WO2022007646A1

WO2022007646A1 - Replenishment and warehousing method and device, warehousing system, and readable storage medium

Info

Publication number: WO2022007646A1
Application number: PCT/CN2021/102266
Authority: WO
Inventors: 孙宗欣; 周红霞
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2020-07-07
Filing date: 2021-06-25
Publication date: 2022-01-13
Also published as: CN111798182A

Abstract

Provided are a replenishment and warehousing method and device, a warehousing system, and a readable storage medium. The method comprises: in response to a warehousing task, a server of a warehousing system acquires a replenishment requirement, the replenishment requirement comprising attribute information and the replenishment quantity of goods to be replenished (S100) according to the attribute information and replenishment quantity of the goods to be replenished and the remaining space of each material box in a storage area; allocating a target material box for the goods to be replenished (S101); and issuing a task instruction to a handling robot (S102), so as to control the handling robot to complete replenishment processing for placing the goods to be replenished into the target material box. Waiting for goods in a material box to all be emptied is not required, instead replenishment is performed on unemptied material box, so as to implement warehousing of goods in the warehousing task, and wasting of storage space in a material box can be reduced and storage efficiency is improved.

Description

Method, device, storage system and readable storage medium for replenishment and storage

This application claims the priority of the Chinese patent application filed with the China Patent Office on July 7, 2020, the application number is 202010644249.1, and the application name is "method, equipment, storage system and readable storage medium for replenishment and storage". The entire contents of this application are incorporated by reference.

technical field

The present disclosure relates to the technical field of warehousing and logistics, and in particular, to a method, a device, a warehousing system and a readable storage medium for replenishment and warehousing.

Background technique

The logistics industry is limited by the factor of warehouse rent, and the storage efficiency of the warehouse has become one of the important factors to achieve low cost.

In the storage of goods-to-person scenarios, usually after the goods are put into the warehouse, the inventory is emptied through orders or inventory requirements, and then the goods are replenished and put into the warehouse. The flexibility of first emptying and then warehousing is not high. In the process of gradually emptying the inventory, a large amount of storage space will be wasted until the replenishment goods are restocked, resulting in low storage efficiency of the warehouse.

SUMMARY OF THE INVENTION

The present disclosure provides a method, equipment, storage system and readable storage medium for replenishment and warehousing, so as to solve the problem that a large amount of storage space in the warehouse is wasted due to the method of the existing warehousing system that first empty inventory and then replenishment and warehousing , the storage efficiency of the warehouse is low.

In a first aspect, an embodiment of the present disclosure provides a method for replenishment and storage, including:

In response to the warehousing task, obtain replenishment requirements, where the replenishment requirements include attribute information and replenishment quantities of the goods to be replenished;

Allocate a target bin for the cargo to be replenished according to the attribute information and replenishment quantity of the cargo to be replenished, and the remaining space of each bin in the storage area;

A task instruction is issued to the handling robot, and the handling robot is controlled to complete the replenishment process of storing the goods to be replenished in the target bin.

In a second aspect, an embodiment of the present disclosure provides a method for replenishment and storage, including:

Receive task instructions issued by the server;

According to the task instruction, complete the replenishment process of storing the goods to be replenished in the corresponding target bins;

The target bins corresponding to the goods to be replenished are the bins allocated for the goods to be replenished according to the attribute information of the goods to be replenished, the replenishment quantity, and the remaining space of each bin in the storage area.

In a third aspect, an embodiment of the present disclosure provides a server, including:

a processor, a memory, and a computer program stored on the memory and executable on the processor;

Wherein, when the processor runs the computer program, the above-mentioned method for replenishment and storage is implemented.

In a fourth aspect, an embodiment of the present disclosure provides a handling robot, including:

In a fifth aspect, an embodiment of the present disclosure provides a storage system, including: the server according to the third aspect and the handling robot according to the fourth aspect.

In a sixth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the above-mentioned method for replenishment and storage is implemented .

In the method, device, storage system and readable storage medium provided by the present disclosure, in response to the storage task, the server of the storage system obtains the replenishment requirement, where the replenishment requirement includes attribute information of the goods to be replenished and Replenishment quantity; according to the attribute information and replenishment quantity of the goods to be replenished, as well as the remaining space of each material box in the storage area, allocate target material boxes for the goods to be replenished; issue task instructions to the handling robot, Controlling the handling robot to complete the replenishment process of storing the goods to be replenished in the target bin, without waiting for all the goods in the bin to be emptied, but by replenishing the unemptied bins, To realize the warehousing of the goods in the warehousing task, it can reduce the waste of the storage space of the material box and improve the storage efficiency.

Description of drawings

FIG. 1 is a flowchart of the method for replenishment and storage provided by Embodiment 1 of the present disclosure;

FIG. 2 is a flowchart of the method for replenishment and storage provided by Embodiment 2 of the present disclosure;

FIG. 3 is a flowchart of the method for replenishment and storage provided by Embodiment 3 of the present disclosure;

4 is a schematic structural diagram of a server of a storage system according to Embodiment 4 of the present disclosure;

FIG. 5 is a schematic structural diagram of a handling robot according to Embodiment 5 of the present disclosure.

The above-mentioned drawings have shown clear embodiments of the present disclosure, and will be described in more detail hereinafter. These drawings and written descriptions are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the disclosed concepts to those skilled in the art by referring to specific embodiments.

detailed description

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the illustrative examples below are not intended to represent all implementations consistent with this disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as recited in the appended claims.

The terms "first", "second", etc. involved in the present disclosure are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. In the description of the following embodiments, the meaning of "plurality" is two or more, unless otherwise expressly and specifically defined.

The embodiments of the present disclosure are specifically applied to a storage system, and the architecture of the storage system includes a material box for storing goods in a storage area, a server, and a handling robot. When receiving the user's warehousing task, it obtains the attribute information and replenishment quantity of the goods to be replenished in the storage area and other replenishment requirements. The remaining space of the material box is used to allocate the target material box for the goods to be replenished; the task command is issued to the handling robot, and the handling robot completes the replenishment process of storing the to-be-replenished goods in the target material box according to the task instruction. In this embodiment, there is no need to wait for the material box to be emptied, but the material box with remaining storage space is directly replenished, and the method, device, system and computer-readable storage medium are allocated to replenishment and storage, which can reduce the storage of material box. The waste of space improves the storage efficiency of the storage area.

The technical solutions of the present disclosure and how the technical solutions of the present application solve the above-mentioned technical problems will be described in detail below with specific examples. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present disclosure will be described below with reference to the accompanying drawings.

FIG. 1 is a flowchart of a method for replenishment and storage provided by Embodiment 1 of the present disclosure. The embodiments of the present disclosure provide a method for replenishment and storage in order to solve the problem that a large amount of storage space in the warehouse is wasted and the storage efficiency of the warehouse is low due to the method that the existing warehousing system produces empty inventory first and then replenishes the inventory. The method in this embodiment is applied to the server of the storage system. As shown in Figure 1, the specific steps of the method are as follows:

Step S100: In response to the warehousing task, the server acquires a replenishment requirement, and the replenishment requirement includes attribute information and replenishment quantity of the goods to be replenished.

In this embodiment, when there are goods that need to be put into storage, the operator can submit a storage-in task to the storage system, and the server of the storage system receives the storage-in task and responds accordingly.

In response to the received warehousing task, the server obtains the current replenishment demand of the warehousing system. The replenishment demand includes attribute information and replenishment quantity of the goods to be replenished (that is, the goods to be replenished).

Through subsequent steps S101-S104, the server implements replenishment to the material box with remaining space in the storage area according to the replenishment demand. In this way, there is no need to wait for all the goods in the bins to be emptied, but the goods in the warehousing task can be put into the warehouse by replenishing the unemptied bins, which can reduce the waste of the storage space of the bins and improve the storage capacity. efficient.

In addition, the goods to be replenished may include one or more types of goods, and if there are multiple types of goods to be replenished, each type of goods may be replenished in sequence.

Step S101 , the server allocates a target material box for the goods to be supplemented according to the attribute information and the replenishment quantity of the goods to be supplemented, and the remaining space of each material box in the storage area.

Among them, the attribute information includes: type, batch, whether to allow mixing of types, whether to allow mixing of batches, etc. In addition, the attribute information can also include product specifications, space occupied by the material box, delivery rate, storage area The spatial distribution of the attribute information, whether it has fragile characteristics, whether it is a single product, and other information, and what information the attribute information specifically includes can be adjusted according to the actual application scenario, which is not specifically limited in this embodiment.

In this embodiment, the server can obtain the remaining space of each material box in the current storage area, and allocate a material box enough to accommodate the to-be-supplemented goods as a target material box for the goods to be supplemented.

Optionally, it is also possible to combine the types of goods to be replenished and the attributes of whether mixing of different types is allowed to determine whether the goods to be replenished are allowed to be mixed with different types of goods into the same bin. According to the remaining space of each material box in the current storage area and the type of goods already in the material box, the server allocates a material box enough to accommodate the goods to be supplemented as a target material box for the goods to be replenished. If the goods to be replenished allow mixing of different types, the goods to be replenished and other types of goods can be mixed into one bin, that is, other types of goods may be stored in the target bin.

Optionally, it can also be combined with the type and batch of the goods to be replenished, and the attributes of whether mixing of different batches is allowed to determine whether the goods to be replenished are allowed to be mixed with goods of the same type in different batches into the same bin. middle. According to the remaining space of each material box in the current storage area, and the type and batch of the goods in the material box, the server allocates a material box enough to accommodate the goods to be supplemented as the target material box for the goods to be supplemented. If the goods to be replenished are allowed to be mixed in different batches, the goods to be replenished can be mixed with other batches of the same type of goods into one bin, that is, the target bin may store other batches of the same type goods.

Optionally, it can also combine the information such as the historical outgoing frequency, outgoing structure, storage distribution and other information of the goods to be replenished. In the same material box; or according to the current outbound plan, one or more inventory combinations of the goods to be replenished can be determined, and the combination of the goods to be replenished and other types of goods can be stored in the same material box, that is, The target bins allocated for the goods to be replenished also store other goods in the inventory combination of the goods to be replenished, so that they can be combined and shipped out together.

In this embodiment, the strategy adopted by the server for allocating target bins for the goods to be replenished may comprehensively consider one or more attribute information of the goods to be replenished, and adjust and optimize according to actual application scenarios and user needs. This implementation For example, no specific limitation is made here.

Step S102, the server issues a task instruction to the handling robot.

After allocating the target bins for the goods to be replenished, the server sends a task instruction to the handling robot to control the handling robot to complete the replenishment process of storing the to-be-replenished goods in the corresponding target bins.

The task instruction may include multiple specific instructions, such as a handling instruction, a warehousing instruction, etc., and the handling robot is controlled to complete the replenishment process of storing the goods to be replenished into the corresponding target bins through the multiple task instructions.

The task instruction also includes the information required to perform the corresponding task processing, such as the location of the target material box, the replenishment location of the goods to be replenished, and so on.

Step S103, the handling robot receives the task instruction issued by the server.

Step S104, the handling robot completes the replenishment process of storing the goods to be replenished in the corresponding target bins according to the task instruction.

After receiving the task instruction from the server, the handling robot completes the replenishment process of storing the goods to be replenished into the corresponding target bins according to the task instruction.

Exemplarily, the server sends a handling instruction to the handling robot, and the handling robot can move the target bin with remaining space allocated for the goods to be replenished to the designated replenishment position according to the handling instruction, so that the corresponding personnel are at the replenishment position. After completing the replenishment operation, after the manual replenishment is completed, in response to the replenishment completion instruction, the server sends a warehousing instruction to the handling robot, and the handling robot transports the target bin containing the goods to be replenished back to the storage area according to the warehousing instruction.

Exemplarily, the server issues a task instruction to the handling robot, and controls the handling robot to complete the replenishment task by itself.

The handling robot can move the target bins with remaining space allocated for the goods to be replenished to the designated replenishment position according to the task instructions, pick up the corresponding goods at the replenishment position, put them into the target bins, and then load the containers to be replenished. The target bins of incoming goods are transported back to the storage area.

The handling robot can also go to the designated replenishment location to pick up the goods to be replenished according to the task instructions, transport the goods to be replenished to the storage area where the target bins with remaining space are allocated for the goods to be replenished, and store the goods to be replenished. The incoming goods are placed in the target bin.

In the embodiment of the present disclosure, in response to a warehousing task, the server of the warehousing system obtains a replenishment requirement, and the replenishment requirement includes attribute information and replenishment quantity of the goods to be replenished; according to the attribute information and replenishment quantity of the goods to be replenished, and The remaining space of each bin in the storage area is used to allocate target bins for the goods to be replenished; send task instructions to the handling robot to control the handling robot to complete the replenishment process of storing the to-be-replenished goods in the target bin without waiting. All the goods in the bins are emptied, but by replenishing the unemptied bins, the goods in the warehousing task are put into the warehouse, which can reduce the waste of the storage space of the bins and improve the storage efficiency.

FIG. 2 is a flowchart of the method for replenishment and storage according to Embodiment 2 of the present disclosure. On the basis of the above-mentioned first embodiment, in this embodiment, the following method is adopted: the server sends a handling instruction to the handling robot, and the handling robot can allocate the target bins with remaining space for the goods to be replenished according to the handling instruction. Transport to the designated replenishment location, so that the corresponding personnel can complete the replenishment operation at the replenishment location. After the manual replenishment is completed, in response to the replenishment completion instruction, the server sends a warehousing instruction to the handling robot, and the handling robot sends the warehousing instruction according to the warehousing instruction. The target container containing the goods to be replenished is transported back to the storage area; for example, the replenishment task is realized. Into the cargo distribution target bin, and explain in detail.

If the server is used to issue task instructions to the handling robot and control the handling robot to complete the replenishment task by itself, when the replenishment task is realized in this way, according to the attribute information and replenishment quantity of the goods to be replenished, as well as the information of each material box in the storage area The remaining space is the same as the implementation manner of allocating target bins for the goods to be replenished, which will not be repeated here in this embodiment.

As shown in Figure 2, the specific steps of the method are as follows:

Step S201 , in response to the received warehousing task, the server obtains a replenishment requirement, and the replenishment requirement includes the goods to be replenished and the replenishment quantity.

Through subsequent steps S202-S208, the server implements replenishment to the material box with remaining space in the storage area according to the replenishment demand. In this way, there is no need to wait for all the goods in the bins to be emptied, but the goods in the warehousing task can be put into the warehouse by replenishing the unemptied bins, which can reduce the waste of the storage space of the bins and improve the storage capacity. efficient.

In addition, the goods to be replenished may include one or more types of goods. If there are multiple types of goods to be replenished, the replenishment process of steps S202-S208 may be performed for each type of goods in sequence.

Step S202 , the server allocates a target material box for the goods to be supplemented according to the attribute information and the replenishment quantity of the goods to be supplemented, and the remaining space of each material box in the storage area.

In this embodiment, the target material box allocated for the goods to be supplemented is the material box to which the goods to be supplemented are added, and may also be referred to as the supplementary material box of the goods to be supplemented.

In a possible implementation manner, the server may allocate a target bin with enough remaining space to accommodate the goods to be replenished according to the type of the goods to be replenished and the quantity of the replenishment to be replenished, which may be implemented in any of the following ways: :

The first implementation method is: the server can scan each material box in turn according to the type of goods to be replenished and the replenishment quantity, and determine the first material container whose remaining space is sufficient to accommodate the quantity of the type of goods is greater than or equal to the replenishment quantity; The first bin with the smallest remaining space is used as the target bin.

In this implementation, after it is determined that the remaining space is sufficient to accommodate the first material box of the goods to be replenished, a material box with the smallest remaining space, that is, the remaining space that is closest to the replenishment quantity, can be selected as the goods to be replenished. The target material box, which can improve the space utilization rate of the material box.

For example, the storage area stores material box a and material box b of goods A, and the remaining space of material box a and material box b can accommodate 100 pieces and 40 pieces of goods A respectively; when the quantity of goods A to be replenished is When there are 90 pieces, the material box a can be assigned as the target material box to the goods A, and the goods A to be replenished can be supplemented into the material box a.

The second implementation method is: the server can scan each material box in turn according to the type of goods to be replenished and the replenishment quantity, and determine the first material container whose remaining space is sufficient to accommodate the quantity of goods of the type is greater than or equal to the replenishment quantity; The first bin with the largest remaining space is used as the target bin.

In this implementation, after it is determined that the remaining space is sufficient to accommodate the first material box of the goods to be replenished, the material box with the largest remaining space can be selected as the target material box of the goods to be replenished, so that the The remaining space is relatively balanced, and the distribution of goods in each bin is generally more balanced.

For example, the storage area stores material box a, material box b and material box c of goods A, and the remaining space of material box a, material box b and material box c can accommodate 100 pieces, 40 pieces and 200 pieces of goods A respectively. When the quantity of the goods A to be replenished is 90 pieces, the material box c can be allocated to the goods A as the target material box, and the goods A to be supplemented are supplemented into the material box c.

The third implementation method is: the server can scan each material box in turn according to the type of the goods to be replenished and the replenishment quantity, and determine the first material container whose remaining space is sufficient to accommodate the quantity of the type of goods is greater than or equal to the replenishment quantity; The first bin scanned first is used as the target bin.

In this implementation, in the process of scanning to find the first material box with enough remaining space to accommodate the goods to be replenished, the first material box with sufficient remaining space to accommodate the goods to be replenished is used as the target material box , which can improve the efficiency of allocating bins for the goods to be replenished, and improve the efficiency of replenishment and storage.

In another possible implementation, the attribute information may include types and whether mixing of different types is allowed. When allocating target bins for goods to be replenished, it can also be considered whether different types of goods to be replenished are allowed to be mixed.

Specifically, according to the attribute information of the goods to be replenished, if the goods to be replenished do not allow mixing of different types, then according to the replenishment quantity, the type of the goods to be replenished is allocated to the goods to be replenished and the type of the goods to be replenished is the same as the type of the goods to be replenished. And the remaining space is enough to accommodate the target bin of the goods to be replenished.

According to the attribute information of the goods to be replenished, if the goods to be replenished allow mixed storage of different types, at least one target material box is allocated for the goods to be replenished according to the replenishment quantity, and the remaining space of at least one target material box is sufficient to accommodate the to-be-replenished goods. into the goods.

If the goods to be replenished allow mixing of different types, the attribute information may also include the types that are allowed to be mixed. Then other types of goods can be stored in the target bin allocated for the goods to be replenished, as long as the goods to be replenished and the goods already stored in the target bin can be mixed.

For example, in the storage area, there is a container d that stores goods B and a container e that stores goods c. If the attributes of the goods to be replenished include, different types of goods are allowed to be mixed, and the types of mixed goods that are allowed to be mixed include goods B. Then, when allocating a material box for the goods A to be replenished, if the remaining space of the material box d can meet the demand for accommodating the goods A to be supplemented, the material box d can be allocated to the goods A to be supplemented as a target material box.

In addition, if the goods to be replenished allow mixing of different types, it is also supported to replenish the goods to be replenished into multiple target bins according to the replenishment quantity of the goods to be replenished.

In another possible implementation manner, the attribute information may further include batches, and whether different batches are allowed to be mixed. When allocating target bins for the goods to be replenished, it can also be considered whether the goods to be replenished allow mixing of different batches.

According to the attribute information of the goods to be replenished, if the goods to be replenished are not allowed to be mixed in different batches, according to the replenishment quantity, the batches of the goods to be replenished are allocated to be consistent with the batches of the goods to be replenished. And the remaining space is enough to accommodate the target bin of the goods to be replenished.

For example, there are bins a and b that store goods A in the storage area, and the batch attributes of goods A stored in bins a and b are "xx" and "cc" respectively. Goods A is not allowed to mix different batches, and when the batch of goods A to be replenished is "cc", then the material box b is assigned as the target material box to the goods A to be supplemented, and the material box a cannot be used as a target material box.

According to the attribute information of the goods to be replenished, if the goods to be replenished allow mixing of different batches, according to the replenishment quantity, at least one target whose type of the goods to be replenished is the same as the type of the goods to be replenished is allocated to the goods to be replenished. The remaining space of at least one target material box is sufficient to accommodate the goods to be replenished.

For example, there are bins a and b that store goods A in the storage area, and the batch attributes of goods A stored in bins a and b are "xx" and "cc" respectively. Goods A can be mixed in different batches, and when the batch of goods A to be replenished is "cc", if the remaining space of material box a meets the requirements, material box a can be allocated as the target material box to the goods to be supplemented A. .

If the goods to be replenished allow mixing of different batches, the target bins allocated for the goods to be replenished can store goods of the same type but different batches.

Optionally, if the goods to be replenished allow mixing of different batches, the attribute information may further include the batches that are allowed to be mixed. Then, the target bins allocated for the goods to be replenished can store goods of the same type and different batches, but the batches of goods stored in the target bins must be batches that are allowed to be mixed with the batches of the goods to be replenished. Second-rate.

In another possible implementation, when allocating target bins for the goods to be supplemented, historical outbound information of the goods to be supplemented and storage distribution information of the goods to be supplemented in the storage area may also be considered.

Wherein, the historical outgoing information includes at least one of the following: historical outgoing frequency and outgoing structure information. The outbound structure information may be the information on which other types of goods to be supplemented in the historical outbound order are combined for outbound.

The storage distribution information may include the distribution in the storage area of the shelves where the bins that store the goods to be replenished are located in the storage area, the distribution of the bins where the goods to be replenished are stored on the shelves, etc., which can reflect the storage area of the goods to be replenished. Which areas are more densely distributed and which areas are more scattered.

Specifically, according to the historical outgoing information of the goods to be supplemented and the storage distribution information of the goods to be supplemented in the storage area, at least one target material box is allocated for the goods to be supplemented, and the remaining space of the at least one target material box is sufficient to accommodate Goods to be replenished.

For example, when Goods A with high out-of-stock frequency and complex out-of-stock order structure is used as the goods to be replenished, multiple target bins can be allocated to Goods A, and goods A mixed with different types of goods can also be allocated to Goods A box as the target bin.

For example, when the high-frequency combined outbound goods of the goods A to be replenished are B and C, on the basis of considering the attribute information of the goods A, the number of historical orders, and the quantity of this replenishment, the goods B and C will be stored preferentially. The bin of C is allocated to the cargo A, so that the cargo A is replenished into the bin in which the cargo B and the cargo C are stored.

In this embodiment, the server can combine and store the goods to be replenished and other types of goods in the same bin according to the result of continuous learning of historical data, so that they can be combined and shipped out together when they are out of the warehouse.

For example, according to the learning results of historical data, if it is determined that the goods A to be replenished are usually shipped out of the warehouse in large quantities, several containers with relatively concentrated positions can be allocated to the goods A to be replenished as target containers, so that the goods A can be After the replenishment is put into the warehouse, it can be densely distributed in an area, which is convenient for shipment.

For example, according to the learning results of historical data, if it is determined that the probability that the goods A to be replenished together with the goods B and C will be shipped out of the warehouse is very high, then when selecting the replenishment box of the goods A, you can give priority to the storage of goods B, B and C. The material box of Goods C is assigned to Goods A as the target material box, and is used as the supplementary material box of Goods A, so as to facilitate the combination and delivery.

In another possible implementation, when allocating target bins for the goods to be replenished, the current outbound plan may also be considered.

If there is an outbound plan containing the goods to be replenished, determine the combined outbound goods of the goods to be replenished according to the outbound plan containing the goods to be replenished; assign at least one target material box and at least one target material to the goods to be replenished. The remaining space of the box is sufficient to accommodate the goods to be replenished, and the combined outbound goods are stored in at least one target material box.

For example, in the outbound plan, the goods that need to be picked out together with goods A to be replenished are goods B and C; then when selecting the replenishment bin for cargo A, the bins for storing cargo B and cargo C can be prioritized as The target bin is assigned to Goods A as a replenishment bin for Goods A.

The outbound plan may be a pre-booked outbound plan, which may be customized by the user through the storage system, which is not specifically limited in this embodiment.

In another embodiment, it is also possible to allocate free bins for the to-be-replenished goods in combination with the characteristic information of the to-be-supplemented goods that needs to be stored separately, such as information such as fragile, unique single product, and designated separate storage.

In this embodiment, the strategy adopted by the server for allocating target bins for the goods to be replenished may comprehensively consider one or more attribute information of the goods to be replenished, historical outbound information, storage distribution information, and outbound plans, etc. , and adjust and optimize according to actual application scenarios and user requirements, which are not specifically limited in this embodiment.

Step S203, the server issues a transport instruction to the transport robot.

After allocating the target bins for the goods to be replenished, the server sends a task instruction to the handling robot to control the handling robot to complete the replenishment process of storing the to-be-replenished goods in the corresponding target bins. Specifically, step S203 can be used. -S208 implementation.

The handling instruction may include information such as the identification and location of the target container, the replenishment location of the goods to be replenished, and the like.

In another implementation of this embodiment, the server may detect the actual space information of the target material box, and when the actual space information of the target material box detected by the server does not match the space record information, an alternative operation is started.

The space record information includes size information of the goods in the target container, information on the space occupied by the goods in the target container, information on the remaining space in the target container, and information on the accommodating space in the target container, one or more of them The combination.

The actual space information of the target material box refers to the actual space information of the target material box, and the space record information refers to the space information of the target material box recorded by the server. When the actual space information of the target bin is inconsistent with the space record information, it may not be possible to replenish the target bin normally, so start an alternate job.

As a possible implementation manner, the way for the server to detect the actual space information of the target bin includes:

The internal space of the target bin is photographed by the vision sensor, and the actual information of the space is obtained by analyzing the photographed image.

Wherein, analyzing the captured image to obtain the actual spatial information includes: analyzing at least one of multi-dimensionality and depth information of the captured image.

The interior space of the target bin is sensed by the distance sensor, and the actual information of the space is obtained by analyzing the sensing results.

The distance sensor is a combination of one or more of an infrared sensor, a laser sensor, and an acoustic wave sensor.

The alternative operation is at least one of controlling the handling robot to adjust the position of the goods in the target bin through the mechanical arm, and to issue a warning message. Wherein, the warning information may be sent by the server, or may be sent by the server controlling the handling robot.

Further, the server can also detect the actual information of the goods in the target material box, and when the server detects that the actual information of the goods in the target material box does not match the goods record information, it controls the handling robot to start the alternative operation.

Wherein, the actual cargo information of the target bin refers to the cargo information actually placed in the target bin, and the cargo record information refers to the cargo information placed in the target bin recorded by the server. When the actual cargo information in the target bin is inconsistent with the cargo record information, it may not be possible to replenish the target bin normally, so an alternate operation is started.

Exemplarily, each target container may have corresponding label information, and by identifying the label information, the actual information of the goods in the target container can be obtained. The tag information includes at least one of the following: a one-dimensional code, a two-dimensional code, and a radio frequency tag. Through the identification of one or more of one-dimensional code, two-dimensional code and radio frequency tag, the actual information of the goods in the target container is obtained.

Step S204, the transporting robot receives the transporting instruction issued by the server.

Step S205 , the transport robot transports the target material box from the storage area to the replenishment position of the goods to be replenished according to the transport instruction.

After the handling robot transports the target material box to the designated replenishment position, the goods to be replenished can be manually replenished into the target material box, and a replenishment completion instruction can be submitted.

Optionally, after the transport robot transports the target material box to a designated replenishment location, the server may also send a reminder message to remind the technician to manually replenish the goods to be replenished into the target material box.

Step S206 , in response to the replenishment completion instruction, the server sends a warehouse-in instruction to the handling robot.

When receiving the replenishment completion instruction, the server sends a warehouse-in instruction to the handling robot to instruct the handling robot to transport the target material box back to the corresponding position in the storage area.

Wherein, the warehousing instruction may include the position of the target material box in the storage area, and the like.

Step S207, the handling robot receives the storage instruction issued by the server.

Step S208 , according to the warehousing instruction, the transporting robot transports the target material box containing the goods to be replenished from the replenishment position to the storage area.

The embodiment of the present disclosure comprehensively considers attribute information such as the type and batch of goods to be replenished, whether mixing of different types is allowed, whether mixing of different batches is allowed, historical outbound information, storage distribution information in the storage area, and Outbound planning, etc. Allocate at least one target container for the goods to be replenished, which can not only realize the warehousing of goods by replenishing the unemptied containers, reduce the waste of container storage space, and improve the storage capacity. In addition, it can realize reasonable combination storage or intensive storage of goods within the allowable range, which is convenient for combining goods out of the warehouse or batch out of the warehouse, and can improve the efficiency of warehouse out.

FIG. 3 is a flowchart of the method for replenishment and storage provided by Embodiment 3 of the present disclosure. On the basis of the above-mentioned first embodiment, in this embodiment, a task instruction is issued to the handling robot, and the handling robot is controlled to complete the replenishment process of storing the goods to be replenished in the target bin, including: issuing a task to the handling robot Instructions, control the handling robot to complete the replenishment task by itself. As shown in Figure 3, the specific steps of the method are as follows:

Step S301 , in response to the received warehousing task, the server obtains a replenishment requirement, and the replenishment requirement includes the goods to be replenished and the replenishment quantity.

This step is consistent with the implementation manner of the above-mentioned step S201, which is not repeated here in this embodiment.

Step S302 , the server allocates a target material box for the goods to be supplemented according to the attribute information and the replenishment quantity of the goods to be supplemented, and the remaining space of each material box in the storage area.

This step is consistent with the implementation manner of the foregoing step S202, which is not repeated here in this embodiment.

Step S303, sending a task instruction to the handling robot.

After allocating the target bins for the goods to be replenished, the server sends a task instruction to the handling robot to control the handling robot to complete the replenishment process of storing the goods to be replenished in the corresponding target bins. Specifically, step S303 can be used. -S305 implementation.

Step S304, the handling robot receives the task instruction issued by the server.

Step S305, the handling robot completes the replenishment task by itself according to the task instruction.

Specifically, a possible implementation manner of this step is:

Another possible implementation of this step is:

As a possible implementation, the task instruction may include space record information of the target bin. Before performing the replenishment task, the handling robot can also detect the actual space information of the target material box, and start the alternative operation when the detected actual space information of the target material box does not match the space record information.

Exemplarily, the manner in which the handling robot detects the actual space information of the target bin may include:

Further, the handling robot analyzes the captured image to obtain the actual spatial information, which can be realized by analyzing at least one of the multi-dimensional and depth information of the captured image.

Exemplarily, the manner in which the handling robot detects the actual space information of the target container may include: sensing the inner space of the target container through a distance sensor, and analyzing the sensing result to obtain the actual space information.

Exemplarily, the alternative operation is at least one of reporting to the server, adjusting the position of the goods in the target container through the robotic arm, and issuing warning information.

As a possible implementation manner, the task instruction includes cargo record information of the target container. Before executing the replenishment task, the handling robot can also detect the actual cargo information of the target bin. When the current handling robot detects that the actual cargo information of the target bin does not match the cargo record information, it will start the alternative operation.

Exemplarily, each target container may have corresponding label information, and through identifying the label information, the actual information of the goods in the target container can be obtained. The tag information includes at least one of the following: a one-dimensional code, a two-dimensional code, and a radio frequency tag. Through the identification of one or more of one-dimensional code, two-dimensional code and radio frequency tag, the actual information of the goods in the target container is obtained.

The embodiment of the present disclosure comprehensively considers attribute information such as the type and batch of goods to be replenished, whether mixing of different types is allowed, whether mixing of different batches is allowed, historical outbound information, storage distribution information in the storage area, and Outbound planning, etc. Allocate at least one target container for the goods to be replenished, which can not only realize the warehousing of goods by replenishing the unemptied containers, reduce the waste of container storage space, and improve the storage capacity. In addition, it can realize reasonable combined storage or intensive storage of goods within the allowable range, which is convenient for goods to be combined out of warehouse or batch out of warehouse, which can improve the efficiency of warehouse out, and automatically complete replenishment tasks through handling robots, which can reduce labor costs and improve replenishment efficiency.

FIG. 4 is a schematic structural diagram of a server of a storage system according to Embodiment 4 of the present disclosure. As shown in FIG. 4 , the server 100 includes: a processor 1001 , a memory 1002 , and a computer program stored in the memory 1002 and executed on the processor 1001 .

Wherein, when the processor 1001 runs a computer program, the method for replenishing goods provided by any of the above method embodiments is implemented.

FIG. 5 is a schematic structural diagram of a handling robot according to Embodiment 5 of the present disclosure. As shown in FIG. 5 , the device 110 includes a processor 1101 , a memory 1102 , and a computer program stored on the memory 1102 and executable on the processor 1101 .

Wherein, when the processor 1101 runs a computer program, the method for replenishing goods and entering into storage provided by any of the foregoing method embodiments is implemented.

An embodiment of the present disclosure further provides a storage system, including the server in the fourth embodiment and the handling robot in the fifth embodiment.

In addition, an embodiment of the present disclosure further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method for replenishment and warehousing provided by any of the foregoing method embodiments is implemented.

Other embodiments of the present disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common general knowledge or techniques in the technical field not disclosed by this disclosure . The specification and examples are to be regarded as exemplary only, with the true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise structures described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

A method for replenishment and warehousing, characterized in that, applied to a server of a warehousing system, comprising:

In response to the warehousing task, obtain replenishment requirements, where the replenishment requirements include attribute information and replenishment quantities of the goods to be replenished;

Allocate a target bin for the cargo to be replenished according to the attribute information and replenishment quantity of the cargo to be replenished, and the remaining space of each bin in the storage area;

A task instruction is issued to the handling robot, and the handling robot is controlled to complete the replenishment process of storing the goods to be replenished in the target bin.
The method according to claim 1, characterized in that, according to the attribute information and replenishment quantity of the goods to be replenished, and the remaining space of each material box in the storage area, the target is allocated for the goods to be replenished bin, including:

According to the type and replenishment quantity of the goods to be replenished, a target bin with a remaining space sufficient to accommodate the goods to be replenished is allocated to the goods to be replenished.
The method according to claim 2, characterized in that, according to the type of the goods to be replenished and the replenishment quantity, allocating remaining space for the goods to be replenished enough to accommodate the target material of the goods to be replenished box, including:

According to the type of the goods to be replenished and the replenishment quantity, scan each material box in turn, and determine the first material box whose remaining space is sufficient to accommodate the quantity of the type of goods greater than or equal to the replenishment quantity;

The first material box with the smallest remaining space is used as the target material box;

Or, use the first bin with the largest remaining space as the target bin;

Alternatively, the first bin scanned first is used as the target bin.
The method according to claim 2, wherein the attribute information includes types and whether mixing of different types is allowed, and the method further comprises:

According to the attribute information of the goods to be replenished, if the goods to be replenished do not allow mixing of different types, then according to the replenishment quantity, the type of the goods to be replenished and the type of the goods to be replenished are allocated to the goods to be replenished. The types of the replenished goods are the same, and the remaining space is sufficient to accommodate the target bins of the goods to be replenished.
The method of claim 2, further comprising:

According to the attribute information of the goods to be replenished, if the goods to be replenished allow mixing of different types, at least one target container is allocated to the goods to be replenished according to the replenishment quantity, and the at least one target container is allocated to the goods to be replenished. The remaining space of the target bin is sufficient to accommodate the goods to be replenished.
The method according to claim 2, wherein the attribute information further includes batches and whether mixing of different batches is allowed, and the method further comprises:

According to the attribute information of the goods to be replenished, if the goods to be replenished do not allow mixing of different batches, then according to the replenishment quantity, the goods to be replenished are allocated the batch of the contained goods and the batches of the goods to be replenished. The batches of the goods to be replenished are consistent, and the remaining space is sufficient to accommodate the target bins of the goods to be replenished.
The method of claim 2, further comprising:

According to the attribute information of the goods to be replenished, if the goods to be replenished allow mixing of different batches, then according to the replenishment quantity, at least one type of the contained goods and the type of the goods to be replenished are allocated to the goods to be replenished. A target bin having the same type of the goods to be replenished is provided, and the remaining space of the at least one target bin is sufficient to accommodate the goods to be replenished.
The method of claim 2, further comprising:

According to the historical outbound information of the goods to be supplemented and the storage distribution information of the goods to be supplemented in the storage area, at least one target bin is allocated to the goods to be supplemented, and the at least one target The remaining space of the material box is sufficient to accommodate the goods to be replenished; wherein the historical outbound information includes at least one of the following: historical outbound frequency and outbound structure information.
The method of claim 2, further comprising:

According to the outbound plan including the goods to be replenished, determine the combined outbound goods of the goods to be replenished; assign at least one target material box to the goods to be supplemented, and the remaining space of the at least one target material box It is sufficient to accommodate the goods to be replenished, and the combined outbound goods are stored in the at least one target bin.
The method according to any one of claims 1-9, characterized in that, the task instruction is issued to a handling robot, and the handling robot is controlled to complete the process of storing the goods to be replenished in the material box. Replenishment processing, including:

Send a handling instruction to the handling robot, and control the handling robot to move the target material box from the storage area to the replenishment position of the goods to be replenished, so that the corresponding personnel can complete the replenishment at the replenishment position operate;

In response to the replenishment completion instruction, a warehousing instruction is issued to the handling robot, and the handling robot is controlled to transport the target bin containing the goods to be replenished from the replenishment position to the storage area .
The method according to any one of claims 1-9, characterized in that, issuing a task instruction to a handling robot to control the handling robot to complete the storage of the to-be-replenished goods in the target bin replenishment processing, including:

A task command is issued to the handling robot, and the handling robot is controlled to complete the replenishment task by itself.
The method of claim 1, further comprising:

When the actual space information of the target bin detected by the server does not match the space record information, an alternative operation is started.
The method according to claim 12, wherein the space record information includes size information of the goods in the target container, information of the container space occupied by the goods in the target container, and information of the container space of the target container. A combination of one or more of the remaining space information and the accommodating space information of the target bin.
The method according to claim 12, wherein the method for the server to detect the actual space information of the target bin comprises:

The inner space of the target bin is photographed by a visual sensor, and the actual information of the space is obtained by analyzing the photographed image.
The method according to claim 14, wherein the analyzing the captured image to obtain the actual spatial information comprises:

At least one of multi-dimensional and depth information of the captured image is analyzed.
The method according to claim 12, wherein the method for the server to detect the actual space information of the target bin comprises:

The inner space of the target bin is sensed by a distance sensor, and the actual information of the space is obtained by analyzing the sensing result.
The method according to claim 16, wherein the distance sensor is a combination of more than one of an infrared sensor, a laser sensor, and an acoustic wave sensor.
The method according to claim 12, wherein the alternative operation is at least one of controlling the handling robot to adjust the position of the goods in the target bin through a mechanical arm, and issuing a warning message.
The method of claim 12, further comprising:

When the server detects that the actual cargo information of the target material box does not match the cargo record information, it controls the handling robot to start an alternative operation.
The method according to claim 19, wherein the actual information of the goods in the target bin is obtained by identifying at least one of a one-dimensional code, a two-dimensional code, and a radio frequency tag.
A method for replenishing goods into storage, characterized in that, applied to a handling robot, comprising:

Receive task instructions issued by the server;

According to the task instruction, complete the replenishment process of storing the goods to be replenished in the corresponding target bins;

The target bins corresponding to the goods to be replenished are the bins allocated for the goods to be replenished according to the attribute information of the goods to be replenished, the replenishment quantity, and the remaining space of each bin in the storage area.
The method according to claim 21, wherein receiving a task instruction issued by the server; according to the task instruction, completing the replenishment process of storing the goods to be replenished in the corresponding target bins, comprising:

Receive the handling instruction issued by the server, and according to the handling instruction, move the target material box from the storage area to the replenishment position of the goods to be replenished;

Receive a warehousing instruction issued by the server, and according to the warehousing instruction, transport the target bin containing the goods to be replenished from the replenishment position to the storage area.
The method of claim 21, wherein:

The bin corresponding to the to-be-supplemented goods is a target bin in which the remaining space allocated for the to-be-supplemented goods is sufficient to accommodate the to-be-supplemented goods according to the type and the replenishment quantity of the to-be-supplemented goods.
The method of claim 23, wherein:

The material box corresponding to the goods to be replenished is the material box with the smallest remaining space in the first material box whose remaining space is sufficient to accommodate the quantity of the type of goods greater than or equal to the replenishment quantity;

Alternatively, the material box corresponding to the goods to be replenished is the material box with the largest remaining space in the first material box whose remaining space is sufficient to accommodate the quantity of the type of goods greater than or equal to the replenishment quantity;

Alternatively, the bin corresponding to the goods to be replenished is scanned first in the process of scanning each bin sequentially to determine that the remaining space is sufficient to accommodate the first bin with the quantity of the type of cargo greater than or equal to the replenishment quantity. the first material box.
The method according to claim 23, wherein the attribute information includes type and whether mixing of different types is allowed,

If the goods to be supplemented do not allow mixing of different types, the bin corresponding to the goods to be supplemented is of the same type as the goods to be supplemented and the remaining space is sufficient to accommodate the goods to be supplemented The target bin of the goods;

If the goods to be supplemented allow mixing of different types, the bin corresponding to the goods to be supplemented includes at least one target bin with sufficient remaining space to accommodate the goods to be supplemented.
The method according to claim 23, wherein the attribute information further includes batches and whether mixing of different batches is allowed,

If the goods to be supplemented are not allowed to be mixed in different batches, the bin corresponding to the goods to be supplemented is the same as the batch of the goods to be supplemented, and the remaining space is sufficient to accommodate the target bin of the goods to be replenished;

If the goods to be supplemented allow mixing of different batches, the bin corresponding to the goods to be supplemented includes at least one target container of which the type of the goods to be supplemented is consistent with the type of the goods to be supplemented. The remaining space of at least one target bin is sufficient to accommodate the goods to be replenished.
The method of claim 23, wherein:

The bins corresponding to the goods to be supplemented are allocated to the goods to be supplemented according to the historical outbound information of the goods to be supplemented and the storage distribution information of the goods to be supplemented in the storage area. The remaining space of the at least one target material box is sufficient to accommodate the goods to be replenished; wherein the historical outbound information includes at least one of the following: historical outbound frequency and outbound structure information.
The method of claim 23, wherein:

The material box corresponding to the goods to be supplemented is at least one target material box allocated for the goods to be supplemented according to the outbound plan containing the goods to be supplemented, and the remaining space of the at least one target material box is sufficient. The goods to be replenished are accommodated, and the combined outbound goods of the goods to be supplemented are stored in the at least one target bin, and the combined outbound goods of the goods to be supplemented are based on the goods to be supplemented. The outbound plan is confirmed.
The method according to claim 21, wherein the task instruction includes space record information of the target material box, and the actual space information of the target material box detected by the handling robot is different from the space record information. When there is a match, an alternate job is started.
The method according to claim 29, wherein the space record information comprises size information of the goods in the target container, information on the space occupied by the goods in the target container, and information of the container space of the target container. A combination of one or more of the remaining space information and the accommodating space information of the target bin.
The method according to claim 29, wherein the method for detecting the actual space information of the target bin by the handling robot comprises:

The inner space of the target bin is photographed by a visual sensor, and the actual information of the space is obtained by analyzing the photographed image.
The method according to claim 31, wherein the analyzing the captured image to obtain the actual spatial information comprises:

At least one of multi-dimensional and depth information of the captured image is analyzed.
The method according to claim 29, wherein the method of detecting the actual space information of the target bin by the handling robot comprises:

The inner space of the target bin is sensed by a distance sensor, and the actual information of the space is obtained by analyzing the sensing result.
The method of claim 33, wherein the distance sensor is a combination of one or more of an infrared sensor, a laser sensor, and an acoustic wave sensor.
The method according to claim 29, wherein the alternative operation is at least one of reporting to a server, adjusting the position of the goods in the target bin by a robotic arm, and issuing a warning message.
The method according to claim 29, wherein the task instruction includes cargo record information of the target bin, and the handling robot detects that the actual cargo information of the target bin does not match the cargo record information , an alternate job is started.
The method according to claim 36, wherein the actual information of the goods in the target bin is obtained by identifying at least one of a one-dimensional code, a two-dimensional code, and a radio frequency tag.
A server, characterized in that it includes:

a processor, a memory, and a computer program stored on the memory and executable on the processor;

Wherein, when the processor runs the computer program, the method according to any one of claims 1 to 20 is implemented.
A handling robot is characterized in that, comprising:

a processor, a memory, and a computer program stored on the memory and executable on the processor;

Wherein, when the processor runs the computer program, the method according to any one of claims 21 to 37 is implemented.
A storage system, comprising: the server as claimed in claim 38 and the handling robot as claimed in claim 39 .
A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any one of claims 1 to 20 or 21 to 37 is implemented. method described.