CN116167676A

CN116167676A - Cargo transferring method and device and electronic equipment

Info

Publication number: CN116167676A
Application number: CN202310160413.5A
Authority: CN
Inventors: 何学文; 柯建华; 李广义
Original assignee: Zhejiang Dahua Technology Co Ltd
Current assignee: Zhejiang Dahua Technology Co Ltd
Priority date: 2023-02-21
Filing date: 2023-02-21
Publication date: 2023-05-26

Abstract

The application discloses a method, a device and electronic equipment for transferring goods are provided, and are used for improving the transferring efficiency of the goods. The method comprises the following steps: acquiring vehicle information of a truck, and determining a transfer task of the truck based on a vehicle identifier in the vehicle information; responding to the transferring task including a loading instruction, acquiring first position information of a target truck, and sending the vehicle information and information of the target truck in the loading instruction to a preassembling system so that the preassembling system preassembles the target truck with the target truck in a preassembling area; and sending a working instruction to a first transfer robot, enabling the first transfer robot to transfer the target goods to a pre-allocated stop point, and placing the target goods in a carriage of the target truck when the target truck reaches the stop point.

Description

Cargo transferring method and device and electronic equipment

Technical Field

The application relates to the technical field of logistics, in particular to a method and a device for transferring goods and electronic equipment.

Background

With the enhancement of the importance of the performance, the performance of the logistics industry faces higher requirements. In the current logistics turnover process, the manual work is still completed by matching with a telescopic machine. When the truck enters a platform of a related transfer center such as a logistics park or a distribution center, the truck starts the related loading and unloading work. Taking loading as an example, when a truck is parked, the truck starts to fork cargoes in a warehouse, and then the fork cargoes are stacked in the truck one by manpower. In the face of large logistics, it is also necessary to cooperate with a forklift to smoothly complete cargo handling, which results in an average completion of the acquisition/unloading of each truck, i.e. a residence time on the dock of 3-5 hours. Due to the dependence of people on online shopping, the time of a truck occupying a platform has influenced the time rate of delivering express packages. Especially, in the case that the throughput of the distribution center is increased sharply during shopping malls such as double eleven and 618, the problem of the reduction of the logistics transportation efficiency is particularly remarkable due to the fact that the residence time of the truck on the dock is too long. Meanwhile, when the truck is in a peak period, the truck is required to be queued out of the park and leave the vacant parking position before waiting, and the problem of reduction of cargo transferring efficiency is also caused.

Disclosure of Invention

The application provides a method, a device and electronic equipment for transferring goods, which are used for improving the transferring efficiency of the goods.

In a first aspect, embodiments of the present application provide a method for cargo transferring, including:

acquiring vehicle information of a truck, and determining a transfer task of the truck based on a vehicle identifier in the vehicle information;

responding to the transferring task including a loading instruction, acquiring first position information of a target truck, and sending the vehicle information and information of the target cargo in the loading instruction to a preassembling system so that the preassembling system preassembles the target cargo for the target truck; wherein the diversion task of the target truck comprises a target diversion address;

and sending a working instruction to a first transfer robot, enabling the first transfer robot to transfer the target goods to a pre-allocated stop point, and placing the target goods in a carriage of the target truck when the target truck reaches the stop point.

According to the goods transferring method, the goods information of the goods is obtained in advance, the target goods is determined, and before the target goods does not enter the logistics park or does not wait for parking, a goods loading instruction and the vehicle information are sent to the preassembling system according to the transferring task matched with the vehicle information, so that the preassembling system finishes preassembling of the goods before the goods arrive. And the transfer of the target goods from (the second position of) the preassembled area to the target truck stop point is completed through the transfer robot, so that the transfer robot can directly put the preassembled target goods into the carriage after the truck stops at the truck stop point, namely, the loading is finished, and the loading time of the truck (namely, the residence time on a dock) can be shortened to be within 10 minutes. That is, in the embodiment of the application, the sorting, stacking and transferring tasks of the cargos are completed before the cargos arrive through the preassembly system, so that the preassembled cargos can be directly placed in the carriage through the transfer robot after the cargos arrive, and the transfer efficiency of the cargos is effectively improved.

In one possible embodiment, the sending a work order to a first transfer robot, causing the first transfer robot to transfer the target cargo to a pre-allocated stop point, and after the target cargo arrives at the stop point, placing the target cargo in a compartment of the target cargo, further includes:

receiving task ending information and sending a leaving instruction to the target truck; the task ending information indicates that the first transfer robot completes the transfer task of the preloaded target goods, and the leaving instruction is used for indicating the target truck to leave the stop point.

One possible embodiment, the work order includes a first transfer order and a loading order; the first transfer instruction comprises third position information of the stop point and second position information of the preassembled target goods in the preassembled area;

the sending a work order to a first transfer robot, causing the first transfer robot to transfer the target cargo to a pre-assigned stop point, and placing the target cargo in a compartment of the target wagon when the target wagon reaches the stop point, comprising:

Responsive to the first location information indicating that the target truck enters a designated area, assigning the dock to the target truck;

sending the first transfer instruction to the first transfer robot, so that the first transfer robot transfers the pre-loaded target goods to the stop point;

and receiving vehicle positioning information, and sending a loading instruction to the first transfer robot so that the first transfer robot can place the target goods in the compartment of the target wagon based on the loading instruction.

A possible embodiment, before the sending of the first transfer instruction to the first transfer robot, further includes:

receiving preassembly information; the preassembly information comprises a corresponding relation between a tray identifier of a target tray and the target goods, the tray identifier of the target tray and the position information of the target tray; the target tray is used for bearing the preloaded target goods;

determining at least one transfer robot in an idle state as a first transfer robot;

marking the position information of the target tray as the second position information;

the sending a first transfer instruction to the first transfer robot includes:

And sending the second position information, the tray identification and the third position information to the first transfer robot as the first transfer instruction, so that the first transfer robot determines the target tray in a preassembly area based on the second position information and the tray identification, and plans a first driving route based on the second position information and the third position information.

A possible implementation manner, after determining the transferring task of the truck based on the vehicle identifier in the vehicle information, further includes:

determining that at least one transfer robot in an idle state is a second transfer robot in response to the transfer task including a discharge instruction;

sending a second transfer instruction to the second transfer robot, so that the second transfer robot drives to the stop point;

the method further includes, before sending the loading instruction to the first transfer robot:

and sending a discharge instruction to the second carrying robot based on the vehicle positioning information, so that the second carrying robot transfers the objects to be discharged in the target truck to a discharge area.

In a second aspect, embodiments of the present application provide a method for cargo transferring, including:

Receiving vehicle information of a target truck and information of the target cargo; the vehicle information comprises carriage size information and vehicle identification of the target truck, and the target cargo is the cargo to be transported by the target truck;

determining a target tray matched with the target truck based on the carriage size information, and stacking the maximum height of the target cargo on the target tray;

determining the target goods based on the information of the target goods, and stacking the target goods on the target tray to obtain preassembled goods; wherein the height of the pre-loaded cargo does not exceed the maximum height.

A possible embodiment, after obtaining the pre-loaded cargo, further includes:

packaging the preassembled goods;

determining second position information of the preassembled goods in the preassembled area, and creating a corresponding relation between a tray identifier of the target tray and the vehicle identifier;

and sending the second position information, the tray identification of the target tray and the corresponding relation to a platform server.

In a third aspect, embodiments of the present application provide a method for cargo transferring, including:

receiving a working instruction;

Determining a target tray based on second position information in a first transfer instruction and a tray identification of the target tray in response to the work instruction including the first transfer instruction; the second position information indicates the position of a target tray carrying target goods in a preassembly area, and the tray identifications are in one-to-one correspondence with the target tray;

planning a first travel route based on the second position information and the third position information in the first transfer instruction, and transferring the target tray to a stop point based on the first travel route; wherein the third location information indicates a location of the dock of the target truck on the dock;

receiving a loading instruction;

and placing the target tray in a carriage of the target truck based on the loading instruction, and sending task ending information.

In a fourth aspect, embodiments of the present application further provide a freight device, including:

task unit: the method comprises the steps of acquiring vehicle information of a truck, and determining a transfer task of the truck based on a vehicle identifier in the vehicle information;

and a response unit: the method comprises the steps that in response to the transferring task comprising a loading instruction, first position information of a target truck is obtained, and vehicle information and information of target cargos in the loading instruction are sent to a preassembling system, so that the preassembling system preassembles the target cargos for the target truck in a preassembling area; wherein the diversion task of the target truck comprises a target diversion address;

Loading unit: and the first transfer robot is used for sending a working instruction to the first transfer robot, so that the first transfer robot transfers the target goods to a pre-allocated stop point, and the target goods are placed in a carriage of the target truck when the target truck reaches the stop point.

In a possible implementation manner, the device further comprises a leaving unit, wherein the leaving unit is specifically configured to receive task end information and send a leaving instruction to the target truck; the task ending information indicates that the first transfer robot completes the transfer task of the preloaded target goods, and the leaving instruction is used for indicating the target truck to leave the stop point.

One possible embodiment, the work order includes a first transfer order and a loading order; the first transfer instruction comprises third position information of the stop point and second position information of the preassembled target goods in the preassembled area; the loading unit is specifically configured to allocate the stop point to the target truck in response to the first location information indicating that the target truck enters a designated area; sending the first transfer instruction to the first transfer robot, so that the first transfer robot transfers the pre-loaded target goods to the stop point; and receiving vehicle positioning information, and sending a loading instruction to the first transfer robot so that the first transfer robot can place the target goods in the compartment of the target wagon based on the loading instruction.

In one possible embodiment, the apparatus further comprises a sending unit, where the sending unit is specifically configured to receive the pre-installed information; the preassembly information comprises a corresponding relation between a tray identifier of a target tray and the target goods, the tray identifier of the target tray and the position information of the target tray; the target tray is used for bearing the preloaded target goods; determining at least one transfer robot in an idle state as a first transfer robot; marking the position information of the target tray as the second position information; the loading unit is further configured to send the second position information, the tray identifier, and the third position information as the first transfer instruction to the first transfer robot, so that the first transfer robot determines the target tray in a preassembly area based on the second position information and the tray identifier, and plans a first driving route based on the second position information and the third position information.

In a possible embodiment, the apparatus further comprises a discharge transfer unit, the discharge unit being specifically configured to determine that at least one of the transfer robots in an idle state is a second transfer robot in response to the transfer task comprising a discharge instruction; sending a second transfer instruction to the second transfer robot, so that the second transfer robot drives to the stop point;

The device further comprises a discharge instruction unit, which is specifically configured to send a discharge instruction to the second transfer robot based on the vehicle positioning information, so that the second transfer robot transfers the objects to be discharged in the target truck to a discharge area.

In a fifth aspect, embodiments of the present application provide a device for cargo transferring, including:

information unit: the information processing device is used for receiving vehicle information of a target truck and information of the target cargo; the vehicle information comprises carriage size information and vehicle identification of the target truck, and the target cargo is the cargo to be transported by the target truck;

matching unit: the system comprises a target tray used for determining a carriage matched with the target truck based on the carriage size information, and the maximum height of the target cargoes stacked on the target tray;

preassembling unit: the method comprises the steps of determining the target goods based on the information of the target goods, and stacking the target goods on the target tray to obtain preassembled goods; wherein the height of the pre-loaded cargo does not exceed the maximum height.

In one possible implementation manner, the device further comprises a packaging unit, wherein the packaging unit is specifically used for packaging the preassembled goods; determining second position information of the preassembled goods in the preassembled area, and creating a corresponding relation between a tray identifier of the target tray and the vehicle identifier; and sending the second position information, the tray identification of the target tray and the corresponding relation to a platform server.

In a sixth aspect, embodiments of the present application further provide a device for transferring cargo, including:

a first receiving unit: the device is used for receiving a working instruction;

an identification unit: the working instruction comprises a first transfer instruction, and the target tray is determined based on second position information in the first transfer instruction and a tray identification of the target tray; the second position information indicates the position of a target tray carrying target goods in a preassembly area, and the tray identifications are in one-to-one correspondence with the target tray;

planning unit: for planning a first travel route based on the second and third position information in the first transfer instruction, and transferring the target tray to a stop based on the first travel route; wherein the third location information indicates a location of the dock of the target truck on the dock;

a second receiving unit: the device is used for receiving a loading instruction;

loading unit: and the target pallet is placed in a carriage of the target truck based on the loading instruction, and task ending information is sent.

In a seventh aspect, embodiments of the present application provide a readable storage medium, comprising,

The memory device is used for storing the data,

the memory is configured to store instructions that, when executed by a processor, cause an apparatus comprising the readable storage medium to perform a method according to any one of the first to third aspects and any one of the possible implementations.

In an eighth aspect, an embodiment of the present application provides an electronic device, including:

a memory for storing a computer program;

a processor for executing the computer program stored on the memory to implement the method according to any one of the first to third aspects and any one of possible implementation manners.

Drawings

Fig. 1 is a flow chart of a method for transferring cargo according to an embodiment of the present application;

FIG. 2 is a flow chart of yet another method for cargo transferring according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a dock division on a dock suitable for use in embodiments of the present application;

FIG. 4 is a schematic diagram of a relationship between execution bodies according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a cargo transferring device according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of an electronic device for cargo transferring according to an embodiment of the present application.

Detailed Description

To the problem that the cargo (commodity circulation) transportation efficiency is low because of manpower cargo handling inefficiency leads to among the prior art, this application embodiment provides a method of cargo transportation: and determining a transfer task of the truck through the acquired vehicle information, determining the truck as a target truck when the transfer task comprises a loading instruction, and pre-sending the information of the target cargo to a preassembling system so that the preassembling system can finish preassembling work of the target cargo. And then sending a working instruction to the first transfer robot to finish transferring the target goods between the pre-allocated stop point and the second position where the pre-loaded target goods are located, and placing the target goods in the carriage of the target truck at the stop point, so that the goods can be transferred. According to the cargo transferring method, the situation that the target cargo starts to be transferred from the platform and stacked in the carriage after the truck stops is avoided, so that the time that the truck occupies the platform is effectively reduced, and the cargo transferring efficiency is improved.

In order to better understand the technical solutions described above, the following detailed description of the technical solutions of the present application is provided through the accompanying drawings and specific embodiments, and it should be understood that the specific features of the embodiments and embodiments of the present application are detailed descriptions of the technical solutions of the present application, and not limit the technical solutions of the present application, and the technical features of the embodiments and embodiments of the present application may be combined with each other without conflict.

Referring to fig. 1, the present application provides a method for transferring goods, which is used for improving the transferring efficiency of the goods, and specifically includes the following implementation steps:

step 101: and acquiring the vehicle information of the truck, and determining the transfer task of the truck based on the vehicle identification in the vehicle information.

The vehicle identifications can be in one-to-one correspondence with the transferring tasks.

The vehicle identifier may be a license plate number, an RFID (Radio Frequency Identification ) device, a bluetooth device, or the like.

Specifically, in order to improve transfer efficiency and reduce dock occupation time of a truck, the embodiment of the application obtains vehicle information of the truck in advance before the truck arrives, so as to execute preparation work in advance, and ensure that loading can be directly completed after the truck arrives without waiting.

The transferring task comprises the task content executed by a truck entering a logistics park or stopping on a platform. In particular, it may be to transfer the target cargo (i.e., loading), and/or to discharge. The target shipment may be determined based on the shipping address of the shipment. For example, if the transfer task is to transfer the goods whose shipping address or transfer address is the city a, the goods whose destination address is the city a in the warehouse are the target goods.

Further, the vehicle information may be sent by other distribution centers, by the logistics park, when the truck leaves, according to the next destination address of the truck, or may be sent by the truck during the driving process.

Step 102: and responding to the transferring task, including a loading instruction, acquiring first position information of the target truck, and sending the vehicle information and information of the target truck in the loading instruction to a preassembling system so that the preassembling system preassembles the target truck with the target truck in a preassembling area.

When the diversion address in the diversion task includes the target diversion address, the truck may be determined to be the target truck. That is, the transfer task of the target truck includes a target transfer address, and indicates that the target truck will travel to the dock where the current target transfer address is located for cargo transfer.

Specifically, the embodiment of the application further obtains the first position information of the target truck while sending the license plate identification and the target cargo information to the preassembly system. The first location information may be obtained at predetermined intervals, determined based on an associated positioning device (e.g., GPS) on the target truck, so as to assign a stop point to the target truck after the target truck enters a designated area (e.g., a logistics park).

The following describes the specific implementation steps of the preassembly system after receiving the license plate identifier and the target cargo information in detail, please refer to fig. 2.

Step 201: and receiving the vehicle information of the target truck and the information of the target cargo.

The vehicle information comprises compartment size information of the target van and a vehicle identification.

Further, after the target goods are determined, the goods can be selected in a warehouse to obtain the target goods, and the target goods are transferred to the preassembly area, so that the preassembly system can package the target goods uniformly. The manner of acquisition is consistent in the manner of determination (or division) of the target cargo, for example, the cargo in the warehouse with the destination address of a city is determined to be the target cargo.

Step 202: and determining a target tray matched with the target truck based on the carriage size information, and the maximum height of the stacked target cargo on the target tray.

The method is mainly used for determining the target tray supported and assembled by the target truck and the relevant size information of goods stacking: the target pallet, which is matched with the target truck, is actually a target pallet, the bottom area of which is matched with the bottom surface of the target truck carriage, and the maximum height of the stacked goods, which is matched with the height of the target truck carriage. Because the carriage size is fixed, can set up the tray of different sizes for the carriage of different sizes in advance, can be when matching the tray like this for each target freight train unique match one target tray. When only one target tray is matched, the carrying pressure of the carrying robot can be effectively reduced.

Step 203: and determining the target goods based on the information of the target goods, and stacking the target goods on the target tray to obtain preassembled goods.

Wherein the height of the pre-fire dance does not exceed the maximum height described above to ensure that the targeted pallet can be accommodated by the targeted wagon's compartment.

After the preloaded goods are obtained, the preloaded goods can be packaged. The packaging mode can be plastic packaging, so that the preassembled truck can be kept in a stacking state in the carrying or transferring process and does not collapse. And then, determining second position information of the preassembled goods in the preassembled area, and creating a corresponding relation between the tray identification of the target tray and the vehicle identification. And then, sending second position information, a tray identifier of the target tray and the corresponding relation to the platform server, so that the platform server sends a first transfer instruction to the AGV based on the information.

Step 103: and sending a working instruction to the first transfer robot, so that the first transfer robot transfers the target goods to a pre-allocated stop point, and when the target truck reaches the stop point, the target goods are placed in the carriage of the target truck.

The working instructions comprise a first transfer instruction and a loading instruction; the first transfer instruction comprises second position information of the target goods which are completely preloaded in the preloaded area and third position information of the stop points.

Specifically, the first position information is responded to indicate the target truck to enter a designated area, the stop point is allocated to the target truck, and the first transfer instruction is sent to the first transfer robot, so that the first transfer robot transfers the preloaded target cargo to the stop point. Then, vehicle seating information is received, and a loading instruction is sent to the first transfer robot, so that the first transfer robot places the target cargo in a compartment of the target wagon based on the loading instruction. The following is a detailed description: the designated area may be an entrance to a logistics park or distribution center.

First, when the first location information indicates that the target truck enters the designated area, it may be determined that the target truck is about to or will enter the dock within a preset time range, so that a stop point in an idle state needs to be determined in advance for the target truck to stop. However, the destination truck is pre-allocated with the destination truck without receiving the vehicle information (e.g., after step 101), and the destination truck is pre-allocated with the destination truck in step 103, so as to more flexibly allocate the destination truck, and avoid the problem that the dock usage rate is reduced due to the pre-allocation for too long time for waiting for the destination truck due to the pre-allocation.

While the stop point is allocated to the target truck, a first transfer instruction is sent to the first transfer robot, and the first transfer instruction can be determined according to preassembly information sent by the preassembly system (namely, second position information of preassembly cargoes in a preassembly area, tray identification of the target tray and corresponding relation between the tray identification and the vehicle identification), so that the first transfer robot transfers the preassembled target cargoes to the stop point. Thus, the pre-load information is received before the first transfer instruction is sent to the first transfer robot. The preassembly information comprises the corresponding relation between the tray identification of the target tray and the target goods, the tray identification of the target tray and the position information of the target tray, and the target tray is used for bearing the preassembled target tray.

In this embodiment of the application, the target pallet is used for bearing the preloaded target goods, and the following technical effects are achieved: the handling robot can fork or put goods conveniently; the platform server or other system is convenient to identify the target goods, and all goods placed on the target tray can be determined only through the identification of the target tray. Then, determining at least one transfer robot in an idle state as a first transfer robot; preferably 1. And marking the position information of the target pallet as second position information for marking the position of the target goods corresponding to the transfer task of the target truck in the preassembly area. And finally, the second position information, the tray identification and the third position information can be used as a first transfer instruction to be sent to the first transfer robot, so that the first transfer robot can determine the target tray in the preassembly area based on the second position information and the tray identification, and plan a first travel route based on the second position information and the third position information.

Then, since the first transfer instruction has been sent to the first transfer robot before the vehicle is parked, and since the first transfer robot moves only in the up-and-down cargo area on the dock (refer to fig. 3), the path is short, the first transfer robot performing loading is already in place at the parking spot when the platform server receives the vehicle in-place information, i.e., determines that the vehicle is in place. Therefore, the loading instruction can be sent to the first transfer robot at this time, the first transfer robot can place the target goods transferred by the first transfer robot and the target pallet in the carriage of the truck based on the loading instruction, and the task ending information is fed back to the platform server.

The vehicle positioning information can be sent by the target truck based on the vehicle positioning information, or can be sent after the image acquisition equipment on the dock stop determines that the target truck is positioned based on the image information in the acquired image.

Further, the following describes the transfer task and the loading task performed by the first transfer robot after receiving the first transfer instruction.

First, the first transfer robot receives a first transfer instruction. Then, the target tray is determined based on the second position information in the first transfer instruction and the tray identification of the target tray. The second position information indicates the position of a target tray carrying the target goods, and the tray identification can be a tray code, and the tray identification corresponds to the target tray one by one. Specifically, the location of the area where the target tray is located on the dock may be first located based on the second location information, and then the target tray may be uniquely determined according to the tray identifier. Then, a first travel route is planned according to the second position information and the third position information in the first transfer instruction, and the target tray is transferred (i.e., transported) to the pre-allocated stop point based on the first travel route. In order to avoid situations where the first transfer robot arrives before the target wagon, or the first robot arrives before the wagon door of the target wagon is opened, but the first transfer robot cannot recognize, after the first transfer robot arrives at the stop point, the first transfer robot is not loaded immediately, but the unified deployment of the platform server is received: waiting for the next action instruction of the platform server.

Further, the transferring task may further include a discharge instruction, and in response to step 101 that the transferring task includes the discharge instruction, it is determined that at least one transfer robot in an idle state is a second transfer robot, and a second transfer instruction is sent to the second transfer robot, so that the second transfer robot drives to a stop to wait for the vehicle to be in place and then discharge. The second transfer instruction includes third position information indicating the position of the stop point, and the second transfer robot may plan a second driving route according to the current position and the third position information, and drive to the stop point according to the second driving route. After receiving the vehicle positioning information, sending a discharge instruction to a second carrying robot, so that the second carrying robot transfers the to-be-discharged object in the target truck to a discharge area based on the discharge instruction, and a discharge system positioned in the discharge area can conveniently finish discharging; and determining that unloading is completed after receiving the task ending information sent by the second carrying robot.

The discharge instruction is issued before the loading instruction is issued so as to discharge the object to be discharged from the target wagon before the first transfer robot loads. The goods to be unloaded can be assembled in a larger tray in a unified manner in accordance with the assembly mode of the target goods, and the second transfer robot directly transfers the tray from the target wagon to the unloading area when executing the unloading instruction.

The preassembly system and the unloading system are respectively carried out in the preassembly area and the unloading area, and the preassembly area, the unloading area and the stopping point of loading/unloading of the truck are all positioned on the dock, please refer to fig. 3. Fig. 3 is a schematic diagram of land division on a dock, which is suitable for the embodiments of the present application.

In this embodiment, when first transfer robot and second transfer robot are needed, respective quantity is preferably 1, and correspondingly, the tray that bears the goods is also 1 to promote corresponding transfer robot's transportation efficiency.

Further, the method comprises the steps of. After step 103, task end information may be received and after receiving the task end information, a leave instruction may be sent to the target truck.

The task ending information indicates that the first transfer robot finishes the transfer task of the preloaded target goods. The exit instruction is used for indicating the target truck to leave the stop point.

The steps 101-103 may be performed by a platform server, where the vehicle information received by the platform server includes at least car size information (length, width, height) and a license plate number (i.e. a vehicle identifier). And then, inquiring according to the license plate number to determine whether the transfer task of the vehicle, which is about to arrive at the set time, is loading, unloading or loading after unloading. The inquiry of the corresponding relation between the transfer task and the license plate number can be completed based on adjacent provinces or national logistics inquiry.

The following is a detailed description of the different diversion tasks based on steps 101-103.

Example 1

When the transfer task is determined to be unloading and loading, the unloading is not needed to be prepared in advance, but the loading is needed to be preloaded, so that the target cargo mark to be transferred in the loading indication included in the transfer task is needed to be determined, and then the target cargo mark is sent to a preloaded system. The target cargo mark may be a consigned address of the cargo.

After receiving the target cargo marking, the preassembly system first searches the warehouse for the target cargo through the pick unit and transfers the target cargo to the preassembly area. Then, a target tray is determined according to the carriage size information, and a height limit value of the preassembled target cargo is determined. Specifically, a target pallet, e.g., length, width, may be matched for a target wagon according to the floor size of the wagon; and determining the height limit value of the preassembled target cargo according to the carriage height. And then, stacking the target cargos transferred by the picking units on the target tray through the stacking units, wherein the stacking height is smaller than or equal to the height limit value, so that preassembly of the target cargos is completed. Further, the pre-packaged target cargoes can be further stabilized through plastic packaging, so that the AGV (namely the transfer robot) can transfer the pre-packaged target cargoes conveniently. After the preassembling system finishes preassembling the target goods, preassembling information can be sent to the platform server and used for feeding back to the platform server that the preassembling task is finished, and the position of the preassembled target goods and the target tray for bearing the target goods.

Then, when the truck passes through the logistics park entrance, the platform server associates the pre-assembled target cargo in the pre-assembled area according to the license plate number of the truck, distributes a stop point for the truck corresponding to the license plate number, and sends a command to the transfer robot, and the transfer task simultaneously comprises loading and unloading, so that the command is respectively sent to two transfer robots (namely AGVs) at the moment. Specifically, a first transfer instruction including a tray identifier of a target tray matched with a truck to be parked at a stop point, position information (namely, target goods) and the position of the stop point is sent to a first AGV, so that the first AGV determines in a preassembly area after receiving the first transfer instruction and transports the target tray to the stop point to wait. Simultaneously, a second transfer instruction including the stop position is sent to the second AGV, so that the second AGV directly travels to the stop to wait for unloading without carrying any load.

Then, the platform server determines that the truck is parked at the pre-allocated parking point based on the image acquisition equipment and the like on the dock and opens the carriage, and firstly sends a discharging instruction to the second AGV, so that the second AGV and the tray in the truck carriage discharge the cargo to a discharging area, the task completion information is fed back to the platform server, and meanwhile, the cargo on the tray is unpacked, discharged and stored in the discharging area by the discharging system.

After receiving feedback information of the second AGVs, the platform server releases the corresponding relation between the trays and the unloaded goods, and sends a loading instruction to the first AGVs, so that the AGVs waiting at the stop points load the carried target goods and the target trays into the carriage, and the task completion information is fed back to the platform server.

Further, after receiving the task completion information fed back by the first AGV, the platform server sends a departure instruction to the truck to remind the truck to leave as soon as possible so as to free the platform position in time.

That is, since the goods are associated with the trays and stacked on one tray, when the truck is driven into the dock, after the truck is stopped at the pre-allocated stop point, only the time taken for the second AGV to transfer the goods in the carriage and the tray out and the time taken for the first AGV to transfer the transported target goods and the target tray into the carriage need not wait for the time taken for the first AGV to transfer the goods in the carriage by matching with the AGV to move the goods in the carriage out one by one and then move the goods into the carriage one by one and stack again, so that the residence time of each truck on the dock is effectively shortened, and the utilization rate of the dock is improved.

The corresponding relation between the tray marks (such as tray codes) and the license plate identifications and the target goods can be uploaded to a related logistics network, and the goods supply vehicle can be checked for use when unloading at the next station.

Example 2

When the transfer task is determined to be unloading, the unloading is not required to be prepared in advance, so that a transfer instruction is sent to a corresponding AGV in advance only after the truck is determined to enter a logistics park and is matched with a stop point of an idle platform, and the AGV is driven to the stop point to wait for the arrival of the truck.

After receiving the vehicle positioning information, sending a discharge instruction to the waiting AGV, and after receiving the discharge instruction, discharging the cargoes and the trays from the vehicle to a discharge area at one time by the AGV, so that the discharge system finishes discharging in the discharge area and stores the cargoes and the cargoes in a warehouse. And simultaneously feeding back task completion information to the platform server.

And after receiving the task completion information fed back by the AGV, the platform server sends out driving-away information to the parking truck. The goods van of unloading promptly just need wait that the AGV that takes one's place just the tray transfer shifts out the carriage and just can leave after berthing to shortened the dwell time of goods van on the platform, in time vacated parking position for next goods van, avoided the goods van to get into the parking point and wait that the manpower is moved out in the goods van, later vehicle is queued up the problem that waits for the platform vacated because of no berth, thereby promoted commodity circulation transfer efficiency.

Example 3

When the transfer task is determined to be loading, vehicle information of a truck and information of a target cargo to be transferred need to be sent to the preassembly system in advance, and specific implementation and principle are the same as the loading step in the embodiment 1, and are not repeated here.

Similarly, the cargo preassembling task is finished in advance and the cargo is waited at the stop point before the vehicle arrives at the platform, and after the vehicle arrives, the cargo carried by the AGV and the tray can leave by being transferred into the carriage and go to the next destination only by waiting for the AGV, so that the utilization rate of the platform is improved, the efficiency of the whole logistics line is greatly improved, and the arrival timeliness of the logistics is further ensured.

It should be noted that the preassembly system may include an AGV fork truck for picking, a stacker, a shuttle, a robotic arm for palletizing, and a plastic packaging machine for plastic packaging. The unloading system may include a robotic arm for unloading, an AGV fork truck for storing the goods, a stacker, and a shuttle. The position information of the vehicle and the travel route information of the vehicle in embodiments 1 to 3 may be realized by a vehicle scheduling system, which may include a vehicle snapshot machine, a vehicle guide screen. The vehicle snapshot machine is distributed on the necessary road after the vehicle enters the appointed area, and can also be simultaneously distributed at the exit and the entrance of the appointed area, and is used for collecting images and providing relevant information of the vehicle for the platform server. Such as vehicle speed, position, etc. The vehicle guiding screen is positioned at an intersection where the vehicle passes through in the designated area and is used for guiding the vehicle to the stop point after the platform server distributes the stop point. Each system is provided with a communicator for communicating information with the communicator of the platform server, and the relation between the systems can be referred to as fig. 4.

Based on the same inventive concept, the embodiment of the present application provides a device for transferring goods, which corresponds to the method for transferring goods shown in fig. 1, and a specific embodiment of the device may refer to the description of the embodiment of the foregoing method, and the repetition is omitted, and reference is made to fig. 5, where the device includes:

a task unit 501; and the method is used for acquiring the vehicle information of the truck and determining the transfer task of the truck based on the vehicle identification in the vehicle information.

Response unit 502: and the transfer task comprises a loading instruction, first position information of a target truck is obtained, and the vehicle information and information of the target cargo in the loading instruction are sent to a preassembling system, so that the preassembling system preassembles the target cargo for the target truck.

The transfer task of the target truck comprises a target address.

Loading unit 503: and the first transfer robot is used for sending a working instruction to the first transfer robot, so that the first transfer robot transfers the target goods to a pre-allocated stop point, and the target goods are placed in a carriage of the target truck when the target truck reaches the stop point.

The working instructions comprise a first transfer instruction and a loading instruction; the first transfer instruction comprises third position information of the stop point and second position information of the preassembled target goods in the preassembled area; the loading unit 503 is specifically configured to allocate the stop point to the target truck in response to the first location information indicating that the target truck enters a designated area; sending the first transfer instruction to the first transfer robot, so that the first transfer robot transfers the pre-loaded target goods to the stop point; and receiving vehicle positioning information, and sending a loading instruction to the first transfer robot so that the first transfer robot can place the target goods in the compartment of the target wagon based on the loading instruction.

The cargo shipment device further comprises a leaving unit, wherein the leaving unit is specifically used for receiving task ending information and sending a leaving instruction to the target truck; the task ending information indicates that the first transfer robot completes the transfer task of the preloaded target goods, and the leaving instruction is used for indicating the target truck to leave the stop point.

The cargo transferring device further comprises a sending unit, wherein the sending unit is specifically used for receiving preassembly information; the preassembly information comprises a corresponding relation between a tray identifier of a target tray and the target goods, the tray identifier of the target tray and the position information of the target tray; the target tray is used for bearing the preloaded target goods; determining at least one transfer robot in an idle state as a first transfer robot; marking the position information of the target tray as the second position information; the loading unit 503 is further configured to send the second position information, the tray identifier, and the third position information as the first transfer instruction to the first transfer robot, so that the first transfer robot determines the target tray in a preassembly area based on the second position information and the tray identifier, and plans a first driving route based on the second position information and the third position information.

The device for transferring the cargoes further comprises a unloading transfer unit, wherein the unloading transfer unit is specifically used for responding to the transferring task comprising an unloading instruction and determining that at least one transfer robot in an idle state is a second transfer robot; sending a second transfer instruction to the second transfer robot, so that the second transfer robot drives to the stop point;

the device for transferring the goods further comprises a discharge instruction unit, and based on the vehicle positioning information, a discharge instruction is sent to the second transfer robot, so that the to-be-discharged goods in the target truck are transferred to a discharge area by the second transfer robot.

Further, the embodiment of the present application further provides a device for transferring goods, which is applied to a preassembly system, and the device corresponds to the method for transferring goods shown in fig. 2, and a specific embodiment of the device may refer to the description of the foregoing method embodiment, and the repetition is omitted, where the description is omitted, and the device includes:

Matching unit: the system comprises a carriage size information acquisition module, a target pallet matching with the target truck, and a maximum height of the target truck;

The device further comprises a packaging unit, wherein the packaging unit is specifically used for packaging the preassembled goods; determining second position information of the preassembled goods in the preassembled area, and creating a corresponding relation between a tray identifier of the target tray and the vehicle identifier; and sending the second position information, the tray identification of the target tray and the corresponding relation to a platform server.

Further, the embodiment of the application also provides a device for transferring goods, which can be used for a transfer robot, and comprises:

a first receiving unit: for receiving a work order.

An identification unit: and the working instruction is used for responding to a first transfer instruction, and the target tray is determined based on second position information in the first transfer instruction and a tray identification of the target tray.

The second position information indicates the position of a target tray carrying target goods in a preassembly area, and the tray identifications are in one-to-one correspondence with the target tray;

planning unit: for planning a first travel route based on the second and third position information in the first transfer instruction, and transferring the target tray to the stop point based on the first travel route.

Wherein the third location information indicates a location of a dock of the truck on the dock;

a second receiving unit: for receiving a shipment instruction.

Loading unit: and the loading device is used for placing the target tray in a carriage of the target truck based on the loading instruction and sending task ending information.

Based on the same inventive concept, embodiments of the present application also provide a readable storage medium including:

the memory device is used for storing the data,

the memory is for storing instructions that, when executed by the processor, cause an apparatus comprising the readable storage medium to perform the method of cargo transferring as described above.

Based on the same inventive concept as the cargo transferring method, an electronic device is further provided in the embodiments of the present application, where the electronic device may implement the functions of the foregoing cargo transferring method, and referring to fig. 6, the electronic device includes:

At least one processor 601, and a memory 602 connected to the at least one processor 601, a specific connection medium between the processor 601 and the memory 602 is not limited in the embodiment of the present application, and in fig. 6, the processor 601 and the memory 602 are connected by a bus 600 as an example. Bus 600 is shown in bold lines in fig. 6, and the manner in which the other components are connected is illustrated schematically and not by way of limitation. The bus 600 may be divided into an address bus, a data bus, a control bus, etc., and is represented by only one thick line in fig. 6 for convenience of representation, but does not represent only one bus or one type of bus. Alternatively, the processor 601 may be referred to as a controller, and the names are not limited.

In the embodiment of the present application, the memory 602 stores instructions executable by the at least one processor 601, and the at least one processor 601 may perform the method for transferring goods as described above by executing the instructions stored in the memory 602. The processor 601 may implement the functions of the respective modules in the apparatus shown in fig. 5.

The processor 601 is a control center of the device, and various interfaces and lines can be used to connect various parts of the whole control device, and through running or executing instructions stored in the memory 602 and calling data stored in the memory 602, various functions of the device and processing data can be performed, so that the device can be monitored as a whole.

In one possible design, processor 601 may include one or more processing units, and processor 601 may integrate an application processor and a modem processor, wherein the application processor primarily processes operating systems, user interfaces, application programs, and the like, and the modem processor primarily processes wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 601. In some embodiments, processor 601 and memory 602 may be implemented on the same chip, or they may be implemented separately on separate chips in some embodiments.

The processor 601 may be a general purpose processor such as a Central Processing Unit (CPU), digital signal processor, application specific integrated circuit, field programmable gate array or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, which may implement or perform the methods, steps and logic blocks disclosed in embodiments of the present application. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method for transferring goods disclosed in connection with the embodiments of the present application may be directly embodied as a hardware processor or may be implemented by a combination of hardware and software modules in the processor.

The memory 602 is a non-volatile computer readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs, and modules. The Memory 602 may include at least one type of storage medium, which may include, for example, flash Memory, hard disk, multimedia card, card Memory, random access Memory (Random Access Memory, RAM), static random access Memory (Static Random Access Memory, SRAM), programmable Read-Only Memory (Programmable Read Only Memory, PROM), read-Only Memory (ROM), charged erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory), magnetic Memory, magnetic disk, optical disk, and the like. Memory 602 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 602 in the present embodiment may also be circuitry or any other device capable of implementing a memory function for storing program instructions and/or data.

By programming the processor 601, the code corresponding to the method of cargo transferring described in the foregoing embodiments may be cured into the chip, so that the chip can perform the steps of the method of cargo transferring shown in fig. 1 and/or fig. 2 at runtime. How to design and program the processor 601 is a well-known technique for those skilled in the art, and will not be described in detail herein.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components 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 units, which may be in electrical, mechanical or other form.

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

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution, in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a universal serial bus flash disk (Universal Serial Bus flash disk), a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk or an optical disk, or other various media capable of storing program codes.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. A method of cargo transferring, comprising:

responding to the transferring task including a loading instruction, acquiring first position information of a target truck, and sending the vehicle information and information of the target truck in the loading instruction to a preassembling system so that the preassembling system preassembles the target truck with the target truck in a preassembling area; wherein the diversion task of the target truck comprises a target diversion address;

2. The method of claim 1, wherein the sending a work order to a first transfer robot causes the first transfer robot to transfer the target cargo to a pre-assigned dock and after the target cargo is placed in a car of the target truck when the target truck reaches the dock, further comprising:

3. The method of claim 1 or 2, wherein the work instructions include a first transfer instruction and a shipment instruction; the first transfer instruction comprises third position information of the stop point and second position information of the preassembled target goods in the preassembled area;

4. The method of claim 3, wherein prior to sending the first transfer instruction to the first transfer robot, further comprising:

the sending a first transfer instruction to the first transfer robot includes:

5. The method of claim 3, wherein after determining the transfer task of the truck based on the vehicle identification in the vehicle information, further comprising:

6. A method of cargo transferring, comprising:

7. The method of claim 6, wherein after obtaining the pre-loaded cargo, further comprising:

packaging the preassembled goods;

8. A method of cargo transferring, comprising:

Receiving a working instruction;

receiving a loading instruction;

9. A device for trucking, comprising:

10. A cargo transferring device, comprising:

11. A cargo handling device comprising:

a first receiving unit: the device is used for receiving a working instruction;

12. A readable storage medium comprising,

the memory device is used for storing the data,

the memory is configured to store instructions that, when executed by a processor, cause an apparatus comprising the readable storage medium to perform the method of any of claims 1-8.

13. An electronic device, comprising:

a memory for storing a computer program;

a processor for executing a computer program stored on the memory to implement the method of any one of claims 1-8.