WO2021082924A1 - 一种货物处理系统及货物处理的方法 - Google Patents
一种货物处理系统及货物处理的方法 Download PDFInfo
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- WO2021082924A1 WO2021082924A1 PCT/CN2020/120912 CN2020120912W WO2021082924A1 WO 2021082924 A1 WO2021082924 A1 WO 2021082924A1 CN 2020120912 W CN2020120912 W CN 2020120912W WO 2021082924 A1 WO2021082924 A1 WO 2021082924A1
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- 238000012545 processing Methods 0.000 title claims abstract description 23
- 238000003672 processing method Methods 0.000 title claims abstract description 4
- 238000000034 method Methods 0.000 claims description 39
- 238000004806 packaging method and process Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 18
- 238000010586 diagram Methods 0.000 description 14
- 230000007246 mechanism Effects 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 7
- 238000012856 packing Methods 0.000 description 7
- 230000032258 transport Effects 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000011068 loading method Methods 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010899 nucleation Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 230000007306 turnover Effects 0.000 description 1
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- 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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- 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
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31003—Supervise route, reserve route and allocate route to vehicle, avoid collision
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- This application relates to the field of robotics technology, in particular to a cargo handling system and a cargo handling method.
- AGV Automated Guided Vehicle
- the picking link mainly refers to the use of AGV to take out the goods involved in multiple orders from each storage area in the warehouse and unify them. Ship to the designated sorting location.
- the sorting link mainly refers to sorting out the goods required for each order from the goods carried in the AGV according to the goods involved in each order, and transporting them to the container corresponding to each order. Later, the goods in the container corresponding to each order can be packaged separately, and the delivery task of the package of each order can be performed.
- the embodiments of this specification provide a goods processing system and a method for processing goods, which are used to solve the problem of low sorting efficiency in the prior art and easy placement of goods in containers corresponding to other orders.
- a cargo handling system includes: a controller and at least one self-driving mobile device that performs wireless communication with the controller, and at least one carrying component is provided on the self-driving mobile device;
- the self-driving mobile device is configured to move to the picking workstation to which the order task belongs according to the first navigation path planned by the controller, and to carry the inventory goods picked by the picker from the inventory container through the carrier component, and according to The second navigation path planned by the controller carries the inventory goods from the picking workstation to the downstream working point;
- the controller is configured to allocate a self-driving mobile device for processing order tasks to an order, and use it as a target self-driving mobile device, and plan for the target self-driving device according to the location of the picking workstation to which the order belongs From the original position of the target self-driving device to the first navigation path of the picking workstation, according to the location of the downstream working point, plan for the target self-driving mobile device from the picking workstation to the picking workstation.
- the second navigation path of the downstream operating point and sending the first navigation path and the second navigation path to the target self-driving mobile device.
- an embodiment of the present invention also provides a method for processing goods, including:
- the marked self-driven mobile device plans a first navigation path from the original location of the target self-driven mobile device to the picking workstation;
- the first navigation path and the second navigation path are sent to the target self-driving mobile device, so that the self-driving mobile device moves from the original position to the picking station according to the first navigation path And move from the picking station to the downstream work point according to the second navigation path.
- the self-driving mobile device can move to the picking workstation according to the first navigation path sent by the controller, and the inventory goods stored at the picking workstation only need to be placed on the self-driving mobile device, and the self-driving movement
- the device can then move to the downstream working point according to the second navigation path sent by the controller, and deliver the carried inventory to the corresponding container. This not only can effectively ensure the accurate delivery of each inventory goods to the corresponding container, but also can effectively improve the sorting efficiency of goods sorting.
- the above content of the invention is only an overview of the technical solution of the present invention.
- Figure 1A is a schematic diagram of the working principle of an embodiment of a goods picking system in a storage environment
- FIG. 1B is a schematic diagram of a first self-driving mobile device provided in this specification.
- Figure 1C is a schematic diagram of the shelf provided in this manual
- Figure 1D is a schematic diagram of the seeding wall provided in this manual.
- 2A is a schematic diagram of the working principle of an embodiment of an automatic parcel sorting system in a storage environment
- 2B is a schematic diagram of a second self-driving mobile device provided in this specification.
- 2C is a schematic diagram of a second self-driving mobile device provided in this specification.
- Figure 3 is a schematic diagram of a cargo handling process provided in this manual
- Figure 4 is a schematic diagram of the completion of cargo transportation through the cargo handling system provided in this manual.
- Fig. 1A is a schematic diagram of the working principle of an embodiment of a goods picking system in a storage environment.
- the goods picking system includes: a first self-driving mobile device 10, a remote controller 20, a storage area 30, and a picking workstation 40.
- the storage area 30 contains a plurality of shelves or shelf-like inventory racks 31, on the inventory rack 31 Various inventory goods are placed, or a storage container is placed on the inventory holder 31, and various inventory goods are contained in the inventory container.
- a plurality of inventory holders 31 form a group, and the different groups are arranged in an array.
- the worker makes the controller 20 work through the console 100, and the controller 20 communicates with the self-driving mobile robot 10 wirelessly, and the first self-driving mobile device 10 performs the transportation task under the control of the controller 20.
- the controller 20 selects the inventory holder or the inventory container on the inventory holder for the order according to the inventory information, and the inventory holder or the inventory container contains the order goods of the order.
- the controller 20 also selects picking for the order.
- Workstation and the first self-driven mobile device plan a navigation path from the original position to the picking workstation for the first self-driven mobile device, and the first self-driven mobile device follows the empty space in the inventory rack array according to the navigation path
- the space (a part of the passageway of the first self-propelled mobile device 10) travels.
- the working area of the first self-driving mobile device (the working area includes at least the inventory area 30 and the area where the picking workstation 40 is located) can be divided into several sub-areas (i.e., unit) in advance. Grid), the first self-driving mobile device 10 moves sub-areas one by one to form a movement track.
- the compartment on the inventory support 31 can be loaded with storage containers such as bins or pallets.
- the bins can contain unpacked inventory items (for example, cans of cola), and the pallets can be placed on the entire tray of inventory items (for example, FCL). Cola).
- the first self-driving mobile device 10 can transport the entire inventory rack 31 to the picking workstation 40 for supply picking operations, and can also grab inventory containers (such as bins or pallets) on the inventory rack 31 and move the inventory containers to The picking workstation 40 performs a supply picking operation.
- the inventory support 31 can also use other suitable loading methods to load bins, pallets, or other types of inventory containers, all of which fall within the protection scope of the present application.
- the first self-driving mobile device 10 may include a driving mechanism 101 through which the first self-driving mobile device 10 can move in the working space.
- the first self-driving mobile device 10 can also include a lifting mechanism 102 for carrying the rack.
- the first self-driving mobile device 10 can move to the bottom of the rack, and the lifting mechanism 102 can be used to lift the rack and carry it to the assigned pick.
- Workstation 40 When the lifting mechanism 102 is raised, the entire shelf is lifted from the ground, so that the first self-driving mobile device 10 carries the shelf, and when the lifting mechanism 102 is lowered, the shelf is placed on the ground.
- the target recognition component 103 e.g., a camera
- the first self-driving mobile device 10 also includes a navigation recognition component (not shown in FIG. 1B) for recognizing markers (eg, two-dimensional codes) laid on the ground.
- the first self-driving mobile device 10 can also use other navigation methods, such as inertial navigation, SLAM (Simultaneous Localization and Mapping) navigation, etc., and can also combine two or more navigation methods at the same time, such as QR code navigation and inertial navigation, SLAM navigation and QR code navigation, etc.
- the first self-driving mobile device 10 also includes a control module (not shown in FIG. 1B) that controls the entire first self-driving mobile device 10 to implement functions such as movement and navigation.
- the first self-driving mobile device 10 includes at least two upward and downward cameras, which can capture the information of the QR code mark (or other ground marks) according to the downward camera and drive forward. , And can drive under the shelf prompted by the controller 20 according to the navigation route determined by the controller 20.
- FIG. 1C is a schematic diagram of the shelf provided in this specification. Goods 60 can be stored directly on the shelf 31, of course, the goods 60 can also be stored in a storage container, such as a bin or a pallet.
- the shelf 31 includes a plurality of compartments stacked in a vertical direction, and each compartment can accommodate a plurality of goods 60.
- QR code mark 601 at the center of the bottom of the shelf 31.
- the two-dimensional code mark 601 is correctly captured by the upward camera to ensure that the first self-driving mobile device 10 is just right. It is located directly under the shelf 31 to ensure that the first self-driving mobile device 10 can lift and transport the shelf 31 smoothly.
- the shelf 31 includes one or more supporting parts 602.
- the goods 60 can also be hung from hooks or rods in or on the shelf 31.
- the goods 60 on the shelf 31 can be placed on the inner or outer surface of the shelf 31 in any suitable manner.
- the worker 41 or automated equipment (such as a robotic arm) performing the picking operation picks the goods from the rack 31 at the picking station 40 and puts them on the seeding wall
- the upper turnover box 50 waits for further operations, such as packaging operations, as shown in FIG. 1D.
- FIG. 2A is a schematic diagram of the working principle of an embodiment of an automatic parcel sorting system in a storage environment.
- the automatic parcel sorting system includes: a second self-driving mobile device 10, a remotely located controller 20, an infeed table 30, a sorting workstation 40, and a parcel collection area 60.
- the parcel collection area 60 contains multiple collection containers. 70. Each collection container 70 can be bound to a delivery destination, and all packages of the same delivery destination are sorted into the same collection container 70.
- the collection containers 70 are distributed in the package collection area 60 in a certain layout, for example, a plurality of collection containers 70 form a group, and different groups are arranged in an array.
- the cargo container 70 may be a common container for storing goods to be delivered, such as a common cage truck.
- the parcels are fed by the feeding table 30.
- the controller 20 allocates the second self-driving mobile device 10 for the parcels.
- the sorting station 40 is arranged next to the feeding table 30. At the sorting station 40, the The package is placed on the carrier assembly of the second self-driving mobile device 10 assigned to the package in a face-up manner.
- the second self-driving mobile device 10 carries the package through the package inspection device 80 located at the sorting station 40, and the package
- the inspection device 80 includes a package information acquisition device.
- the package information acquisition device can acquire the face-to-face information on all the packages that pass.
- the face-to-face information includes package information.
- the package information includes but is not limited to the delivery destination information of the package. (That is, the destination address of the package delivery).
- the package information acquisition device reports the delivery destination information of the acquired package to the controller 20, and the controller 20 allocates the collection container 70 with the same delivery destination according to the delivery destination information of the package, and according to the location of the collection container 70
- the second self-driving mobile device 10 plans the navigation path, and the second self-driving mobile device 10 carries the empty space (part of the passageway of the second self-driving mobile device 70) wrapped in the container array to the corresponding collection.
- the cargo container 70 all packages located in the same container 70 will be sent to the same destination (for example, the same store or the same geographic area).
- the working area of the second self-driving mobile device 10 (the working area includes at least the parcel collection area and the area where the sorting workstation is located) can be divided into several sub-areas ( That is, the cell), the second self-driving mobile device 10 moves sub-areas one by one to form a motion track.
- the second self-propelled mobile device 10 can run on an overhead platform (such as a steel platform) or a track, and the container 70 for receiving parcels is located under the platform or the track; the second self-propelled mobile device 10 can also run on the ground , The container 70 for connecting the package is also located on the ground, and the height of the carrying component on the second self-driving mobile device 10 is slightly higher than the height of the container 70, so that the carrying component can put the package into the container 70 .
- an overhead platform such as a steel platform
- the container 70 for receiving parcels is located under the platform or the track
- the second self-propelled mobile device 10 can also run on the ground
- the container 70 for connecting the package is also located on the ground, and the height of the carrying component on the second self-driving mobile device 10 is slightly higher than the height of the container 70, so that the carrying component can put the package into the container 70 .
- the second self-driving mobile device may include a driving mechanism 201 through which the second self-driving mobile device can move in the working space.
- the second self-driving mobile device can also include a carrier component 202 for carrying and delivering packages.
- the second self-driving mobile device can use the carrier component 202 to carry the package.
- the carrier component 202 can also be used to carry the package.
- the package is put into the collection container 70.
- the carrying component 202 can be any braking mechanism capable of carrying and delivering packages, for example, including but not limited to: a roller mechanism, a belt mechanism, a flap mechanism, and the like.
- the second self-driving mobile device may be provided with one carrier component or multiple carrier components. As shown in FIG. 2C, each carrier component separately carries a package. As shown in FIG. 2C, the multiple load-bearing components may be distributed vertically, and may also be distributed horizontally in other embodiments, which is not limited in this specification.
- the second self-driving mobile device 10 also includes a navigation recognition component (not shown in FIG. 2B) for recognizing markers (eg, two-dimensional codes) laid on the ground.
- the second self-driving mobile device 10 can also use other navigation methods, such as inertial navigation, SLAM navigation, etc., and can also combine two or more navigation methods, such as QR code navigation and inertial navigation. Navigation, SLAM navigation and QR code navigation, etc.
- the second self-driving mobile device 10 also includes a control module (not shown in FIG. 2B) that controls the entire second self-driving mobile device to implement functions such as movement and navigation.
- FIG. 3 is a schematic diagram of a cargo handling process provided in this manual, which specifically includes the following steps:
- S301 For each order, a target self-driving mobile device for processing order tasks is allocated to the order from the respective driving mobile device.
- S302 According to the location of the picking workstation to which the order belongs, plan a first navigation path from the original location to the picking workstation for the target self-driving mobile device.
- the cargo handling system includes a controller and at least one self-driving mobile device that communicates wirelessly with the controller.
- the controller is used to send a handling instruction to the self-driving mobile device so that the self-driving mobile device is
- the received handling instruction transports the carried inventory goods to the downstream work point.
- the downstream working point may exist in any form, for example, it may be a workstation or a large-scale workshop, which is not limited in this specification.
- the controller can be a device in the form of a computer or a device in the form of a server.
- the self-driving mobile equipment mentioned here can refer to automated equipment such as AGVs and handling robots.
- the inventory goods carried on the self-driving mobile device can be manually taken out of the warehouse where various goods are stored and placed on the self-driving mobile device.
- self-driving mobile equipment can be used for cargo handling in both the picking process and the sorting process.
- the self-driving mobile equipment used in the picking process can be called the picking equipment.
- Self-driving mobile equipment is sorting equipment.
- the picking equipment can take out the inventory goods that need to be packaged from the warehouse storing various goods according to the handling instructions sent by the controller, and then the inventory goods carried on the picking equipment can be moved to the sorting equipment, and then in the subsequent process ,
- the sorting equipment transports the carried inventory goods to the downstream work point.
- a plurality of load-bearing components can be provided on the self-driving device, and the load-bearing components can be used to carry inventory goods that need to be carried.
- the specific form of the load-bearing component can be multiple.
- the load-bearing component can be a platform, a container that can hold goods, or a drawer that can hold goods. This specification does not limit the specific form of the load-bearing component.
- the controller can select the self-driving mobile device that executes the order task of the order from the respective driving mobile devices for each order.
- the orders mentioned here can be divided into two categories.
- One type of order refers to an order that contains a variety of inventory goods (that is, the user purchases multiple goods in one order). This kind of order can be called multi-product.
- the other kind of order refers to an order containing a kind of inventory goods (that is, a user purchases a kind of goods in an order), and this kind of order can be called a single product order.
- the inventory goods in the multi-product order contain at least two stock keeping units (SKU), that is, each inventory item corresponds to a unique SKU. Therefore, the multi-product order actually contains at least two stock keeping units (SKUs).
- SKUs stock keeping units
- the controller may be the multi-product order.
- the order is assigned a self-driving mobile device. That is to say, if the carrying component on the self-driving mobile device can carry all the inventory goods in the multi-product order, the controller can assign a self-driving mobile device to perform the order task of the multi-product order.
- a self-driving mobile device is provided with a carrying component
- the carrying space of this carrying component can accommodate all the inventory goods in the multi-product order, and the controller assigns a target self-driving mobile device to the multi-product order .
- the controller can control the target self-driving mobile device to directly move to the packaging station for packaging.
- the controller may obtain the current location of the self-driving mobile device for the target self-driving mobile device that carries all the goods of a multi-product order, as the original location of the self-driving mobile device. Then, the controller can plan a navigation path for the self-driving mobile device to move from the original position to the packaging station according to the original position of the self-driving mobile device and the location of the packaging station, and send the navigation path to the self-driving mobile device. Mobile devices. The self-driving mobile device can move from the original location to the packaging station according to the navigation path.
- the controller can allocate multiple self-driving mobile devices to the multi-product order. That is to say, if the carrying component provided on the self-driving mobile device is not enough to carry all the inventory goods in the multi-product order, the controller needs to allocate multiple self-driving mobile devices to execute the order task of the multi-product order.
- the inventory goods in the single product order contain one SKU, that is, the single product order contains only one type of inventory goods. Since the single product order only contains one kind of inventory goods, the controller can allocate a self-driven mobile device for the single product order to execute the single product order and execute the corresponding order task.
- the controller allocates a self-driving mobile device to the single product order is divided into two situations.
- One case is that the self-driving mobile device allocated by the controller to the single product order is only used to perform the order task of the single product order. That is, when the self-driving mobile device carries the inventory goods in the single product order, it will no longer carry the inventory goods of other single product orders or multi-product orders.
- the self-driving mobile device assigned by the controller to the single product order can execute the order task of the single product order at the same time it can also perform the order tasks of other single product orders or multi-product orders, that is, the While carrying the inventory goods in the single-product order, the self-driving mobile device can also carry the inventory goods of other single-product orders or multi-product orders.
- the load-bearing component can only carry inventory goods of one order, and further, the load-bearing component can only carry one inventory goods of one order.
- the controller when the controller allocates self-driving mobile devices to each order, it can also refer to allocating self-driving mobile devices to a batch of orders, that is, for a batch of orders, the controller can centrally allocate this batch of orders Several self-driven mobile devices, and instruct these self-driven mobile devices to move to the location of the picking station. It should be noted that at this time, the controller does not assign specific self-driving mobile devices to each order one by one. The controller only instructs these self-driving mobile devices to move to the picking station. The corresponding relationship between each order and the respective driven mobile device is It needs to be confirmed at the picking station.
- the controller may obtain the current location of the self-driving mobile device as the original position of the self-driving mobile device. Then, the controller can plan the first navigation path for the self-driving mobile device to move from the original position to the picking workstation according to the original location of the self-driving mobile device and the location of the picking workstation, and send the first navigation path Give this self-driving mobile device.
- the self-driving mobile device can move from the original position to the picking station according to the first navigation path.
- the first navigation paths planned by the controller for the respective driving mobile devices are also not the same.
- the controller can obtain the identification information of the self-driving mobile device and the identification information of the inventory goods carried on the self-driving mobile device, and then use the acquired identification Information, determine what kind of inventory goods are carried on the respective driving mobile devices, and then in the subsequent process, according to the correspondence between the order and the inventory goods, complete the delivery of the inventory goods at the downstream work point.
- a scanning device is also provided in the cargo handling system, and the scanning device can be set at the picking workstation.
- the scanning device can scan the identification information of the self-driving mobile device and the identification information of the inventory goods carried on the self-driving mobile device, and send the scanned identification information to the controller.
- the staff can hold the scanning device to scan the self-driving mobile device and the inventory goods carried on the self-driving mobile device.
- the scanning device can also be set at a designated location of the picking station.
- the self-driving mobile device determines that the inventory has been loaded, it can go to the designated location, and the scanning device located at the designated location can automatically scan the self-driving mobile device.
- the identification information of the driving mobile device and the identification information of the inventory goods carried on the self-driving mobile device are further sent to the controller.
- the scanning device may be composed of a trigger, a first scanning device, and a second scanning device.
- the trigger detects that the self-driving mobile device has reached the preset scanning area, it can send a message to the first scanning device and the second scanning device.
- the scanning device sends a scanning instruction, and the first scanning device can scan the identification information of the self-driving mobile device according to the received scanning instruction and send it to the controller.
- the second scanning device can scan the identification information of the inventory goods carried on the self-driving mobile device according to the received scanning instruction, and send it to the controller.
- the controller may determine the identification information sent by the first scanning device as the identification information of the self-driving mobile device currently passing through the scanning area, and the identification information sent by the second scanning device as the self-driving movement currently passing through the scanning area The identification information of the inventory goods carried on the device.
- the identification information of the self-driving mobile device mentioned above is used to uniquely identify the self-driving mobile device, and the identification information may be information in the form of a two-dimensional code, a barcode, and the like.
- the identification information of the inventory goods carried by the self-driving mobile device is used to uniquely identify the same inventory goods, and the identification information may refer to the European Article Number (EAN), the above-mentioned SKU, and so on.
- EAN European Article Number
- the position information at the scanning area mentioned above can be sent by the controller to the self-driving mobile device (the controller can send it to the self-driving mobile device when it determines that the self-driving mobile device moves to the picking station; it can also be sent in When sending the first navigation path to the self-driving mobile device, the location information is also sent to the self-driving mobile device; or it is sent to the self-driving mobile device when the self-driving mobile device has finished loading the inventory), or It is pre-stored in a self-driving mobile device.
- the picking workstation can also be equipped with an automatic picking device (such as a picking robotic arm, etc.), through which the ordered stock goods can be automatically placed on the carrier component of the self-driving mobile device.
- an automatic picking device such as a picking robotic arm, etc.
- the controller stores the corresponding relationship between the order and the goods, and the corresponding relationship actually indicates which inventory goods are required for each order.
- the corresponding relationship may be pre-determined and saved by the controller according to the order information of each order.
- the controller queries the order to which the inventory goods carried on the self-driven mobile device belong, it can also query the corresponding relationship from the order information of each order.
- the controller After the controller obtains the identification information of the self-driving mobile device and the identification information of the inventory goods carried on the self-driving mobile device, it can determine the self-driving movement according to the correspondence between the stored order and the goods. The order corresponding to the inventory goods carried on the equipment. Furthermore, in the subsequent process, it is further determined which location of the downstream work point the self-driving mobile device needs to transport the stocked goods carried by the self-driving mobile device for goods delivery.
- the controller can plan the second navigation for the target self-driving mobile equipment from the picking station to the downstream work point according to the location of the downstream work point. path.
- the self-driving mobile device has carried all the inventory goods that need to be carried. For example, if the staff at the picking workstation determines that all the inventory goods that need to be carried by the self-driving mobile device have been placed on the carrier component of the self-driving mobile device, they can send a confirmation message to the self-driving mobile device or the controller, In this way, the self-driving mobile device or the controller determines that the self-driving mobile device has carried all the inventory goods that need to be carried according to the confirmation message.
- the self-driving mobile device only carries the inventory goods of a single product order
- when the self-driving mobile device monitors that a carrier component is set to carry the inventory goods it can be determined that the self-driving mobile device has carried the goods that need to be carried. All inventory goods.
- the self-driving mobile device monitors that all the load-bearing components set have been occupied it can be determined that the self-driving mobile device has carried all the inventory goods that need to be carried.
- each order container can correspond to an order. That is, one order container is used to hold the inventory goods of one order.
- the order mentioned here can refer to the above-mentioned multi-product order or single-product order. Therefore, the inventory goods contained in an order container can come from a single-product order or a multi-product order.
- the second navigation path planned by the controller for each self-driving mobile device is also not the same. It should be noted that if the self-driving mobile device only carries inventory goods with one order, the second navigation path planned by the controller should be a path. If it is a self-driving mobile device that carries inventory goods with multiple orders, the second navigation path planned by the controller for it should be multiple paths, that is, the self-driving mobile device can plan multiple paths for it according to the controller. The second navigation path is to sequentially go to the location of each order container at the downstream work point for cargo delivery.
- S304 Send the first navigation path and the second navigation path to the target self-driving mobile device, so that the self-driving mobile device moves from the original position to the The location of the picking workstation, and moving from the picking workstation to the downstream work point according to the second navigation path.
- the controller plans the first navigation path for the target self-driving mobile device, it can send the first navigation path to the target self-driving mobile device, so that the target self-driving mobile device can move from its original location to the picking station. The location.
- the target self-driving mobile device has carried all the inventory goods that need to be carried, it can move to the downstream working point according to the second navigation path sent by the controller.
- the carried inventory can be delivered to the target order container among the multiple order containers set in the downstream working point through the carrying component.
- the controller can allocate an order container for processing order tasks for each order in a downstream work point in advance as a target order container. Since the controller records the correspondence between the order and the inventory goods, after determining the inventory goods carried on the target self-driving mobile device, it can be determined which inventory goods carried on the target self-driving mobile device belong One order. Based on this, the navigation path planned by the controller for the target self-driving mobile device actually indicates the specific order container of the downstream work point that the target self-driving mobile device should move from the picking workstation.
- the load-bearing component can be controlled to deliver the inventory goods that need to be delivered to the target order container to the target order container.
- the controller obtains the inventory carried by the target self-driving mobile device through the scanning device, it also needs to record the carrying component and the inventory carried by the carrying component for each carrying component set on the target self-driving mobile device Correspondence between.
- the controller needs to determine which inventory goods are carried by each load-bearing component of the target self-driving mobile device. In this way, the controller can determine, according to the corresponding relationship, how the target self-driving mobile device should control the carrier component to complete the delivery of the inventory after the target self-driving mobile device moves to the corresponding target order container according to the second navigation path.
- the controller can determine whether the target self-driving mobile device has moved to the target order container according to the location of the target self-driving mobile device.
- the target self-driving mobile device sends a delivery instruction so that the target self-driving mobile device controls the load-bearing component carrying the inventory goods to be delivered to the target order container according to the delivery instruction, and delivers the goods to the target order container.
- the target self-driving mobile device can deliver the goods to each target order container according to multiple delivery instructions sent by the controller.
- the controller can also send the corresponding relationship between the aforementioned orders and the inventory goods, and the corresponding relationship between the load-bearing components and the inventory goods to the target self-driving mobile device, and accordingly, the target self-driving mobile device moves to the target order After the container is placed, it can be determined according to these corresponding relationships which load-bearing components need to be controlled to deliver goods to the target order container.
- the self-driving mobile device can move to the picking workstation according to the first navigation path sent by the controller, and the inventory goods stored at the picking workstation only need to be placed on the self-driving mobile device. It can move to the downstream working point according to the second navigation path sent by the controller, and deliver the carried inventory goods to the corresponding order container. This not only can effectively ensure the accurate delivery of each inventory goods to the corresponding order container, but also can effectively improve the sorting efficiency of goods sorting.
- the target self-driving mobile device may send a delivery completion message to the controller after determining that the inventory goods that have been carried and need to be delivered to the target order container are delivered to the target order container.
- the controller can determine, according to the received delivery completion message, that the target self-driving mobile device has already carried it, and the inventory goods that need to be delivered to the target order container are delivered to the target order container.
- the controller determines that it needs to be delivered to the target order container according to the delivery completion message sent by multiple self-driving mobile devices All the inventory goods in the target order container have been delivered to the target order container, you can send a message for determining the packaging of the inventory goods in the target order container to notify the staff at the packaging station in the downstream work point of the target order container Pack the inventory goods in the target order container, or instruct the packing equipment installed at the packing station to pack the inventory goods in the target order container. At the same time, the controller can allocate the target order container to the next batch of orders.
- Figure 4 is a schematic diagram of the completion of cargo transportation through the cargo handling system provided in this manual.
- the entire cargo handling process needs to pass through two areas, one is called the picking area, and the other is called the sorting area.
- the controller determines each order, it can send a handling instruction to the picking device used to move the goods in the picking area according to the inventory goods involved in these orders.
- the picking equipment can take out the inventory goods that need to be moved from the container in the storage warehouse according to the handling equipment sent by the controller.
- the picking equipment can go to the picking workstation.
- the respective driving mobile devices can go to the picking workstation in turn according to the first navigation path sent by the controller, and the staff at the picking workstation can place various inventory goods stored in the picking workstation on their respective driving mobile devices.
- the staff can place an inventory of goods on the self-driving mobile device.
- the self-driving mobile device can carry the carried inventory to a designated location equipped with a scanning device, and the scanning device can identify the identification information of the self-driving mobile device that arrives at the designated location (that is, within the scanning area preset by the scanning device) , And the identification information of the inventory goods carried on the self-driving mobile device are scanned, and the scanned identification information is sent to the controller.
- the controller can plan a second navigation path for the self-driving mobile device to move to the downstream operating point according to the acquired identification information and the aforementioned corresponding relationship, and send it to the self-driving mobile device.
- the self-driving mobile device can follow the second navigation path to the downstream work point, and then deliver the inventory goods it carries to the target order container set at the downstream work point for receiving the inventory goods.
- the picking link and the sorting link are seamlessly connected, the self-driving mobile equipment used for sorting is controlled to queue at the picking station, and the picked goods are directly sorted to the self-driving mobile equipment, saving intermediate handover
- the link that is, to combine the feeding actions in picking and sorting into one, can greatly shorten the operation process, thereby greatly improving the overall efficiency of the entire order packaging from picking goods to sorting goods.
- the specific path planning algorithm used by the controller to determine the first navigation path and the second navigation path is an existing conventional algorithm, and this specification does not limit the specific algorithm used by the controller.
- the downstream operating point can also be provided with multiple collection containers, and each collection container can be bound to a delivery destination.
- each collection container can be bound to a delivery destination.
- the stocked goods in a container should be sent to the same delivery destination.
- the delivery destinations corresponding to different collection containers can be different.
- the controller can determine the delivery destination corresponding to the inventory goods carried on the target self-driven mobile device according to the delivery destination recorded in the order information of the order Furthermore, according to the distribution destinations assigned to each collection container set in advance for the downstream operating point, the collection container to which the inventory goods carried on the target self-driven mobile device should be delivered is determined as the target collection container. That is, the delivery destination bound to the target collection container is consistent with the delivery destination of the order corresponding to the inventory goods carried on the target self-driven mobile device.
- the target self-driving mobile device is provided with multiple load-bearing components, and each load-bearing component can each carry the inventory of a single product order.
- the second navigation path planned by the controller for the target self-driving mobile device is a navigation path. If the inventory goods carried on the target self-driving mobile device need to be delivered to several different collection containers, the second navigation path planned by the controller for the target self-driving mobile device is multiple navigation paths.
- the order container mentioned above is actually used to carry the inventory goods of the same order, and the collection container mentioned here is mainly used to carry the same inventory goods sent to the same delivery destination. Therefore, the inventory goods contained in the containers mentioned here are not required to be from the same order.
- the target self-driving mobile device is for each target collection container, and when it moves to the target collection container, it can The load-bearing component is controlled, and the inventory goods that need to be delivered to the target collection container are delivered to the target collection container.
- the controller after the controller obtains the inventory carried by the target self-driving mobile device through the scanning device, it also needs to record the carrying component and the inventory carried by the carrying component for each carrying component set on the target self-driving mobile device Correspondence between. In other words, the controller needs to determine which inventory goods are carried by each load-bearing component of the target self-driving mobile device. In this way, the controller can determine, according to the corresponding relationship, how the target self-driving mobile device should control the carrier component to complete the delivery of the inventory after the target self-driving mobile device moves to the corresponding target collection container according to the second navigation path.
- the controller can determine that the target self-driving mobile device has moved to the target cargo container according to the location of the target self-driving mobile device. Then, according to the predetermined corresponding relationship between the delivery destination of each order and the inventory goods, and the corresponding relationship between the load-bearing components and the inventory goods, a delivery instruction is sent to the target self-driving mobile device to make the target self-driving According to the delivery instruction, the mobile device controls the load-bearing component carrying the inventory goods to be delivered to the target container, and delivers the goods to the target container.
- the target self-driving mobile device can go to the next target collection container according to the second navigation path sent by the controller, and control the corresponding load-bearing components, and will need to deliver the inventory goods in the next target collection container. To the next target collection container.
- the controller can also send the corresponding relationship between the delivery destination of each order and the inventory goods, and the corresponding relationship between the load-bearing components and the inventory goods to the target self-driving mobile device.
- the target self-driving mobile device After moving to the target collection container, the corresponding relationship can be used to determine which load-bearing component or components need to be controlled to deliver goods to the target collection container.
- the controller can directly determine and save the corresponding relationship between the inventory goods, the delivery destination and the collection container according to the order information of these orders.
- the controller can also first determine the corresponding relationship between the delivery destination and the collection container, and when the target self-driving mobile device carries the inventory, it can further determine the inventory and distribution based on the corresponding relationship. Correspondence between destination and collection container.
- the controller determines that there are multiple collection containers corresponding to the delivery destination A based on the predetermined correspondence between the delivery destination and the collection container, and none of these collection containers initially hold any inventory. goods.
- the controller determines that the delivery destination corresponding to the inventory goods a carried on a target self-driving mobile device is the delivery destination A, it can randomly select one of these containers to hold the inventory goods a.
- the container for holding inventory goods a is determined, the container is only used for holding inventory goods a (the inventory goods a here does not refer to an inventory item, but an inventory item).
- the controller when the controller determines that the delivery destination corresponding to the inventory goods b carried on a target self-driving mobile device is also delivery destination A, the controller can select the remaining cargo containers corresponding to the delivery destination A A collection container is used to hold the stock goods b, and once the selection is completed, the collection container is only used to hold the stock goods b.
- the controller can sequentially determine the inventory goods that each container needs to hold. That is, in the process of the target self-driving mobile device carrying the inventory goods, the corresponding relationship between the inventory goods, the delivery destination and the collection container is determined.
- the target self-driving mobile device After the target self-driving mobile device completes the delivery of the inventory goods, it can send a delivery completion message to the controller, and the controller can determine which collection containers require all the inventory goods that have been delivered according to the delivery completion message sent by the respective driving mobile devices. After finishing, send the corresponding packing message to the staff located at the packing station in the downstream working point. According to the packing message, the staff can perform operations such as pasting order information on the same inventory goods contained in the collection container, thereby completing the packing of the inventory goods and sending them to the corresponding delivery destination.
- one cargo container can hold the same inventory goods
- the staff pastes the order information of the inventory goods carried in the cargo container
- they can directly paste the printed order information on the inventory goods or It is on the outer packaging of the inventory goods, which can greatly improve the packaging efficiency of the goods.
- the packaging equipment can directly paste the printed order information on the collection. The inventory goods in the container or the outer packaging of the inventory goods.
- the controller can determine whether the quantity of stock goods carried by the target collection container has reached the set quantity according to the received delivery completion message, if so, it can send the above packing message, otherwise, determine the target The collection container is not full of inventory.
- the cargo container can also be provided with a pressure sensor, and if the pressure sensor detects that the total weight of the inventory goods contained in the cargo container has reached the preset weight, Then you can send a message to the controller. Based on the message, the controller can determine that the staff needs to pack the stock in the container in time, and then send an assembly message to the staff so that the staff can pack the stock in the container, and Send the packaged inventory goods to the delivery destination corresponding to the container.
- the embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, any of the aforementioned goods processing methods is implemented.
Abstract
提供了一种货物处理系统及货物处理的方法，由于自驱动移动设备可以根据控制器发送的第一导航路径移动到拣选工作站（S302），而拣选工作站处存放的库存货物只需放置在自驱动移动设备上，自驱动移动设备即可根据控制器发送的第二导航路径移动至下游工作点，并将承载的库存货物投递至相应的容器中（S303）。这样不仅能够有效的保证将各库存货物准确的投递至相应的容器内，并且，还可以有效的提高货物分拣的分拣效率。
Description
本申请要求于2019年10月29日提交中国专利局、申请号为201911037866.9、发明名称为“一种货物处理系统及货物处理的方法”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。
本申请涉及机器人技术领域，尤其涉及一种货物处理系统及货物处理的方法。
目前，诸如自动引导车(Automated Guided Vehicle，AGV)等自动化搬运设备已经广泛应用于仓储、物流等领域，用于实现对货物的自动化运输。
在仓库的订单处理过程中，通常会涉及拣选和分拣两个环节，其中，拣选环节主要是指通过AGV将多个订单所涉及的各货物从仓库中的各个储货区域中取出，并统一运送到指定的分拣地点。而分拣环节主要是指根据每个订单所涉及的货物，从AGV中运载的各货物中分拣出每个订单所需的货物，并搬运到每个订单所对应的容器中。后续可以通过对每个订单对应的容器中的货物进行分别打包，并对每个订单的包裹执行配送任务。
随着各种购物方式和购物渠道的丰富和普及，仓库订单数量极大增加，如何有效提高货物处理效率是一个亟待解决的问题。
发明内容
本说明书实施例提供一种货物处理系统以及货物处理的方法，用于解决现有技术中分拣效率较低，容易将货物放置在其他订单对应容器内的问题。
第一方面，一种货物处理系统，所述货物处理系统包括：控制器和与所述控制器进行无线通信的至少一个自驱动移动设备，所述自驱动移动设备上设置有至少一个承载组件；
所述自驱动移动设备配置为，根据所述控制器规划出的第一导航路径移动到订单任务所属的拣选工作站，通过所述承载组件承载拣选方从库存容器中拣选出的库存货物，并根据所述控制器规划出的第二导航路径将库存货物从所述拣选工作站运载到下游工作点；
所述控制器配置为，为订单分配用于处理订单任务的自驱动移动设备，并作为目标自驱动移动设备，根据所述订单所属的拣选工作站所处的位置，为所述目标自驱动设备规划从所述目标自驱动设备所处的原始位置到所述拣选工作站的第一导航路径，根据所述下游工作点所处的位置，为所述目标自驱动移动设备规划从所述拣选工作站到所述下游工作点的第二导航路径，以及，向所述目标自驱动移动设备发送所述第一导航路径和所述第二导航路径。
第二方面，本发明实施例中还提供了一种货物处理的方法，包括：
针对每个订单，从各自驱动移动设备中为该订单分配用于处理订单任务的自驱动移动设备，作为目标自驱动移动设备；
根据该订单所属的拣选工作站所处的位置，为所述目
标自驱动移动设备规划从所述目标自驱动移动设备所处的原始位置到所述拣选工作站的第一导航路径；
根据下游工作点所处的位置，为所述目标自驱动移动设备规划从所述拣选 工作站到所述下游工作点的第二导航路径；
将所述第一导航路径以及所述第二导航路径发送给所述目标自驱动移动设备，以使所述自驱动移动设备根据所述第一导航路径从所述原始位置移动到所述拣选工作站所处的位置，以及根据所述第二导航路径从所述拣选工作站移动到所述下游工作点。
由于本说明书提供的货物处理系统中，自驱动移动设备可以根据控制器发送的第一导航路径移动到拣选工作站，而拣选工作站处存放的库存货物只需放置在自驱动移动设备上，自驱动移动设备即可根据控制器发送的第二导航路径移动至下游工作点，并将承载的库存货物投递至相应的容器中。这样不仅能够有效的保证将各库存货物准确的投递至相应的容器内，并且，还可以有效的提高货物分拣的分拣效率。上述发明内容仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1A为仓储环境中，货物拣选系统实施例的工作原理示意图；
图1B为本说明书提供的一种第一自驱动移动设备的示意图；
图1C为本说明书提供的货架的一种示意图；
图1D为本说明书提供的播种墙的示意图；
图2A为仓储环境中，自动包裹分拣系统实施例的工作原理示意图；
图2B为本说明书提供的一种第二自驱动移动设备的示意图；
图2C为本说明书提供的一种第二自驱动移动设备的示意图；
图3为本说明书提供的一种货物处理的流程示意图；
图4为本说明书提供的通过货物处理系统完成货物运载的示意图。
为使本说明书的目的、技术方案和优点更加清楚，下面将结合本说明书具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于说明书中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
参照图1A，图1A为仓储环境中，货物拣选系统实施例的工作原理示意图。货物拣选系统包括：第一自驱动移动设备10、位于远程的控制器20、库存区30以及拣选工作站40，库存区30中容纳有多个货架或者类似货架一样的库存支架31，库存支架31上放置有各种库存货物，或者库存支架31上放置有库存容器，库存容器中容纳有各种库存货物，多个库存支架31组成一组，不同组之间排布成阵列的形式。
工作人员通过操作台100使控制器20工作，控制器20与自驱动移动机器人10之间无线通信，第一自驱动移动设备10在控制器20的控制下，执行搬运任务。例如，控制器20根据库存信息为订单选择库存支架或者库存支架上 的库存容器，该库存支架或者该库存容器中容纳有该订单的订单货物，除此之外，控制器20还为订单选择拣选工作站以及第一自驱动移动设备，并为该第一自驱动移动设备规划从原始位置到该拣选工作站的导航路径，该第一自驱动移动设备根据该导航路径沿库存支架阵列中的空着的空间(第一自驱动移动设备10通行通道的一部分)行驶。为了方便为第一自驱动移动设备10规划导航路径，可以预先将第一自驱动移动设备的工作区域(该工作区域至少包括库存区30以及拣选工作站40所在区域)划分为若干个子区域(即单元格)，第一自驱动移动设备10逐个子区域地进行移动从而形成运动轨迹。
其中，库存支架31上的隔层可以装载料箱或托盘等库存容器，料箱中可以容纳拆零的库存物品(如，听装可乐)，托盘上可以放置整托的库存物品(如，整箱的可乐)。第一自驱动移动设备10可以搬运整个库存支架31到拣选工作站40以供货物拣选操作，也可以抓取库存支架31上的库存容器(如，料箱或托盘)，并将库存容器搬运到拣选工作站40以供货物拣选操作。当然，库存支架31也可以采用其它合适的装载方式装载料箱、托盘或其它类型的库存容器，都在本申请的保护范围之内。
参见图1B，以第一自驱动移动设备10搬运货架为例，第一自驱动移动设备10可以包括驱动机构101，通过该驱动机构101，第一自驱动移动设备10能够在工作空间内移动，第一自驱动移动设备10还可以包括用于搬运货架的举升机构102，第一自驱动移动设备10可以运动到货架的下方，利用举升机构102举起货架，并搬运到被分配的拣选工作站40。举升机构102升起时将整个货架从地面抬起，以使得第一自驱动移动设备10搬运货架，举升机构102下降时将货架放在地面上。第一自驱动移动设备10上的目标识别组件103(例 如，摄像头)在第一自驱动移动设备10举升货架时，能够有效的对货架进行识别。
除此之外，如果是基于视觉标记导航，第一自驱动移动设备10还包括导航识别组件(图1B未示出)，用于识别铺设在地面上的标记(如，二维码)。第一自驱动移动设备10除了可以采用视觉标记导航外，还可以采用其它导航方式，如惯性导航、SLAM(Simultaneous Localization and Mapping)导航等，还可以同时结合两种或者两种以上导航方式，如二维码导航和惯性导航，SLAM导航和二维码导航等等。当然，第一自驱动移动设备10还包括控制整个第一自驱动移动设备10实现运动、导航等功能的控制模块(图1B未示出)。
在一个示例中，第一自驱动移动设备10至少包括向上和向下的两个摄像头，其能够根据向下的摄像头拍摄到二维码标记(也可以是其它地面标识)的信息并向前行驶，并且能够根据控制器20确定的导航路径行驶至控制器20提示的货架下面。如图1C所示，图1C为本说明书提供的货架的一种示意图，货架31上可以直接存放货物60，当然货物60也可以存放在库存容器中，例如料箱或者托盘。在特定实施例中，货架31包括多个延垂直方向叠加的隔层，每个隔层能够容纳多个货物60。货架31底部的正中央设有二维码标记601，当第一自驱动移动设备10行驶到货架31下面后，通过向上的摄像头正确拍摄二维码标记601，确保第一自驱动移动设备10正好位于货架31的正下方，以此保证第一自驱动移动设备10可以平稳的抬起和搬运货架31，货架31包括一个或多个支撑部602。另外，在特定实施例中，货物60也可以从货架31内或货架31上的挂钩或杆进行悬挂。货物60在货架31上能够以任何适当的方式放置在货架31的内部或外表面。
第一自驱动移动设备10将货架31搬运到拣选工作站40后，在拣选工作站40处由执行拣选操作的工作人员41或自动化设备(如，机械臂)从货架31上拣选货物并放入播种墙上的周转箱50中等待进一步操作，如包装操作，如图1D所示。
以上全部过程是仓库中的订单处理流程的拣选环节，拣选环节完成后还需要对打包后的包裹进行包裹分拣作业，最后进行快递发运。
参照图2A，图2A为仓储环境中，自动包裹分拣系统实施例的工作原理示意图。自动包裹分拣系统包括：第二自驱动移动设备10、位于远程的控制器20、供件台30、分拣工作站40以及包裹集货区60，包裹集货区60容纳有多个集货容器70，每个集货容器70可绑定一个配送目的地，同一配送目的地的所有包裹通过分拣都进入同一个集货容器70中。集货容器70以一定的布局方式分布在包裹集货区60内，如，多个集货容器70组成一组，不同组之间排布成阵列的形式。集货容器70可以是常见的用于收纳待投递货物的容器，比如：常见的笼车等。包裹由供件台30进行供件，控制器20为包裹分配第二自驱动移动设备10，分拣工作站40设置在供件台30旁边，在分拣工作站40处，通过采用人工或者自动化方式将包裹以面单朝上的方式放置在分配给该包裹的第二自驱动移动设备10的承载组件上，该第二自驱动移动设备10运载包裹通过位于分拣工作站40的包裹检验装置80，包裹检验装置80包括包裹信息获取装置，包裹信息获取装置可获取通过的所有包裹上的面单信息，该面单信息中包含有包裹信息，该包裹信息中包括但不限于该包裹的配送目的地信息(即，包裹运送的目的地址)。包裹信息获取装置将获取到包裹的配送目的地信息上报给控制器20，控制器20根据该包裹的配送目的地信息分配配送目的地一致 的集货容器70，并根据集货容器70的位置为第二自驱动移动设备10规划导航路径，第二自驱动移动设备10运载着包裹在集货容器阵列中的空着的空间(第二自驱动移动设备70通行通道的一部分)行驶到对应的集货容器70处，位于同一个集货容器70中的所有包裹将被发往同一个目的地(如，同一个门店或者同一个地理区域)。为了方便为第二自驱动移动设备规划10导航路径，可以预先将第二自驱动移动设备10的工作区域(该工作区域至少包括包裹集货区以及分拣工作站所在区域)划分为若干个子区域(即单元格)，第二自驱动移动设备10逐个子区域地进行移动从而形成运动轨迹。
第二自驱动移动设备10可以行驶在架空的平台(如，钢平台)或者轨道上，接驳包裹的集货容器70位于平台或轨道下方；第二自驱动移动设备10也可以行驶在地面上，接驳包裹的集货容器70也同样位于地面上，第二自驱动移动设备10上的承载组件的高度略高于集货容器70的高度，以便承载组件可将包裹投入集货容器70中。
参见图2B，以第二自驱动移动设备行驶在地面上为例，第二自驱动移动设备可以包括驱动机构201，通过该驱动机构201，第二自驱动移动设备能够在工作空间内移动，第二自驱动移动设备还可以包括用于承载及投递包裹的承载组件202，第二自驱动移动设备可以利用承载组件202承载包裹，在移动到集货容器70处时，还可以利用承载组件202将包裹投入集货容器70中。其中，承载组件202可以是任何能够承载及投递包裹的制动机构，例如，包括但不限于：辊轮机构、皮带机构、翻板机构等。第二自驱动移动设备上可设置一个承载组件，也可设置多个承载组件，如图2C所示，每个承载组件分别承载一个包裹。如图2C所示，多个承载组件之间可以竖直分布，其他实施例中也可以 水平分布,本说明书对此不作限定。
除此之外，如果是基于视觉标记导航，第二自驱动移动设备10还包括导航识别组件(图2B未示出)，用于识别铺设在地面上的标记(如，二维码)。第二自驱动移动设备10除了可以采用视觉标记导航外，还可以采用其它导航方式，如惯性导航、SLAM导航等，还可以同时结合两种或者两种以上导航方式，如二维码导航和惯性导航，SLAM导航和二维码导航等等。当然，第二自驱动移动设备10还包括控制整个第二自驱动移动设备实现运动、导航等功能的控制模块(图2B未示出)。
图3为本说明书提供的一种货物处理的流程示意图，具体包括以下步骤：
S301：针对每个订单，从各自驱动移动设备中为该订单分配用于处理订单任务的目标自驱动移动设备。
S302：根据该订单所属的拣选工作站所处的位置，为所述目标自驱动移动设备规划从原始位置到所述拣选工作站的第一导航路径。
在本说明书中，货物处理系统中包含有控制器，以及和控制器进行无线通信的至少一个自驱动移动设备，其中，控制器用于向自驱动移动设备发送搬运指令，以使自驱动移动设备根据接收到的搬运指令，将承载的库存货物运送到下游工作点。本说明书实施例中，下游工作点可以以任意形式存在，例如可以是一个工作站或者大型的工作坊，本说明书对此不作限定。该控制器可以是电脑形式的设备，也可以是服务器形式的设备。而这里提到的自驱动移动设备可以是指诸如AGV、搬运机器人等自动化设备。
自驱动移动设备上承载的库存货物可以是通过人工的方式从存储各种货物的仓库中取出并放置在该自驱动移动设备上的。当然，在实际应用中，拣选 过程和分拣过程中均可以使用自驱动移动设备进行货物搬运，其中，拣选过程中使用的自驱动移动设备可以称之为拣选设备，分拣过程中所使用的自驱动移动设备为分拣设备。拣选设备可以根据控制器发送的搬运指令，从存储各种货物的仓库中取出需要进行打包的库存货物，而后，拣选设备上运载的库存货物可以移至分拣设备上，进而在后续的过程中，由分拣设备将承载的库存货物运送到下游工作点中。
自驱动设备上可以设置有多个承载组件，承载组件可以用于承载需要运载的库存货物。其中，承载组件的具体形式可以有多种，如，承载组件可以载物平台，也可以是一个能够容纳货物的容器，抑或是能够容纳货物的抽屉，本说明书不对承载组件的具体形式进行限定。
在本说明书中，控制器可以针对每个订单，从各自驱动移动设备中选取执行该订单的订单任务的自驱动移动设备。其中，这里提到的订单可以分为两类，一种订单是指包含有多种库存货物的订单(即，用户在一个订单中购买了多种商品)，这种订单可以称之为多品订单。另一种订单是指包含有一种库存货物的订单(即，用户在一个订单中购买了一种商品)，这种订单可以称之为单品订单。
对于多品订单来说，该多品订单中的库存货物包含至少两种库存量单位(Stock Keeping Unit，SKU)，即，每种库存货物均对应有唯一的SKU，所以，多品订单中其实包含有多种库存货物的SKU。若是自驱动移动设备上设置有多个能够承载库存货物的承载组件，并且，所述多个承载组件的承载空间能够容纳所述多品订单中的全部库存货物，则控制器可以为该多品订单分配一个自驱动移动设备。也就是说，如果自驱动移动设备上承载组件能够承载该多品订单中所有库存货物，则控制器可以分配一个自驱动移动设备来执行该多品订单 的订单任务。
而若是自驱动移动设备上设置有一个承载组件，这一个承载组件的承载空间能够容纳所述多品订单中的全部库存货物，所述控制器为所述多品订单分配一个目标自驱动移动设备。
实际应用中，若一个目标自驱移动设备承载了一个多品订单的所有货物，控制器可以控制所述目标自驱移动设备直接移动至包装站进行打包。
具体的，控制器可以针对承载了一个多品订单的所有货物的目标自驱移动设备，获取到该自驱动移动设备当前所处的位置，作为该自驱动移动设备的原始位置。而后，控制器可以根据该自驱动移动设备的原始位置以及包装站所处的位置，规划出自驱动移动设备从该原始位置移动到该包装站的导航路径，并将该导航路径发送给该自驱动移动设备。自驱动移动设备可以根据该导航路径，从原始位置处移动到包装站。
而若是自驱动移动设备上设置有一个承载组件，或是自驱动移动设备上设置的多个承载组件，所述一个或多个承载组件的承载空间不能够容纳所述多品订单中的全部库存货物，则控制器可以为该多品订单分配多个自驱动移动设备。也就是说，若是自驱动移动设备上设置的承载组件不足以承载该多品订单中的所有库存货物，则控制器需要分配多个自驱动移动设备来执行该多品订单的订单任务。
对于单品订单来说，该单品订单中的库存货物包含有一个SKU，即，该单品订单中只包含有一种库存货物。由于单品订单只包含有一种库存货物，所以，控制器可以为该单品订单分配一个自驱动移动设备，来执行该单品订单执行相应的订单任务。
其中，控制器为该单品订单分配一个自驱动移动设备分为两种情况，一种 情况是，控制器为该单品订单分配的自驱动移动设备仅用于执行该单品订单的订单任务，即，该自驱动移动设备在承载该单品订单中的库存货物时，不会再承载其他单品订单或是多品订单的库存货物。另一种情况是，控制器为该单品订单分配的自驱动移动设备在执行该单品订单的订单任务的同时，还可以执行其他单品订单或是多品订单的订单任务，即，该自驱动移动设备在承载该单品订单中的库存货物的同时，还可以承载其他单品订单或是多品订单的库存货物。
需要指出的是，针对自驱动移动设备上设置的每个承载组件，该承载组件只能承载一个订单的库存货物，进一步地，该承载组件上可以只承载一个订单的一种库存货物。
在本说明书中，控制器为每个订单分配自驱动移动设备时，也可以是指为一批订单分配自驱动移动设备，即，对于一批订单来说，控制器可以集中为这批订单分配若干自驱动移动设备，并指示这些自驱动移动设备移动到拣选工作站的位置。需要说明的是，此时控制器并未逐一为各订单分配具体的自驱动移动设备，控制器只是指示这些自驱动移动设备移动到拣选工作站，各订单与各自驱动移动设备之间的对应关系则需要在拣选工作站处进行确定。
具体的，控制器可以针对每个自驱动移动设备，获取到该自驱动移动设备当前所处的位置，作为该自驱动移动设备的原始位置。而后，控制器可以根据该自驱动移动设备的原始位置以及拣选工作站所处的位置，规划出自驱动移动设备从该原始位置移动到该拣选工作站的第一导航路径，并将该第一导航路径发送给该自驱动移动设备。自驱动移动设备可以根据该第一导航路径，从原始位置处移动到拣选工作站。其中，由于各自驱动移动设备所处的原始位置不尽相同，所以，控制器为各自驱动移动设备所规划出的各第一导航路径也不尽相 同。
当自驱动移动设备根据第一导航路径移动到拣选工作站时，控制器可以获取到该自驱动移动设备的标识信息以及该自驱动移动设备上承载的库存货物的标识信息，进而通过获取到的标识信息，确定出各自驱动移动设备上承载了何种库存货物，进而在后续过程中，根据订单与库存货物之间的对应关系，在下游工作点完成库存货物的投递。
在本说明书中，货物处理系统中还设有扫描设备，扫描设备可以设置在拣选工作站处。当自驱动移动设备移动到拣选工作站处时，扫描设备可以扫描自驱动移动设备的标识信息以及该自驱动移动设备上承载的库存货物的标识信息，并将扫描到的标识信息发送给控制器。其中，工作人员可以手持该扫描设备，实现对自驱动移动设备和自驱动移动设备上承载的库存货物的扫描。当然，该扫描设备也可以设置在拣选工作站的一个指定位置，当自驱动移动设备确定已经完成库存货物的装载时，可以前往该指定位置处，而位于该指定位置处的扫描设备可以自动扫描自驱动移动设备的标识信息以及该自驱动移动设备上承载的库存货物的标识信息，进而将扫描到的标识信息发送给控制器。
具体的，该扫描设备可以由触发器、第一扫描装置和第二扫描装置构成，其中，触发器在监测到自驱动移动设备到达预设的扫描区域时，可以向第一扫描装置和第二扫描装置发送扫描指令，第一扫描装置可以根据接收到的扫描指令，扫描该自驱动移动设备的标识信息，并发送给控制器。同时，第二扫描装置可以根据接收到的扫描指令，扫描该自驱动移动设备上承载的库存货物的标识信息，并发送给控制器。控制器可以将第一扫描装置发送的标识信息，确定为当前经过该扫描区域的自驱动移动设备的标识信息，以及将第二扫描装置发送的标识信息，作为当前经过该扫描区域的自驱动移动设备上承载的库存货物 的标识信息。
上述提到的自驱动移动设备的标识信息用于对自驱动移动设备进行唯一标识，该标识信息可以是二维码、条码等形式的信息。而自驱动移动设备运载的库存货物的标识信息，用于对同种库存货物进行唯一标识，该标识信息可以是指欧洲商品编号(European Article Number，EAN)、上述SKU等。
需要说明的是，上述扫描区域处的位置信息可以是控制器向自驱动移动设备发送的(控制器可以在确定自驱动移动设备移动到拣选工作站时，向自驱动移动设备发送的；也可以在向自驱动移动设备发送第一导航路径时将该位置信息一并发送给自驱动移动设备；抑或是在自驱动移动设备已经完成库存货物的装载时，向自驱动移动设备发送的)，也可以是预先存储在自驱动移动设备中的。
在本说明书中，当自驱动移动设备移动到拣选工作站时，拣选工作站的工作人员可以将订单的库存货物放置在自驱动移动设备的承载组件上。当然，拣选工作站也可以设有自动拣选设备(如拣选机械手臂等)，可以通过该自动拣选设备将订单的库存货物自动放置在自驱动移动设备的承载组件上。
控制器存储有订单与货物之间的对应关系，该对应关系其实表明了各订单所需的库存货物有哪些。在本说明书中，该对应关系可以是控制器根据各订单的订单信息预先确定并保存的。当然，控制器在查询自驱动移动设备上承载的库存货物所归属的订单时，也可以从各订单的订单信息中查询出该对应关系。
基于此，控制器在获取到自驱动移动设备的标识信息以及该自驱动移动设备上承载的库存货物的标识信息后，可以根据存储的订单与货物之间的对应关系，确定出该自驱动移动设备上承载的库存货物对应的订单。进而在后续的过程中，进一步地确定出该自驱动移动设备需要将其承载的库存货物运送至下游 工作点的哪一位置上进行货物投递。
S303：根据下游工作点所处的位置，为所述目标自驱动移动设备规划从所述拣选工作站到所述下游工作点的第二导航路径。
在确定自驱动移动设备已经承载了需要运载的全部库存货物时，控制器可以根据下游工作点所处的位置，为该目标自驱动移动设备规划从拣选工作站移动到该下游工作点的第二导航路径。
上述确定自驱动移动设备已经承载了需要运载的全部库存货物的具体方式可以有多种。例如，若是拣选工作站处的工作人员确定已经将自驱动移动设备需要运载的全部库存货物放置在该自驱动移动设备上的承载组件时，可以向该自驱动移动设备或是控制器发送确认消息，以使自驱动移动设备或是控制器根据该确认消息，确定该自驱动移动设备已经承载了需要运载的全部库存货物。再例如，若是自驱动移动设备只运载一个单品订单的库存货物，则自驱动移动设备监测到设置的一个承载组件承载了库存货物时，则可以确定该自驱动移动设备已经承载了需要运载的全部库存货物。再例如，若是自驱动移动设备监测到设置的所有承载组件均已被占用，则可以确定该自驱动移动设备已经承载了需要运载的全部库存货物。
在本说明书中，下游工作点处设有多个订单容器，每个订单容器可以与一个订单相对应。即，一个订单容器用于承装一个订单的库存货物。这里提到的订单可以是指上述的多品订单，也可以是指单品订单，所以，一个订单容器承装的库存货物可以出自一个单品订单，也可以出自一个多品订单。
由于这些订单容器在下游工作点所处的位置不尽相同，所以，控制器针对每个自驱动移动设备所规划出的第二导航路径也不尽相同。而需要说明的是，若是自驱动移动设备上仅运载有一个订单的库存货物，则控制器为其规划出的 第二导航路径应为一条路径。若是自驱动移动设备上运载有多个订单的库存货物，则控制器为其规划出的第二导航路径应是多条路径，即，自驱动移动设备可以根据控制器为其规划出的多条第二导航路径，依次前往下游工作点的各订单容器所处的位置进行货物投递。
S304：将所述第一导航路径以及所述第二导航路径发送给所述目标自驱动移动设备，以使所述自驱动移动设备根据所述第一导航路径从所述原始位置移动到所述拣选工作站所处的位置，以及根据所述第二导航路径从所述拣选工作站移动到所述下游工作点。
控制器针对目标自驱动移动设备规划出第一导航路径后，可以将第一导航路径发送给该目标自驱动移动设备，以使该目标自驱动移动设备从当前所处的原始位置移动到拣选工作站所处的位置。当目标自驱动移动设备已经承载所需要运载的全部库存货物时，可以根据控制器发送的第二导航路径，移动至下游工作点。
目标自驱动移动设备移动至下游工作点后，可以通过承载组件将承载的库存货物投递进下游工作点中设置的多个订单容器中的目标订单容器中。其中，控制器预先可以针对每个订单，在下游工作点中为该订单分配用于处理订单任务的订单容器，作为目标订单容器。而由于控制器中记录了订单与库存货物之间的对应关系，所以，在确定出目标自驱动移动设备上承载的库存货物后，可以确定出该目标自驱动移动设备上承载的库存货物属于哪一订单。基于此，控制器针对该目标自驱动移动设备规划出的导航路径，其实是指明了该目标自驱动移动设备应该从拣选工作站移动到下游工作点的具体哪一订单容器处。
目标自驱动移动设备移动到目标订单容器处时，可以控制承载组件，将需要投递至该目标订单容器中的库存货物投递至该目标订单容器中。具体的，控 制器通过扫描设备获取到目标自驱动移动设备承载的库存货物后，还需要针对该目标自驱动移动设备上设置的每个承载组件，记录该承载组件和该承载组件承载的库存货物之间的对应关系。也就是说，控制器需要确定出目标自驱动移动设备的各承载组件都承载了哪些库存货物。这样一来，控制器可以根据该对应关系，确定出该目标自驱动移动设备根据第二导航路径移动到相应的目标订单容器后，应如何控制承载组件完成库存货物的投递。
基于此，目标自驱动移动设备移动至目标订单容器后，控制器可以根据该目标自驱动移动设备所处的位置，确定该目标自驱动移动设备是否已经移动到了该目标订单容器处。在确定该目标自驱动移动设备已经移动到了该目标订单容器处的情况下，根据预先确定出的各订单与库存货物之间的对应关系，以及承载组件和库存货物之间的对应关系，向该目标自驱动移动设备发送投递指示，以使目标自驱动移动设备根据该投递指示控制承载有需要投递至该目标订单容器中的库存货物的承载组件，向该目标订单容器进行货物投递。
若是目标自驱动移动设备上承载有多个订单的库存货物，则目标自驱动移动设备可以根据控制器发送的多个投递指示，分别向各目标订单容器中进行货物投递。
当然，控制器也可以将上述各订单与库存货物之间的对应关系，以及承载组件和库存货物之间的对应关系发送给目标自驱动移动设备，相应的，目标自驱动移动设备移动到目标订单容器处后，可以根据这些对应关系，确定出需要控制哪些承载组件向该目标订单容器中进行货物投递。
从上述方法中可以看出，自驱动移动设备可以根据控制器发送的第一导航路径移动到拣选工作站，而拣选工作站处存放的库存货物只需放置在自驱动移动设备上，自驱动移动设备即可根据控制器发送的第二导航路径移动至下游工 作点，并将承载的库存货物投递至相应的订单容器中。这样不仅能够有效的保证将各库存货物准确的投递至相应的订单容器内，并且，还可以有效的提高货物分拣的分拣效率。
需要说明的是，目标自驱动移动设备在确定出已将运载的，需要投递至该目标订单容器中的库存货物投递至该目标订单容器后，可以向控制器发送运载完毕消息。相应的，控制器可以根据接收到的运载完毕消息，确定出该目标自驱动移动设备已经将其运载的，需要投递至该目标订单容器中的库存货物投递至了该目标订单容器中。
由于一个目标订单容器中的库存货物可能是由多个自驱动移动设备完成运载的，所以，若是控制器根据多个自驱动移动设备发送的运载完毕消息，确定出需要投递至该目标订单容器中的库存货物已经全部投递至该目标订单容器中，则可以发送用于确定对该目标订单容器中的库存货物进行打包的消息，以通知下游工作点中包装站处工作人员对该目标订单容器中的库存货物进行打包，或是指示包装站处设置的打包设备对该目标订单容器中的库存货物进行打包。同时，控制器可以将该目标订单容器分配给下一批订单。
为了能够进一步地说明整个货物运载过程，下面将结合具体的图例，对本说明书提供的货物处理的方法进行说明，如图4所示。
图4为本说明书提供的通过货物处理系统完成货物运载的示意图。
在图4中，整个货物处理的过程需要经过两个区域，一个称之为拣选区域，另一个称之为分拣区域。其中，控制器确定出各订单后，可以根据这些订单所涉及的库存货物，向用于在拣选区域中搬运货物的拣选设备发送搬运指令。相应的，拣选设备可以根据控制器发送的搬运设备，在储物仓库的货柜中取出需要搬运的库存货物。拣选设备将库存货物取出后，可以前往拣选工作站。各自 驱动移动设备可以根据控制器发送的第一导航路径依次前往拣选工作站，位于拣选工作站的工作人员可以将从存放在拣选工作站的各种库存货物放置在各自驱动移动设备上。其中，对于每个自驱动移动设备，工作人员可以在该自驱动移动设备上放置一个库存货物。
自驱动移动设备可以携带运载的库存货物前往设置有扫描设备的指定位置处，该扫描设备可以对到达该指定位置处(即到达扫描设备预设的扫描区域内)的自驱动移动设备的标识信息，以及该自驱动移动设备上运载的库存货物的标识信息进行扫描，并将扫描到的标识信息发送给控制器。控制器可以根据获取到的标识信息，以及上述提到的对应关系，规划出该自驱动移动设备移动至下游工作点的第二导航路径并发送给该自驱动移动设备。该自驱动移动设备可以按照该第二导航路径，前往该下游工作点，进而将其运载的库存货物投递到该设置在该下游工作点，用于承装该库存货物的目标订单容器中。
通过上述方式，将拣选环节和分拣环节进行无缝连接，控制用于分拣的自驱动移动设备在拣选工作站排队，将拣选的货物直接分拣到自驱动移动设备上，节省了中间的交接环节，即将拣选和分拣中的供件动作合二为一，则可以大大缩短作业流程，从而极大的提高了整个订单包装从拣选货物到分拣货物的整体效率。
需要说明的是，控制器确定上述第一导航路径和第二导航路径所采用的具体路径规划算法，为现有的常规算法，本说明书不对控制器所采用的具体算法进行限定。
在本说明书中，下游工作点也可以设置有多个集货容器，每个集货容器可以和一个配送目的地进行绑定。也就是说，一个集货容器中盛放的，库存货物应该是发往同一配送目的地。不同的集货容器所对应的配送目的地可以是不同 的。
由于每个订单的订单信息都记录有相应的配送目的地，所以，控制器可以根据订单的订单信息中所记录的配送目的地，确定出目标自驱动移动设备上承载的库存货物对应的配送目的地，进而根据预先为下游工作点设置的各集货容器分配的配送目的地，确定出该目标自驱动移动设备上承载的库存货物应投递至的集货容器，作为目标集货容器。即，目标集货容器绑定的配送目的地是与目标自驱动移动设备上承载的库存货物对应订单的配送目的地相一致的。
在本说明书中，目标自驱动移动设备上设有多个承载组件，每个承载组件可以各自承载一个单品订单的库存货物。这样一来，若是目标自驱动移动设备上承载的库存货物均需要投递至一个集货容器中，则控制器针对该目标自驱动移动设备所规划出的第二导航路径为一条导航路径。若是目标自驱动移动设备上承载的库存货物需要投递至若干不同的集货容器，则控制器针对该目标自驱动移动设备所规划出的第二导航路径为多条导航路径。
需要说明的是，上述提到的订单容器其实是用于对同一订单的库存货物进行承装的，而这里提到的集货容器主要用于对发往同一配送目的地的同一库存货物进行承装，所以，这里提到的集货容器所承装的库存货物并不要求均出自同一订单。
若是目标自驱动移动设备上各承载组件承载的库存货物需要投递至多个目标集货容器中，则目标自驱动移动设备针对每个目标集货容器，在移动到该目标集货容器处时，可以控制承载组件，将需要投递至该目标集货容器中的库存货物投递至该目标集货容器中。
具体的，控制器通过扫描设备获取到目标自驱动移动设备承载的库存货物后，还需要针对该目标自驱动移动设备上设置的每个承载组件，记录该承载组 件和该承载组件承载的库存货物之间的对应关系。也就是说，控制器需要确定出目标自驱动移动设备的各承载组件都承载了哪些库存货物。这样一来，控制器可以根据该对应关系，确定出该目标自驱动移动设备根据第二导航路径移动到相应的目标集货容器后，应如何控制承载组件完成库存货物的投递。
基于此，目标自驱动移动设备移动至目标集货容器后，控制器可以根据该目标自驱动移动设备所处的位置，确定该目标自驱动移动设备已经移动到了该目标集货容器处。而后，根据预先确定出的各订单的配送目的地与库存货物之间的对应关系，以及承载组件和库存货物之间的对应关系，向该目标自驱动移动设备发送投递指示，以使目标自驱动移动设备根据该投递指示控制承载有需要投递至该目标集货容器中的库存货物的承载组件，向该目标集货容器进行货物投递。
而后，目标自驱动移动设备可以根据控制器发送的第二导航路径，前往下一目标集货容器处，并控制相应的承载组件，将需要投递至该下一目标集货容器中的库存货物投递至该下一目标集货容器中。
当然，控制器也可以将上述各订单的配送目的地与库存货物之间的对应关系，以及承载组件和库存货物之间的对应关系发送给目标自驱动移动设备，相应的，目标自驱动移动设备移动到目标集货容器处后，可以根据这些对应关系，确定出需要控制哪个或哪些承载组件向该目标集货容器中进行货物投递。
需要说明的是，控制器可以在确定出各订单的订单信息后，直接根据这些订单的订单信息，确定出库存货物、配送目的地与集货容器之间的对应关系并保存。当然，控制器也可以先确定出配送目的地与集货容器之间的对应关系，而在目标自驱动移动设备运载库存货物的过程中，可以基于该对应关系，进一步地确定出库存货物、配送目的地与集货容器之间的对应关系。
例如，假设，控制器根据预先确定出配送目的地与集货容器之间的对应关系，确定出配送目的地A对应的集货容器有多个，这些集货容器初始时均未承装任何库存货物。控制器确定出一个目标自驱动移动设备上运载的库存货物a所对应的配送目的地为配送目的地A时，可以随机从这些集货容器中选取一个用于承装库存货物a。而一旦确定出承装库存货物a的集货容器后，该集货容器只用于承装库存货物a(这里到的库存货物a并不是指一个库存货物，而是指一种库存货物)。同理，控制器确定出一个目标自驱动移动设备上运载的库存货物b所对应的配送目的地也为配送目的地A时，控制器可以将该配送目的地A对应的其余集货容器中选取一个集货容器用于承装该库存货物b，而一旦完成选择后，该集货容器只用于承装库存货物b。以此类推，控制器可以依次确定出各集货容器需要承装的库存货物。即，在目标自驱动移动设备运载库存货物的过程中，确定出库存货物、配送目的地与集货容器之间的对应关系。
目标自驱动移动设备完成库存货物投递后，可以向控制器发送运载完毕消息，而控制器可以根据各自驱动移动设备发送的运载完毕消息，确定出哪些集货容器所需的库存货物已经全部送达完毕，进而向位于下游工作点中包装站处的工作人员发送相应的打包消息。工作人员可以根据该打包消息，对集货容器中承装的同一库存货物进行粘贴订单信息等操作，从而完成库存货物的打包，并发往相应的配送目的地。
其中，由于一个集货容器中可以承装同一库存货物，所以，工作人员在对该集货容器中承载的库存货物进行粘贴订单信息时，可以直接将打印出的订单信息粘贴在该库存货物或是该库存货物的外包装上，这样可以极大的提高货物的打包效率。另外，除了可以通过工作人员手工对该集货容器中的库存货物进行打包外，还可以通过预设的打包设备进行自动打包，即，打包设备可以将打 印出的订单信息直接粘贴在该集货容器中的库存货物或是库存货物的外包装上。
在本说明书中，控制器可以根据接收到的运载完毕消息，确定所述目标集货容器承载的库存货物的数量是否已经达到设定数量，若是，则可以发送上述打包消息，否则，确定该目标集货容器还未盛满库存货物。
当然，对于每个集货容器来说，该集货容器还可以设有压力传感器，而若是通过该压力传感器监测到该集货容器所承装的库存货物的总重量已经达到预设重量时，则可以向控制器发送消息。控制器根据该消息，可以确定出工作人员需要及时对该集货容器中的库存货物进行打包，进而向工作人员发送装配消息，以使工作人员对该集货容器中的库存货物进行打包，并将打包后的库存货物发往该集货容器对应的配送目的地。
本发明实施例中还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现任一所述的货物处理方法。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于系统实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。
Claims (16)
- 一种货物处理系统，其特征在于，所述货物处理系统包括：控制器和与所述控制器进行无线通信的至少一个自驱动移动设备，所述自驱动移动设备上设置有至少一个承载组件；所述自驱动移动设备配置为，根据所述控制器规划出的第一导航路径移动到订单任务所属的拣选工作站，通过所述承载组件承载拣选方从库存容器中拣选出的库存货物，并根据所述控制器规划出的第二导航路径将库存货物从所述拣选工作站运载到下游工作点；所述控制器配置为，为订单分配用于处理订单任务的自驱动移动设备，并作为目标自驱动移动设备，根据所述订单所属的拣选工作站所处的位置，为所述目标自驱动设备规划从所述目标自驱动设备所处的原始位置到所述拣选工作站的第一导航路径，根据所述下游工作点所处的位置，为所述目标自驱动移动设备规划从所述拣选工作站到所述下游工作点的第二导航路径，以及，向所述目标自驱动移动设备发送所述第一导航路径和所述第二导航路径。
- 根据权利要求1所述的货物处理系统，其特征在于，所述订单为多品订单，所述多品订单中的库存货物包含至少两种库存量单位SKU。
- 根据权利要求2所述的货物处理系统，其特征在于，所述自驱动移动设备上设置有一个或多个承载组件。
- 根据权利要求3所述的货物处理系统，其特征在于，如果所述自驱动一个设备上的一个或多个承载组件的承载空间能够容纳所述多品订单中的全部库存货物，所述控制器为所述多品订单分配一个目标自驱动移动设备。
- 根据权利要求3所述的货物处理系统，其特征在于，如果所述自驱动 一个设备上的一个或多个承载组件的承载空间不能够容纳所述多品订单中的全部库存货物，所述控制器为所述多品订单分配多个目标自驱动移动设备。
- 根据权利要求4或5所述的货物处理系统，其特征在于，所述下游工作点处设置有多个订单容器，一个订单容器与一个订单对应；所述自驱动移动设备还配置为，通过所述承载组件将承载的库存货物投递进所述多个订单容器中的目标订单容器中；所述控制器还配置为，为订单分配用于处理订单任务的订单容器，并作为目标订单容器；所述第二导航路径为所述目标自驱动移动设备从所述拣选工作站到所述目标订单容器的导航路径。
- 根据权利要求1所述的货物处理系统，其特征在于，所述订单为单品订单，所述单品订单中的库存货物只对应一种SKU。
- 根据权利要求4或7所述的货物处理系统，其特征在于，所述下游工作点包括包装站。
- 根据权利要求7所述的货物处理系统，其特征在于，所述下游工作点处设置有多个集货容器，一个集货容器绑定一个配送目的地；所述自驱动移动设备还配置为，通过所述承载组件将承载的库存货物投递进所述多个集货容器中的目标集货容器中；所述控制器还配置为，为订单分配配送目的地与所述订单的配送信息一致的集货容器，并作为目标集货容器；所述第二导航路径为所述目标自驱动移动设备从所述拣选工作站到所述目标集货容器的导航路径。
- 根据权利要求7-9中任一项所述的货物处理系统，其特征在于，所述目标自驱动移动设备上设置有多个承载组件，所述多个承载组件各自承载一个单品订单中的库存货物。
- 根据权利要求6所述的货物处理系统，其特征在于，所述目标自驱动移动设备还配置为，若确定已将运载的库存货物投递至所述目标订单容器中，则向所述控制器发送运载完毕消息；所述控制器还配置为，根据所述目标自驱动移动设备发送的运载完毕消息，确定所述目标自驱动移动设备已经将运载的库存货物投递至所述目标订单容器中，若根据接收到的运载完毕消息，确定通过至少一个自驱动移动设备已将所述订单中的库存货物全部运载至所述目标订单容器中，则发送用于确定对所述目标订单容器中的库存货物进行打包的消息。
- 根据权利要求9所述的货物处理系统，其特征在于，所述目标自驱动移动设备还配置为，若确定已将运载的库存货物投递至所述目标集货容器中，则向所述控制器发送运载完毕消息；所述控制器还配置为，根据所述目标自驱动移动设备发送的运载完毕消息，确定所述目标自驱动移动设备已经将运载的库存货物投递至所述目标集货容器中，若根据接收到的运载完毕消息，确定所述目标集货容器承载的库存货物的数量已经达到设定数量时，则发送用于确定对所述目标集货容器中的库存货物进行打包的消息。
- 一种货物处理的方法，其特征在于，包括：针对每个订单，从各自驱动移动设备中为该订单分配用于处理订单任务的自驱动移动设备，作为目标自驱动移动设备；根据该订单所属的拣选工作站所处的位置，为所述目标自驱动移动设备规划从所述目标自驱动移动设备所处的原始位置到所述拣选工作站的第一导航路径；根据下游工作点所处的位置，为所述目标自驱动移动设备规划从所述拣选工作站到所述下游工作点的第二导航路径；将所述第一导航路径以及所述第二导航路径发送给所述目标自驱动移动设备，以使所述自驱动移动设备根据所述第一导航路径从所述原始位置移动到所述拣选工作站所处的位置，以及根据所述第二导航路径从所述拣选工作站移动到所述下游工作点。
- 根据权利要求13所述的货物处理的方法，其特征在于，针对每个订单，从各自驱动移动设备中为该订单分配用于处理订单任务的自驱动移动设备，作为目标自驱动移动设备，具体包括：针对每个订单，确定在所述拣选工作站承载该订单的库存货物的自驱动移动设备，作为目标自驱动移动设备，并将所述目标自驱动移动设备的标识信息和该订单的库存货物的标识信息之间的对应关系进行记录。
- 如权利要求14所述的货物处理的方法，其特征在于，所述下游工作点设有多个订单容器，一个订单容器与一个订单对应；根据下游工作点所处的位置，为所述目标自驱动移动设备规划从所述拣选工作站到所述下游工作点的第二导航路径，具体包括：根据所述对应关系，在所述下游工作点中确定出所述目标自驱动移动设备承载的库存货物需要投递至的订单容器，作为目标订单容器；根据所述目标订单容器在所述下游工作点所处的位置，为所述目标自驱动 移动设备规划从所述拣选工作站到所述下游工作点的所述目标订单容器的第二导航路径。
- 如权利要求14所述的货物处理的方法，其特征在于，所述下游工作点设有多个集货容器，一个集货容器与一个配送目的地绑定；根据下游工作点所处的位置，为所述目标自驱动移动设备规划从所述拣选工作站到所述下游工作点的第二导航路径，具体包括：根据所述对应关系，确定所述目标自驱动移动设备承载的库存货物对应订单的订单信息；根据所述订单信息中记录的配送目的地，在所述下游工作点中确定出所述目标自驱动移动设备承载的库存货物需要投递至的集货容器，作为目标集货容器；根据所述目标集货容器在所述下游工作点所处的位置，为所述目标自驱动移动设备规划从所述拣选工作站到所述下游工作点的所述目标集货容器的第二导航路径。
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| EP4033315A4 (en) | 2023-12-27 |
| CN110879578B (zh) | 2021-09-07 |
| CN110879578A (zh) | 2020-03-13 |
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