking positions, determining the dispatching quantity of the cargos to be dispatched corresponding to the picking positions comprises the following steps: determining a first ratio according to the number of the manual picking stations, the picking rate of the manual picking stations and the picking rate of the mechanical arm picking stations on the target conveying line; according to the quantity of the first cargos corresponding to each picking position of each sub-conveying line, determining the first total quantity of the first cargos corresponding to the manual picking position of the target conveying line and the second total quantity of the first cargos corresponding to the mechanical arm picking position; determining the dispatching quantity of the cargos to be dispatched corresponding to each picking position according to the first proportion, the first total quantity and the second total quantity, so that the ratio of the total quantity of cargos to be picked by each mechanical arm picking position to the total quantity of cargos to be picked by each manual picking position of the target conveying line is close to the first proportion, and/or the ratio of the mechanical arm picking position of each sub conveying line to the total quantity of cargos to be picked by the manual picking position is close to the second proportion, and/or the total quantity of cargos to be picked by each manual picking position of the sub conveying line is close to the second proportion, wherein the second proportion corresponding to each sub conveying line is the ratio of the picking rate of the mechanical picking position to the first product, and the first product is the product of the quantity of the manual picking position corresponding to the sub conveying line and the picking rate of the manual picking position, and the cargos to be picked include the corresponding first cargos to be dispatched.

Optionally, the target conveying line includes a first sub conveying line and at least one second sub conveying line, when the goods to be scheduled all correspond to the first sub conveying line, the first sub conveying line is any one sub conveying line of the target conveying line, and according to the first proportion, the first total number and the second total number, the scheduling number of the goods to be scheduled corresponding to each picking position is determined, including: determining a first scheduling number of the goods to be scheduled corresponding to the manual picking position of the first sub-conveying line according to the first proportion, the first total number and the second total number; and determining a second dispatching quantity of the to-be-dispatched cargoes corresponding to each picking position of the first sub-conveying line according to the first dispatching quantity, the quantity of the first cargoes of the manual picking position of the first sub-conveying line, the quantity of the first cargoes of the mechanical arm picking position of the first sub-conveying line and the second proportion, so as to minimize the difference value of the ratio of the second picking quantity to the first picking quantity and the second proportion, wherein the first picking quantity is the sum of the second dispatching quantity corresponding to the mechanical arm picking position of the first sub-conveying line and the quantity of the corresponding first cargoes, and the second picking quantity is the sum of the first dispatching quantity corresponding to the manual picking position of the first sub-conveying line and the quantity of the second dispatching quantity and the corresponding first cargoes.

Optionally, the target conveying line includes a first sub conveying line and a second sub conveying line, the number of cargoes to be dispatched that the first sub conveying line corresponds is a first number, the number of cargoes to be dispatched that the second sub conveying line corresponds is a second number, each sub conveying line includes at least one manual picking position and at least one mechanical arm picking position, the picking rate of the manual picking position is smaller than the mechanical arm picking position, the manual picking position is picked by the operator, the mechanical arm picking position is picked by the mechanical arm, and the mechanical arm picking positions of each sub conveying line of the target conveying line all correspond to the same mechanical arm, and according to the picking positions corresponding to each first cargoes being transported on the target conveying line and the picking rates of each picking position, the dispatching number of cargoes to be dispatched that each picking position corresponds is determined, including: establishing a binary once equation of the dispatching quantity of the goods to be dispatched corresponding to each picking position according to a first proportion and the quantity of the first goods corresponding to each picking position, wherein the constraint condition of the binary once equation comprises that the picking quantity corresponding to the manual picking position of the first sub-conveying line is equal to the picking quantity corresponding to the manual picking position of the second sub-conveying line, and the ratio of the sum of the picking quantity corresponding to each mechanical arm picking position to the sum of the picking quantity corresponding to each manual picking position is equal to a third proportion, wherein the third proportion is the ratio of the picking rate of the mechanical arm picking position to a second product, the second product is the product of the quantity of the manual picking position corresponding to the target conveying line and the picking rate of the manual picking position, and the picking quantity is the sum of the quantity of the first goods corresponding to the picking position and the dispatching quantity; solving the binary once equation to obtain the dispatching quantity of the goods to be dispatched corresponding to each picking position; and when the scheduling number corresponding to any one of the picking positions is not an integer, rounding the scheduling number so that the sum of the scheduling numbers corresponding to the picking positions is equal to the sum of the first number and the second number.

Optionally, determining, according to the picking positions corresponding to the first cargoes being transported on the target conveying line and the picking rates of the picking positions, the picking positions corresponding to the cargoes to be scheduled, includes: determining first picking time of each picking position according to the picking position corresponding to each first cargo being transported on the target conveying line, the picking task of each first cargo and the picking rate of each picking position; and determining the picking positions corresponding to the goods to be scheduled according to the first picking time of each picking position.

Optionally, determining the first picking time of each picking station according to the picking station corresponding to each first cargo being transported on the target conveying line and the picking rate of each picking station includes: for each picking station, determining a picking order of a respective first shipment corresponding to the picking station being transported on the target conveyor line; and determining the first picking time of the picking position according to the picking task of each first cargo corresponding to the picking position and the picking speed of the picking position.

Optionally, determining, according to the first picking time of each picking position, a picking position corresponding to each cargo to be scheduled, including:

and determining the picking positions corresponding to the goods to be dispatched according to the first picking time of each picking position, the picking rate of each picking position and the picking tasks of the goods to be dispatched.

Optionally, the picking positions of the target conveying lines comprise at least two sub conveying lines, each sub conveying line comprises at least one manual picking position and at least one mechanical arm picking position, the picking speed of the manual picking position is smaller than that of the mechanical arm picking position, the manual picking position is picked by an operator, the mechanical arm picking positions are picked by mechanical arms, and the mechanical arm picking positions of the sub conveying lines of the target conveying line correspond to the same mechanical arm; according to the first picking time of each picking position, the picking rate of each picking position and the picking task of each to-be-dispatched goods, determining the picking position corresponding to each to-be-dispatched goods, including: and determining the picking positions corresponding to the goods to be dispatched according to the first picking time of each manual picking position, the maximum value in the first picking time of each mechanical arm picking position, the picking task of each goods to be dispatched and the picking rate of each picking position.

Optionally, determining the placing sequence of each to-be-scheduled cargo according to the picking position corresponding to each to-be-scheduled cargo includes:

and determining the placing sequence of each to-be-dispatched cargo according to the first picking time of each picking position and the picking position corresponding to each to-be-dispatched cargo.

Optionally, the target transfer chain includes two piece at least sub-transfer chains, and every sub-transfer chain includes two at least pickles, and according to the first time of picking of each pickles and the pickles that each goods that wait to dispatch corresponds, confirm the order of placing of each goods that wait to dispatch, include: 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, 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 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 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-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, the working time of each to-be-dispatched cargo and the corresponding to-be-dispatched cargo.

Optionally, determining the placing sequence of each to-be-dispatched cargo according to the first picking time of each picking position and the picking position corresponding to each to-be-dispatched cargo, including: determining each alternative sequence of goods to be scheduled; for each alternative sequence, determining the second picking time of the target conveying line according to the first picking time of each picking position on the target conveying line, the picking position corresponding to each to-be-dispatched cargo and the sequence 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.

In a second aspect, embodiments of the present disclosure further provide a cargo scheduling device, the device including: the goods determining module is used for determining each goods to be scheduled at a goods entrance of the target conveying line, wherein the target conveying line comprises at least two picking positions, and the picking rates of at least two picking positions in all the picking positions are different; and the goods scheduling module is used for determining the picking positions and the placing orders corresponding to the goods to be scheduled according to the picking positions corresponding to the first goods which are being transported on the target conveying line and the picking rate of the picking positions, so that the goods to be scheduled are placed on the target conveying line based on the placing orders, and the picking of the goods to be scheduled is carried out by the corresponding picking positions.

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 by an embodiment corresponding to the third aspect of the present disclosure, where the target conveying line includes at least two sub conveying lines, each sub conveying line includes at least two picking positions, and at least two picking positions in all the picking positions have different picking rates.

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 provided with the target conveying line, the target conveying line comprises at least two picking positions, the picking rates of the at least two picking positions are different, in order to improve the goods picking efficiency, the goods scheduling method is provided, in the goods scheduling method, the picking positions corresponding to the first goods which are being transported on the target conveying line and the picking rates of the picking positions are achieved, the picking positions are allocated to the goods to be scheduled, the placing sequence of the goods to be scheduled is determined, accordingly, the time that the goods to be scheduled are all picked is shortened, 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 flowchart of step S202 in the embodiment of FIG. 2 of the present disclosure;

Fig. 6 is a schematic structural view of a target conveyor line according to another embodiment 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 flow chart of a cargo scheduling method provided by another embodiment of the present disclosure;

FIG. 9 is a flowchart of step S804 in the embodiment of FIG. 8 of the present disclosure;

FIG. 10 is a flowchart of step S804 in the embodiment of FIG. 8 of the present disclosure;

FIG. 11 is a flowchart of step S806 in the embodiment of FIG. 8 of the present disclosure;

fig. 12 is a schematic structural view of a cargo scheduling device according to an embodiment of the present disclosure;

fig. 13 is a schematic structural view of a cargo scheduling apparatus according to an embodiment of the present disclosure;

Fig. 14 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 rack 121 of the robot 120 are often placed on the conveyor line 140 in a default order, such as from high to low or from low to high, and alternately conveyed to each picking position to sort the cargos 130, such as conveying the first cargo placed on the conveyor line 140 to a picking position far from the cargo entrance I for picking, and conveying the second cargo placed on the conveyor line 140 to a picking position near to the cargo entrance I for picking.

In the prior art, a cargo scheduling manner of alternately distributing cargos 130 to each picking position is adopted, and the condition of the currently processed picking task of each picking position of the conveying line 140 is not considered, so that the idle time of one picking position is longer, and the condition that a plurality of cargos 130 wait for picking at another picking position for a long time occurs, so that the cargo picking efficiency is lower.

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: based on the picking condition of each picking position of the target conveying line and the picking rate of each picking position, the picking positions corresponding to each to-be-dispatched goods and the placing sequence of each to-be-dispatched goods are determined, so that the time required for all to-be-dispatched goods 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 includes at least two picking stations, and the picking rates of at least two picking stations are different among all 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 destination conveyor line may include only one conveyor line with a plurality of picking stations disposed thereon for delivering the goods to be dispatched via the conveyor mechanism of the conveyor line and for picking the goods to be dispatched via the respective picking stations.

In some embodiments, the target conveyor lines may include two, three, four, or other values of sub-conveyor lines, each of which may perform the corresponding delivery and picking of the goods to be scheduled, and each of which may correspond to a set of goods entry and goods exit.

In some embodiments, one or more picking stations may be provided on each sub-conveyor line. The number of picking stations on each sub-conveyor line may be the same or different and the sub-conveyor line 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 identification of each cargo to be scheduled can be identified at the cargo entrance of the target conveying line, and then each cargo to be scheduled is determined based on the cargo identification.

In some embodiments, each of the to-be-dispatched cargoes may be carried by the robot to the cargo access of the target conveyor line and the cargo identification of each of the to-be-dispatched cargoes may be sent by the robot to the cargo dispatching device.

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 picking position and a placing order corresponding to each to-be-dispatched cargo according to a picking position corresponding to each first cargo being transported on the target conveying line and a picking rate of each picking position, so as to place each to-be-dispatched cargo on the target conveying line based on the placing order, and picking each to-be-dispatched cargo by the corresponding picking position.

The goods to be dispatched are goods which are transported to the goods entrance of the target conveying line and need to be sorted by the target conveying line, the goods to be dispatched are not placed on the target conveying line, the first goods are the goods which are placed on the target conveying line and are being transported by the target conveying line, or the goods which are distributed to each picking position and placed on the target conveying line and the like can be understood. After the picking position corresponding to the goods to be dispatched is determined and the goods to be dispatched are placed on the target conveying line, the goods to be dispatched are converted into the first goods.

When the goods to be dispatched are carried to the goods entrance of the target conveying line, one or more first goods which are being transported may exist on the target conveying line, and then the picking positions corresponding to the goods to be dispatched and the placing sequence of the goods to be dispatched may be determined based on the picking positions corresponding to the first goods and the picking rate of the picking positions. Specifically, the picking position corresponding to the first cargo to be scheduled in the placement sequence should preferably select the picking position with the least corresponding first cargo and the highest picking rate.

Specifically, the sorting positions can be sorted according to the corresponding first cargoes and the sorting rate, and the sorting positions and the placing sequence corresponding to the cargoes to be scheduled are determined based on the sorting result.

Further, for each picking position, a first score of the picking position can be determined according to the quantity of the first cargoes corresponding to the picking position and the picking rate of the picking position, and the picking positions are sorted according to the first score from high to low to obtain a sorting result.

Further, for each picking position, a first score of the picking position can be determined according to the sum of the picking tasks of the first cargoes corresponding to the picking position, namely the total picking task of the first cargoes, and the picking rate of the picking position, and the picking positions are sorted according to the first score from high to low, so that a sorting result is obtained. Wherein the first fraction of picking stations is in positive correlation with the picking rate of the picking stations and in inverse correlation with the total number of picking orders of the picking stations. The first score may be used to describe the time required for the picking station to complete all of the first shipments, the higher the first score, the shorter the time required.

Illustratively, the relationship of the first score S _i for the ith pick digit may be: Or alternatively Wherein v _i is the picking rate of the ith pick station; m _i is the sum of the picking tasks of the first cargoes corresponding to the ith picking position or the number of the first cargoes corresponding to the ith picking position; w ₁、w₂ and w ₃ are a first weight value, a second weight value, and a third weight value, respectively.

In some embodiments, when there is a first item being picked at a pick location, or waiting for a first item to be picked, a subsequently dispatched item to a pick location downstream of the pick location may still be conveyed to a pick location downstream thereof by the pick location, then the order of placement may be consistent with the ordering result of the first score of the pick location corresponding to the item to be dispatched.

In some embodiments, if the number of first cargoes corresponding to each picking position is 0, or the ratio of the picking rates of each picking position is consistent with the ratio of the numbers of the corresponding first cargoes, the cargoes to be scheduled corresponding to each picking position may be determined based on the picking rate of each picking position, and further, the placing order of each cargoes to be scheduled may be determined based on the position of each picking position, that is, the distance from the cargoes entrance. Specifically, the more distant the goods entrance is, the more forward the placement order of each of the goods to be scheduled is corresponding to the pick location.

By way of example, assuming there are 5 picking stations on the target conveyor line, from near to far from the load entrance, picking stations 1 to 5 in sequence, the ratio of the picking rates of picking stations 1 to 5 being 1:1:1:3:2, and there being no first load being conveyed on the target conveyor line, i.e. the number thereof being 0. The number of the cargoes to be dispatched is 16, the picking task of each cargoes to be dispatched is 100 articles A1 to be picked, and the number of the cargoes to be dispatched corresponding to the picking positions 1 to 5 can be determined to be respectively: 2.2, 6 and 4, the placing sequence of the goods to be scheduled is as follows: 4 cargoes to be scheduled corresponding to the picking position 5, 6 cargoes to be scheduled corresponding to the picking position 4, 2 cargoes to be scheduled corresponding to the picking position 3, 2 cargoes to be scheduled corresponding to the picking position 2 and 2 cargoes to be scheduled corresponding to the picking position 1.

Further, after determining the placement order, the robot may be controlled to place each of the goods to be scheduled on the target conveying line based on the placement order.

According to the goods scheduling method provided by the embodiment of the disclosure, aiming at a warehouse system provided with a target conveying line, the target conveying line comprises at least two picking positions, and the picking rates of the at least two picking positions are different, in order to improve the goods picking efficiency, the goods scheduling method is provided, in the goods scheduling method, the picking positions corresponding to the first goods which are being transported on the target conveying line and the picking rates of the picking positions are realized, the picking positions are allocated for the goods to be scheduled, the placing order of the goods to be scheduled is determined, accordingly, the time for the goods to be scheduled to be completely picked is shortened, and the goods picking efficiency is improved.

Optionally, fig. 5 is a flowchart of step S202 in the embodiment shown in fig. 2 of the present disclosure, and as shown in fig. 5, step S202 may include the following steps:

Step S2021, determining a picking position corresponding to each to-be-dispatched cargo according to the picking position corresponding to each first cargo being transported on the target conveying line and the picking rate of each picking position.

Specifically, the number of the first cargoes corresponding to each picking position can be counted according to the picking position corresponding to the first cargoes. And further determining the picking positions corresponding to the goods to be scheduled based on the quantity of the first goods corresponding to each picking position and the picking rate of each picking position.

In some embodiments, the pick orders for the various items to be dispatched may be the same. According to the picking positions corresponding to the first cargoes being transported on the target conveying line and the picking rates of the picking positions, determining the picking positions corresponding to the cargoes to be scheduled comprises the following steps: and determining the dispatching quantity of the goods to be dispatched corresponding to each picking position according to the picking position corresponding to each first goods being transported on the target conveying line and the picking rate of each picking position, so as to minimize the difference value between the first ratio and the second ratio, and determining the picking position corresponding to each goods to be dispatched according to the dispatching quantity corresponding to each picking position. The picking tasks of the goods to be dispatched comprise the objects which need to be picked from the goods to be dispatched, wherein the goods to be dispatched can only store the object, or can store various objects, and the goods to be dispatched can be a bin.

The first ratio is the ratio of the picking quantity corresponding to each picking position, the second ratio is the ratio of the picking rate of each picking position, and the picking quantity is the sum of the dispatching quantity corresponding to the picking position and the quantity of the first cargoes.

Specifically, after the dispatching quantity of the goods to be dispatched corresponding to each picking position is determined, as the picking tasks of the goods to be dispatched are the same, the goods to be dispatched corresponding to the dispatching quantity of the goods to be dispatched are distributed to each picking position only according to the determined dispatching quantity.

By way of example, assuming that the destination conveyor line comprises 2 picking stations, picking station 6 and picking station 7, picking station 6 corresponds to 2 first loads, picking station 7 corresponds to 5 first loads, the ratio of the picking rates of picking station 6 to picking station 7 is 1:2, the number of loads to be dispatched is 11, the picking order of each load to be dispatched is the same, it may be determined that the number of dispatches to be dispatched corresponding to picking station 6 is 4, the number of dispatches to be dispatched corresponding to picking station 7 is 7, such that the number of picks corresponding to picking station 6 is 6, and the number of picks corresponding to picking station 7 is 12, consistent with the ratio of the picking rates of both. After determining the dispatch number of pick sites, any 4 items to be dispatched may be associated with pick site 6, while the remaining 7 items to be dispatched are associated with pick site 7.

Step S2022, determining the placement sequence of each to-be-dispatched cargo according to the picking position corresponding to each to-be-dispatched cargo.

Specifically, after the picking positions corresponding to the goods to be dispatched are determined, in order to reduce the time required for picking all the goods to be dispatched, the placing sequence of the first batch of goods to be dispatched can be determined first, and the subsequent placing sequences of the goods to be dispatched are alternately placed according to the ratio of the picking rates and the sequence from far to near the goods entrance.

Specifically, according to the first goods corresponding to each picking position and the picking rate of each picking position, determining that the placing sequence of the first batch of goods to be dispatched is smaller as the number of the first goods corresponding to the picking position is smaller, or the sum of the picking tasks of the corresponding first goods is smaller, or the first picking time corresponding to the picking position is shorter, the placing sequence of the goods to be dispatched corresponding to the picking position is more forward, so that after the first batch of goods to be dispatched is placed on the target conveying line according to the determined sequence, the total picking task corresponding to each picking position is consistent with the picking rate of the first batch of goods, thereby counteracting the difference of the first picking time of each picking position, and enabling the final time of the corresponding first goods and the corresponding goods to be dispatched in the first batch of goods to be dispatched to be consistent or close as possible.

Optionally, determining the placing sequence of each to-be-scheduled cargo according to the picking position corresponding to each to-be-scheduled cargo includes: and determining the placing sequence of each to-be-dispatched cargo according to the picking positions corresponding to each to-be-dispatched cargo, the number of the first cargoes corresponding to each picking position and the picking rate of each picking position.

Specifically, when determining the placement sequence, in order to enable the first to-be-dispatched goods placed on the target conveying line to be picked as early as possible, it is necessary to determine the picking positions corresponding to the first to-be-dispatched goods placed on the target conveying line based on the number of the first to-be-dispatched goods corresponding to each picking position and the picking rate of each to-be-dispatched goods, and so on, thereby determining the placement sequence of each to-be-dispatched goods.

Specifically, the ratio of the number of first cargos corresponding to the picking position of the first cargos to be placed on the target conveying line to the picking rate thereof is the smallest, that is, the smaller the ratio of the number of first cargos corresponding to the picking position to the picking rate thereof is, the earlier the placing order of the cargos corresponding to the picking position is.

In some embodiments, fig. 6 is a schematic structural diagram of a target conveying line according to another embodiment of the present disclosure, where, as shown in fig. 6, the width of the target conveying line supports only one cargo passing, that is, two cargoes cannot be transported in parallel, and the cargoes are transported on the target conveying line in a direction corresponding to an arrow. Each picking position of the target conveying line corresponds to one or more buffer storage positions so as to store first cargoes needing to be picked by the picking position, and the number of the buffer storage positions can be determined according to the distance between two adjacent picking positions. When first cargoes exist on the picking position, cargoes to be dispatched corresponding to the picking position at the downstream of the picking position need to be conveyed to the downstream picking position after the picking of each first cargoes of the picking position is finished. Therefore, when the placement sequence is determined, the placement sequence of each to-be-scheduled cargo can be determined according to the corresponding picking positions of each to-be-scheduled cargo and the positions of each picking position. Wherein the position of a pick-up location may be represented by the length of the path that the goods are transported from the goods entrance to the pick-up location.

Optionally, determining the order of placing the goods to be scheduled according to the picking positions corresponding to the goods to be scheduled, the number of the first goods corresponding to the picking positions and the picking rate of the picking positions, includes: determining a first picking time of each picking station according to the quantity of the first cargoes corresponding to each picking station and the picking rate of each picking station; and determining the placing sequence of each to-be-dispatched cargo according to the first picking time of each to-be-dispatched cargo, the corresponding picking position of each to-be-dispatched cargo and the position of each to-be-dispatched cargo.

Wherein the first picking time may be used to evaluate the time required for each picking station to pick the first shipment.

In particular, the first picking time corresponding to a picking station may be determined by a ratio of the number of first loads corresponding to the picking station to the picking rate of the picking station.

Specifically, it may be determined that the picking position corresponding to the first to-be-dispatched cargo placed on the target conveying line is the picking position with the shortest first picking time.

Specifically, when there are a plurality of picking positions with the same first picking time, the more distant the picking position from the goods entrance is along the conveying direction, the more forward the placing order of the goods to be dispatched is corresponding.

Specifically, when determining the placement sequence, the smaller the number of first cargoes corresponding to the picking positions corresponding to the cargoes to be scheduled, the higher the picking rate, and the farther the positions of the picking positions are from the cargoes inlet, the earlier the placement sequence of the cargoes to be scheduled.

In the present disclosure, the distance of the location of the picking station from the load portal may be determined using the distance travelled by the load portal along the conveying direction of the target conveyor line to the picking station.

For example, assuming that the target conveying line includes 2 picking positions, namely a picking position P1 and a picking position P2, the picking position P2 is far from the cargo entrance relative to the picking position P1, the picking position P1 corresponds to 1 first cargo, the picking position P2 corresponds to 3 first cargos, the ratio of the picking rates of the picking positions P1 and the picking positions P2 is 1:2, the number of cargos to be dispatched is 5, namely cargos H1 to H5, the picking task of each cargos to be dispatched is the same, then it can be determined that the picking positions P2, H4 and H5 corresponding to H1, H2 and H3 correspond to P1, and the corresponding placing order is: h5, H1, H2, H3, H4, or H4, H1, H2, H3, H5.

In some embodiments, the picking orders of different first shipments may be different, so that the picking orders of individual first shipments should also be considered in calculating the first picking time.

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 further refined in step S2021 and step S202 based on the embodiment shown in fig. 3, and as shown in fig. 7, 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 a first picking time of each picking position according to the picking position corresponding to each first cargo being transported on the target conveying line, the picking task of each first cargo and the picking rate of each picking position.

Specifically, according to the picking positions corresponding to the first cargoes and the picking tasks of each first cargoes, the sum of the picking tasks corresponding to the first cargoes corresponding to each picking position can be counted, and the first total picking task corresponding to each picking position is obtained. And further determining a first picking time for each picking station based on the ratio of the corresponding first total picking order for each picking station to the picking rate for each picking station.

Step S703, determining the picking positions corresponding to the goods to be dispatched according to the first picking time of each picking position.

Specifically, according to the first picking time of each picking position, the picking position corresponding to each to-be-dispatched cargo is determined, so that the time for each picking position to finish the corresponding to-be-dispatched cargo is as close as possible, and the overall picking efficiency of the to-be-dispatched cargo is improved.

In some embodiments, the picking tasks of each to-be-dispatched cargo are the same, and then the number of to-be-dispatched cargos corresponding to each picking position can be determined based on the first picking time of each picking position and the picking rate of each picking position, so that the to-be-dispatched cargos with the matched number are determined to be the to-be-dispatched cargos corresponding to the picking position.

In some embodiments, if the picking tasks of at least two to-be-dispatched cargos are different, determining, according to the first picking time of each picking position, the picking position corresponding to each to-be-dispatched cargos may specifically include: according to the first picking time of each picking position, the picking rate of each picking position and the picking task of each to-be-dispatched goods, the picking position corresponding to each to-be-dispatched goods is determined, so that all the goods required to be picked at each picking position are balanced according to the picking rate, and the goods comprise the first goods and the to-be-dispatched goods.

Because of the different goods to be dispatched of the picking tasks, the picking tasks of the goods to be dispatched also need to be considered when the picking position is allocated for each goods to be dispatched. Specifically, the picking positions corresponding to the first batches of goods to be dispatched can be determined firstly based on the first picking time of each picking position, the picking task of each goods to be dispatched and the picking rate of each picking position, so that after the first batches of goods to be dispatched are distributed to each corresponding picking position, the difference of the first picking time of each picking position is counteracted, the final time of the corresponding first goods and the corresponding goods to be dispatched in the first batches of goods to be dispatched is enabled to be as consistent or close as possible, and then the picking positions corresponding to the remaining goods to be dispatched except the first batches of goods to be dispatched are determined according to the picking rate of each picking position and the picking task of each goods to be dispatched, so that the ratio of the sum of the picking tasks of the goods to be dispatched distributed by each picking position is as close as possible to the ratio of the picking rates of each picking position.

The target conveying line is exemplified by assuming that the target conveying line comprises 2 picking positions, namely, the picking position P3 and the picking position P4, wherein the first picking time corresponding to the picking position P3 and the picking position P4 is respectively 10s and 28s, the ratio of the picking rates of the respective cargos required by the picking position P3 and the picking position P4 is 1:3, the number of cargos to be dispatched is 5 and is respectively cargos H6 to H10, the picking tasks of the cargos H6 to H9 are the same, the picking task of the cargos H10 is 2 times of the cargos H6, the time required by the picking position P4 for completing the picking task of the cargos H6 is 2s, then the first cargos to be dispatched can be any one of the cargos H6 to H9, such as the cargos H6, the corresponding to the picking position P4, so that the time required by the picking task of each cargos required by the picking position P4 is 30s (the time required by the picking position P3 is 10 s), the ratio of the picking rates of the cargos to be dispatched is 1:3, the remaining cargos to be 3, namely, the cargo H7 can be dispatched to the cargos is determined to be the same as the total picking rate of the cargos to be picked by the picking position H8, and the corresponding to the picking rate is determined as the picking position H8, and the picking rate is determined based on the total and the picking rate is determined as the corresponding to be the picking rate to be the picking position to be the corresponding to the cargos to be H8. Because the picking rate of the picking position P4 is higher, the picking position corresponding to the remaining cargo H9 may be the picking position P4, so that the overall picking rate is improved, that is, the picking positions corresponding to the cargoes H8 to H10 are the picking positions P4, and the picking position corresponding to the cargoes H7 is the picking position P3.

Optionally, the picking position of the target conveying line comprises at least two sub conveying lines, each sub conveying line comprises at least one manual picking position and at least one mechanical arm picking position, the picking speed of the manual picking position is smaller than that of the mechanical arm picking position, the manual picking position is picked by an operator, the mechanical arm picking position is picked by a mechanical arm, and the mechanical arm picking positions of all the sub conveying lines of the target conveying line correspond to the same mechanical arm.

Correspondingly, according to the first picking time of each picking position, the picking rate of each picking position and the picking task of each to-be-dispatched cargo, determining the picking position corresponding to each to-be-dispatched cargo comprises the following steps: and determining the picking positions corresponding to the goods to be dispatched according to the first picking time of each manual picking position, the maximum value in the first picking time of each mechanical arm picking position, the picking task of each goods to be dispatched and the picking rate of each picking position.

When the target conveying line consists of a plurality of sub conveying lines, as the picking positions of all the mechanical arms are picked by the same mechanical arm, when the picking positions of the goods to be dispatched are determined, the maximum value of the first picking time corresponding to the picking positions of the mechanical arms of all the sub conveying lines, the first picking time of all the manual picking positions, the picking tasks of all the goods to be dispatched and the picking rate of all the picking positions are considered, and the picking positions corresponding to all the goods to be dispatched are determined.

Specifically, taking an example that each sub-conveying line includes an artificial picking position and a mechanical arm picking position, when the maximum value of the first picking time corresponding to each mechanical arm picking position of the target conveying line is greater than the first picking time of each artificial picking position, for each sub-conveying line, the picking positions of each to-be-dispatched cargo corresponding to each sub-conveying line and each picking position of each sub-conveying line can be determined according to the difference value of the maximum value and the first picking time of each artificial picking position of each sub-conveying line, the picking task of each to-be-dispatched cargo corresponding to each sub-conveying line, and the picking rate of each to-be-dispatched cargo corresponding to each sub-conveying line, including the artificial picking position and the mechanical arm picking position.

Further, for each sub-conveying line, the goods to be dispatched can be sequenced from small to large according to the task quantity of the picking task, after the difference value between the maximum value of the first picking time of the mechanical arm picking position and the first picking time of the manual picking position of the sub-conveying line is obtained, one or more goods to be dispatched of the first batch corresponding to the manual picking position is determined based on the product of the picking rate of the manual picking position and the difference value, so that the picking time of the first batch of goods to be dispatched by the manual picking position is equal to or similar to the difference value, and further, based on the ratio of the picking rate of the manual picking position to the picking rate of the mechanical arm picking position and the picking tasks of the rest goods to be dispatched, the picking position corresponding to the rest goods to be dispatched is determined, so that the ratio of the total task quantity of the goods to be dispatched by the manual picking position to the follow-up dispatching of the mechanical arm picking position is equal to or as close to the ratio of the picking rate.

For example, assume that the target conveyor line includes two sub-conveyor lines, a first sub-conveyor line L1 and a second sub-conveyor line L2, each sub-conveyor line includes two picking positions, an artificial picking position and a robot arm picking position, and the robot arm picking positions of the two sub-conveyor lines are picked by the same robot arm, and the artificial picking positions of L1 and the first picking times of the robot arm picking positions are respectively: the first picking time of the manual picking position and the mechanical arm picking position of 10s, 5s and L2 are respectively as follows: 9s, 16s, the ratio of the picking rates of the manual picking position and the mechanical arm picking position is 1:3, L1 corresponds to 4 cargoes to be dispatched, namely cargoes H11-H14, and if all the cargoes are picked by the manual picking position, the picking time required by H11-H14 is as follows in sequence: 2s, 4s, 2s, 3s; l2 corresponds 5 goods to be dispatched, namely goods H21-H25, if all are picked by manual picking positions, the required picking time of H21-H25 is as follows in sequence: 2s, 3s, 4s, 2s; the first lot of goods to be dispatched at the manual picking position corresponding to L1 can be H11 and H12, the first lot of goods to be dispatched at the manual picking position corresponding to L2 can be H22 and H23, H13 corresponds to the manual picking position of L1, and H14 corresponds to the mechanical arm picking position of L1; h21 corresponds to the manual picking position of L2, and H24 and H25 correspond to the mechanical arm picking positions.

Step S704, determining the placing sequence of each to-be-dispatched cargo according to the first picking time of each picking position and the picking position corresponding to each to-be-dispatched cargo.

Specifically, after determining the picking positions corresponding to the goods to be dispatched, so as to equalize the picking tasks of the picking positions based on the picking rate, in order to further improve the picking efficiency, the placing sequence of the goods to be dispatched needs to be determined, so that the idle time of the picking positions is reduced.

Further, the placing sequence may be determined according to a first picking time of each picking station, a picking rate of each picking station, a picking station corresponding to each to-be-dispatched cargo, and a picking task of each to-be-dispatched cargo. The method specifically can obtain a picking position with the minimum first picking time according to the first picking time of each picking position, determine that the picking position corresponding to the first to-be-dispatched goods placed on the target conveying line is the picking position with the minimum first picking time, further estimate the time required for the picking position to complete the first to-be-dispatched goods according to the picking rate of the picking position and the picking task of the first to-be-dispatched goods, update the first picking time of the picking position, obtain a new picking position with the minimum first picking time, further determine that the picking position corresponding to the second to-be-dispatched goods placed on the target conveying line is the picking position with the minimum new first picking time, and then determine the placing sequence of each to-be-dispatched goods by analogy.

In the embodiment, a first picking time required by each picking position to complete a picking task of each corresponding first cargo is determined through a picking position corresponding to each first cargo being transported on the target conveying line, the picking position of each first cargo and the picking rate of each picking position, so that the picking position is allocated to each cargo to be dispatched at a cargo inlet of the target conveying line based on the first picking time, and the picking task of each picking position is balanced based on the picking rate; and then, based on the first picking time of each picking position, the picking rate of each picking position and the picking position corresponding to each to-be-dispatched goods, the placing sequence of each to-be-dispatched goods is determined, so that the idle time of each picking position is reduced, the time required by completing the picking task of all to-be-dispatched goods is shortened, and the picking efficiency is improved.

Fig. 8 is a flowchart of a cargo scheduling method according to another embodiment of the present disclosure, where the target conveyor line includes at least two sub-conveyor lines, each sub-conveyor line includes at least one manual picking station and at least one mechanical arm picking station, a picking rate of the manual picking station is smaller than that of the mechanical arm picking station, the manual picking station is picked by an operator, the mechanical arm picking station is picked by a mechanical arm, and the mechanical arm picking stations of the sub-conveyor lines of the target conveyor line all correspond to the same mechanical arm. The cargo scheduling method provided in this embodiment is further refined in step S2021 and step S2022 on the basis of the embodiment shown in fig. 3, as shown in fig. 8, and the cargo scheduling method provided in this embodiment includes the following steps:

step S801, determining each cargo to be scheduled at the cargo entrance of the target transport line.

Specifically, when the target conveying line comprises a plurality of sub conveying lines, each sub conveying line corresponds to one cargo inlet, and each cargo to be scheduled at the cargo inlet of each sub conveying line can be determined so as to obtain each cargo to be scheduled corresponding to each sub conveying line.

Step S802, determining a first proportion according to the number of the manual picking positions, the picking rate of the manual picking positions and the picking rate of the mechanical arm picking positions on the target conveying line.

Specifically, the relation of the first ratio r ₁ may be:

Wherein v _r is the picking rate of the robotic arm picking station; v _p is the picking rate of the manual picking station; n _p is the number of manual pick positions on the target conveyor line.

In some embodiments, the destination conveyor line comprises a plurality of sub-conveyor lines, the picking rate of the manual picking stations on each sub-conveyor line being the same, as is the picking rate of the robotic arms on each sub-conveyor line.

For example, taking an example that the target conveying line comprises 2 sub conveying lines, each sub conveying line comprises one manual picking position and one mechanical arm picking position, namely, the number of the manual picking positions is 2, the ratio of the manual picking positions to the mechanical arm picking positions is 1:3, and then the first ratio is 3:2.

Step S803, determining, according to the number of first cargoes corresponding to each picking position of each sub-conveying line, a first total number of first cargoes corresponding to the manual picking position of the target conveying line and a second total number of first cargoes corresponding to the mechanical arm picking position.

Wherein the first total number is the total number of first cargos being transported corresponding to all manual picking positions on the target conveying line; the second total number is the total number of all the mechanical arm picking positions or the first cargoes corresponding to the mechanical arms on the target conveying line.

Specifically, the first total number is the sum of the numbers of the first cargoes corresponding to each manual picking position of each sub-conveying line; the second total number is the sum of the numbers of the first cargoes corresponding to the picking positions of the mechanical arms of the sub-conveying lines.

Step S804, determining the dispatching quantity of the goods to be dispatched corresponding to each picking position according to the first proportion, the first total quantity and the second total quantity.

The dispatching quantity is the quantity of goods to be dispatched corresponding to each picking position.

The distribution of the dispatching quantity is adopted, so that the ratio of the total quantity of cargos needing to be picked by each mechanical arm picking position of the target conveying line to the total quantity of cargos needing to be picked by each manual picking position is close to the first proportion, and/or the ratio of the mechanical arm picking position of each sub conveying line to the total quantity of cargos needing to be picked by the manual picking position is close to the second proportion, and/or the total quantity of cargos needing to be picked by the manual picking position of each sub conveying line is close. The second proportion corresponding to each sub-conveying line is the ratio of the picking rate of the mechanical picking positions to a first product, the first product is the product of the number of the manual picking positions corresponding to the sub-conveying line and the picking rate of the manual picking positions, and the goods to be picked comprise the corresponding first goods and the corresponding goods to be dispatched.

Specifically, the ratio of the sum of the second total number and the dispatching number corresponding to each mechanical arm picking position to the sum of the first total number and the dispatching number corresponding to each manual picking position should be as close to or equal to the first ratio as possible, and meanwhile, the sum of the first goods corresponding to the manual picking positions and the goods to be dispatched on each sub-conveying line is made to be as close to or equal to the sum of the first goods and the goods to be dispatched as possible through the dispatching number.

Illustratively, the target transport line comprises two sub-transport lines, each sub-transport line comprising an artificial picking station and a robotic picking station, the ratio of the picking rate of the robotic picking station to the picking rate of the artificial picking station being 3:1, then the first ratio being 3:2. The number of first cargoes corresponding to the manual picking position and the mechanical arm picking position of the first sub-conveying line is 2 and 4 respectively, the number of first cargoes corresponding to the manual picking position and the mechanical arm picking position of the second sub-conveying line is 3 and 5 respectively, the first total number is 5, the second total number is 9, the number of cargoes to be dispatched at the cargo inlets of the first sub-conveying line and the second sub-conveying line is 6 and 5 respectively, the dispatching number of cargoes corresponding to the manual picking position and the mechanical arm picking position of the first sub-conveying line is 3 and 3 respectively, the dispatching number of cargoes to be dispatched corresponding to the manual picking position and the mechanical arm picking position of the second sub-conveying line is 2 and 3 respectively, so that the cargoes to be picked at each manual picking position is 10, the cargoes to be picked at each mechanical arm picking position is 15, and the ratio of 15:10 is equal to the first ratio (3:2); and make the manual selection position of each sub transfer chain all 5 of total number of goods that need to be selected.

Optionally, fig. 9 is a flowchart of step S804 in the embodiment shown in fig. 8 of the present disclosure, as shown in fig. 9, when the to-be-scheduled cargoes all correspond to the first sub-conveying line, the first sub-conveying line is any one of the target conveying lines, that is, only the cargoes at the cargo inlets of the first sub-conveying line exist to-be-scheduled cargoes, and no cargoes at the cargo inlets of the other sub-conveying lines exist to-be-scheduled cargoes, and step S804 may include the following steps:

step S8041, determining a first dispatching number of the goods to be dispatched corresponding to the manual picking position of the first sub-conveying line according to the first proportion, the first total number and the second total number.

In particular, the ratio of the second total number to the sum of the first scheduling number and the first total number should be as equal as possible to the first ratio.

Illustratively, taking the first ratio as 3:2 as an example, the first total number is 5, the second total number is 9, the first scheduling number may be 1.

Step S8042, determining a second dispatching number of the to-be-dispatched cargoes corresponding to each picking position of the first sub-conveying line according to the first dispatching number, the number of the first cargoes of the manual picking position of the first sub-conveying line, the number of the first cargoes of the mechanical arm picking position of the first sub-conveying line and the second proportion, so as to minimize a difference value between a ratio of the second picking number to the first picking number and the second proportion.

The first picking number is the sum of the second dispatching number corresponding to the mechanical arm picking position of the first sub-conveying line and the number of the corresponding first cargoes, and the second picking number is the sum of the first dispatching number corresponding to the manual picking position of the first sub-conveying line, the second dispatching number and the number of the corresponding first cargoes. The first picking quantity is the sum of the quantities of the first goods and the goods to be dispatched, which are required to be picked by the mechanical arm picking position of the first sub-conveying line, and the second picking quantity is the sum of the quantities of the goods required to be picked by the manual picking position of the first sub-conveying line.

In particular, the second scheduling number should be such that the following ratio is as close as possible to the second ratio:

(N_r1+n_r2)：(N_p1+n_p1+n_p2)

N _r1 is the number of first cargoes at the mechanical arm picking position of the first sub-conveying line; n _r2 is the second dispatch number of the mechanical arm picking positions of the first sub-conveying line; n _p1 is the number of first cargoes at the manual picking position of the first sub-conveyor line; n _r is the second scheduling number of manual picking positions of the first sub-conveyor line; n _r2 is the first scheduling number of manual pick bits for the first sub-transport line.

For example, assuming that the number of the cargoes to be scheduled corresponding to the first sub-conveying line is K, and setting the first scheduling number of the manual picking positions of the first sub-conveying line to be X1, the solution of X1 may be obtained based on the first proportion, the first total number and the second total number, and when X1 is not a positive integer, rounding should be performed; further, the second scheduling number of the manual picking positions of the first sub-conveying line is set to be X2, the second scheduling number of the mechanical arm picking positions of the first sub-conveying line is set to be K-X1-X2, the solution of X2 can be obtained based on the number of the first cargos of each picking position of the first sub-conveying line and the second proportion, and rounding is performed when X2 is not a positive integer, so that the second scheduling number of each picking position of the first sub-conveying line is obtained.

Optionally, fig. 10 is a flowchart of step S804 in the embodiment shown in fig. 8 of the present disclosure, as shown in fig. 10, the target conveying line includes a first sub conveying line and a second sub conveying line, the number of cargoes to be dispatched corresponding to the first sub conveying line is a first number, the number of cargoes to be dispatched corresponding to the second sub conveying line is a second number, each sub conveying line includes at least one manual picking position and at least one mechanical arm picking position, a picking rate of the manual picking position is less than that of the mechanical arm picking position, the manual picking position is picked by an operator, the mechanical arm picking position is picked by a mechanical arm, and the mechanical arm picking positions of the respective sub conveying lines of the target conveying line all correspond to the same mechanical arm, and step S804 may include the following steps:

step S8043, establishing a binary once equation of the dispatching quantity of the goods to be dispatched corresponding to each picking position according to the first proportion and the quantity of the first goods corresponding to each picking position.

The limiting conditions of the binary one-time equation comprise that the picking number corresponding to the manual picking position of the first sub-conveying line is equal to the picking number corresponding to the manual picking position of the second sub-conveying line, and the ratio of the sum of the picking numbers corresponding to the mechanical arm picking positions to the sum of the picking numbers corresponding to the manual picking positions is equal to a third ratio. The third ratio is the ratio of the picking rate of the mechanical arm picking positions to a second product, wherein the second product is the product of the number of the manual picking positions corresponding to the target conveying line and the picking rate of the manual picking positions.

Specifically, a binary once equation of the dispatching quantity of the to-be-dispatched cargos corresponding to each picking position can be established based on the quantity of the first cargos corresponding to each manual picking position, the quantity of the first cargos corresponding to each mechanical arm and the first proportion.

For example, the first number is K ₁, the second number is K ₂, the number of first cargoes corresponding to the manual picking position and the mechanical arm picking position of the first sub-conveying line is N _p1、N_r1, the number of first cargoes corresponding to the manual picking position and the mechanical arm picking position of the second sub-conveying line is N _p2、N_r2, the first total number N ₁ is N _p1+N_p2, the second total number N ₂ is N _r1+N_r2, the scheduling number of the manual picking positions of the first sub-conveying line is x ₁, the scheduling number of the manual picking positions of the second sub-conveying line is x ₂, and the sum of the scheduling numbers corresponding to the mechanical arm picking positions is K ₁-x₁+K₂-x₂, where the binary one-time equation may be:

Wherein r ₂ is the ratio of the picking rate of the mechanical arm picking station to the picking rate of the manual picking station, which can be 3:1.

The binary once equation may also be:

Wherein r ₁ is the first ratio, which may be 3:2.

And step S8044, solving the binary one-time equation to obtain the dispatching quantity of the goods to be dispatched corresponding to each picking position.

Step S8045, when the number of schedules corresponding to any one of the picking positions is not an integer, rounding the number of schedules so that the sum of the number of schedules corresponding to each of the picking positions is equal to the sum of the first number and the second number.

Step S805, determining a picking position corresponding to each cargo to be dispatched according to the dispatching number corresponding to each picking position.

When the picking tasks of the goods to be dispatched are the same, for each picking position, the goods to be dispatched, the dispatching quantity of which is matched, can be distributed to the picking position.

Step S806, determining the placing sequence of the goods to be dispatched according to the sub-conveying line to which the goods to be dispatched belong, the first picking time of the goods to be dispatched and the picking positions corresponding to the goods to be dispatched.

Specifically, after the picking positions corresponding to the goods to be dispatched are determined, for each sub-conveying line, the placing sequence of the goods to be dispatched corresponding to the sub-conveying line is determined based on the first picking time of the picking positions of the sub-conveying line and the picking positions corresponding to the goods to be dispatched corresponding to the sub-conveying line.

In some embodiments, the mechanical arm picking position of each sub-conveying line is disposed at the downstream of the manual picking position, and then the placement order of the to-be-dispatched cargos corresponding to the sub-conveying line is determined based on the position of each picking position of the sub-conveying line, that is, based on the first picking time of each picking position of the sub-conveying line, the position of each picking position, and the picking position corresponding to the to-be-dispatched cargos corresponding to the sub-conveying line.

In this embodiment, for a target conveying line including a plurality of sub conveying lines, each sub conveying line includes a manual picking position and a mechanical arm picking position, and the mechanical arm picking positions of each sub conveying line are picked by the same mechanical arm, when goods are dispatched, in order to improve the picking efficiency, it is necessary to determine the dispatching number of the goods to be dispatched corresponding to each picking position based on a first proportion and the number of first goods corresponding to each picking position, or determine the picking positions corresponding to each goods to be dispatched, so as to balance the task amount of the manual picking position of each sub conveying line, and meanwhile, the ratio of the sum of the task amounts of the manual picking positions (or the total number of goods to be picked) of each sub conveying line to the sum of the task amounts of the mechanical arm picking positions (or the total number of goods to be picked) is as close to the ratio of the picking rates of the manual picking positions to the mechanical arm positions as possible, that is a second proportion, so that the task allocation accords with the characteristics of the picking positions of the target conveying line, and the picking efficiency is improved; furthermore, the placement order is determined based on the first picking time required by each picking position, the picking rate of each picking position and the picking position corresponding to each goods to be dispatched, so that the idle time of each picking position is reduced, and the picking efficiency is further improved.

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 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 upstream picking position is smaller than the first picking time of the downstream picking position of the sub-conveying line, determining, according to a difference value 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 respective to-be-dispatched cargos and the picking tasks corresponding to the sub-conveying line, the placing sequence of the respective to-be-dispatched cargos corresponding to the sub-conveying line, including:

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 placement sequence of each to-be-scheduled cargo corresponding to the sub-conveying line according to the maximum value of the first difference value in 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.

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.

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.

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 is earlier than the downstream picking position to pick the corresponding first goods, then, for the same goods to be dispatched, the moment when the upstream picking position starts picking the goods to be dispatched is assumed to be t1, the moment when the downstream picking position starts picking the goods to be dispatched is assumed to be t2, and t2=t1+t3, wherein t3 is the maximum value between the first difference value and the first time, and the parameter, namely, t3, can be used for evaluating the difference value between the upstream picking position and the starting picking moment of the downstream picking position for the same goods to be dispatched, so that the picking position allocation mode of the goods to be dispatched with higher efficiency is determined, and the goods to be dispatched on the target conveying line can be picked as early as possible.

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.

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.

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.

Optionally, fig. 11 is a flowchart of step S806 in the embodiment shown in fig. 8 of the present disclosure, and as shown in fig. 11, step S806 may include the following steps:

step S8061, 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 S8062, for each alternative sequence, determining a second picking time of the target conveying line according to the first picking time of each picking position on the target conveying line, the picking position corresponding to each to-be-scheduled cargo and the sequence corresponding to each to-be-scheduled 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 each to-be-dispatched cargo from the cargo inlet of the target conveying line to the time required by the corresponding picking position of the last to-be-dispatched cargo in the alternative sequence to the time required by the last to-be-dispatched cargo to reach the cargo outlet of the target conveying line, or may be the time required by each to-be-dispatched cargo from the cargo inlet of the target conveying line to the cargo outlet of the last to-be-dispatched cargo.

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 cargos corresponding to each picking position may be 0, and then the second picking time of the target conveying line under the alternative sequence is determined directly based on the picking position corresponding to each to-be-dispatched cargo and the sequence corresponding to each to-be-dispatched cargo in the alternative sequence.

Step S8063, determining the alternative sequence with the shortest second picking time as the placing 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.

Further, for each alternative sequence, the scheduling start time of each sub-conveying line of the target conveying line under the alternative sequence can be determined, and then the placement sequence is determined from each alternative sequence according to the scheduling start 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.

For example, an alternative order in which the sum of the scheduling start times corresponding to the respective sub-transmission lines is minimum and the second picking time is shortest may be determined as the placement order.

Specifically, the second score of each alternative sequence may be determined according to the scheduling start time and the second picking time corresponding to each sub-conveying line corresponding to each alternative sequence, and the alternative sequence with the highest second score is determined to be the placement sequence. Wherein the second score is inversely proportional to the second picking time and inversely proportional to the sum of the scheduling start times corresponding to the respective sub-conveyor lines.

Fig. 12 is a schematic structural diagram of a cargo scheduling device according to an embodiment of the present disclosure, as shown in fig. 12, where the device includes: a cargo determination module 1310 and a cargo scheduling module 1320.

The cargo determining module 1310 is configured to determine each cargo to be scheduled at a cargo entrance of a target conveying line, where the target conveying line includes at least two picking positions, and a picking rate of at least two picking positions in all the picking positions is different; and the cargo scheduling module 1320 is configured to determine a picking position and a placement order corresponding to each cargo to be scheduled according to a picking position corresponding to each first cargo being transported on the target conveying line and a picking rate of each picking position, so as to place each cargo to be scheduled on the target conveying line based on the placement order, so as to pick each cargo to be scheduled by the corresponding picking position.

Optionally, the cargo scheduling module 1320, includes: the picking position determining unit is used for determining the picking positions corresponding to the goods to be dispatched according to the picking positions corresponding to the first goods which are being transported on the target conveying line and the picking speed of the picking positions; and the placing order determining unit is used for determining the placing order of each to-be-scheduled cargo according to the corresponding picking position of each to-be-scheduled cargo.

Optionally, the picking position determining unit includes: a dispatching quantity determining subunit, configured to determine, according to a picking position corresponding to each first cargo being transported on the target conveying line and a picking rate of each picking position, a dispatching quantity of the cargo to be dispatched corresponding to each picking position, so as to minimize a difference value between a first ratio and a second ratio, where the first ratio is a ratio of the picking quantity corresponding to each picking position, the second ratio is a ratio of the picking rate of each picking position, and the picking quantity is a sum of the dispatching quantity corresponding to each picking position and the quantity of the first cargo; and the first picking position determining subunit is used for determining the picking positions corresponding to the goods to be dispatched according to the dispatching quantity corresponding to the picking positions.

Optionally, the placement order determining unit is specifically configured to: and determining the placing sequence of each to-be-scheduled cargo according to the picking positions corresponding to each to-be-scheduled cargo, the picking rate of each picking position and the quantity of the first cargoes corresponding to each picking position.

Optionally, the placement order determining unit includes: a first picking time determining subunit, configured to determine a first picking time of each picking station according to the number of first cargoes corresponding to each picking station and the picking rate of each picking station; the first placing order determining subunit is used for determining the placing order of each to-be-scheduled cargo according to the first picking time of each to-be-scheduled cargo, the corresponding picking position of each to-be-scheduled cargo and the position of each to-be-scheduled cargo.

Optionally, the target conveying line comprises at least two sub conveying lines, each sub conveying line comprises at least one manual picking position and at least one mechanical arm picking position, the picking rate of the manual picking position is smaller than that of the mechanical arm picking position, the manual picking position is picked by an operator, the mechanical arm picking position is picked by a mechanical arm, and the mechanical arm picking positions of all the sub conveying lines of the target conveying line correspond to the same mechanical arm.

Accordingly, the scheduling number determining subunit includes: a first proportion determining part for determining a first proportion according to the number of the manual picking positions, the picking rate of the manual picking positions and the picking rate of the mechanical arm picking positions on the target conveying line; a first cargo quantity determining unit configured to determine, according to the quantity of first cargos corresponding to each picking position of each sub-conveying line, a first total quantity of first cargos corresponding to manual picking positions of the target conveying line and a second total quantity of first cargos corresponding to mechanical arm picking positions; the dispatching quantity determining part is used for determining the dispatching quantity of the cargos to be dispatched corresponding to each picking position according to the first proportion, the first total quantity and the second total quantity, so that the ratio of the total quantity of cargos to be picked by each mechanical arm picking position to the total quantity of cargos to be picked by each manual picking position of the target conveying line is close to the first proportion, and/or the ratio of the total quantity of cargos to be picked by each mechanical arm picking position to the total quantity of cargos to be picked by the manual picking position of each sub conveying line is close to the second proportion, and/or the second proportion corresponding to each sub conveying line is the ratio of the picking rate of the mechanical picking position to the first product, wherein the first product is the product of the quantity of the manual picking position corresponding to the sub conveying line to the picking rate of the manual picking position, and the cargos to be picked include the corresponding first cargos and the cargos to be dispatched.

Optionally, the target transfer chain includes first sub-transfer chain and at least one second sub-transfer chain, when waiting to dispatch the goods all to correspond first sub-transfer chain, first sub-transfer chain is for arbitrary piece sub-transfer chain of target transfer chain, dispatch quantity determination portion specifically is used for: determining a first scheduling number of the goods to be scheduled corresponding to the manual picking position of the first sub-conveying line according to the first proportion, the first total number and the second total number; and determining a second dispatching quantity of the to-be-dispatched cargoes corresponding to each picking position of the first sub-conveying line according to the first dispatching quantity, the quantity of the first cargoes of the manual picking position of the first sub-conveying line, the quantity of the first cargoes of the mechanical arm picking position of the first sub-conveying line and the second proportion, so as to minimize the difference value of the ratio of the second picking quantity to the first picking quantity and the second proportion, wherein the first picking quantity is the sum of the second dispatching quantity corresponding to the mechanical arm picking position of the first sub-conveying line and the quantity of the corresponding first cargoes, and the second picking quantity is the sum of the first dispatching quantity corresponding to the manual picking position of the first sub-conveying line and the quantity of the second dispatching quantity and the corresponding first cargoes.

Optionally, the target conveying line includes first sub-conveying line and second sub-conveying line, the quantity of waiting to dispatch goods that first sub-conveying line corresponds is first quantity, and the quantity of waiting to dispatch goods that second sub-conveying line corresponds is the second quantity, and each sub-conveying line includes at least one manual selection position and at least one arm and picks the position, the rate of picking of manual selection position is less than the arm is picked the position, the manual selection position is picked by the operator, the arm is picked the position and is picked by the arm, just the arm of each sub-conveying line of target conveying line is picked the position and is all corresponding same arm, and dispatch quantity determines the subunit, specifically is used for: establishing a binary one-time equation of the dispatching quantity of the goods to be dispatched corresponding to each picking position according to the first proportion and the quantity of the first goods corresponding to each picking position, wherein the constraint condition of the binary one-time equation comprises that the picking quantity corresponding to the manual picking position of the first sub-conveying line is equal to the picking quantity corresponding to the manual picking position of the second sub-conveying line, and the ratio of the sum of the picking quantities corresponding to each mechanical arm picking position to the sum of the picking quantities corresponding to each manual picking position is equal to a third proportion, wherein the third proportion is the ratio of the picking rate of the mechanical arm picking position to a second product, and the second product is the product of the quantity of the manual picking position corresponding to the target conveying line and the picking rate of the manual picking position, and the picking quantity is the sum of the quantity of the first goods corresponding to the picking position and the dispatching quantity; solving the binary once equation to obtain the dispatching quantity of the goods to be dispatched corresponding to each picking position; and when the scheduling number corresponding to any one of the picking positions is not an integer, rounding the scheduling number so that the sum of the scheduling numbers corresponding to the picking positions is equal to the sum of the first number and the second number.

Optionally, the picking position determining unit includes: a picking time determining subunit, configured to determine a first picking time of each picking position according to a picking position corresponding to each first cargo being transported on the target conveying line, a picking task of each first cargo, and a picking rate of each picking position; and the second picking position determining subunit is used for determining the picking position corresponding to each cargo to be dispatched according to the first picking time of each picking position.

Optionally, the picking time determining subunit is specifically configured to: for each picking station, determining a picking order of a respective first shipment corresponding to the picking station being transported on the target conveyor line; and determining the first picking time of the picking position according to the picking task of each first cargo corresponding to the picking position and the picking speed of the picking position.

Optionally, the second picking bit determining subunit is specifically configured to: and determining the picking positions corresponding to the goods to be dispatched according to the first picking time of each picking position, the picking rate of each picking position and the picking tasks of the goods to be dispatched.

Optionally, the picking positions of the target conveying lines comprise at least two sub conveying lines, each sub conveying line comprises at least one manual picking position and at least one mechanical arm picking position, the picking speed of the manual picking position is smaller than that of the mechanical arm picking position, the manual picking position is picked by an operator, the mechanical arm picking positions are picked by mechanical arms, and the mechanical arm picking positions of the sub conveying lines of the target conveying line correspond to the same mechanical arm; a second picking bit determining subunit, specifically configured to: and determining the picking positions corresponding to the goods to be dispatched according to the first picking time of each manual picking position, the maximum value in the first picking time of each mechanical arm picking position, the picking task of each goods to be dispatched and the picking rate of each picking position.

Optionally, the placement order determining unit is specifically configured to: and determining the placing sequence of each to-be-dispatched cargo according to the first picking time of each picking position and the picking position corresponding to each to-be-dispatched cargo.

Optionally, the target conveying line comprises at least two sub conveying lines, each sub conveying line comprises at least two picking positions, and the placing sequence determining unit is specifically used for: 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, the 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 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-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, the working time of each to-be-dispatched cargo and the corresponding to-be-dispatched cargo.

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

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. 13 is a schematic structural view of a cargo scheduling device according to an embodiment of the present disclosure, as shown in fig. 13, the cargo scheduling device includes: memory 1410, processor 1420, and computer programs.

Wherein a computer program is stored in the memory 1410 and configured to be executed by the processor 1420 to implement the cargo scheduling method provided by any of the embodiments corresponding to fig. 2, 5 and 7 to 11 of the present disclosure.

Wherein the memory 1410 and the processor 1420 are connected by a bus 1430.

The description and effects corresponding to the steps of fig. 2, fig. 5, and fig. 7 to fig. 11 may be correspondingly understood, and are not repeated herein.

Fig. 14 is a schematic structural diagram of a warehousing system according to an embodiment of the disclosure, and as shown in fig. 14, the warehousing system includes: a target transport line 1510, a robot 1520, and a cargo scheduling apparatus 1530.

The cargo scheduling device 1530 is a cargo scheduling device provided in the embodiment shown in fig. 13 of the present disclosure; the destination conveyor line 1510 includes at least two picking stations, and the picking rates of at least two of the picking stations are different among all of the picking stations, two of which are illustrated in fig. 14.

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, and 7 to 11 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 dispatched at a cargo inlet of a target conveying line, wherein the target conveying line comprises at least two sub conveying lines, each sub conveying line comprises at least one manual picking position and at least one mechanical arm picking position, the picking rate of the manual picking position is smaller than that of the mechanical arm picking position, the manual picking position is picked by an operator, the mechanical arm picking position is picked by a mechanical arm, and the mechanical arm picking positions of all the sub conveying lines of the target conveying line correspond to the same mechanical arm;

According to the picking positions corresponding to the first cargoes which are being transported on the target conveying line and the picking rates of the picking positions, determining the picking positions corresponding to the cargoes to be dispatched and the placing sequence, and placing the cargoes to be dispatched on the target conveying line based on the placing sequence so as to pick the cargoes to be dispatched by the corresponding picking positions;

According to the picking positions corresponding to the first cargoes being transported on the target conveying line and the picking rates of the picking positions, the picking positions and the placing sequence corresponding to the cargoes to be scheduled are determined, and the method comprises the following steps:

according to the picking positions corresponding to the first cargoes which are being transported on the target conveying line and the picking rates of the picking positions, determining the picking positions corresponding to the cargoes to be scheduled;

And determining the placing sequence of each to-be-scheduled cargo according to the corresponding picking position of each to-be-scheduled cargo.

2. The method of claim 1, wherein determining a pick location for each item to be scheduled based on a pick location for each first item being transported on the target conveyor line and a pick rate for each of the pick locations comprises:

Determining the dispatching quantity of the goods to be dispatched corresponding to each picking position according to the picking position corresponding to each first goods being transported on the target conveying line and the picking rate of each picking position so as to minimize the difference value of a first ratio and a second ratio, wherein the first ratio is the ratio of the picking quantity corresponding to each picking position, the second ratio is the ratio of the picking rate of each picking position, and the picking quantity is the sum of the dispatching quantity corresponding to the picking position and the quantity of the first goods;

and determining the picking positions corresponding to the goods to be dispatched according to the dispatching quantity corresponding to the picking positions.

3. The method of claim 1, wherein determining the order of placement of each item to be scheduled based on the picking position corresponding to each item to be scheduled comprises:

And determining the placing sequence of each to-be-scheduled cargo according to the picking positions corresponding to each to-be-scheduled cargo, the picking rate of each picking position and the quantity of the first cargoes corresponding to each picking position.

4. A method according to claim 3, wherein determining the order of placement of each item to be scheduled based on the picking level for each item to be scheduled, the picking rate for each picking level, and the number of first items for each picking level, comprises:

determining a first picking time of each picking station according to the quantity of the first cargoes corresponding to each picking station and the picking rate of each picking station;

and determining the placing sequence of each to-be-dispatched cargo according to the first picking time of each to-be-dispatched cargo, the corresponding picking position of each to-be-dispatched cargo and the position of each to-be-dispatched cargo.

5. The method of claim 2, wherein determining the dispatch number of the item to be dispatched for each of the pick sites based on the pick site for each of the first items being transported on the target conveyor line and the pick rate for each of the pick sites comprises:

determining a first ratio according to the number of the manual picking stations, the picking rate of the manual picking stations and the picking rate of the mechanical arm picking stations on the target conveying line;

According to the quantity of the first cargos corresponding to each picking position of each sub-conveying line, determining the first total quantity of the first cargos corresponding to the manual picking position of the target conveying line and the second total quantity of the first cargos corresponding to the mechanical arm picking position;

Determining the dispatching quantity of the cargos to be dispatched corresponding to each picking position according to the first proportion, the first total quantity and the second total quantity, so that the ratio of the total quantity of cargos to be picked by each mechanical arm picking position to the total quantity of cargos to be picked by each manual picking position of the target conveying line is close to the first proportion, and/or the ratio of the mechanical arm picking position of each sub conveying line to the total quantity of cargos to be picked by the manual picking position is close to the second proportion, and/or the total quantity of cargos to be picked by each manual picking position of the sub conveying line is close to the second proportion, wherein the second proportion corresponding to each sub conveying line is the ratio of the picking rate of the mechanical picking position to the first product, and the first product is the product of the quantity of the manual picking position corresponding to the sub conveying line and the picking rate of the manual picking position, and the cargos to be picked include the corresponding first cargos to be dispatched.

6. The method of claim 5, wherein the target conveyor line includes a first sub-conveyor line and at least one second sub-conveyor line, and when the to-be-dispatched goods each correspond to the first sub-conveyor line, the first sub-conveyor line is any one of the target conveyor lines, and determining, according to the first ratio, the first total number, and the second total number, the dispatch number of the to-be-dispatched goods corresponding to each of the pick positions includes:

Determining a first scheduling number of the goods to be scheduled corresponding to the manual picking position of the first sub-conveying line according to the first proportion, the first total number and the second total number;

And determining a second dispatching quantity of the to-be-dispatched cargoes corresponding to each picking position of the first sub-conveying line according to the first dispatching quantity, the quantity of the first cargoes of the manual picking position of the first sub-conveying line, the quantity of the first cargoes of the mechanical arm picking position of the first sub-conveying line and the second proportion, so as to minimize the difference value of the ratio of the second picking quantity to the first picking quantity and the second proportion, wherein the first picking quantity is the sum of the second dispatching quantity corresponding to the mechanical arm picking position of the first sub-conveying line and the quantity of the corresponding first cargoes, and the second picking quantity is the sum of the first dispatching quantity corresponding to the manual picking position of the first sub-conveying line and the quantity of the second dispatching quantity and the corresponding first cargoes.

7. The method of claim 2, wherein the target conveyor line includes a first sub-conveyor line and a second sub-conveyor line, the first sub-conveyor line corresponds to a first number of items to be scheduled, the second sub-conveyor line corresponds to a second number of items to be scheduled, and determining the number of items to be scheduled corresponding to each of the picking positions according to the picking position corresponding to each of the first items being transported on the target conveyor line and the picking rate of each of the picking positions includes:

Establishing a binary one-time equation of the dispatching quantity of the goods to be dispatched corresponding to each picking position according to a first proportion and the quantity of the first goods corresponding to each picking position, wherein the constraint condition of the binary one-time equation comprises that the picking quantity corresponding to the manual picking position of the first sub-conveying line is equal to the picking quantity corresponding to the manual picking position of the second sub-conveying line, and the ratio of the sum of the picking quantity corresponding to each mechanical arm picking position to the sum of the picking quantity corresponding to each manual picking position is equal to a third proportion, wherein the third proportion is the ratio of the picking rate of the mechanical arm picking position to a second product, and the second product is the product of the quantity of the manual picking position corresponding to the target conveying line and the picking rate of the manual picking position, and the picking quantity is the sum of the quantity of the first goods corresponding to the picking position and the dispatching quantity;

solving the binary once equation to obtain the dispatching quantity of the goods to be dispatched corresponding to each picking position;

And when the scheduling number corresponding to any one of the picking positions is not an integer, rounding the scheduling number so that the sum of the scheduling numbers corresponding to the picking positions is equal to the sum of the first number and the second number.

8. The method of claim 1, wherein determining a pick location for each item to be scheduled based on a pick location for each first item being transported on the target conveyor line and a pick rate for each of the pick locations comprises:

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

and determining the picking positions corresponding to the goods to be scheduled according to the first picking time of each picking position.

9. The method of claim 8, wherein determining a pick location for each item to be scheduled based on a first pick time for each pick location comprises:

10. The method of claim 9, wherein determining a pick location for each item to be dispatched based on a first pick time for each pick location, a pick rate for each pick location, and a pick order for each item to be dispatched, comprises:

And determining the picking positions corresponding to the goods to be dispatched according to the first picking time of each manual picking position, the maximum value in the first picking time of each mechanical arm picking position, the picking task of each goods to be dispatched and the picking rate of each picking position.

11. The method according to any one of claims 8-10, wherein determining the order of placement of the respective items to be scheduled based on the respective picking positions of the respective items to be scheduled comprises:

12. The method of claim 11, wherein the target conveyor line comprises at least two sub-conveyor lines, each sub-conveyor line comprising at least two picking stations, determining a placement order for each item to be scheduled based on a first picking time for each picking station and a picking station corresponding to each item to be scheduled, comprising:

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.

13. The method of claim 12, wherein determining the order of placement of the items to be scheduled 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 scheduled corresponds comprises:

14. The method of claim 12, wherein determining the order of placement of the items to be scheduled 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 scheduled corresponds 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-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, the working time of each to-be-dispatched cargo and the corresponding to-be-dispatched cargo.

15. The method of claim 11, wherein determining the order of placement of each item to be dispatched based on the first pick time for each item to be dispatched and the corresponding pick location for each item to be dispatched, comprises:

determining each alternative sequence of goods to be scheduled;

For each alternative sequence, determining the second picking time of the target conveying line according to the first picking time of each picking position on the target conveying line, the picking position corresponding to each to-be-dispatched cargo and the sequence 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.

16. A cargo scheduling device, the device comprising:

The system comprises a cargo determining module, a cargo dispatching module and a cargo dispatching module, wherein the cargo dispatching module is used for determining each cargo to be dispatched at a cargo inlet of a target conveying line, the target conveying line comprises at least two sub conveying lines, each sub conveying line comprises at least one manual picking position and at least one mechanical arm picking position, the picking rate of the manual picking position is smaller than that of the mechanical arm picking position, the manual picking position is picked by an operator, the mechanical arm picking position is picked by a mechanical arm, and the mechanical arm picking positions of all the sub conveying lines of the target conveying line correspond to the same mechanical arm;

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

The cargo scheduling module comprises:

The picking position determining unit is used for determining the picking positions corresponding to the goods to be dispatched according to the picking positions corresponding to the first goods which are being transported on the target conveying line and the picking speed of the picking positions;

and the placing order determining unit is used for determining the placing order of each to-be-scheduled cargo according to the corresponding picking position of each to-be-scheduled cargo.

17. 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 1-15.

18. A warehousing system, comprising: the load scheduling apparatus of claim 17, a robot, and a target transport line, wherein the target transport line includes at least two picking stations, and the picking rates of at least two of the picking stations are different in all of the picking stations.

19. 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 1-15.