WO2020238657A1 - 货品分拣方法及货品分拣系统 - Google Patents

货品分拣方法及货品分拣系统 Download PDF

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Publication number
WO2020238657A1
WO2020238657A1 PCT/CN2020/090635 CN2020090635W WO2020238657A1 WO 2020238657 A1 WO2020238657 A1 WO 2020238657A1 CN 2020090635 W CN2020090635 W CN 2020090635W WO 2020238657 A1 WO2020238657 A1 WO 2020238657A1
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WO
WIPO (PCT)
Prior art keywords
picking
picking operation
sorting
station
goods
Prior art date
Application number
PCT/CN2020/090635
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English (en)
French (fr)
Inventor
艾鑫
喻润方
周红霞
Original Assignee
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Publication of WO2020238657A1 publication Critical patent/WO2020238657A1/zh
Priority to US17/522,261 priority Critical patent/US20220063915A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • G—PHYSICS
    • 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
    • G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50391—Robot

Definitions

  • the embodiments of the application relate to the field of electronic information technology, and in particular to a method for sorting goods and a system for sorting goods.
  • the existing automated warehouse management system usually uses a single order and a specific robot to bind to each other to complete the picking and order packing operations, the degree of optimization is not high, and there is still a lot of room for improvement in order picking efficiency.
  • the embodiments of the present application provide a sorting method and a sorting system for goods with a higher degree of optimization.
  • the goods sorting method includes:
  • At least one collection order is generated, each of the collection orders is composed of a predetermined number of sorting orders, and a number of inventory units are recorded;
  • the sending the collection order to at least one picking operation station in a preset collection order issuing mode includes:
  • the moving the cargo box to the corresponding picking operation station includes: determining the estimated task completion time of each picking operation station according to one or more relevant factors; and moving the cargo box to the estimated task completion time The shortest picking console.
  • the relevant factors include: the current picking queue length of the picking operation station and/or the estimated time for the box to arrive at the picking operation station.
  • the sending the collection order to at least one picking operation station in a preset collection order issuance mode includes: splitting the collection order by a unit of inventory quantity; The inventory unit recorded in the collection order is allocated to the corresponding picking operation station, so that each of the picking operation stations forms a corresponding picking list.
  • the allocating the inventory unit of the collection order record to the corresponding picking operation station includes: determining the candidate picking operation station available for the current inventory unit; according to the candidate picking operation station The priority of the current inventory unit is assigned to the candidate picking station with the highest priority.
  • the assigning the inventory unit to the candidate picking operation station with the highest priority according to the priority of the candidate picking operation station includes: calculating the picking of the candidate picking operation station The length of the list; among the candidate picking stations, the current inventory unit is allocated to the candidate picking station with the smallest length of the picking list.
  • the method further includes: prioritizing allocating current inventory units to the candidate picking operation station, and the picking list includes and Candidate picking operation table for the current inventory unit with the same inventory unit.
  • the allocating the inventory unit to the candidate picking operation station with the highest priority according to the priority of the candidate picking operation station includes:
  • the inventory quantity unit is allocated to the unique candidate picking operation station.
  • the candidate picking operation station that is available for determining the current inventory unit includes:
  • a candidate picking operation platform that can be used by the current inventory unit is determined.
  • the generating at least one consolidation order includes:
  • the method further includes: selecting one or more consolidation orders in the consolidation order to be issued, so as to meet preset preferred conditions;
  • the preferred condition is that: between the selected collection order and the unselected collection order, the overlap ratio of the recorded inventory unit is the smallest.
  • the method further includes: performing secondary sorting on all the goods picked out by the picking operation to form a plurality of sorting packages corresponding to the sorting order.
  • the method further includes: when the collection order issued to the picking operation station is greater than or equal to two, controlling the picking operation station to pick out and place the goods corresponding to each collection order The area corresponding to each consolidation order.
  • the embodiments of the present application also provide the following technical solutions: a non-volatile computer-readable storage medium.
  • the non-volatile computer-readable storage medium stores computer program instructions, and when the computer program instructions are called by the processor, the processor executes the method for sorting goods as described above.
  • the embodiments of the present application also provide the following technical solutions: a sorting system for goods.
  • the goods sorting system includes a processing terminal, a picking operation table, and a robot; the picking operation table is used to pick one or more goods from the box; the robot is used to interact with the picking operation in the warehouse
  • the boxes are transported between stations; the processing terminal is respectively connected to the picking operation station and the robot in communication, and is used to execute the above-mentioned method for sorting goods, and to control the robot and the picking operation Station to generate one or more order packages corresponding to the consolidation order.
  • the embodiments of the present application also provide the following technical solutions: a computer program product.
  • the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions.
  • the program instructions When the program instructions are executed by a processor, the processor executes the above The described method of sorting goods.
  • the method for sorting goods provided in the embodiments of the present application performs the picking operation in a collection mode.
  • a collection order multiple different sorting orders can be processed at the same time, which is greatly optimized
  • the process of picking operations has been improved, and the efficiency of picking the goods corresponding to the sorting order has been improved.
  • Figure 1 is a schematic diagram of an application environment of an embodiment of the application
  • FIG. 2 is a structural block diagram of a processing terminal provided by an embodiment of the application.
  • FIG. 3 is a method flowchart of a method for sorting goods provided by an embodiment of the application
  • FIG. 4 is a flowchart of a method for issuing a collection order according to an embodiment of the application
  • FIG. 5 is a flowchart of a method for issuing a collection order according to another embodiment of the application.
  • Fig. 6 is a flowchart of a method for selecting a target picking console provided by an embodiment of the application.
  • Goods sorting refers to the process of taking out the goods corresponding to the order from the warehouse or other suitable storage places and completing the packing of the goods to form the final order package out of the warehouse.
  • the efficiency of goods sorting can be determined by the number of order packages processed per unit time. The more order packages processed in a unit time, the higher the efficiency of goods sorting.
  • the sorting mode of "collection order" provided in this embodiment can be used to process sorting orders under a certain period of time according to category or product category at the same time to perform the initial picking of goods. This can avoid the time spent moving the warehouse.
  • the final order package can be completed and the warehouse enters the logistics transportation stage.
  • the same goods are usually stored in the same box.
  • Each container is placed at a specific location in the warehouse according to a specific storage rule, and the goods stored in the container are marked by features on the outside of the container (for example, a two-dimensional code or barcode).
  • Figure 1 is an application environment provided by an embodiment of the application.
  • the application environment includes a goods sorting system composed of a processing terminal 10, a picking operation table 20, and a robot 30, and a warehouse 40 that uses the goods sorting system and stores multiple items.
  • the processing terminal 10 can be any type of electronic computing platform or device as the control core of the entire goods sorting system. According to actual needs, it can have corresponding storage space or computing capabilities to provide one or more application services or functions, such as receiving orders to be shipped out, placing orders, or controlling robots to perform picking and releasing tasks.
  • FIG. 2 is a structural block diagram of an electronic computing platform for realizing all or part of the functions of the processing terminal 10.
  • the electronic computing platform 100 may include a processor 110, a memory 120 and a communication module 130.
  • the processor 110, the memory 120, and the communication module 130 establish a communication connection between any two through a bus.
  • the processor 110 may be of any type and has one or more processing cores. It can perform single-threaded or multi-threaded operations, and is used to parse instructions to perform operations such as obtaining data, performing logical operation functions, and issuing operation processing results.
  • the memory 120 is used as a non-volatile computer-readable storage medium, such as at least one magnetic disk storage device, a flash memory device, a distributed storage device remotely provided with respect to the processor 110, or other non-volatile solid-state storage devices.
  • the memory 120 may have a program storage area for storing non-volatile computer-executable program instructions (in other embodiments, it may also be referred to as a "non-volatile software program", which can be called by the processor 110 for processing
  • the processor 110 executes one or more method steps, for example, implements one or more steps in the goods sorting method provided in the embodiments of the present application.
  • the memory 120 may also have a data storage area for storing the calculations issued and output by the processor 110 process result.
  • the communication module 130 is a functional module used to establish a communication connection with devices such as a robot and/or a picking console and provide a physical channel.
  • the picking operation table 20 is an automated device for taking out goods from the container. Specifically, it can be equipped with one or more different types of action mechanisms and functional modules (for example, a conveyor belt matched with a robot) according to the actual picking principle or warehouse design requirements.
  • the number of picking operation stations 20 can be determined by actual indicators such as the floor area of the warehouse, construction costs, and the picking efficiency that the goods sorting system needs to achieve. For example, three or more picking operation stations 20 can be provided.
  • the robot 30 is an automated device with a walking mechanism, which can move between the picking operation table 20 and the warehouse, and move the boxes for picking and placing operations, such as an AGV trolley.
  • the walking mechanism can adopt any suitable type of power system.
  • the robot 30 may be driven by electricity.
  • a charging area for the robot 30 to be charged can also be provided. The robot 30 starts from the charging area and can return to the charging area for charging when the battery is insufficient.
  • the robot 30 has one or more functional indicators, including but not limited to cargo capacity (that is, the maximum number of cargo containers that can be loaded at a time), cruising range, guidance mode, cargo container retrieval speed, and operating speed.
  • cargo capacity that is, the maximum number of cargo containers that can be loaded at a time
  • cruising range that is, the maximum number of cargo containers that can be loaded at a time
  • guidance mode that is, the maximum number of cargo containers that can be loaded at a time
  • cargo container retrieval speed that is, the maximum number of cargo containers that can be loaded at a time
  • the number of robots 30 can also be determined by actual design indicators such as the floor space of the warehouse, the number of picking operation stations, and the target picking efficiency.
  • the processing terminal 10 can perform optimization and planning according to information such as the position of the robot 30 and functional indicators (such as current cargo capacity, remaining cruising range) to realize the control of the robot 30.
  • the warehouse 40 is an area for storing cargo boxes.
  • multiple shelves may be provided in the warehouse 40, and multiple identical or different containers are placed on each shelf according to a specific placement rule.
  • these shelves are divided at intervals to form a plurality of lanes for the robot 30 to enter.
  • the robot 30 After the robot 30 enters the aisle, it takes out or puts back a specific cargo box (such as cargo box 1, cargo box 2, or cargo box 3).
  • the robot can enter and exit the tunnel from both ends of the tunnel.
  • the openings located at both ends of the laneway are referred to as "laneway openings", which can be used as the exit of the robot 30 or the entrance of the robot 30.
  • the directions between parts of the roadways are the same, and the roadway openings between the two are opposite so that the robot 30 can pass directly, such as the roadways 1 and 2 shown in FIG. 1.
  • these two roadways are called "adjacent roadways". That is, when the robot 30 walks from the lane 1 to its adjacent lane-lane 2 or from the lane 2 to its adjacent lane-lane 1, it can directly enter without turning.
  • the goods stored in the containers in the warehouse 40 are managed in a stock keeping unit (SKU, which may also be referred to as a "stock compartment”) as a unit.
  • SKU stock keeping unit
  • the inventory unit is the basic unit for inventory entry and exit measurement or control storage, which can be in units of pieces, trays, boxes, etc. (depending on specific goods).
  • the same goods may also belong to different SKUs due to differences in production date, size, and color.
  • FIG. 3 is a method flowchart of a method for sorting goods provided by an embodiment of the application.
  • the goods sorting method includes:
  • Each collection order is composed of a predetermined number of sorting orders, and a number of inventory units are recorded.
  • the sorting order may be a multi-product order containing multiple inventory units or multiple pieces of the same inventory unit, or a single-product order containing only one inventory unit and the inventory unit has only one item.
  • the number of sorting orders contained in each collection order can be set according to the actual needs, for example, up to 40 sorting orders can be combined to form a collection order.
  • collection orders can be clustered according to the overlap ratio of different sorting orders, so as to obtain collection orders with a short inventory unit list as much as possible. Specifically, it is possible to first calculate the overlap ratio of recorded inventory units among all sorting orders.
  • the overlap ratio refers to the number of units with the same inventory volume contained between two sorting orders. Then, sorting can be performed according to the coincidence ratio, and the first n sorting orders with the highest coincidence ratio are combined to form the collection order.
  • n is a predetermined number, and the value is a positive integer.
  • the cluster orders that have been generated can also be selected according to preset preferred conditions, and some of the collection orders can be preferentially executed.
  • the preset preferred condition may be that between the selected collection order and the unselected collection order, the recorded inventory unit has the smallest overlap ratio.
  • Such optimal conditions are also conducive to reducing the re-acquisition rate of containers and improving the operating efficiency of the system.
  • the "collection order issuance mode” refers to the specific strategy adopted when the collection order is sent to each picking station to determine the part of the collection order that needs to be executed by each picking station. The details can be adjusted and determined according to actual needs.
  • the movement of boxes can usually be completed by robots.
  • the processing terminal 10 can assign pick-up tasks to the robots according to the inventory unit contained in the collection order, so that the picking operation table and the robot cooperate with each other to complete the picking operation of the collection order, so that the corresponding goods are Pick out.
  • the processing terminal 10 can send the collection order to at least one picking operation station 20 in a preset collection order issuing mode on the one hand (S11), and on the other hand, according to the collection order
  • the robot 30 is assigned at least one pickup task (S12).
  • the pickup task refers to a data package that includes at least the container and the position information of the container corresponding to the inventory unit. Specifically, any suitable data type or data format can be adopted.
  • the robot 30 can travel between the warehouse 10 and the picking operation table 20 under the guidance of the picking task, and take the box corresponding to the picking task from the warehouse shelf and transport it to the corresponding picking operation Taiwan 20.
  • the picking operation table picks out the goods corresponding to the inventory unit recorded in the collection order from the container.
  • the processing terminal 10 can choose to execute the steps of issuing a collection order and allocating the task of picking up at any time.
  • the collection order can be issued and the collection task assigned at the same time, or the collection order can be sent first, and then the robot can be assigned the collection task, or the robot can be assigned the collection task first, and then the collection order can be issued.
  • the goods sorting method of the collection order allows the goods sorting system to process multiple sorting orders at the same time, and pick out the goods corresponding to these sorting orders.
  • This method of sorting by using the collection order effectively optimizes the process of the picking operation, avoids the empty running between the warehouse and the operating table, improves the efficiency of the picking operation, and has a good application prospect.
  • the picked goods may be sorted twice to form a plurality of order packages corresponding to the sorting order.
  • the picked goods of each collection order can be transported to the secondary sorting area from each picking operation station through conveyor belts and other conveying methods for secondary sorting to obtain the final order package to complete the complete The outbound process.
  • an order package corresponding to the sorting order can finally be formed, which has higher order processing efficiency and can better meet the requirements of logistics and warehouse management. Usage requirements.
  • the processing terminal 10 executes the step of issuing a collection order, it can specifically adopt two different collection order issuance modes, such as overall delivery and split delivery.
  • the following describes the two modes of placing orders for collections in conjunction with the specific examples shown in FIG. 4 and FIG. 5.
  • the specific process of picking operations includes:
  • Taking all picking operation stations as a whole refers to the use of a unified variable to represent different picking operation stations so that the goods corresponding to the inventory unit recorded by all the issued collection orders can be picked at any picking operation station Out.
  • the actual picking operation table for picking goods can be dynamically changed.
  • the picking operation station can pick out the goods corresponding to the same collection order and place them in the same area.
  • the picking operation table can perform a picking operation on the collection order A and the collection order B at the same time, determine the collection order to which the picked goods belong and make corresponding Place it in area A corresponding to consolidation order A or area B corresponding to consolidation order B.
  • the robot Since the system did not specify a specific picking station when issuing the collection order, it adopted the overall delivery method. Therefore, the robot can move the box to any picking station to pick the shipped products.
  • the processing terminal can evaluate the execution time required to send to different picking stations, and use it as a criterion for judgment to obtain the optimal solution.
  • the estimated task completion time refers to the time required to complete a certain pick-up task and pick out the corresponding goods from the box. It is understandable that the estimated task completion time may be affected by many different related factors in the two links of the robot moving the cargo box to the picking station and the picking station picking goods from the cargo box, such as the picking station The current picking queue length and/or the estimated time required for the boxes to arrive at the picking station.
  • the length of the picking queue indicates the waiting time required for the picking operation station to pick out the goods.
  • the picking queue is composed of the goods corresponding to the inventory units that need to be picked out by the picking operation station in order of sequence. In other words, a picking operation table with a longer picking queue length requires a longer expected task completion time.
  • the robot usually needs to move to the picking operation table after taking out the cargo box in the warehouse to make the cargo box arrive at the picking operation table to complete the operation of picking out the goods. Therefore, the estimated time for the box to arrive at the picking station will also affect the estimated time to complete the task. For example, when the distance between the position of the cargo box and the picking operation table is longer, the robot moves farther, so the expected task completion time is also longer.
  • the approximate execution time can be obtained. For example, based on the distance and the running speed of the robot, the time required for the robot to move to each picking station can be calculated (added as part of the estimated task completion time). Alternatively, the waiting time of the robot can be calculated and determined according to the length of the picking queue and the unit time required for the picking operation station to pick the shipment in the box.
  • the estimated task completion time of each picking operation station for picking the shipment (that is, completing a certain picking task) can be roughly determined.
  • the picking console with the shortest task completion time is the optimal solution for the robot 30 to complete the current picking task. Therefore, it can be determined as the target picking operation station, and the boxes are moved to the picking operation station for the goods picking operation to improve the working efficiency of the robot 30 as much as possible and reduce the waiting time of the robot 30.
  • the picking operation table can be treated equally during the picking process, and can be dynamically adjusted according to the actual distribution of the picking tasks of the robot 30, which has a better optimization effect.
  • the processing terminal 10 requires the processing terminal 10 to keep real-time tracking and updating of the robot 30 to ensure the balance of each picking station.
  • the specific process of the product sorting method for splitting and issuing a collection order includes the following steps:
  • the consolidation order contains multiple different inventory units. As the smallest unit of inventory management, it can split the collection order into multiple different sub-orders. The number of sub-orders formed by the specific split can be the same as the number of the picking station.
  • the collection order After the collection order is split, according to the characteristics of the different inventory units of each sub-order, it can be issued or assigned to the corresponding picking operation station following specific rules. After the picking operation station receives the issued sub-orders, it can form a corresponding picking list according to the order of receipt, and take out the goods from the containers transported by the robot 30 in turn.
  • the splitting of a collection order may be a process that is performed synchronously with the issuance of the order, and multiple collection orders may also be split at the same time. That is, the processing terminal can sequentially assign each inventory unit in the collection order to the corresponding picking operation station until all the collection orders are allocated and complete the process of splitting the collection order.
  • the allocation method of the inventory unit may specifically include the following steps: First, determine the candidate picking operation stations available for the current inventory unit. Specifically, the picking operation table can be screened according to a variety of different standards, and a suitable candidate picking operation table can be selected.
  • the candidate picking operation station can be determined in the following way: first, according to the location of the picking operation station, the warehouse 40 is divided into a corresponding number of warehouse areas, so that each picking operation station Responsible for a warehouse area.
  • a candidate picking operation platform that can be used by the current inventory unit is determined. That is, when the corresponding inventory unit can be taken out in the warehouse area where the picking operation station is responsible, the picking operation station can be determined as a candidate picking operation station. It is understandable that there may be multiple candidate picking stations that are finally screened out.
  • the current inventory unit is allocated to the candidate picking operation station with the highest priority.
  • the candidate picking station with the highest priority is the best choice for performing the picking operation of the inventory unit under the current situation.
  • the robot moves the cargo box to the picking operation table corresponding to the picking task to perform picking out of the goods corresponding to the inventory unit.
  • the difference between the issuance method of the split collection order provided in this embodiment and the overall release of the collection order is that the target picking operation station corresponding to the inventory unit is predetermined, and different picking operation stations are performing work tasks.
  • the process is unequal, which is easier to implement in the processing terminal than the overall delivery method.
  • the allocation process shown in Figure 6 can be used for the determined inventory units of the candidate picking station:
  • step 610 Determine whether the candidate picking station of the current inventory unit is unique. If yes, go to step 620; if not, go to step 630. In the initial stage, first quickly divide according to the number of candidate picking stations.
  • the inventory unit can be assigned to the only candidate picking operation station by default.
  • step 630 Determine whether the picking list of the candidate picking operation station contains the same inventory unit as the current inventory unit. If yes, go to step 640; if not, go to step 650.
  • the picking station can be selected according to the inventory unit included in the picking list.
  • the same inventory unit is allocated to the same picking operation table as much as possible, which can optimize and improve the picking efficiency.
  • the length of the picking list indicates the amount of work that the picking station needs to complete.
  • the work load of the picking operation table can be averaged or balanced, and the picking work of a certain picking operation table can be avoided. Large, help to improve the efficiency of picking.
  • each inventory unit is determined in turn according to the three priority judgment criteria of the number of candidate picking stations, whether the picking list has the same inventory unit, and the length of the picking list The corresponding target picking console. Repeat steps 610 to 660 until the target picking operation stations of all inventory units in the collection order are determined, thereby completing the split of the collection order.
  • This method can reduce the number of repeated pick-and-place operations of the picking console as much as possible, achieve a balance of workload between the picking consoles, and optimize the movement distance from the robot to the picking console.
  • one or more of the priority judgment criteria can also be selectively used without strictly following the process shown in FIG. 6, for example, only the length of the picking list of the candidate picking station can be calculated. Then allocate the inventory unit according to the length of the pick list.
  • the processing terminal 10 needs to send the collection order to each picking operation station in an appropriate manner on the one hand, and determine the target corresponding to each inventory unit in the collection order. Outside the picking console. On the other hand, the processing terminal 10 also needs to assign an appropriate pick-up task to each robot 30, so that it can move between the warehouse and the target picking station, and move the corresponding container.
  • the embodiment of the present application further provides a method for allocating a pickup task.
  • the picking task distribution method can be used in conjunction with the collection order issuing method provided in the embodiments of the present application to achieve the best picking efficiency optimization effect.
  • the method for allocating picking tasks is a technical solution that can be implemented independently.
  • the pick-up task allocation in any item sorting method can be applied to the pick-up task allocation method provided in the embodiments of the present application, and the technical effects of reducing the empty running of the robot and improving the picking efficiency can also be achieved.
  • the method for sorting goods provided in the embodiments of this application adopts the method of sorting by collection order, which can simultaneously carry out the picking operations of multiple inventory units and multiple orders. It has high product sorting and order packing. Efficiency can improve the effectiveness of warehouse and logistics management.
  • any sorting method can be applied, and the final order package can be obtained after the second sorting according to each sorting order, and the complete order delivery process can be completed.
  • the processing terminal 10 In addition to adjusting the delivery method of the sorting order, the processing terminal 10 also uses the corresponding pick-up task allocation optimization scheme according to the characteristics of the actual application scenario (such as the exchange of pick-up tasks, the priority ranking of the position of the container, etc.) Optimize and adjust the robot's pick-up task, thereby further improving the efficiency of the entire system.
  • a person skilled in the art can choose to use corresponding software, hardware, or a combination of software and hardware to implement it (for example, one or more comparison circuits) according to the functional steps or service applications that the processing terminal needs to execute disclosed in the embodiments of the present application.
  • the method of selecting and designing the hardware circuit according to the functional steps to be implemented or the service application is well-known to those skilled in the art, and is common knowledge in the technical field, and will not be repeated here.
  • each step of the exemplary goods sorting method described in the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two, for clarity
  • composition and steps of each example have been described generally in terms of function in the above description. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution.
  • the computer software may be stored in a computer readable storage medium, and when the program is executed, it may include the processes of the above-mentioned method embodiments.
  • the storage medium can be a magnetic disk, an optical disc, a read-only storage memory or a random storage memory, etc.

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Abstract

一种货品分拣方法及其货品分拣系统。该货品分拣方法包括：生成至少一个集货订单（310），每一个所述集货订单由预定数量的分拣订单组成，记录有若干个库存量单元；以预设的集货订单下发模式，向至少一个拣货操作台发送所述集货订单（320）；移动货箱至对应的拣货操作台以使所述集货订单记录的库存量单元对应的货品被拣出（330）。该方法通过生成和下发集货订单的方式，可以同时对大量的分拣订单进行处理，很好的提升了拣货操作的效率。

Description

货品分拣方法及货品分拣系统
相关申请的交叉参考
本申请要求于2019年5月28日提交中国专利局，申请号为2019104520915，名称为“货品分拣方法及货品分拣系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及电子信息技术领域，特别是涉及一种货品分拣方法及货品分拣系统。
背景技术
随着社会商业贸易的不断加强和发展，物流和仓储管理的重要性和受关注程度也开始在不断的提升。如何提供快速、高效的物流和仓储管理服务是当前的热点问题。
依托电子信息技术，例如工业机器人等自动化产业的发展，现有的许多货物仓库在进行仓储管理时，均采用机器人或者其它自动化设备相互配合的方式，以实现高效率的货物或者仓储管理。
但是，现有的自动化仓储管理系统通常是采用单个订单与特定的机器人相互绑定的方式来完成拣货和订单打包操作，优化程度不高，订单拣货效率仍然存在非常大的改进空间。
发明内容
为了解决上述技术问题，本申请实施例提供一种优化程度较高的货品分拣方法及其分拣系统。
为解决上述技术问题，本申请实施例提供以下技术方案：一种货品分拣方法。所述货品分拣方法包括：
生成至少一个集货订单，每一个所述集货订单由预定数量的分拣订单组成，记录有若干个库存量单元；
以预设的集货订单下发模式，向至少一个拣货操作台发送所述集货订单；
移动货箱至对应的拣货操作台以使所述集货订单记录的库存量单元对应的货品被拣出。
可选地，所述以预设的集货订单下发模式，向至少一个拣货操作台发送所述集货订单，包括：
将所有的拣货操作台作为一个整体，向所有的拣货操作台下发所述集货订单以使所有下发的集货订单记录的库存量单元对应的货品可在任意一个拣货操作台被拣出。
可选地，所述移动货箱至对应的拣货操作台，包括：根据一个或者多个相关因素确定每一个拣货操作台的预计任务完成时间；将货箱移动至所述预计任务完成时间最短的拣货操作台。
可选地，所述相关因素包括：拣货操作台当前的拣货队列长度和/或所述货箱抵达拣货操作台的预计时间。
可选地，所述以预设的集货订单下发模式，向至少一个拣货操作台发送所述集货订单，包括：以库存量单元为单位，拆分所述集货订单；将所述集货订单记录的库存量单元分配至对应的拣货操作台，以使每个所述拣货操作台形成对应的拣货列表。
可选地，所述将所述集货订单记录的库存量单元分配至对应的拣货操作台，包括：确定当前库存量单元可选用的候选拣货操作台；依据所述候选拣货操作台的优先级，将当前库存量单元分配至优先级最高的候选拣货操作台。
可选地，所述依据所述候选拣货操作台的优先级，将所述库存量单元分配至优先级最高候的候选拣货操作台，包括：计算所述候选拣货操作台的拣货列表的长度；将当前库存量单元分配给所述候选拣货操作台之中，拣货列表长度最小的候选拣货操作台。
可选地，在计算所述候选拣货操作台的拣货列表长度之前，所述方法还包括：优先将当前库存量单元分配给所述候选拣货操作台之中，拣货列表中包括与当前库存量单元相同的库存量单元的候选拣货操作台。
可选地，所述依据所述候选拣货操作台的优先级，将所述库存量单元分配给优先级最高的候选拣货操作台，包括：
在当前库存量单元的候选拣货操作台唯一时，将所述库存量单元分配给所述唯一的候选拣货操作台。
可选地，所述确定当前库存量单元可选用的候选拣货操作台，包括：
为每一个拣货操作台分配对应的货仓区域；
根据所述货仓区域内包含的货箱以及货箱内的库存数量，确定当前库存量单元可选用的候选拣货操作台。
可选地，所述生成至少一个集货订单，包括：
统计不同的所述分拣订单之间，记录的库存量单元的重合比例；
将前n个重合比例最高的分拣订单合并形成一个所述集货订单，n为预定数量。
可选地，在生成至少一个集货订单的步骤之后，所述方法还包括：在所述集货订单中选择一个或者多个集货订单下发，以满足预设的优选条件；所述预设的优选条件为：在所述选择的集货订单与所述未被选择的集货订单之间，记录的库存量单元的重合比例最小。
可选地，所述方法还包括：对所述拣货操作拣出的所有货品进行二次分拣，形成若干个与分拣订单对应的分拣包裹。
可选地，所述方法还包括：当下发到所述拣货操作台的集货订单大于或等于两个时，控制所述拣货操作台将各集货订单对应的货品拣出并放置至各集货订单对应的区域。
为解决上述技术问题，本申请实施例还提供以下技术方案：一种非易失性计算机可读存储介质。
其中，所述非易失性计算机可读存储介质存储有计算机程序指令，所述计算机程序指令被处理器调用时，以使所述处理器执行如上所述的货品分拣方法。
为解决上述技术问题，本申请实施例还提供以下技术方案：一种货品分拣系统。
所述货品分拣系统包括处理终端、拣货操作台以及机器人；所述拣 货操作台用于从货箱中拣出一个或者多个货品；所述机器人用于在仓库与所述拣货操作台之间搬运所述货箱；所述处理终端分别与所述拣货操作台以及所述机器人通信连接，用于执行如上所述的货品分拣方法，控制所述机器人以及所述拣货操作台，以生成一个或多个集货订单对应的订单包裹。
为解决上述技术问题，本申请实施例还提供以下技术方案：一种计算机程序产品。
其中，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被处理器执行时，使所述处理器执行如上所述的货品分拣方法。
与现有技术相比较，本申请实施例的提供货品分拣方法以集货模式进行拣货操作，以集货订单的形式，可以同时对多个不同的分拣订单进行处理，极大的优化了拣货操作的流程，很好的提升了分拣订单对应的货品拣出效率。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本申请实施例的应用环境示意图；
图2为本申请实施例提供的处理终端的结构框图；
图3为本申请实施例提供的货品分拣方法的方法流程图；
图4为本申请实施例提供的集货订单下发的方法流程图；
图5为本申请另一实施例提供的集货订单下发的的方法流程图；
图6为本申请实施例提供的选定目标拣货操作台的方法流程图。
具体实施方式
为了便于理解本申请，下面结合附图和具体实施例，对本申请进行 更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本说明书中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本申请。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本申请不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
货品分拣是指从仓库或者其它合适类型的货品存储地中取出与订单对应的货品并完成货品打包，形成最终的订单包裹出库的过程。货品分拣的效率可以由单位时间内处理完成的订单包裹数量所决定。单位时间内处理完成的订单包裹数量越多，货品分拣的效率也越高。
货品分拣效率可以通过多种不同的优化方式来获得提高。例如，可以应用本实施例中提供的“集货订单”的分拣模式，对某一段时间下的分拣订单，按照品类或者商品大类等同时处理，进行货品初次拣出。这样可以避免往来跑货仓所耗费的时间。
初次拣出后的货品进一步的按照不同的分拣订单进行二次分拣后即可完成最终的订单包裹并出库进入物流运输阶段。
在自动化的货品分拣过程中，相同的货品通常存放在同一个货箱内。每一个货箱根据特定的存放规则，放置在仓库特定的位置上，通过 货箱外部的特征(例如可以是二维码或者条形码等标识)以标记货箱所存储的货品。
图1为本申请实施例提供的应用环境。如图1所示，所述应用环境包括由处理终端10、拣货操作台20以及机器人30组成的货品分拣系统以及应用该货品分拣系统、存储有多件货品的仓库40。
处理终端10可以是以任何类型的电子计算平台或者设备，作为整个货品分拣系统的控制核心。其可以根据实际情况的需要，具备相应的存储空间或者计算能力，以提供一项或者多项应用服务或者功能，例如接收待出库的订单，下发订单或者控制机器人执行取放货任务。
图2为用于实现处理终端10全部或者部分功能的电子计算平台的结构框图。如图2所示，该电子计算平台100可以包括：处理器110、存储器120以及通信模块130。
所述处理器110、存储器120以及通信模块130之间通过总线的方式，建立任意两者之间的通信连接。
处理器110可以为任何类型，具备一个或者多个处理核心的处理器。其可以执行单线程或者多线程的操作，用于解析指令以执行获取数据、执行逻辑运算功能以及下发运算处理结果等操作。
存储器120作为一种非易失性计算机可读存储介质，例如至少一个磁盘存储器件、闪存器件、相对于处理器110远程设置的分布式存储设备或者其他非易失性固态存储器件。
存储器120可以具有程序存储区，用于存储非易失性计算机可执行程序指令(在另一些实施例中，也可以被称为“非易失性软件程序”，供处理器110调用以使处理器110执行一个或者多个方法步骤，例如实现本申请实施例提供的货品分拣方法中的一个或者多个步骤。存储器120还可以具有数据存储区，用以存储处理器110下发输出的运算处理结果。
通信模块130是用于与机器人和/或拣货操作台等设备建立通信连接，提供物理信道的功能模块。
拣货操作台20是用于从货箱中取出货品的自动化设备。其具体可 以根据实际的货品拣出原理或者仓库设计需要，设置有一个或者多个不同类型的动作机构及功能模块(例如与机器人配套的传送带)。
拣货操作台20的数量可以由仓库的占地面积，建设成本以及货品分拣系统所需要实现的拣货效率等实际指标所决定。例如可以设置为3个或者更多的拣货操作台20。
机器人30是具有行走机构，可以在拣货操作台20与仓库之间移动，搬运货箱以进行取放货操作的自动化设备，例如AGV小车等。该行走机构可以采用任何合适类型的动力系统。
在一些实施例中，该机器人30可以采用电力的方式进行驱动。相应的还可以设置有供机器人30进行充电的充电区，机器人30从充电区出发进行工作，并且可以在电量不足的情况返回充电区充电。
机器人30具有一项或者多项功能指标，包括但不限于载货量(亦即每一次最多可以装载的货箱数量)、续航里程、引导方式、货箱取放速度以及运行速度等。
相类似地，机器人30的数量也可以由仓库的占地面积、拣货操作台的数量以及目标拣货效率等实际设计指标所决定。处理终端10则可以根据机器人30的位置以及功能指标(如当前载货量、剩余续航里程)等信息，进行优化和规划以实现对机器人30的控制。
仓库40是用于存放货箱的区域。为了便于进行管理，仓库40中可以设置有多个货架，每个货架上按照特定放置规则放置有多个相同或者不同的货箱。
如图1所示，这些货架间隔划分形成多个巷道以供机器人30进入。机器人30在进入到巷道以后，取出或者放回特定的货箱(如货箱1、货箱2或者货箱3等)。机器人可以从巷道的两端进出巷道。在此，将位于巷道两端的开口称为“巷道口”，其既可以作为机器人30的出口，也可以作为机器人30的入口。
在一些实施例中，部分巷道之间的方向是相同的，两者之间的巷道口相对而使得机器人30可以直接通过，例如图1所示的巷道1和巷道2。在此，将这样的两个巷道称为“邻接巷道”。亦即，机器人30从巷道1 行走到其邻接巷道—巷道2时，或者从巷道2行走到其邻接巷道—巷道1时，不需要转向即可直接进入。
仓库40中货箱存储的货品以库存量单元(stock keeping unit SKU，又可以被称为“货格”)为单位进行管理。库存量单元是库存进出计量或者控制保存的基本单元，其可以是以件、盘或者盒等为单位(取决于具体的货品)。相同的货品也可能因为生产日期、尺码以及颜色等的区别而属于不同的SKU。
在图1所示的应用场景中，可以使用本申请实施例提供的，采用集货模式的货品分拣方法以优化拣货的流程，提高订单包裹的生成效率。图3为本申请实施例提供的货品分拣方法的方法流程图。
如图3所示，该货品分拣方法包括：
310、生成至少一个集货订单。集货订单的生成可以在处理终端或者其它合适的电子计算设备中完成。
每一个所述集货订单都由预定数量的分拣订单整合组成，记录有若干个库存量单元。该分拣订单可以是包含有多个库存量单元或者同一个库存量单元有多件的多品订单或者是仅包含有一个库存量单元并且该库存量单元仅有一件的单品订单。
每个集货订单包含的分拣订单数量可以根据实际情况的需要所设置，例如最多可以将40个分拣订单组合形成一个集货订单。
在一些实施例中，可以根据不同分拣订单的重合比例来聚类生成集货订单，以尽可能的获得库存量单元列表较短的集货订单。具体的，可以首先统计所有的分拣订单之间，记录的库存量单元的重合比例。该重合比例是指两个分拣订单之间，包含的相同库存量单元的数量。然后，可以根据该重合比例进行排序，将前n个重合比例最高的分拣订单合并形成一个所述集货订单。n为预定数量，取值是正整数。
通过这样的方式，可以尽可能的将需要相同货品的订单聚类合成为一个集货订单，降低集货订单的货箱重取率以提高整个货品分拣系统的效率。
具体的，由于货品分拣系统需要处理的分拣订单数量非常高，而每 一次能够执行的集货订单数量有限。因此，还可以对已经生成的聚类订单按照预设的优选条件进行挑选，优先选择执行其中的一部分集货订单。
在一些实施例中，该预设的优选条件可以是：在所述选择的集货订单与所述未被选择的集货订单之间，记录的库存量单元的重合比例最小。这样的优选条件也有利于降低货箱的重取率并提高系统的运行效率。
320、以预设的集货订单下发模式，向至少一个拣货操作台发送所述集货订单。
“集货订单下发模式”是指集货订单发送至各个拣货操作台时，具体采用的策略，以确定各个拣货操作台所需要执行的部分集货订单。其具体可以根据实际情况的需要而调整确定。
330、移动货箱至对应的拣货操作台以使所述集货订单记录的库存量单元对应的货品被拣出。
如图1所示，在自动化分拣系统中，货箱的移动通常可以由机器人完成。处理终端10可以根据集货订单包含的库存量单元，为机器人分配取货任务，从而使得拣货操作台和机器人之间相互配合以完成对集货订单的拣货操作，使得对应的货品均被拣出。
在实际使用过程中，处理终端10一方面可以以预设的的集货订单下发模式，向至少一个拣货操作台20发送所述集货订单(S11)，另一方面则根据所述集货订单，为机器人30分配至少一个取货任务(S12)。该取货任务是指至少包括了与库存量单元对应的货箱、货箱位置信息的数据包。其具体可以采用任何合适的数据类型或者数据格式。
机器人30可以在取货任务的指引下，可以在仓库10和拣货操作台20之间往来，将所述取货任务对应的货箱从仓库的货架中取出，并搬运至对应的拣货操作台20。拣货操作台将货箱中，与所述集货订单记录的库存量单元对应的货品拣出。
应当说明的是，处理终端10向拣货操作台下发集货订单的步骤和为机器人分配取货任务的步骤之间并无先后顺序关系。两个步骤之间相 对独立，并不会对对方产生显著的影响。处理终端10可以选择在任意时间执行上述下发集货订单的步骤和分配取货任务的步骤。
例如，可以同时执行下发集货订单和分配取货任务，也可以先下发集货订单，再为机器人分配取货任务，或者是先为机器人分配取货任务，再下发集货订单。
在本申请实施例中，通过集货订单的货品分拣方法，使货品分拣系统可以同时对多个分拣订单进行处理，拣出这些分拣订单对应的货品。这样的利用集货订单分拣的方法有效的优化了拣货操作的流程，避免了在仓库和操作台之间的空跑，提高了拣货操作的效率，具有良好的应用前景。
在一些实施例中，在步骤330之后，还可以对其拣出的货品进行二次分拣，形成多个与分拣订单对应的订单包裹。
例如，每个集货订单被拣出的货品均可以通过传输带等输送方式，由各个拣货操作台传输至二次分拣区集中并进行二次分拣，获得最终的订单包裹以完成完整的出库过程。具体可以选择使用任何类型的货品分拣方法来进行二次分拣。
在本实施例中，结合初次集货模式分拣和二次分拣，最终可以形成与分拣订单一一对应的订单包裹，具有较高的订单处理效率，可以更好的满足物流仓储管理的使用需求。
处理终端10在执行集货订单下发的步骤时，具体可以采用整体下发和拆分下发等两种不同的集货订单下发模式。以下结合图4和图5所示的具体实例分别对两种集货订单下发模式进行描述。
如图4所示，对于集货订单整体下发的模式，其拣货操作的具体过程包括：
410、在处理终端下发集货订单时，将所有的拣货操作台作为一个整体，向所有的拣货操作台下发所述集货订单。
将所有拣货操作台作为一个整体是指使用一个统一的变量表示不同的拣货操作台以使得所有下发的集货订单记录的库存量单元对应的货品可在任意一个拣货操作台被拣出。
亦即，对于整个拣货系统而言，不同的拣货操作台之间没有区别，不会预先为集货订单中的某个库存量单元设定对应的拣货操作台。实际进行货品拣出的拣货操作台是可以动态变化的。
在一些实施例中，下发到拣货操作台的集货订单大于等于两个时，拣货操作台可以将同一个集货订单对应的货品拣出放置到相同的区域。例如，当下发了集货订单A和集货订单B时，拣货操作台可以同时对集货订单A和集货订单B进行拣货操作，判断拣出的货品所属的集货订单并相应的放置到与集货订单A对应的区域A或者与集货订单B对应的区域B。
420、根据一个或者多个相关因素确定每一个拣货操作台的预计任务完成时间。
由于在下发集货订单时，系统并未指定某个特定的拣货操作台，采用整体了整体下发的方式。因此，机器人可以将货箱移动至任意的拣货操作台拣出货品。
为最大化系统的拣货效率，处理终端可以对送往不同拣货操作台所需要的执行时间进行评估，将其作为判断衡量的标准以获得最优解。
该预计任务完成时间是指完成某项取货任务，将其对应的货品从货箱中拣出所需要的时间。可以理解的，该预计任务完成时间可能会受到机器人搬运货箱至拣货操作台和拣货操作台从货箱拣出货品这两个环节中，许多不同的相关因素影响，例如拣货操作台当前的拣货队列长度和/或货箱抵达拣货操作台所需要的预计时间。
拣货队列长度表示了拣货操作台进行货品拣出操作所需要的等待时间。该拣货队列是由拣货操作台需要拣出的库存量单元对应的货品按照先后次序排列组成。亦即，具有较长的拣货队列长度的拣货操作台所需要的预计任务完成时间更长。
机器人通常在仓库取出货箱以后，需要移动至拣货操作台以使得货箱抵达拣货操作台，完成货品拣出的操作。因此，货箱抵达拣货操作台的预计时间也会影响到预计任务完成时间的长短。例如，当货箱位置与较拣货操作台之间的距离较长时，由于机器人移动的路程较远，因此所 需要的预计任务完成时间也更长。
参考不同的相关因素的特性，进行对应的计算以后，便可以获得大致的执行时间。例如，根据距离和机器人的运行速度，可以计算确定机器人移动到每一个拣货操作台所需要的时间(加入作为预计任务完成时间的一部分)。或者是，根据拣货队列的长度和拣货操作台在货箱中拣出货品所需要的单位时间可以计算确定机器人的等待时间。
将以上的移动时间和等待时间等多个时间叠加以后，即可大致确定每一个拣货操作台拣出货品(即完成某项取货任务)的预计任务完成时间。
当然，考虑的相关因素越多，计算确定的预计任务完成时间就越精确，但是相应的耗费计算时间、模型复杂程度也越高。因此，技术人员可以根据实际情况的需要而选择其中的部分相关因素进行计算，只要能够获得大致的预计任务完成时间结果即可。
例如，在仓库面积较小并且机器人运行速度较快的情况下，也可以忽略货箱抵到拣货操作台的预计时间的影响而着重考虑拣货操作台当前的排队序列长度。
430、将货箱移动至所述预计任务完成时间最短的拣货操作台。
可以理解的是，具有最短的任务完成时间的拣货操作台是机器人30完成当前取货任务的最优解。因此，可以将其确定为目标拣货操作台，将货箱移动至该拣货操作台进行货品拣出操作以尽可能的提高机器人30的工作效率，减少机器人30的等待时间。
在集货订单整体下发的实施例中，拣货操作台可以在拣货过程中被平等看待，可以根据机器人30实际的取货任务分配情况而动态调整，具有更好的优化效果。当然，这样的方式需要处理终端10保持对机器人30的实时追踪和更新以确保每个拣货操作台的均衡。
如图5所示，拆分下发集货订单的货品分拣方法的具体过程包括如下步骤：
510、以库存量单元为单位，拆分所述集货订单。
如以上实施例所记载的，集货订单包含了多个不同的库存量单元。 其作为库存管理的最小单元，可以将集货订单拆分为多个不同的子订单。具体拆分形成的子订单数量可以与拣货操作台的数量相同。
520、将所述集货订单记录的库存量单元分配至对应的拣货操作台，以使每个所述拣货操作台形成对应的拣货列表。
将集货订单拆分以后，按照每个子订单不同的库存量单元的特点，可以遵循特定的规则，将其下发或者分配至对应的拣货操作台。拣货操作台接收到下发的子订单以后，按照接收的次序可以形成相应的拣货列表，依次在机器人30搬运过来的货箱中取出货品。
在一些实施例中，集货订单的拆分可以是一个与订单下发同步进行的过程，多个集货订单也可以同时进行拆分。亦即，处理终端可以依次将集货订单中的每一个库存量单元分配给对应的拣货操作台，直至全部的集货订单均被分配完成后，完成集货订单拆分的过程。
在库存量单元的分配方式具体可以包括如下步骤：首先，确定当前库存量单元可选用的候选拣货操作台。具体可以根据多种不同的标准来进行拣货操作台的筛选工作，选出合适的候选拣货操作台。
在一些实施例中，候选的拣货操作台可以通过如下方式来确定：首先根据拣货操作台所处的位置，相应的将仓库40分为相应数量的货仓区域，令每一个拣货操作台负责一个货仓区域。
然后，根据所述货仓区域内包含的货箱以及货箱内的库存数量，确定当前库存量单元可选用的候选拣货操作台。亦即，在拣货操作台所负责的货仓区域内，可以取出对应的库存量单元时，即可确定拣货操作台为候选拣货操作台。可以理解的，这样最终筛选出的候选拣货操作台可能会有多个。
然后，依据所述候选拣货操作台的优先级，将当前库存量单元分配至优先级最高的候选拣货操作台。
根据不同的拣货操作台当前的情况(如拣货列表长度)，按照设定的标准可以衡量，确定每个拣货操作台之间的优先次序，赋予相应的优先级。其中，具有最高优先级的候选拣货操作台是在当前情况下，执行该库存量单元的拣货操作的最优选择。
530、机器人将货箱移动至与取货任务相对应的拣货操作台以执行拣出与库存量单元对应的货品。
本实施例提供的拆分集货订单的下发方式与整体下发集货订单的区别在于：预先确定了库存量单元所对应的目标拣货操作台，不同的拣货操作台在执行工作任务的过程中是不均等的，相对于整体下发的方式，更容易在处理终端中实现。
在图5所示的集货订单拆分过程中，对已经确定的候选拣货操作台的库存量单元可以采用如图6所示的分配过程：
610、确定当前库存量单元的候选拣货操作台是否唯一。若是，执行步骤620；若否，执行步骤630。在初始阶段，首先根据候选拣货操作台的数量进行快速的划分。
在候选拣货操作台唯一的情况下，为了简化操作，可以默认设置将该库存量单元分配给唯一的候选拣货操作台。
620、将当前库存量单元分配至所述候选拣货操作台。
630、判断所述候选拣货操作台的拣货列表中是否包含与当前库存量单元相同的库存量单元。若是，执行步骤640；若否，执行步骤650。
在具有多个候选拣货操作台的情况下，则可以根据拣货列表中包含的库存量单元来进行拣货操作台的挑选。这样的选择方式，尽可能的让相同的库存量单元分配给相同的拣货操作台，可以实现拣货效率的优化和提升。
640、将当前库存量单元分配给所述候选拣货操作台之中，拣货列表中包括与当前库存量单元相同的库存量单元的候选拣货操作台。
650、计算所述候选拣货操作台的拣货列表的长度。
若所有的候选拣货操作台的拣货列表中都没有当前的库存量单元时，则可以根据拣货列表的长度来进行分配。拣货列表的长度表明了拣货操作台所需要完成的工作量。
660、将当前库存量单元分配给所述候选拣货操作台之中，拣货列表长度最小的候选拣货操作台。
通过将库存量单元分配给拣货列表长度最短的候选拣货操作台的 方式，可以起到平均或者均衡拣货操作台的工作量的效果，避免某个拣货操作台的拣货工作量过大，有利于提升拣货效率。
在图6所示的拆分过程中，依次按照候选拣货操作台的数量、拣货列表是否存在相同的库存量单元以及拣货列表的长度的三个优先级判断标准来确定各个库存量单元对应的目标拣货操作台。重复执行步骤610至660直至集货订单中所有的库存量单元的目标拣货操作台均被确定，从而完成集货订单的拆分。
这样的方式可以尽可能的降低拣货操作台的重复取放操作次数，实现拣货操作台之间的工作量均衡，并且优化机器人至拣货操作台的移动路程等。
应当说明的是，图6所示的流程仅用于说明而不用于限制本申请实施例的具体实现。本领域技术人员可以理解，上述的三个优先级判断标准之间并无明显的相关关系，其可以分别在不同的实施例中使用。
在另一些实施例中也可以选择性的使用其中的一个或者多个优先级判断标准而不需要严格遵循图6所示的流程，例如可以仅计算候选拣货操作台的拣货列表的长度，然后根据拣货列表的长度进行库存量单元的分配。
请继续参阅图1，在进行货品分拣的过程中，处理终端10一方面需要将集货订单以合适的方式下发给各个拣货操作台，确定集货订单中各个库存量单元对应的目标拣货操作台以外。在另一方面，处理终端10还需要为每个机器人30分配合适的取货任务，使其在仓库和目标拣货操作台之间的移动，搬运对应的货箱。
本申请实施例还进一步的提供了一种取货任务分配方法。该取货任务分配方法可以与本申请实施例提供的集货订单下发方法配合使用，取得最优的拣货效率优化效果。
但应当说明的是，由于上述两个方法之间是相对独立的，采用的优化策略以及优化方向并不相同。因此，该取货任务分配方法是可以独立实现的技术方案。任何货品分拣方法中的取货任务分配都可以应用本申请实施例提供的取货任务分配方法，同样取得减少机器人空跑，提升拣 货效率等的技术效果。
综上所述，本申请实施例提供的货品分拣方法，采用集货订单进行分拣的方式，可以同时进行多库存量单元和多订单的拣货操作具有较高的货品分拣和订单打包效率，能够很好的提升仓库、物流管理的效果。
进一步地，在集货订单初次分拣完毕以后，可以应用任何的分拣方法，按照每一个分拣订单进行二次分拣以后即可获得最终的订单包裹，完成完整的订单出库过程。
除了对分拣订单的下发方式进行调整以外，处理终端10还根据实际应用场景的特点，使用相应的取货任务分配优化方案(如取货任务的交换、货箱位置的优先级排列等)对机器人的取货任务进行优化和调整，从而进一步地提升了整个系统的工作效率。
本领域技术人员可以根据本申请实施例揭露的处理终端所需要执行的功能步骤或者服务应用，选择使用对应的软件、硬件或者软硬件结合的方式来实现(例如一个或者多个比较电路)。根据所要实现的功能步骤或者服务应用，选择和设计硬件电路的方式为本领域技术人员所熟知，是本技术领域的公知常识，在此不作赘述。
本领域技术人员应该还可以进一步意识到，结合本文中所公开的实施例描述的示例性的货品分拣方法的各个步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。
本领域技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。所述的计算机软件可存储于计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体或随机存储记忆体等。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特 征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (17)

  1. 一种货品分拣方法，其特征在于，包括：
    生成至少一个集货订单，每一个所述集货订单由预定数量的分拣订单组成，记录有若干个库存量单元；
    以预设的集货订单下发模式，向至少一个拣货操作台发送所述集货订单；
    移动货箱至对应的拣货操作台以使所述集货订单记录的库存量单元对应的货品被拣出。
  2. 根据权利要求1所述的货品分拣方法，其特征在于，所述以预设的集货订单下发模式，向至少一个拣货操作台发送所述集货订单，包括：
    将所有的拣货操作台作为一个整体，向所有的拣货操作台下发所述集货订单以使所有下发的集货订单记录的库存量单元对应的货品可在任意一个拣货操作台被拣出。
  3. 根据权利要求2所述的货品分拣方法，其特征在于，所述移动货箱至对应的拣货操作台，包括：
    根据一个或者多个相关因素确定每一个拣货操作台的预计任务完成时间；
    将货箱移动至所述预计任务完成时间最短的拣货操作台。
  4. 根据权利要求3所述的货品分拣方法，其特征在于，所述相关因素包括：拣货操作台当前的拣货队列长度和/或所述货箱抵达拣货操作台的预计时间。
  5. 根据权利要求1所述的货品分拣方法，其特征在于，所述以预设的集货订单下发模式，向至少一个拣货操作台发送所述集货订单，包括：
    以库存量单元为单位，拆分所述集货订单；
    将所述集货订单记录的库存量单元分配至对应的拣货操作台，以使 每个所述拣货操作台形成对应的拣货列表。
  6. 根据权利要求5所述的货品分拣方法，其特征在于，所述将所述集货订单记录的库存量单元分配至对应的拣货操作台，包括：
    确定当前库存量单元可选用的候选拣货操作台；
    依据所述候选拣货操作台的优先级，将当前库存量单元分配至优先级最高的候选拣货操作台。
  7. 根据权利要求6所述的货品分拣方法，其特征在于，所述依据所述候选拣货操作台的优先级，将所述库存量单元分配至优先级最高的候选拣货操作台，包括：
    计算所述候选拣货操作台的拣货列表的长度；
    将当前库存量单元分配给所述候选拣货操作台之中，拣货列表长度最小的候选拣货操作台。
  8. 根据权利要求7所述的货品分拣方法，其特征在于，在计算所述候选拣货操作台的拣货列表长度之前，所述方法还包括：
    优先将当前库存量单元分配给所述候选拣货操作台之中，拣货列表中包括与当前库存量单元相同的库存量单元的候选拣货操作台。
  9. 根据权利要求6-8任一项所述的货品分拣方法，其特征在于，所述依据所述候选拣货操作台的优先级，将所述库存量单元分配给优先级最高的候选拣货操作台，包括：
    在当前库存量单元的候选拣货操作台唯一时，将所述库存量单元分配给所述唯一的候选拣货操作台。
  10. 根据权利要求6-9任一项所述的货品分拣方法，其特征在于，所述确定当前库存量单元可选用的候选拣货操作台，包括：
    为每一个拣货操作台分配对应的货仓区域；
    根据所述货仓区域内包含的货箱以及货箱内的库存数量，确定当前库存量单元可选用的候选拣货操作台。
  11. 根据权利要求1-10任一项所述的货品分拣方法，其特征在于，所述生成至少一个集货订单，包括：
    统计不同的所述分拣订单之间，记录的库存量单元的重合比例；
    将前n个重合比例最高的分拣订单合并形成一个所述集货订单，n为预定数量。
  12. 根据权利要求11所述的货品分拣方法，其特征在于，在生成至少一个集货订单的步骤之后，所述方法还包括：
    在所述集货订单中选择一个或者多个集货订单下发，以满足预设的优选条件；所述预设的优选条件为：在所述选择的集货订单与所述未被选择的集货订单之间，记录的库存量单元的重合比例最小。
  13. 根据权利要求1-12任一项所述的货品分拣方法，其特征在于，所述方法还包括：
    对所述拣货操作拣出的所有货品进行二次分拣，形成若干个与分拣订单对应的分拣包裹。
  14. 根据权利要求2所述的货品分拣方法，其特征在于，所述方法还包括：当下发到所述拣货操作台的集货订单大于或等于两个时，控制所述拣货操作台将各集货订单对应的货品拣出并放置至各集货订单对应的区域。
  15. 一种非易失性计算机可读存储介质，其特征在于，所述非易失性计算机可读存储介质存储有计算机可执行程序指令，所述计算机可执行程序指令被处理器调用时，以使所述处理器执行如权利要求1-14任一项所述的货品分拣方法。
  16. 一种货品分拣系统，其特征在于，包括处理终端、拣货操作台以及机器人；
    所述拣货操作台用于从货箱中拣出一个或者多个货品；所述机器人用于在仓库与所述拣货操作台之间搬运所述货箱；
    所述处理终端分别与所述拣货操作台以及所述机器人通信连接，用于执行如权利要求1-14任一项所述的货品分拣方法，控制所述机器人以及所述拣货操作台，生成一个或多个集货订单对应的订单包裹。
  17. 一种计算机程序产品，其特征在于，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被处理器执行时，使所述处理器执行如 权利要求1-14任一项所述的货品分拣方法。
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