WO2019114381A1 - 分拣中心的货物分拣方法和装置、货物分拣系统 - Google Patents

分拣中心的货物分拣方法和装置、货物分拣系统 Download PDF

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Publication number
WO2019114381A1
WO2019114381A1 PCT/CN2018/109121 CN2018109121W WO2019114381A1 WO 2019114381 A1 WO2019114381 A1 WO 2019114381A1 CN 2018109121 W CN2018109121 W CN 2018109121W WO 2019114381 A1 WO2019114381 A1 WO 2019114381A1
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WIPO (PCT)
Prior art keywords
sorting
cluster
center
bagging
current
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PCT/CN2018/109121
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English (en)
French (fr)
Inventor
郎元辉
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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
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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 JP2020552077A priority Critical patent/JP7042923B2/ja
Priority to US16/771,106 priority patent/US11414270B2/en
Priority to EP18887680.9A priority patent/EP3726427A4/en
Publication of WO2019114381A1 publication Critical patent/WO2019114381A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/003—Destination control; Electro-mechanical or electro- magnetic delay memories
    • B07C3/005—Destination control; Electro-mechanical or electro- magnetic delay memories the transport holders of objects being provided with means for storing the destination signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/23—Clustering techniques
    • G06F18/232—Non-hierarchical techniques
    • G06F18/2321—Non-hierarchical techniques using statistics or function optimisation, e.g. modelling of probability density functions
    • G06F18/23213—Non-hierarchical techniques using statistics or function optimisation, e.g. modelling of probability density functions with fixed number of clusters, e.g. K-means clustering

Definitions

  • the embodiment of the present invention relates to the field of logistics technology, and particularly relates to the field of goods sorting, and particularly relates to a method and device for sorting goods in a sorting center, and a sorting system for goods.
  • intelligent logistics sorting is an important link connecting supply and production.
  • the AGV Automated Guided Vehicle
  • the AGV has become an important part of intelligent logistics due to its high efficiency, high reliability, high safety, and good safety and scalability.
  • the AGV is used to transport the goods to the corresponding bagging mouth, thereby realizing the sorting of goods at different destinations. Since each bagging port is bound to a certain delivery station, and each delivery station has a certain amount of distribution per unit time, there is also a difference in the amount of sorting per unit time of each bagging port.
  • the purpose of the embodiment of the present application is to provide a sorting method and device for sorting centers, and a sorting system for goods.
  • the embodiment of the present application provides a cargo sorting method of a sorting center, where the sorting center includes a plurality of bagging ports distributed in a predetermined distribution manner and an automatic guide for conveying goods to the bagging ports.
  • the transporting vehicle each of the falling pockets corresponding to a target delivery area, the method comprising: determining a current position of each of the first falling pockets included in the sorting center, wherein the first falling pocket is within the sorting center, the unit The sorting quantity in the time exceeds the pre-sorting amount of the falling bag opening; the current position of each first falling pocket is taken as the current clustering center; the clustering operation is performed on each of the falling pockets of the sorting center; The position of the actual cluster center of the cluster corresponds to the current position of each first bag opening, the current position of each first bag opening is taken as the final position of each first bag opening; and the automatic guided transport vehicle is utilized , the goods are delivered to the various pockets of the sorting center.
  • the method further includes: in response to the position of the actual cluster center of each cluster not corresponding to the current position of each of the first pockets, the actual cluster center is taken as each current cluster center, and the aggregation is performed. Class operation.
  • performing a clustering operation on each of the sorting pockets in the sorting center includes: clustering each of the second falling pockets in the sorting center to one of the current cluster centers, wherein the second falling The bag mouth is the other bagging port in the sorting center except the first bagging port; and the position of the actual cluster center of each cluster in the clustering result is determined.
  • clustering each of the second pockets in the sorting center to one of the current cluster centers includes: determining, for each of the second pockets, the second pocket opening and each current gathering The distance from the center of the class; the current cluster center closest to the second bag opening is used as the cluster center of the cluster to which the second bag opening belongs.
  • determining a location of an actual cluster center of each cluster in the clustering result includes: determining an average value of coordinate values of the bagging mouth included in each cluster in a preset coordinate system; The position indicated by the value is taken as the location of the actual cluster center of the cluster.
  • the method further comprises determining a distance of each of the second pockets in the associated cluster from the actual cluster center of the cluster based on the amount of sorting of each of the second pockets per unit time.
  • the embodiment of the present application further provides a cargo sorting device of a sorting center, where the sorting center includes a plurality of bagging ports distributed in a predetermined distribution manner and an automatic device for conveying goods to the bagging ports.
  • a guiding transport vehicle each of the falling pockets corresponding to a target delivery area
  • the device comprising: a current position determining unit configured to determine a current position of each of the first falling pockets included in the sorting center, wherein the first drop The bag mouth is in the sorting center, the sorting quantity per unit time exceeds the pre-sorting amount of the falling bag opening;
  • the central determining unit is configured to use the current position of each first falling bag opening as the current clustering center;
  • a class unit configured to perform a clustering operation on each of the falling pockets of the sorting center;
  • a final position determining unit configured to respond to the position of the actual clustering center of each cluster and the current position of each of the first falling pockets Correspondingly, the current position of each first bag opening is used as the
  • the final location determining unit is further configured to: in response to the position of the actual cluster center of each cluster not corresponding to the current location of each first pocket opening, the actual cluster center as each current cluster Center and perform clustering operations using clustering units.
  • the clustering unit further includes: a current clustering subunit configured to cluster each of the second pockets in the sorting center to one of the current cluster centers, wherein the second pocket is For the sorting center, other falling pockets other than the first falling pocket; and a position determining subunit configured to determine the position of the actual cluster center of each cluster in the clustering result.
  • the current clustering subunit is further configured to determine, for each of the second pockets, a distance of the second pocket opening from each current clustering center; and a second pocket opening The nearest current cluster center is the cluster center of the cluster to which the second pocket is located.
  • the position determining subunit is further configured to: determine an average value of coordinate values of the bagging mouth included in each cluster in a preset coordinate system; and use the position indicated by the average value as the cluster The location of the actual cluster center.
  • the apparatus further includes: a second position determining unit configured to determine, according to the sorting amount of each second bag opening in a unit time, each of the second bagging ports in the cluster to which the group belongs The distance of the actual cluster center of the class.
  • the embodiment of the present application further provides a cargo sorting system, comprising: a plurality of falling pockets distributed in a predetermined distribution manner, each falling pocket corresponding to a target delivery area; and multiple automatic guided transports A car, an automated guided transport vehicle is used to transport cargo to one of the bagging ports based on the above method.
  • an embodiment of the present application further provides an apparatus, including: one or more processors; and a storage device, configured to store one or more programs, when one or more programs are executed by one or more processors, Having one or more processors implement the method of any of the above.
  • the embodiment of the present application further provides a computer readable storage medium, where a computer program is stored, and when the program is executed by the processor, the method of any of the above is implemented.
  • the cargo sorting method and device of the sorting center provided by the embodiment of the present application, by using the first falling pocket of the sorting amount per unit time greater than the preset sorting amount as the current clustering center, the sorting center is Each of the falling pockets is clustered, and when the position of the actual clustering center of each cluster corresponds to the current position of each of the first falling pockets, the current position of each first falling pocket is used as the first falling pocket.
  • the final position of the mouth realizes that the first bagging openings are dispersed in the sorting center.
  • FIG. 1 is an exemplary system architecture diagram to which the present application can be applied;
  • FIG. 2 is a flow chart of one embodiment of a sorting method of a sorting center according to the present application
  • 3A and 3B are schematic views showing two different distribution patterns of the bagging opening in the sorting center
  • 4A and 4B are schematic diagrams showing an application scenario of a cargo sorting method applying the sorting center of the present application
  • Figure 5 is a schematic structural view of an embodiment of a sorting device of a sorting center according to the present application.
  • FIG. 6 is a schematic structural diagram of a computer system suitable for implementing a terminal device or a server of an embodiment of the present application.
  • FIG. 1 shows an exemplary system architecture 100 of an embodiment of a cargo sorting method or sorting center cargo sorting apparatus to which the sorting center of the present application can be applied.
  • system architecture 100 can include a sorting center 110, a network (not shown), and a server 120.
  • the sorting center 110 includes a plurality of pockets 111 and a plurality of AGVs 112.
  • the bag opening 111 can correspond to a certain delivery area.
  • the sorting center 110 may include three sacking ports corresponding to the delivery area of Haidian District, Beijing, one corresponding to the distribution area of the Changping District of Beijing, and five corresponding to the Chaoyang District of Beijing.
  • the AGV 112 is used to transport the goods destined to the delivery area corresponding to the bag opening to one of the bagging ports.
  • the network can provide a medium for the communication link between the AGV 112 and the server 120.
  • the network may include various types of connections, such as wired, wireless communication links, fiber optic cables, and the like.
  • the AGV 112 interacts with the server 120 over the network 104 to receive or send messages and the like.
  • the AGV 112 may generate the transportation based on the received identification information by transmitting identification information of the currently carried goods (for example, delivery destination information of the goods, weight information of the goods, volume information of the goods, etc.) to the server 120.
  • the instructions are sent to the AGV 112 over the network.
  • the transport instructions can be used, for example, to indicate the transport path of the AGV 112, the transport speed, the position of the sagging mouth corresponding to the end of the transport, and the like.
  • the sorting method of the sorting center provided by the embodiment of the present application is generally performed by the server 120. Accordingly, the sorting apparatus of the sorting center is generally disposed in the server 120.
  • sorting centers 110, networks, and servers 120 in FIG. 1 is merely illustrative. Any number of sorting centers 110, networks, and servers 120 can be provided as needed for implementation.
  • FIG. 2 a flow 200 of one embodiment of a sorting method for a sorting center in accordance with the present application is illustrated.
  • the sorting center includes a plurality of bagging ports distributed in a predetermined distribution and an AGV for conveying the goods to the respective bagging ports.
  • the AGV can shuttle between the cargo storage area of the sorting center and each of the bagging ports to transfer the goods in the cargo storage area to the corresponding bagging opening.
  • Each of the bagging ports corresponds to a certain target delivery area.
  • the delivery areas corresponding to the respective pockets in the same sorting center may belong to the same distribution area, for example. That is to say, a delivery area may include a plurality of delivery areas adjacent to each other and/or partially intersecting each other, and goods belonging to the delivery area of the delivery area may be sorted by the same sorting center and delivered to the corresponding delivery. region.
  • the distribution mode can be used to indicate the position information of each of the pockets included in the sorting center.
  • the preset distribution manner may be preset according to a specific application scenario of the sorting center (for example, including but not limited to the area of the delivery area corresponding to the sorting center and the distribution amount per unit time, the area of the sorting center, etc.) Distribution method.
  • each of the pockets 310 of the sorting center may be arranged in an array.
  • each of the pockets can serve as an element in an array of M rows and N columns, and the spacing between adjacent pockets is a known distance value.
  • the AGV can be run in the bay between the various pockets to transport the cargo to the corresponding bagging opening.
  • each of the pockets 320 of the sorting center may be evenly distributed over a circumference at a predetermined interval.
  • the AGV can be run on the circumference to transport the cargo to the corresponding bagging opening.
  • the cargo sorting method of the sorting center of the embodiment applies the electronic device thereon (for example, the server 120 in FIG. 1)
  • the distribution pattern of the bagging opening of the sorting center can be obtained in real time or in advance.
  • Step 210 Determine a current position of each first bag opening port included in the sorting center, wherein the first bag opening port is a sorting center, and the sorting amount per unit time exceeds a preset sorting amount .
  • each distribution area has a difference in the amount of delivery per unit time for some reason, there is also a difference in the amount of sorting of each bag opening per unit time.
  • the delivery area corresponding to a certain bag opening A is an office building, and the distribution area corresponding to another bag opening B is a residential area. Due to the difference between the resident population and the purchasing power in the two distribution areas, the delivery area corresponding to the bagging mouth A and the bagging mouth B may have a large difference in the delivery amount per unit time.
  • the sorting amount of the sagging mouth corresponding to each delivery area in a sorting center may be separately counted, and the sorting amount of each falling pocket in the period of time may be obtained, and then the determining quantity may be determined.
  • each of the first bagging ports may be randomly distributed in the distribution position indicated by the preset distribution mode to determine the current position of each of the first bagging ports in the sorting center.
  • step 220 the current position of each first pocket is taken as the current cluster center.
  • step 230 a clustering operation is performed on each of the pockets in the sorting center.
  • the clustering algorithm applied to perform the clustering operation may be any clustering algorithm currently used or to be developed in the future. Including but not limited to aggregate clustering algorithms (eg, CURE algorithm), density-based clustering algorithms (eg, DBSCAN algorithm), grid-based clustering algorithms (eg, STING algorithm), squared error-based iterative redistribution clustering Class algorithms (for example, K-means algorithm) and so on.
  • aggregate clustering algorithms eg, CURE algorithm
  • density-based clustering algorithms eg, DBSCAN algorithm
  • grid-based clustering algorithms eg, STING algorithm
  • squared error-based iterative redistribution clustering Class algorithms for example, K-means algorithm
  • the respective pockets of the sorting center can be divided into a plurality of clusters, and the number of clusters corresponds to the number of the first sacking ports.
  • each of the sorting centers of the sorting center can be divided into three clusters, and each of the sorting centers falls.
  • the pockets belong to one of the clusters.
  • each of the pockets of the sorting center is divided into a plurality of groups (ie, a plurality of clusters), and each cluster has an actual clustering center.
  • the position of the class center can be determined based on the position mean of each element in the cluster.
  • Step 240 In response to the position of the actual cluster center of each cluster corresponding to the current position of each first bag opening, the current position of each first bag opening is taken as the final position of each first bag opening.
  • the position of the actual cluster center of each cluster corresponds to the current position of each first pocket opening, which can be understood as the position of the first pocket opening belonging to the cluster in each cluster.
  • the distance between the actual cluster centers of the cluster is not greater than the distance between other elements in the cluster (ie, other pockets in the cluster) and the actual cluster center of the cluster.
  • the position of the actual cluster center of each cluster corresponds to the current position of each first bag opening in the sorting center, it can be considered that the first bagging mouth included in the sorting center is at the sorting center. In the preset distribution mode, it is evenly distributed as much as possible.
  • step 250 the goods are conveyed to the respective bagging ports of the sorting center by means of an automated guided transport vehicle.
  • the electronic equipment on which the sorting method of the sorting center of the present embodiment is applied may send a sorting command to the AGV to cause the AGV to deliver the goods to the corresponding bagging opening.
  • each of the sorting centers of the sorting center is used as the current clustering center by using the first falling bag opening with the sorting amount per unit time larger than the preset sorting amount as the current clustering center.
  • Perform clustering and when the position of the actual cluster center of each cluster corresponds to the current position of each first bag opening, the current position of each first bag opening is used as the final position of the first bag opening.
  • the first bag opening is dispersed in the sorting center.
  • the cargo sorting method of the sorting center of the embodiment may further include:
  • Step 260 In response to the position of the actual cluster center of each cluster not corresponding to the current position of each first bagging port, the actual cluster center is taken as each current cluster center, and the clustering operation of step 230 is performed.
  • the loop position of step 230 and step 260 can be used to set the final position of each first pocket. For the position corresponding to the position of the actual cluster center of each cluster, thereby realizing the dispersing arrangement of each first bag opening in the sorting center, thereby alleviating the AGV transmitting goods to the bagging ports of the sorting center Local congestion that may be caused.
  • the clustering operation is performed on each of the falling pockets in the sorting center in step 230, and may further include:
  • Step 231 clustering each of the second bagging ports in the sorting center to one of the current cluster centers, wherein the second bagging port is in the sorting center, and the other bagging bags except the first bagging port mouth.
  • the distance of the second pockets from each current cluster center may be determined first.
  • the current cluster center closest to the second bag opening is used as the cluster center of the cluster to which the second bag opening belongs.
  • the Euclidean distance between each of the second pockets and each current cluster center may be used as an index to measure the distance between the two.
  • Step 232 Determine the location of the actual cluster center of each cluster in the clustering result.
  • step 232 for example, the average of the coordinate values of the pockets included in each cluster in the preset coordinate system may be first determined. Next, the position indicated by the average value is taken as the position of the actual cluster center of the cluster.
  • the preset coordinate system can be associated with the distribution of the sorting center of the sorting pocket.
  • the distribution center of the sorting center is distributed in the array type shown in FIG. 3A.
  • the preset coordinate system may be, for example, a position as an origin and a row direction of the array as a horizontal axis.
  • the sorting center of the sorting pockets is distributed in such a manner that the distribution pattern shown in Fig. 3B is evenly distributed over a circumference at a predetermined interval.
  • the preset coordinate system may be, for example, a pole center corresponding to the circumference of the circle, and a polar coordinate system in which the ray passing through the pole and extending in a predetermined direction is a polar axis.
  • the position indicated by the average value of the coordinate values of the pockets included in each cluster in the preset coordinate system may not be equal to any of the preset pockets.
  • the position of the pocket opening closest to the position indicated by the average of the coordinate values may be taken as the position of the actual cluster center of the cluster.
  • the sorting center includes 49 bagging ports 410, and includes three sorting amounts per unit time exceeding a preset sorting amount threshold (for example, 10,000 pieces/hour).
  • the sorting centers include these pockets distributed in a 7 x 7 array, and the spacing between the two pockets adjacent in the row or column direction of the array is equal.
  • the current positions of the respective first bagging ports A to C are determined.
  • the current position of the first bag opening A is [3, 2] (ie, the position of the third row and the second column in the 7 ⁇ 7 array), similarly, the first bagging port B
  • the current position is [2, 6]
  • the current position of the first bag opening C is [6, 5].
  • the bagging mouth of the sorting center can be divided into three clusters, respectively Three regions formed corresponding to the broken lines in Fig. 4A are formed.
  • [3, 2] and [2, 6] are the actual cluster centers of the clusters respectively, and [6, 5] belongs to the cluster.
  • the actual cluster center is [6, 4].
  • the positions of each pocket in the array can be used as the position of the pockets.
  • 6 can be regarded as the coordinate value of the ordinate thereof, and 5 is regarded as the coordinate value of the abscissa.
  • [3, 2], [2, 6] and [6, 4] are the actual cluster centers of the clusters to which they belong. In this way, [3, 2], [2, 6] and [6, 4] can be used as the final position of each first bagging opening in the sorting center.
  • the AGV can be used to convey the goods to the respective bagging ports of the sorting center. Since the position of each first bag opening in the sorting center is reasonably dispersed, when the goods are transported to the bagging ports of the sorting center by using the AGV, it is beneficial to alleviate the local congestion of the AGV, thereby facilitating the improvement. Sorting efficiency.
  • the sorting method of the sorting center may further include:
  • the distance between each second pocket opening in the associated cluster and the actual cluster center of the cluster is determined based on the sorting amount of each second bag opening in a unit time.
  • the position of each second pocket opening in the same cluster may be determined according to the sorting amount per unit time, so that any one of the second pockets in the cluster and the actual clustering of the cluster
  • the distance between the centers is not less than the amount of sorting per unit time less than the distance between the other second pockets of the second pocket opening and the actual clustering center of the cluster.
  • the position of the second bag opening in each cluster can be further distributed and distributed, thereby further alleviating the goods of the AGV to the bagging centers of the sorting center. Local congestion that may occur during transportation.
  • the goods sorting method of the sorting center of the embodiments of the present application applies the electrons thereon
  • the device eg, the server 120 in FIG. 1
  • FIG. 4A and FIG. 4B the application scenario of FIG. 4A and FIG. 4B is still taken as an example.
  • the target delivery area of the first pocket opening C is a
  • the target delivery area of the pocket opening [6, 4] is b.
  • the position of the original first bag opening C is changed to become the first bag opening C', and its new position becomes [6, 4].
  • the present application provides an embodiment of a sorting apparatus for a sorting center, the apparatus embodiment corresponding to the method embodiment shown in FIG.
  • the device can be specifically applied to various electronic devices.
  • the sorting center includes a plurality of bagging ports distributed in a predetermined distribution manner and an automatic guided transporting vehicle for conveying goods to the respective bagging ports, each of which corresponds to a target delivery area.
  • the sorting apparatus 500 of the sorting center of the present embodiment includes a current position determining unit 510, a center determining unit 520, a clustering unit 530, a final position determining unit 540, and a transmitting unit 550.
  • the current position determining unit 510 is configured to determine a current position of each first bag opening included in the sorting center, wherein the first bag opening is in the sorting center, and the sorting amount per unit time exceeds a preset score. Picking up the bagging mouth.
  • the center determining unit 520 may be configured to use the current position of each of the first pockets as the current clustering center.
  • the clustering unit 530 can be configured to perform a clustering operation on each of the pockets of the sorting center.
  • the final position determining unit 540 may be configured to respond to the current position of the cluster center of each cluster corresponding to the current position of each first bag opening, and use the current position of each first bag opening as each first bag. The final position of the mouth.
  • the transfer unit 550 can be configured to transfer cargo to each of the bagging ports of the sorting center using an automated guided transport vehicle.
  • the final location determining unit 540 may be further configured to: in response to the location of the actual cluster center of each cluster does not correspond to the current location of each first pocket opening, the actual clustering center As each current clustering center, clustering operations are performed using clustering units.
  • the clustering unit 530 may further include: a current clustering subunit configured to cluster each of the second snooping ports in the sorting center to one of the current cluster centers, wherein The second bag opening port is a sorting bag in the sorting center, except for the first bagging port; and a position determining subunit configured to determine the actual clustering center of each cluster in the clustering result position.
  • the current clustering subunit may be further configured to: determine, for each second pocket opening, a distance between the second pocket opening and each current clustering center;
  • the current current cluster center of the second pocket opening is the clustering center of the cluster to which the second pocket is located.
  • the location determining sub-unit may be further configured to: determine an average value of coordinate values of the bagging mouth included in each cluster in a preset coordinate system; and indicate the average value The location is the location of the actual cluster center of the cluster.
  • the cargo sorting apparatus of the sorting center of the embodiment further includes: a second position determining unit (not shown) configured to be based on each second bag opening at a unit time The amount of sorting within each determines the distance of each of the second pockets in the associated cluster from the actual cluster center of the cluster.
  • the present application also discloses a cargo sorting system.
  • the cargo sorting system includes a plurality of pockets distributed in a predetermined distribution and a plurality of automated guided transport vehicles.
  • each of the bagging mouths corresponds to a target delivery area.
  • the automated guided transport vehicle is used to transport the cargo to one of the bagging openings based on the sorting method of the sorting center as described above.
  • FIG. 6 a block diagram of a computer system 600 suitable for use in implementing a server of an embodiment of the present application is shown.
  • the server shown in FIG. 6 is merely an example, and should not impose any limitation on the function and scope of use of the embodiments of the present application.
  • computer system 600 includes a central processing unit (CPU) 601 that can be loaded into a program in random access memory (RAM) 603 according to a program stored in read only memory (ROM) 602 or from storage portion 608. And perform various appropriate actions and processes.
  • RAM random access memory
  • ROM read only memory
  • RAM random access memory
  • various programs and data required for the operation of the system 600 are also stored.
  • the CPU 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604.
  • An input/output (I/O) interface 605 is also coupled to bus 604.
  • the following components are connected to the I/O interface 605: an input portion 606 including a keyboard, a mouse, etc.; an output portion 607 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), and the like, and a storage portion 608 including a hard disk or the like. And a communication portion 609 including a network interface card such as a LAN card, a modem, or the like. The communication section 609 performs communication processing via a network such as the Internet.
  • Driver 610 is also coupled to I/O interface 605 as needed.
  • a removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory or the like, is mounted on the drive 610 as needed so that a computer program read therefrom is installed into the storage portion 608 as needed.
  • an embodiment of the present disclosure includes a computer program product comprising a computer program carried on a computer readable medium, the computer program comprising program code for executing the method illustrated by the flowchart.
  • the computer program can be downloaded and installed from the network via communication portion 609, and/or installed from removable media 611.
  • the central processing unit (CPU) 601 the above-described functions defined in the method of the present application are performed.
  • the computer readable medium described herein may be a computer readable signal medium or a computer readable storage medium or any combination of the two.
  • the computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of computer readable storage media may include, but are not limited to, electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the foregoing.
  • a computer readable storage medium may be any tangible medium that can contain or store a program, which can be used by or in connection with an instruction execution system, apparatus or device.
  • a computer readable signal medium may include a data signal that is propagated in the baseband or as part of a carrier, carrying computer readable program code. Such propagated data signals can take a variety of forms including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer readable signal medium can also be any computer readable medium other than a computer readable storage medium, which can transmit, propagate, or transport a program for use by or in connection with the instruction execution system, apparatus, or device.
  • Program code embodied on a computer readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
  • Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including an object oriented programming language such as Java, Smalltalk, C++, and conventional.
  • a procedural programming language - such as the "C" language or a similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer, partly on the remote computer, or entirely on the remote computer or server.
  • the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (eg, using an Internet service provider) Internet connection).
  • LAN local area network
  • WAN wide area network
  • Internet service provider Internet service provider
  • each block of the flowchart or block diagram can represent a module, a program segment, or a portion of code that includes one or more of the logic functions for implementing the specified.
  • Executable instructions can also occur in a different order than that illustrated in the drawings. For example, two successively represented blocks may in fact be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts can be implemented in a dedicated hardware-based system that performs the specified function or operation. Or it can be implemented by a combination of dedicated hardware and computer instructions.
  • the units involved in the embodiments of the present application may be implemented by software or by hardware.
  • the described unit may also be provided in the processor, for example, as a processor including a current location determining unit, a central determining unit, a clustering unit, a final location determining unit, and a transmitting unit.
  • the names of the units do not constitute a limitation on the unit itself in some cases.
  • the current location determining unit may also be described as “determining the current current of each first pocket opening included in the sorting center. Location unit”.
  • the present application also provides a computer readable medium, which may be included in the apparatus described in the above embodiments, or may be separately present and not incorporated into the apparatus.
  • the computer readable medium carries one or more programs, when the one or more programs are executed by the device, causing the device to: determine a current location of each first pocket opening included in the sorting center, wherein A bagging port is a sorting center, and the sorting amount per unit time exceeds the bagging mouth of the preset sorting amount; the current position of each first bagging port is taken as the current clustering center;
  • the bagging port performs a clustering operation; in response to the position of the actual clustering center of each cluster corresponding to the current position of each first bagging opening, the current position of each first bagging opening is taken as each first bagging mouth The final position; and the use of an automated guided transport vehicle to deliver cargo to the various pockets of the sorting center.

Abstract

本申请实施例公开了分拣中心的货物分拣方法和装置、货物分拣系统。该方法的一具体实施方式包括：确定分拣中心所包含的各第一落袋口的当前位置，其中，第一落袋口为分拣中心内，单位时间内的分拣量超过预设分拣量的落袋口；将各第一落袋口的当前位置作为当前聚类中心；对分拣中心的各落袋口执行聚类操作；响应于各聚类的实际聚类中心的位置与各第一落袋口的当前位置相对应，将各第一落袋口的当前位置作为各第一落袋口的最终位置；以及利用自动导引运输车，向分拣中心的各落袋口传送货物。该实施方式有利于缓解AGV局部拥堵，进而有利于提高分拣效率。

Description

分拣中心的货物分拣方法和装置、货物分拣系统
相关申请的交叉引用
本专利申请要求于2017年12月12日提交的、申请号为201711319500.1、申请人为北京京东尚科信息技术有限公司和北京京东世纪贸易有限公司、发明名称为“分拣中心的货物分拣方法和装置、货物分拣系统”的中国专利申请的优先权，该申请的全文以引用的方式并入本申请中。
技术领域
本申请实施例涉及物流技术领域，具体涉及货物分拣领域，尤其涉及分拣中心的货物分拣方法和装置、货物分拣系统。
背景技术
在现代化的智能物流系统中，作为工业4.0的核心组成部分，智能物流分拣是连接供应和生产的重要环节。
AGV(Automated Guided Vehicle，自动导引运输车)，因其高效率、高可靠性、高安全性以及较好的安全性和可扩展性，逐渐成为智能物流的重要组成部分。
现有的基于AGV的货物分拣系统中，利用AGV将货物输送至相应的落袋口，从而实现不同目的地的货物的分拣。由于各落袋口与某一配送站相绑定，而每一个配送站在单位时间内的配送量有一定差异，因而，各落袋口的单位时间分拣量也存在差异。
发明内容
本申请实施例的目的在于提出一种分拣中心的货物分拣方法和装置、货物分拣系统。
第一方面，本申请实施例提供了一种分拣中心的货物分拣方法， 分拣中心包括多个以预设分布方式分布的落袋口以及用于向各落袋口传送货物的自动导引运输车，各落袋口与一个目标配送区域相对应，方法包括：确定分拣中心所包含的各第一落袋口的当前位置，其中，第一落袋口为分拣中心内，单位时间内的分拣量超过预设分拣量的落袋口；将各第一落袋口的当前位置作为当前聚类中心；对分拣中心的各落袋口执行聚类操作；响应于各聚类的实际聚类中心的位置与各第一落袋口的当前位置相对应，将各第一落袋口的当前位置作为各第一落袋口的最终位置；以及利用自动导引运输车，向分拣中心的各落袋口传送货物。
在一些实施例中，方法还包括：响应于各聚类的实际聚类中心的位置与各第一落袋口的当前位置不对应，将实际聚类中心作为各当前聚类中心，并执行聚类操作。
在一些实施例中，对分拣中心中的各落袋口执行聚类操作，包括：将分拣中心中的各第二落袋口向其中一个当前聚类中心聚类，其中，第二落袋口为分拣中心内，除第一落袋口之外的其它落袋口；以及确定聚类结果中，各聚类的实际聚类中心的位置。
在一些实施例中，将分拣中心中的各第二落袋口向其中一个当前聚类中心聚类，包括：对于每一个第二落袋口，确定该第二落袋口与各当前聚类中心的距离；将与该第二落袋口距离最近的当前聚类中心作为该第二落袋口所属的聚类的聚类中心。
在一些实施例中，确定聚类结果中，各聚类的实际聚类中心的位置，包括：确定各聚类所包含的落袋口在预设坐标系下的坐标值的平均值；将平均值所指示的位置作为该聚类的实际聚类中心的位置。
在一些实施例中，方法还包括：基于各第二落袋口在单位时间内的分拣量确定各第二落袋口在所属的聚类中与该聚类的实际聚类中心的距离。
第二方面，本申请实施例还提供了一种分拣中心的货物分拣装置，分拣中心包括多个以预设分布方式分布的落袋口以及用于向各落袋口传送货物的自动导引运输车，各落袋口与一个目标配送区域相对应，装置包括：当前位置确定单元，配置用于确定分拣中心所包含的各第 一落袋口的当前位置，其中，第一落袋口为分拣中心内，单位时间内的分拣量超过预设分拣量的落袋口；中心确定单元，配置用于将各第一落袋口的当前位置作为当前聚类中心；聚类单元，配置用于对分拣中心的各落袋口执行聚类操作；最终位置确定单元，配置用于响应于各聚类的实际聚类中心的位置与各第一落袋口的当前位置相对应，将各第一落袋口的当前位置作为各第一落袋口的最终位置；以及传送单元，配置用于利用自动导引运输车，向分拣中心的各落袋口传送货物。
在一些实施例中，最终位置确定单元还配置用于：响应于各聚类的实际聚类中心的位置与各第一落袋口的当前位置不对应，将实际聚类中心作为各当前聚类中心，并利用聚类单元执行聚类操作。
在一些实施例中，聚类单元进一步包括：当前聚类子单元，配置用于将分拣中心中的各第二落袋口向其中一个当前聚类中心聚类，其中，第二落袋口为分拣中心内，除第一落袋口之外的其它落袋口；以及位置确定子单元，配置用于确定聚类结果中，各聚类的实际聚类中心的位置。
在一些实施例中，当前聚类子单元进一步配置用于：对于每一个第二落袋口，确定该第二落袋口与各当前聚类中心的距离；以及将与该第二落袋口距离最近的当前聚类中心作为该第二落袋口所属的聚类的聚类中心。
在一些实施例中，位置确定子单元进一步配置用于：确定各聚类所包含的落袋口在预设坐标系下的坐标值的平均值；以及将平均值所指示的位置作为该聚类的实际聚类中心的位置。
在一些实施例中，装置还包括：第二位置确定单元，配置用于基于各第二落袋口在单位时间内的分拣量确定各第二落袋口在所属的聚类中与该聚类的实际聚类中心的距离。
第三方面，本申请实施例还提供一种货物分拣系统，包括：多个以预设分布方式分布的落袋口，各落袋口与一个目标配送区域相对应；多个自动导引运输车，自动导引运输车用于基于如上方法将货物传送至其中一个落袋口。
第四方面，本申请实施例还提供一种设备，包括：一个或多个处 理器；存储装置，用于存储一个或多个程序，当一个或多个程序被一个或多个处理器执行，使得一个或多个处理器实现如上任一的方法。
第五方面，本申请实施例还提供一种计算机可读存储介质，其上存储有计算机程序，程序被处理器执行时实现如上任一的方法。
本申请实施例提供的分拣中心的货物分拣方法和装置，通过将单位时间内的分拣量大于预设分拣量的第一落袋口作为当前聚类中心，来对分拣中心的各落袋口进行聚类，并在各聚类的实际聚类中心的位置与各第一落袋口的当前位置相对应时，将各第一落袋口的当前位置作为述第一落袋口的最终位置，实现了各第一落袋口在分拣中心内分散排布。在利用AGV向分拣中心的各落袋口进行货物运输时，有利于缓解AGV局部拥堵，进而有利于提高分拣效率。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本申请的其它特征、目的和优点将会变得更明显：
图1是本申请可以应用于其中的示例性系统架构图；
图2是根据本申请的分拣中心的货物分拣方法的一个实施例的流程图；
图3A和图3B示出了分拣中心中，落袋口的两种不同分布方式的示意图；
图4A和图4B示出了应用本申请的分拣中心的货物分拣方法的一个应用场景的示意图；
图5是根据本申请的分拣中心的货物分拣装置的一个实施例的结构示意图；
图6是适于用来实现本申请实施例的终端设备或服务器的计算机系统的结构示意图。
具体实施方式
下面结合附图和实施例对本申请作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释相关发明，而非对该发 明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与有关发明相关的部分。
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。
图1示出了可以应用本申请的分拣中心的货物分拣方法或分拣中心的货物分拣装置的实施例的示例性系统架构100。
如图1所示，系统架构100可以包括分拣中心110、网络(图中未示出)和服务器120。分拣中心110包括多个落袋口111以及多个AGV112。落袋口111可以与某一个配送区域相对应。例如，分拣中心110可以包括三个对应于北京市海淀区这一配送区域的落袋口，一个对应于北京市昌平区这一配送区域的落袋口，五个对应于北京市朝阳区这一配送区域的落袋口，等等。AGV112用以向其中一个落袋口运输配送目的地隶属于与该落袋口所对应的配送区域的货物。
网络可以在AGV112和服务器120之间提供通信链路的介质。网络可以包括各种连接类型，例如有线、无线通信链路或者光纤电缆等等。
AGV112通过网络104与服务器120交互，以接收或发送消息等。例如，AGV112可以通过向服务器120发送当前所承载货物的标识信息(例如，货物的配送目的地信息、货物的重量信息、货物的体积信息等等)，服务器120基于所接收到的标识信息生成运输指令，并将所生成的运输指令通过网络发送给AGV112。运输指令例如可以用于指示AGV112的运输路径、运输速度、运输终点所对应的落袋口位置等等。
需要说明的是，本申请实施例所提供的分拣中心的货物分拣方法一般由服务器120执行，相应地，分拣中心的货物分拣装置一般设置于服务器120中。
应该理解，图1中的分拣中心110、网络和服务器120的数目仅仅是示意性的。根据实现需要，可以具有任意数目的分拣中心110、网络和服务器120。
继续参考图2，示出了根据本申请的分拣中心的货物分拣方法的一个实施例的流程200。
分拣中心包括多个以预设分布方式分布的落袋口以及用于向各落袋口传送货物的AGV。AGV可以在分拣中心的货物存放区和各落袋口之间往复穿梭，从而将货物存放区的货物传送至相应的落袋口。各落袋口分别与某个目标配送区域相对应。
在一些应用场景中，与同一个分拣中心中的各落袋口相对应的配送区域例如可以同属于一个配送片区。也即是说，一个配送片区可以包括多个相互邻接和/或相互部分交叉的配送区域，而同属该配送片区的配送区域的货物可以由同一个分拣中心分拣，并输送至相应的配送区域。
在这里，分布方式可以用于指示分拣中心所包含的各落袋口的位置信息。预设分布方式可以是根据分拣中心的具体应用场景(例如，包括但不限于分拣中心所对应的配送片区的面积和单位时间内的配送量、分拣中心的面积等)而预先设置的分布方式。
例如，在一些应用场景中，如图3A所示，分拣中心的各落袋口310可以以阵列分布的方式设置。在这些应用场景中，各落袋口可以作为一M行N列的阵列中的一个元素，且相邻落袋口之间的间距为一已知距离值。在这些应用场景中，AGV可以在各落袋口之间的间隔区运行，从而将货物运送至相应的落袋口。
或者，在另一些应用场景中，如图3B所示，分拣中心的各落袋口320还可以以某一预设间隔均匀地分布在一圆周上。在这些应用场景中，AGV可以在圆周上运行，从而将货物运送至相应的落袋口。
需要说明的是，无论分拣中心的落袋口以何种预设分布方式设置，本实施例的分拣中心的货物分拣方法应用其上的电子设备(例如，图1中的服务器120)均可以实时或者预先获得分拣中心的落袋口的分布方式。
本实施例的分拣中心的货物分拣方法，包括以下步骤：
步骤210，确定分拣中心所包含的各第一落袋口的当前位置，其中，第一落袋口为分拣中心内，单位时间内的分拣量超过预设分拣量 的落袋口。
由于落袋口与某一个配送区域相对应，而各配送区域由于某种原因，单位时间内的配送量存在差异，因此，各落袋口在单位时间内的分拣量也存在差异。例如，在一些应用场景中，分拣中心中，某一落袋口A所对应的配送区域为一写字楼，而另一落袋口B所对应的配送区域为一居民区。由于这两个配送区域内的常住人口及其购买力的差异，落袋口A和落袋口B所对应的配送区域在单位时间内的配送量可能存在较大的差异。相应地，在单位时间内，落袋口A的分拣量和落袋口B的分拣量也存在较大的差异。
在一些应用场景中，可以分别对分拣中心内一段时间内与各配送区域相对应的落袋口的分拣量进行计数，得到该一段时间内各落袋口的分拣量，进而可以确定出各落袋口单位时间内的分拣量。
在一些应用场景中，例如可以在预设分布方式所指示的分布位置中随机分布各第一落袋口，以确定出分拣中心中各第一落袋口的当前位置。
步骤220，将各第一落袋口的当前位置作为当前聚类中心。
步骤230，对分拣中心中的各落袋口执行聚类操作。
在这里，执行聚类操作所应用的聚类算法可以是目前使用或者待未来开发的任意一种聚类算法。包括但不限于聚合聚类算法(例如，CURE算法)、基于密度的聚类算法(例如，DBSCAN算法)、基于网格的聚类算法(例如，STING算法)、基于平方误差的迭代重分配聚类算法(例如，K-means算法)等等。
通过上述的步骤220和步骤230，可以将分拣中心的各个落袋口划分为多个聚类，且聚类的数量与第一落袋口的数量相对应。
例如，分拣中心包含3个第一落袋口，那么通过执行上述步骤220和步骤230，可以将该分拣中心的各落袋口划分为3个聚类，并且分拣中心的每个落袋口属于其中某一个聚类。
在执行步骤230之后，分拣中心的各落袋口划分形成了多个组(即，多个聚类)，且每个聚类均具有一实际的聚类中心。以Kmeans算法为例，基于Kmean算法得到的各个聚类中，类中心的位置可以基于该聚 类中各元素的位置均值确定。
步骤240，响应于各聚类的实际聚类中心的位置与各第一落袋口的当前位置相对应，将各第一落袋口的当前位置作为各第一落袋口的最终位置。
在这里，各聚类的实际聚类中心的位置与各第一落袋口的当前位置相对应，可以理解为，各聚类中，属于该聚类的第一落袋口所处的位置与该聚类的实际聚类中心之间的距离不大于该聚类中其它元素(即该聚类中其它落袋口)与该聚类的实际聚类中心之间的距离。
若各聚类的实际聚类中心的位置与分拣中心中的各第一落袋口的当前位置相对应，则可以认为，分拣中心所包含的第一落袋口在该分拣中心的预设分布方式中，尽可能地均匀分布。
步骤250，利用自动导引运输车，向分拣中心的各落袋口传送货物。
例如，在一些应用场景中，本实施例的分拣中心的货物分拣方法应用其上的电子设备可以向AGV发送分拣指令，以使AGV将货物传送至相应的落袋口。
本实施例的分拣中心的货物分拣方法，通过将单位时间内的分拣量大于预设分拣量的第一落袋口作为当前聚类中心，来对分拣中心的各落袋口进行聚类，并在各聚类的实际聚类中心的位置与各第一落袋口的当前位置相对应时，将各第一落袋口的当前位置作为述第一落袋口的最终位置，实现了各第一落袋口在分拣中心内分散排布。在利用AGV向分拣中心的各落袋口进行货物运输时，有利于缓解AGV局部拥堵，进而有利于提高分拣效率。
在一些可选的实现方式中，本实施例的分拣中心的货物分拣方法还可以进一步包括：
步骤260，响应于各聚类的实际聚类中心的位置与各第一落袋口的当前位置不对应，将实际聚类中心作为各当前聚类中心，并执行步骤230的聚类操作。
这样一来，若各聚类的实际聚类中心的位置与各第一落袋口的当前位置不对应，通过步骤230和步骤260的循环迭代，可以将各第一 落袋口的最终位置设置为与各聚类的实际聚类中心的位置相对应的位置，从而实现各第一落袋口在分拣中心内分散排布，进而缓解AGV在向分拣中心的各落袋口传送货物时可能引起的局部拥堵。
在一些可选的实现方式中，本实施例的分拣中心的货物分拣方法中，步骤230的对分拣中心中的各落袋口执行聚类操作，还可以进一步包括：
步骤231，将分拣中心中的各第二落袋口向其中一个当前聚类中心聚类，其中，第二落袋口为分拣中心内，除第一落袋口之外的其它落袋口。
例如，对于每一个第二落袋口，可以首先确定该第二落袋口与各当前聚类中心的距离。接着，将与该第二落袋口距离最近的当前聚类中心作为该第二落袋口所属的聚类的聚类中心。
在一些应用场景中，可以基于各第二落袋口与各当前聚类中心的欧氏距离作为衡量二者之间距离的指标。
步骤232，确定聚类结果中，各聚类的实际聚类中心的位置。
在步骤232中，例如，可以首先确定各聚类所包含的落袋口在预设坐标系下的坐标值的平均值。接着，将平均值所指示的位置作为该聚类的实际聚类中心的位置。
在这里，预设坐标系可以与分拣中心落袋口的分布方式相关联。
例如，在一些应用场景中，分拣中心落袋口的分布方式为图3A所示的阵列式分布，那么，预设坐标系例如可以是以某一位置为原点以阵列的行方向为横轴、以阵列的列方向为纵轴的笛卡尔坐标系。
或者，在另一些应用场景中，分拣中心落袋口的分布方式为图3B所示的分布方式以预设间隔均匀地分布在一圆周上。在这些应用场景中，预设坐标系例如可以是以该圆周所对应的圆心为极点，以过极点并沿某一预设方向延伸的射线为极轴的极坐标系。
在一些应用场景中，各聚类所包含的落袋口在预设坐标系下的坐标值的平均值所指示的位置可能并不等同于预设分布方式中的任意一个落袋口位置。在这些应用场景中，可以将与该坐标值平均值所指示的位置最接近的落袋口位置作为该聚类的实际聚类中心的位置。
下面将进一步结合图4A和图4B来进一步阐述本申请的分拣中心的货物分拣方法的执行过程，从而使得本申请的方法的原理和技术效果更加明确。
在图4A和图4B所示的应用场景中，假设分拣中心包括49个落袋口410，且其中包括3个单位时间内分拣量超过预设分拣量阈值(例如10000件/小时)的第一落袋口。分拣中心所包括这些落袋口以7×7的阵列方式分布，且任意沿阵列行方向或列方向相邻的二落袋口之间的间距相等。
首先，如图4A所示，确定各第一落袋口A～C的当前位置。从图4A中可以看出，第一落袋口A的当前位置为[3,2](即7×7阵列中第三行第二列的位置)，类似地，第一落袋口B的当前位置为[2,6]，第一落袋口C的当前位置为[6,5]。
以[3,2]、[2,6]和[6,5]为聚类中心，对各落袋口进行聚类后，可以将分拣中心的落袋口划分为三个聚类，分别对应于图4A中虚线划分形成的三个区域。
接着，确定三个聚类的实际聚类中心。
通过求取各聚类中，落袋口坐标值的均值可以确定，[3,2]和[2,6]分别是所属聚类的实际聚类中心，而[6,5]所属聚类的实际聚类中心为[6,4]。在这里，由于落袋口以阵列方式分布，且任意沿阵列行方向或列方向相邻的二落袋口之间的间距相等，可以用各落袋口在该阵列中所处的位置来作为各落袋口的坐标值，例如，对于落袋口[6,5]而言，可以将6视为其纵坐标的坐标值，并将5视为其横坐标的坐标值。
接着，以[3,2]、[2,6]和[6,4]为聚类中心，对各落袋口进行聚类，得到的聚类结果如图4B所示。
通过再次求取各聚类中，落袋口坐标值的均值可以确定，[3,2]、[2,6]和[6,4]均为所属聚类的实际聚类中心。这样一来，便可以将[3,2]、[2,6]和[6,4]分别作为分拣中心内，各第一落袋口的最终位置。
在确定各第一落袋口的最终位置后，便可以利用AGV向分拣中心的各落袋口传送货物。由于对分拣中心内各第一落袋口的位置进行了合理的分散排布，在利用AGV向分拣中心的各落袋口进行货物运 输时，有利于缓解AGV局部拥堵，进而有利于提高分拣效率。
此外，在本申请的分拣中心的货物分拣方法的一些可选的实现方式中，分拣中心的货物分拣方法还可以进一步包括：
基于各第二落袋口在单位时间内的分拣量确定各第二落袋口在所属的聚类中与该聚类的实际聚类中心的距离。
例如，可以根据单位时间内的分拣量，来确定属于同一个聚类中的各第二落袋口的位置，使得该聚类中任意一个第二落袋口与该聚类的实际聚类中心之间的距离不小于单位时间内的分拣量小于该第二落袋口的其它第二落袋口与该聚类的实际聚类中心之间的距离。
这样一来，可以根据单位时间内的分拣量大小，进一步地对各聚类中第二落袋口的位置进行合理分散排布，从而进一步缓解AGV向分拣中心的各落袋口进行货物运输时，可能出现的局部拥堵现象。
需要说明的是，本申请各实施例的分拣中心的货物分拣方法，在确定分拣中心各第一落袋口(以及，在一些可选的实现方式中，确定各第二落袋口)的位置时，若确定前第一落袋口的位置与确定后第一落袋口的位置不一致，在确定后，本申请各实施例的分拣中心的货物分拣方法应用其上的电子设备(例如，图1中的服务器120)可以通过修改落袋口与目标配送区域之间的对应关系的方式来调整该第一落袋口的位置，而无需真正将第一落袋口从原位置移动至确定后的位置。
具体地，仍以图4A和图4B的应用场景为例。假设在图4A中，第一落袋口C的目标配送区域为a，落袋口[6,4]的目标配送区域为b。重新确定第一落袋口的位置后，原第一落袋口C的位置改变成为第一落袋口C’，其新的位置变为[6,4]。此时，仅需将[6,4]这一落袋口重新与目标配送区域a进行关联，而将[6,5]这一落袋口与目标配送区域b进行关联，便实现了第一落袋口位置的调整。
进一步参考图5，作为对上述各图所示方法的实现，本申请提供了一种分拣中心的货物分拣装置的一个实施例，该装置实施例与图2所示的方法实施例相对应，该装置具体可以应用于各种电子设备中。
分拣中心包括多个以预设分布方式分布的落袋口以及用于向各落袋口传送货物的自动导引运输车，各落袋口与一个目标配送区域相对 应。
如图5所示，本实施例的分拣中心的货物分拣装置500包括当前位置确定单元510、中心确定单元520、聚类单元530、最终位置确定单元540以及传送单元550。
当前位置确定单元510可配置用于确定分拣中心所包含的各第一落袋口的当前位置，其中，第一落袋口为分拣中心内，单位时间内的分拣量超过预设分拣量的落袋口。
中心确定单元520可配置用于将各第一落袋口的当前位置作为当前聚类中心。
聚类单元530可配置用于对分拣中心的各落袋口执行聚类操作。
最终位置确定单元540可配置用于响应于各聚类的实际聚类中心的位置与各第一落袋口的当前位置相对应，将各第一落袋口的当前位置作为各第一落袋口的最终位置。
传送单元550可配置用于利用自动导引运输车，向分拣中心的各落袋口传送货物。
在一些可选的实现方式中，最终位置确定单元540还可配置用于：响应于各聚类的实际聚类中心的位置与各第一落袋口的当前位置不对应，将实际聚类中心作为各当前聚类中心，并利用聚类单元执行聚类操作。
在一些可选的实现方式中，聚类单元530还可进一步包括：当前聚类子单元，配置用于将分拣中心中的各第二落袋口向其中一个当前聚类中心聚类，其中，第二落袋口为分拣中心内，除第一落袋口之外的其它落袋口；以及位置确定子单元，配置用于确定聚类结果中，各聚类的实际聚类中心的位置。
在一些可选的实现方式中，当前聚类子单元还可进一步配置用于：对于每一个第二落袋口，确定该第二落袋口与各当前聚类中心的距离；以及将与该第二落袋口距离最近的当前聚类中心作为该第二落袋口所属的聚类的聚类中心。
在一些可选的实现方式中，位置确定子单元还可进一步配置用于：确定各聚类所包含的落袋口在预设坐标系下的坐标值的平均值；以及 将平均值所指示的位置作为该聚类的实际聚类中心的位置。
在一些可选的实现方式中，本实施例的分拣中心的货物分拣装置还包括：第二位置确定单元(图中未示出)，配置用于基于各第二落袋口在单位时间内的分拣量确定各第二落袋口在所属的聚类中与该聚类的实际聚类中心的距离。
此外，本申请还公开了一种货物分拣系统。该货物分拣系统包括多个以预设分布方式分布的落袋口以及多个自动导引运输车。
其中，各落袋口与一个目标配送区域相对应。自动导引运输车用于基于如上所述的分拣中心的货物分拣方法来将货物传送至其中一个落袋口。
下面参考图6，其示出了适于用来实现本申请实施例的服务器的计算机系统600的结构示意图。图6示出的服务器仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图6所示，计算机系统600包括中央处理单元(CPU)601，其可以根据存储在只读存储器(ROM)602中的程序或者从存储部分608加载到随机访问存储器(RAM)603中的程序而执行各种适当的动作和处理。在RAM 603中，还存储有系统600操作所需的各种程序和数据。CPU 601、ROM 602以及RAM 603通过总线604彼此相连。输入/输出(I/O)接口605也连接至总线604。
以下部件连接至I/O接口605：包括键盘、鼠标等的输入部分606；包括诸如阴极射线管(CRT)、液晶显示器(LCD)等以及扬声器等的输出部分607；包括硬盘等的存储部分608；以及包括诸如LAN卡、调制解调器等的网络接口卡的通信部分609。通信部分609经由诸如因特网的网络执行通信处理。驱动器610也根据需要连接至I/O接口605。可拆卸介质611，诸如磁盘、光盘、磁光盘、半导体存储器等等，根据需要安装在驱动器610上，以便于从其上读出的计算机程序根据需要被安装入存储部分608。
特别地，根据本公开的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本公开的实施例包括一种计算机程序产品，其包括承载在计算机可读介质上的计算机程序，该计算机程 序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信部分609从网络上被下载和安装，和/或从可拆卸介质611被安装。在该计算机程序被中央处理单元(CPU)601执行时，执行本申请的方法中限定的上述功能。需要说明的是，本申请所述的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本申请中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本申请中，计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、电线、光缆、RF等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请的操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算 机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
附图中的流程图和框图，图示了按照本申请各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
描述于本申请实施例中所涉及到的单元可以通过软件的方式实现，也可以通过硬件的方式来实现。所描述的单元也可以设置在处理器中，例如，可以描述为：一种处理器包括当前位置确定单元、中心确定单元、聚类单元、最终位置确定单元和传送单元。其中，这些单元的名称在某种情况下并不构成对该单元本身的限定，例如，当前位置确定单元还可以被描述为“确定所述分拣中心所包含的各第一落袋口的当前位置的单元”。
作为另一方面，本申请还提供了一种计算机可读介质，该计算机可读介质可以是上述实施例中描述的装置中所包含的；也可以是单独存在，而未装配入该装置中。上述计算机可读介质承载有一个或者多个程序，当上述一个或者多个程序被该装置执行时，使得该装置：确定分拣中心所包含的各第一落袋口的当前位置，其中，第一落袋口为分拣中心内，单位时间内的分拣量超过预设分拣量的落袋口；将各第一落袋口的当前位置作为当前聚类中心；对分拣中心的各落袋口执行聚类操作；响应于各聚类的实际聚类中心的位置与各第一落袋口的当前位置相对应，将各第一落袋口的当前位置作为各第一落袋口的最终 位置；以及利用自动导引运输车，向分拣中心的各落袋口传送货物。
以上描述仅为本申请的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本申请中所涉及的发明范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离上述发明构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本申请中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。

Claims (15)

  1. 一种分拣中心的货物分拣方法，所述分拣中心包括多个以预设分布方式分布的落袋口以及用于向各所述落袋口传送货物的自动导引运输车，各所述落袋口与一个目标配送区域相对应，所述方法包括：
    确定所述分拣中心所包含的各第一落袋口的当前位置，其中，所述第一落袋口为所述分拣中心内，单位时间内的分拣量超过预设分拣量的落袋口；
    将各所述第一落袋口的当前位置作为当前聚类中心；
    对所述分拣中心的各落袋口执行聚类操作；
    响应于各聚类的实际聚类中心的位置与各所述第一落袋口的当前位置相对应，将各所述第一落袋口的当前位置作为各所述第一落袋口的最终位置；以及
    利用自动导引运输车，向分拣中心的各所述落袋口传送货物。
  2. 根据权利要求1所述的方法，其中，所述方法还包括：
    响应于各聚类的实际聚类中心的位置与各所述第一落袋口的当前位置不对应，将所述实际聚类中心作为各所述当前聚类中心，并执行所述聚类操作。
  3. 根据权利要求1或2所述的方法，其中，所述对所述分拣中心中的各落袋口执行聚类操作，包括：
    将所述分拣中心中的各第二落袋口向其中一个当前聚类中心聚类，其中，所述第二落袋口为所述分拣中心内，除所述第一落袋口之外的其它落袋口；以及
    确定聚类结果中，各聚类的实际聚类中心的位置。
  4. 根据权利要求3所述的方法，其中，所述将所述分拣中心中的各第二落袋口向其中一个当前聚类中心聚类，包括：
    对于每一个第二落袋口，确定该第二落袋口与各所述当前聚类中 心的距离；
    将与该第二落袋口距离最近的当前聚类中心作为该第二落袋口所属的聚类的聚类中心。
  5. 根据权利要求3所述的方法，其中，所述确定聚类结果中，各聚类的实际聚类中心的位置，包括：
    确定各聚类所包含的落袋口在预设坐标系下的坐标值的平均值；
    将所述平均值所指示的位置作为该聚类的实际聚类中心的位置。
  6. 根据权利要求3所述的方法，其中，所述方法还包括：
    基于各所述第二落袋口在单位时间内的分拣量确定各所述第二落袋口在所属的聚类中与该聚类的实际聚类中心的距离。
  7. 一种分拣中心的货物分拣装置，所述分拣中心包括多个以预设分布方式分布的落袋口以及用于向各所述落袋口传送货物的自动导引运输车，各所述落袋口与一个目标配送区域相对应，所述装置包括：
    当前位置确定单元，配置用于确定所述分拣中心所包含的各第一落袋口的当前位置，其中，所述第一落袋口为所述分拣中心内，单位时间内的分拣量超过预设分拣量的落袋口；
    中心确定单元，配置用于将各所述第一落袋口的当前位置作为当前聚类中心；
    聚类单元，配置用于对所述分拣中心的各落袋口执行聚类操作；
    最终位置确定单元，配置用于响应于各聚类的实际聚类中心的位置与各所述第一落袋口的当前位置相对应，将各所述第一落袋口的当前位置作为各所述第一落袋口的最终位置；以及
    传送单元，配置用于利用自动导引运输车，向分拣中心的各所述落袋口传送货物。
  8. 根据权利要求7所述的装置，其中，所述最终位置确定单元还配置用于：
    响应于各聚类的实际聚类中心的位置与各所述第一落袋口的当前位置不对应，将所述实际聚类中心作为各所述当前聚类中心，并利用所述聚类单元执行聚类操作。
  9. 根据权利要求7或8所述的装置，其中，所述聚类单元进一步包括：
    当前聚类子单元，配置用于将所述分拣中心中的各第二落袋口向其中一个当前聚类中心聚类，其中，所述第二落袋口为所述分拣中心内，除所述第一落袋口之外的其它落袋口；以及
    位置确定子单元，配置用于确定聚类结果中，各聚类的实际聚类中心的位置。
  10. 根据权利要求9所述的装置，其中，所述当前聚类子单元进一步配置用于：
    对于每一个第二落袋口，确定该第二落袋口与各所述当前聚类中心的距离；以及
    将与该第二落袋口距离最近的当前聚类中心作为该第二落袋口所属的聚类的聚类中心。
  11. 根据权利要求9所述的装置，其中，所述位置确定子单元进一步配置用于：
    确定各聚类所包含的落袋口在预设坐标系下的坐标值的平均值；以及
    将所述平均值所指示的位置作为该聚类的实际聚类中心的位置。
  12. 根据权利要求9所述的装置，其中，所述装置还包括：
    第二位置确定单元，配置用于基于各所述第二落袋口在单位时间内的分拣量确定各所述第二落袋口在所属的聚类中与该聚类的实际聚类中心的距离。
  13. 一种货物分拣系统，包括：
    多个以预设分布方式分布的落袋口，各所述落袋口与一个目标配送区域相对应；
    多个自动导引运输车，所述自动导引运输车用于基于如权利要求1-6任意一项的方法将货物传送至其中一个落袋口。
  14. 一种设备，包括：
    一个或多个处理器；
    存储装置，用于存储一个或多个程序，
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求1-6中任一所述的方法。
  15. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述程序被处理器执行时实现如权利要求1-6中任一所述的方法。
PCT/CN2018/109121 2017-12-12 2018-09-30 分拣中心的货物分拣方法和装置、货物分拣系统 WO2019114381A1 (zh)

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