TW202334013A - Material box closing control method, device, equipment, system, medium and product - Google Patents

Abstract

The embodiment of the invention provides a material box closing control method, device, equipment, system, medium and product. The method comprises the steps that a material box identifier of at least one returning material box needing to be returned to a warehouse is obtained; according to the material box identifier, determining the type of the returned goods loaded in the returned material box and the returned goods loading parameters; the warehouse returning goods loading parameters are matched with warehouse returning goods types; according to the type of the returned goods and the loading parameters of the returned goods, warehouse material boxes to be closed in a warehouse are determined; and a robot is controlled to convey the to-be-closed warehouse material box to a target workstation, so that the to-be-closed warehouse material box and the to-be-closed material box are subjected to box closing treatment according to the box closing strategy that at least one material box is vacated. According to the material box closing control method, the storage space occupied by a warehouse in a warehousing system can be reduced, and the space utilization rate is increased.

Description

Container closing control methods, devices, equipment, systems, media and products

Embodiments of the present disclosure relate to the field of smart warehousing technology, and in particular to a box closing control method, device, equipment, system, medium and product.

With the continuous development of smart warehousing technology, society's demand for warehousing is also increasing. Workstations and robots can assist in the processing of various types of goods, improve cargo processing efficiency and reduce costs. In the current smart warehousing system, outgoing and returning are two commonly used scenarios. Outgoing is when the goods stored in the warehouse are taken out by robots and transported to the workstation for picking. Returning is when the workstation picks the goods that have been returned from the warehouse. Stored into warehouse by robot.

At present, the return to warehouse is usually done by directly storing the return boxes loaded with goods into the warehouse after picking at the workstation. Since the material boxes in the warehouse may not be fully loaded, and when the goods in the returned material boxes are less, directly storing the returned material boxes in the warehouse will also occupy additional storage space in the warehouse, resulting in poor space utilization. Low.

The present disclosure provides a material box closing control method, device, equipment, system, medium and product to solve the problem that currently when there are less goods in the returned material boxes, directly storing the returned material boxes in the warehouse will occupy additional warehouse space. storage space, resulting in low space utilization.

The first aspect of the embodiment of the present disclosure provides a box closing control method, which includes: Obtain the bin ID of at least one return bin that needs to be returned to the warehouse; The return cargo category and the return cargo loading parameters loaded in the return cargo container are determined according to the container identification; the return cargo loading parameters match the return cargo category; Determine the warehouse bins to be combined in the warehouse based on the return cargo category and the return cargo loading parameters; The robot is controlled to transport the warehouse material boxes to be closed to the target workstation, so as to perform the closing process on the warehouse material boxes to be closed and the return material boxes according to the closing strategy of freeing at least one material box.

Optionally, as described above, the method of determining the warehouse bins to be combined in the warehouse based on the return cargo category and the return cargo loading parameters includes: Select the first box selection strategy to be executed, which is to combine the return material boxes into the warehouse material boxes or the second box selection strategy to be combined from the warehouse material boxes to the return material boxes; The warehouse material boxes to be combined in the warehouse are determined according to the selected one of the first box selection strategy and the second box selection strategy, the return goods category and the return goods loading parameters.

Optionally, as described above, the boxes to be combined in the warehouse are determined based on one of the selected first box selection strategy and the second box selection strategy, the return goods category and the return goods loading parameters. Warehouse bins, including: Determine whether there is at least one preliminary screening warehouse bin that matches the category of the returned goods among the warehouse bins in the warehouse; If it is determined that there is at least one preliminary screening warehouse bin that matches the return cargo category, then obtain the storage cargo loading parameters of at least one preliminary screening warehouse bin; Based on the selected one of the first box selection strategy and the second box selection strategy, the return cargo loading parameters and the storage cargo loading parameters, it is determined whether there is at least one re-container that satisfies the closing conditions in the initial screening warehouse bins. Screening warehouse bins; If it is determined that there is at least one re-screened warehouse material box that satisfies the box closing conditions, then the warehouse material box to be combined is determined based on the at least one re-screened warehouse material box.

Optionally, as described above, the category of goods returned to the warehouse is the same or related category; Determining whether there is at least one preliminary screening warehouse bin that matches the category of the returned goods in the warehouse bins includes: It is determined whether there is at least one preliminary screening warehouse bin that is the same as or related to the category of the returned goods among the warehouse bins in the warehouse.

Optionally, as described above, the categories of returned goods in the return bins are multiple different categories; Determining whether there is at least one preliminary screening warehouse bin that matches the category of the returned goods in the warehouse bins includes: Determine whether there is at least one preliminary screening warehouse bin in the warehouse bins in the warehouse whose category of stored goods is consistent with the category of returned goods; Or determine whether there are multiple preliminary screening warehouse bins in the warehouse bins whose storage goods categories are consistent with at least one type of returned goods. The categories of warehouse goods stored in the multiple initially screened warehouse bins include all returned warehouses. Category of goods.

Optionally, in the method described above, the loading parameters of the returned goods include the volume of the bin occupied by the returned goods and the remaining loading volume of the bin after loading the returned goods; the loading parameters of the stored goods include the volume of the bin occupied by the returned goods. The occupied volume of the material box and the remaining loading volume of the material box after loading the storage goods; According to one of the selected first box selection strategy and the second box selection strategy, and based on the return cargo loading parameters and the storage cargo loading parameters, it is determined whether there are any boxes in the initial screening warehouse that meet the closing conditions. At least one rescreened warehouse bin, including: If the first box selection strategy is selected, it will be determined based on the volume of the box occupied by the returned goods and the remaining loading volume of the box after loading the storage goods to determine whether there is remaining loading of at least one initially screened warehouse box. The volume is greater than or equal to the volume of the bin occupied by the returned goods; If so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions among the initially screened warehouse bins, and each initially screened warehouse bin whose remaining loading volume is greater than or equal to the bin volume occupied by the returned goods is regarded as the first Then screen the warehouse bins; or Based on the volume of the bin occupied by the returned goods and the remaining loading volume of the bin after loading the warehousing goods, it is determined whether there are multiple remaining loading volumes of the initially screened warehouse bins and the sum is greater than or equal to the material occupied by the returned goods. box volume; If so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions in the initial screening warehouse bins, and the remaining loading volume sum is greater than or equal to the bin volume occupied by the returned goods. The number of preliminary screening warehouse bins is the first. Second, screen the warehouse bins.

Optionally, as described above, the initial screening warehouse is determined based on one of the selected first box selection strategy and the second box selection strategy, and based on the return cargo loading parameters and the warehousing cargo loading parameters. Whether there is at least one re-screened warehouse material box in the material box that meets the conditions for box closing, including: If the second box selection strategy is selected, it is determined based on the remaining loading volume of the box after loading the goods back into the warehouse and the box volume occupied by the storage goods to determine whether there is at least one initially screened warehouse box for storage goods. The occupied bin volume is less than or equal to the remaining loading volume of the bin returned to the warehouse; If so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions among the initially screened warehouse bins, and the bin volume occupied by each warehoused goods is less than or equal to the initial screening of the remaining loading volume of the bins returned to the warehouse. The warehouse bins are the third re-screened bins; or, Based on the remaining loading volume of the bin after loading the returned goods and the bin volume occupied by the storage goods, it is determined whether there are multiple initially screened warehouse bins whose total loaded volume is less than or equal to the returned bin. The remaining loading volume of the box; If so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions among the initially screened warehouse bins, and there are multiple initially screened warehouse bins with a total loaded volume and a remaining loading volume that is less than or equal to the bins of the return bins. Screen the bin again for the fourth time.

Optionally, as described above, the re-screened warehouse bins include a first re-screened warehouse bin and/or a third re-screened warehouse bin; Determining the warehouse bins to be combined based on at least one re-screened warehouse bin includes: Obtain the first distance between multiple re-screened warehouse bins and the target workstation; For each re-screened warehouse bin and return bin, calculate the difference between the remaining loading volume of one type of bin and the bin volume occupied by the goods of another type of bin; The warehouse bins to be combined are determined from the re-screened warehouse bins based on each of the first distances and the corresponding difference values.

Optionally, in the method described above, the re-screened warehouse bin is the first re-screened warehouse bin; The calculation of the difference between the remaining loading volume of one type of material box and the volume of the material box occupied by the goods of another type of material box for each re-screened warehouse material box and return material box includes: For each first re-screened warehouse material box and return material box, calculate the first difference between the remaining loading volume of the first re-screening warehouse material box and the material box volume occupied by the returned goods in the return material box.

Optionally, in the method described above, the re-screened warehouse bin is a third re-screened warehouse bin; The calculation of the difference between the remaining loading volume of one type of material box and the volume of the material box occupied by the goods of another type of material box for each re-screened warehouse material box and return material box includes: For each third re-screening warehouse bin and the return bin, calculate the second difference between the remaining loading volume of the return bin and the bin volume occupied by the storage goods in the third re-screening warehouse bin. value.

Optionally, as described above, the method of determining the warehouse bins to be combined from the re-screened warehouse bins based on each of the first distances and the corresponding difference values includes: Determine the selection score of each re-screened warehouse bin according to the preset determination strategy according to each first distance and the corresponding difference; The warehouse bin with the highest score will be selected and then selected as the warehouse bin to be combined.

Optionally, as described above, the re-screened warehouse bins include a second re-screened warehouse bin and/or a fourth re-screened warehouse bin; Determining the warehouse bins to be combined based on at least one re-screened warehouse bin includes: Obtain the first distance between multiple re-screened warehouse bins and the target workstation; Obtain the second distance between multiple initially screened warehouse bins in the re-screened warehouse bins; If the re-screened warehouse bin is the second re-screened warehouse bin, calculate the third difference between the remaining loading volume of the second re-screened warehouse bin and the bin volume occupied by the returned goods in the return bin. ; If the re-screened warehouse material box is the fourth re-screened warehouse material box, calculate the fourth difference between the remaining loading volume of the material box returned to the warehouse material box and the sum of the total loaded volume in the fourth re-screened warehouse material box; According to each of the first distances, the corresponding second distances and the corresponding third difference or fourth difference, the warehouse bins to be combined are determined from each re-screened warehouse bin.

Optionally, as mentioned above, the method is to determine the number of boxes to be combined from each re-screened warehouse material box based on each of the first distance, the corresponding second distance and the corresponding third difference or fourth difference. Warehouse bins, including: Determine the selection score of each re-screened warehouse bin according to the preset weighting strategy based on each of the first distance, the corresponding second distance and the corresponding third difference or fourth difference; Multiple preliminary screening warehouse bins from the re-screened warehouse bins with the highest scores will be selected as warehouse bins to be combined.

Optionally, as described above, the boxes to be combined in the warehouse are determined based on one of the selected first box selection strategy and the second box selection strategy, the return goods category and the return goods loading parameters. After the warehouse material boxes, it also includes: The first box selection strategy or the second box selection to be executed is determined based on the selection score of the warehouse bins to be combined that matches the first box selection strategy and the selection score of the warehouse bins to be combined that matches the second box selection strategy. Strategy; The control robot transports the warehouse boxes to be closed to the target workstation, including: The robot is controlled to transport the warehouse material boxes to be combined that match the first box selection strategy or the second box selection strategy to be executed to the target workstation.

Optionally, as described above, the need is determined based on the selection scores of warehouse bins to be combined that match the first box selection strategy and the selection scores of warehouse bins to be combined that match the second box selection strategy. The first box selection strategy or the second box selection strategy implemented includes: If there are multiple warehouse bins to be combined that match the first box selection strategy, and there are multiple warehouse bins to be combined that match the second box selection strategy, then the average selection score that matches the first box selection strategy is determined. The difference between the value and the average selection score matching the second bin selection strategy; If the difference is greater than zero, it is determined that the first box selection strategy needs to be implemented; If the difference is equal to zero, it is determined that the first box selection strategy or the second box selection strategy needs to be implemented; If the difference is less than zero, it is determined that the second box selection strategy needs to be implemented; If there are multiple warehouse boxes to be combined that match the first box selection strategy, and there is one warehouse box that needs to be combined that matches the second box selection strategy, it is determined that the second box selection strategy needs to be executed.

Optionally, as described above, the need is determined based on the selection scores of warehouse bins to be combined that match the first box selection strategy and the selection scores of warehouse bins to be combined that match the second box selection strategy. The first box selection strategy or the second box selection strategy implemented includes: If there is one warehouse material box to be combined that matches the first box selection strategy, and one warehouse material box to be combined that matches the second box selection strategy, then determine the selection score that matches the first box selection strategy and the selection score that matches the second box selection strategy. The difference between the selection scores of the two-box strategy matching; If the difference is greater than zero, it is determined that the first box selection strategy needs to be implemented; If the difference is equal to zero, it is determined that the first box selection strategy or the second box selection strategy needs to be implemented; If the difference is less than zero, it is determined that the second box selection strategy needs to be implemented; If there is one warehouse box to be combined that matches the first box selection strategy, and there are multiple warehouse boxes to be combined that match the second box selection strategy, it is determined that the first box selection strategy needs to be executed.

Optionally, in the method described above, the control robot transports the warehouse materials to be closed to the target workstation, so as to collect the warehouse materials to be combined and the returned materials according to the closing strategy of vacating at least one material box. Cartons are consolidated, including: If the warehouse bins to be closed are the first re-screened warehouse bins, the robot is controlled to transport the warehouse bins to be closed to the target workstation, so that the pickers will return them to the warehouse according to the closing strategy of vacating at least one bin. The goods loaded in the bins are consolidated into warehouse bins to be consolidated; If the warehouse boxes to be closed are the second re-screened warehouse boxes, the robot is controlled to transport the warehouse boxes corresponding to multiple boxes to be closed to the target workstation, so that the pickers follow the closing strategy of freeing at least one box. Consolidate the goods loaded in the return bins sequentially into the warehouse bins to be consolidated.

Optionally, in the method described above, the control robot transports the warehouse materials to be closed to the target workstation, so as to collect the warehouse materials to be combined and the returned materials according to the closing strategy of vacating at least one material box. Cartons are consolidated, including: If the warehouse bins to be closed are the third re-screened warehouse bins, the robot is controlled to transport the warehouse bins to be closed to the target workstation, so that the pickers can clear the boxes to be closed according to the closing strategy of vacating at least one box. The goods loaded in the warehouse bins are combined into the return warehouse bins; If the warehouse boxes to be closed are the fourth re-screened warehouse boxes, the robot is controlled to transport the warehouse boxes corresponding to multiple boxes to be closed to the target workstation, so that the picking personnel follow the closing strategy of freeing at least one box. Consolidate the goods loaded in the warehouse bins to be consolidated into the return bins.

Optionally, as described above, the method of obtaining the bin identification of at least one return bin that needs to be returned to the warehouse includes: Obtain the bin identification of at least one return bin that needs to be returned to the warehouse on the conveyor line; The control robot transports the warehouse boxes to be closed to the target workstation, including: If the warehouse bins to be closed are the second re-screened warehouse bins or the fourth re-screened warehouse bins, the control robot transports the corresponding multiple warehouse bins to be closed to the target workstation according to the preset transportation strategy; The default transportation strategy is to transport multiple warehouse bins corresponding to the boxes to be combined in the order of the bin IDs of the return bins obtained on the conveyor line.

Optionally, as mentioned above, a seeding wall is provided in the adjacent area of the target workstation; The method of obtaining the bin identification of at least one return bin that needs to be returned to the warehouse includes: Receive the bin identification of at least one return bin sent by the target workstation that needs to be returned to the warehouse; After receiving the bin identification of at least one return bin that needs to be returned to the warehouse sent by the target workstation, it also includes: Receive the storage information of the return material box sent by the sowing wall; the storage information of the return material box is generated when the return material box is stored in the sowing wall; Before the control robot transports the warehouse boxes to be closed to the target workstation, it also includes: The seeding wall is controlled to send corresponding prompt information according to the storage information of the return material box. A second aspect of the embodiment of the present disclosure provides a material box closing control device, which includes: The acquisition module is used to obtain the bin identification of at least one return bin that needs to be returned to the warehouse; A parameter determination module, configured to determine the return cargo category and return cargo loading parameters loaded into the return cargo container based on the container identification; the return cargo loading parameters match the return cargo category; The container determination module is used to determine the warehouse containers to be combined in the warehouse according to the category of the returned goods and the loading parameters of the returned goods; The control module is used to control the robot to transport the warehouse boxes to be closed to the target workstation, so as to close the warehouse boxes to be closed and the return boxes according to the closing strategy of freeing at least one box.

Optional, as mentioned above, the bin determination module is specifically used for: Select the first box selection strategy to be executed, which is to combine the return material boxes into the warehouse material boxes or the second box selection strategy to combine the warehouse material boxes into the return material boxes; according to the selected first box selection strategy and One of the second box selection strategies, the return goods category and the return goods loading parameters determine the warehouse boxes to be combined in the warehouse.

Optionally, in the device as described above, the material box determination module determines whether the goods are returned to the warehouse according to one of the selected first box selection strategy and the second box selection strategy, the type of the returned goods and the loading of the returned goods. When the parameters determine the warehouse boxes to be combined in the warehouse, they are specifically used for: Determine whether there is at least one initial screening warehouse bin that matches the return goods category among the warehouse bins in the warehouse; if it is determined that there is at least one preliminary screening warehouse bin that matches the return cargo category, then Obtain the storage cargo loading parameters of at least one initially screened warehouse material box; determine the initial screening based on one of the selected first box selection strategy and the second box selection strategy, the return cargo loading parameters and the storage cargo loading parameters Whether there is at least one re-screened warehouse material box in the warehouse material box that meets the box closing conditions; if it is determined that there is at least one re-screened warehouse material box that meets the box closing conditions, then determine the warehouse material to be boxed based on at least one re-screened warehouse material box box.

Optionally, as mentioned above, the category of goods returned to the warehouse is the same or related category; When the bin determination module determines whether there is at least one preliminary screening warehouse bin that matches the category of returned goods in the warehouse bins, it is specifically used to: It is determined whether there is at least one preliminary screening warehouse bin that is the same as or related to the category of the returned goods among the warehouse bins in the warehouse.

Optionally, with the device as mentioned above, the categories of returned goods in the return bins are multiple different categories; When the bin determination module determines whether there is at least one preliminary screening warehouse bin that matches the category of returned goods in the warehouse bins, it is specifically used to: Determine whether there is at least one preliminary screening warehouse bin in the warehouse bins in which the category of stored goods is consistent with the category of returned goods; or determine whether there is a category of stored warehousing goods in the warehouse bins that is consistent with at least the category of returned goods. A kind of multiple preliminary screening warehouse bins with the same category of returned goods. The categories of warehouse goods stored in the multiple primary screening warehouse bins include the categories of all returned goods.

Optionally, with the device as described above, the loading parameters of the returned goods include the volume of the bin occupied by the returned goods and the remaining loading volume of the bin after loading the returned goods; the loading parameters of the warehoused goods include the volume of the bin occupied by the returned goods. The occupied volume of the material box and the remaining loading volume of the material box after loading the storage goods; The bin determination module determines whether there are initially selected warehouse bins based on one of the selected first bin selection strategy and the second bin selection strategy, and based on the return cargo loading parameters and the warehousing cargo loading parameters. When there is at least one re-screened warehouse bin that meets the combining conditions, it is specifically used for: If the first box selection strategy is selected, it will be determined based on the volume of the box occupied by the returned goods and the remaining loading volume of the box after loading the storage goods to determine whether there is remaining loading of at least one initially screened warehouse box. The volume is greater than or equal to the volume of the bin occupied by the returned goods; if so, it is determined that there is at least one re-screened warehouse bin that meets the closing conditions among the initially screened warehouse bins, and each remaining loading volume is greater than or equal to the volume of the returned goods. The initial screening warehouse bin occupying the bin volume is used as the first re-screened warehouse bin; or Based on the volume of the bin occupied by the returned goods and the remaining loading volume of the bin after loading the warehousing goods, it is determined whether there are multiple remaining loading volumes of the initially screened warehouse bins and the sum is greater than or equal to the material occupied by the returned goods. box volume; if so, it is determined that there is at least one re-screened warehouse material box in the initial screening warehouse material box that meets the combining conditions, and the sum of the remaining loading volumes is greater than or equal to the multiple initial screening warehouse material boxes occupied by the returned goods. The boxes are the second re-screened warehouse material boxes.

Optionally, in the device as described above, the material box determination module determines whether the material box is selected according to one of the first box selection strategy and the second box selection strategy, according to the loading parameters of the return goods and the warehouse goods. The loading parameters are used to determine whether there is at least one re-screened warehouse bin that meets the closing conditions in the initial screening warehouse bins, and are specifically used for: If the second box selection strategy is selected, it is determined based on the remaining loading volume of the box after loading the goods back into the warehouse and the box volume occupied by the storage goods to determine whether there is at least one initially screened warehouse box for storage goods. The occupied bin volume is less than or equal to the remaining loading volume of the bin returned to the warehouse; if so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions in the initial screening warehouse bin, and each warehoused goods occupies The initial screening warehouse bins whose volume is less than or equal to the remaining loading volume of the bins returned to the warehouse are the third re-screening bins; or, Based on the remaining loading volume of the bin after loading the returned goods and the bin volume occupied by the storage goods, it is determined whether there are multiple initially screened warehouse bins whose total loaded volume is less than or equal to the returned bin. The remaining loading volume of the box; if so, it is determined that there is at least one re-screened warehouse box that meets the closing conditions among the initially screened warehouse boxes, and the total loaded volume and the remaining loading volume of the boxes that are less than or equal to the returned warehouse box The initial screening warehouse bins are the fourth re-screening bins.

Optionally, the device as described above, the re-screening warehouse bins include a first re-screening warehouse bin and/or a third re-screening warehouse bin; When the bin determination module determines the warehouse bins to be combined based on at least one re-screened warehouse bin, it is specifically used to: Obtain the first distance between multiple re-screened warehouse bins and the target workstation; for each re-screened warehouse bin and return bin, calculate the remaining loading volume of one bin and the space occupied by the goods of another bin The difference between the volumes of the bins; determine the warehouse bin to be combined from each of the re-screened warehouse bins based on each of the first distances and the corresponding difference.

Optionally, in the device as described above, the re-screening warehouse bin is the first re-screening warehouse bin; When the bin determination module calculates the difference between the remaining loading volume of one type of bin and the bin volume occupied by the goods of another type of bin for each re-screened warehouse bin and return bin, Specifically used for: For each first re-screened warehouse material box and return material box, calculate the first difference between the remaining loading volume of the first re-screening warehouse material box and the material box volume occupied by the returned goods in the return material box.

Optionally, in the device as described above, the re-screening warehouse bin is a third re-screening warehouse bin; When the bin determination module calculates the difference between the remaining loading volume of one type of bin and the bin volume occupied by the goods of another type of bin for each re-screened warehouse bin and return bin, Specifically used for: For each third re-screening warehouse bin and the return bin, calculate the second difference between the remaining loading volume of the return bin and the bin volume occupied by the storage goods in the third re-screening warehouse bin. value.

Optionally, with the device as described above, the bin determination module specifically uses At: According to each first distance and the corresponding difference, the selection score of each re-screened warehouse bin is determined according to the preset determination strategy; the re-screened warehouse bin with the highest selection score is determined as the warehouse bin to be combined.

Optionally, the device as described above, the re-screening warehouse bins include a second re-screening warehouse bin and/or a fourth re-screening warehouse bin; When the bin determination module determines the warehouse bins to be combined based on at least one re-screened warehouse bin, it is specifically used to: Obtain the first distance between multiple re-screened warehouse bins and the target workstation; obtain the second distance between multiple initially screened warehouse bins in the re-screened warehouse bin; if the re-screened warehouse bin is the second re-screened For warehouse bins, calculate the third difference between the remaining loading volume of the second re-screened warehouse bin and the volume of the bin occupied by the returned goods in the return bin; if the re-screened warehouse bin is the fourth re-screened bin, Screen the warehouse bins and calculate the fourth difference between the remaining loading volume of the bins returned to the warehouse bins and the sum of the total loaded volumes in the fourth re-screened warehouse bins; according to each of the first distance, the corresponding second The distance and the corresponding third difference value or the fourth difference value are used to determine the warehouse material box to be combined from each re-screened warehouse material box.

Optionally, in the device as described above, the material box determination module re-screens the warehouse materials according to each of the first distances, the corresponding second distances and the corresponding third difference or fourth difference. When determining the warehouse material boxes to be combined in the box, it is specifically used for: The selection score of each re-screened warehouse material box is determined according to the preset weighting strategy according to each of the first distance, the corresponding second distance and the corresponding third difference or fourth difference; the re-screened warehouse material with the highest score will be selected Multiple initially screened warehouse bins in the box are determined to be warehouse bins to be combined.

Optional, the device as mentioned above, the device also includes: The execution module is used to determine the first box selection to be executed based on the selection score of the warehouse bins to be combined that matches the first box selection strategy and the selection score of the warehouse bins to be combined that matches the second box selection strategy. strategy or second box strategy; The control module is specifically used for: The robot is controlled to transport the warehouse material boxes to be combined that match the first box selection strategy or the second box selection strategy to be executed to the target workstation.

Optional, as mentioned above, the execution module is specifically used for: If there are multiple warehouse bins to be combined that match the first box selection strategy, and there are multiple warehouse bins to be combined that match the second box selection strategy, then the average selection score that matches the first box selection strategy is determined. The difference between the value and the average selection score matching the second box selection strategy; if the difference is greater than zero, it is determined that the first box selection strategy needs to be executed; if the difference is equal to zero, it is determined that the first box selection strategy needs to be executed It is the first box selection strategy or the second box selection strategy; if the difference is less than zero, it is determined that the second box selection strategy needs to be executed; if there are multiple warehouse boxes to be combined that match the first box selection strategy , there is one warehouse container to be combined that matches the second box selection strategy, then it is determined that the second box selection strategy needs to be executed.

Optional, as mentioned above, the execution module is specifically used for: If there is one warehouse material box to be combined that matches the first box selection strategy, and one warehouse material box to be combined that matches the second box selection strategy, then determine the selection score that matches the first box selection strategy and the selection score that matches the second box selection strategy. The difference between the matching selection scores of the two box selection strategies; if the difference is greater than zero, it is determined that the first box selection strategy needs to be implemented; if the difference is equal to zero, it is determined that the first box selection strategy needs to be implemented or the second box selection strategy; if the difference is less than zero, it is determined that the second box selection strategy needs to be implemented; if there is one warehouse material box to be combined that matches the first box selection strategy, the second box selection strategy will If there are multiple matching warehouse bins to be combined, it is determined that the first bin selection strategy needs to be executed.

Optional, as mentioned above, the control module is specifically used for: If the warehouse bins to be closed are the first re-screened warehouse bins, the robot is controlled to transport the warehouse bins to be closed to the target workstation, so that the pickers will return them to the warehouse according to the closing strategy of vacating at least one bin. The goods loaded in the bins are consolidated into the warehouse bins to be consolidated; if the warehouse bins to be consolidated are the second re-screened warehouse bins, the robot is controlled to transport multiple warehouse bins corresponding to the bins to be consolidated to the target. The workstation allows the picking personnel to sequentially consolidate the goods loaded in the return bins into the warehouse bins to be consolidated according to the closing strategy of vacating at least one bin.

Optional, as mentioned above, the control module is specifically used for: If the warehouse bins to be closed are the third re-screened warehouse bins, the robot is controlled to transport the warehouse bins to be closed to the target workstation, so that the pickers can clear the boxes to be closed according to the closing strategy of vacating at least one box. The goods loaded in the warehouse bins are consolidated into the return warehouse bins; if the warehouse bins to be consolidated are the fourth re-screened warehouse bins, the robot is controlled to transport multiple warehouse bins corresponding to the bins to be consolidated to the target. The workstation allows the picking personnel to combine the goods loaded in each warehouse material box to be combined into the return material box according to the closing strategy of vacating at least one material box.

Optional, as mentioned above, the acquisition module is used for: Obtain the bin identification of at least one return bin that needs to be returned to the warehouse on the conveyor line; The control module is specifically used for: If the warehouse bins to be closed are the second re-screened warehouse bins or the fourth re-screened warehouse bins, the control robot transports the corresponding multiple warehouse bins to be closed to the target workstation according to the preset transportation strategy; The default transportation strategy is to transport multiple warehouse bins corresponding to the boxes to be combined in the order of the bin IDs of the return bins obtained on the conveyor line.

Optionally, as mentioned above, a seeding wall is provided in the adjacent area of the target workstation; The acquisition module is specifically used for: Receive the bin identification of at least one return bin sent by the target workstation that needs to be returned to the warehouse; The acquisition module is also used for: Receive the storage information of the return material box sent by the sowing wall; the storage information of the return material box is generated when the return material box is stored in the sowing wall; The control module is also used for: The seeding wall is controlled to send corresponding prompt information according to the storage information of the return material box.

In the embodiment of this disclosure, a third party provides a control device, which includes: a memory and a processor; Memory; a memory used to store instructions executable by the processor; Wherein, the processor is configured to execute the box closing control method according to any one of the first aspects by the processor.

A fourth aspect of the embodiment of the present disclosure provides a warehousing system, including: a control device, a workstation, and a robot as described above; The workstation and the robot are used to perform corresponding operations under the control of a control device.

A fifth aspect of the embodiment of the present disclosure provides a computer-readable storage medium. Computer-executable instructions are stored in the computer-readable storage medium. When the computer-executable instructions are executed by a processor, they are used to implement any one of the first aspects. Container closing control method.

A sixth aspect of the embodiment of the present disclosure provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the computer program implements the box closing control method described in any one of the first aspects.

Embodiments of the present disclosure provide a box closing control method, device, equipment, system, medium and product. The method includes: obtaining the box identification of at least one return material box that needs to be returned to the warehouse; according to the material box identification Determine the return cargo category and return cargo loading parameters loaded in the return cargo box; the return cargo loading parameters match the return cargo category; determine the warehouse based on the return cargo category and the return cargo loading parameters Warehouse materials boxes to be closed; control the robot to transport the warehouse materials boxes to be closed to the target workstation, so as to combine the warehouse materials boxes to be closed and the return materials boxes according to the closing strategy of vacating at least one material box handle. According to the material box closing control method of the embodiment of the present disclosure, after obtaining the box identification of at least one return material box that needs to be returned to the warehouse, the return goods category and the return goods loading parameters corresponding to the material box identification can be used to determine the return goods in the warehouse. Warehouse bins ready to be packed. Then, the robot is controlled to transport the warehouse boxes to be closed to the target workstation, so as to combine the warehouse boxes to be closed and the return boxes according to the closing strategy of freeing at least one box, thereby reducing the cost of the warehousing system. The occupied storage space of the warehouse is reduced, improving space utilization.

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with aspects of the present disclosure as detailed in the appended claims.

The technical solutions of the present disclosure will be described in detail below with specific examples. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

In order to clearly understand the technical solution of the present application, the prior art solution will first be introduced in detail. The current smart warehousing system consists of control equipment, robots, and workstations. The control equipment controls the robot to transport goods, and the workstation is responsible for picking goods. Most goods will be shipped to the destination of the order task after leaving the warehouse, and some goods may need to be returned to the warehouse because the order is cancelled. The goods that need to be returned to the warehouse are generally called return goods, and the bins containing the returned goods are called return bins. Since the quantity of the return goods is uncertain, the return box may be full or under-loaded when it is returned to the warehouse. When the return goods box is loaded with less return goods, the return box will be directly loaded. Storing the returned material boxes in the warehouse will also occupy additional storage space in the warehouse, resulting in low space utilization.

Therefore, in view of the technical problems in the prior art, the inventor found in the research that in order to solve the problem that when the return goods box is loaded with less return goods, directly storing the return material box in the warehouse will also occupy additional space in the warehouse. storage space, resulting in low space utilization. Based on the existing technology, the warehouse material boxes and the return material boxes can be combined with a closing strategy that leaves at least one material box empty, thereby reducing the amount of space in the warehouse. The number of bins ensures that under-full return bins do not occupy additional storage space in the warehouse, improving space utilization.

Specifically, the container identification of at least one return material box that needs to be returned to the warehouse is first obtained, and the return goods category and return goods loading parameters loaded in the return material box are determined through the box identification. Among them, the return cargo loading parameters match the return cargo category. Then the warehouse boxes to be combined in the warehouse are determined based on the type of goods returned to the warehouse and the loading parameters of the goods returned to the warehouse. Finally, the robot is controlled to transport the warehouse boxes to be closed to the target workstation, so that the warehouse boxes to be closed and the return boxes can be closed according to the closing strategy of freeing at least one box. The closing process can be performed by picking personnel at the workstation or by the closing equipment. This reduces the storage space occupied by the warehouse in the warehousing system and improves space utilization.

Based on the above creative discovery, the inventor proposes the technical solution of the present application.

The application scenarios of the box closing control method provided by the embodiments of the present disclosure are introduced below. As shown in Figure 1, 1 is the control equipment, 2 is the warehouse, 3 is the workstation, 4 is the return bin, 5 is the warehouse bin, 6 is the robot, and 7 is the picker or box closing equipment. The application scenario of this embodiment can be the return of materials to the warehouse in a processing workshop, or the return of orders to the warehouse, etc. As shown in Figure 1, the robot 6 can transport the warehouse boxes 5 in the warehouse to the workstation 3 under the control of the control device 1, and can also transport the combined boxes to the warehouse 2 under the control of the control device 1. . In the figure, only one or more of the robots 6 , return bins 4 , and warehouse bins 5 are illustrated for illustration. The position and quantity of the robots 6 can be set according to the needs of the actual application scenario. At the same time, the return bins 4 can be transported to the corresponding area of the workstation 3 through a conveyor line or other robots to facilitate the picking personnel or the box closing equipment 7 to perform the box closing operation.

In the application scenario of the embodiment of the present disclosure, when the return bin 4 is transported to the corresponding area of the workstation 3 , the picking personnel or the box closing device 7 can collect the bin identification of the return bin 4 and send it to the control device 1 . After the control device 1 obtains the bin identification of the return bin 4, since the control device 1 has pre-stored the mapping relationship between the bin identification, the return cargo category, and the return cargo loading parameters, it can Determine the type of return goods loaded in the return bin 4 and the loading parameters of the return goods. Then, the control device 1 can determine the warehouse bins 5 to be closed in the warehouse based on the return cargo category and the return cargo loading parameters. The warehouse bins 5 to be closed must be able to complete the closing operation with the return bins 4. The operation can be that the return material box 4 is combined into the warehouse material box 5, or the warehouse material box 5 is combined into the return material box 4.

After determining the warehouse bins 5 to be combined, the control device 1 controls the robot 6 to transport the warehouse bins 5 to the workstation 3 . Figure 1 exemplarily illustrates the movement of warehouse bins 5 at the workstation 3. At this time, the warehouse bins 5 will move to the corresponding area of the picking personnel or closing equipment 7 via the conveyor line of the workstation 3. The picking personnel or closing equipment The box equipment 7 can determine the specific operation of box closing based on the relationship between the remaining loading volume between the warehouse material box 5 and the return material box 4, and only needs to ensure that at least one material box is empty. After the box closing is completed, the control device 1 controls the robot 6 to transport the boxes that need to be returned to the warehouse 2 after the box closing.

The embodiments of the present disclosure will be introduced below with reference to the accompanying drawings.

Figure 2 is a schematic flow chart of a material box closing control method provided by the first embodiment of the present disclosure. As shown in Figure 2, in this embodiment, the execution subject of the embodiment of the present disclosure is a material box closing control device. The material box The closing control device can be integrated into the electronic equipment. The material box closing control method provided by this embodiment includes the following steps: Step S101: Obtain the bin identification of at least one return bin that needs to be returned to the warehouse.

In this embodiment, the method of obtaining the container identification may be to use the picking personnel at the workstation or the box closing equipment to collect the container identification of the returned container and then send it to the control device. The container identification can be a container code, a logo image, a QR code, etc. Step S102: Determine the return cargo category and return cargo loading parameters loaded in the return container according to the container identification. Return cargo loading parameters match the return cargo category.

In this embodiment, the control device instantly stores the mapping relationship between the box identification of each material box and the loaded goods category and cargo loading parameters. Therefore, the return material box can be determined based on the material box identification of the return material box. The type of returned goods loaded and the loading parameters of the returned goods.

The categories of returned goods can be set according to actual application scenarios. You can set larger categories, such as clothing, accessories, etc., or you can set smaller categories, such as blue tops, red pants, black shoes, etc. Cargo loading parameters refer to parameters that can represent the loading status of goods in the container, such as the total volume of goods loaded, the total quantity of goods loaded, the remaining loadable volume, the remaining loadable quantity, etc. Step S103: Determine the warehouse bins to be combined in the warehouse based on the type of the returned goods and the loading parameters of the returned goods.

In this embodiment, when performing the consolidation process, it is necessary to consider whether the categories of goods loaded between the warehouse bins and the return bins are the same or related, whether the remaining loadable volume can be consolidated, etc. Therefore, it is necessary to determine the warehouse boxes to be combined in the warehouse based on the type of returned goods and the loading parameters of the returned goods. Step S104, control the robot to transport the warehouse materials boxes to be closed to the target workstation, so as to perform the closing process on the warehouse materials boxes to be combined and the return materials boxes according to the closing strategy of freeing at least one material box.

In this embodiment, when the robot is controlled to transport the warehouse materials to be closed to the target workstation, a more appropriate robot can be selected based on the distance of the robot from the warehouse materials and whether the path the robot moves to the target workstation is congested, so as to improve the warehouse materials. The overall efficiency of box delivery to the destination workstation.

The closing strategy to free up at least one material box can be to combine the warehouse material boxes into the return material box, or to combine the return material boxes into the warehouse material box. At the same time, the determined warehouse material boxes can be one or more, and one or more return material boxes can also be combined at the same time. When cartoning is performed, the cartons can be combined by picking personnel or by cartoning equipment. The cartoning equipment can be mechanical equipment with high precision.

An embodiment of the present disclosure provides a box closing control method. The method includes: obtaining the box identification of at least one returned material box that needs to be returned to the warehouse. Determine the return cargo category and return cargo loading parameters for the return cargo box based on the container identification. Return cargo loading parameters match the return cargo category. Determine the warehouse boxes to be combined in the warehouse based on the type of goods returned to the warehouse and the loading parameters of the goods returned to the warehouse. The robot is controlled to transport the warehouse material boxes to be closed to the target workstation, so as to combine the warehouse material boxes to be closed and the return material boxes according to the closing strategy of freeing at least one material box.

According to the material box closing control method of the embodiment of the present disclosure, after obtaining the box identification of at least one return material box that needs to be returned to the warehouse, the return goods category and the return goods loading parameters corresponding to the material box identification can be used to determine the return goods in the warehouse. Warehouse bins ready to be packed. Then, the robot is controlled to transport the warehouse material boxes to be combined to the target workstation, so as to combine the warehouse materials boxes to be combined and the return materials boxes according to the closing strategy of vacating at least one material box, thereby reducing the cost of the warehouse in the warehousing system. The occupied storage space improves space utilization.

Figure 3 is a schematic flow chart of a material box closing control method provided by the second embodiment of the present disclosure. As shown in Figure 3, the material box closing control method provided by this embodiment is based on the material box closing control method provided by the previous embodiment of the present disclosure. Based on the box-on-box control method, step 103 is further refined. The material box closing control method provided by this embodiment includes the following steps. Step S201: Obtain the bin identification of at least one return bin that needs to be returned to the warehouse.

In this embodiment, the implementation of step 201 is similar to the implementation of step 101 in the previous embodiment of the present invention, and will not be described again here. Step S202: Determine the type of return goods loaded into the return bin and the loading parameters of the return goods based on the bin identification. Return cargo loading parameters match the return cargo category.

In this embodiment, the implementation of step 202 is similar to the implementation of step 102 in the previous embodiment of the present invention, and will not be described again here. Step S203: Select the first box selection strategy to be executed, which is to combine the return material boxes into the warehouse material boxes or the second box selection strategy to be carried out, which is to combine the warehouse material boxes into the return material boxes.

In this embodiment, the first box selection strategy and the second box selection strategy respectively correspond to different box closing methods. For example, the first box selection strategy can correspond to the box closing method of the return material boxes into the warehouse material boxes, and the second box selection strategy can correspond to the box closing method of the warehouse material boxes into the return warehouse material boxes.

When the box closing method is to combine return boxes into warehouse boxes, the box selection strategy should ensure that the remaining loading volume of the warehouse boxes should be greater than or equal to the return goods loaded in the return boxes, so that the warehouse boxes can be loaded Return goods to empty the return bin. At this time, there can be one or more warehouse bins, and there can also be one or more return bins.

In the same way, when the container closing method is to combine warehouse materials into return materials boxes, the box selection strategy should ensure that the remaining loading volume of the return materials boxes should be greater than or equal to the storage goods loaded in the warehouse materials boxes, so that the return materials The box can be loaded with storage goods to empty the warehouse material box. Step S204: Determine the warehouse bins to be combined in the warehouse based on one of the selected first box selection strategy and the second box selection strategy, the return cargo category and the return cargo loading parameters.

In this embodiment, it is possible to determine in advance which box selection strategy to use, and determine the warehouse boxes to be combined in the warehouse according to the corresponding box selection strategy. It is also possible to select the warehouse boxes according to the box selection strategy, and then select the warehouse boxes selected in the two ways. Compare the bins to determine a more suitable warehouse bin to be combined.

Specifically, as shown in Figure 4, step S204 may include steps S2041-S2045. Step S2041: Determine whether there is at least one initial screening warehouse bin that matches the category of the returned goods among the warehouse bins in the warehouse. If there is, step S2042 is executed. If not, step S2045 is executed.

In this embodiment, matching the category of the goods returned to the warehouse means that it is the same as or related to the category of the goods returned to the warehouse. The related categories can be set in advance, such as complete sets of products, clothing, etc.

At the same time, the goods returned to the warehouse bin may be of multiple categories, or they may be of one category.

When the goods category in the return bin is one, determining at least one preliminary screening warehouse bin can be specifically: Determine whether there is at least one preliminary screening warehouse bin that is the same as or related to the category of returned goods in the warehouse bins in the warehouse.

When there are multiple categories of goods in the return bins, determining at least one preliminary screening warehouse bin can be specifically: Determine whether there is at least one initial screening warehouse bin in the warehouse bins in the warehouse, the category of stored goods being stored is consistent with the category of returned goods.

Or determine whether there are multiple preliminary screening warehouse bins in the warehouse bins whose storage goods categories are consistent with at least one type of returned goods. The categories of warehouse goods stored in the multiple initially screened warehouse bins include all returned warehouses. Category of goods.

That is to say, there are two selection methods. The first selection method is to select warehouse bins with the same category of warehousing goods and returned goods as the initial screening warehouse bins. For example, the returned goods categories are tops A, tops B, and pants. A, then the storage goods categories in the warehouse bins that are consistent with the returned goods categories are top A, top B, and pants A.

The second selection method is to select multiple warehouse bins whose category of warehousing goods is partially consistent with the category of returned goods as the initial screening warehouse bins. The selected multiple warehouse bins only need to meet the requirements that the overall warehousing cargo category includes returned goods. Category is enough. For example, if the goods returned to the warehouse are tops A, tops B, and pants A, then there are three warehouse bins that are partially consistent with the goods returning to the warehouse, warehouse bin A, warehouse bin B, and warehouse bin C. Warehouse bin A The warehouse goods category in can be tops A and tops B, the warehouse cargo category of warehouse box B can be tops B, and the warehouse cargo category of warehouse box C can be pants A. The overall warehouse cargo category of warehouse bin A, warehouse bin B and warehouse bin C includes top A, top B and pants A. Step S2042: Obtain the storage cargo loading parameters of at least one initially selected warehouse container.

Warehousing cargo loading parameters can be the remaining loading volume, the loaded volume of goods, the remaining loading quantity, the loaded quantity of goods, etc. Step S2043: Determine whether there is at least one re-screening container in the initial screening warehouse that satisfies the closing conditions based on one of the selected first box selection strategy and the second box selection strategy, the return cargo loading parameters and the warehousing cargo loading parameters. Warehouse bins. If it exists, step S2044 is executed. If it does not exist, step S2045 is executed.

In this embodiment, the re-screened warehouse bins are selected from the initial screening warehouse bins. The re-screened warehouse bins need to meet the boxing conditions, that is, whether they can be combined with the returned warehouse boxes.

When the warehousing goods loading parameters include the volume of the bin occupied by the warehousing goods and the remaining loading volume of the bin after loading the warehousing goods, the loading parameters of the return goods include the volume of the bin occupied by the return goods and the volume of the bin after loading the return goods. When the remaining loading volume is determined, there are generally two situations when re-screening warehouse bins. The first is when the remaining loading volume of re-screening warehouse bins is greater than or equal to the bin volume occupied by the return goods in the return bins. The second is when the remaining loading volume of the re-screened warehouse bins This kind of re-screening warehouse material box occupied by storage goods box volume is less than or equal to the remaining loading volume in the return warehouse material box.

When the box selection strategy is the first box selection strategy, it can be determined based on the volume of the bin occupied by the returned goods and the remaining loading volume of the bin after loading the warehousing goods, whether there is at least one initial screening warehouse bin whose remaining loading volume is greater than or equal to The volume of the bin occupied by the returned goods.

If so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions among the initially screened warehouse bins, and each initially screened warehouse bin whose remaining loading volume is greater than or equal to the bin volume occupied by the returned goods is regarded as the first Then screen the warehouse bins. or

Based on the volume of the bin occupied by the returned goods and the remaining loading volume of the bin after loading the warehousing goods, it is judged whether there are multiple remaining loading volumes of the initially screened warehouse bins and the sum is greater than or equal to the volume of the bin occupied by the returned goods.

If so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions in the initial screening warehouse bins, and the remaining loading volume sum is greater than or equal to the bin volume occupied by the returned goods. The number of preliminary screening warehouse bins is the first. Second, screen the warehouse bins.

That is, when the box selection strategy is the first box selection strategy, there are two situations. In both cases, the number of returned material boxes is preset to be one or more. The first is that the remaining loading volume of a single warehouse bin is greater than or equal to the volume of the bin occupied by the returned goods. The second is that the sum of the remaining loading volumes of multiple warehouse bins is greater than or equal to the bin occupied by the returned goods. volume.

For example, assuming that the bin volume occupied by the return goods in the return bin is 30, the occupied bin volume can be the occupied volume corresponding to one return bin or the sum of the occupied volumes corresponding to multiple return bins. . In the first case, if the remaining loading volume of the initial screening warehouse bin is greater than or equal to 30, the return goods can be loaded into the warehouse bin through a preliminary screening warehouse bin. In the second case, the sum of the remaining loading volumes of multiple preliminary screening warehouse bins is greater than or equal to 30. Assume that the number of multiple preliminary screening warehouse bins is 3, and the remaining loading volumes of each preliminary screening warehouse bin are 15 and 10 respectively. and 10, then the sum of the remaining loading volumes of the three initially screened warehouse bins is greater than 30, and the return goods of the return warehouse bins can be loaded through the three initially screened warehouse bins.

When the box selection strategy is the second box selection strategy, it can be determined based on the remaining loading volume of the box after loading the returned goods and the box volume occupied by the warehouse goods to determine whether there is at least one initially selected warehouse box occupied by the storage goods. The bin volume is less than or equal to the remaining loading volume of the bin returned to the warehouse.

If so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions among the initially screened warehouse bins, and the bin volume occupied by each warehoused goods is less than or equal to the initial screening of the remaining loading volume of the bins returned to the warehouse. The warehouse bins are the third re-screened bins. or,

Determine whether there are multiple initially screened warehouse bins based on the remaining loading volume of the bins after loading the returned goods and the bin volume occupied by the warehouse goods. The total loaded volume of the bins in the initial screening warehouse and the remaining loading volume of the bins that are less than or equal to the returned bins are .

If so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions among the initially screened warehouse bins, and there are multiple initially screened warehouse bins with a total loaded volume and a remaining loading volume that is less than or equal to the bins of the return bins. Screen the bin again for the fourth time.

Even when the box selection strategy is the second box selection strategy, there are two situations. In both cases, the number of returned material boxes is preset to be one or more. The first type is that the remaining loading volume of the return material box is greater than or equal to the volume of the material box occupied by one warehouse goods. The second type is that the remaining loading volume of the return material box is greater than or equal to the return goods of multiple return material boxes. The total volume of the bin occupied.

For example, assume that the remaining loading volume of the return bin is 30. In the first case, the volume of the warehouse occupied by the storage goods in the initial screening warehouse bin is less than or equal to 30, and a warehouse can be loaded by the return bin. Storage goods in bins, thereby emptying warehouse bins. In the second case, the sum of the bin volumes occupied by multiple initially screened warehouse bins is less than or equal to 30, that is, the storage goods of multiple warehouse bins can be loaded by returning bins, thus vacating multiple warehouse bins. box. Assume that there are 3 bins in the multiple preliminary screening warehouses, and the bin volumes occupied by the storage goods in each preliminary screening warehouse bin are 9, 10, and 10 respectively, then the bins occupied by the storage goods in the three preliminary screening warehouse bins If the sum of the volumes is less than 30, the storage goods in the three initially screened warehouse bins can be loaded through the return bins. Step S2044: Determine the warehouse bin to be combined based on at least one re-screened warehouse bin.

In this embodiment, the warehouse bins to be consolidated are selected from the re-screened warehouse bins after comprehensive consideration of the consolidation efficiency and transportation efficiency.

The following will explain in detail how to determine the warehouse bins to be combined according to the re-screening warehouse bin types. When the re-screening warehouse bins include the first re-screening warehouse bin and/or the third re-screening warehouse bin, that is, a single Then screen the warehouse bins to meet the requirements for closing.

At this time, the first distance between multiple re-screened warehouse bins and the target workstation can be obtained.

For each rescreened warehouse bin and return bin, calculate the difference between the remaining loading volume of one bin and the bin volume occupied by the goods of the other bin.

Determine the warehouse material box to be combined from each re-screened warehouse material box according to each first distance and the corresponding difference value.

In this embodiment, the distance factors between the warehouse bins and the target workstation can be comprehensively considered, as well as the cargo loading parameter relationship between the warehouse bins and the return bins can be re-selected to select the warehouse bins to be combined.

The shorter the distance between the re-screened warehouse bins and the target workstation, the better. The closer the cargo loading parameter relationship between the re-screened warehouse bins and the return bins is, the better. Matching refers to the re-screened warehouse bins and the return bins. After the bins are closed, the bin loaded with goods is close to or fully loaded. The closer it is to full load, the higher the matching degree.

When the re-screened warehouse material box is the first re-screened warehouse material box, for each first re-screened warehouse material box and return material box, calculate the remaining loading volume of the first re-screened warehouse material box and the return material box return to warehouse The first difference between the bin volumes occupied by the goods.

When the re-screened warehouse material box is the third re-screened warehouse material box, for each third re-screened warehouse material box and return material box, calculate the remaining loading volume of the material box of the return material box and the third re-screened warehouse material The second difference between the volumes of bins occupied by bins of stored goods.

Optionally, in this embodiment, the warehouse bins to be combined are determined from each re-screened warehouse bin according to each first distance and the corresponding difference, which can be specifically as follows:

The selection score of each re-screened warehouse bin is determined according to the preset determination strategy according to each first distance and the corresponding difference value.

The warehouse bin with the highest score will be selected and then selected as the warehouse bin to be combined.

The preset determination strategy may be weighting according to the preset weight corresponding to the first distance and the preset weight corresponding to the corresponding difference, and the preset weight may be set according to actual needs. For example, if you focus more on the box closing efficiency, you can increase the weight of the first distance, and if you focus more on the box closing effect, you can increase the weight of the difference.

When the re-screening warehouse bins include the second re-screening warehouse bin and/or the fourth re-screening warehouse bin, the first distances between the multiple re-screening warehouse bins and the target workstation can also be obtained.

At the same time, the second distance between multiple preliminary screening warehouse bins in the re-screened warehouse bins is obtained.

If the re-screened warehouse bin is the second re-screened warehouse bin, calculate the third difference between the remaining loading volume of the second re-screened warehouse bin and the bin volume occupied by the returned goods in the return bin. .

If the re-screened warehouse material box is the fourth re-screened warehouse material box, calculate the fourth difference between the remaining loading volume of the material box returned to the warehouse material box and the sum of the total loaded volume in the fourth re-screened warehouse material box.

According to each first distance, the corresponding second distance and the corresponding third difference value or fourth difference value, the warehouse material box to be combined is determined from each re-screened warehouse material box.

In this embodiment, since the second re-screening warehouse bins and/or the fourth re-screening warehouse bins include multiple preliminary screening warehouse bins, it is possible to determine the distance between the multiple primary screening warehouse bins in the re-screening warehouse bins. The second distance further determines the overall efficiency of the robot when transporting the multiple preliminary screening warehouse boxes.

At this time, the warehouse bins to be combined are determined from the re-screened warehouse bins, which can be specifically as follows:

The selection score of each re-screened warehouse bin is determined according to a preset weighting strategy based on each first distance, the corresponding second distance and the corresponding third difference or fourth difference.

Multiple preliminary screening warehouse bins from the re-screened warehouse bins with the highest scores will be selected as warehouse bins to be combined.

At the same time, optionally, in this embodiment, after determining the warehouse bins to be combined in the warehouse, the selection score of the warehouse bins to be combined that matches the first box selection strategy and the selection score of the warehouse bins that match the second box selection strategy can be used The selection score of the warehouse material boxes to be combined determines the first box selection strategy or the second box selection strategy to be implemented.

Which box selection strategy has a higher selection score will be determined which box selection strategy will be implemented.

At this time, the control device can control the robot to transport the warehouse boxes to be combined that match the first box selection strategy or the second box selection strategy to be executed to the target workstation.

Optionally, in this embodiment, determining which selection score is higher, the first box selection strategy or the second box selection strategy, can be divided into four situations.

First, if there are multiple warehouse bins to be combined that match the first box selection strategy, and there are multiple warehouse bins to be combined that match the second box selection strategy, then it is determined that they match the first box selection strategy. The difference between the average selection score of , and the average selection score matching the second bin selection strategy.

If the difference is greater than zero, it is determined that the first box selection strategy needs to be implemented.

If the difference is equal to zero, it is determined that the first box selection strategy or the second box selection strategy needs to be implemented.

If the difference is less than zero, it is determined that the second box selection strategy needs to be implemented.

Second, if there are multiple warehouse bins to be combined that match the first box selection strategy, and there is one warehouse bin to be combined that matches the second box selection strategy, then it is determined that the second box selection needs to be executed. Strategy.

The third method is that if there is one warehouse material box to be combined that matches the first box selection strategy, and there is one warehouse material box to be combined that matches the second box selection strategy, then the selection that matches the first box selection strategy is determined. The difference between the score and the pick score that matches the second box pick strategy.

If the difference is greater than zero, it is determined that the first box selection strategy needs to be implemented.

If the difference is equal to zero, it is determined that the first box selection strategy or the second box selection strategy needs to be implemented.

If the difference is less than zero, it is determined that the second box selection strategy needs to be implemented.

The fourth method is that if there is one warehouse material box to be combined that matches the first box selection strategy, and there are multiple warehouse boxes to be combined that match the second box selection strategy, then it is determined that the first box selection needs to be executed. Strategy.

In this embodiment, the box selection strategy is divided into four situations according to actual application scenarios, so that a more appropriate option strategy can be determined in actual application and the overall efficiency of box closing can be improved.

Step S2045: Cancel this box closing process.

When no warehouse material box is found that meets the closing conditions, the box closing process can be directly canceled. At the same time, the robot is controlled to return the returned material box directly to the warehouse.

Step S205, control the robot to transport the warehouse materials boxes to be closed to the target workstation, so as to perform the closing process on the warehouse materials boxes to be closed and the return materials boxes according to the closing strategy of freeing at least one material box.

In this embodiment, the implementation of step 205 is similar to the implementation of step 104 in the previous embodiment of the present invention, and will not be described again here.

FIG. 5 is a schematic diagram of the specific box closing process of the material box closing control method provided by the third embodiment of the present disclosure. As shown in Figure 5, the box closing control method provided by this embodiment is based on the box closing control method provided by the previous embodiment of the present disclosure, and further refines the specific box closing process. The material box closing control method provided by this embodiment includes the following steps.

Step S301: Determine the type of warehouse material box to be combined. Among them, steps S302-S305 are different steps divided into different types according to the types of warehouse materials to be combined.

Step S302, if the warehouse material box to be combined is the first re-screened warehouse material box, the robot is controlled to transport the warehouse material box to be combined to the target workstation, so that the picking personnel will return the returned material box according to the closing strategy of freeing at least one material box. The goods loaded in the warehouse bins are consolidated into the warehouse bins to be consolidated.

Step S303, if the warehouse boxes to be closed are the second re-screened warehouse boxes, the robot is controlled to transport the warehouse boxes corresponding to multiple boxes to be closed to the target workstation, so that the picking personnel can close the boxes according to the empty at least one box. The strategy combines the goods loaded in the return bins into the warehouse bins to be consolidated in sequence.

Step S304, if the warehouse bins to be closed are the third re-screened warehouse bins, the robot is controlled to transport the warehouse bins to be closed to the target workstation, so that the picking personnel can clear the warehouse boxes to be closed according to the closing strategy of vacating at least one bin. The goods loaded in the warehouse bins are combined into the return warehouse bins.

Step S305, if the warehouse boxes to be closed are the fourth re-screened warehouse boxes, the robot is controlled to transport the warehouse boxes corresponding to multiple boxes to be closed to the target workstation, so that the picking personnel can close the boxes according to the empty at least one box. The strategy combines the goods loaded in the warehouse bins to be consolidated into the return warehouse bins.

In this embodiment, the closing methods corresponding to different re-screened warehouse bins are different. When closing the boxes, the pickers can combine the boxes according to the order in which the return boxes arrive, or they can ignore the arrival order and directly determine whether the goods category in the arriving warehouse boxes is the same or related to the goods category in the return boxes. , directly combine the boxes.

FIG. 6 is a scene diagram of the material box closing control method provided by the fourth embodiment of the present disclosure, and FIG. 7 is a scene diagram of the material box closing control method provided by the fifth embodiment of the present disclosure. As shown in Figures 6 and 7, the material box closing control method provided by this embodiment is based on the material box closing control method provided by the previous embodiment of the present disclosure, and has been modified to a certain extent on the warehousing system. Changes in form. The material box closing control method provided by this embodiment includes the following contents.

As shown in FIG. 6 , in this embodiment, the returned material boxes that need to be returned to the warehouse will be transported to the area near the picking personnel or the box closing equipment 7 through the conveyor line 8 . At this time, the method of obtaining the bin identification may be to obtain the bin identification of at least one return bin that needs to be returned to the warehouse on the conveyor line 8 .

Since the return bins are arranged in a certain order on the conveyor line 8, and if the return bins ranked first on the conveyor line 8 are not processed, subsequent congestion of the return bins will occur. Therefore, when closing boxes, it is necessary to consider the arrangement order of the return bins, so that the time when the warehouse bins to be combined arrive at the target workstation conforms to the arrangement order of the return bins. When the control device controls the robot, if the warehouse boxes to be closed are the second re-screened warehouse boxes or the fourth re-screened warehouse boxes, the control robot will transport the warehouse boxes corresponding to multiple boxes to be closed according to the preset transportation strategy. to the target workstation. Among them, the preset transportation strategy is to transport multiple warehouse bins corresponding to the bins to be combined in the order of the bin IDs of the return bins obtained on the conveyor line.

As shown in FIG. 7 , in this embodiment, a seeding wall 9 may be provided in the adjacent area of the target workstation, and the material can be temporarily stored back into the storage bin through the seeding wall 9 . At this time, the control device obtains the bin identification by receiving the bin identification of at least one return bin sent by the target workstation that needs to be returned to the warehouse. After the control device obtains the return bin identification, the return bin can be stored in the sowing wall 9, and the control device will receive the return bin storage information sent by the sowing wall. Among them, the storage information of the return material box is generated when the return material box is stored in the seeding wall.

After determining the warehouse bins to be consolidated, the control device will control the sowing wall to send out corresponding prompt information based on the storage information of the return bins to remind the pickers which return bin will be next to be consolidated, and on the sowing wall At any position, the prompt information can be emitted through electronic tag equipment lights, speakers, etc. When the warehouse bins to be consolidated arrive, the picking personnel can take out the matching return bins from the sowing wall 9 to complete the consolidation process. In this embodiment, by adding the seeding wall 9, the box closing does not need to be strictly performed in the order of obtaining the return box identification. Even if the order of box closing is disrupted, it will not affect the overall box closing efficiency and improve the box closing efficiency. error tolerance.

Figure 8 is a schematic structural diagram of a material box closing control device provided by the sixth embodiment of the present disclosure. As shown in Figure 8, in this embodiment, the material box closing control device 500 includes: The acquisition module 501 is used to obtain the bin identification of at least one return bin that needs to be returned to the warehouse.

The parameter determination module 502 is used to determine the return cargo category and return cargo loading parameters to be loaded into the return container according to the container identification. Return cargo loading parameters match the return cargo category.

The material box determination module 503 is used to determine the warehouse material boxes to be combined in the warehouse based on the type of goods returned to the warehouse and the loading parameters of the goods returned to the warehouse.

The control module 504 is used to control the robot to transport the warehouse boxes to be closed to the target workstation, so as to combine the warehouse boxes to be closed and the return boxes according to the closing strategy of freeing at least one box.

The material box closing control device provided in this embodiment can execute the technical solution of the method embodiment shown in Figure 2. Its implementation principles and technical effects are similar to those of the method embodiment shown in Figure 2, and will not be described again here.

At the same time, the material box closing control device provided by the present disclosure further refines the material box closing control device 500 based on the material box closing control device provided in the previous embodiment.

Optionally, in this embodiment, the bin determination module 503 is specifically used for: Select the first box selection strategy to be executed, which is to combine the return material boxes into the warehouse material boxes or the second box selection strategy to be combined from the warehouse material boxes to the return material boxes. The warehouse boxes to be combined in the warehouse are determined based on the selected first box selection strategy and the second box selection strategy, the return goods category and the return goods loading parameters.

Optionally, in this embodiment, the material box determination module 503 determines the boxes to be combined in the warehouse based on one of the selected first box selection strategy and the second box selection strategy, the type of goods returned to the warehouse, and the loading parameters of the goods returned to the warehouse. When using warehouse bins, they are specifically used for: Determine whether there is at least one preliminary screening warehouse bin that matches the category of the returned goods among the warehouse bins in the warehouse. If it is determined that there is at least one preliminary screening warehouse bin that matches the category of the returned goods, then the storage cargo loading parameters of at least one preliminary screening warehouse bin are obtained. Based on the selected first box selection strategy and the second box selection strategy, the return cargo loading parameters and the warehousing cargo loading parameters, it is determined whether there is at least one re-screened warehouse container that meets the combining conditions in the initial screening warehouse bins. . If it is determined that there is at least one re-screened warehouse material box that satisfies the box closing conditions, then the warehouse material box to be combined is determined based on the at least one re-screened warehouse material box.

Optionally, in this embodiment, the categories of returned goods are the same or related categories.

When the bin determination module 503 determines whether there is at least one preliminary screening warehouse bin that matches the category of returned goods in the warehouse bins, it is specifically used for: Determine whether there is at least one preliminary screening warehouse bin that is the same as or related to the category of returned goods in the warehouse bins in the warehouse. Optionally, in this embodiment, the categories of returned goods in the returned bins are multiple different categories.

When the bin determination module 503 determines whether there is at least one preliminary screening warehouse bin that matches the category of returned goods in the warehouse bins, it is specifically used for: Determine whether there is at least one initial screening warehouse bin in the warehouse bins in the warehouse, the category of stored goods being stored is consistent with the category of returned goods. Or determine whether there are multiple preliminary screening warehouse bins in the warehouse bins whose storage goods categories are consistent with at least one type of returned goods. The categories of warehouse goods stored in the multiple initially screened warehouse bins include all returned warehouses. Category of goods. Optionally, in this embodiment, the loading parameters of the returned goods include the volume of the bin occupied by the returned goods and the remaining loading volume of the bin after loading the returned goods. Warehousing cargo loading parameters include the volume of the bin occupied by the warehousing goods and the remaining loading volume of the bin after loading the warehousing goods.

The material box determination module 503 determines whether there are any boxes in the initial screening warehouse that meet the box closing conditions based on one of the selected first box selection strategy and the second box selection strategy, and based on the return cargo loading parameters and the warehousing cargo loading parameters. When at least one of the warehouse bins is re-screened, it is specifically used for: If the first box selection strategy is selected, it will be judged based on the volume of the box occupied by the returned goods and the remaining loading volume of the box after loading the warehousing goods, whether there is at least one initial screening warehouse box whose remaining loading volume is greater than or equal to The volume of the bin occupied by the returned goods. If so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions among the initially screened warehouse bins, and each initially screened warehouse bin whose remaining loading volume is greater than or equal to the bin volume occupied by the returned goods is regarded as the first Then screen the warehouse bins. or Based on the volume of the bin occupied by the returned goods and the remaining loading volume of the bin after loading the warehousing goods, it is judged whether there are multiple remaining loading volumes of the initially screened warehouse bins and the sum is greater than or equal to the volume of the bin occupied by the returned goods. If so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions in the initial screening warehouse bins, and the remaining loading volume sum is greater than or equal to the bin volume occupied by the returned goods. The number of preliminary screening warehouse bins is the first. Second, screen the warehouse bins.

Optionally, in this embodiment, the material box determination module 503 determines the initial screening warehouse based on one of the selected first box selection strategy and the second box selection strategy, and based on the return cargo loading parameters and the storage cargo loading parameters. When re-screening warehouse bins to see if there is at least one bin that meets the closing conditions, it is specifically used for: If the second box selection strategy is selected, it will be judged based on the remaining loading volume of the box after loading the returned goods and the box volume occupied by the warehouse goods to determine whether there is at least one initially selected warehouse box occupied by the storage goods. The bin volume is less than or equal to the remaining loading volume of the bin returned to the warehouse. If so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions among the initially screened warehouse bins, and the bin volume occupied by each warehoused goods is less than or equal to the initial screening of the remaining loading volume of the bins returned to the warehouse. The warehouse bins are the third re-screened bins. or, Determine whether there are multiple initially screened warehouse bins based on the remaining loading volume of the bins after loading the returned goods and the bin volume occupied by the warehouse goods. The total loaded volume of the bins in the initial screening warehouse and the remaining loading volume of the bins that are less than or equal to the returned bins are . If so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions among the initially screened warehouse bins, and there are multiple initially screened warehouse bins with a total loaded volume and a remaining loading volume that is less than or equal to the bins of the return bins. Screen the bin again for the fourth time. Optionally, in this embodiment, the re-screening warehouse bins include the first re-screening warehouse bin and/or the third re-screening warehouse bin.

When the bin determination module 503 determines the warehouse bins to be combined based on at least one re-screened warehouse bin, it is specifically used to: Obtain the first distance between multiple re-screened warehouse bins and the target workstation. For each rescreened warehouse bin and return bin, calculate the difference between the remaining loading volume of one bin and the bin volume occupied by the goods of the other bin. Determine the warehouse material box to be combined from each re-screened warehouse material box according to each first distance and the corresponding difference value. Optionally, in this embodiment, the re-screened warehouse bin is the first re-screened warehouse bin.

When the material box determination module 503 calculates the difference between the remaining loading volume of one type of material box and the volume of the material box occupied by the goods of another type of material box for each re-screened warehouse material box and the return material box, specifically Used for: For each first re-screened warehouse material box and return material box, calculate the first difference between the remaining loading volume of the first re-screening warehouse material box and the material box volume occupied by the returned goods in the return material box. Optionally, in this embodiment, the re-screened warehouse bin is the third re-screened warehouse bin.

When the material box determination module 503 calculates the difference between the remaining loading volume of one type of material box and the volume of the material box occupied by the goods of another type of material box for each re-screened warehouse material box and the return material box, specifically Used for: For each third re-screening warehouse bin and the return bin, calculate the second difference between the remaining loading volume of the return bin and the bin volume occupied by the storage goods in the third re-screening warehouse bin. value.

Optionally, in this embodiment, the bin determination module 503 is specifically used to determine the warehouse bins to be combined from the re-screened warehouse bins based on each first distance and the corresponding difference: The selection score of each re-screened warehouse bin is determined according to the preset determination strategy according to each first distance and the corresponding difference value. The warehouse bin with the highest score will be selected and then selected as the warehouse bin to be combined. Optionally, in this embodiment, the re-screening warehouse bins include a second re-screening warehouse bin and/or a fourth re-screening warehouse bin.

When the bin determination module 503 determines the warehouse bins to be combined based on at least one re-screened warehouse bin, it is specifically used to: Obtain the first distance between multiple re-screened warehouse bins and the target workstation. Obtain the second distance between multiple primary screening warehouse bins in the re-screened warehouse bins. If the re-screened warehouse bin is the second re-screened warehouse bin, calculate the third difference between the remaining loading volume of the second re-screened warehouse bin and the bin volume occupied by the returned goods in the return bin. . If the re-screened warehouse material box is the fourth re-screened warehouse material box, calculate the fourth difference between the remaining loading volume of the material box returned to the warehouse material box and the sum of the total loaded volume in the fourth re-screened warehouse material box. According to each first distance, the corresponding second distance and the corresponding third difference value or fourth difference value, the warehouse material box to be combined is determined from each re-screened warehouse material box.

Optionally, in this embodiment, the bin determination module 503 determines the bins to be combined from each re-screened warehouse bin according to each first distance, the corresponding second distance and the corresponding third difference or fourth difference. When using boxes of warehouse materials, it is specifically used for: The selection score of each re-screened warehouse bin is determined according to a preset weighting strategy based on each first distance, the corresponding second distance and the corresponding third difference or fourth difference. Multiple preliminary screening warehouse bins from the re-screened warehouse bins with the highest scores will be selected as warehouse bins to be combined.

Optionally, in this embodiment, the box closing control device 500 also includes: The execution module is used to determine the first box selection to be executed based on the selection score of the warehouse bins to be combined that matches the first box selection strategy and the selection score of the warehouse bins to be combined that matches the second box selection strategy. strategy or second box selection strategy.

Control module 504 is specifically used for: The robot is controlled to transport the warehouse material boxes to be combined that match the first box selection strategy or the second box selection strategy to be executed to the target workstation.

Optionally, in this embodiment, the execution module is specifically used for: If there are multiple warehouse bins to be combined that match the first box selection strategy, and there are multiple warehouse bins to be combined that match the second box selection strategy, then the average selection score that matches the first box selection strategy is determined. value and the average pick score matching the second bin selection strategy. If the difference is greater than zero, it is determined that the first box selection strategy needs to be implemented. If the difference is equal to zero, it is determined that the first box selection strategy or the second box selection strategy needs to be implemented. If the difference is less than zero, it is determined that the second box selection strategy needs to be implemented. If there are multiple warehouse boxes to be combined that match the first box selection strategy, and there is one warehouse box that needs to be combined that matches the second box selection strategy, it is determined that the second box selection strategy needs to be executed.

Optionally, in this embodiment, the execution module is specifically used for: If there is one warehouse material box to be combined that matches the first box selection strategy, and one warehouse material box to be combined that matches the second box selection strategy, then determine the selection score that matches the first box selection strategy and the selection score that matches the second box selection strategy. The difference between the selection scores of the two-box strategy match. If the difference is greater than zero, it is determined that the first box selection strategy needs to be implemented. If the difference is equal to zero, it is determined that the first box selection strategy or the second box selection strategy needs to be implemented. If the difference is less than zero, it is determined that the second box selection strategy needs to be implemented. If there is one warehouse box to be combined that matches the first box selection strategy, and there are multiple warehouse boxes to be combined that match the second box selection strategy, it is determined that the first box selection strategy needs to be executed.

Optionally, in this embodiment, the control module 504 is specifically used for: If the warehouse material boxes to be combined are the first re-screened warehouse materials, the robot is controlled to transport the warehouse materials to be combined to the target workstation, so that the picking personnel can return the warehouse materials according to the closing strategy of freeing at least one material box. The goods loaded in the warehouse are consolidated into warehouse bins to be consolidated. If the warehouse material boxes to be combined are the second re-screened warehouse materials, the robot is controlled to transport the warehouse materials corresponding to multiple boxes to be combined to the target workstation, so that the pickers can return the returned boxes according to the closing strategy of freeing at least one material box. The goods loaded in the warehouse bins are sequentially consolidated into the warehouse bins to be consolidated.

Optionally, in this embodiment, the control module 504 is specifically used for: If the warehouse boxes to be combined are the third re-screened warehouse boxes, the robot is controlled to transport the warehouse boxes to be combined to the target workstation, so that the picking personnel can clear the warehouse to be combined according to the closing strategy of vacating at least one box. The goods loaded in the bins are combined into the return bin. If the warehouse material box to be combined is the fourth re-screened warehouse material box, the robot is controlled to transport the warehouse material boxes corresponding to multiple boxes to be combined to the target workstation, so that the picker can empty each box according to the closing strategy of at least one material box. The goods loaded in the warehouse bins to be consolidated are consolidated and put into the return bins.

Optionally, in this embodiment, the acquisition module 501 is used for: Obtain the bin ID of at least one return bin that needs to be returned to the warehouse on the conveyor line.

Control module 504 is specifically used for: If the warehouse bins to be closed are the second re-screened warehouse bins or the fourth re-screened warehouse bins, the control robot transports the corresponding multiple warehouse bins to be closed to the target workstation according to the preset transportation strategy. The default transportation strategy is to transport multiple warehouse bins corresponding to the boxes to be combined in the order of the bin IDs of the return bins obtained on the conveyor line. Optionally, in this embodiment, a seeding wall is provided in an area adjacent to the target workstation.

Obtaining module 501 is specifically used for: Receive the bin ID of at least one return bin sent by the target workstation that needs to be returned to the warehouse.

Get module 501 also used for: Receive the storage information of the return material box sent by the seeding wall. The return material box storage information is generated when the return material box is stored in the seeding wall.

Control module 504 is also used for: The sowing wall is controlled to issue corresponding prompt information based on the information stored in the return material box.

The material box closing control device provided in this embodiment can execute the technical solution of the method embodiment shown in Figures 2 to 7. Its implementation principles and technical effects are similar to those of the method embodiment shown in Figures 2 to 7, and will not be discussed here. Let’s go over them one by one.

According to embodiments of the present disclosure, the present disclosure also provides a control device, a warehousing system, a computer-readable storage medium and a computer program product.

As shown in Figure 9, Figure 9 is a schematic structural diagram of a control device provided by a seventh embodiment of the present disclosure. The control device is intended for various forms of digital computers, such as laptops, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The components shown herein, their connections and relationships, and their functions are examples only and are not intended to limit implementations of the disclosure described and/or claimed herein.

As shown in Figure 9, the control device includes: a processor 601 and a memory 602. The various components are connected to each other using different busbars and can be mounted on a common motherboard or otherwise mounted as desired. The processor can process instructions executed within the control device. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of presentation, the busbars in the drawings of this disclosure are not limited to only one busbar or one type of busbar.

The memory 602 is the non-transitory computer-readable storage medium provided by the present disclosure. The memory stores instructions that can be executed by at least one processor, so that at least one processor executes the container closing control method provided by the present disclosure. The non-transitory computer-readable storage medium of the present disclosure stores computer instructions, and the computer instructions are used to cause the computer to execute the box closing control method provided by the disclosure.

As a non-transitory computer-readable storage medium, the memory 602 can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as the programs corresponding to the box closing control method in the embodiment of the present disclosure. Instructions/modules (for example, the acquisition module 501, the parameter determination module 502, the bin determination module 503 and the control module 504 shown in Figure 8). The processor 601 executes various functional applications and data processing of the server by running non-transitory software programs, instructions and modules stored in the memory 602, that is, realizing the box closing control method in the above method embodiment.

This embodiment also provides a warehousing system, including the above control device, the workstations in Embodiments 1 to 6, and a robot.

The workstation is used to send target order sorting information to the control device according to the sorting completion instructions when receiving the sorting completion instructions input by the picking personnel.

The robot is used to perform corresponding operations under the control of the control device.

At the same time, this embodiment also provides a computer product. When the instructions in the computer product are executed by the processor of the control device, the control device can execute the box closing control method of the above-mentioned Embodiments 1 to 5.

Other implementations of the disclosed embodiments will be readily apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the embodiments of the disclosure that follow the general principles of the embodiments of the disclosure and include those in the technical field not disclosed by the embodiments of the disclosure. Common knowledge or common technical means. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosed embodiments being indicated by the patent claims.

It is to be understood that the disclosed embodiments are not limited to the precise structures described above and illustrated in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the disclosed embodiments is limited only by the appended claims.

1:Control equipment 2: Warehouse 3: Workstation 4: Return to warehouse material box 5: Warehouse material box 6:Robot 7: Picking personnel/consolidation equipment 8:Conveyor line 9: Seeding wall 500: Box closing control device 501: Get the module 502: Parameter determination module 503: Bin determination module 504:Control module 601: Processor 602:Memory S101~S104: Steps S201~S205: steps S2041~S2045: steps S301~S305: steps

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. Figure 1 is a scene diagram that can implement the box closing control method according to the embodiment of the present disclosure; Figure 2 is a schematic flow chart of a box closing control method provided by the first embodiment of the present disclosure; Figure 3 is a schematic flowchart of a box closing control method provided by the second embodiment of the present disclosure; Figure 4 is a schematic flowchart of step 204 of the box closing control method provided by the second embodiment of the present disclosure; Figure 5 is a schematic diagram of the specific box closing process of the material box closing control method provided by the third embodiment of the present disclosure; Figure 6 is a scene diagram of a box closing control method provided by the fourth embodiment of the present disclosure; Figure 7 is a scene diagram of the box closing control method provided by the fifth embodiment of the present disclosure; Figure 8 is a schematic structural diagram of a box closing control device provided by the sixth embodiment of the present disclosure; Figure 9 is a schematic structural diagram of a control device provided by the seventh embodiment of the present disclosure.

Specific embodiments of the present disclosure have been shown through the above-mentioned drawings and will be described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the present disclosure to those skilled in the art with reference to the specific embodiments.

S101~S104: Steps

Claims (25)

A method for controlling material box closing, characterized in that the method includes: Obtain the bin ID of at least one return bin that needs to be returned to the warehouse; The return cargo category and the return cargo loading parameters loaded in the return cargo container are determined according to the container identification; the return cargo loading parameters match the return cargo category; Determine the warehouse bins to be combined in the warehouse based on the return cargo category and the return cargo loading parameters; The robot is controlled to transport the warehouse material boxes to be closed to the target workstation, so as to perform the closing process on the warehouse material boxes to be closed and the return material boxes according to the closing strategy of freeing at least one material box. The method according to claim 1, characterized in that determining the warehouse bins to be combined in the warehouse based on the return cargo category and the return cargo loading parameters includes: Select the first box selection strategy to be executed, which is to combine the return material boxes into the warehouse material boxes or the second box selection strategy to be combined from the warehouse material boxes to the return material boxes; The warehouse material boxes to be combined in the warehouse are determined according to the selected one of the first box selection strategy and the second box selection strategy, the return goods category and the return goods loading parameters. The method according to claim 2, characterized in that the warehouse is determined based on one of the selected first box selection strategy and the second box selection strategy, the return goods category and the return goods loading parameters. Warehouse boxes waiting to be combined include: Determine whether there is at least one preliminary screening warehouse bin that matches the category of the returned goods among the warehouse bins in the warehouse; If it is determined that there is at least one preliminary screening warehouse bin that matches the return cargo category, then obtain the storage cargo loading parameters of at least one preliminary screening warehouse bin; Based on the selected one of the first box selection strategy and the second box selection strategy, the return cargo loading parameters and the storage cargo loading parameters, it is determined whether there is at least one re-container that satisfies the closing conditions in the initial screening warehouse bins. Screening warehouse bins; If it is determined that there is at least one re-screened warehouse material box that satisfies the box closing conditions, then the warehouse material box to be combined is determined based on the at least one re-screened warehouse material box. The method according to claim 3, characterized in that the categories of goods returned to the warehouse are the same or related categories; Determining whether there is at least one preliminary screening warehouse bin that matches the category of the returned goods in the warehouse bins includes: It is determined whether there is at least one preliminary screening warehouse bin that is the same as or related to the category of the returned goods among the warehouse bins in the warehouse. The method as described in claim 3, characterized in that the categories of returned goods in the returned materials box are multiple different categories; Determining whether there is at least one preliminary screening warehouse bin that matches the category of the returned goods in the warehouse bins includes: Determine whether there is at least one preliminary screening warehouse bin in the warehouse bins in the warehouse whose category of stored goods is consistent with the category of returned goods; Or determine whether there are multiple preliminary screening warehouse bins in the warehouse bins whose storage goods categories are consistent with at least one type of returned goods. The categories of warehouse goods stored in the multiple initially screened warehouse bins include all returned warehouses. Category of goods. The method according to claim 3, wherein the loading parameters of the returned goods include the volume of the bin occupied by the returned goods and the remaining loading volume of the bin after loading the returned goods; the loading parameters of the warehousing goods include The volume of the bin occupied by the storage goods and the remaining loading volume of the bin after loading the storage goods; According to one of the selected first box selection strategy and the second box selection strategy, and based on the return cargo loading parameters and the storage cargo loading parameters, it is determined whether there are any boxes in the initial screening warehouse that meet the closing conditions. At least one rescreened warehouse bin, including: If the first box selection strategy is selected, it will be determined based on the volume of the box occupied by the returned goods and the remaining loading volume of the box after loading the storage goods to determine whether there is remaining loading of at least one initially screened warehouse box. The volume is greater than or equal to the volume of the bin occupied by the returned goods; If so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions among the initially screened warehouse bins, and each initially screened warehouse bin whose remaining loading volume is greater than or equal to the bin volume occupied by the returned goods is regarded as the first Then screen the warehouse bins; or Based on the volume of the bin occupied by the returned goods and the remaining loading volume of the bin after loading the warehousing goods, it is determined whether there are multiple remaining loading volumes of the initially screened warehouse bins and the sum is greater than or equal to the material occupied by the returned goods. box volume; If so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions in the initial screening warehouse bins, and the remaining loading volume sum is greater than or equal to the bin volume occupied by the returned goods. The number of preliminary screening warehouse bins is the first. Second, screen the warehouse bins. The method of claim 6, wherein the judgment is based on one of the selected first box selection strategy and the second box selection strategy, the return cargo loading parameters and the warehousing cargo loading parameters. Check whether there is at least one re-screened warehouse bin that meets the closing conditions among the initial screening warehouse bins, including: If the second box selection strategy is selected, it is determined based on the remaining loading volume of the box after loading the goods back into the warehouse and the box volume occupied by the storage goods to determine whether there is at least one initially screened warehouse box for storage goods. The occupied bin volume is less than or equal to the remaining loading volume of the bin returned to the warehouse; If so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions among the initially screened warehouse bins, and the bin volume occupied by each warehoused goods is less than or equal to the initial screening of the remaining loading volume of the bins returned to the warehouse. The warehouse bins are the third re-screened bins; or, Based on the remaining loading volume of the bin after loading the returned goods and the bin volume occupied by the storage goods, it is determined whether there are multiple initially screened warehouse bins whose total loaded volume is less than or equal to the returned bin. The remaining loading volume of the box; If so, it is determined that there is at least one re-screened warehouse bin that satisfies the closing conditions among the initially screened warehouse bins, and there are multiple initially screened warehouse bins with a total loaded volume and a remaining loading volume that is less than or equal to the bins of the return bins. Screen the bin again for the fourth time. The method according to claim 7, wherein the re-screening warehouse bins include a first re-screening warehouse bin and/or a third re-screening warehouse bin; Determining the warehouse bins to be combined based on at least one re-screened warehouse bin includes: Obtain the first distance between multiple re-screened warehouse bins and the target workstation; For each re-screened warehouse bin and return bin, calculate the difference between the remaining loading volume of one type of bin and the bin volume occupied by the goods of another type of bin; The warehouse bins to be combined are determined from the re-screened warehouse bins based on each of the first distances and the corresponding difference values. The method according to claim 8, characterized in that the re-screened warehouse material box is the first re-screened warehouse material box; The calculation of the difference between the remaining loading volume of one type of material box and the volume of the material box occupied by the goods of another type of material box for each re-screened warehouse material box and return material box includes: For each first re-screened warehouse material box and return material box, calculate the first difference between the remaining loading volume of the first re-screening warehouse material box and the material box volume occupied by the returned goods in the return material box. The method according to claim 9, characterized in that the re-screened warehouse bin is a third re-screened warehouse bin; The calculation of the difference between the remaining loading volume of one type of material box and the volume of the material box occupied by the goods of another type of material box for each re-screened warehouse material box and return material box includes: For each third re-screening warehouse bin and the return bin, calculate the second difference between the remaining loading volume of the return bin and the bin volume occupied by the storage goods in the third re-screening warehouse bin. value. The method according to claim 10, characterized in that determining the warehouse bins to be combined from each re-screened warehouse bin according to each of the first distances and the corresponding difference values includes: Determine the selection score of each re-screened warehouse bin according to the preset determination strategy according to each first distance and the corresponding difference; The warehouse bin with the highest score will be selected and then selected as the warehouse bin to be combined. The method according to claim 7, wherein the re-screening warehouse bins include a second re-screening warehouse bin and/or a fourth re-screening warehouse bin; Determining the warehouse bins to be combined based on at least one re-screened warehouse bin includes: Obtain the first distance between multiple re-screened warehouse bins and the target workstation; Obtain the second distance between multiple initially screened warehouse bins in the re-screened warehouse bins; If the re-screened warehouse bin is the second re-screened warehouse bin, calculate the third difference between the remaining loading volume of the second re-screened warehouse bin and the bin volume occupied by the returned goods in the return bin. ; If the re-screened warehouse material box is the fourth re-screened warehouse material box, calculate the fourth difference between the remaining loading volume of the material box returned to the warehouse material box and the sum of the total loaded volume in the fourth re-screened warehouse material box; According to each of the first distances, the corresponding second distances and the corresponding third difference or fourth difference, the warehouse bins to be combined are determined from each re-screened warehouse bin. The method of claim 12, characterized in that, based on each of the first distances, the corresponding second distances and the corresponding third difference or fourth difference, the determination is made from each re-screening warehouse bin. Warehouse boxes to be packed include: Determine the selection score of each re-screened warehouse bin according to the preset weighting strategy based on each of the first distance, the corresponding second distance and the corresponding third difference or fourth difference; Multiple preliminary screening warehouse bins from the re-screened warehouse bins with the highest scores will be selected as warehouse bins to be combined. The method according to claim 11 or 13, characterized in that the method is based on one of the selected first box selection strategy and the second box selection strategy, the return goods category and the return goods loading parameters. After determining the warehouse boxes to be combined in the warehouse, it also includes: The first box selection strategy or the second box selection to be executed is determined based on the selection score of the warehouse bins to be combined that matches the first box selection strategy and the selection score of the warehouse bins to be combined that matches the second box selection strategy. Strategy; The control robot transports the warehouse boxes to be closed to the target workstation, including: The robot is controlled to transport the warehouse material boxes to be combined that match the first box selection strategy or the second box selection strategy to be executed to the target workstation. The method of claim 14, characterized in that the selection score of the warehouse bins to be combined that matches the first box selection strategy and the selection of the warehouse bins to be combined that match the second box selection strategy are The score determines the first box selection strategy or the second box selection strategy to be implemented, including: If there are multiple warehouse bins to be combined that match the first box selection strategy, and there are multiple warehouse bins to be combined that match the second box selection strategy, then the average selection score that matches the first box selection strategy is determined. The difference between the value and the average selection score matching the second bin selection strategy; If the difference is greater than zero, it is determined that the first box selection strategy needs to be implemented; If the difference is equal to zero, it is determined that the first box selection strategy or the second box selection strategy needs to be implemented; If the difference is less than zero, it is determined that the second box selection strategy needs to be implemented; If there are multiple warehouse boxes to be combined that match the first box selection strategy, and there is one warehouse box that needs to be combined that matches the second box selection strategy, it is determined that the second box selection strategy needs to be executed. The method according to claim 15, characterized in that the selection scores of warehouse bins to be combined that match the first box selection strategy and the selection of warehouse bins to be combined that match the second box selection strategy are The score determines the first box selection strategy or the second box selection strategy to be implemented, including: If there is one warehouse material box to be combined that matches the first box selection strategy, and one warehouse material box to be combined that matches the second box selection strategy, then determine the selection score that matches the first box selection strategy and the selection score that matches the second box selection strategy. The difference between the selection scores of the two-box strategy matching; If the difference is greater than zero, it is determined that the first box selection strategy needs to be implemented; If the difference is equal to zero, it is determined that the first box selection strategy or the second box selection strategy needs to be implemented; If the difference is less than zero, it is determined that the second box selection strategy needs to be implemented; If there is one warehouse box to be combined that matches the first box selection strategy, and there are multiple warehouse boxes to be combined that match the second box selection strategy, it is determined that the first box selection strategy needs to be executed. The method according to claim 7, characterized in that the control robot transports the warehouse material boxes to be closed to the target workstation, so as to follow the closing strategy of vacating at least one material box and the warehouse materials boxes to be combined. Return the materials to the warehouse for consolidation, including: If the warehouse bins to be closed are the first re-screened warehouse bins, the robot is controlled to transport the warehouse bins to be closed to the target workstation, so that the pickers will return them to the warehouse according to the closing strategy of vacating at least one bin. The goods loaded in the bins are consolidated into warehouse bins to be consolidated; If the warehouse boxes to be closed are the second re-screened warehouse boxes, the robot is controlled to transport the warehouse boxes corresponding to multiple boxes to be closed to the target workstation, so that the pickers follow the closing strategy of freeing at least one box. Consolidate the goods loaded in the return bins sequentially into the warehouse bins to be consolidated. The method according to claim 17, characterized in that the control robot transports the warehouse material boxes to be closed to the target workstation, so as to follow the closing strategy of vacating at least one material box and the warehouse material boxes to be closed. Return the materials to the warehouse for consolidation, including: If the warehouse bins to be closed are the third re-screened warehouse bins, the robot is controlled to transport the warehouse bins to be closed to the target workstation, so that the pickers can clear the boxes to be closed according to the closing strategy of vacating at least one box. The goods loaded in the warehouse bins are combined into the return warehouse bins; If the warehouse boxes to be closed are the fourth re-screened warehouse boxes, the robot is controlled to transport the warehouse boxes corresponding to multiple boxes to be closed to the target workstation, so that the picking personnel follow the closing strategy of freeing at least one box. Consolidate the goods loaded in the warehouse bins to be consolidated into the return bins. The method according to claim 7, characterized in that obtaining the bin identification of at least one return bin that needs to be returned to the warehouse includes: Obtain the bin identification of at least one return bin that needs to be returned to the warehouse on the conveyor line; The control robot transports the warehouse boxes to be closed to the target workstation, including: If the warehouse bins to be closed are the second re-screened warehouse bins or the fourth re-screened warehouse bins, the control robot transports the corresponding multiple warehouse bins to be closed to the target workstation according to the preset transportation strategy; The default transportation strategy is to transport multiple warehouse bins corresponding to the boxes to be combined in the order of the bin IDs of the return bins obtained on the conveyor line. The method according to any one of claims 1 to 13, characterized in that a seeding wall is provided in the adjacent area of the target workstation; The method of obtaining the bin identification of at least one return bin that needs to be returned to the warehouse includes: Receive the bin identification of at least one return bin sent by the target workstation that needs to be returned to the warehouse; After receiving the bin identification of at least one return bin that needs to be returned to the warehouse sent by the target workstation, it also includes: Receive the storage information of the return material box sent by the sowing wall; the storage information of the return material box is generated when the return material box is stored in the sowing wall; Before the control robot transports the warehouse boxes to be closed to the target workstation, it also includes: The seeding wall is controlled to send corresponding prompt information according to the storage information of the return material box. A material box closing control device, which is characterized in that it includes: The acquisition module is used to obtain the bin identification of at least one return bin that needs to be returned to the warehouse; A parameter determination module, configured to determine the return cargo category and return cargo loading parameters loaded into the return cargo container based on the container identification; the return cargo loading parameters match the return cargo category; The container determination module is used to determine the warehouse containers to be combined in the warehouse according to the category of the returned goods and the loading parameters of the returned goods; The control module is used to control the robot to transport the warehouse material boxes to be closed to the target workstation, so as to combine the warehouse materials boxes to be closed and the return materials boxes according to the closing strategy of leaving at least one material box empty. A control device, characterized by including: a memory and a processor; Memory; a memory used to store instructions executable by the processor; Wherein, the processor is configured to execute the box closing control method described in any one of claims 1 to 20 by the processor. A warehousing system, characterized by comprising: the control device, workstation and robot described in claim 22; The workstation and the robot are used to perform corresponding operations under the control of a control device. A computer-readable storage medium, characterized in that computer-executable instructions are stored in the computer-readable storage medium, and when executed by a processor, the computer-executable instructions are used to implement the method described in any one of claims 1 to 20. Box closing control method. A computer program product, including a computer program, characterized in that when the computer program is executed by a processor, the material box closing control method described in any one of claims 1 to 20 is implemented.

Images