CN117429802A - Material sorting method, device, equipment and storage medium - Google Patents
Material sorting method, device, equipment and storage medium Download PDFInfo
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- CN117429802A CN117429802A CN202210831710.3A CN202210831710A CN117429802A CN 117429802 A CN117429802 A CN 117429802A CN 202210831710 A CN202210831710 A CN 202210831710A CN 117429802 A CN117429802 A CN 117429802A
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- 239000000463 material Substances 0.000 title claims abstract description 484
- 238000000034 method Methods 0.000 title claims abstract description 96
- 238000003860 storage Methods 0.000 title claims abstract description 17
- 230000004044 response Effects 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 77
- 238000012545 processing Methods 0.000 claims description 9
- 238000007599 discharging Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 description 17
- 238000004590 computer program Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
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- 238000012856 packing Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0216—Codes or marks on the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
Abstract
The embodiment of the disclosure provides a material sorting method, a device, equipment and a storage medium, which are applied to an intelligent warehousing system. The method comprises the following steps: determining a material to be delivered in response to a received delivery order, wherein the delivery order comprises identification information of the material to be delivered; determining a first robot for delivering materials to be delivered based on the materials to be delivered; and sending first indication information to the first robot, wherein the first indication information is used for indicating the first robot to move to a material box position in a goods shelf for storing materials to be delivered, picking the materials to be delivered from the material box and placing the materials to be delivered into an order box, and placing the order box on the first robot so as to finish picking of delivery orders. According to the technical scheme, picking treatment of materials to be delivered from the warehouse is directly completed through the robot, and the material picking efficiency is remarkably improved.
Description
Technical Field
The disclosure relates to the technical field of intelligent storage, in particular to a material sorting method, a device, equipment and a storage medium.
Background
The warehousing system based on the warehousing robot adopts an intelligent operating system, realizes automatic delivery of goods through system instructions, can continuously run for 24 hours, replaces manual management and operation, improves the efficiency of warehousing, and is widely applied and favored.
In the existing warehousing system, when materials are discharged, a bin containing the materials is conveyed to a workstation through a warehousing robot, the materials are sorted out of the bin by staff of the workstation and put into an order box, the bin is put back to an inventory unit through the warehousing robot after sorting is finished, the whole process is complex in steps, and the material sorting efficiency is low.
Disclosure of Invention
The embodiment of the disclosure provides a material sorting method, a device, equipment and a storage medium, so as to improve material sorting efficiency.
In a first aspect, an embodiment of the present disclosure provides a material sorting method, where the material sorting method is applied to an intelligent warehousing system, the material sorting method includes:
determining a material to be delivered in response to a received delivery order, wherein the delivery order comprises identification information of the material to be delivered;
determining a first robot for delivering materials to be delivered based on the materials to be delivered;
and sending first indication information to the first robot, wherein the first indication information is used for indicating the first robot to move to a material box position in a goods shelf for storing materials to be delivered, picking the materials to be delivered from the material box and placing the materials to be delivered into an order box, and placing the order box on the first robot so as to finish picking of delivery orders.
Optionally, the first robot includes a handling mechanism, the handling mechanism including at least one type, determining the first robot for discharging the material to be discharged based on the material to be discharged, comprising: and determining a first robot for picking the materials to be delivered according to the characteristics of the materials to be delivered and the types of the conveying mechanisms of the robots.
Optionally, the types of the handling mechanisms of the first robot are at least two, and the first indication information is further used for indicating the first robot to pick the materials to be delivered from the bin through the handling mechanism of the target type, and placing the picked materials to be delivered into the order bin, wherein the target type is determined according to the characteristics of the materials to be delivered.
Optionally, the order box includes at least one directional opening, and the material picking method further includes: the first indication information is specifically used for indicating the first robot to move to a material box position in a goods shelf for storing materials to be delivered, and the selected materials to be delivered are placed in the order box through a carrying mechanism of the first robot along the opening direction of the order box.
Optionally, at least one of the following is further included: after all the materials in the material box are picked, sending second indication information to the second robot, wherein the second indication information is used for indicating the second robot to convey the material box to a set position; after all the materials in the material box are selected, sending third indication information to the first robot, wherein the third indication information is used for indicating the first robot to convey the material box to a set position; the first indication information is also used to instruct the first robot to take the bin as an order bin when all of the material in the bin is picked.
In a second aspect, an embodiment of the present disclosure provides a material picking method, where the material picking method is applied to a robot, the material picking method includes:
receiving first indication information, wherein the first indication information is used for indicating a robot to move to a material box in a goods shelf for storing materials to be delivered, picking the materials to be delivered from the material box and placing the materials to be delivered into an order box, and placing the order box on the robot to finish the picking of the materials to be delivered;
and responding to the first indication information, moving to the bin, picking materials to be discharged from the bin, and placing the picked materials to be discharged into an order bin.
Optionally, the robot includes a handling mechanism including at least one type for picking the deposited material from the bin, placing the picked deposited material into an order bin, comprising: and selecting materials to be delivered from the material box through a carrying mechanism of a target type, placing the selected materials to be delivered into an order box, and determining the target type according to the characteristics of the materials to be delivered.
Optionally, placing the picked material to be delivered into an order box, including: and the carrying mechanism faces along the opening of the order box, and the sorted materials to be delivered are placed into the order box.
Optionally, the method further comprises: receiving second indication information, wherein the second indication information is used for indicating the robot to convey the bin to a set position; or, the first indication information is further used for indicating the robot to take the bin as an order bin.
In a third aspect, embodiments of the present disclosure provide a material picking device, the material picking device being applied to an intelligent warehousing system, the material picking device comprising:
the first determining device is used for responding to the received ex-warehouse order and determining the materials to be ex-warehouse, and the ex-warehouse order comprises identification information of the materials to be ex-warehouse;
the second determining device is used for determining a first robot for delivering the materials to be delivered based on the materials to be delivered;
the sending module is used for sending first indication information to the first robot, the first indication information is used for indicating the first robot to move to a material box position in a goods shelf for storing materials to be delivered, the materials to be delivered are selected from the material box and placed in an order box, and the order box is placed on the first robot so as to complete the selection of the delivered orders.
Optionally, the second determining device is specifically configured to determine, when the first robot includes a handling mechanism, the handling mechanism including at least one type, the first robot for picking the material to be picked up according to a characteristic of the material to be picked up and a type of the handling mechanism of the robot.
Optionally, the sending module is specifically configured to, if the types of the handling mechanisms of the first robot are at least two, further instruct the first robot to pick the materials to be delivered from the bin through the handling mechanism of the target type, and place the picked materials to be delivered into the order box, where the target type is determined according to the characteristics of the materials to be delivered.
Optionally, when the order box includes an opening in at least one direction, the sending module is further configured to instruct the first robot to move to a bin for storing the material to be delivered in the shelf, and place the sorted material to be delivered into the order box through a handling mechanism of the first robot along an opening direction of the order box.
Optionally, the sending module is further configured to include at least one of: after all the materials in the material box are picked, sending second indication information to the second robot, wherein the second indication information is used for indicating the second robot to convey the material box to a set position; after all the materials in the material box are selected, sending third indication information to the first robot, wherein the third indication information is used for indicating the first robot to convey the material box to a set position; the first indication information is also used to instruct the first robot to take the bin as an order bin when all of the material in the bin is picked.
The embodiment of the disclosure provides a material picking device, and the material picking device is applied to the robot, and this material picking device includes:
the receiving module is used for receiving first indication information, the first indication information is used for indicating the robot to move to a material box position in a goods shelf for storing materials to be delivered, the materials to be delivered are selected from the material box and placed in an order box, and the order box is placed on the robot so as to finish the selection of the materials to be delivered;
and the processing module is used for responding to the first indication information, moving to the bin, picking materials to be delivered from the bin, and placing the picked materials to be delivered into the order bin.
Optionally, the processing module is specifically configured to, when the robot includes a handling mechanism, pick the material to be delivered from the bin by the handling mechanism of the target type, and place the picked material to be delivered into the order bin, where the target type is determined according to a characteristic of the material to be delivered.
Optionally, the processing module is specifically configured to orient the handling mechanism along an opening of the order box, and place the sorted material to be delivered into the order box.
Optionally, the receiving module is further configured to receive second indication information, where the second indication information is used to instruct the robot to convey the bin to a set position; or, the first indication information is further used for indicating the robot to take the bin as an order bin.
In a fifth aspect, embodiments of the present disclosure further provide a control apparatus, including:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to cause the control apparatus to perform the method of picking material as in the first aspect of the present disclosure; alternatively, the instructions are executable by at least one processor to cause the control apparatus to perform the method of picking material as in the second aspect of the present disclosure.
In a sixth aspect, embodiments of the present disclosure also provide a material picking system, comprising:
a server and at least one warehousing robot;
the server is used for executing the material sorting method of the first aspect of the disclosure;
the at least one warehousing robot is used for receiving the indication information sent by the server, sorting the materials to be sorted according to the indication information, and executing the material sorting method of the second aspect of the disclosure.
In a seventh aspect, embodiments of the present disclosure also provide a computer-readable storage medium having stored therein computer-executable instructions that, when executed by a processor, are configured to implement a method of picking a material as in the first aspect of the present disclosure; alternatively, computer-executable instructions, when executed by a processor, are for implementing a method of picking material as in the second aspect of the disclosure.
In an eighth aspect, the presently disclosed embodiments also provide a computer program product comprising computer-executable instructions for implementing the method of picking material as in the first aspect of the present disclosure when executed by a processor; alternatively, computer-executable instructions, when executed by a processor, are for implementing a method of picking material as in the second aspect of the disclosure.
According to the material sorting method, the device, the equipment and the storage medium, the materials to be sorted are determined according to the received sorting order containing the identification information of the materials to be sorted, and then the first robot for sorting the materials to be sorted is determined based on the materials to be sorted; and sending first indication information to the first robot, indicating the first robot to move to a material box position in a goods shelf for storing materials to be delivered, picking the materials to be delivered from the material box, placing the materials to be delivered into an order box, and placing the order box on the first robot to finish picking of the delivered order. Therefore, the material can be picked directly through the robot without picking operation through the workstation, so that the process that the robot carries the material box to the workstation and returns to the stock unit is saved, and the material picking efficiency is remarkably 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 material sorting method according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of a method of sorting materials provided in one embodiment of the present disclosure;
FIG. 3 is a flow chart of a method of sorting materials provided in one embodiment of the present disclosure;
FIG. 4 is a flow chart of a method of sorting materials provided in accordance with yet another embodiment of the present disclosure;
FIG. 5 is a flow chart of a method of sorting materials provided in accordance with yet another embodiment of the present disclosure;
FIG. 6 is a schematic view of a material picking apparatus according to yet another embodiment of the present disclosure;
FIG. 7 is a schematic view of a material picking apparatus according to yet another embodiment of the present disclosure;
fig. 8 is a schematic structural view of a control device according to another embodiment of the present disclosure
Fig. 9 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.
In the existing warehousing system, the material discharging process is to convey a material box containing the material to a workstation through a warehousing robot, select the material from the material box by a worker of the workstation, put the material into an order box, and put the material box back to an inventory unit through the warehousing robot after the material is selected; although the storage robot can carry a plurality of workboxes simultaneously, the process of carrying the workboxes is time-consuming and the sorted materials are conveyed to the ex-warehouse part from the workstation, so that the whole process is complex, the whole time-consuming is long, and the material sorting efficiency is low.
In order to solve the problem, the embodiment of the disclosure provides a material sorting method, which is used for directly sorting corresponding materials from a material box according to the materials to be sorted of a warehouse-out order, and placing the materials in an order box on a robot basket, so that sorting of the warehouse-out order is directly completed, complicated time-consuming operation of carrying the material box is not needed, and the problem of low material sorting efficiency is effectively solved.
The application scenario of the embodiments of the present disclosure is explained below:
fig. 1 is an application scenario diagram of a material sorting method according to an embodiment of the present disclosure. As shown in fig. 1, in the process of picking materials, the intelligent warehouse system 100 sends picking tasks to the robot 120 according to the bin 110 where the materials to be picked are located, so that the robot 120 directly picks the materials to be taken out of the bin 110 and places the materials in the order bin 130 on the robot 120, thereby completing the picking of the materials.
It should be noted that, in the scenario shown in fig. 1, the bin, the robot, and the order box are only illustrated as an example, but the disclosure is not limited thereto, that is, the number of bins, robots, and order boxes may be arbitrary.
The material sorting method provided by the present disclosure is described in detail below by way of specific examples.
Fig. 2 is a flow chart of a method of sorting materials provided in one embodiment of the present disclosure. The material sorting method is applied to an intelligent warehouse system. As shown in fig. 2, the material sorting method provided in this embodiment includes the following steps:
step S201, determining materials to be delivered in response to the received delivery order.
The delivery order comprises identification information of materials to be delivered.
Specifically, the delivery order includes the types and the amounts of the materials to be delivered, and the server automatically hits the inventory materials with the corresponding types and amounts according to the received delivery order, and uses the inventory materials as the materials to be delivered.
When the server hits the stock materials and takes the stock materials as the materials to be delivered, the positions of the stock shelves and the feed boxes where the materials to be delivered are stored are determined at the same time. Therefore, the robot can find the corresponding materials to be delivered according to the positions of the materials to be delivered determined by the server.
Further, each unit of materials to be delivered has corresponding identification information, such as a one-dimensional bar code on a packing box, and the identification information of each material to be delivered is input into a server during warehouse entry, so that the server sends the identification information of the material to be delivered to a robot while sending the position of the material to be delivered to the robot, and when the robot picks the material, the robot obtains the identification information through a scanning device, so that the correct material to be delivered can be confirmed.
Step S202, determining a first robot for discharging materials to be discharged based on the materials to be discharged.
Specifically, the server determines a robot capable of completing picking of the materials to be delivered as a first robot according to the types, the numbers and the positions of the materials to be delivered. In a specific determination process, the relative position of the robot and the materials is usually combined, and the amount of the materials which can be placed on the pack basket of the robot is determined.
The first robot can be one or a plurality of robots (such as 2 robots, 3 robots or more), and the types and the amounts of the materials to be processed and discharged are determined according to the needs.
Further, the robot selected by the server is a robot which is provided with an identification device capable of identifying identification information of materials to be taken out, a clamping device for taking and placing materials and a pack basket capable of containing (or carrying) a plurality of (such as 3, 5 or more) order boxes; and the clamping device can extend into the material box to take out materials to be delivered out of the warehouse, and can also put the materials into orders.
Step S203, sending first instruction information to the first robot.
The first indication information is used for indicating the first robot to move to a material box position in the goods shelf for storing materials to be delivered, the materials to be delivered are selected from the material box and placed in an order box, and the order box is placed on the first robot so as to complete the selection of the delivered order.
Specifically, the server of the intelligent warehousing system sends materials to be sorted to the robot, and the first indication information specifically sent to the first robot includes the position of a material box where the materials to be sorted are located, identification information of the materials to be sorted, the quantity of the materials to be sorted out, and an order box for placing the materials to be sorted out.
After the first robot receives the first indication information, the picking operation of the materials to be delivered can be automatically completed based on the positions and the quantity of the materials to be delivered, the corresponding order boxes and other information.
Further, when the plurality of first robots are required to jointly complete picking of the materials to be picked corresponding to the order to be picked, the server is required to respectively send corresponding first indication information to each first robot.
According to the material sorting method provided by the embodiment of the disclosure, the materials to be sorted are determined according to the received sorting order containing the identification information of the materials to be sorted, and then the first robot for sorting the materials to be sorted is determined based on the materials to be sorted; and sending first indication information to the first robot, indicating the first robot to move to a material box position in a goods shelf for storing materials to be delivered, picking the materials to be delivered from the material box, placing the materials to be delivered into an order box, and placing the order box on the first robot to finish picking of the delivered order. Therefore, the material can be picked directly through the robot without picking operation through the workstation, so that the process that the robot carries the material box to the workstation and returns to the stock unit is saved, and the material picking efficiency is remarkably improved.
Fig. 3 is a flow chart of a method of sorting materials provided in one embodiment of the present disclosure. As shown in fig. 3, the material sorting method provided in this embodiment includes the following steps:
step S301, determining a material to be delivered in response to the received delivery order.
The delivery order comprises identification information of materials to be delivered.
Specifically, the content of this step is the same as that of step S201 in the embodiment shown in fig. 2, and the details are not repeated here.
Step S302, determining a first robot for picking materials to be delivered according to the characteristics of the materials to be delivered and the types of the conveying mechanisms of the robots.
Wherein the first robot comprises a handling mechanism, the handling mechanism comprising at least one type.
Specifically, since the materials to be delivered may have different size and structural characteristics (such as hardness and flatness), different kinds of handling mechanisms may be configured in the warehouse system to obtain materials to be delivered with different sizes and characteristics. If the materials to be delivered are bagged screw accessories or notebook computers, the former is softer in structure but larger in weight, and the latter is flat and hard in surface, at the moment, magnetic-type clamps (screws are metal and can be adsorbed by electromagnets) and mechanical clamping arms can be respectively adopted to take out the materials.
Further, when the surface of the material to be delivered is a flat surface, a suction type carrying mechanism, such as a magnetic suction type carrying mechanism and a negative pressure air suction type carrying mechanism, can be selected; when the hardness of the materials to be delivered or the external package is high, a clamping type carrying mechanism, such as a common manipulator, can be selected; when the weight of the materials to be delivered is large, a clamping type carrying mechanism, such as a clamping type fork, can be selected.
Therefore, when each robot is provided with a different kind of conveyance mechanism, when determining the first robot, it is also necessary to select according to the kind of conveyance mechanism of the robot and the characteristics of the materials to be discharged.
Step S303, sending first indication information to the first robot.
The first indication information is used for indicating the first robot to move to a material box position in the goods shelf for storing materials to be delivered, the materials to be delivered are selected from the material box and placed in an order box, and the order box is placed on the first robot so as to complete the selection of the delivered order.
Specifically, after a first robot with a corresponding type of conveying mechanism is determined, first indication information is sent to the corresponding first robot based on a to-be-ex-warehouse material picking task distributed to the first robot by a server.
In some embodiments, when the types of the handling mechanisms of the first robot are at least two, the first indication information is further used for indicating the first robot to pick the materials to be delivered from the bin through the handling mechanism of the target type, and put the picked materials to be delivered into the order bin, wherein the target type is determined according to the characteristics of the materials to be delivered.
Specifically, when the first robot has at least two different carrying mechanisms at the same time, the server specifically indicates which carrying mechanism is required to be specifically adopted by the first robot to complete the picking task of the materials to be delivered when sending the first indication information to the first robot.
The manner of determining the conveyance mechanism is shown in step S302.
In some embodiments, when the order box includes at least one directional opening, the first indication information is specifically used to instruct the first robot to move to a bin in the shelf for storing the material to be delivered, and along the opening direction of the order box, the sorted material to be delivered is placed into the order box by a handling mechanism of the first robot.
Specifically, after the first robot picks out the materials to be delivered from the bin, the materials to be delivered also need to be placed in the corresponding order bin. The order boxes in the existing work station are all open on the upper surface to place materials to be delivered, while the order boxes on the first robot basket on the back are open on the upper surface and can be open on the side facing the goods shelf/carrying mechanism, so that according to the opening direction of the order boxes, the first robot needs to be specifically indicated how the materials to be delivered should be placed into the order boxes.
The opening direction of the order box on the first robot is stored in the server in advance, for example, the opening direction is unified to be open at the upper surface or unified to be open at the side surface. When the upper surface of the order box is open, the server needs to instruct the first robot to put the materials to be delivered into the storage from the upper part of the target order box through the carrying mechanism by the first instruction information; when the side face of the order box is open, the server needs to instruct the first robot to put the materials to be delivered into the warehouse from the side face of the target order box through the carrying mechanism through the first indication information.
Step S304, after all materials in the material box are selected, second indication information is sent to the second robot, and the second indication information is used for indicating the second robot to convey the material box to a set position.
In particular, when bins on a pallet are emptied, it is often necessary to remove the bins to avoid continuing to occupy inventory locations. At the moment, the empty box can be moved to the appointed temporary storage rack and also can be moved to the appointed conveying line position, so that the empty box can be recycled conveniently.
Further, since the first robot is performing a bin picking task, a second robot dedicated to performing a bin reclaiming task or another robot that is idle may be instructed to handle empty bins.
Further, when the empty box is carried, the second robot can place the empty box in an empty pack basket, and can also be directly placed in a carrying mechanism (for example, when other empty boxes needing to be taken are not available).
Step S305, after all materials in the material box are picked, sending third indication information to the first robot, wherein the third indication information is used for indicating the first robot to convey the material box to a set position.
Specifically, if the first robot has completed the sorting tasks of all the materials to be delivered, the first robot may also directly transport the bin to the set position, so as to improve the transport efficiency.
Further, the first robot can directly place the empty bin in the handling mechanism when handling the empty bin, without placing the empty bin in the pack basket (because the sorted order bin is placed after the empty bin is placed).
In step S306, when all the materials in the bin are picked, the first indication information is further used to instruct the first robot to take the bin as an order bin.
Specifically, when the first robot has a material sorting task to be completed and the pack basket has a vacant position, the vacant box can be used as an order box, and the server can directly distribute the material sorting task based on the vacant box.
Further, since the bin opening orientation is typically different from the order bin opening orientation on the robotic basket, it is also necessary to turn the empty bin opening orientation to the same orientation as other order bins when specifically handling the empty bin into the basket.
According to the material sorting method provided by the embodiment of the disclosure, after the materials to be taken out and to be taken out are determined, the characteristics of the materials to be taken out and the types of the carrying mechanisms of the robots are combined, the corresponding first robots are determined, first indication information comprising the carrying mechanisms to be adopted and the actions of placing the materials to be taken out into the order box is issued, and when the box is empty, the fact that the empty box is recovered or directly reused by the first robots or the second robots is determined according to specific scenes. From this, can guarantee that first robot can effectively accomplish the selection of waiting to go out storehouse material of corresponding characteristic to empty workbin of recovery that can be convenient, thereby show to improve the material and go out the selection of storehouse in-process and workbin treatment efficiency, guarantee simultaneously to take out the stability of workbin, and then effectively improve storage handling efficiency.
Fig. 4 is a flow chart of a method of sorting materials provided in one embodiment of the present disclosure. The material sorting method is applied to a robot. As shown in fig. 4, the material sorting method provided in this embodiment includes the following steps:
Step S401, receiving first indication information.
The first indication information is used for indicating the robot to move to a material box position in the goods shelf for storing materials to be delivered, the materials to be delivered are selected from the material box and placed in an order box, and the order box is placed on the robot to complete the selection of the materials to be delivered.
Specifically, the robot may receive only one or more, for example, 3, 5 or more, first indication information; the robot may receive a plurality of first indication information simultaneously, for example, material picking tasks corresponding to a plurality of ex-warehouse orders respectively, or may receive a plurality of sequentially sent material picking tasks sequentially (for example, during the process of executing the material picking tasks).
When the robot receives the plurality of first indication information, namely, needs to process the picking tasks corresponding to the plurality of first indication information, at this time, the robot sequentially processes the picking tasks of all materials according to the processing sequence (possibly the task production sequence or the sequence comprehensively determined by considering the priority, the position of the materials and the like) designated by the server.
In step S402, in response to the first indication information, the material is moved to the bin, the material to be delivered is picked from the bin, and the picked material to be delivered is placed in the order bin.
Specifically, after the robot receives the first indication information, the robot sequentially completes the actions of moving to the bin, selecting the material to be delivered and placing the material to be delivered into the order box based on the specific position of the bin, the type of the material to be delivered, the quantity of the material to be delivered to be selected, the order box for placing the corresponding material to be delivered and the like contained in the first indication information, so that the process of selecting the material once is completed.
According to the material picking method provided by the embodiment of the disclosure, the robot moves to the position of the designated material box according to the received first indication information, picks the designated material to be delivered from the material box, and then places the picked material to be delivered into the designated order box, so that the process of picking the material once is completed. Therefore, the robot can directly complete material picking at the position of the material box without conveying the material box to a workstation, and the workstation picks the material box, so that the time consumed by conveying the material box is saved, the material picking efficiency is obviously improved, and the storage conveying efficiency is further effectively improved.
Fig. 5 is a flow chart of a method of sorting materials provided in one embodiment of the present disclosure. As shown in fig. 5, the material sorting method provided in this embodiment includes the following steps:
Step S501, receiving first indication information.
The first indication information is used for indicating the robot to move to a material box position in the goods shelf for storing materials to be delivered, the materials to be delivered are selected from the material box and placed in an order box, and the order box is placed on the robot to complete the selection of the materials to be delivered.
Specifically, this step is the same as step S401 in the embodiment shown in fig. 4, and will not be described here again.
Step S502, selecting materials to be delivered from a material box through a target type carrying mechanism, and placing the selected materials to be delivered into an order box.
Wherein the robot comprises a handling mechanism comprising at least one type; the target type is determined according to the characteristics of the materials to be delivered.
Specifically, when the robot includes multiple handling mechanisms, the robot may complete the material picking process according to the handling mechanism of the target type specifically designated in the first indication information.
For example, if the robot includes A, B, C three different handling mechanisms, and the first indication information specifies that the handling of the materials to be delivered is completed by the C handling mechanism, the robot will hold A, B the two handling mechanisms at the default positions, and control the C handling mechanism to complete the operations of picking the materials to be delivered and placing the materials to be delivered in the corresponding order boxes.
Further, the opening directions of the corresponding order boxes are different, and the operation of placing the sorted materials to be delivered is specifically as follows: and (3) directing the carrying mechanism along the opening of the order box, and placing the selected materials to be delivered into the order box.
Specifically, when the order box has different openings, the robot can place the materials to be delivered into the order box based on the actions for storing the materials to be delivered specified in the first indication information.
In some embodiments, if the side of the order box adjacent to the handling mechanism is open, the robot will control the handling mechanism to extend directly into the box in a horizontal direction and place the material to be discharged.
In some embodiments, if the upper surface of the order box is open, the robot will control the handling mechanism to move the materials to be delivered to the position directly above the order box, and then place the materials to be delivered into the bin in the vertical direction.
In some embodiments, the first indication information is further for indicating that the robot has the bin as an order bin.
Specifically, after the robot picks the materials in the material box, the material box is changed into an empty state, or the materials to be picked by the robot to be delivered are all the materials remained in the material box (at the moment, the materials to be delivered are not picked), if the material box is indicated to be used as an order box in the first indication information received by the robot, the robot can directly place the picked (or all the materials remained) material box into a specified pack basket to be used as the order box.
Further, after receiving the material box, the carrying mechanism of the robot can adjust the material box to a state that the opening direction is the same as that of other order boxes, and then the material box is placed on a designated pack basket to be used as the order box, so that the material to be discharged is convenient to place subsequently.
Step S503, receiving the second indication information, and conveying the bin to a set position according to the second indication information.
The second indication information is used for indicating the robot to convey the bin to a set position.
Specifically, when the robot receives the second indication information in the idle state or in the process of executing the material picking task, the bin designated by the second indication information is conveyed to the set position according to the time requirement in the second indication information (such as after completing the material picking or immediately executing).
At this time, the robot may place the bin directly on the handling mechanism, or may place the bin on an empty pack basket.
According to the material sorting method provided by the embodiment of the disclosure, the robot moves to the position of the designated material box according to the received first indication information, controls the target type conveying mechanism, sorts the designated material to be sorted out from the material box, then places the sorted material to be sorted out into the designated order box, and conveys the material box to the set position when the second indication information is received. Therefore, the robot can accurately complete the material sorting task, can conveniently and directly recycle the empty material box, facilitates the distribution of the subsequent material warehouse entry, and effectively improves the warehouse conveying efficiency.
Fig. 6 is a schematic structural view of a bin extraction device according to an embodiment of the present disclosure. As shown in fig. 6, the material picking device 600 is applied to an intelligent warehouse system, and the material picking device 600 includes: a first determination module 610, a second determination module 620, and a transmission module 630. Wherein:
a first determining module 610, configured to determine a material to be delivered in response to a received delivery order, where the delivery order includes identification information of the material to be delivered;
a second determining module 620, configured to determine, based on the material to be delivered, a first robot for delivering the material to be delivered;
the sending module 630 is configured to send first indication information to the first robot, where the first indication information is used to indicate that the first robot moves to a bin in a shelf for storing materials to be delivered, picks the materials to be delivered from the bin, and places the materials to be delivered into an order box, where the order box is placed on the first robot to complete picking of a delivery order.
Optionally, the second determining module 620 is specifically configured to determine, when the first robot includes a handling mechanism, the handling mechanism including at least one type, the first robot for picking the material to be delivered according to the characteristics of the material to be delivered and the type of the handling mechanism of the robot.
Optionally, the sending module 630 is specifically configured to, if the types of the handling mechanisms of the first robot are at least two, further instruct the first robot to pick the materials to be delivered from the bin through the handling mechanism of the target type, and place the picked materials to be delivered into the order bin, where the target type is determined according to the characteristics of the materials to be delivered.
Optionally, when the order box includes an opening in at least one direction, the sending module 630 is further configured to instruct the first robot to move to a bin for storing the material to be delivered in the shelf, and place the sorted material to be delivered into the order box along the opening direction of the order box through a handling mechanism of the first robot.
Optionally, the sending module 630 is further configured to include at least one of: after all the materials in the material box are picked, sending second indication information to the second robot, wherein the second indication information is used for indicating the second robot to convey the material box to a set position; after all the materials in the material box are selected, sending third indication information to the first robot, wherein the third indication information is used for indicating the first robot to convey the material box to a set position; the first indication information is also used to instruct the first robot to take the bin as an order bin when all of the material in the bin is picked.
In this embodiment, the material sorting device is through the combination of each module, can be based on waiting to go out the workbin position of storehouse material, waiting to go out the quantity and the kind of storehouse material, directly accomplish the material by the robot and select the task, and need not carry the workbin to workstation to save the time spent of carrying the workbin, effectively improve the efficiency that the material was selected, and then improve warehouse management efficiency.
Fig. 7 is a schematic structural view of a material picking device according to an embodiment of the disclosure. As shown in fig. 7, the material picking apparatus 700 is applied to a robot, and the material picking apparatus 700 includes: a receiving module 710 and a processing module 720. Wherein:
the receiving module 710 is configured to receive first indication information, where the first indication information is used to instruct the robot to move to a bin in the shelf for storing the material to be delivered, pick the material to be delivered from the bin, and place the material to be delivered into an order bin, where the order bin is placed on the robot to complete the picking of the material to be delivered;
and the processing module 720 is used for responding to the first indication information, moving to the bin, picking materials to be delivered from the bin, and placing the picked materials to be delivered into the order bin.
Optionally, the processing module 720 is specifically configured to, when the robot includes a handling mechanism, pick the material to be delivered from the bin by the handling mechanism of the target type, and place the picked material to be delivered into the order bin, where the target type is determined according to the characteristics of the material to be delivered.
Optionally, the processing module 720 is specifically configured to orient the handling mechanism along the opening of the order box, and place the sorted material to be delivered into the order box.
Optionally, the receiving module 710 is further configured to receive second instruction information, where the second instruction information is used to instruct the robot to convey the bin to the set position; or, the first indication information is further used for indicating the robot to take the bin as an order bin.
In this embodiment, the material sorting device is through the combination of each module, can directly accomplish the order of waiting out the material based on waiting out the material position of storehouse, waiting out the quantity and the kind of storehouse material to effectively improve material and go out storehouse efficiency, and then improve warehouse management efficiency.
Fig. 8 is a schematic structural diagram of a control device according to an embodiment of the present disclosure, and as shown in fig. 8, the control device 800 includes: memory 810 and processor 820.
Wherein the memory 810 stores a computer program executable by the at least one processor 820. The computer program is executed by the at least one processor 820 to cause the control apparatus to implement the material withdrawal method as provided in any of the embodiments above or the material warehousing method as provided in any of the embodiments above.
Wherein the memory 810 and the processor 820 may be connected by a bus 830.
The relevant descriptions and effects corresponding to the relevant description and effects corresponding to the method embodiments may be understood, and are not repeated herein.
Fig. 9 is a schematic structural diagram of a material picking system according to an embodiment of the disclosure, and as shown in fig. 9, the material picking system 900 includes:
a server 910 and at least one warehousing robot 920;
the server 910 is configured to perform the material picking method of the first aspect of the present disclosure;
the at least one storage robot 920 is configured to receive the indication information sent by the server 910, perform a picking process on the material to be picked according to the indication information, and perform a material picking method according to the second aspect of the disclosure.
The relevant descriptions and effects corresponding to the relevant description and effects corresponding to the method embodiments may be understood, and are not repeated herein.
An embodiment of the present disclosure provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor to implement a material retrieval method as provided in any of the method embodiments above or a material warehousing method as provided in any of the method embodiments above.
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.
An embodiment of the present disclosure provides a computer program product containing computer-executable instructions for implementing a material retrieval method as in the method embodiments described above or a material warehousing method as provided in any of the embodiments described above when executed by a processor.
In the several embodiments provided in the present disclosure, 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 modules is merely a logical function division, and there may be additional divisions of actual implementation, e.g., multiple modules 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 modules, which may be in electrical, mechanical, or other forms.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any adaptations, uses, or adaptations of the disclosure following the general principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (14)
1. A method for sorting materials, characterized in that it is applied to an intelligent warehouse system, said method for sorting materials comprising:
determining a material to be delivered in response to a received delivery order, wherein the delivery order comprises identification information of the material to be delivered;
determining a first robot for delivering the materials to be delivered based on the materials to be delivered;
and sending first indication information to the first robot, wherein the first indication information is used for indicating the first robot to move to a material box position in a goods shelf for storing the materials to be delivered, picking the materials to be delivered from the material box and placing the materials to be delivered into an order box, and placing the order box on the first robot so as to finish the picking of the delivered orders.
2. The material picking method of claim 1, wherein the first robot comprises a handling mechanism, the handling mechanism comprising at least one type, the determining a first robot for picking the pick-up material based on the pick-up material comprising:
And determining a first robot for picking the materials to be delivered according to the characteristics of the materials to be delivered and the types of the conveying mechanisms of the robots.
3. The material picking method according to claim 2, wherein if the types of the handling mechanisms of the first robot are at least two, the first indication information is further used to instruct the first robot to pick the material to be picked from the bin by a handling mechanism of a target type, and to place the picked material to be picked into an order bin, the target type being determined according to the characteristics of the material to be picked.
4. A method of picking material according to any of claims 1 to 3, wherein the order box comprises at least one directional opening, the method further comprising:
the first indication information is specifically used for indicating that the first robot moves to a material box position in a goods shelf for storing the materials to be delivered, and the selected materials to be delivered are placed in the order box along the opening direction of the order box through the carrying mechanism of the first robot.
5. A method of picking material as claimed in any one of claims 1 to 3 further comprising at least one of:
After all materials in the material box are picked, sending second indication information to a second robot, wherein the second indication information is used for indicating the second robot to convey the material box to a set position;
after all materials in the material box are picked, sending third indication information to the first robot, wherein the third indication information is used for indicating the first robot to convey the material box to a set position;
the first indication information is also used for indicating the first robot to take the bin as the order bin when all materials in the bin are picked.
6. A method of sorting materials, characterized by being applied to a robot, the method comprising:
receiving first indication information, wherein the first indication information is used for indicating the robot to move to a material box in a goods shelf for storing materials to be delivered, picking the materials to be delivered from the material box and placing the materials to be delivered into an order box, and the order box is placed on the robot to finish the picking of the materials to be delivered;
and responding to the first indication information, moving to the bin, picking the materials to be delivered from the bin, and placing the picked materials to be delivered into an order bin.
7. The method of claim 6, wherein the robot includes a handling mechanism, the handling mechanism including at least one type, the picking of the outgoing material from the bin, placing the picked outgoing material into an order box, comprising:
and picking the materials to be delivered from the material box through a carrying mechanism of a target type, and placing the picked materials to be delivered into an order box, wherein the target type is determined according to the characteristics of the materials to be delivered.
8. The method of claim 6 or 7, wherein placing the picked material to be taken out of stock into an order box comprises:
and placing the sorted materials to be delivered into the order box by arranging a carrying mechanism along the opening direction of the order box.
9. The material picking method of claim 6 or 7, further comprising:
receiving second indication information, wherein the second indication information is used for indicating the robot to convey the bin to a set position;
or, the first indication information is further used for indicating the robot to take the bin as the order bin.
10. A material picking device, characterized in that is applied to intelligent warehouse system, includes:
the first determining device is used for determining materials to be delivered in response to a received delivery order, wherein the delivery order comprises identification information of the materials to be delivered;
the second determining device is used for determining a first robot for discharging the materials to be discharged based on the materials to be discharged;
the sending module is used for sending first indication information to the first robot, the first indication information is used for indicating the first robot to move to a material box position in a goods shelf for storing materials to be delivered, the materials to be delivered are selected from the material box and placed in an order box, and the order box is placed on the first robot so as to finish the selection of the delivered orders.
11. A material picking device, characterized in that it is applied to a robot, comprising:
the receiving module is used for receiving first indication information, the first indication information is used for indicating the robot to move to a material box in a goods shelf for storing materials to be delivered, the materials to be delivered are selected from the material box and placed in an order box, and the order box is placed on the robot to finish the selection of the materials to be delivered;
And the processing module is used for responding to the first indication information, moving to the material box, picking the materials to be delivered from the material box, and placing the picked materials to be delivered into an order box.
12. A control apparatus, characterized by comprising:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to cause the control apparatus to perform the material picking method of any one of claims 1 to 5; alternatively, the instructions are executed by the at least one processor to cause the control apparatus to perform the material picking method of any one of claims 6 to 9.
13. A material picking system comprising:
a server and at least one warehousing robot;
the server is used for executing the material sorting method according to any one of claims 1 to 5;
the at least one warehousing robot is used for receiving the indication information sent by the server, carrying out picking treatment on materials to be picked according to the indication information, and executing the material picking method according to any one of claims 6 to 9.
14. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are for implementing the method of picking material as claimed in any one of claims 1 to 5; alternatively, a method of sorting materials as claimed in any one of claims 6 to 9.
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| CN202210831710.3A CN117429802A (en) | 2022-07-15 | 2022-07-15 | Material sorting method, device, equipment and storage medium |
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| CN202210831710.3A CN117429802A (en) | 2022-07-15 | 2022-07-15 | Material sorting method, device, equipment and storage medium |
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