WO2019100644A1 - 货物分拣方法、服务器和系统 - Google Patents

货物分拣方法、服务器和系统 Download PDF

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Publication number
WO2019100644A1
WO2019100644A1 PCT/CN2018/082974 CN2018082974W WO2019100644A1 WO 2019100644 A1 WO2019100644 A1 WO 2019100644A1 CN 2018082974 W CN2018082974 W CN 2018082974W WO 2019100644 A1 WO2019100644 A1 WO 2019100644A1
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WO
WIPO (PCT)
Prior art keywords
shelf
order
goods
location
picking
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PCT/CN2018/082974
Other languages
English (en)
French (fr)
Inventor
张淑敏
Original Assignee
北京京东尚科信息技术有限公司
北京京东世纪贸易有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 北京京东尚科信息技术有限公司, 北京京东世纪贸易有限公司 filed Critical 北京京东尚科信息技术有限公司
Priority to US16/767,052 priority Critical patent/US11597600B2/en
Publication of WO2019100644A1 publication Critical patent/WO2019100644A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50391—Robot

Definitions

  • the present disclosure relates to the field of intelligent warehousing technology, and in particular to a cargo sorting method, server and system.
  • the orders can be distributed to a certain amount for unified processing, the order processing has a certain delay, the picking efficiency is reduced, and the manual operation is affected by the degree of fatigue, which is prone to errors, and the review process Further wasted manpower and reduced efficiency.
  • One purpose of the present disclosure is to improve the efficiency and accuracy of order sorting.
  • a cargo sorting method including: assigning an order picking position to an order to be dispensed according to goods required for an order; distance according to an alternative shelf-to-order picking position and on a shelf For cargo information, select the shelf containing the goods required for the order to be ordered; drive the selected shelf to the order picking location for picking.
  • assigning an order picking location for the order to be dispensed includes: determining the goods required for the order to be dispensed; and assigning the order picking position to the order to be matched according to the coincidence degree of the goods required for the order.
  • assigning an order picking position to the order to be dispensed according to the coincidence degree of the goods required by the order includes: assigning the order picking position according to at least one of the following conditions: an order to be sorted with the sorting degree of the goods being higher than a predetermined threshold Assigned to the order picking position belonging to the same workstation, where one station includes multiple order picking positions; according to the order to be stocked, the order of the goods in the existing orders of the workstation is from the highest order to the order of the goods in the order. The order is assigned to the order picking location.
  • selecting a shelf carrying the goods required to conform to the order to be dispensed comprises: obtaining a set of shelf combinations required to complete the order to be dispensed based on the goods carried on the alternate shelf; obtaining each shelf combination The total length of the path of each shelf to the order picking location; the shelf combination with the smallest total length of the trail is selected from the set of shelf combinations as the order to be ordered.
  • selecting a shelf carrying the goods required to conform to the order to be included includes: the number of various items required for a single workstation, the inventory of corresponding goods on the shelf, the distance from the shelf to the workstation, or the target goods in the shelf At least two of the locations determine the handling cost of the alternative shelf, wherein one workstation includes multiple order picking locations, the handling cost is positively correlated with the quantity of various goods required for a single workstation, and the inventory of corresponding goods on the shelf Negative correlation, positive correlation with the distance from the shelf to the workstation; choose the shelf with low cost of handling to distribute the various orders in the workstation.
  • the alternate shelf includes one or more of a shelf that resides in the order picking location for picking the goods, a shelf that returns to the predetermined location from the order picking location, or a shelf that resides at the predetermined location.
  • the driving the shelf to the order picking position comprises: when the selected shelf is not carried by the rack handling trolley: selecting the rack handling trolley according to the distance between the idle rack handling trolley and the selected shelf; planning the arrival of the pallet handling trolley The route of the shelf and the route carrying the selected shelf to the order picking location; driving the rack handling trolley to the location of the selected shelf and carrying the selected shelf to the order picking location.
  • driving the shelf to the order picking location further includes: in the case that the selected shelf is carried by the rack handling trolley: planning a route from the current location to the order picking location for the rack handling trolley carrying the selected shelf; driving the trolley according to the slave The route whose current position reaches the order picking location arrives at the order picking location.
  • the method for sorting goods further includes: when the selected shelf reaches the order picking position, displaying the goods required for the order corresponding to the order picking position uploaded by the shelf, so as to perform the picking by manual or machine picking.
  • the order picking position can be allocated according to the goods required in the order, and then the rack picking order can be selected according to the position of the goods on the shelf and the position of the rack, so that the order picking method for driving the rack to the order picking position is realized.
  • the order picking method for driving the rack to the order picking position is realized.
  • a cargo sorting server comprising: a picking bit allocation unit configured to allocate an order picking position for an order to be dispensed according to goods required for an order; a shelf selection unit configured For selecting a shelf containing the goods required for the order to be dispensed based on the distance from the alternate shelf-to-order picking location and the cargo information on the shelf; the shelf drive unit is configured to drive the selected shelf to the order picking location so that Carry out the sorting of goods.
  • the picking bit allocation unit is configured to: determine the goods required for the order to be dispensed; assign an order picking position to the order to be dispensed according to the degree of coincidence of the goods required for the order.
  • assigning an order picking position to the order to be dispensed according to the coincidence degree of the goods required by the order includes: assigning the order picking position according to at least one of the following conditions: an order to be sorted with the sorting degree of the goods being higher than a predetermined threshold Assigned to the order picking position belonging to the same workstation, where one station includes multiple order picking positions; according to the order to be stocked, the order of the goods in the existing orders of the workstation is from the highest order to the order of the goods in the order. The order is assigned to the order picking location.
  • the shelf selection unit is configured to: determine an alternative according to at least two of a quantity of various goods required for a single workstation, an inventory of corresponding goods on the shelf, a distance from the shelf to the workstation, or a location of the target cargo in the shelf.
  • the handling cost of the shelf wherein a workstation includes multiple order picking locations, the handling cost is positively related to the quantity of various goods required for a single workstation, negatively related to the inventory of the corresponding goods on the shelf, and the distance from the shelf to the workstation Positive correlation; choose the shelf with low cost of handling to distribute the various orders in the workstation.
  • the shelf driving unit is configured to: when the selected shelf is not carried by the shelf handling trolley: select the shelf handling trolley according to the distance between the idle shelf handling trolley and the selected shelf; plan for the shelf handling trolley to arrive at the selected The route of the shelf and the route carrying the selected shelf to the order picking location; driving the shelf handling trolley to the location of the selected shelf and carrying the selected shelf to the order picking location.
  • the shelf drive unit is configured to: when the shelf is carried by the shelf handling trolley: plan the route from the current location to the order picking location for the shelf handling trolley carrying the selected shelf; drive the trolley to arrive at the order from the current location The route of the picking location arrives at the order picking location.
  • the cargo sorting server further comprises: a display pushing unit configured to: when the selected shelf reaches the order picking position, push the order of the order picking position uploaded to the display device of the shelf or the order picking position Goods to be sorted by manual or machine picking based on the displayed push information.
  • a display pushing unit configured to: when the selected shelf reaches the order picking position, push the order of the order picking position uploaded to the display device of the shelf or the order picking position Goods to be sorted by manual or machine picking based on the displayed push information.
  • a cargo sorting server comprising: a memory; and a processor coupled to the memory, the processor configured to execute any one of the above mentioned based on an instruction stored in the memory Cargo sorting method.
  • Such a cargo sorting server can sort the order according to the goods required in the order, and then select the rack to pick the order picking position according to the position of the goods and the shelves on the shelf for the goods picking, thereby realizing the order picking method of driving the rack to the order picking position. Improve the efficiency and accuracy of order picking.
  • a computer readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement any of the cargo sorting methods mentioned above.
  • Such a computer readable storage medium can select a location according to the required goods in the order by executing an instruction thereon, and then select a shelf to arrive at the order picking position according to the position of the goods and the shelf on the shelf for the goods to be sorted, thereby driving the shelf to
  • the order picking method at the order picking location improves the efficiency and accuracy of order picking.
  • a cargo sorting system comprising: any of the cargo sorting servers mentioned above; and, a shelf configured to carry cargo and at the cargo sorting server Drive down to each order picking location for sorting of goods.
  • the cargo sorting system further comprises: a rack handling trolley configured to carry the shelf motion driven by the cargo sorting server.
  • the cargo sorting system further comprises: a display device located at the shelf or order picking position, configured to display, after the shelf arrives at the order picking position, the content corresponding to the order picking position uploaded by the shelf according to the content pushed by the cargo sorting server.
  • the goods sorting system can select the position according to the goods required in the order, and then select the shelf to pick the order picking position according to the position of the goods and the shelves on the shelf, so as to realize the order picking method of driving the rack to the order picking position, Improve the efficiency and accuracy of order picking.
  • FIG. 1 is a flow chart of some embodiments of a cargo sorting method of the present disclosure.
  • FIG. 2 is a flow diagram of some embodiments of selecting an order picking location for an order in the cargo sorting method of the present disclosure.
  • FIG. 3 is a flow chart of some embodiments of selecting a shelf in the cargo sorting method of the present disclosure.
  • FIG. 4 is a flow chart of some embodiments of carrying out a stowage cart drive in the cargo sorting method of the present disclosure.
  • Figure 5 is a flow chart of still another embodiment of the cargo sorting method of the present disclosure.
  • FIG. 6 is a schematic diagram of some embodiments of a cargo sorting server of the present disclosure.
  • Figure 7 is a schematic illustration of further embodiments of the cargo sorting server of the present disclosure.
  • Figure 8 is a schematic illustration of still further embodiments of the cargo sorting server of the present disclosure.
  • FIG. 9 is a schematic illustration of some embodiments of the cargo sorting system of the present disclosure.
  • FIG. 1 A flow chart of some embodiments of the cargo sorting method of the present disclosure is shown in FIG.
  • an order picking location is assigned to the order to be dispensed based on the goods required for the order.
  • a suitable order picking location may be assigned based on the type of goods in the order, such as if the order is mostly apparel items, the order is assigned to an order picking location in the apparel order set; in some embodiments, Orders requiring similar goods or orders with higher coincidence can be assigned to the same workstation according to the goods required for the multiple orders to be placed, wherein one workstation includes multiple order picking positions.
  • step 102 based on the distance from the alternate shelf to order picking location and the cargo information on the shelf, the shelf containing the goods required to match the order is selected.
  • the set of shelf combinations required to complete the order may be obtained based on the goods on the alternate shelf upload, and then the total length of the path of each shelf arrival order picking location in each shelf combination is calculated, from the set of shelf combinations The combination of the shelves in which the total length of the path is selected is the order distribution, thereby reducing the path cost of the shelf movement.
  • step 103 the drive rack is driven to the order picking location for picking of the goods.
  • the shelf may have a mobile device or may be carried by the shelf handling cart.
  • the order picking position can be allocated according to the goods required in the order, and then the rack picking order can be selected according to the position of the goods on the shelf and the position of the rack, so that the order picking method for driving the rack to the order picking position is realized.
  • the order picking method for driving the rack to the order picking position is realized.
  • the order priority can be obtained, and orders containing special aging and inter-regional production orders are preferentially formed to meet the timeliness of the order and improve the user experience.
  • FIG. 1 A flow chart of some embodiments of the order picking location for an order in the cargo sorting method of the present disclosure is shown in FIG.
  • step 201 the goods required for the order to be dispensed are determined.
  • an order picking location is assigned to the order to be dispensed based on the degree of coincidence of the goods required for the order.
  • the degree of coincidence of order A with respect to order B the number of SKUs in the SKU list of order B's SKU list/order A's SKU list in order S's SKU (Stock Keeping Unit) list.
  • multiple orders of unallocated order picking positions can be compared, and orders with high sorting of goods types are preferentially assigned to order picking positions belonging to the same workstation, thereby facilitating scheduling of the same shelf for multiple orders, reducing The scheduling of the shelves improves the efficiency of order distribution.
  • the order for which the order picking location is not assigned can be compared with the order that is being dispensed by each workstation, and the order picking location in the workstation with the high coincidence of the goods in the existing order of the workstation is preferentially assigned to the order, thereby It is convenient to drive the shelves that are being ordered for the order to allocate new orders and improve the efficiency of the distribution.
  • the order being sorted is compared, and the order picking position in the workstation with the high coincidence of the goods in the existing order of the workstation is preferentially assigned to the order, so that it is convenient to drive the same shelf for multiple orders, and it is also convenient to drive.
  • the shelves in the distribution of the order are allotted for new orders, further improving the efficiency of the distribution.
  • the order picking position can be assigned to the order based on the degree of coincidence between the orders, so that the orders with high coincidence are picked in the adjacent positions, on the one hand, the number of shelves arranged is reduced, and the cost is reduced while avoiding shelf congestion. Collision, on the other hand, also improves the efficiency of the distribution.
  • a workstation for an order when selecting a workstation for an order, it is also possible to consider the occupancy of the workstation, and select a relatively idle workstation, that is, a workstation that selects the number of shelves waiting for the cache (the shelf that has arrived at the workstation waiting to be removed) has the fewest number of workstations. , or select the workstation with the fewest number of orders being picked, so that the workload of each workstation is balanced.
  • the number of order picking positions that are idle in each workstation may be analyzed, and then the order for determining the picking position is prioritized, and the order to be determined is determined according to the degree of coincidence between the orders. Group, select workstations, and bind individual orders to the order picking location.
  • the principle of “less shelves” can be adhered to, and the available inventory of the shelves in the warehouse handling and returning to the warehouse is preferentially viewed; secondly, the available inventory of the shelves that have returned to the storage location is checked, and the goods to be selected are obtained.
  • the collection of shelves is on, reducing the cost of shelf handling.
  • FIG. 1 A flow chart of some embodiments of selecting a shelf in the cargo sorting method of the present disclosure is shown in FIG.
  • the handling cost of the alternative shelf is determined.
  • the alternative shelf may include one or more of a shelf residing at the order picking location for picking the goods, a shelf returning to the predetermined location from the order picking location, and a shelf residing at the predetermined location to prevent interruption of the being stocked The work of the shelves of the distribution.
  • the handling of the alternate shelves may be determined based on at least two of the number of various items required for a single workstation, the inventory of corresponding goods on the shelf, the distance from the shelf to the workstation, and the location of the target cargo in the shelf.
  • the distance cost of moving the shelf to the workstation can be calculated using the shortest path algorithm (Dijkstra algorithm) and the conversion map.
  • the distance consideration for moving the shelf to the workstation may also include shelf turnover costs when it is determined that the cargo is on the side of the shelf facing away from the order picking location.
  • step 302 a shelf with a low cost of handling is selected for dispensing each order in the workstation.
  • the shelf handling trolley handling shelf can be selected when the selected shelf is determined.
  • a flow chart of some embodiments of the rack handling trolley drive in the cargo sorting method of the present disclosure is shown in FIG.
  • step 401 it is determined whether the shelf is carried by the rack handling cart. If the shelf is being carried by the handling trolley, step 405 is performed. If the shelf is in the storage location and is not carried by the handling trolley, step 402 is performed.
  • step 402 the rack handling trolley is selected based on the distance between the free rack handling trolley and the shelf.
  • the route to the shelf for which the goods are delivered for the order and the route for the delivery shelf to the order picking position are planned for the rack handling cart.
  • the shortest path algorithm can be used to plan the path, while taking into account the already planned route, avoiding jamming of different cars simultaneously passing through the same location.
  • step 404 the shelf handling trolley is driven to the position of the shelf and the carrier is carried to the order picking location.
  • step 405 a route from the current location to the order picking location is planned for the stud handling cart carrying the shelving.
  • step 406 the drive cart arrives at the order picking location in accordance with the route from the current location to the order picking location.
  • the rack handling cart needs to complete the currently performing picking task before moving the rack moving.
  • FIG. 1 A flow chart of further embodiments of the cargo sorting method of the present disclosure is shown in FIG.
  • step 501 the picking station receives the order and accepts the picking task.
  • step 502 the order sorting position is assigned to the order by any of the order sorting position selection methods mentioned above, the task is activated, and the scheduling system is notified to perform the picking of the goods.
  • step 503 the scheduling system receives the picking task.
  • the scheduling system uses any of the shelf selection methods above to select the optimal shelf in which the item is located.
  • the same merchandise is spread over different shelves to meet the needs of multiple shelves simultaneously picking the same merchandise, avoiding picking waits.
  • step 505 the scheduling system selects the rack handling cart.
  • step 506 a transport path is generated based on the position of the rack and the position of the transport cart, and is transmitted to the rack transport cart.
  • step 507 the rack handling cart belonging to the robot management system travels in accordance with the route obtained from the scheduling system.
  • step 508 the rack handling cart finds the designated rack, jacks up the rack and follows the path from the rack to the workstation as planned by the scheduling system.
  • step 509 the rack handling cart carries the shelves to the workstation.
  • step 510 the type of the sorted goods and the number of each type are prompted on the shelf or at the workstation.
  • the order picking location at which the goods should be placed may also be displayed to improve the accuracy of the dispensing.
  • the shelf can arrive at the workstation, and the machine or manual picks the goods to each order picking location, thereby reducing the difficulty of path planning for the cart and reducing the path planning workload; in other embodiments, the rack can reach the need The order picking position of the goods further shortens the distance between the manual or machine picking the goods on the shelves to the order picking position, and improves the degree of automation.
  • the picking completion may be determined manually or based on the detection of the sensor to notify the shelf to leave the current location.
  • step 512 if the current mode is the side picking side allocation mode, the order of the picking number can be directly packaged for delivery.
  • step 513 the scheduling system receives the return library task.
  • step 514 the scheduling system plans the path of the shelf back to the destination storage location.
  • step 515 the rack handling cart carries the shelf back to the destination storage location of the shelf.
  • the rack handling trolley lays down the shelf and returns to the original position for the next deployment.
  • Such a shelf selection method based on the AGV Automated Guided Vehicle
  • the system automatically lists the items, recommends the optimal shelf to the workstation, and prompts the picking.
  • the location and quantity are selected by the picking person or machine.
  • the same workstation can pick multiple orders at the same time and sort by side. Picking and re-integration integration, according to the order picking completion, the goods can be directly pushed to the packing station for operation and packaging, no need for manual review, reducing operating procedures, reducing costs and improving efficiency.
  • multiple orders may be dispensed at one time after the shelf leaves the storage place, or after one picking, and then distributed to multiple orders, thereby further reducing the cost of the shelf scheduling and improving the efficiency of the distribution.
  • the shelf handling trolley stops the movement of the shelf back to the storage location and instead executes the new character from the current location. Thereby further improving the efficiency of distribution.
  • the shelves being carried by the rack handling cart can be preferentially scheduled to omit the steps of the rack handling cart handling the shelves out of the warehouse to improve the efficiency of the dispensing.
  • the picking position assigning unit 601 is capable of assigning an order picking position to an order to be dispensed according to the goods required for the order.
  • the shelf selection unit 602 is capable of selecting a shelf carrying the goods required to conform to the order based on the distance from the alternate shelf to the order picking location and the cargo information on the shelf.
  • the shelf drive unit 603 is capable of driving the shelf to the order picking location for picking of the goods.
  • the shelf may have a mobile device or may be carried by the shelf handling cart.
  • Such a cargo sorting server can sort the order according to the goods required in the order, and then select the rack to pick the order picking position according to the position of the goods and the shelves on the shelf for the goods picking, thereby realizing the order picking method of driving the rack to the order picking position. Improve the efficiency and accuracy of order picking.
  • the strategy for assigning an order picking location can be as shown in the related embodiment of FIG.
  • Such a cargo sorting server can allocate an order picking position for an order based on the degree of coincidence between orders, so that orders with high coincidence order are sorted in the adjacent positions, so that the dispatching shelves can sequentially pick the positions through the respective orders, and on the one hand, the dispatched shelves are reduced.
  • the quantity while reducing costs, avoids the collision of shelf congestion, and on the other hand, improves the efficiency of distribution.
  • the shelf selection unit 602 can obtain a set of shelf combinations required to complete the order based on the goods on the alternate shelf upload, and then calculate the total length of the path of each shelf in each shelf combination to the order picking location, from The combination of the shelf combination selects the shelf combination with the smallest total path length as the order distribution, thereby reducing the path cost of the shelf movement.
  • the shelf selection unit 602 can determine the handling cost of the alternative shelf according to the method in the related embodiment of FIG. 3, and select the shelf with low handling cost to allocate the various orders in the workstation, thereby enabling comprehensive consideration. All aspects affect the distribution efficiency and cost factors, determine the handling cost, and then select the low-cost shelves according to the handling cost to allocate the goods to each order in the workstation, further improving the distribution efficiency and reducing the distribution cost.
  • the alternative shelf is not limited to the shelf being stored, but may also include one or more of a shelf that resides in the order picking location for picking the shipment, and a shelf that returns to the predetermined location from the order picking location, This expands the optional space for the shelves.
  • the shelf drive unit 603 may first determine the current status of the shelf selected by the shelf selection unit 602 and determine whether the shelf is carried by the shelf handling trolley.
  • the shelf handling trolley is selected according to the distance between the idle shelf handling trolley and the shelf; the route for the shelf handling trolley to arrive at the shelf for order delivery and the delivery shelf arrival order picking location are planned. route.
  • the shortest path algorithm can be used to plan the path, while taking into account the already planned route, avoiding jamming of different cars simultaneously passing through the same location.
  • the drive rack transports the trolley to the position of the shelf and carries the shelf to the order picking position.
  • the rack transport cart for the rack is planned to arrive at the order picking position from the current position, and the driving cart arrives at the order picking position according to the route from the current position to the order picking position.
  • the rack handling cart needs to complete the currently performing picking task before moving the rack moving.
  • Such a cargo sorting server can select a suitable rack handling cart to carry the racks for order distribution, and plan a path for the carts, and realize the flexible handling of the racks, avoiding the rack collision caused by the staggered path of the carts, and improving the uniform coordination ability.
  • the cargo sorting server may further include a display pushing unit 604, which is capable of pushing the order picking on the display device of the shelf or the order picking position after the shelf reaches the order picking position.
  • the goods required for the position of the order in order to carry out the picking of the goods according to the displayed push information by manual or machine picking, thereby improving the accuracy of order picking.
  • the shelf can reach the workstation, and the goods required by the workstation are removed from the shelf by the machine or manually, and distributed to each order picking position, thereby reducing the difficulty of path planning for the trolley and reducing the path planning workload.
  • the goods that should be removed from the shelf can be displayed on the workstation or on the shelf to help the staff or the machine to be removed at one time, improving the efficiency of the picking.
  • the shelf can reach the order picking location where the goods are needed, and each shelf picking location or shelf displays the goods that need to be removed for the order picked at that location, thereby further reducing manual or machine placement on the shelf.
  • the distance of the goods picked to the order picking location increases the degree of automation.
  • the cargo sorting server includes a memory 710 and a processor 720.
  • the memory 710 can be a magnetic disk, a flash memory, or any other non-volatile storage medium.
  • the memory is for storing instructions in a corresponding embodiment of the shelf sorting method above.
  • the processor 720 is coupled to the memory 710 and can be implemented as one or more integrated circuits, such as a microprocessor or a microcontroller.
  • the processor 720 is configured to execute instructions stored in the memory, and can implement an order picking method for driving the shelf to the order picking position, thereby improving the efficiency and accuracy of order picking.
  • the goods sorting server 800 includes a memory 810 and a processor 820.
  • Processor 820 is coupled to memory 810 via BUS bus 830.
  • the goods sorting server 800 can also be connected to the external storage device 850 via the storage interface 840 for invoking external data, and can also be connected to the network or another computer system (not shown) via the network interface 860. It will not be described in detail here.
  • the order picking mode for driving the shelf to the order picking position can be realized, thereby improving the efficiency and accuracy of order picking.
  • a computer readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps of a method in a corresponding embodiment of a shelf sorting method.
  • a processor may implement the steps of a method in a corresponding embodiment of a shelf sorting method.
  • embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware aspects. Moreover, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code. .
  • the goods sorting server 91 can be any of the sorting servers mentioned above.
  • the shelf 92 is capable of carrying cargo and is driven by the cargo sorting server to various order picking locations for sorting of the goods.
  • the goods sorting system can select the position according to the goods required in the order, and then select the shelf to pick the order picking position according to the position of the goods and the shelves on the shelf, so as to realize the order picking method of driving the rack to the order picking position, Improve the efficiency and accuracy of order picking.
  • the cargo sorting system can also include a rack handling cart 93 that can carry the racking motion driven by the cargo sorting server.
  • a cargo sorting system can select a suitable rack handling trolley to carry the racks for order distribution, and plan a path for the carts, while realizing the flexible handling of the racks, avoiding the collision of the racks caused by the staggered path of the carts, and improving the uniform coordination ability.
  • the cargo sorting system may further include a display device 94 located at the shelf or order picking location, and when the shelf arrives at the order picking location, the shelf sorting server displays the eligible order picking location based on the content pushed by the cargo sorting server.
  • the goods required for the order are sorted by manual or machine picking to improve the efficiency and accuracy of the picking of the goods.
  • the display device can also be located at the workstation location, displaying the goods required to be placed on the shelf in accordance with each order of the workstation, and the corresponding order picking location for convenient picking and distribution to the individual orders at the workstation.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.
  • the methods and apparatus of the present disclosure may be implemented in a number of ways.
  • the methods and apparatus of the present disclosure may be implemented in software, hardware, firmware or any combination of software, hardware, firmware.
  • the above-described sequence of steps for the method is for illustrative purposes only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless otherwise specifically stated.
  • the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine readable instructions for implementing a method in accordance with the present disclosure.
  • the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

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Abstract

一种货物分拣方法、服务器和系统，该方法包括：根据订单所需的货物为待配货的订单分配订单拣选位置，根据备选的货架到订单拣选位置的距离和货架上的货物信息，选择载有符合待配货的订单所需货物的货架；驱动选中的货架到达订单拣选位置以便进行货物拣选。通过上述方法实现了驱动货架到订单拣选位置的方式，提高了订单拣选的效率和准确度。

Description

货物分拣方法、服务器和系统
相关申请的交叉引用
本申请是以CN申请号为201711202487.1，申请日为2017年11月27日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及智能仓储技术领域，特别是一种货物分拣方法、服务器和系统。
背景技术
传统仓储技术中，在订单货物拣选时需工作人员按照系统提示去寻找货架、寻找商品，然后通过人工搬运的方式将相应商品拣货下架到相应容器。由于电子商务仓存储有海量商品，日常处理百万级订单，导致作业人员行走路径过长，劳动强度高，作业效率低。
另外，由于传统仓库大多都是人为分配订单，订单累积到一定数量才能进行统一处理，订单处理有一定的延迟，拣货效率降低，且人工操作受疲劳程度的影响，容易出现差错，而复核过程进一步浪费了人力，降低了效率。
发明内容
本公开的一个目的在于提高订单分拣的效率和准确度。
根据本公开的一些实施例，提出一种货物分拣方法，包括：根据订单所需的货物为待配货的订单分配订单拣选位置；根据备选的货架到订单拣选位置的距离和货架上的货物信息，选择载有符合待配货的订单所需货物的货架；驱动选中的货架到达订单拣选位置以便进行货物拣选。
可选地，为待配货的订单分配订单拣选位置包括：确定待配货的订单所需的货物；根据订单所需货物的重合度为待配货的订单分配订单拣选位置。
可选地，根据订单所需货物的重合度为待配货的订单分配订单拣选位置包括：根据以下至少一种条件分配订单拣选位置：将货物种类重合度高于预定阈值的待配货的订单分配在属于相同工作站的订单拣选位置，其中，一个工作站中包括多个订单拣选位置；按照待配货的订单与工作站已有订单中货物重合度从高到低的顺序从工作站中 为待配货的订单分配订单拣选位置。
可选地，选择载有符合待配货的订单所需货物的货架包括：根据备选的货架上载有的货物获取完成待配货的订单所需的货架组合的集合；获取每个货架组合中各个货架到达订单拣选位置的路径总长度；从货架组合的集合中选择路径总长度最小的货架组合为待配货的订单配货。
可选地，选择载有符合待配货的订单所需货物的货架包括：根据单个工作站需要的各种货物的数量、货架上对应货物的库存量、货架到工作站的距离或货架中目标货物的位置中的至少两项确定备选的货架的搬运代价，其中，一个工作站中包括多个订单拣选位置，搬运代价与单个工作站需要的各种货物的数量正相关、与货架上对应货物的库存量负相关、与货架到工作站的距离正相关；选择搬运代价低的货架为工作站中的各个订单配货。
可选地，备选的货架包括驻留在订单拣选位置供拣选货物的货架、从订单拣选位置返回预定位置的货架或驻留在预定位置的货架中的一种或多种。
可选地，驱动货架到达订单拣选位置包括：在选中的货架未被货架搬运小车运载的情况下：根据空闲的货架搬运小车与选中的货架的距离选择货架搬运小车；为货架搬运小车规划到达选中的货架的路线和运载选中的货架到达订单拣选位置的路线；驱动货架搬运小车到达选中的货架的位置并运载选中的货架到达订单拣选位置。
可选地，驱动货架到达订单拣选位置还包括：在选中的货架被货架搬运小车运载的情况下：为运载选中的货架的货架搬运小车规划从当前位置到达订单拣选位置的路线；驱动小车按照从当前位置到达订单拣选位置的路线到达订单拣选位置。
可选地，货物分拣方法还包括：当选中的货架到达订单拣选位置后，显示货架上载有的符合订单拣选位置的订单所需的货物，以便通过人工或机器拣选方式进行货物拣选。
通过这样的方法，能够根据订单中需要的货物分配订单拣选位置，进而根据货架上的货物和货架的位置选择货架到达订单拣选位置进行货物拣选，从而实现驱动货架到订单拣选位置的订单拣选方式，提高了订单拣选的效率和准确度。
根据本公开的另一些实施例，提出一种货物分拣服务器，包括：拣选位分配单元，被配置为根据订单所需的货物为待配货的订单分配订单拣选位置；货架选择单元，被配置为根据备选的货架到订单拣选位置的距离和货架上的货物信息，选择载有符合待配货的订单所需货物的货架；货架驱动单元，被配置为驱动选中的货架到达订单拣选 位置以便进行货物拣选。
可选地，拣选位分配单元被配置为：确定待配货的订单所需的货物；根据订单所需货物的重合度为待配货的订单分配订单拣选位置。
可选地，根据订单所需货物的重合度为待配货的订单分配订单拣选位置包括：根据以下至少一种条件分配订单拣选位置：将货物种类重合度高于预定阈值的待配货的订单分配在属于相同工作站的订单拣选位置，其中，一个工作站中包括多个订单拣选位置；按照待配货的订单与工作站已有订单中货物重合度从高到低的顺序从工作站中为待配货的订单分配订单拣选位置。
可选地，货架选择单元被配置为：根据单个工作站需要的各种货物的数量、货架上对应货物的库存量、货架到工作站的距离或货架中目标货物的位置中的至少两项确定备选的货架的搬运代价，其中，一个工作站中包括多个订单拣选位置，搬运代价与单个工作站需要的各种货物的数量正相关、与货架上对应货物的库存量负相关、与货架到工作站的距离正相关；选择搬运代价低的货架为工作站中的各个订单配货。
可选地，货架驱动单元被配置为：在选中的货架未被货架搬运小车运载的情况下：根据空闲的货架搬运小车与选中的货架的距离选择货架搬运小车；为货架搬运小车规划到达选中的货架的路线和运载选中的货架到达订单拣选位置的路线；驱动货架搬运小车到达选中的货架的位置并运载选中的货架到达订单拣选位置。
可选地，货架驱动单元被配置为：在货架被货架搬运小车运载的情况下：为运载选中的货架的货架搬运小车规划从当前位置到达订单拣选位置的路线；驱动小车按照从当前位置到达订单拣选位置的路线到达订单拣选位置。
可选地，货物分拣服务器还包括：显示推送单元，被配置为当选中的货架到达订单拣选位置后，向货架或订单拣选位置的显示装置推送货架上载有的符合订单拣选位置的订单所需的货物，以便通过人工或机器拣选方式根据显示的推送信息进行货物拣选。
根据本公开的又一些实施例，提出一种货物分拣服务器，包括：存储器；以及耦接至存储器的处理器，处理器被配置为基于存储在存储器的指令执行上文中提到的任意一种货物分拣方法。
这样的货物分拣服务器能够根据订单中需要的货物分配订单拣选位置，进而根据货架上的货物和货架的位置选择货架到达订单拣选位置进行货物拣选，从而实现驱动货架到订单拣选位置的订单拣选方式，提高了订单拣选的效率和准确度。
根据本公开的再一些实施例，提出一种计算机可读存储介质，其上存储有计算机程序指令，该指令被处理器执行时实现上文中提到的任意一种货物分拣方法。
这样的计算机可读存储介质通过执行其上的指令能够根据订单中需要的货物分配订单拣选位置，进而根据货架上的货物和货架的位置选择货架到达订单拣选位置进行货物拣选，从而实现驱动货架到订单拣选位置的订单拣选方式，提高了订单拣选的效率和准确度。
另外，根据本公开的一些实施例，提出一种货物分拣系统，包括：上文中提到的任意一种货物分拣服务器；和，货架，被配置为承载货物，并在货物分拣服务器的驱动下到各个订单拣选位置以便进行货物分拣。
可选地，货物分拣系统还包括：货架搬运小车，被配置为在货物分拣服务器的驱动下运载货架运动。
可选地，货物分拣系统还包括：位于货架或订单拣选位置的显示装置，被配置为当货架到达订单拣选位置后，根据货物分拣服务器推送的内容显示货架上载有的符合订单拣选位置的订单所需的货物，以便通过人工或机器拣选方式进行货物拣选。
这样货物分拣系统能够根据订单中需要的货物分配订单拣选位置，进而根据货架上的货物和货架的位置选择货架到达订单拣选位置进行货物拣选，从而实现驱动货架到订单拣选位置的订单拣选方式，提高了订单拣选的效率和准确度。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本公开的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开的货物分拣方法的一些实施例的流程图。
图2为本公开的货物分拣方法中为订单选择订单拣选位置的一些实施例的流程图。
图3为本公开的货物分拣方法中选择货架的一些实施例的流程图。
图4为本公开的货物分拣方法中进行货架搬运小车驱动的一些实施例的流程图。
图5为本公开的货物分拣方法的另一些实施例的流程图。
图6为本公开的货物分拣服务器的一些实施例的示意图。
图7为本公开的货物分拣服务器的另一些实施例的示意图。
图8为本公开的货物分拣服务器的又一些实施例的示意图。
图9为本公开的货物分拣系统的一些实施例的示意图。
具体实施方式
下面通过附图和实施例，对本公开的技术方案做进一步的详细描述。
本公开的货物分拣方法的一些实施例的流程图如图1所示。
在步骤101中，根据订单所需的货物为待配货的订单分配订单拣选位置。在一些实施例中，可以根据订单中货物的种类分配适合的订单拣选位置，如若订单中多为服饰类商品，则将订单分配到服饰类订单集中的订单拣选位置；在一些实施例中，还可以根据多个待配货的订单分别需要的货物，将需要相似货物的订单或重合度较高的订单分配在相同工作站，其中，一个工作站中包括多个订单拣选位置。
在步骤102中，根据备选的货架到订单拣选位置的距离和货架上的货物信息，选择载有符合订单所需货物的货架。在一些实施例中，可以根据备选的货架上载有的货物获取完成订单所需的货架组合的集合，继而计算每个货架组合中各个货架到达订单拣选位置的路径总长度，从货架组合的集合中选择路径总长度最小的货架组合为订单配货，从而降低货架移动的路径成本。
在步骤103中，驱动货架到达订单拣选位置以便进行货物拣选。在一些实施例中，货架可以具有移动装置，也可以由货架搬运小车运载货架移动。
通过这样的方法，能够根据订单中需要的货物分配订单拣选位置，进而根据货架上的货物和货架的位置选择货架到达订单拣选位置进行货物拣选，从而实现驱动货架到订单拣选位置的订单拣选方式，提高了订单拣选的效率和准确度。
在一些实施例中，当为多个订单确定订单拣选位置时，可以获取订单优先级，优先组建包含特殊时效的订单和跨区生产的订单，从而满足订单的时效要求，提高用户体验。
本公开的货物分拣方法中为订单选择订单拣选位置的一些实施例的流程图如图2所示。
在步骤201中，确定待配货的订单所需的货物。
在步骤202中，根据订单所需货物的重合度为待配货的订单分配订单拣选位置。例如：订单A相对于订单B的重合度＝订单A的SKU(Stock Keeping Unit，库存量单位)列表中包含在订单B的SKU列表的SKU数量/订单A的SKU列表中SKU的 总数。
在一些实施例中，可以比较多个未分配订单拣选位置的订单，优先将货物种类重合度高的订单分配在属于相同工作站的订单拣选位置，从而方便调度相同货架为多个订单配货，减少对货架的调度，提高订单配货效率。
在一些实施例中，可以将未分配订单拣选位置的订单与各个工作站正在配货中的订单进行比较，优先为订单分配与工作站已有订单中货物重合度高的工作站中的订单拣选位置，从而能够方便驱动正在为订单配货中的货架为新的订单配货，提高配货效率。
在一些实施例中，可以既比较多个未分配订单拣选位置的订单，优先将货物种类重合度高的订单分配在属于相同工作站的订单拣选位置，又将未分配订单拣选位置的订单与各个工作站正在配货中的订单进行比较，优先为订单分配与工作站已有订单中货物重合度高的工作站中的订单拣选位置，从而在方便调度相同货架为多个订单配货的同时，也能够方便驱动正在为订单配货中的货架为新的订单配货，进一步提高了配货效率。
通过这样的方法，能够基于订单间的重合度为订单分配订单拣选位置，从而使得重合度高的订单在临近的位置拣选，一方面减少了调度的货架数量，在降低成本的同时避免出现货架拥塞碰撞，另一方面也提高了配货效率。
在一些实施例中，在为订单选择工作站时，还可以考虑工作站的占用情况，选择较为空闲的工作站，即选择缓存位等待的货架(已到达工作站等待被取下货物的货架)数最少的工作站，或选择正在拣货的订单数量最少的工作站，从而实现各个工作站的工作量均衡。
在一些实施例中，可以在接收到订单后，先分析各个工作站空闲的订单拣选位置的数量，继而对待确定拣选位置的订单进行优先级排序，根据订单间的重合度为待确定拣选位置的订单分组，选择工作站，将各个订单与订单拣选位置绑定。通过这样的方法，能够综合考虑多个方面的因素确定订单拣选位置，减少驱动货架运动的工作量。
在一些实施例中，可以秉承“少出货架”的原则，优先查看出库搬运中和回库搬运中的货架可用库存；其次查看已回到储位的货架的可用库存，获取满足待拣选商品所在货架集合，降低货架搬运成本。
在一些实施例中，避免将出库搬运中的货架推荐到不同工作站，从而避免远距离调度货架降低效率，也避免打断货架当前配货工作或当前的配货工作耽误下一次的配 货工作，提高系统的稳定性。
本公开的货物分拣方法中选择货架的一些实施例的流程图如图3所示。
在步骤301中，确定备选的货架的搬运代价。备选的货架可以包括驻留在订单拣选位置供拣选货物的货架、从订单拣选位置返回预定位置的货架、驻留在预定位置的货架中的一种或多种，以防止打断正在配货的货架的配货工作。
在一些实施例中，可以根据单个工作站需要的各种货物的数量、货架上对应货物的库存量、货架到工作站的距离、货架中目标货物的位置中的至少两项确定备选的货架的搬运代价，搬运代价与单个工作站需要的各种货物的数量正相关、与货架上对应货物的库存量负相关、与货架到工作站的距离正相关。例如，搬运代价＝(工作站商品需求量-货架库存满足量)+搬运货架到工作站的距离代价。
在一些实施例中，搬运货架到工作站的距离代价可以用最短路算法(Dijkstra算法)及转换地图计算距离成本。
在一些实施例中，若货架包括前后两面，则当确定货物位于货架背对订单拣选位置的一面时，搬运货架到工作站的距离代价还可以包括货架转面代价。
在步骤302中，选择搬运代价低的货架为工作站中的各个订单配货。
通过这样的方法，能够综合考虑各个方面的影响配送效率、成本的因素，确定搬运代价，进而根据搬运代价选择代价低的货架为工作站中的各个订单配货，进一步提高了配送效率，降低配送成本。
在一些实施例中，当确定选择的货架后，可以选择货架搬运小车搬运货架。本公开的货物分拣方法中进行货架搬运小车驱动的一些实施例的流程图如图4所示。
在步骤401中，判断货架是否被货架搬运小车运载。若货架正在被搬运小车运载，则执行步骤405。若货架位于储位，未被搬运小车运载，则执行步骤402。
在步骤402中，根据空闲的货架搬运小车与货架的距离选择货架搬运小车。
在步骤403中，为货架搬运小车规划到达为订单配送货物的货架的路线和运载货架到达订单拣选位置的路线。在一些实施例中，可以采用最短路径算法规划路径，同时考虑到已经规划的路线，避免不同小车同时经过同一位置造成堵塞。
在步骤404中，驱动货架搬运小车到达货架的位置并运载货架到达订单拣选位置。
在步骤405中，为运载货架的货架搬运小车规划从当前位置到达订单拣选位置的路线。
在步骤406中，驱动小车按照从当前位置到达订单拣选位置的路线到达订单拣选位置。在一些实施例中，货架搬运小车需要完成当前执行的拣选任务后再搬运货架移动。
通过这样的方法，能够选择适合的货架搬运小车来运载货架为订单配货，并为小车规划路径，在实现货架灵活搬运的同时，避免出现小车路径交错引起的货架碰撞，提高统一协调能力。
本公开的货物分拣方法的另一些实施例的流程图如图5所示。
在步骤501中，拣选工作站收到订单，接受拣选任务。
在步骤502中，通过上文中提到的任意一种订单分拣位置选择方法为订单分配订单分拣位置，激活任务，开始通知排产系统进行货物拣选。
在步骤503中，排产系统接收拣货任务。
在步骤504中，排产系统采用上文中任意一种货架选择方法选择商品所在的最优货架。在一些实施例中，相同的商品分散在不同货架上，以便满足多个货架同时拣选同一个商品的需求，避免拣选等待。
在步骤505中，排产系统选择货架搬运小车。
在步骤506中，基于货架的位置和搬运小车的位置生成搬运路径，并发送给货架搬运小车。
在步骤507中，属于机器人管理系统的货架搬运小车按照从排产系统得到的路径行进。
在步骤508中，货架搬运小车找到指定的货架，顶起货架并按照排产系统规划的从货架到工作站的路径行驶。
在步骤509中，货架搬运小车运载货架到达工作站。
在步骤510中，在货架上或工作站提示拣选货物的种类、各个种类的数量。在一些实施例中，还可以显示货物应该被投放的订单拣选位置，从而提高配货准确性。
在一些实施例中，货架可以到达工作站，由机器或人工将货物拣选到各个订单拣选位置，从而降低对小车的路径规划难度，减少路径规划工作量；在另一些实施例中，货架可以到达需要其货物的订单拣选位置，从而进一步缩短人工或机器经货架上的货物拣选到订单拣选位置的距离，提高自动化程度。
在步骤511中，可以由人工触发或根据传感器的探测确定拣选完成，通知货架离开当前位置。
在步骤512中，若当前模式为边拣选边分拨模式，则可以直接将拣选号的订单打包待派送。
在步骤513中，排产系统收到回库任务。
在步骤514中，排产系统规划货架回到目的储位的路径。
在步骤515中，货架搬运小车运载货架回到货架的目的储位。当回到目的储位后，货架搬运小车放下货架，返回原位置等待下一次调配。
这样的基于AGV(Automated Guided Vehicle，自动引导运输车)的货到人的货架推荐拣选方式，不需要人为控制分配订单，订单初始化成功后，系统自动组单，推荐最优货架到工作站，提示拣选位置和数量供拣选人员或机器进行拣选。同一个工作站可以同时拣选多个订单，边拣边分。拣货复核一体化，按订单拣货完成可以直接将商品推到打包台操作打包，不需要再次人工复核，减少操作工序，降低成本，提高效率。
在一些实施例中，可以在货架离开储位后一次性为多个订单配货，或实现一次拣选后再分播给多个订单，从而进一步降低货架调度成本，提高配货效率。
在一些实施例中，若排产系统在货架回到目的储位前为货架分配了新的任务，则货架搬运小车停止运载货架回储位的运动，改为从当前位置开始执行新的人物，从而进一步提高配货效率。在一些实施例中，可以优先调度正在被货架搬运小车运载的货架，以省略货架搬运小车搬运货架出库的步骤，提高配货效率。
本公开的货物分拣服务器的一些实施例的示意图如图6所示。拣选位分配单元601能够根据订单所需的货物为待配货的订单分配订单拣选位置。货架选择单元602能够根据备选的货架到订单拣选位置的距离和货架上的货物信息，选择载有符合订单所需货物的货架。货架驱动单元603能够驱动货架到达订单拣选位置以便进行货物拣选。在一些实施例中，货架可以具有移动装置，也可以由货架搬运小车运载货架移动。
这样的货物分拣服务器能够根据订单中需要的货物分配订单拣选位置，进而根据货架上的货物和货架的位置选择货架到达订单拣选位置进行货物拣选，从而实现驱动货架到订单拣选位置的订单拣选方式，提高了订单拣选的效率和准确度。
在一些实施例中，拣选位分配单元601能够先确定待配货的订单所需的货物，再根据订单间的重合度为订单分配订单拣选位置。例如：订单A相对于订单B的重合度＝订单A的SKU(Stock Keeping Unit，库存量单位)列表中包含在订单B的SKU列表的SKU数量/订单A的SKU列表中SKU的总数。分配订单拣选位置的策略可以如 图2相关实施例中所示。
这样的货物分拣服务器能够基于订单间的重合度为订单分配订单拣选位置，从而使得重合度高的订单在临近的位置拣选，方便调度货架依次通过各个订单拣选位置，一方面减少了调度的货架数量，在降低成本的同时避免出现货架拥塞碰撞，另一方面也提高了配货效率。
在一些实施例中，货架选择单元602能够根据备选的货架上载有的货物获取完成订单所需的货架组合的集合，继而计算每个货架组合中各个货架到达订单拣选位置的路径总长度，从货架组合的集合中选择路径总长度最小的货架组合为订单配货，从而降低货架移动的路径成本。
在另一些实施例中，货架选择单元602可以根据如图3相关实施例中的方法确定备选的货架的搬运代价，选择搬运代价低的货架为工作站中的各个订单配货，从而能够综合考虑各个方面的影响配送效率、成本的因素，确定搬运代价，进而根据搬运代价选择代价低的货架为工作站中的各个订单配货，进一步提高了配送效率，降低配送成本。
在一些实施例中，备选的货架不限于正在储位的货架，还可以包括驻留在订单拣选位置供拣选货物的货架、从订单拣选位置返回预定位置的货架中的一种或多种，从而扩大了货架的可选空间。
在一些实施例中，货架驱动单元603可以先判断由货架选择单元602选择的货架的当前状态，判断货架是否被货架搬运小车运载。
若货架位于储位，未被货架搬运小车运载，则根据空闲的货架搬运小车与货架的距离选择货架搬运小车；为货架搬运小车规划到达为订单配送货物的货架的路线和运载货架到达订单拣选位置的路线。在一些实施例中，可以采用最短路径算法规划路径，同时考虑到已经规划的路线，避免不同小车同时经过同一位置造成堵塞。驱动货架搬运小车到达货架的位置并运载货架到达订单拣选位置。
若货架正在被搬运小车运载，则为运载货架的货架搬运小车规划从当前位置到达订单拣选位置的路线，驱动小车按照从当前位置到达订单拣选位置的路线到达订单拣选位置。在一些实施例中，货架搬运小车需要完成当前执行的拣选任务后再搬运货架移动。
这样的货物分拣服务器能够选择适合的货架搬运小车来运载货架为订单配货，并为小车规划路径，在实现货架灵活搬运的同时，避免出现小车路径交错引起的货架碰 撞，提高统一协调能力。
在一些实施例中，如图6所示，货物分拣服务器还可以包括显示推送单元604，能够当货架到达订单拣选位置后，向货架或订单拣选位置的显示装置推送货架上载有的符合订单拣选位置的订单所需的货物，以便通过人工或机器拣选方式根据显示的推送信息进行货物拣选，从而提高订单拣选的准确度。
在一些实施例中，货架可以到达工作站，由机器或人工将本工作站需要的货物从货架上取下，分发到各个订单拣选位置，从而降低对小车的路径规划难度，减少路径规划工作量。可以在工作站或货架上显示应该从该货架上取下的货品，帮助工作人员或机器一次性取下，提高拣选效率。
在另一些实施例中，货架可以到达需要其货物的订单拣选位置，每个货架拣选位置或货架上会显示需要为在该位置拣选的订单取下的货物，从而进一步缩短人工或机器经货架上的货物拣选到订单拣选位置的距离，提高自动化程度。
本公开货物分拣服务器的一些实施例的结构示意图如图7所示。货物分拣服务器包括存储器710和处理器720。其中：存储器710可以是磁盘、闪存或其它任何非易失性存储介质。存储器用于存储上文中货架分拣方法的对应实施例中的指令。处理器720耦接至存储器710，可以作为一个或多个集成电路来实施，例如微处理器或微控制器。该处理器720用于执行存储器中存储的指令，能够实现驱动货架到订单拣选位置的订单拣选方式，提高了订单拣选的效率和准确度。
在一些实施例中，还可以如图8所示，货物分拣服务器800包括存储器810和处理器820。处理器820通过BUS总线830耦合至存储器810。该货物分拣服务器800还可以通过存储接口840连接至外部存储装置850以便调用外部数据，还可以通过网络接口860连接至网络或者另外一台计算机系统(未标出)。此处不再进行详细介绍。
在该实施例中，通过存储器存储数据指令，再通过处理器处理上述指令，能够实现驱动货架到订单拣选位置的订单拣选方式，提高了订单拣选的效率和准确度。
在另一些实施例中，一种计算机可读存储介质，其上存储有计算机程序指令，该指令被处理器执行时实现货架分拣方法对应实施例中的方法的步骤。本领域内的技术人员应明白，本公开的实施例可提供为方法、装置、或计算机程序产品。因此，本公开可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用非瞬时性存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算 机程序产品的形式。
本公开的货物分拣系统的一些实施例的示意图如图9所示。货物分拣服务器91可以为上文中提到的任意一种货物分拣服务器。货架92能够承载货物，并在货物分拣服务器的驱动下到各个订单拣选位置以便进行货物分拣。
这样货物分拣系统能够根据订单中需要的货物分配订单拣选位置，进而根据货架上的货物和货架的位置选择货架到达订单拣选位置进行货物拣选，从而实现驱动货架到订单拣选位置的订单拣选方式，提高了订单拣选的效率和准确度。
在一些实施例中，货物分拣系统还可以包括货架搬运小车93，能够在货物分拣服务器的驱动下运载货架运动。这样的货物分拣系统能够选择适合的货架搬运小车来运载货架为订单配货，并为小车规划路径，在实现货架灵活搬运的同时，避免出现小车路径交错引起的货架碰撞，提高统一协调能力。
在一些实施例中，货物分拣系统还可以包括显示装置94，位于货架或订单拣选位置，能够当货架到达订单拣选位置后，根据货物分拣服务器推送的内容显示货架上载有的符合订单拣选位置的订单所需的货物，以便通过人工或机器拣选方式进行货物拣选，提高货物拣选的效率和准确度。
在一些实施例中，显示装置还可以位于工作站位置，显示货架上载有的符合本工作站的各个订单所需的货物，以及对应的订单拣选位置，方便在工作站进行统一拣选并分发给各个订单。
本公开是参照根据本公开实施例的方法、设备(系统)和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
至此，已经详细描述了本公开。为了避免遮蔽本公开的构思，没有描述本领域所公知的一些细节。本领域技术人员根据上面的描述，完全可以明白如何实施这里公开的技术方案。
可能以许多方式来实现本公开的方法以及装置。例如，可通过软件、硬件、固件或者软件、硬件、固件的任何组合来实现本公开的方法以及装置。用于所述方法的步骤的上述顺序仅是为了进行说明，本公开的方法的步骤不限于以上具体描述的顺序，除非以其它方式特别说明。此外，在一些实施例中，还可将本公开实施为记录在记录介质中的程序，这些程序包括用于实现根据本公开的方法的机器可读指令。因而，本公开还覆盖存储用于执行根据本公开的方法的程序的记录介质。
最后应当说明的是：以上实施例仅用以说明本公开的技术方案而非对其限制；尽管参照较佳实施例对本公开进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本公开的具体实施方式进行修改或者对部分技术特征进行等同替换；而不脱离本公开技术方案的精神，其均应涵盖在本公开请求保护的技术方案范围当中。

Claims (20)

  1. 一种货物分拣方法，包括：
    根据订单所需的货物为待配货的订单分配订单拣选位置；
    根据备选的货架到所述订单拣选位置的距离和货架上的货物信息，选择载有符合所述待配货的订单所需货物的货架；
    驱动选中的货架到达所述订单拣选位置以便进行货物拣选。
  2. 根据权利要求1所述的方法，所述为待配货的订单分配订单拣选位置包括：
    确定所述待配货的订单所需的货物；
    根据订单所需货物的重合度为待配货的订单分配订单拣选位置。
  3. 根据权利要求2所述的方法，其中，所述根据订单所需货物的重合度为待配货的订单分配订单拣选位置包括：
    根据以下至少一种条件分配订单拣选位置：
    将货物种类重合度高于预定阈值的待配货的订单分配在属于相同工作站的所述订单拣选位置，其中，一个工作站中包括多个订单拣选位置；
    按照待配货的订单与工作站已有订单中货物重合度从高到低的顺序从工作站中为所述待配货的订单分配订单拣选位置。
  4. 根据权利要求1所述的方法，其中，所述选择载有符合待配货的订单所需货物的货架包括：
    根据备选的货架上载有的货物获取完成所述待配货的订单所需的货架组合的集合；
    获取每个所述货架组合中各个货架到达所述订单拣选位置的路径总长度；
    从所述货架组合的集合中选择所述路径总长度最小的货架组合为所述待配货的订单配货。
  5. 根据权利要求1所述的方法，其中，所述选择载有符合所述待配货的订单所需货物的货架包括：
    根据单个工作站需要的各种货物的数量、货架上对应货物的库存量、货架到工作站的距离或货架中目标货物的位置中的至少两项确定备选的货架的搬运代价，其中，一个工作站中包括多个所述订单拣选位置，所述搬运代价与单个工作站需要的各种货 物的数量正相关、与所述货架上对应货物的库存量负相关、与所述货架到工作站的距离正相关；
    选择搬运代价低的货架为工作站中的各个订单配货。
  6. 根据权利要求1～5任意一项所述的方法，其中，所述备选的货架包括驻留在订单拣选位置供拣选货物的货架、从订单拣选位置返回预定位置的货架或驻留在预定位置的货架中的一种或多种。
  7. 根据权利要求1所述的方法，其中，所述驱动所述货架到达所述订单拣选位置包括：在选中的货架未被货架搬运小车运载的情况下：
    根据空闲的货架搬运小车与所述选中的货架的距离选择货架搬运小车；
    为所述货架搬运小车规划到达所述选中的货架的路线和运载所述选中的货架到达所述订单拣选位置的路线；
    驱动所述货架搬运小车到达所述选中的货架的位置并运载所述选中的货架到达所述订单拣选位置。
  8. 根据权利要求7所述的方法，其中，所述驱动所述货架到达所述订单拣选位置还包括：在所述选中的货架被货架搬运小车运载的情况下：
    为运载所述选中的货架的所述货架搬运小车规划从当前位置到达所述订单拣选位置的路线；
    驱动所述小车按照从当前位置到达所述订单拣选位置的路线到达所述订单拣选位置。
  9. 根据权利要求1所述的方法，还包括：
    当所述选中的货架到达所述订单拣选位置后，显示货架上载有的符合所述订单拣选位置的订单所需的货物，以便通过人工或机器拣选方式进行货物拣选。
  10. 一种货物分拣服务器，包括：
    拣选位分配单元，被配置为根据订单所需的货物为待配货的订单分配订单拣选位置；
    货架选择单元，被配置为根据备选的货架到所述订单拣选位置的距离和货架上的货物信息，选择载有符合所述待配货的订单所需货物的货架；
    货架驱动单元，被配置为驱动选中的货架到达所述订单拣选位置以便进行货物拣选。
  11. 根据权利要求10所述的服务器，所述拣选位分配单元被配置为：
    确定所述待配货的订单所需的货物；
    根据订单所需货物的重合度为待配货的订单分配订单拣选位置。
  12. 根据权利要求11所述的服务器，其中，所述根据订单所需货物的重合度为待配货的订单分配订单拣选位置包括：
    根据以下至少一种条件分配订单拣选位置：
    将货物种类重合度高于预定阈值的待配货的订单分配在属于相同工作站的所述订单拣选位置，其中，一个工作站中包括多个订单拣选位置；
    按照待配货的订单与工作站已有订单中货物重合度从高到低的顺序从工作站中为所述待配货的订单分配订单拣选位置。
  13. 根据权利要求10所述的服务器，其中，所述货架选择单元被配置为：
    根据单个工作站需要的各种货物的数量、货架上对应货物的库存量、货架到工作站的距离或货架中目标货物的位置中的至少两项确定备选的货架的搬运代价，其中，一个工作站中包括多个所述订单拣选位置，所述搬运代价与单个工作站需要的各种货物的数量正相关、与所述货架上对应货物的库存量负相关、与所述货架到工作站的距离正相关；
    选择搬运代价低的货架为工作站中的各个订单配货。
  14. 根据权利要求10所述的服务器，其中，所述货架驱动单元被配置为：
    在选中的货架未被货架搬运小车运载的情况下：
    根据空闲的货架搬运小车与所述选中的货架的距离选择货架搬运小车；
    为所述货架搬运小车规划到达所述选中的货架的路线和运载所述选中的货架到达所述订单拣选位置的路线；
    驱动所述货架搬运小车到达所述选中的货架的位置并运载所述选中的货架到达所述订单拣选位置；
    在所述货架被货架搬运小车运载的情况下：
    为运载所述选中的货架的所述货架搬运小车规划从当前位置到达所述订单拣选位置的路线；
    驱动所述小车按照从当前位置到达所述订单拣选位置的路线到达所述订单拣选位置。
  15. 根据权利要求10所述的服务器，还包括：
    显示推送单元，被配置为当所述选中的货架到达所述订单拣选位置后，向所述货架或所述订单拣选位置的显示装置推送货架上载有的符合所述订单拣选位置的订单所需的货物，以便通过人工或机器拣选方式根据显示的推送信息进行货物拣选。
  16. 一种货物分拣服务器，包括：
    存储器；以及
    耦接至所述存储器的处理器，所述处理器被配置为基于存储在所述存储器的指令执行如权利要求1至9任一项所述的方法。
  17. 一种计算机可读存储介质，其上存储有计算机程序指令，该指令被处理器执行时实现权利要求1至9任意一项所述的方法。
  18. 一种货物分拣系统，包括：
    权利要求10～16任意一项所述的货物分拣服务器；和，
    货架，被配置为承载货物，并在所述货物分拣服务器的驱动下到各个订单拣选位置以便进行货物分拣。
  19. 根据权利要求18所述的货物分拣系统，还包括：
    货架搬运小车，被配置为在所述货物分拣服务器的驱动下运载所述货架运动。
  20. 根据权利要求18或19所述的货物分拣系统，还包括：
    位于所述货架或订单拣选位置的显示装置，被配置为当所述货架到达所述订单拣选位置后，根据所述货物分拣服务器推送的内容显示货架上载有的符合所述订单拣选位置的订单所需的货物，以便通过人工或机器拣选方式进行货物拣选。
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