WO2019233257A1 - 货物分拣方法、控制系统和货物分拣系统 - Google Patents

货物分拣方法、控制系统和货物分拣系统 Download PDF

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Publication number
WO2019233257A1
WO2019233257A1 PCT/CN2019/087088 CN2019087088W WO2019233257A1 WO 2019233257 A1 WO2019233257 A1 WO 2019233257A1 CN 2019087088 W CN2019087088 W CN 2019087088W WO 2019233257 A1 WO2019233257 A1 WO 2019233257A1
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Prior art keywords
picker
order
picking point
agv
picking
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PCT/CN2019/087088
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English (en)
French (fr)
Inventor
梁志康
齐小飞
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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 US17/051,607 priority Critical patent/US11928644B2/en
Publication of WO2019233257A1 publication Critical patent/WO2019233257A1/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
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06311—Scheduling, planning or task assignment for a person or group
    • 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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/644—Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/692—Coordinated control of the position or course of two or more vehicles involving a plurality of disparate vehicles
    • 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
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • 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
    • 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
    • G06Q10/0875—Itemisation or classification of parts, supplies or services, e.g. bill of materials

Definitions

  • the present disclosure relates to the field of intelligent storage technology, and particularly to a cargo sorting method, a control system, and a cargo sorting system.
  • the system In the related technology e-commerce order fulfillment warehouse process, the system often combines multiple orders together to form a task order, and then assigns it to the picker to perform the picking task.
  • the current WMS Warehouse Management System
  • the current WMS implements picking tasks in two categories:
  • the first category a single picker completes all picking independently.
  • the picking path is the order of the main aisle where the storage location of the picking task is located. This method is completely dependent on manpower, and a picker completes the entire picking task.
  • the second category multiple people relay to complete a picking task. Each picker is responsible for part of the area, and the person in front can complete the picking task in his own area and then pass it to the person behind.
  • a cargo sorting method including: receiving a single picking point order of an AGV (Automated Guided Vehicle) arriving at a picking point, and a single picking point
  • the order includes information about the goods belonging to a single picking point in the order associated with the AGV; recommending a single picking point order to a picker no less than a predetermined number; in the case where there is a picking order for a single picking point , Set the single pick point order to the assigned state to avoid being picked up repeatedly.
  • AGV Automate Guided Vehicle
  • recommending a single picking point order to a picker that is not less than a predetermined number includes determining the picker and picking based on the position of the picker in the online state and the position of the picking point where the AGV is located. The distance traveled between points; based on the distance traveled between the picker and the picking point, select no less than a predetermined number of pickers from the online picker; recommend the single pick point order to the selected pick member.
  • the method for sorting goods further includes: maintaining a picker list in an online state according to online and offline information from the picker; and updating the distance between the picker and the picking point before determining the travel distance The position of the picker in the online picker list in the picking point area.
  • the goods sorting method further includes: recommending a single picking point order for the picker according to the task refresh request from the picker; suspending the execution of the refresh according to the task for pickers located in the same picking point area Request a recommendation picking point order operation until the predetermined interval is exceeded.
  • the goods sorting method further includes: determining the picking points that the AGV associated with the order needs to pass through according to the goods required for the order and the storage location of the goods; according to the AGV, the goods required at each picking point Generate AGV single picking point orders for each picking point; plan the AGV's travel route; drive the AGV through each picking point in turn until the picking is completed.
  • a single AGV is associated with one or more orders; the single picking point order includes the cargo information belonging to one or more orders that the AGV needs at a single picking point.
  • the information based on planning the AGV's travel route includes one or more of the following: the location of the picking point that the AGV needs to pass through, the location of the unloading point, and the current location of the AGV; or, at each picking point The number of AGVs waiting.
  • the goods sorting method further includes: after the picker completes the single picking point order, driving the AGV to leave the current picking point, follow the travel route to the next picking point, or when the picking is completed Go down to the unloading point to unload.
  • a cargo sorting control system including: an order receiving module configured to receive a single picking point order of an AGV arriving at a picking point, where the single picking point order includes Information on the goods belonging to a single picking point in the order associated with AGV; the order recommendation module is configured to recommend a single picking point order to a picker no less than a predetermined number; the order marking module is configured to exist When the picker picks up a single picking point order, the single picking point order is set to the assigned state to avoid being picked up repeatedly.
  • the order recommendation module is configured to: determine the travel distance between the picker and the picking point according to the position of the picker in the online state and the position of the picking point where the AGV is located; The distance traveled between the picking points. Choose from a number of pickers who are online, no less than a predetermined number of pickers; recommend a single picking point order to the selected picker.
  • the goods sorting control system further includes: a picker information maintenance module configured to maintain a picker list in an online state according to the online information and offline information from the picker; determined in the distance calculation unit Before the distance between the picker and the picking point, the position of the picker in the picker list corresponding to the online status of the picking point is updated.
  • a picker information maintenance module configured to maintain a picker list in an online state according to the online information and offline information from the picker; determined in the distance calculation unit Before the distance between the picker and the picking point, the position of the picker in the picker list corresponding to the online status of the picking point is updated.
  • the cargo sorting control system further includes a refresh module configured to recommend a single picking point order for the picker according to a task refresh request from the picker, and is suspended to be located in the same picking point area Of pickers perform the operation of recommending a picking point order according to the task refresh request until the predetermined interval is exceeded.
  • a refresh module configured to recommend a single picking point order for the picker according to a task refresh request from the picker, and is suspended to be located in the same picking point area Of pickers perform the operation of recommending a picking point order according to the task refresh request until the predetermined interval is exceeded.
  • the cargo sorting control system further includes: a picking point determination module configured to determine a picking point that an AGV associated with the order needs to pass according to the goods required for the order and the storage space where the goods are placed;
  • the single picking point order determination module is configured to generate AGV single picking point orders for each picking point based on the goods required by the AGV at each picking point;
  • the route planning module is configured to plan the AGV's travel route;
  • the drive module Configured to drive the AGV through each picking point in turn according to the route of travel, until the picking is completed and the unloading point is unloaded.
  • a single AGV is associated with one or more orders; the single picking point order includes the cargo information belonging to one or more orders that the AGV needs at a single picking point.
  • the information based on which the route planning module plans the AGV's travel route includes one or more of the following: the location of the picking point that the AGV needs to pass through, the location of the unloading point, and the current location of the AGV; or, The number of AGVs waiting at the picking point.
  • a cargo sorting control system including: a memory; and a processor coupled to the memory, the processor being configured to execute the above-mentioned based on instructions stored in the memory Any one of the methods of sorting goods.
  • a computer-readable storage medium on which computer program instructions are stored, and the instructions, when executed by a processor, implement any of the goods sorting methods mentioned above. step.
  • a cargo sorting system including: any one of the cargo sorting control systems mentioned above; and, an AGV configured to be in the cargo sorting control system Driven to various picking points, and then to the unloading point to unload after picking.
  • the cargo sorting system further includes: a picker terminal configured to perform one or more of the following operations: to provide the picker to go online to the cargo sorting control system under the trigger of the picker Information and offline information; receiving single picking point orders recommended to the picker and displaying them to the picker; providing the order picking information to the cargo sorting control system when the picker determines to pick up the order.
  • a picker terminal configured to perform one or more of the following operations: to provide the picker to go online to the cargo sorting control system under the trigger of the picker Information and offline information; receiving single picking point orders recommended to the picker and displaying them to the picker; providing the order picking information to the cargo sorting control system when the picker determines to pick up the order.
  • Such a goods sorting system can associate AGVs with orders, from AGV to various picking points for pickers to pick, reducing the walking distance of pickers and shortening the time consuming; the same order can be recommended to multiple pickers The clerk, thus avoiding the busy or leaving state of the clerk to delay the order, and improve the efficiency of warehousing.
  • FIG. 1 is a flowchart of some embodiments of a cargo sorting method of the present disclosure.
  • FIG. 2 is a flowchart of some embodiments of allocating a picker for a single picking point order in the cargo sorting method of the present disclosure.
  • FIG. 3 is a flowchart of another embodiment of a method for sorting goods according to the present disclosure.
  • FIG. 4 is a schematic diagram of some embodiments of a cargo sorting control system of the present disclosure.
  • FIG. 5 is a schematic diagram of another embodiment of a cargo sorting control system of the present disclosure.
  • FIG. 6 is a schematic diagram of still another embodiment of a cargo sorting control system of the present disclosure.
  • FIG. 7 is a schematic diagram of some embodiments of a cargo sorting system of the present disclosure.
  • FIG. 8 is a schematic diagram of some embodiments of an application environment of the cargo sorting system of the present disclosure.
  • FIG. 9 is a flowchart of some embodiments of the operation logic of the cargo sorting system of the present disclosure.
  • FIG. 1 A flowchart of some embodiments of the cargo sorting method of the present disclosure is shown in FIG. 1.
  • a single picking point order of an AGV arriving at a picking point is received, and the single picking point order includes information on the goods belonging to a single picking point in the order associated with the AGV.
  • the information of the goods may include one or more of information such as the name, model, bar code, two-dimensional code, or other goods identification, and may also include the quantity required for the goods.
  • a single AGV may be associated with an order, and the single picking point order includes the cargo information belonging to one order that the AGV needs at a single picking point.
  • the secondary picking can be eliminated, reducing the number of operating steps and improving the efficiency of the completion of a single order, especially when the order requires urgent picking to meet the time limit requirements.
  • a single AGV may be associated with multiple orders, and each single picking point order may include the cargo information belonging to one or more orders that the AGV needs at a single picking point. In this way, a single AGV can be used to simultaneously pick up the goods needed for multiple orders, which balances the time required to complete each order and also reduces the distance that the AGV needs to travel.
  • step 102 a single picking point order is recommended to a picker that is not less than a predetermined number.
  • the predetermined number may be two.
  • step 103 in the case where a picker picks up a single picking point order, the single picking point order is set to an allocated state to avoid being repeatedly picked up.
  • the AGV can be associated with the order. From the AGV to each picking point for the picker to pick, reducing the walking distance of the picker and shortening the time-consuming; the same order can be recommended to multiple picking Therefore, the order picker is prevented from being busy or leaving, which leads to order delay, which improves the efficiency of goods picking.
  • selecting the nearest picker recommendation list picking point order can reduce the distance the picker walks, save manpower, shorten the waiting time of the picker, and improve picking. Cargo efficiency.
  • a flow chart for order picker allocation at a single picking point order is shown in FIG. 2.
  • step 201 the travel distance between the picker and the picking point is determined according to the position of the picker in the online state and the position of the picking point where the AGV is located.
  • the position of the picker in an online state can be updated to improve the real-time nature of the position.
  • the picker position can be obtained in the case where the picker refreshes to request an order, reduce the frequency of positioning, and reduce the data processing pressure on the picker terminal and the system.
  • step 202 according to the travel distance between the picker and the picking point, from the pickers who are online, a order of no less than a predetermined number is selected from the shortest to the longest order.
  • the picker who refreshes the order may be selected first, thereby recommending the picking task to the idler picker first to ensure the efficiency of order execution.
  • step 203 a single picking point order is recommended to the selected picker.
  • a picker can be selected to recommend a single picking point order according to the location of the AGV and the picker, which can reduce the distance the picker walks, shorten the waiting time of the AGV, and improve picking efficiency.
  • the online picker list can be maintained according to the online and offline information from the picker, so as to ensure that the picker assigned to the order is online and avoid the order being delayed.
  • the tasks of the AGVs arriving at the picking point may be delayed to ensure that the quantity in the list of orders to be picked by the picker does not exceed the predetermined order quantity threshold. This avoids delays in order picking due to unforeseen circumstances over a longer period of time.
  • the picker can refresh manually, and the picker terminal sends a task refresh request to the system.
  • a task refresh request is received, a single pick point order is recommended for the picker. If there is an order to be recommended, it can be recommended to the picker first, so that the picking task is recommended to the more free picker to ensure the efficiency of order execution.
  • the operation of recommending a single picking point order according to the task refresh request for the picker located in the same picking point area can be suspended until the predetermined interval is exceeded.
  • the interval can be 2 to 5 seconds, so that the task list belonging to multiple pickers can be refreshed at the same time in a short time, which will cause the order to be picked up by multiple pickers, and improve the reliability of the system.
  • the position of the picker is deleted to avoid assigning the order to the picker, thereby optimizing the balanced distribution effect of the order and avoiding the task of a single picker
  • the order picking is delayed due to excessive weight, or the order recommendation operation is difficult due to the congestion of picker positions in the map.
  • the picker when multiple AGVs arrive at the same picking point, they can be recommended to the picker in the order in which the AGVs arrive, or they can be recommended to the picker according to the priority of the order associated with the AGV.
  • the picker recommends a single picking point order with a high priority to ensure the completion efficiency of the priority order.
  • FIG. 3 A flowchart of another embodiment of the cargo sorting method of the present disclosure is shown in FIG. 3.
  • the picking point that the AGV associated with the order needs to pass through is determined according to the goods required for the order and the storage space where the goods are placed. In some embodiments, the picking point that the AGV associated with the order needs to pass may be determined based on the correspondence between the stored goods and the storage location.
  • a single picking point order of the AGV for each picking point is generated based on the goods required by the AGV at each picking point.
  • the order is split according to the types of goods that are convenient for picking at each picking point, and a single picking point order is generated for each picking point.
  • the goods items belonging to different orders and located at the same picking point can also be combined to form a single picking point order including the goods required for multiple orders.
  • a travel route of the AGV is planned.
  • the path can be planned to minimize the path according to the position of the picking point, the current position, and the position of the unloading point that the AGV needs to pass through.
  • the number of AGVs waiting at each picking point can be taken as a consideration, and the picking point waiting for a small number of AGVs is preferentially selected for picking This reduces waiting time, improves the balance of tasks at each picking point, and optimizes order picking efficiency.
  • step 304 the driving AGV is sequentially passed through each picking point according to the travel route until the picking is completed.
  • the AGV can adjust the route in real time according to the picking pressure status of each picking point to improve the timeliness of path planning.
  • step 305 the system receives a single picking point order for the AGV arriving at the picking point.
  • a single picking point order is recommended to a picker that is not less than a predetermined number.
  • the picker who recommends the order may be determined according to the online status of the picker, the availability of the picker, the location of the picking point, and the position of the picker. Number of pickers. In some embodiments, in the case where at least one of the number of orders at a single picking point to be collected and executed is greater than a predetermined number threshold or at least one of the number of online pickers is greater than a predetermined number of thresholds, the number of recommended orders to The number of pickers, so as to make full use of the advantages of multiple pickers, shorten the time to pick up the order at a single picking point, and improve execution efficiency.
  • step 307 in the case where a picker picks up a single picking point order, the single picking point order is set to an allocated state to avoid being repeatedly picked up.
  • step 308 it is determined whether the picking is completed. If the unloading is completed, step 310 is performed; if the picking is not completed, that is, the AGV has to go to the next picking point, then step 309 is performed.
  • step 309 the AGV is driven to leave the current picking point and follow the route to reach the next picking point.
  • step 310 the AGV is driven to leave the current picking point and proceed to the unloading point to unload.
  • the order receiving module 401 can receive a single picking point order of the AGV arriving at the picking point, and the single picking point order includes information of the goods belonging to a single picking point in the order associated with the AGV.
  • the information of the goods may include one or more of information such as the name, model, bar code, two-dimensional code, or other goods identification, and may also include the required quantity of the goods.
  • the order recommendation module 402 can recommend a single picking point order to a picker that is not less than a predetermined number. In some embodiments, the predetermined number may be two.
  • the order marking module 403 can set a single picking point order to an allocated state when there is a picker to pick up a single picking point order to avoid being repeatedly picked up.
  • Such a control system can associate the AGV with the order, from the AGV to each picking point for the picker to pick, reducing the walking distance of the picker and shortening the time consuming; the same order can be recommended to multiple pickers In order to avoid the delay of orders caused by busy or leaving the picker, and improve the efficiency of goods picking.
  • the order recommendation module 402 can determine the travel distance between the picker and the picking point according to the position of the picker in the online state and the position of the picking point where the AGV is located, and then according to the picker and the picking The distance traveled between points, select no less than a predetermined number of pickers from online pickers, so you can select picker recommendation single pick point orders based on the location of the AGV and pickers, which can reduce picking The distance traveled by the cargo clerk shortens the waiting time of the AGV and improves the picking efficiency.
  • the goods sorting control system 40 may further include a picker information maintenance module 404, which can maintain an online status picker list according to the online and offline information from the picker, thereby ensuring that orders are assigned to Of pickers are online to prevent orders from being delayed.
  • a picker information maintenance module 404 which can maintain an online status picker list according to the online and offline information from the picker, thereby ensuring that orders are assigned to Of pickers are online to prevent orders from being delayed.
  • the picker can refresh manually, and the picker terminal sends a task refresh request.
  • the cargo sorting control system 40 may further include a refresh module 405, which can recommend a single picking point order for the picker after receiving the task refresh request. If there is an order to be recommended, it can be recommended to the picker first, so that the picking task is recommended to the more free picker to ensure the efficiency of order execution.
  • the cargo sorting control system 40 may further include a picking point determination module 406, a single picking point order determination module 407, a route planning module 408, and a driving module 409.
  • the picking point determination module 406 can determine the picking point that the AGV associated with the order needs to go through according to the goods required for the order and the storage space where the goods are placed. In some embodiments, the picking point that the AGV associated with the order needs to pass may be determined based on the correspondence between the stored goods and the storage location.
  • the single picking point order determination module 407 can generate a single picking point order from the AGV for each picking point according to the goods required by the AGV at each picking point.
  • orders can be split according to the types of goods that are convenient for picking at each picking point, and a single picking point order is generated for each picking point.
  • the goods items belonging to different orders and located at the same picking point can also be combined to form a single picking point order including the goods required for multiple orders.
  • the route planning module 408 is capable of planning a traveling route of the AGV.
  • the path can be planned to minimize the path according to the position of the picking point, the current position, and the position of the unloading point that the AGV needs to pass through.
  • the number of AGVs waiting at each picking point can be taken as a consideration, and the picking point waiting for a small number of AGVs is preferentially selected for picking This reduces waiting time, improves the balance of tasks at each picking point, and optimizes order picking efficiency.
  • the route planning module 408 may adjust the route in real time according to the picking pressure status of each picking point, thereby improving the timeliness of path planning.
  • the driving module 409 can drive the AGV to sequentially pass through each picking point in accordance with the travel route until the picking is completed.
  • the AGV can adjust the route in real time according to the picking pressure status of each picking point to improve the timeliness of path planning.
  • Such a control system can carry out AGV path planning and order processing according to the goods required for the order and the storage place where the goods are placed, generate a single picking point order for each picking point, and generate AGV between each picking point, picking The route of movement from the cargo point to the unloading point ensures the efficiency of cargo selection.
  • the cargo sorting control system includes a memory 501 and a processor 502.
  • the memory 501 may be a magnetic disk, a flash memory, or any other non-volatile storage medium.
  • the memory is used to store the instructions in the corresponding embodiments of the goods sorting method described above.
  • the processor 502 is coupled to the memory 501 and may be implemented as one or more integrated circuits, such as a microprocessor or a microcontroller.
  • the processor 502 is configured to execute instructions stored in a memory, which can improve the efficiency of goods picking.
  • the cargo sorting control system 600 includes a memory 601 and a processor 602.
  • the processor 602 is coupled to the memory 601 through a BUS bus 603.
  • the cargo sorting control system 600 can also be connected to an external storage device 605 through a storage interface 604 to call external data, and can also be connected to a network or another computer system (not shown) through a network interface 606. I won't go into details here.
  • a computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the steps of the method for goods sorting corresponding to the method in the embodiment.
  • FIG. 7 A schematic diagram of some embodiments of the cargo sorting system of the present disclosure is shown in FIG. 7.
  • the cargo sorting control system 71 may be any of the cargo sorting control systems mentioned above.
  • AGV721 ⁇ 72n (n is a positive integer) can be driven to each picking point by the drive of the cargo sorting control system, and then unloaded at the unloading point after the picking is completed.
  • Such a goods sorting system can associate AGVs with orders, from AGV to various picking points for pickers to pick, reducing the walking distance of pickers and shortening the time consuming; the same order can be recommended to multiple pickers The clerk, thus avoiding the busy or leaving state of the clerk to delay the order, and improve the efficiency of warehousing.
  • the cargo sorting system may further include a picker terminal 731-73m (m is a positive integer), which can perform at least one of the following operations:
  • the sorting control system provides the picker's online information and offline information; receives the single picking point order recommended to the picker and displays it to the picker; when the picker determines to pick up the order, the picking control is performed on the goods
  • the system provides order picking information.
  • Such a goods sorting system can configure a dedicated picker terminal for the picker, which can conveniently obtain the status information of the picker, facilitate the orderer to obtain the order information, and determine the timing of the recommended order according to the needs of the picker, improving It improves the timeliness and rationality of order allocation.
  • FIG. 8 A schematic diagram of some embodiments of the application environment of the cargo sorting system of the present disclosure is shown in FIG. 8.
  • the small square is a storage location identifier
  • the small dot is a parking location identification.
  • the parking location may be in a one-to-one correspondence with the picking location, or multiple parking locations may belong to the same picking location.
  • the storage space is divided into multiple areas, as shown by the broken line that separates the storage space identifiers. For example, the area shown in the figure includes 4 areas. Complete the selection of goods belonging to different storage areas.
  • Each storage area can have one or more picking points, and can be configured with one or more pickers (as shown by the person icon). In some embodiments, one or more storage areas may not be equipped with a picker. When picking is required, notify the pickers in other nearby storage areas to pick up the order, thereby avoiding the configuration of picking for some unpopular storage areas. Staff cause waste of human resources.
  • Such a system combines AGV with manual picking on the one hand, improves the flexibility of picking, reduces the walking distance of the picker, and reduces waste of human resources; on the other hand, because the area that the picker is responsible for is reduced, it can Increase the proficiency of work and improve the efficiency of cargo picking.
  • FIG. 9 A flowchart of some embodiments of the operation logic of the cargo sorting system of the present disclosure is shown in FIG. 9.
  • the WMS delivers a task.
  • tasks can be issued based on order parameters, for example, orders with higher priority are processed first, orders near the deadline are processed preferentially, and when orders in the same set belong to different picking tasks, Processed orders, other orders must be processed first.
  • the picking task is assigned to the AGV, and a single picking point order is generated according to the order situation in the picking task, and route planning is performed.
  • one or more orders may be included in a picking task, and an AGV may be associated with one or more picking tasks.
  • step 903 the AGV travels to the picking point according to the planned route.
  • a task assignment request is sent to the WMS system.
  • the picker can request assignment of tasks by refreshing the terminal page to facilitate the use of the picker.
  • the picker can scan the storage location identifier to request a task, thereby realizing the sending of the task allocation request on the one hand, and also facilitating the system to determine the picker's capacity based on the storage location identifier scanned by the picker. position.
  • step 905 the picker picks the goods according to the goods details in the picked single pick point order.
  • the picker may be automatically assigned the order associated with the AGV waiting for picking again.
  • the system prompts that there are no pending tasks.
  • the system can record the position of the picker in the storage location, and the mark can be deleted without refreshing after a period of time.
  • a logical area is assumed (a logical area is a region name corresponding to a storage area in data processing, and the corresponding storage area may be a storage area with a predetermined range, a picking area within a predetermined range, etc.)
  • the position of the picker has been relatively accurate. In the recommendation principle, the task is recommended to multiple pickers while avoiding excessive repetitive recommendations.
  • the positions are S 1 , ..., S n , and the positions C 1 , ..., C m of the picking point where the trolley is located in the current logical area.
  • the distance between the i-th picker and the j-th trolley is represented by the shortest distance between the nodes where they are located, that is, d (S i , C j ),
  • variable x ij Use the variable x ij to indicate whether task j is recommended to picker i:
  • Constraint (2) indicates that each picker must be recommended at least q picking tasks
  • Constraint (2) is to balance recommendations and prevent situations where individual picker recommendation lists are empty or there are too many orders.
  • the number 5 is to ensure that each picker is assigned at least 5 tasks, but when there are m tasks (the coefficient is p, which means that each task must appear at least p times), in order to distribute the trolley tasks as evenly as possible, each RF display Tasks. considering In the case of less than 5, only take And a smaller value of 5. (Note that given the solution, each task may appear more than twice)
  • ⁇ j x ij is the number of tasks assigned to the picker i
  • rd j Tasks to control the order in which a picker picks up a single pick point order.
  • rd f (r 1 , r 2 , r 3 ) can be set, r 1 can be set to reflect the task priority, r 2 can reflect the proximity of the relative cut-off time, and r 3 can be used to reflect the waiting time of the AGV.
  • f can be set according to specific business needs.
  • f (r 1 , r 2 , r 3 ) r 1 r 2 r 3 , the higher the task priority, the closer the order closing time or the longer the waiting time in the lane, the corresponding parameter The lower the value.
  • the r 3 value is reduced to improve its rd j ranking.
  • the r 1 corresponding to the high-priority picking task can be approached to 0.
  • the value of specific parameters can be adjusted appropriately in actual operation according to requirements.
  • a re-recommendation can be made for unselected cart tasks.
  • a re-recommendation can be made for unselected cart tasks.
  • step 906 it is determined whether the AGV has completed the picking task, if the picking task is completed, step 908 is performed, and if the picking task is not completed, step 907 is performed.
  • the AGV can determine whether the picking task is completed through the planned picking route.
  • step 907 the AGV travels to the next picking point, and executes step 904 to perform a picking operation at the picking point.
  • step 908 the AGV travels to the unloading point.
  • step 909 the AGV performs the unloading operation automatically or by the unloader.
  • Such a system introduces the way that AGVs associated with the picking task cooperate with different picking personnel to accurately pick the picking task considering the position of the personnel, reducing the invalid walking distance of the picking personnel, and improving the efficiency of the picking operation.
  • AGV in conjunction with pickers eliminates the need to lay tracks between picking points. The order in which AGVs pass through each picking point is not fixed. While increasing flexibility, it also further improves the efficiency of cargo picking.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to work in a specific manner such that the instructions stored in the computer-readable memory produce a manufactured article including an instruction device, the instructions
  • the device implements the functions specified in one or more flowcharts and / or one or more blocks of the block diagram.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of steps can be performed on the computer or other programmable device to produce a computer-implemented process, which can be executed on the computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more flowcharts and / or one or more blocks of the block diagrams.
  • the methods and apparatus of the present disclosure may be implemented in many ways.
  • the methods and devices of the present disclosure can be implemented by software, hardware, firmware or any combination of software, hardware, firmware.
  • the above-mentioned order of the steps of the method is for the purpose of illustration 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 implemented as programs recorded in a recording medium, which programs include machine-readable instructions for implementing a method according to the present disclosure.
  • the present disclosure also covers a recording medium storing a program for executing a method according to the present disclosure.

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Abstract

本公开提出一种货物分拣方法、控制系统和货物分拣系统，涉及智能仓储技术领域。本公开的一种货物分拣方法包括：接收到达拣货点的自动导引运输车AGV的单拣货点订单，单拣货点订单包括与AGV相关联的订单中属于单个拣货点的货物的信息；将单拣货点订单推荐给不小于预定数量的拣货员；在存在拣货员领取单拣货点订单的情况下，将单拣货点订单设置为已分配状态以避免被重复领取。通过这样的方法，能够将AGV与订单相关联，由AGV到各个拣货点供拣货员拣货，减少了拣货员的行走距离，缩短耗时；同一个订单可以推荐给多个拣货员，从而避免拣货员忙碌或离开状态导致订单延误，提高了货物拣选的效率。

Description

货物分拣方法、控制系统和货物分拣系统
相关申请的交叉引用
本公开是以CN申请号为201810584011.7，申请日为2018年6月8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、控制系统和货物分拣系统。
背景技术
在相关技术的电商订单履约仓库流程中，系统往往会将多个订单组合到一起形成一个任务单，然后分给拣货员执行拣货任务。目前的WMS(Warehouse Management System，仓库管理系统)执行拣货任务的方式有2大类：
第一类：单个拣货员独立完成全部拣货。拣货路径是拣货任务的储位所在的主通道的顺序。这种方式完全依赖人力，一个拣货员完成整个拣货任务。
第二类：多人接力完成一个拣货任务。每个拣货员负责部分区域，前面的人完成自己区域的拣货任务后可以通过输送线传递给后面的人。
发明内容
根据本公开的一些实施例的一个方面，提出一种货物分拣方法，包括：接收到达拣货点的AGV(Automated Guided Vehicle，自动导引运输车)的单拣货点订单，单拣货点订单包括与AGV相关联的订单中属于单个拣货点的货物的信息；将单拣货点订单推荐给不小于预定数量的拣货员；在存在拣货员领取单拣货点订单的情况下，将单拣货点订单设置为已分配状态以避免被重复领取。
在一些实施例中，将单拣货点订单推荐给不小于预定数量的拣货员包括：根据在线状态的拣货员的位置和AGV位于的拣货点的位置，确定拣货员与拣货点间的行进距离；根据拣货员与拣货点间的行进距离，从处于在线状态的拣货员中选择不小于预定数量的拣货员；将单拣货点订单推荐给选择的拣货员。
在一些实施例中，货物分拣方法还包括：根据来自拣货员的上线信息和下线信息 维护在线状态的拣货员列表；在确定拣货员与拣货点间的行进距离前，更新拣货点区域内的在线状态的拣货员列表中拣货员的位置。
在一些实施例中，货物分拣方法还包括：根据来自拣货员的任务刷新请求为拣货员推荐单拣货点订单；暂停为位于相同拣货点区域内的拣货员执行根据任务刷新请求推荐单拣货点订单的操作直至超过预定间隔时长。
在一些实施例中，货物分拣方法还包括：根据订单所需的货物和货物摆放的储位确定与订单相关联的AGV需要经过的拣货点；根据AGV在各个拣货点需要的货物生成AGV针对各个拣货点的单拣货点订单；规划AGV的行进路线；驱动AGV按照行进路线依次经过各个拣货点，直至完成拣货。
在一些实施例中，单个AGV与一个或多个订单相关联；单拣货点订单中包括AGV在单个拣货点所需的属于一个或多个订单的货物信息。
在一些实施例中，规划AGV的行进路线所根据的信息包括以下一种或多种：AGV需要经过的拣货点的位置、卸货点的位置和AGV的当前位置；或，在各个拣货点等待的AGV的数量。
在一些实施例中，货物分拣方法还包括：当拣货员完成单拣货点订单后，驱动AGV离开当前拣货点，按照行进路线到达下一个拣货点，或在完成拣货的情况下前往卸货点卸货。
根据本公开的另一些实施例的一个方面，提出一种货物分拣控制系统，包括：订单接收模块，被配置为接收到达拣货点的AGV的单拣货点订单，单拣货点订单包括与AGV相关联的订单中属于单个拣货点的货物的信息；订单推荐模块，被配置为将单拣货点订单推荐给不小于预定数量的拣货员；订单标记模块，被配置为在存在拣货员领取单拣货点订单的情况下，将单拣货点订单设置为已分配状态以避免被重复领取。
在一些实施例中，订单推荐模块被配置为：根据在线状态的拣货员的位置和AGV位于的拣货点的位置，确定拣货员与拣货点间的行进距离；根据拣货员与拣货点间的行进距离，从处于在线状态的拣货员中选择不小于预定数量的拣货员；将单拣货点订单推荐给选择的拣货员。
在一些实施例中，货物分拣控制系统还包括：拣货员信息维护模块，被配置为根据来自拣货员的上线信息和下线信息维护在线状态的拣货员列表；在距离计算单元确定拣货员与拣货点间的行进距离前，更新对应拣货点的在线状态的拣货员列表中拣货员的位置。
在一些实施例中，货物分拣控制系统还包括：刷新模块，被配置为根据来自拣货员的任务刷新请求为拣货员推荐单拣货点订单，且暂停为位于相同拣货点区域内的拣货员执行根据任务刷新请求推荐单拣货点订单的操作直至超过预定间隔时长。
在一些实施例中，货物分拣控制系统还包括：拣货点确定模块，被配置为根据订单所需的货物和货物摆放的储位确定与订单相关联的AGV需要经过的拣货点；单拣货点订单确定模块，被配置为根据AGV在各个拣货点需要的货物生成AGV针对各个拣货点的单拣货点订单；路线规划模块，被配置为规划AGV的行进路线；驱动模块，被配置为驱动AGV按照行进路线依次经过各个拣货点，直至完成拣货后前往卸货点卸货。
在一些实施例中，单个AGV与一个或多个订单相关联；单拣货点订单中包括AGV在单个拣货点所需的属于一个或多个订单的货物信息。
在一些实施例中，路线规划模块规划AGV的行进路线所根据的信息包括以下一种或多种：AGV需要经过的拣货点的位置、卸货点的位置和AGV的当前位置；或，在各个拣货点等待的AGV的数量。
根据本公开的又一些实施例的一个方面，提出一种货物分拣控制系统，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。
根据本公开的再一些实施例的一个方面，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的步骤。
另外，根据本公开的一些实施例的一个方面，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控制系统；和，AGV，被配置为在货物分拣控制系统的驱动下前往各个拣货点，并在拣货完成后前往卸货点卸货。
在一些实施例中，货物分拣系统还包括：拣货员终端，被配置为执行以下操作中的一种或多种：在拣货员的触发下向货物分拣控制系统提供拣货员上线信息和下线信息；接收向拣货员推荐的单拣货点订单并向拣货员显示；在拣货员确定领取订单的情况下，向货物分拣控制系统提供订单领取信息。
这样的货物分拣系统能够将AGV与订单相关联，由AGV到各个拣货点供拣货员拣货，减少了拣货员的行走距离，缩短耗时；同一个订单可以推荐给多个拣货员，从而避免拣货员忙碌或离开状态导致订单延误，提高了货物拣选的效率。
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单拣货点订单分配拣货员的一些实施例的流程图。
图3为本公开的货物分拣方法的另一些实施例的流程图。
图4为本公开的货物分拣控制系统的一些实施例的示意图。
图5为本公开的货物分拣控制系统的另一些实施例的示意图。
图6为本公开的货物分拣控制系统的又一些实施例的示意图。
图7为本公开的货物分拣系统的一些实施例的示意图。
图8为本公开的货物分拣系统的应用环境的一些实施例的示意图。
图9为本公开的货物分拣系统的运行逻辑的一些实施例的流程图。
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。
相关技术中，单个拣货员独立完成全部拣货的方案会导致人员无效行走距离过长，拣货效率低，而多人接力完成一个拣货任务虽然有所改进，但输送线在仓库里面的部署实施不够方便灵活，难以应用。
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，接收到达拣货点的AGV的单拣货点订单，单拣货点订单包括与AGV相关联的订单中属于单个拣货点的货物的信息。在一些实施例中，货物的信息可以包括货物名称、型号、条码、二维码或其他货物标识等信息中的一种或多种，还可以包括货物需要的数量。
在一些实施例中，单个AGV可以与一个订单相关联，单拣货点订单中包括AGV在单个拣货点所需的属于一个订单的货物信息。通过这样的方式，当AGV完成拣选后可以不用二次拣选，减少了操作步骤，提高了单个订单的完成效率，特别是在订单需要紧急拣选的情况下能够满足时限要求。
在另一些实施例中，单个AGV可以与多个订单相关联，每个单拣货点订单中可 以包括AGV在单个拣货点所需的属于一个或多个订单的货物信息。通过这样的方式，能够利用单个AGV同步拣选多个订单需要的货物，均衡了各个订单完成的时间，也减少了AGV需要行走的距离。
在步骤102中，将单拣货点订单推荐给不小于预定数量的拣货员。在一些实施例中，预定数量可以为2。
在步骤103中，在存在拣货员领取单拣货点订单的情况下，将单拣货点订单设置为已分配状态以避免被重复领取。
通过这样的方法，能够将AGV与订单相关联，由AGV到各个拣货点供拣货员拣货，减少了拣货员的行走距离，缩短耗时；同一个订单可以推荐给多个拣货员，从而避免拣货员处于忙碌或离开状态导致订单延误，提高了货物拣选的效率。
在一些实施例中，由于拣货员分布在不同的位置，就近选择拣货员推荐单拣货点订单能够减少拣货员行走的距离，节省人力的同时缩短拣货员的等待时长，提高拣货效率。在一些实施例中，单拣货点订单分配拣货员的流程图如图2所示。
在步骤201中，根据在线状态的拣货员的位置和AGV位于的拣货点的位置，确定拣货员与拣货点间的行进距离。
在一些实施例中，可以在需要推荐拣货员时更新在线状态的拣货员的位置，提高位置的实时性。在另一些实施例中，可以在拣货员刷新来请求获取订单的情况下获取拣货员位置，降低定位的频率，降低对拣货员终端和系统的数据处理压力。
在步骤202中，根据拣货员与拣货点间的行进距离，从处于在线状态的拣货员中按照距离从短到长的顺序选择不小于预定数量的拣货员。在一些实施例中，可以优先选择刷新订单的拣货员，从而优先向较为空闲的拣货员推荐拣货任务，保证订单的执行效率。
在步骤203中，将单拣货点订单推荐给选择的拣货员。
通过这样的方法，能够根据AGV和拣货员的位置就近选择拣货员来推荐单拣货点订单，从而能够减少拣货员行走的距离，缩短AGV的等待时长，提高拣货效率。
在一些实施例中，可以根据来自拣货员的上线信息和下线信息维护在线状态的拣货员列表，从而保证订单分配给的拣货员处于在线状态，避免订单被延误执行。
在一些实施例中，为避免为拣货员推荐的任务过多，可以对到达拣货点的AGV的任务延迟分配，保证拣货员的待拣选订单列表中的数量不超过预定订单数量门限，从而避免由于较长时间后的情况不可预期导致的订单拣选延误。
在一些实施例中，拣货员可以手动刷新，拣货员终端会向系统发送任务刷新请求。当收到任务刷新请求后，为拣货员推荐单拣货点订单。若存在待推荐的订单，可以优先推荐给该拣货员，从而优先向较为空闲的拣货员推荐拣货任务，保证订单的执行效率。
在一些实施例中，当为拣货员刷新订单后，可以暂停为位于相同拣货点区域内的拣货员执行根据任务刷新请求推荐单拣货点订单的操作，直至超过预定间隔时长，预定间隔时长可以为2～5秒，从而避免短时间能同时刷新归属于多个拣货员的任务列表导致订单被多个拣货员领取，提高系统的可靠性。
在一些实施例中，当拣货员在预定持续时长内未刷新订单，则删除拣货员的位置，避免为该拣货员分配订单，从而优化订单的均衡分配效果，避免单拣货员任务过重导致订单拣选延迟，或地图中拣货员位置拥堵造成的订单推荐运算困难。
在一些实施例中，可以在拣货员触发AGV标识的情况下确定拣货员领取单拣货点订单成功。例如，在AGV上增加二维码，拣货员终端扫描二维码认领该AGV在本拣货点的单拣货点订单，或者在AGV上增加触发装置，拣货员触摸、按压该装置则确定领取该订单。通过这样的方法，能够确认拣货员到达AGV的位置领取订单，避免订单被重复领取，还能够避免订单被拣货员在不知道的情况下误操作领取，保证单拣货点订单的拣选尽快被执行。
在一些实施例中，还可以对不同拣货员进行工作能力评价，根据能力为拣货员推荐单拣货点订单，例如，在推荐的订单数量相当的情况下，优先为效率高的拣货员推荐订单，从而实现根据对已有的单拣货点订单的预期完成顺序分配后续订单的拣货员，进一步提高了订单拣选效率。
在一些实施例中，当多个AGV到达同一个拣货点时，可以按照AGV到达的先后顺序向拣货员推荐，也可以按照AGV所关联的订单的优先级向拣货员推荐，优先向拣货员推荐优先级高的单拣货点订单，从而优先保证优先级高的订单的完成效率。
本公开的货物分拣方法的另一些实施例的流程图如图3所示。
在步骤301中，根据订单所需的货物和货物摆放的储位确定与订单相关联的AGV需要经过的拣货点。在一些实施例中，可以基于存储的货物与储位的对应关系确定与订单相关联的AGV需要经过的拣货点。
在步骤302中，根据AGV在各个拣货点需要的货物生成AGV针对各个拣货点的单拣货点订单。在一些实施例中，根据各个拣货点便于拣选的货物种类拆分订单， 针对每个拣货点生成单拣货点订单。在另一些实施例中，还可以组合属于不同订单、位于相同拣货点的货物条目，形成包括多个订单所需货物的单拣货点订单。
在步骤303中，规划AGV的行进路线。在一些实施例中，可以根据AGV需要经过的拣货点的位置、当前位置以及卸货点的位置规划路径使路径最短。
在另一些实施例中，考虑到各个拣货点等待拣货的AGV数量的差异，可以将在各个拣货点等待的AGV的数量作为考虑因素，优先选择等待AGV数量少的拣货点进行拣选，从而减少等待时间，提高各个拣货点任务的均衡程度，优化订单拣选效率。
在步骤304中，驱动AGV按照行进路线依次经过各个拣货点，直至完成拣货。在一些实施例中，AGV在经过各个拣货点的过程中，可以根据各个拣货点的拣货压力状态实时调整路线，提高路径规划的时效性。
在步骤305中，系统接收到达拣货点的AGV的单拣货点订单。
在步骤306中，将单拣货点订单推荐给不小于预定数量的拣货员。在一些实施例中，可以根据拣货员的在线情况、拣货员的空闲情况、拣货点的位置、拣货员的位置确定将订单推荐给的拣货员，还可以确定将订单推荐给的拣货员的数量。在一些实施例中，在待领取、待执行的单拣货点订单数量大于预定数量门限或在在线拣货员数量大于预定人数门限中至少一种发生的情况下，可以增加将订单推荐给的拣货员的数量，从而充分利用多拣货员的优势，缩短单拣货点订单被领取的时间，提高执行效率。
在步骤307中，在存在拣货员领取单拣货点订单的情况下，将单拣货点订单设置为已分配状态以避免被重复领取。
在步骤308中，判断是否完成拣货。若完成卸货，则执行步骤310；若未完成拣货，即AGV还要前往下一个拣货点，则执行步骤309。
在步骤309中，驱动AGV离开当前拣货点，按照行进路线到达下一个拣货点。
在步骤310中，驱动AGV离开当前拣货点，前往卸货点卸货。
通过这样的方法，能够根据订单所需的货物和货物摆放的储位进行AGV路径规划和订单处理，生成针对各个拣货点的单拣货点订单，并生成AGV在各个拣货点间、拣货点到卸货点间运动的路线，保证货物拣选的效率。
本公开的货物分拣控制系统40的一些实施例的示意图如图4所示。订单接收模块401能够接收到达拣货点的AGV的单拣货点订单，单拣货点订单包括与AGV相关联的订单中属于单个拣货点的货物的信息。在一些实施例中，货物的信息可以包括货物名称、型号、条码、二维码或其他货物标识等信息中的一种或多种，还可以包括货 物需要的数量。订单推荐模块402能够将单拣货点订单推荐给不小于预定数量的拣货员。在一些实施例中，预定数量可以为2。订单标记模块403能够在存在拣货员领取单拣货点订单的情况下，将单拣货点订单设置为已分配状态以避免被重复领取。
这样的控制系统能够将AGV与订单相关联，由AGV到各个拣货点供拣货员拣货，减少了拣货员的行走距离，缩短耗时；同一个订单可以推荐给多个拣货员，从而避免拣货员忙碌或离开状态导致订单延误，提高了货物拣选的效率。
在一些实施例中，订单推荐模块402能够根据在线状态的拣货员的位置和AGV位于的拣货点的位置确定拣货员与拣货点间的行进距离，进而根据拣货员与拣货点间的行进距离，从处于在线状态的拣货员中选择不小于预定数量的拣货员，从而能够根据AGV和拣货员的位置就近选择拣货员推荐单拣货点订单，能够减少拣货员行走的距离，缩短AGV的等待时长，提高拣货效率。
在一些实施例中，货物分拣控制系统40还可以包括拣货员信息维护模块404，能够根据来自拣货员的上线信息和下线信息维护在线状态的拣货员列表，从而保证订单分配给的拣货员处于在线状态，避免订单被延误执行。
在一些实施例中，拣货员可以手动刷新，拣货员终端会发送任务刷新请求。货物分拣控制系统40还可以包括刷新模块405，能够在收到任务刷新请求后为拣货员推荐单拣货点订单。若存在待推荐的订单，可以优先推荐给该拣货员，从而优先向较为空闲的拣货员推荐拣货任务，保证订单的执行效率。
在一些实施例中，货物分拣控制系统40还可以包括拣货点确定模块406、单拣货点订单确定模块407、路线规划模块408和驱动模块409。
拣货点确定模块406能够根据订单所需的货物和货物摆放的储位确定与订单相关联的AGV需要经过的拣货点。在一些实施例中，可以基于存储的货物与储位的对应关系确定与订单相关联的AGV需要经过的拣货点。
单拣货点订单确定模块407能够根据AGV在各个拣货点需要的货物生成AGV针对各个拣货点的单拣货点订单。在一些实施例中，可以根据各个拣货点便于拣选的货物种类拆分订单，针对每个拣货点生成单拣货点订单。在另一些实施例中，还可以组合属于不同订单、位于相同拣货点的货物条目，形成包括多个订单所需货物的单拣货点订单。
路线规划模块408能够规划AGV的行进路线。在一些实施例中，可以根据AGV需要经过的拣货点的位置、当前位置以及卸货点的位置规划路径使路径最短。在另一 些实施例中，考虑到各个拣货点等待拣货的AGV数量的差异，可以将在各个拣货点等待的AGV的数量作为考虑因素，优先选择等待AGV数量少的拣货点进行拣选，从而减少等待时间，提高各个拣货点任务的均衡程度，优化订单拣选效率。在一些实施例中，AGV在经过各个拣货点的过程中，路线规划模块408可以根据各个拣货点的拣货压力状态实时调整路线，提高路径规划的时效性。
驱动模块409能够驱动AGV按照行进路线依次经过各个拣货点，直至完成拣货。在一些实施例中，AGV在经过各个拣货点的过程中，可以根据各个拣货点的拣货压力状态实时调整路线，提高路径规划的时效性。
这样的控制系统能够根据订单所需的货物和货物摆放的储位进行AGV路径规划和订单处理，生成针对各个拣货点的单拣货点订单，并生成AGV在各个拣货点间、拣货点到卸货点间运动的路线，保证货物拣选的效率。
本公开货物分拣控制系统的一些实施例的结构示意图如图5所示。货物分拣控制系统包括存储器501和处理器502。其中：存储器501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物分拣方法的对应实施例中的指令。处理器502耦接至存储器501，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502用于执行存储器中存储的指令，能够实现提高货物拣选的效率。
在一些实施例中，还可以如图6所示，货物分拣控制系统600包括存储器601和处理器602。处理器602通过BUS总线603耦合至存储器601。该货物分拣控制系统600还可以通过存储接口604连接至外部存储装置605以便调用外部数据，还可以通过网络接口606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，能够实现提高货物拣选的效率。
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物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7所示。货物分拣控制系统71可以为上文中提到的任意一种货物分拣控制系统。AGV721～72n(n为正整数)能够在货物分拣控制系统的驱动下前往各个拣货点，并在拣货完成后前往卸货点卸货。
这样的货物分拣系统能够将AGV与订单相关联，由AGV到各个拣货点供拣货员拣货，减少了拣货员的行走距离，缩短耗时；同一个订单可以推荐给多个拣货员，从而避免拣货员忙碌或离开状态导致订单延误，提高了货物拣选的效率。
在一些实施例中，如图7所示，货物分拣系统还可以包括拣货员终端731～73m(m为正整数)，能够执行以下至少一种操作：在拣货员的触发下向货物分拣控制系统提供拣货员上线信息和下线信息；接收向拣货员推荐的单拣货点订单并向拣货员显示；在拣货员确定领取订单的情况下，向货物分拣控制系统提供订单领取信息。
这样的货物分拣系统能够为拣货员配置专属的拣货员终端，能够方便获取拣货员状态信息，方便拣货员获取订单信息，能够根据拣货员的需要确定推荐订单的时机，提高了订单分配的及时性和合理性。
本公开的货物分拣系统的应用环境的一些实施例的示意图如图8所示。小方格为储位标识，小圆点为停车点标识，停车点可以与拣货点为一一对应关系，也可以多个停车点归属于同一个拣货点。如分隔储位标识的折线所示，仓储空间分为多个区域，例如图示区域中包括4个区域，AGV(如小车型图标所示)在不同的仓储区域间、不同拣货点运动，完成归属于不同仓储区域的货物的拣选。每个仓储区域可以有一个或多个拣货点，以及可以配置一个或多个拣货员(如人形图标所示)。在一些实施例中，一个或多个仓储区域可以不配置拣货员，当需要拣货时，通知附近其他仓储区域中的拣货员前来领取订单，从而避免为部分冷门仓储区域配置拣货员造成人力资源浪费。
这样的系统一方面将AGV与人工拣货配合，提高了拣货的灵活性，减少了拣货员的行走距离，降低了人力资源浪费；另一方面，由于拣货员负责的区域减少，能够增加工作的熟练程度，提高货物拣选效率。
本公开的货物分拣系统的运行逻辑的一些实施例的流程图如图9所示。
在步骤901中，WMS下发任务。在一些实施例中，可以基于订单参数下发任务，例如，优先级高的订单先处理，临近绝限时刻的订单优先处理，以及当同一集合的订单归属于不同拣货任务时，若存在被处理的订单，则其他订单要优先处理。
在步骤902中，将拣选任务分配到AGV，并根据拣选任务中的订单情况生成单 拣货点订单，并进行路径规划。在一些实施例中，拣选任务中可以包括一个或多个订单，一个AGV可以与一个或多个拣选任务相关联。
在步骤903中，AGV根据规划的路线行驶到拣货点。
在步骤904中，当拣货员刷新请求分配任务时，向WMS系统发送任务分配请求。在一些实施例中，拣货员可以通过刷新终端页面的方式请求分配任务，方便拣货员的使用。在另一些实施例中，拣货员可以扫描储位标识请求分配任务，从而一方面实现了任务分配请求的发送，另一方面也便于系统根据拣货员扫描的储位标识确定拣货员的位置。
在步骤905中，拣货员按照领取的单拣货点订单中的货物明细拣货。
在一些实施例中，当拣货员完成一个单拣货点订单中最后一件货物的拣选后，可以再次自动给该拣货员分配等待拣货的AGV所关联的订单。在一些实施例中，如果没有等待拣货的AGV，则系统提示无待拣选任务。系统可以记录拣选员在储位中的位置，过一段时间无刷新则可以删除标记。
在一些实施例中，假设逻辑区(逻辑区为数据处理中与仓储区域相对应的区域代称，其对应的仓储区域可以是预定范围的储物区域，距离在预定范围内的拣货区域等)内有至少1个拣货员。拣货员的位置已经相对准确，在推荐原则中保证将任务推荐到多个拣货员的同时，避免过多的重复性推荐。
假设本逻辑区有n个在线的拣货员负责所在逻辑区的拣货工作人的位置为S 1,…,S n，当前逻辑区内小车所在拣货点的位置C 1,…,C m。第i个拣货员和第j辆小车之间的距离用两者所在节点的最短路距离表示，即d(S i,C j)，
用变量x ij代表任务j是否被推荐给拣货员i：
Figure PCTCN2019087088-appb-000001
考虑如下模型：
Figure PCTCN2019087088-appb-000002
s.t.∑ ix ij≥p             (1)
∑ jx ij≥q               (2)
x ij∈{0,1}，
约束(1)表示每个小车任务至少要推荐给p个拣货员，p＝min{2,n}。n＝1时， 每个小车任务只能推荐给1个拣货员；n≥2时，每个小车任务至少推荐给2个拣货员。
约束(2)表示每个拣货员至少要被推荐q个拣货任务，
Figure PCTCN2019087088-appb-000003
约束(2)是为了均衡推荐，防止出现个别拣货员推荐列表为空或者订单过多的情况。具体来讲，
Figure PCTCN2019087088-appb-000004
中的5是为保证每个拣货员至少分配有5个任务，但是当有m个任务(系数为p，表示每个任务至少要出现p次)时，为了尽量均匀分布小车任务，每个RF显示
Figure PCTCN2019087088-appb-000005
个任务即可。考虑到
Figure PCTCN2019087088-appb-000006
小于5的情形，只取
Figure PCTCN2019087088-appb-000007
和5的较小值。(注意，给出的解，每个任务可能出现不止两次)
从模型容易看出，模型具有可行解。
Figure PCTCN2019087088-appb-000008
∑ jx ij为分配到拣货员i的任务个数，x ij＝1代表要在任务j分配给拣货员i，对于所有满足x ij＝1的任务j，按照权重rd j的升序排列任务，从而控制拣货员领取单拣货点订单的顺序。在一些实施例中，可以设置rd＝f(r 1，r 2，r 3)，可以设置r 1反映任务优先级,r 2反映相对截单时间的临近程度，r 3反映AGV的等待时间。f可以跟具体的业务需求设置。
在一些实施例中，可以令f(r 1,r 2,r 3)＝r 1r 2r 3，任务优先级越高，越临近截单时间或者在巷道等待时间越长，则相应的参数值越低。比如，携带任务j的小车在巷道内等待时间超过某个阈值时，将其r 3值调低来提高其rd j排序。当需要高优先级的必须优先拣货时，可以令高优先级拣货任务对应的r 1趋近于0。具体的参数的值可以根据需求在实际运营中进行适当调整。
当有拣货员扫储位触发刷新分配任务时，对于未被拣选的小车任务可以进行再次推荐。为了避免短时间内有多人刷新分配任务列表。限制在一定时间内(比如3s)，不刷新同一位置附近的拣货员的订单推荐列表。
在步骤906中，判断AGV是否完成拣货任务，若完成拣货任务，则执行步骤908，若未完成拣货任务，则执行步骤907。在一些实施例中，AGV可以通过已规划的拣货路线判断是否完成拣货任务。
在步骤907中，AGV行驶到下一个拣货点，执行步骤904进行在该拣货点的拣货操作。
在步骤908中，AGV行驶到卸货点。
在步骤909中，AGV自动或由卸货员完成卸货操作。
这样的系统引入与拣货任务相关联的AGV与不同拣货人员配合拣货的方式，考虑人员位置精准分配拣货任务，减少拣货人员的无效行走距离，提升拣货作业效率。同时，采用AGV与拣货员配合的方式无需在拣货点间铺设轨道，AGV经过各个拣货 点的顺序不固定，在提高灵活度的同时，进一步提高了货物拣选的效率。
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 (19)

  1. 一种货物分拣方法，包括：
    接收到达拣货点的自动导引运输车AGV的单拣货点订单，所述单拣货点订单包括与所述AGV相关联的订单中属于单个拣货点的货物的信息；
    将所述单拣货点订单推荐给不小于预定数量的拣货员；
    在存在拣货员领取所述单拣货点订单的情况下，将所述单拣货点订单设置为已分配状态以避免被重复领取。
  2. 根据权利要求1所述的货物分拣方法，其中，所述将所述单拣货点订单推荐给不小于预定数量的拣货员包括：
    根据在线状态的所述拣货员的位置和所述AGV位于的拣货点的位置，确定拣货员与拣货点间的行进距离；
    根据所述拣货员与拣货点间的行进距离，从处于在线状态的拣货员中选择不小于预定数量的拣货员；
    将所述单拣货点订单推荐给选择的拣货员。
  3. 根据权利要求2所述的货物分拣方法，还包括：
    根据来自拣货员的上线信息和下线信息维护在线状态的拣货员列表；
    在确定所述拣货员与拣货点间的行进距离前，更新拣货点区域内的在线状态的拣货员列表中所述拣货员的位置。
  4. 根据权利要求1所述的货物分拣方法，还包括：
    根据来自拣货员的任务刷新请求为拣货员推荐单拣货点订单；
    暂停为位于相同拣货点区域内的拣货员执行根据所述任务刷新请求推荐单拣货点订单的操作，直至超过预定间隔时长。
  5. 根据权利要求1所述的货物分拣方法，还包括：
    根据订单所需的货物和货物摆放的储位确定与所述订单相关联的AGV需要经过的拣货点；
    根据所述AGV在各个拣货点需要的货物生成所述AGV针对各个拣货点的单拣货点订单；
    规划所述AGV的行进路线；
    驱动所述AGV按照所述行进路线依次经过各个拣货点，直至完成拣货。
  6. 根据权利要求5所述的货物分拣方法，其中，单个AGV与一个或多个订单相关联；
    所述单拣货点订单中包括所述AGV在单个拣货点所需的属于一个或多个订单的货物信息。
  7. 根据权利要求5所述的货物分拣方法，其中，所述规划所述AGV的行进路线所根据的信息包括以下一种或多种：
    所述AGV需要经过的拣货点的位置、卸货点的位置和所述AGV的当前位置；或，
    在各个拣货点等待的AGV的数量。
  8. 根据权利要求5所述的货物分拣方法，还包括：
    当所述拣货员完成所述单拣货点订单后，驱动所述AGV离开当前拣货点，按照所述行进路线到达下一个拣货点，或在完成拣货的情况下前往卸货点卸货。
  9. 一种货物分拣控制系统，包括：
    订单接收模块，被配置为接收到达拣货点的自动导引运输车AGV的单拣货点订单，所述单拣货点订单包括与所述AGV相关联的订单中属于单个拣货点的货物的信息；
    订单推荐模块，被配置为将所述单拣货点订单推荐给不小于预定数量的拣货员；
    订单标记模块，被配置为在存在拣货员领取所述单拣货点订单的情况下，将所述单拣货点订单设置为已分配状态以避免被重复领取。
  10. 根据权利要求9所述的货物分拣控制系统，其中，所述订单推荐模块被配置为：
    根据在线状态的所述拣货员的位置和所述AGV位于的拣货点的位置，确定拣货员与拣货点间的行进距离；
    根据所述拣货员与拣货点间的行进距离，从处于在线状态的拣货员中选择不小于预定数量的拣货员；
    将所述单拣货点订单推荐给选择的拣货员。
  11. 根据权利要求10所述的货物分拣控制系统，还包括：
    拣货员信息维护模块，被配置为根据来自拣货员的上线信息和下线信息维护在线状态的拣货员列表；在所述距离计算单元确定所述拣货员与拣货点间的行进距离前，更新对应拣货点的在线状态的拣货员列表中所述拣货员的位置。
  12. 根据权利要求9所述的货物分拣控制系统，还包括：
    刷新模块，被配置为根据来自拣货员的任务刷新请求为拣货员推荐单拣货点订单，且暂停为位于相同拣货点区域内的拣货员执行根据所述任务刷新请求推荐单拣货点订单的操作直至超过预定间隔时长。
  13. 根据权利要求9所述的货物分拣控制系统，还包括：
    拣货点确定模块，被配置为根据订单所需的货物和货物摆放的储位确定与所述订单相关联的AGV需要经过的拣货点；
    单拣货点订单确定模块，被配置为根据所述AGV在各个拣货点需要的货物生成所述AGV针对各个拣货点的单拣货点订单；
    路线规划模块，被配置为规划所述AGV的行进路线；
    驱动模块，被配置为驱动所述AGV按照所述行进路线依次经过各个拣货点，直至完成拣货后前往卸货点卸货。
  14. 根据权利要求13所述的货物分拣控制系统，其中，单个AGV与一个或多个订单相关联；
    所述单拣货点订单中包括所述AGV在单个拣货点所需的属于一个或多个订单的货物信息。
  15. 根据权利要求13所述的货物分拣控制系统，其中，所述路线规划模块规划所述AGV的行进路线所根据的信息包括以下一种或多种：
    所述AGV需要经过的拣货点的位置、卸货点的位置和所述AGV的当前位置；或，
    在各个拣货点等待的AGV的数量。
  16. 一种货物分拣控制系统，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8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8任意一项所述的方法的步骤。
  18. 一种货物分拣系统，包括：
    权利要求9～16任意一项所述的货物分拣控制系统；和，
    自动导引运输车AGV，被配置为在所述货物分拣控制系统的驱动下前往各个拣 货点，并在拣货完成后前往卸货点卸货。
  19. 根据权利要求18所述的货物分拣系统，还包括：拣货员终端，被配置为执行以下操作中的一种或多种：
    在拣货员的触发下向所述货物分拣控制系统提供拣货员上线信息和下线信息；
    接收向拣货员推荐的单拣货点订单并向拣货员显示；或，
    在拣货员确定领取订单的情况下，向所述货物分拣控制系统提供订单领取信息。
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