CN117575207A

CN117575207A - Scheduling method, warehousing system and workstation

Info

Publication number: CN117575207A
Application number: CN202311490014.1A
Authority: CN
Inventors: 李洪波
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2023-11-09
Filing date: 2023-11-09
Publication date: 2024-02-20

Abstract

The application relates to the technical field of warehouse logistics and discloses a scheduling method, a warehouse system and a workstation. The scheduling method comprises the steps of obtaining an order to be processed, and determining a plurality of targets, at least one hit carrier and a destination site according to the order to be processed; determining a target workstation and a target conveying line according to the destination station; generating a first carrying instruction according to the target object, the hit carrier and the target workstation; the first conveying instruction is used for instructing the first conveying equipment to convey the hit carrier to the target workstation; generating a first fetching and placing instruction according to the target object, the hit carrier, the target workstation and the target conveying line; the first fetching and placing instruction is used for instructing the target working station to fetch the target object from the hit carrier and placing the target object on the target conveying line so as to convey the target object to the target station through the target conveying line. By applying the scheduling method provided by the embodiment of the application, the goods delivery efficiency can be improved.

Description

Scheduling method, warehousing system and workstation

Technical Field

The application relates to the technical field of warehouse logistics, in particular to a scheduling method, a warehouse system and a workstation.

Background

In a conventional warehouse system from goods to people, when goods need to be delivered, a workstation in the warehouse system generally takes out a container corresponding to the goods to be delivered on a shelf and places the container on a workbench, and then a worker manually sorts the taken container according to the requirement of each order, so that the container is distributed to a site in a corresponding area for subsequent delivery.

For example, when orders and goods required by a plurality of stores are different, a worker sorts out containers corresponding to the goods required by each store on a workbench according to the orders of each store, so that the conveying equipment conveys each container to a corresponding area of each store for packing and delivering, and sorting and delivering of the goods are realized. However, the above-mentioned mode of delivering warehouse needs the manual work to participate in, wastes time and energy, and goods delivery efficiency is lower.

Disclosure of Invention

In order to solve the above problems, the embodiments of the present application provide a scheduling method, a warehousing system, and a workstation, which can automatically classify goods corresponding to orders according to the demands of the orders, and transmit the goods to respective corresponding areas for delivery, thereby saving labor cost and improving delivery efficiency of the goods. Specifically, the embodiment of the application discloses the following technical scheme:

An embodiment of the present application provides a scheduling method, where the method includes: firstly, acquiring an order to be processed, and determining a target object, at least one hit carrier and a destination site according to the order to be processed; wherein, hit the movable carrier that the carrier is the target place. Secondly, determining a target workstation and a target conveying line according to the destination station; the target workstation comprises a plurality of conveying lines, the conveying lines are used for conveying targets to at least one site, the conveying lines comprise target conveying lines, and the at least one site comprises a destination site. Then, generating a first carrying instruction according to the target object, the hit carrier and the target workstation; the first conveying instruction is used for instructing the first conveying equipment to convey the hit carrier to the target workstation. Finally, generating a first fetching and placing instruction according to the target object, the hit carrier, the target workstation and the target conveying line; the first fetching and placing instruction is used for instructing the target working station to fetch the target object from the hit carrier and placing the target object on the target conveying line so as to convey the target object to the target station through the target conveying line.

In some embodiments, determining the destination workstation and the destination conveyor line from the destination station includes: the destination station, and thus the destination conveyor line, is determined among the plurality of stations according to the destination station.

In some embodiments, the plurality of workstations are divided into a plurality of workstation groups; determining a target workstation and a target conveyor line from a plurality of workstations according to the destination station, comprising: determining a target workstation group from a plurality of workstation groups according to the destination site; determining a target workstation and a target conveying line in a target workstation group; wherein the set of target workstations includes at least one workstation, the at least one workstation including the target workstation.

In some embodiments, determining a target set of workstations from among the plurality of sets of workstations based on the destination site comprises: according to the corresponding relation between each workstation group and each site, determining at least one workstation group corresponding to the destination site; a target set of workstations is determined in the at least one set of workstations based on the workload of each of the at least one set of workstations.

In some embodiments, determining a target workstation and a target transport line in a target workstation group includes: according to the workload of each workstation in the target workstation group, determining the workstation with the workload smaller than a workload threshold as a target workstation; the destination conveyor line is determined among a plurality of conveyor lines included in the destination workstation according to the destination station.

In some embodiments, the plurality of workstations are divided into a plurality of workstation groups in which the conveyor lines of different workstation groups are used to convey objects of different properties.

In some embodiments, determining a destination workstation and a destination conveyor line among a plurality of workstations according to a destination station includes: determining a target work station group in a plurality of work station groups according to the attribute of the target object; the set of target workstations includes at least one workstation, the at least one workstation including a target workstation. And determining the target workstation and the target conveying line in the target workstation group according to the target station.

In some embodiments, determining a destination workstation and a destination conveyor line among a plurality of workstations according to a destination station includes: and determining a target conveying line corresponding to the target station according to the first corresponding relation between each station and the conveying line in the stations. And determining a target workstation corresponding to the target conveyor line according to a second corresponding relation between each conveyor line and the workstation in the plurality of conveyor lines.

In some embodiments, the target workstation comprises a first workstation and a second workstation; the target conveying line comprises a first conveying line of a first work station and a second conveying line of a second work station; wherein, first transfer chain and second transfer chain are used for carrying the target object to same destination station.

In some embodiments, multiple conveyor lines of a target workstation are disposed at the same elevation, or staggered at different elevations.

In some embodiments, the method further comprises: after the target work station is predicted to take out the first target object from the hit carrier, the estimated gravity center position of the hit carrier is obtained; wherein the first target is any target in the hit carrier. And determining the object to be taken from a plurality of objects on the hit carrier according to the offset between the estimated gravity center position and the preset gravity center position. And according to the position of the object to be fetched, controlling the object workstation to fetch the object to be fetched from the hit carrier, and placing the object to be fetched on the object conveying line.

In some embodiments, determining a target object to be fetched from a plurality of target objects on a hit carrier according to an offset between the estimated center of gravity position and a preset center of gravity position includes: if the offset between the estimated gravity center position and the preset gravity center position is larger than a preset threshold value, determining a second target object in the hit carrier as a target object to be fetched; the second object is a target object which is different from the first object on the hit carrier.

In some embodiments, the hit carrier is provided with a plurality of cargo spaces along the vertical direction, and a barrier is arranged among the plurality of cargo spaces along the vertical direction; the second object and the first object are positioned on different surfaces of the hit carrier; according to the position of the object to be fetched, the control target workstation takes out the object to be fetched from the hit carrier and places the object to be fetched on the target conveying line, comprising: and generating a turn-plane instruction and a second fetching instruction according to the position of the second target object. The surface turning instruction is used for instructing the second carrying equipment to turn the surface of the hit carrier; the second fetching and placing instruction is used for indicating the target workstation to fetch the second target object from the hit carrier after the target workstation hits the carrier rotating surface, and placing the second target object on the target conveying line, so that the offset between the gravity center position of the hit carrier after fetching the second target object and the preset gravity center position is smaller than or equal to a preset threshold value.

In some embodiments, determining a target object to be fetched from a plurality of target objects on a hit carrier according to an offset between the estimated center of gravity position and a preset center of gravity position includes: if the offset between the estimated gravity center position and the preset gravity center position is smaller than or equal to a preset threshold value, the first target object is determined to be the target object to be taken.

In some embodiments, the plurality of workstations includes a third workstation and a fourth workstation, and a carrier docking area is disposed between the third workstation and the fourth workstation, the hit carrier docking area. Generating a first fetching instruction according to the target object, the hit carrier, the target workstation and the target conveying line, wherein the first fetching instruction comprises the following components: generating a first sub-fetching instruction and a second sub-fetching instruction according to the target object, the hit carrier, the target workstation and the target conveying line; the first sub-fetching and placing instruction is used for instructing a third workstation to fetch a third target object from one surface of the hit carrier, and placing the third target object on a third conveying line so as to convey the third target object to a destination station corresponding to the third target object through the third conveying line; the second sub-fetching and placing instruction is used for instructing the fourth workstation to take out the fourth target object from the other surface of the hit carrier, and placing the fourth target object on the fourth conveying line so as to convey the fourth target object to a destination site corresponding to the fourth target object through the fourth conveying line.

In some embodiments, the method further comprises: generating a first cache instruction under the condition that the abnormality of the target object is detected; the first cache instruction is used for instructing the target workstation to place an abnormal target object on the cache device.

In some embodiments, the method further comprises: generating a second cache instruction under the condition that a target site exists in the multiple sites; the number of the targets required by the target sites is smaller than or equal to a preset number threshold, or the conveying frequency of the targets required by the target sites is lower than a preset frequency threshold; the second caching instruction is used for indicating a target workstation corresponding to the target station to take out a target object required by the target station from the hit carrier and place the target object on the caching device.

In some embodiments, the method further comprises: generating a third buffer instruction under the condition that the object conveyed on the target conveying line reaches a target area; the third buffer instruction is used for instructing the target workstation to place the target object on the buffer device or place the target object on an idle buffer bit of the target workstation.

A second aspect of the embodiments provides a warehousing system including a plurality of movable carriers, a plurality of workstations, and a control device. Each movable carrier comprises a plurality of storage bits, and each storage bit is used for storing a target object. The control device is configured to: acquiring an order to be processed, and determining a plurality of targets, at least one hit carrier and a destination site according to the order to be processed; wherein the hit carrier is a movable carrier where the target object is located; determining a target workstation and a target conveying line in a plurality of workstations in a warehouse system according to the destination site; generating a first carrying instruction according to the target object, the hit carrier and the target workstation; and generating a first fetching and placing instruction according to the target object, the hit carrier, the target workstation and the target conveying line. A first handling device of the plurality of handling devices is configured to obtain a first handling instruction, and to handle the hit carrier to the target workstation according to the handling instruction. The target workstation comprises a plurality of conveying lines and a container picking and placing device, the plurality of conveying lines are used for conveying the target objects to at least one station, the plurality of conveying lines comprise target conveying lines, and the at least one station comprises a destination station. The container pick-and-place device is configured to obtain a first pick-and-place instruction, pick a target object from the hit carrier according to the first pick-and-place instruction, and place the target object on the target conveyor line. The target delivery line is configured to deliver the target object to the destination site.

A third aspect of the embodiments provides a workstation comprising a plurality of conveyor lines and a container handling device. A plurality of conveyor lines for conveying the objects to at least one station; the container picking and placing device is configured to acquire a first picking and placing instruction, take out the target object from the hit carrier according to the first picking and placing the target object on a target conveying line in the plurality of conveying lines. The target conveyor line is configured to convey the target object to a destination station of the at least one station; the target object, the hit carrier and the destination site are determined according to the order to be processed; the target delivery line is determined based on the destination site.

A fourth aspect of the present application provides an electronic device, including: a processor and a memory for storing computer-executable instructions; the processor is configured to read the instruction from the memory and execute the instruction to implement the scheduling method described in the foregoing first aspect.

A fifth aspect of the embodiments of the present application provides a computer-readable storage medium storing computer program instructions that, when read by a computer, perform the scheduling method of the foregoing first aspect.

A sixth aspect of the embodiments of the present application provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the scheduling method of the preceding first aspect.

The scheduling method provided by the embodiment of the application can determine the target object, the hit carrier and the destination site according to the order to be processed; the target site is a site corresponding to the target object. After the destination station is determined, a target workstation and a target conveying line corresponding to the target object can be determined according to the destination station, so that the conveying equipment conveys the hit carrier corresponding to the target object to the target workstation according to the conveying instruction. After the target carrier reaches the target workstation, the container picking and placing device of the target workstation takes out the target object from the hit carrier according to the picking and placing instruction, and places the target object on the target conveying line; the target conveying line conveys the target objects to the target station, so that classified conveying of the target objects is realized. Therefore, by applying the scheduling method provided by the embodiment of the application, the automatic classification of the target objects can be realized, the target objects are automatically conveyed to the corresponding destination sites for delivery, and the manual sorting is not needed, so that the labor cost is reduced, and the delivery efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a warehousing system according to some embodiments of the present application;

FIG. 2 is a schematic diagram of a workstation according to some embodiments of the present application;

FIG. 3 is a schematic diagram of another workstation according to some embodiments of the present application;

FIG. 4 is a schematic diagram of a workstation provided in some embodiments of the present application;

FIG. 5 is a schematic diagram of another warehousing system according to some embodiments of the application;

FIG. 6 is a schematic diagram of yet another warehousing system provided by some embodiments of the application;

FIG. 7 is a schematic diagram of yet another warehousing system according to some embodiments of the application;

FIG. 8 is a schematic diagram of a scheduling method according to some embodiments of the present application;

FIG. 9 is a schematic diagram of another scheduling method provided in some embodiments of the present application;

FIG. 10 is a schematic diagram of yet another scheduling method provided in some embodiments of the present application;

FIG. 11 is a schematic illustration of another workstation provided in some embodiments of the present application;

fig. 12 is a schematic diagram of an electronic device provided in some embodiments of the present application.

Detailed Description

In order to better understand the technical solution in the embodiments of the present application and make the above objects, features and advantages of the embodiments of the present application more obvious, the technical solution in the embodiments of the present application is described in further detail below with reference to the accompanying drawings.

Typically, when a handling device (e.g., a handling robot) handles a movable carrier to a workstation, the workstation may take a container on the movable carrier and place the container on a picking station of the workstation according to a pick-and-place instruction sent by a control device, and then the container is distributed to a corresponding station, such as a processing station, by a worker according to an order requirement, so as to be delivered from the processing station.

For example, when the order includes a product to be delivered to a plurality of stores, after the workstation takes out a container storing the product from the movable carrier, the worker needs to sort the containers according to the stores corresponding to the product in the container, and then transport each container to a processing site corresponding to each store. Not only does this process require significant labor costs, but it may also result in misclassification of the containers due to operator negligence, thereby reducing the shipment efficiency of the goods.

In order to solve the above problems, the embodiment of the application provides a warehousing system, which can automatically classify containers, automatically convey the containers to corresponding sites, save labor cost and improve the warehouse-out efficiency.

The warehousing system provided by the embodiment of the application is described below with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of a warehousing system according to an embodiment of the present application. As shown in fig. 1, the warehouse system 100 includes a plurality of movable carriers 10, a carrier docking area 20, at least one workstation 30, a plurality of handling devices 40, and a control device (not shown in fig. 1).

Illustratively, the mobile carrier 10 may include a plurality of memory bits. The storage position can be used for placing a container, a feed box, or a cargo directly, or an original box of the cargo; the embodiments of the present application are not limited in this regard, and the following embodiments are schematically illustrated with storage bits for placement of containers.

For example, the storage bits may be a rectangular parallelepiped-shaped accommodation space, and the plurality of storage bits on the movable carrier 10 may be aligned along the length direction, the width direction, and the height direction of the movable carrier 10. The container may be a kit specifically designed for the mobile carrier 10, a common container (also referred to as a bin), or a package of goods (also referred to as a raw bin), which is not limited in this embodiment.

In some examples, the movable carrier 10 may include a movable shelf. The movable shelf includes at least one layer of partition board, the at least one layer of partition board divides the movable carrier 10 into at least two layers, at least one storage position is disposed on the partition board of the movable carrier 10, each storage position can accommodate at least one container, the container placed in each storage position can be a container or a tray, and the embodiment of the present application is not limited to this. The movable carrier 10 includes, but is not limited to, a shelf, a container shelf, a picking shelf, a movable shelf, and the like. The movable carrier 10 provided in the embodiments of the present application may refer to any carrier for placing containers.

In some examples, the mobile carrier 10 may be a dense storage rack or a non-dense storage rack. When the movable carrier 10 is a densely stored pallet, the gap between containers is small. For example, the mobile carrier 10 may rest on a shelf area, which may also be referred to as an inventory area, which may be a dense storage area or a non-dense storage area. Wherein, the shelf area can include a plurality of berths, and a plurality of berths can be neatly distributed according to the range. Each dock may be used to dock one of the movable carriers 10.

In some examples, the movable carrier 10 may be a single-sided carrier or a double-sided carrier, which is not limited in the embodiments of the present application. For example, when the movable carrier 10 is a double-sided rack, a barrier may be provided between a plurality of cargo spaces of the movable carrier 10 in the vertical direction; each side of the movable carrier 10 may be provided with 30 storage bits, and both sides are provided with 60 storage bits in total. The embodiments of the present application are not limited in terms of the type of movable carrier 10 and the number of memory bits included, but are merely illustrative.

In some embodiments, the number of workstations 30 in the warehouse system 100 may be one or more, which is not limited in this embodiment. The following embodiments are exemplified by a warehousing system 100 including a plurality of workstations 30.

Illustratively, each workstation 30 in the warehousing system 100 may be correspondingly provided with one or more carrier docking areas 20, in which carrier docking areas 20 movable carriers 10 are docked. The handling device 40 may handle the movable carrier 10 from the shelf area to the carrier docking area 20 corresponding to the workstation 30, so that the workstation 30 may take out containers on the movable carrier 10 or place containers on a storage location of the movable carrier 10.

In some examples, the carrier docking area 20 is located between the shelf area and the workstation 30, e.g., the carrier docking area 20 may be disposed on one side of the workstation 30 to allow the workstation 30 to access containers 50 on the mobile carriers 10 docked in the carrier docking area 20.

In some examples, the vehicle docking area 20 includes one or more docking stations for docking the movable vehicle 10. For example, one workstation 30 may correspond to one docking station, or one workstation 30 may correspond to a plurality of docking stations, which is not limited in this embodiment, and fig. 1 is schematically illustrated with one workstation 30 corresponding to two docking stations.

Illustratively, the handling device 40, which may also be referred to as an automated handling device or carrier handling device, is used for handling the movable carrier 10. For example, the handling device 40 may handle the movable carrier 10 between a shelf area in the warehouse and the carrier docking area 20.

In some examples, the handling device 40 may be a handling robot, such as an automated guided vehicle (Automated Guided Vehicle, AGV). For example, the transfer robot may travel under the movable carrier 10 and then push the movable carrier 10 up off the ground, so that the movable carrier 10 may be supported for movement.

For example, the control means may be coupled to the workstation 30 and the handling device 40, respectively, for controlling the operation of the workstation 30 and the handling device 40. For example, the control device may control the movement operation of the carrying device 40 and the carrying operation of the movable carrier 10, or may control the workstation 30 to perform the goods picking operation or the like.

In some embodiments, the control device may generate a corresponding carrying instruction according to the acquired order to be processed, and send the carrying instruction to the carrying apparatus 40; the handling apparatus 40 acquires the handling instruction, and handles the movable carrier 10 where the container hit by the order to be processed is located to the workstation 30 according to the handling instruction. For example, the handling device 40 may be movable to handle the carrier 10 to the corresponding carrier docking area 20 of the workstation 30.

Illustratively, the workstation 30 is used to retrieve containers from the mobile carriers 10 docked in the carrier docking area 20, or the workstation 30 is used to place containers onto storage locations of the mobile carriers 10 docked in the carrier docking area 20.

Fig. 2 is a schematic structural diagram of a workstation according to an embodiment of the present application. As shown in fig. 2, the workstation 30 includes a support frame 31, a guide mechanism 32, a container pick-and-place device 33, and a buffer station (not shown in fig. 2). The buffer position may be set to the support 31 or the guide mechanism 32.

In some examples, the guide mechanism 32 is provided to the support frame 31. The guide mechanism 32 is movable laterally and vertically relative to the support frame 31. The container pickup device 33 is provided to the guide mechanism 32 so that the container pickup device 33 can be moved laterally and/or vertically with respect to the support frame 31.

In some examples, the container handling device 33 is coupled to a control device. When the movable carrier 10 is carried by the carrying apparatus 40 to the carrier docking area 20 corresponding to the workstation 30 under the control of the control device, the container pickup and placement device 33 moves laterally (e.g., L direction) and/or vertically (e.g., H direction) to reach a position corresponding to the storage location 15 in the movable carrier 10, thereby picking and placing the container 50 at the storage location 15.

Illustratively, the guide mechanism 32 may include a lateral movement device 34, a movement rod 35, and a vertical movement device 36. Wherein the lateral movement device 34 is provided to the support frame 31. The lateral movement device 34 is coupled to the control device. The lateral movement device 34 is laterally movable with respect to the support frame 31. The moving rod 35 extends in the vertical direction, and the moving rod 35 is provided to the lateral moving device 34 so that the moving rod 35 can move laterally with respect to the support frame 31. A vertical moving device 36 is provided to the moving rod 35. The vertical movement device 36 is coupled to the control device. The vertical movement device 36 is vertically movable with respect to the movement rod 35. The container pickup device 33 is provided to the vertical moving device 36 so that the container pickup device 33 can move vertically with respect to the moving rod 35. Thus, the container handling device 33 can be moved laterally and/or vertically on the support frame 31.

In some examples, cache bits may be used to place containers 50. For example, the container handling device 33 may move the container 50 between different storage locations 15, or between a storage location 15 and a cache location, to thereby enable adjustment of the storage location of the container 50 on the same movable carrier 10, or may also enable movement of the container 50 between a plurality of movable carriers 10.

In some examples, the workstation 30 may not be provided with the support frame 31. When the workstation 30 is not provided with the support frame 31, the container pickup device 33 may be moved laterally and/or vertically by the guide mechanism 32.

In some embodiments, when the workstation 30 is not provided with the support frame 31, the workstation 30 may include at least one guide mechanism 32 and a container handling device 33. The container pickup device 33 is provided on the guide mechanism 32, and the container pickup device 33 can be moved laterally and/or vertically by the guide mechanism 32.

In some embodiments, the lateral movement device is coupled to the movement bar and configured to drive the movement bar to move laterally; the moving rod extends along the vertical direction, and the container taking and placing device 33 is arranged on the moving rod, so that the moving rod drives the container taking and placing device 33 to move transversely; and a vertical moving device coupled to the container pickup device 33 and configured to drive the container pickup device 33 to be vertically movable with respect to the moving rod.

In some examples, the lateral movement means may be provided to the movement bar, or to the container pick-and-place means 33; the vertical moving means may be provided to the moving rod. For example, the lateral movement means and the vertical movement means may be two drive motors. The specific positions of the lateral movement device and the vertical movement device are not limited in this embodiment, as long as the lateral movement device can drive the movement rod to move laterally, and the vertical movement device can drive the container picking and placing device 33 to move vertically relative to the movement rod.

In some examples, the guide mechanism 32 may be a robotic arm (which may also be referred to as an automated robotic arm) to which the container handling device 33 may be coupled, and the container handling device 33 may be moved laterally and/or vertically by the robotic arm (e.g., the robotic arm may move laterally and/or vertically with the container handling device 33). The mechanical arm may be fixed on the ground or the guide rail, for example, the mechanical arm may be permanently fixed on the ground or the guide rail, or may be temporarily fixed on the ground or the guide rail, which is not limited in the embodiment of the present application.

Fig. 3 is a block diagram of another workstation according to the embodiment of the present application, and as shown in fig. 3, the workstation 30 is not provided with a supporting frame 31. The workstation 30 also includes a plurality of conveyor lines 37. The container pick-and-place device 33 is configured to pick up the goods from the movable carrier 10 and place the goods on the conveyor line 37 according to the pick-and-place instruction sent by the control device; the conveyor line 37 is configured to convey goods to a corresponding station.

In some examples, the goods taken out of the movable carrier 10 by the container taking-out device 33 include: the container pickup device 33 picks up the container 50 in which the goods are placed, the bin in which the goods are placed, the goods themselves, or the original bin in which the goods are placed from the movable carrier 10. Thus, the conveyor line 37 may also include: the conveyor line 37 conveys the containers 50, bins, goods, or raw boxes where the goods are placed to the corresponding stations; the present embodiment is not limited thereto, and the following embodiment is schematically described taking the case where the transport line 37 transports the container 50 for placing the goods.

Illustratively, one end (e.g., a first end) of the transfer line 37 interfaces with the container handling device 33 and the other end (e.g., a second end) of the transfer line 37 interfaces with the station. For example, the first end of the transfer line is disposed proximate to the container handling device 33 such that the container handling device 33 may place containers 50 removed from the movable carrier 10 on the transfer line 37 or place containers 50 on the transfer line 37 on a storage location on the movable carrier 10. A second end of the conveyor line 37 may interface with a truck, pallet, or box at a station, etc., to convey the containers 50 on the conveyor line to the corresponding station.

Illustratively, the conveying direction of the conveying line 37 may be set according to the requirement, and the conveying direction of the conveying line 37 may be fixed or may be adjustable.

In some examples, the conveying direction of the conveyor line 37 may include a first direction and a second direction. For example, when the conveying direction of the conveying line 37 is the first direction, the conveying line 37 may convey the containers 50 from the container pickup and placement device 33 to the corresponding station, thereby realizing the shipment of the goods in the containers; when the conveying direction of the conveying line 37 is the second direction, the conveying line 37 may convey the container 50 to the target area of the workstation 30, so that the container picking and placing device 33 places the container 50 on the storage position of the movable carrier, thereby realizing the warehouse entry of the goods in the container.

In some examples, the workstation 30 may adjust the conveying direction of the conveying line 37 according to a direction adjustment instruction sent by the control device, or the workstation 30 may automatically adjust the conveying direction in different time periods, which is not limited in the embodiment of the present application. The following embodiment is schematically described taking the conveying direction of the conveying line 37 as the first direction as an example.

Illustratively, the station corresponding to the conveyor line 37 may be a processing station for performing a shipment process for the containers; alternatively, each station may be provided with a truck that can transport the containers transported by the transport line 37 to a corresponding destination area (e.g., a store) for shipment.

In some embodiments, the multiple conveyor lines 37 of the workstation 30 may be disposed at the same elevation, or alternatively, may be staggered at different elevations.

As shown in fig. 3, the workstation 30 includes four conveyor lines, respectively, a conveyor line 371, a conveyor line 372, a conveyor line 373, and a conveyor line 374. Wherein, the conveying line 371 and the conveying line 372 are arranged at the same height, and the conveying line 373 and the conveying line 374 are arranged at the same height; transfer chain 371 and transfer chain 373 staggered floor setting, transfer chain 372 and transfer chain 374 staggered floor setting.

In some embodiments, multiple conveyor lines 37 in the workstation 30 may convey containers 50 to at least one station.

In some examples, each of the plurality of conveyor lines 37 may convey containers to a respective different station, or at least two of the plurality of conveyor lines 37 may convey different containers to the same station. For example, at least two conveyor lines 37 of the plurality of conveyor lines 37 may merge into the same conveyor line to convey the respective conveyed containers to the same station.

In some examples, the plurality of delivery lines merging into one delivery line may include, a plurality of delivery lines each merging into any one of the plurality of delivery lines, or a plurality of delivery lines each merging into a designated one of the delivery lines. The embodiments of the present application are not limited in this regard. In some examples, when multiple conveyor lines merge into one conveyor line, the merge may occur from any location on the conveyor line.

Fig. 4 is a schematic diagram of a workstation according to an embodiment of the present application. As shown in fig. 4, the workstation 30 includes three conveyor lines, respectively, conveyor line 375, conveyor line 376, and conveyor line 377. Wherein, the conveyor line 375 and the conveyor line 376 merge into the same conveyor line, such as the conveyor line 375 and the conveyor line 376 merge into the conveyor line 375, so that the conveyor line 375 and the conveyor line 376 can convey the containers conveyed by each to the station 1; conveyor line 377 conveys the containers to station 2. Wherein, the station 1 and the station 2 can respectively correspond to different stores.

The workstation 30 that this application embodiment provided is through setting up a plurality of transfer chain 37 to get according to the instruction of putting that control device sent, get through the container and put the container of putting that the device 33 will take out and place on corresponding transfer chain 37, transfer chain 37 conveys the container to the website that the goods corresponds in the container, realizes automatic classification and the transmission to the goods, has reduced the human cost, has improved goods and has chosen efficiency.

In some embodiments, the warehousing system 100 may include a plurality of workstations 30, wherein the plurality of workstations 30 may include a first workstation including a first conveyor line and a second workstation including a second conveyor line; the first conveyor line and the second conveyor line may convey the containers to the same station.

For example, when a station corresponds to more goods, the efficiency is low and the pressure of the station is high when the station is only used for conveying goods through one station (such as the first station). Therefore, in the warehouse system 100, the conveyor lines of different workstations can convey different containers to the same station, so that the picking efficiency of the cargoes at the station is improved, and the pressure of the workstations is reduced.

For example, the first conveyor line of the first workstation and the second conveyor line of the second workstation may convey containers to the same station comprising: the first conveying line of the first workstation is the same as the station corresponding to the second conveying line of the second workstation, for example, the first conveying line and the second conveying line both correspond to the station 1, so that the first conveying line and the second conveying line can convey different containers to the same station 1; alternatively, the first conveyor line of the first workstation and the second conveyor line of the second workstation may also merge into the same conveyor line (the first conveyor line or the second conveyor line), so that the first conveyor line and the second conveyor line may convey different containers to the station corresponding to the merged conveyor line.

It should be noted that, in the embodiment of the present application, the plurality of workstations 30 includes the first workstation and the second workstation as an example, the plurality of workstations 30 may also include a greater number of workstations, and the conveyor line in at least two of the plurality of workstations may convey the containers placed thereon to the same station.

Fig. 5 is a schematic diagram of another warehousing system according to an embodiment of the application. As shown in fig. 5, the plurality of workstations 30 in the warehousing system 100 may include a first workstation S1 and a second workstation S2. The first station S1 is any one of a plurality of stations, and the second station S2 is any one of a plurality of stations different from the first station S1.

In some examples, a plurality of conveyor lines, such as conveyor line 3711, conveyor line 3712, and conveyor line 3713, may be provided on the first station S1; a plurality of conveyor lines, such as conveyor line 3721, conveyor line 3722, and conveyor line 3723, may also be provided in the second station S2.

As shown in fig. 5, the conveyor lines 3711 and 3712 and the conveyor line 3713 in the first workstation S1 are arranged in a staggered manner; for example, the transfer lines 3711 and 3712 are disposed at an upper layer (indicated by solid lines in fig. 5), and the transfer lines 3713 are disposed at a lower layer (indicated by broken lines in fig. 5) of the transfer lines 3711 and 3712. The conveyor line 3721 and the conveyor line 3723 in the second workstation S2 are arranged in staggered manner with the conveyor line 3722; for example, the conveyor line 3721 and the conveyor line 3723 are disposed at an upper layer, and the conveyor line 3722 is disposed at a lower layer of the conveyor line 3721 and the conveyor line 3723.

Illustratively, the conveyor line 3712 in the first station S1 and the conveyor line 3721 in the second station S2 merge into one conveyor line, such as the conveyor line 3712, and convey the containers placed on each to the station 2; the conveyor line 3713 in the first station S1 and the conveyor line 3722 in the second station S2 merge into one conveyor line, such as the conveyor line 3722, and each container placed thereon is conveyed to the station 3.

In some examples, as shown in fig. 5, the container picking and placing device 331 on the first workstation S1 may take out and place the container on the movable carrier 11 on the conveying line 3712 according to the picking and placing instruction sent by the control device, and the conveying line 3712 may convey the container to the station 2; the container picking and placing device 332 on the second workstation S2 may take out the container on the movable carrier 12 and place the container on the conveying line 3721 according to another picking and placing instruction sent by the control device, and the conveying line 3721 may also convey the container to the station 2.

In some embodiments, the plurality of workstations includes a third workstation and a fourth workstation, and a carrier docking area 20 is disposed between the third workstation and the fourth workstation, the movable carrier 10 being docked at the carrier docking area 20.

Fig. 6 is a schematic diagram of yet another warehousing system according to an embodiment of the application. As shown in fig. 6, the warehouse system 100 includes a third station S3 and a fourth station S4.

As shown in fig. 6, the third workstation S3 and the fourth workstation S4 are disposed opposite to each other, and a carrier docking area 20 is disposed between the third workstation S3 and the fourth workstation S4, and the carrier docking area 20 docks at least one movable carrier 10, such as the movable carrier 11 and the movable carrier 12. The third station S3 is provided with a plurality of third conveyor lines 373, and the fourth station S4 is provided with a plurality of fourth conveyor lines 374.

It should be noted that, the carrier docking area 20 provided between the third workstation S3 and the fourth workstation S4 may include two docking positions, where one docking position is used to dock the movable carrier 11 and one docking position is used to dock the movable carrier 12. The number of docking stations provided between two workstations in the embodiments of the present application is not limited, and the number of docking stations provided between two workstations is related to the structure of the workstations. The following embodiments are schematically illustrated taking the example of two docking positions provided between the third station S3 and the fourth station S4.

Illustratively, the third station S3 may take a container from one side of the movable carrier 11 and/or the movable carrier 12 (e.g., a side near the third station S3) according to the first sub-fetching command sent by the control device, and place the container on the third conveying line 373, and the third conveying line 373 conveys the container to the station 1, the station 2, or the station 3.

Illustratively, the fourth station S4 may take another container from the other side of the movable carrier 11 and/or the movable carrier 12 (e.g., the side near the fourth station S4) and place it on the fourth conveying line 374, and the fourth conveying line 374 conveys the other container to the station 4, the station 5, or the station 6, according to the second sub-fetch instruction sent by the control device.

Since the third station S3 and the fourth station S4 can simultaneously pick and place containers on the movable carrier 11 and/or the movable carrier 12, the picking efficiency of the warehouse system 100 can be improved. Meanwhile, the third workstation S3 and the fourth workstation S4 are respectively used for picking and placing containers placed on different surfaces of the movable carrier 11 and/or the movable carrier 12, so that the gravity centers of the movable carrier 11 and/or the movable carrier 12 are stable and are not easy to topple.

In some embodiments, the plurality of workstations in the warehousing system 100 may be divided into a plurality of groups of workstations, each of which may include at least one workstation.

In some examples, the workstations in the less-workload group of workstations may be selected to transmit goods based on the workload of each of the work groups. For example, a group of workstations in the plurality of groups of workstations having less work than the work threshold, or a group of workstations having least work, may be determined as the group of workstations for transferring goods.

In some examples, the plurality of workstations may be divided into a plurality of workstation groups according to the number of goods required for each site. For example, when the amount of cargo required for a particular station is large, the cargo required for that station may be transported through the transport lines of the stations in a group (or stations) of stations. That is, the stations corresponding to the conveyor lines of the workstations in the workstation group are all the same.

For example, among a plurality of station groups, the conveyor lines of different station groups may be used to convey goods of different properties.

In some examples, at least one workstation(s) may be included in each group of workstations for processing (e.g., warehousing or ex-warehouse processing) goods having the same attributes.

Fig. 7 is a schematic diagram of yet another warehousing system according to an embodiment of the application. As shown in fig. 7, a first set of workstations T1 and a second set of workstations T2 may be included in the warehousing system 100. The number of workstations in the first and second workstation groups T1, T2 may be the same or different.

As shown in fig. 7, the first workstation group T1 includes n workstations, such as workstation S11 … … workstation S1n, where n is an integer greater than or equal to 1; the second station group T2 includes m stations, such as station S21 … … station S2m, where m is an integer greater than or equal to 1. For example, n and m may be the same or different.

For example, a first set of workstations T1 is used to process first type of goods (also referred to as first type of orders) and a second set of workstations is used to process second type of goods (also referred to as second type of orders). Wherein the first type of cargo and the second type of cargo have different properties.

In some examples, the goods may be divided into different categories according to their attributes. The properties of the goods may include the size of the goods, the fragility of the goods, the kind of the goods, etc. For example, cargo may be classified into a fragile class and a non-fragile class according to the degree of fragility of the cargo; or, the goods can be classified into conventional, ultra-small and ultra-large types according to the size of the goods; alternatively, the goods may be classified into foods, daily goods, clothing, and the like according to the kinds of the goods. It should be noted that, the goods may be classified according to other properties of the goods, which is not limited by the comparison in the embodiment of the present application.

For example, the first type of goods may be fragile type goods, such as cutlery like glasses, and the second type of goods may be non-fragile type goods, such as packaging bags like paper shells. The handling device 40 may handle the movable carrier storing the first type of cargo to the first station group T1, so that a station (e.g., at least one station of the n stations) in the first station group T1 may take out a container corresponding to the first type of cargo from the movable carrier, and place the container on the conveying line to convey the container to a corresponding station. The handling device 40 may also handle the movable carrier storing the second type of cargo to the second station set T2, so that a station (e.g., at least one station of m stations) in the second station set T2 may take out a container corresponding to the second type of cargo from the movable carrier, and place the container on the conveying line to convey the container to a corresponding station.

For example, the transmission conditions may be different for each station in different station groups. For example, the transmission conditions of the transmission lines of the respective stations in the first station group T1 and the transmission lines of the respective stations in the second station group T2 may be different. The transmission conditions of the respective stations in the different station groups may be the same. The following embodiments are schematically illustrated with the transmission conditions of each station in different station groups being different.

In some examples, the transmission conditions relate to properties of the goods transported by each group of workstations. The transmission conditions include a transmission speed, a transmission time, a length of a transmission line, a width of a transmission line, and the like. For example, taking a transmission condition as an example of the transmission speed, when goods are classified into a fragile type and a non-fragile type according to the degree of fragility of the goods, the transmission speed of the workstation group corresponding to the fragile type goods may be smaller than the transmission speed of the workstation group corresponding to the non-fragile type goods. For another example, taking the transmission condition as the width of the transmission line, when the goods are classified into the regular class, the ultra-small class, and the ultra-large class according to the size of the goods, the width of the transmission line of the workstation group corresponding to the ultra-small class of goods may be smaller than the width of the transmission line of the workstation group corresponding to the ultra-large class of goods. The embodiments of the present application are not limited in this regard.

In some embodiments, the warehousing system 100 also includes a caching device. The buffer means may be located within a predetermined area of the workstation 30, for example, the buffer means may be docked beside the workstation 30 so that the workstation 30 may place the retrieved goods on the buffer means.

For example, the buffer may be at least one of a movable shelf, a cage, and a tray. Each workstation 30 may correspond to one buffer device or may correspond to a plurality of buffer devices. Some of the plurality of workstations 30 may be corresponding to a buffer device, or all of the workstations 30 may be corresponding to a buffer device.

In some examples, the caching device may be used to place goods for which anomalies exist. For example, after the workstation 30 takes out a container from the movable carrier 10, if it is determined that there is damage or other abnormal condition on the goods in the container, the workstation 30 may place the taken out container on the buffer device so that the picker can further check the goods in the container, and at the same time, the abnormal goods can be prevented from being conveyed to the corresponding site through the conveying line.

In other examples, the caching apparatus may also be used for a scratch pad container. For example, when the amount of goods required at a certain station is small, or the frequency of transferring the required goods is small, for example, the goods required at the station is only corresponding to two containers, in order to provide picking efficiency, the workstation 30 may take the two containers corresponding to the station out of the movable carrier 10 and place the containers on the buffer device, so that the transfer robot transfers the containers on the buffer device to the station, thereby avoiding that the transfer line is started for the station with the small amount of goods.

In other examples, when the conveying direction of the conveyor line is the second direction, the workstation 30 may take out and place the goods conveyed on the conveyor line on the buffer device in case it is detected that the goods conveyed on the conveyor line reach the target area.

In some embodiments, the warehousing system 100 includes a warehousing workstation, which may be any one or more of the plurality of workstations 30, or the warehousing workstation may be one or more of the plurality of workstations 30.

For example, the warehouse entry workstation may be provided with a detection device and a target area. The detection device is used for detecting the position of goods (such as containers) conveyed on the conveying line and sending the detection result to the control device. The target area may also be referred to as a docking area for parking containers transported by the conveyor line.

In some examples, the conveying direction of the conveying line of the warehousing workstation is the second direction, that is, the conveying line of the warehousing workstation is used to convey the containers to the target area of the workstation, so that the container pick-and-place device 33 may place the containers on the storage locations of the movable carriers, thereby realizing warehousing of the goods in the containers.

In some examples, when it is detected that the container conveyed on the conveying line of the warehousing workstation reaches the target area, the container taking and placing device of the warehousing workstation may place the container of the target area on a corresponding storage position on the movable carrier according to the warehousing instruction sent by the control device, or place the container on an idle buffer position of the warehousing workstation, and place the container on the corresponding storage position on the movable carrier after the movable carrier reaches the workstation.

The following describes a scheduling method provided in the embodiment of the present application in detail with reference to the accompanying drawings.

Fig. 8 is a schematic diagram of a scheduling method according to an embodiment of the present application. As shown in fig. 8, the method includes steps 810 to 840 as follows.

Step 810, obtaining an order to be processed, and determining a plurality of targets, at least one hit carrier, and a destination station according to the order to be processed.

Wherein, hit the movable carrier that the carrier is the target place.

In some examples, the target may include the target cargo hit by the order to be processed, a container in which the target cargo is located (may also be referred to as a hit container), a bin in which the target cargo is located, or a stock bin in which the target cargo is placed, which is not limited in the embodiments of the present application. The following examples are schematically illustrated with the target object as a container for placing the target cargo, i.e., a hit container.

In some examples, the control device, upon acquiring the pending order, may determine a hit container from a plurality of containers based on the goods required in the pending order. For example, the number of the orders to be processed may be one or more, and the number of hit containers may be more.

In some examples, after determining the hit container, the movable carrier on which the hit container is located may be determined as the hit carrier. For example, multiple hit containers may be located on one mobile carrier, and also on multiple different mobile carriers, respectively. I.e. the number of hit carriers may be one or more.

Illustratively, the site to which the good (e.g., container) corresponds is associated with an order parameter for the good. For example, the order parameters may include a destination address for the goods in the pending order. For example, goods with the same destination address can correspond to the same site, and different sites corresponding to goods with different destination addresses. As another example, the order parameters may include the type of goods in the pending order. For example, the same type of cargo may correspond to the same site and different types of cargo may correspond to different sites.

In some examples, after determining the targets (e.g., hitting the container), destination sites corresponding to each of the plurality of targets may be determined according to order parameters of the targets.

And step 820, determining a target workstation and a target conveying line according to the destination station.

Wherein the destination workstation comprises a plurality of conveyor lines for conveying containers to at least one station, the plurality of conveyor lines comprising the destination conveyor line, and the at least one station comprising the destination station.

In some examples, when the number of workstations 30 is plural, the destination workstation may be a workstation where a destination conveyor line corresponding to the destination station is located among the plural workstations. After the destination site is determined, a target conveying line corresponding to the destination site can be determined according to the destination site, and a target workstation can be determined according to the target conveying line. When the destination station is determined to correspond to a plurality of target conveying lines, the plurality of target conveying lines can be conveying lines in one workstation or conveying lines in a plurality of workstations respectively. Thus, the target workstation may be one or a plurality of target workstations.

In some embodiments, the plurality of workstations in the warehousing system 100 may be divided into a plurality of workstation groups. When a plurality of workstation groups are included in the warehousing system 100, a target workstation group may be determined among the plurality of workstation groups according to the destination site; and determining the target workstation and the target conveyor line in the target workstation group.

In some examples, the set of target workstations includes at least one workstation, the at least one workstation including the target workstation.

For example, the corresponding group of workstations may be divided for each site according to the number of goods required for each site. For example, when the demand for goods at a site is greater than or equal to the demand threshold, the site may be partitioned into at least one group of workstations. Each workstation in the at least one group of workstations is used for the transfer of goods required for the site. When the cargo demand of the site is smaller than the demand threshold, the corresponding work station group is not allocated to the cargo of the site; in this case, the target workstation group corresponding to the destination station may be determined according to the station corresponding to the transport line of each workstation in the target workstation group.

In some examples, when the number of the workstation groups corresponding to the destination site determined is one according to the destination site and the correspondence relationship of each workstation group to each site, the workstation group may be the target workstation group. When the number of the workstation groups corresponding to the determined destination station is a plurality of, the target workstation group can be further determined according to the workload of each workstation group in at least one workstation.

For example, a workstation group having a workload greater than a workload threshold, or a workstation group having a least workload, may be determined to be the target workstation group.

For example, after determining the target workstation corresponding to the destination station, the target workstation may be further determined in the target workstation group.

In some examples, a workstation with a workload less than a workload threshold, or with a minimum workload, may be determined to be a target workstation based on the workload of each workstation in the target workstation group. After the target workstation is determined, a target conveying line corresponding to the target workstation in the target workstation can be determined according to the target station.

In some embodiments, when multiple workstation groups are included in the warehousing system 100, the target workstation group may also be determined from among the multiple workstation groups based on the attributes of the target object; and determining the target workstation and the target conveying line in the target workstation group according to the target station.

Wherein the set of target workstations includes at least one workstation, the at least one workstation including the target workstation.

For example, the set of target workstations may be determined based on attributes of the target object and the target workstations may be determined based on order parameters of the target object.

With continued reference to fig. 7, for example, if the attribute of the object is a cargo type, when the object is a first type of cargo (such as a glass), the target workstation group corresponding to the object may be determined to be the first workstation group T1, and when the object is a second type of cargo (such as a packaging bag), the target workstation group corresponding to the object may be determined to be the second workstation group T2.

After the target set of workstations is determined, the target workstation may be determined based on the order parameters for the target object. If the order parameter of the target object is the destination address, when the destination address of the target object is the first address (e.g. Beijing), the station corresponding to the first address determined from the target station group may be the destination station, and then the target station and the target conveying line may be determined according to the destination station.

In some examples, the category of the corresponding sites in each group of workstations may be the same. For example, p different sites corresponding to n workstations in the first workstation group T1; the m workstations in the second set of workstations T2 may also correspond to p different sites. Wherein p is greater than 0 and less than or equal to the smaller of n and m. For example, n workstations in the first workstation group T1 may correspond to four (or four) stations of beijing, shanghai, guangzhou, and shenzhen, respectively, and m workstations in the second workstation group T2 may correspond to four stations of beijing, shanghai, guangzhou, and shenzhen.

The types of the corresponding stations in the respective station groups may be different. The number and types of stations in each workstation group may be set according to requirements, which is not limited in this embodiment of the present application.

Fig. 9 is a schematic diagram of another scheduling method according to an embodiment of the present application, and a process of determining a target station and a target transport line from a plurality of stations according to a destination station in step 820 described above is described with reference to fig. 9.

As shown in fig. 9, the step S820 includes steps 910 to 920 as follows.

Step 910, determining a target conveying line corresponding to the destination station according to a first corresponding relation between each station and the conveying line in the plurality of stations.

In some examples, the control device may determine that the destination station corresponds to the target conveying line according to a first correspondence relationship that is generated and stored in advance.

In some examples, the first correspondence includes a correspondence between identification information of a plurality of sites (e.g., all or a portion of sites in the warehouse system 100) and identification information of a plurality of conveyor lines (e.g., all or a portion of conveyor lines in the warehouse system 100). The identification information of the site may include information capable of uniquely identifying each site, for example, the identification information of the site may include a site serial number, a site name, and the like; the identification information of the conveyor lines may include information capable of uniquely identifying each conveyor line, e.g., the identification information of the conveyor lines may include conveyor line identification (Identity document, ID), conveyor line serial number, etc.

For example, the first correspondence may be in the form of a table, in which one site (e.g., identification information of a site) may correspond to one or more transport lines (e.g., identification information of a transport line), and one transport line may correspond to only one site.

Therefore, after the destination site is determined, one or more target conveying lines corresponding to the destination site can be determined through the first corresponding relation.

And step 920, determining a target workstation corresponding to the target conveying line according to a second corresponding relation between each conveying line and the workstation in the plurality of conveying lines.

In some examples, the control device may determine the target workstation corresponding to the destination conveyor line according to the second correspondence relationship that is generated and stored in advance.

In some examples, the second correspondence includes a correspondence between identification information of a plurality of conveyor lines (e.g., all or a portion of the conveyor lines in the warehouse system 100) and identification information of a plurality of workstations (e.g., all or a portion of the conveyor lines in the warehouse system 100). The identification information of the workstation may include information capable of uniquely identifying each workstation, for example, the identification information of the workstation may include a workstation identification (Identity document, ID), a workstation serial number, and the like.

In some examples, the second correspondence may be in a table form, in which one workstation (e.g., identification information of the workstation) may correspond to one or more transport lines (e.g., identification information of the transport lines). For example, after determining the plurality of target delivery lines, the target workstations corresponding to each of the plurality of target delivery lines may be determined in the second correspondence table. The plurality of target conveyor lines may correspond to one target workstation or may correspond to a plurality of target workstations.

Therefore, after the target conveying line is determined, one or more target workstations corresponding to the target conveying line can be determined through the second corresponding relation.

In some examples, when the determined number of target workstations is a plurality, the hit carrier may be transported to a target workstation that is closer in distance according to the distance between the hit carrier and each target workstation. The embodiments of the present application are not limited in this regard.

The first correspondence and the second correspondence may be a set of correspondences, such as a target correspondence, for example. The target correspondence may include a correspondence among a plurality of stations, a plurality of transfer lines, and a plurality of workstations. After the destination station is determined, the destination workstation and the destination conveyor line can be determined according to the destination corresponding relation.

Step 830, generating a first handling instruction according to the target object, the hit carrier, and the target workstation; the first handling instruction is used for instructing the first handling equipment to handle the hit carrier to the target workstation.

In some examples, the control device may generate the first conveyance instruction after determining the target object, the hit carrier, and the target workstation, and send the first conveyance instruction to the first conveyance apparatus. The first handling device may be one of the plurality of idle handling devices 40 that is closer to the hit carrier, which is not limited in the embodiment of the present application.

For example, the first handling instruction may include a start position (such as a position where the hit carrier is located), a destination position (such as a position of the destination workstation), and a handling route. The first carrying equipment receives the first carrying instruction, and moves to the position of the hit carrier according to the first carrying instruction, and carries the hit carrier to the target workstation.

In some examples, the first handling device handling the hit carrier to the target workstation includes the first handling device handling the hit carrier to a carrier dock corresponding to the target workstation.

Step 840, generating a first pick-and-place instruction according to the target object, the hit carrier, the target workstation, and the target transfer line; the first fetching and placing instruction is used for instructing the target working station to fetch the target object from the hit carrier and placing the target object on the target conveying line so as to convey the target object to the target station through the target conveying line.

In some examples, the control device may generate a first fetch instruction after determining the target object (e.g., the hit container, which is schematically illustrated below as a hit container), the hit carrier, the target workstation, and the target transport line, and send the first fetch instruction to the target workstation. The target workstation receives the first fetching and placing instruction, and according to the first fetching and placing instruction, the hit container is taken out from the hit carrier in the carrier stopping area through the target container fetching and placing device of the target workstation, and is placed on the target conveying line of the target workstation. The target transport line transports the hit container to the destination site.

For example, after the target transport line transports the hit container to the destination site, the hit container may be subjected to a delivery operation by a worker, or the hit container may be received by the AGV and transported to a store area corresponding to the destination site to be delivered.

The scheduling method provided by the embodiment of the application can determine the target object, the hit carrier and the destination site according to the order to be processed; the target site is a site corresponding to the target object. After the destination station is determined, a target workstation and a target conveying line corresponding to the target object can be determined according to the destination station, so that the conveying equipment conveys the hit carrier corresponding to the target object to the target workstation according to the conveying instruction. After the hit carrier reaches the target workstation, the container picking and placing device of the target workstation takes out the target object from the hit carrier according to the picking and placing instruction, and places the target object on the target conveying line; the target conveying line conveys the target objects to the target station, so that classified conveying of the target objects is realized. Therefore, by applying the scheduling method provided by the embodiment of the application, the automatic classification of the target objects can be realized, the target objects are automatically conveyed to the corresponding destination sites for delivery, and the manual sorting is not needed, so that the labor cost is reduced, and the delivery efficiency is improved.

When the container picking and placing device of the target workstation picks and places the hit containers on the hit carrier, the gravity center of the hit carrier may be greatly shifted after taking out one hit container due to the different positions of the hit containers. For example, if the number of hit containers taken out on one side of the hit carrier is large, and the number of hit containers taken out on the other side is small, the center of gravity of the hit carrier may be greatly shifted, so that the fatal problem of the carrier toppling occurs.

In order to solve the above-mentioned problem, the scheduling method provided in the embodiments of the present application may predict the gravity center position of the hit carrier before taking out the hit container, and determine the hit container to be taken according to the predicted gravity center position.

Fig. 10 is a schematic diagram of yet another scheduling method according to an embodiment of the present application. As shown in fig. 10, the scheduling method further includes steps 1010 to 1030 as follows.

In step 1010, the predicted target workstation hits the estimated center of gravity position of the vehicle after the first target object is removed from the hit vehicle.

Wherein the first target is any target in the hit carrier. For example, the first object is any object that is not taken out from the hit carrier among the plurality of objects. The first target may include a first hit container, and the following embodiments will schematically illustrate the first target as the first hit container.

In some examples, the control device may calculate and predict the location of the center of gravity of the hit vehicle before the target workstation retrieves each hit container from the hit vehicle. For example, when any hit container is taken out from the hit carrier, the center of gravity of the hit carrier changes, and the hit containers located at different positions have different effects on the change in the center of gravity of the hit carrier.

In some examples, the control device may predict a change in center of gravity of the hit vehicle after the first hit container is removed from the hit vehicle based on a position and a weight of the first hit container, and determine an estimated center of gravity position of the hit vehicle.

In step 1020, determining a target object to be fetched from the plurality of target objects on the hit carrier according to the offset between the estimated center of gravity position and the preset center of gravity position.

For example, the control device may determine the preset gravity center position of the movable carrier based on the original weight of the movable carrier (i.e., the weight when the hit container is not taken out), and store the preset gravity center position.

In some examples, after the estimated center of gravity position is determined according to step 1010 described above, an offset between the estimated center of gravity position and the preset center of gravity position may be determined.

In some embodiments, if the offset between the estimated center of gravity position and the preset center of gravity position is less than or equal to a preset threshold, the first target object is determined as the target object to be fetched.

The following embodiments are described schematically by taking the object to be taken as the container to be taken as an example.

For example, the offset between the estimated center of gravity position and the preset center of gravity position is less than or equal to the preset threshold, which indicates that the impact on the stability of the hit carrier is small after the first hit container is taken out from the hit carrier, and the hit carrier will not topple due to the offset of the center of gravity. In this case, the target workstation can therefore take the first hit container directly from the hit carrier, i.e. the first hit container is the container to be taken.

For example, when the offset between the center of gravity position of the hit carrier and the preset center of gravity position is less than or equal to the preset threshold, the hit carrier does not topple over due to the center of gravity offset. When the offset between the center of gravity position of the hit carrier and the preset center of gravity position is greater than the preset threshold, the hit carrier will topple due to the center of gravity offset. The preset threshold may be pre-selected and stored. The predetermined threshold may be a center of gravity offset threshold that results in a hit carrier toppling. Such as the preset threshold, may be obtained through multiple experiments.

In some examples, the vehicle is more stable and less prone to toppling when the center of gravity position of the vehicle is lower in the height direction and closer to the center position in the horizontal direction. For example, if the center of gravity of the vehicle is located in a range of a radius of one third of the width of the vehicle in the horizontal direction and is less than or equal to two thirds of the height of the vehicle in the height direction, the hit vehicle does not topple over due to the center of gravity shift.

For example, a rectangular coordinate system is established with the width direction of the carrier as the abscissa, the height direction of the carrier as the ordinate, and the center of the carrier width as the origin, if the coordinates of the preset gravity center position are (0, y 0), wherein y0=h/2, when the gravity center position (x 1, y 1) of the hit carrier is greater than or equal to-w/3, or less than or equal to w/3, and the value of y1 is less than or equal to 2h/3, the offset between the gravity center position of the hit carrier and the preset gravity center position is less than or equal to the preset threshold, and the hit carrier will not topple due to gravity center offset.

In some embodiments, if the offset between the estimated center of gravity position and the preset center of gravity position is greater than a preset threshold, determining a second target object in the hit carrier as the target object to be fetched; the second object is a target object which is different from the first object on the hit carrier.

Wherein the second object comprises a second hit container, the following embodiments are schematically illustrated taking the second object as the second hit container.

For example, the offset between the estimated center of gravity position and the preset center of gravity position is greater than the preset threshold, which indicates that the stability of the hit carrier is greatly affected after the first hit container is taken out from the hit carrier, and the hit carrier may topple due to the center of gravity offset. In this case, the control device therefore has to re-determine the container to be taken in order to ensure that the hit carrier does not topple over. For example, the control means may determine a second hit container different from the first hit container storage location as the to-be-fetched container.

In some examples, the vehicle may tip due to unstable center of gravity when the center of gravity of the vehicle is higher in the height direction and/or the center of gravity of the vehicle is farther from the center of gravity in the horizontal direction. For example, a hit vehicle may tip due to unstable center of gravity when the center of gravity of the vehicle is horizontally outside a radius of one third of the width of the vehicle and/or is greater than two thirds of the height of the vehicle in the height direction.

In some examples, the second hit container being a different hit container on the hit carrier than the first hit container may include: the second hit container is different from the first hit container in storage position. For example, the second hit container may be stored in a different location than the first hit container, including: the second hit container and the first hit container may be containers of different storage bits placed on different sides of the hit carrier; alternatively, the second hit container and the first hit container may be containers of different storage bits placed on the same surface of the hit carrier.

Step 1030, according to the position of the object to be fetched, controlling the object workstation to fetch the object to be fetched from the hit carrier, and placing the object to be fetched on the object conveying line.

After determining the container to be fetched, the control device may generate a first fetching and placing instruction according to the position of the container to be fetched, and send the first fetching and placing instruction to the target workstation. And the target workstation receives the first fetching and placing instruction, and according to the first fetching and placing instruction, the container to be fetched is taken out from the hit container and placed on the target conveying line.

The case when the second hit container is determined as a to-be-fetched container and the second hit container and the first hit container are containers on different sides on the hit carrier will be described below.

In some examples, the movable carrier may include two sides, such as a side and B side; wherein one side (e.g., side a) of the movable carrier is near the target workstation and the other side (e.g., side B) is far from the target workstation. When the hit container (such as the first hit container) is positioned on the surface A, the target container taking and placing device in the target workstation can directly take out the hit container from the surface A of the hit carrier; when the hit container (e.g., the second hit container) is located on the B-side, it is necessary to determine how to take out the second hit container according to whether a barrier is provided between the cargo positions of the hit carriers.

In some embodiments, in the case that the second target is determined to be the target to be fetched, if the hit carrier is provided with a plurality of cargo spaces along the vertical direction, and a spacer is provided between the plurality of cargo spaces along the vertical direction, the second target and the first target are located on different surfaces of the hit carrier, step 1030 may include: generating a face turning instruction and a second fetching instruction according to the position of the second target object; the surface turning instruction is used for instructing the second carrying equipment to turn the surface of the hit carrier; the second fetching and placing instruction is used for indicating the target workstation to fetch the second target object from the hit carrier after the target workstation hits the carrier rotating surface, and placing the second target object on the target conveying line, so that the offset between the gravity center position of the hit carrier after fetching the second target object and the preset gravity center position is smaller than or equal to a preset threshold value.

For example, when it is determined that the container to be taken is a second hit container, the second hit container is located on the B-face of the hit carrier, and since a barrier is provided between a plurality of cargo spaces provided along the vertical direction of the hit carrier, the target container taking and placing device cannot directly take out the second hit container. In this case, it is necessary to first turn the hit carrier to turn the side (e.g., the B side) on which the second hit container is located toward the target workstation, so that the target container pick-and-place device picks up the second hit container from the B side of the hit carrier.

In some examples, after determining that the to-be-fetched container is a second hit container, the turn-plane instruction may be generated based on a location of the second hit container.

For example, the control device may send the turn-plane instruction to the second carrying device, and the second carrying device receives the second carrying instruction and performs the turn-plane operation on the hit carrier according to the second carrying instruction. Wherein the second handling device may be any empty handling device of the plurality of handling devices 40.

In some examples, the second handling device may handle the hit carrier to a rotatable position for a turn-down. For example, the rotatable position may be a position provided in a warehouse that is dedicated to turning a movable carrier. The rotatable location may be, for example, the intersection location of the aisle in the warehouse and/or any location in the aisle between the pick zone and the shelf storage area. The embodiments of the present application are not limited in this regard.

For example, after the surface turning operation is completed on the hit carrier, the control device may send a second fetching instruction to the target workstation. And the target workstation receives the second fetching and placing instruction, and according to the second fetching and placing instruction, takes out a second hit container on the B surface of the hit carrier after the rotating surface through the target container fetching and placing device, and places the second hit container on the target conveying line.

After the second hit container is taken out, the offset between the gravity center position of the hit carrier and the preset gravity center position is smaller than or equal to a preset threshold value, so that the hit carrier does not topple over.

In some embodiments, in the case that the hit carrier is provided with a plurality of cargo spaces along the vertical direction, and no barrier is provided between the plurality of cargo spaces along the vertical direction, the target container pick-and-place device may directly pick up the second hit container located on the B surface through the a surface of the hit carrier.

In some examples, the control device may first determine whether a swap vessel is present on an external cargo space of the cargo space where the second hit vessel is located. The exchange container can be a container on any cargo space outside the cargo space where the second hit container is located, and the exchange container prevents the target container taking and placing device from taking out the second hit container.

For example, the exchange container may be a hit container or a miss container of the order to be processed, and the number of the exchange containers may be 1 or multiple, which is not limited in the embodiment of the present application.

In some embodiments, if there is a swap container on the external cargo space of the second hit container, generating a third fetch instruction based on the locations of the swap container and the second hit container; the third fetching and placing instruction is used for instructing the target workstation to carry the exchange container to an idle goods position on the hit carrier, taking out the second hit container from the hit carrier, and placing the second hit container on the target conveying line, so that the offset between the gravity center position of the hit carrier after the second hit container is taken out and the preset gravity center position is smaller than or equal to a preset threshold value.

In some examples, where there is a swap container on the outer cargo space of the second hit container, it may be desirable to first move the swap container to another empty cargo space and then remove the second hit container. Thus, after determining the second hit container again, the control device may generate a third fetch instruction according to the positions of the switch container and the second hit container, and send the third fetch instruction to the target workstation. The target workstation receives the third picking and placing instruction, and conveys the exchange container to an idle goods position on the hit carrier through the target container picking and placing device according to the third picking and placing instruction; and after the exchange container is placed on the idle goods space, the second hit container is taken out from the B surface of the hit carrier and placed on the target conveying line for conveying.

It should be noted that, the idle cargo space where the exchange container is placed may also be determined according to the gravity center position of the hit carrier, and after the exchange container is placed in the idle cargo space, it is required to ensure that the offset between the gravity center position of the hit carrier and the preset gravity center position is less than or equal to the preset threshold.

In some embodiments, if the swap container does not exist on the external cargo space of the second hit container, generating a fourth fetch instruction according to the location of the second hit container; the fourth fetching and placing instruction is used for indicating the target workstation to fetch the second hit container from the hit carrier, and placing the second hit container on the target conveying line, so that the offset between the gravity center position of the hit carrier after fetching the second hit container and the preset gravity center position is smaller than or equal to a preset threshold value.

In some examples, the target container pick and place device may directly pick the second hit container located on the B-side through the a-side of the hit carrier when there is no swap container on the exterior cargo space of the second hit container, i.e., there is no swap container on the exterior cargo space of the second hit container that prevents the target container pick and place device from performing a pick operation on the second hit container. Thus, after determining the second hit container again, the control device may generate a fourth fetch instruction according to the position of the second hit container, and send the fourth instruction to the target workstation. And the target workstation receives the fourth fetching and placing instruction, and the second hit container is fetched from the B surface of the hit carrier through the target container fetching and placing device according to the fourth fetching and placing instruction.

It should be noted that, steps 1010 to 1020 may be performed before step 840 in the above embodiment, and step 1030 may be performed during the execution of step 840.

In order to avoid that the offset between the center of gravity position of the hit carrier and the preset center of gravity position is larger than the preset threshold, when a plurality of hit containers are taken and placed, the hit carrier may need to be subjected to surface turning operation continuously, or the exchange container may need to be carried to an idle cargo space for a plurality of times. This implementation, while guaranteeing stability and safety of hit carriers, reduces the operational efficiency of the warehouse system 100.

To address the above, embodiments of the present application provide a warehousing system 100 as shown in fig. 6. It should be noted that, in the foregoing embodiments of the warehousing system 100 shown in fig. 6, the structure of the warehousing system 100 shown in fig. 6 is not repeated here.

In some embodiments, if the plurality of workstations includes a third workstation and a fourth workstation, and a carrier docking area is disposed between the third workstation and the fourth workstation, the hit carrier docks in the carrier docking area, step 340 may include: generating a first sub-fetching instruction and a second sub-fetching instruction according to the target object, the hit carrier, the target workstation and the target conveying line; the first sub-fetching and placing instruction is used for instructing a third workstation to fetch a third target object from one surface of the hit carrier, and placing the third target object on a third conveying line so as to convey the third target object to a destination station corresponding to the third target object through the third conveying line; the second sub-fetching and placing instruction is used for instructing the fourth workstation to take out the fourth target object from the other surface of the hit carrier, and placing the fourth target object on the fourth conveying line so as to convey the fourth target object to a destination site corresponding to the fourth target object through the fourth conveying line.

In some examples, as shown in fig. 6, the third station S3 and the fourth station S4 may simultaneously perform a pick-and-place operation on containers on different sides of the movable carrier 11 (which may also be referred to as a hit carrier). For example, the third station S3 may pick and place a container (e.g., a first hit container) on the a-side of the movable carrier 11, and the fourth station S4 may pick and place a container (e.g., a second hit container) on the B-side of the movable carrier 11, so that stability of the movable carrier 11 may be ensured.

For example, the control device may generate a first sub-fetching instruction and send the first sub-fetching instruction to the third workstation S3, and the container fetching device of the third workstation S3 may fetch the third hit container (i.e. the third target object) from one surface (e.g. the a surface) of the hit carrier according to the first sub-fetching instruction, and place the third hit container on the third conveying line (e.g. any conveying line 373), so as to convey the third hit container to a destination site (e.g. the site 1 or the site 2 or the site 3) corresponding to the third hit container through the third conveying line; the control device may further generate a second sub-fetching instruction, and send the second sub-fetching instruction to the fourth workstation S4, where the container fetching device of the fourth workstation S4 may fetch the fourth hit container (i.e. the fourth target object) from the other surface (e.g. the B surface) of the hit carrier according to the second sub-fetching instruction, and place the fourth hit container on the fourth conveying line (e.g. any conveying line 374), so as to convey the fourth hit container to a destination site (e.g. the site 4 or the site 5 or the site 6) corresponding to the fourth hit container through the fourth conveying line.

The scheduling method provided by the embodiment of the application can avoid continuous surface changing operation of the hit carrier and moving operation of the exchange container while ensuring that the offset between the gravity center position of the hit carrier and the preset gravity center position is smaller than or equal to the preset threshold, and improves the working efficiency of the warehouse system 100.

In some embodiments, in the event that a target anomaly is detected, generating a first cache instruction; the first cache instruction is used for indicating the target workstation to place an abnormal target object on the cache device.

In some examples, after the target workstation retrieves the target object from the hit carrier, if an abnormality is detected in the target object, the abnormal target object may be placed on the buffer device. For example, the target workstation may detect the abnormal condition of the goods, or the pickers may check the abnormal condition of the goods, which is not limited in the embodiment of the present application.

In some embodiments, in the event that a targeted site exists among the plurality of sites, generating a second cache instruction; the number of the targets required by the target sites is smaller than or equal to a preset number threshold, or the conveying frequency of the targets required by the target sites is lower than a preset frequency threshold; the second caching instruction is used for indicating a target workstation corresponding to the target station to take out a target object required by the target station from the hit carrier and place the target object on the caching device.

In some examples, the targeted site is a less-frequently cargo-demanding site. For example, when a station only needs to deliver two containers at a time, or the station only needs to deliver goods once a week, the destination workstation may determine the station as the destination station. The warehousing system 100 need not allocate delivery lines to the destination sites. The target workstation can take out the container corresponding to the target site and place the container on the caching device, and then the carrying robot carries the container on the caching device to the target site.

In some embodiments, generating a third buffer instruction in case that the target object conveyed on the target conveying line reaches the target area is detected; the third buffer instruction is used for instructing the target workstation to place the target object on the buffer device or place the target object on an idle buffer bit of the target workstation.

For example, the conveyor line may convey the goods to a warehouse entry workstation, which may be the same workstation as the destination workstation. The third cache instruction may also be referred to as a binning instruction. The conveying line can convey the target object (also called as a warehouse entry object) to a warehouse entry work station, and the warehouse entry work station fetches the warehouse entry object and places the warehouse entry object on the buffer device, or on an idle buffer position of the warehouse entry work station.

Illustratively, in the case that the warehouse entry object conveyed on the conveying line of the warehouse entry workstation reaches the target area is detected, generating a warehouse entry instruction according to the attribute of the warehouse entry object; the warehousing instruction is used for instructing the warehousing workstation to place the warehoused object on the target carrier or place the warehoused object on an idle cache position of the warehousing workstation.

It should be noted that, the warehouse entry workstation has been described in the above embodiments, and in order to avoid repetition, the description is omitted here. Wherein the warehouse entry object is a goods to be warehoused; for example, the warehouse entry object may be a container (may also be referred to as a target container) where the goods to be warehouse-in are located, a bin where the goods to be warehouse-in are obtained, the goods to be warehouse-in, and a raw bin where the goods to be warehouse-in are placed; the embodiments of the present application are not limited in this regard. The following examples will schematically illustrate examples of storage containers.

In some examples, the detection device may send the detection result to the control device after detecting that the target container reaches the target area, where the control device generates a warehousing instruction according to the attribute of the warehoused object, and sends the warehousing instruction to the warehousing workstation. The warehouse-in instruction comprises a target carrier corresponding to the target container and a target storage bit on the target carrier.

In some examples, generating the binning instruction according to the attributes of the binning object may include: and determining a target hit carrier and a target storage position corresponding to the target container according to the attribute of the goods in the target container. For example, when the property of the cargo is the kind of the cargo, the same kind of cargo may be placed on the same (or a specified plurality of) movable carriers as much as possible, and the same kind of cargo may be placed on the same (or a specified plurality of) movable carriers at the same storage location in the same area.

If the warehousing working station determines that the target carrier is already parked in the carrier parking area corresponding to the warehousing working station, carrying the target container from the target area to the target storage position of the target carrier through the container taking and placing device of the warehousing working station according to the warehousing instruction. If the warehousing working station determines that the target carrier is not parked in the carrier parking area corresponding to the warehousing working station, carrying the target container from the target area to a cache position of the warehousing working station through a container taking and placing device of the warehousing working station according to the warehousing instruction.

In some examples, after the container pickup and placement device of the warehouse-in workstation transfers the target container onto the buffer location, the control device may further generate a third transfer instruction, and send the third transfer instruction to the third transfer apparatus. And the third conveying equipment conveys the target carrier stopped in the goods shelf area to a carrier stopping area corresponding to the warehousing workstation according to the third conveying instruction. After the target carrier is carried to the carrier stopping area corresponding to the warehousing workstation, the container taking and placing device of the warehousing workstation carries the target container from the cache position of the warehousing workstation to the target storage position on the target carrier.

Fig. 11 is a schematic diagram of another workstation according to an embodiment of the present application. As shown in fig. 11, the workstation 1100 includes a plurality of conveyor lines 1110 and a container pick-and-place device 1120. It should be noted that the conveying line 1110 may be the conveying line 37 in the above embodiment, and the container picking and placing device may be the container picking and placing device 33 in the above embodiment. Wherein:

a plurality of conveyor lines 1110 for conveying containers to at least one station;

a container pick-and-place device 1120 configured to obtain a first pick-and-place instruction, pick a target object from the hit carrier according to the first pick-and-place instruction, and place the target object on a target conveyor line of the plurality of conveyor lines;

a target conveyor line configured to convey a target object to a destination station of the at least one station;

the target object, the hit carrier and the destination site are determined according to the order to be processed; the target delivery line is determined based on the destination site.

In some embodiments, multiple conveyor lines 1110 are disposed at the same height, or staggered at different heights.

In some embodiments, the workstation 1100 further comprises at least one guide mechanism to which the container handling device is provided, the container handling device being laterally and/or vertically movable by the guide mechanism.

In some embodiments, the guide mechanism includes a lateral movement device, a movement bar, and a vertical movement device. Wherein, the lateral movement device is coupled with the movement rod and is configured to drive the movement rod to move laterally; the moving rod extends along the vertical direction, and the container taking and placing device 1120 is arranged on the moving rod, so that the moving rod drives the container taking and placing device 1120 to move transversely; and a vertical movement device coupled to the container pick-and-place device 1120 and configured to drive the container pick-and-place device 1120 to be vertically movable with respect to the moving rod.

Fig. 12 is a schematic diagram of an electronic device according to an embodiment of the present application. In some embodiments, the electronic device includes one or more processors and memory. The memory is configured to: one or more programs are stored. Wherein the one or more processors implement the scheduling method in the above embodiments when the one or more programs are executed by the one or more processors.

As shown in fig. 12, the electronic device 1000 includes: a processor 1001 and a memory 1002. Illustratively, the electronic device 1000 may further include: a communication interface (Communications Interface) 1003 and a communication bus 1004.

The processor 1001, the memory 1002, and the communication interface 1003 perform communication with each other via the communication bus 1004. Communication interface 1003 is used to communicate with network elements of other devices such as clients or other servers.

In some embodiments, the processor 1001 is configured to execute the program 1005, and may specifically perform relevant steps in the scheduling method embodiment described above. In particular, program 1005 may include program code comprising computer-executable instructions.

The processor 1001 may be, for example, a central processing unit CPU, or a specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits configured to implement embodiments of the present application. The one or more processors that the electronic device 1000 may include may be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.

In some embodiments, memory 1002 is used to store program 1005. The Memory 1002 may include a high-speed RAM Memory or may further include a Non-Volatile Memory (NVM), such as at least one magnetic disk Memory.

The program 1005 may be specifically called by the processor 1001 to cause the electronic device 1000 to execute the operations of the scheduling method in the above-described embodiment.

Embodiments of the present application provide a computer readable storage medium storing at least one executable instruction that, when executed on an electronic device 1000, cause the electronic device 1000 to perform the scheduling method of the above embodiments.

The executable instructions may be particularly useful for causing the electronic device 1000 to perform the operations of the scheduling method in the above-described embodiments.

For example, the computer readable storage medium may be Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), compact disc Read-Only Memory (CD-ROM), magnetic tape, floppy disk, optical data storage device, and the like.

The beneficial effects that can be achieved by the workstation, the electronic device and the computer readable storage medium provided in the embodiments of the present application may refer to the beneficial effects in the corresponding scheduling method provided above, and are not described herein again.

It is noted that in the present application, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.

For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM).

Additionally, the computer-readable medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory. It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof.

In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

The above-described embodiments of the present application are not intended to limit the scope of the present application.

Claims

1. A scheduling method, the method comprising:

acquiring an order to be processed, and determining a target object, at least one hit carrier and a destination site according to the order to be processed; wherein the hit carrier is a movable carrier on which the target object is located;

determining a target workstation and a target conveying line according to the destination station; wherein the target workstation comprises a plurality of conveyor lines for conveying the target object to at least one station, the plurality of conveyor lines comprising the target conveyor line, the at least one station comprising the destination station;

generating a first carrying instruction according to the target object, the hit carrier and the target workstation; the first conveying instruction is used for instructing first conveying equipment to convey the hit carrier to the target workstation;

generating a first fetching instruction according to the target object, the hit carrier, the target workstation and the target conveying line; the first fetching and placing instruction is used for instructing the target workstation to fetch the target object from the hit carrier, and placing the target object on the target conveying line so as to convey the target object to the destination station through the target conveying line.

2. The method of claim 1, wherein said determining a destination workstation and a destination conveyor line from said destination station comprises:

and determining the target workstation and the target conveying line in a plurality of workstations according to the destination station.

3. The method of claim 2, wherein the plurality of workstations are divided into a plurality of workstation groups; the determining, according to the destination station, the target station and the target conveyor line in a plurality of stations includes:

determining a target workstation group in the plurality of workstation groups according to the destination station;

determining the target workstation and the target conveyor line in the target workstation group; wherein the set of target workstations includes at least one workstation including the target workstation.

4. A method according to claim 3, wherein said determining a target set of workstations from among said plurality of sets of workstations based on said destination site comprises:

determining at least one workstation group corresponding to the destination site according to the corresponding relation between each workstation group and each site;

And determining the target workstation group in the at least one workstation group according to the workload of each workstation group in the at least one workstation group.

5. A method according to claim 3, wherein said determining said target workstation and said target transport line in said target workstation group comprises:

according to the workload of each workstation in the target workstation group, determining the workstation with the workload smaller than a workload threshold as the target workstation;

and determining the target conveying line in a plurality of conveying lines included in the target workstation according to the target station.

6. The method of claim 1, wherein said determining a destination workstation and a destination conveyor line from said destination station comprises:

determining the target conveying line corresponding to the target station according to a first corresponding relation between each station in the plurality of stations and the conveying line;

and determining the target workstation corresponding to the target conveying line according to a second corresponding relation between each conveying line and the workstation in the plurality of conveying lines.

7. The method of claim 1, wherein the target workstation comprises a first workstation and a second workstation; the target conveyor line comprises a first conveyor line of the first workstation and a second conveyor line of the second workstation; the first conveying line and the second conveying line are used for conveying the target object to the same destination station.

8. The method of claim 1, wherein the plurality of conveyor lines of the target workstation are disposed at the same elevation or staggered at different elevations.

9. The method according to any one of claims 1-8, further comprising:

predicting an estimated gravity center position of the hit carrier after the target workstation takes out a first target object from the hit carrier; wherein the first target is any target in the hit carrier;

determining a target object to be taken from a plurality of target objects on the hit carrier according to the offset between the estimated gravity center position and the preset gravity center position;

and according to the position of the object to be fetched, controlling the object workstation to fetch the object to be fetched from the hit carrier, and placing the object to be fetched on the object conveying line.

10. The method of claim 9, wherein determining the object to be fetched from the plurality of objects on the hit carrier based on the offset between the estimated center of gravity position and the preset center of gravity position comprises:

if the offset between the estimated gravity center position and the preset gravity center position is larger than a preset threshold, determining a second target object in the hit carrier as the target object to be fetched; the second target is a target different from the first target on the hit carrier.

11. The method of claim 10, wherein the hit carrier is provided with a plurality of cargo spaces in a vertical direction, and a barrier is provided between the plurality of cargo spaces in the vertical direction; the second target object and the first target object are positioned on different surfaces of the hit carrier;

the step of controlling the target workstation to take out the target object from the hit carrier according to the position of the target object, and placing the target object on the target conveying line includes:

generating a surface turning instruction and a second fetching instruction according to the position of the second target object; the surface turning instruction is used for instructing the second carrying equipment to turn the surface of the hit carrier; the second picking and placing instruction is used for indicating that the target workstation takes out the second target object from the hit carrier after the hit carrier rotates, and placing the second target object on the target conveying line, so that the offset between the gravity center position of the hit carrier after taking out the second target object and the preset gravity center position is smaller than or equal to the preset threshold value.

12. The method of claim 9, wherein determining the object to be fetched from the plurality of objects on the hit carrier based on the offset between the estimated center of gravity position and the preset center of gravity position comprises:

And if the offset between the estimated gravity center position and the preset gravity center position is smaller than or equal to a preset threshold value, determining the first target object as the target object to be taken.

13. The method of any one of claims 2-8, wherein the plurality of workstations includes a third workstation and a fourth workstation, and a carrier docking area is disposed between the third workstation and the fourth workstation, the hit carrier docking area;

the generating a first fetching instruction according to the target object, the hit carrier, the target workstation, and the target conveying line includes:

generating a first sub-fetching instruction and a second sub-fetching instruction according to the target object, the hit carrier, the target workstation and the target conveying line; the first sub-fetching instruction is used for instructing the third workstation to fetch a third target object from one surface of the hit carrier, and placing the third target object on a third conveying line so as to convey the third target object to a destination station corresponding to the third target object through the third conveying line; the second sub-fetching instruction is used for instructing the fourth workstation to fetch a fourth target object from the other surface of the hit carrier, and placing the fourth target object on a fourth conveying line so as to convey the fourth target object to a destination site corresponding to the fourth target object through the fourth conveying line.

14. The method according to any one of claims 1-8, further comprising:

generating a first cache instruction under the condition that the abnormality of the target object is detected; the first cache instruction is used for indicating the target workstation to place an abnormal target object on the cache device.

15. The method according to any one of claims 1-8, further comprising:

generating a second cache instruction under the condition that a target site exists in the multiple sites; the number of the targets required by the target station is smaller than or equal to a preset number threshold, or the conveying frequency of the targets required by the target station is lower than a preset frequency threshold; the second cache instruction is used for indicating a target workstation corresponding to the target station to take out a target object required by the target station from the hit carrier and place the target object on the cache device.

16. The method according to any one of claims 1-8, further comprising:

generating a third buffer instruction under the condition that the object conveyed on the target conveying line reaches a target area; the third buffer instruction is configured to instruct the target workstation to place the target object onto a buffer device, or place the target object onto an idle buffer bit of the target workstation.

17. A warehousing system, comprising:

a plurality of movable carriers, each of the movable carriers including a plurality of storage bits, each storage bit for storing a target;

a control device configured to:

acquiring an order to be processed, and determining a plurality of targets, at least one hit carrier and a destination site according to the order to be processed; wherein the hit carrier is a movable carrier on which the target object is located;

determining a target workstation and a target conveying line according to the destination station;

generating a first carrying instruction according to the target object, the hit carrier and the target workstation;

generating a first fetching instruction according to the target object, the hit carrier, the target workstation and the target conveying line;

a first handling device of the plurality of handling devices configured to acquire the first handling instruction, and to handle the hit carrier to the target workstation according to the first handling instruction;

the target workstation comprises a plurality of conveying lines and a container picking and placing device, wherein the conveying lines are used for conveying the target objects to at least one station, the conveying lines comprise the target conveying lines, and the at least one station comprises the target station;

The container fetching device is configured to acquire the first fetching instruction, fetch the target object from the hit carrier according to the first fetching instruction, and place the target object on the target conveying line;

the target delivery line is configured to deliver the target object to the destination site.

18. The warehousing system of claim 17, wherein the warehousing system includes a plurality of workstations including the target workstation.

19. The warehousing system of claim 18 wherein the plurality of workstations are divided into a plurality of workstation groups; the control device is configured to:

20. The warehousing system of claim 19, wherein the control device is configured to:

21. The warehousing system of claim 19, wherein the control device is configured to:

22. The warehousing system of claim 17, wherein the control device is configured to:

23. The warehousing system of claim 17 wherein the target workstation comprises a first workstation and a second workstation; the target conveyor line comprises a first conveyor line of the first workstation and a second conveyor line of the second workstation; the first conveying line and the second conveying line are used for conveying the target object to the same destination station.

24. The warehousing system of claim 17 wherein the plurality of conveyor lines of the target workstation are disposed at the same elevation or staggered at different elevations.

25. The warehousing system of any one of claims 17-24, wherein the control device is further configured to:

and according to the position of the object to be fetched, controlling the container fetching and placing device of the target workstation to fetch the object to be fetched from the hit carrier, and placing the object to be fetched on the target conveying line.

26. The warehousing system of claim 25, wherein the control device is configured to:

27. The warehousing system of claim 26, further comprising a second handling apparatus, wherein the hit carrier is provided with a plurality of cargo spaces in a vertical direction and a barrier is provided between the plurality of cargo spaces in the vertical direction; the second target object and the first target object are positioned on different surfaces of the hit carrier;

the control device is configured to generate a face turning instruction and a second fetching instruction according to the position of the second target object;

a second carrying device of the plurality of carrying devices is configured to acquire the surface turning instruction, and turn the surface of the hit carrier according to the surface turning instruction;

the container picking and placing device is configured to obtain the second picking and placing instruction, take out the second target object from the hit carrier after the hit carrier rotates on the surface according to the second picking and placing instruction, and place the second target object on the target conveying line, so that the offset between the center of gravity position of the hit carrier after the second target object is taken out and the preset center of gravity position is smaller than or equal to the preset threshold.

28. The warehousing system of claim 25, wherein the control device is configured to:

29. The warehousing system of any one of claims 18-24 wherein the plurality of workstations includes a third workstation and a fourth workstation, and a carrier docking area is disposed between the third workstation and the fourth workstation, the hit carrier docking area;

the control device is configured to generate a first sub-fetching instruction and a second sub-fetching instruction according to the target object, the hit carrier, the target workstation and the target conveying line;

the container picking and placing device of the third workstation is configured to acquire the first sub-picking and placing instruction, take out a third target object from one surface of the hit carrier according to the first sub-picking and placing instruction, and place the third target object on a third conveying line so as to convey the third target object to a destination site corresponding to the third target object through the third conveying line;

the container picking and placing device of the fourth workstation is configured to acquire the second sub-picking and placing instruction, take out a fourth target object from the other surface of the hit carrier according to the second sub-picking and placing instruction, and place the fourth target object on a fourth conveying line so as to convey the fourth target object to a destination site corresponding to the fourth target object through the fourth conveying line.

30. The warehousing system of any one of claims 17-24, wherein the warehousing system further includes a caching device; the control device is configured to:

generating a first cache instruction under the condition that the target object is abnormal;

the target workstation is configured to: and acquiring the first cache instruction, and placing an abnormal target object on the cache device according to the first cache instruction.

31. The warehousing system of any one of claims 17-24, wherein the warehousing system further includes a caching device; the control device is configured to:

generating a second cache instruction under the condition that a target site exists in the multiple sites;

the target workstation is configured to: the second cache instruction is obtained, and a target object required by the target site is taken out of the hit carrier according to the second cache instruction and placed on a cache device; the number of the targets required by the target station is smaller than or equal to a preset number threshold, or the conveying frequency of the targets required by the target station is lower than a preset frequency threshold; the target workstation is a workstation corresponding to the target site.

32. The warehousing system of any one of claims 17-24, wherein the warehousing system further includes a caching device; the control device is configured to:

generating a third buffer instruction under the condition that the object conveyed on the target conveying line reaches a target area;

the target workstation is configured to: and acquiring the third cache instruction, and placing the target object on a cache device according to the third cache instruction, or placing the target object on an idle cache bit of the target workstation.

33. A workstation, comprising:

a plurality of conveyor lines for conveying objects to at least one station;

the container picking and placing device is configured to acquire a first picking and placing instruction, take out the target object from the hit carrier according to the first picking and placing instruction, and place the target object on a target conveying line in the conveying lines;

the target conveying line is configured to convey the target object to a destination station in the at least one station;

wherein the target object, the hit carrier and the destination site are determined according to the order to be processed; the target conveying line is determined according to the destination station.

34. The workstation of claim 33 wherein the plurality of conveyor lines are disposed at the same elevation or staggered at different elevations.

35. The workstation of claim 33 or 34, further comprising at least one guide mechanism; the container picking and placing device is arranged to the guiding mechanism, and the container picking and placing device can move transversely and/or vertically through the guiding mechanism.

36. The workstation of claim 35 wherein the guide mechanism comprises:

a lateral movement device coupled with the movement bar and configured to: the movable rod is driven to move transversely;

the moving rod extends along the vertical direction, and the container taking and placing device is arranged on the moving rod so that the moving rod drives the container taking and placing device to move transversely; and

a vertical movement device coupled with the container pick-and-place device and configured to: the container picking and placing device is driven to vertically move relative to the moving rod.

37. An electronic device, comprising:

one or more processors; and

a memory configured to: storing one or more programs;

Wherein the one or more processors implement the scheduling method of any one of claims 1-16 when the one or more programs are executed by the one or more processors.

38. A computer readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, implements the scheduling method according to any one of claims 1-16.