WO2024093805A1 - 货物传输系统、货物传输方法和处理终端 - Google Patents

货物传输系统、货物传输方法和处理终端 Download PDF

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Publication number
WO2024093805A1
WO2024093805A1 PCT/CN2023/126922 CN2023126922W WO2024093805A1 WO 2024093805 A1 WO2024093805 A1 WO 2024093805A1 CN 2023126922 W CN2023126922 W CN 2023126922W WO 2024093805 A1 WO2024093805 A1 WO 2024093805A1
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WO
WIPO (PCT)
Prior art keywords
picking
workstation
material box
replenished
cargo
Prior art date
Application number
PCT/CN2023/126922
Other languages
English (en)
French (fr)
Inventor
覃伯强
陈代荣
陈凯
Original Assignee
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Publication of WO2024093805A1 publication Critical patent/WO2024093805A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light

Definitions

  • the present application relates to the field of intelligent warehousing technology, and in particular to a cargo transportation system, a cargo transportation method and a processing terminal.
  • the embodiments of the present application provide a cargo transportation system, a cargo transportation method and a processing terminal for improving the efficiency of inbound and outbound transportation.
  • an embodiment of the present application provides a cargo transportation system, which includes: at least one picking workstation; at least one warehousing workstation; and a transportation mechanism, wherein the transportation mechanism is used to connect the at least one picking workstation and the at least one warehousing workstation, and the at least one warehousing workstation is arranged at a downstream position of the at least one picking workstation.
  • the transmission mechanism includes at least one first picking conveyor line and at least one second picking conveyor line, the first picking conveyor line is provided with the picking workstation, and the second picking conveyor line is provided with the warehousing workstation.
  • At least one first transfer device is provided on the first picking conveyor line, and the first transfer device is used to transfer the to-be-picked material boxes that have completed outbound picking on the first picking conveyor line to the second picking conveyor line.
  • the transmission mechanism includes a picking cache line, at least one first picking conveyor line and at least one second picking conveyor line, the first picking conveyor line is provided with the picking workstation, and the second picking conveyor line is provided with the warehousing workstation;
  • the picking cache line includes at least one cache location for caching the material boxes to be picked, and conveying the material boxes to be picked to the first picking conveyor line and/or the second picking conveyor line.
  • a barcode scanner is provided downstream of the picking workstation to identify whether the to-be-picked material box that has completed outbound picking is a to-be-replenished material box.
  • At least one second transfer device is respectively provided on the first picking conveyor line, the second picking conveyor line and the picking cache line, the first picking conveyor line and the picking cache line constitute a first transmission line through the second transfer device, and the first picking conveyor line and the second picking conveyor line and the picking cache line constitute a second transmission line through the second transfer device; when the to-be-picked material box that has completed the outbound picking is not a to-be-replenished material box, the to-be-picked material box is returned to the warehouse through the first transmission line; when the to-be-picked material box that has completed the outbound picking is a to-be-replenished material box, the to-be-replenished material box is transported to the warehousing workstation through the second transmission line, and is returned to the warehouse through the second transmission line when the picking operation of the to-be-replenished material box is completed.
  • the transmission mechanism also includes a cross-station line, which is connected between at least two of the first picking conveyor lines.
  • the cross-station line is used to transport the material box to be picked from the first picking workstation to the second picking workstation.
  • the first picking workstation and the second picking workstation are any one of the at least one picking workstation.
  • At least one third transfer device is provided on the cross-dock line, and the cross-dock line is connected to at least one of the first picking conveying lines through the third transfer device.
  • the picking workstation and the warehousing workstation respectively include an operating table.
  • the operating table corresponding to the picking workstation is set on the first picking conveyor line, and is used to perform outbound picking operations on the picking material box;
  • the operating table corresponding to the warehousing workstation is set on the second picking conveyor line, and is used to perform replenishment picking operations on the replenishment material box.
  • a barcode scanner and a display are provided on the operating table of the warehousing workstation, and the display is used to display the information of the to-be-replenished slots and the replenishment quantity in the to-be-replenished material box when the barcode scanner identifies the to-be-replenished material box.
  • an embodiment of the present application provides a cargo transport method, which is applied to a processing terminal, wherein the processing terminal is in communication with the cargo transport system as described above, and the cargo transport method comprises: controlling a transport mechanism to transport a to-be-picked material box to at least one picking workstation; determining that the outbound picking is completed; The material box to be picked is a material box to be replenished; the transmission mechanism is controlled to transmit the material box to be replenished to the warehousing workstation to complete the replenishment picking operation for the material box to be replenished.
  • the cargo transport system includes a barcode scanner, which is disposed downstream of a picking workstation.
  • the method further includes: identifying the code of a material box passing through the picking workstation by the barcode scanner, and detecting whether the material box is a material box to be replenished based on the code.
  • the cargo transfer system includes a barcode scanner and a display, and the barcode scanner and the display are arranged at a warehousing workstation.
  • the method also includes: after identifying the to-be-replenished material box through the barcode scanner, displaying the to-be-replenished slot information and the replenishment quantity in the to-be-replenished material box through the display.
  • the method further includes: when the replenishment picking operation of the to-be-replenished material box is completed, controlling the conveying mechanism to return the to-be-replenished material box to the warehouse, or, when it is determined that the to-be-picked material box that has completed the outbound picking is not the to-be-replenished material box, controlling the conveying mechanism to return the to-be-picked material box that has completed the outbound picking to the warehouse.
  • an embodiment of the present application provides a cargo transmission device, which is applied to a processing terminal, and the processing terminal is communicatively connected to the cargo transmission system as described above, and the cargo transmission device includes: a first transmission control module, which is used to control the transmission mechanism to transmit the to-be-picked material box to at least one picking workstation; a material box determination module, which is used to determine that the to-be-picked material box that has completed the outbound picking is a to-be-replenished material box; and a second transmission control module, which is used to control the transmission mechanism to transmit the to-be-replenished material box to the incoming workstation to complete the replenishment picking operation for the to-be-replenished material box.
  • the cargo transportation system includes a barcode scanner, which is arranged downstream of the picking workstation.
  • the material box determination module is specifically used to: identify the code of the material box passing through the picking workstation by the barcode scanner, and detect whether the material box is a material box to be replenished according to the code.
  • the cargo transportation system includes a barcode scanner and a display, and the barcode scanner and the display are arranged at a warehousing workstation.
  • the device also includes: a display module, which is used to display the information of the to-be-replenished slots and the replenishment quantity in the to-be-replenished material box through the display after the to-be-replenished material box is identified by the barcode scanner.
  • the device also includes: a third transmission control module, which is used to control the transmission mechanism to return the to-be-replenished material box to the warehouse when the replenishment picking operation of the to-be-replenished material box is completed, or, when it is determined that the to-be-picked material box that has completed the outbound picking is not the to-be-replenished material box, control the transmission mechanism to return the to-be-picked material box that has completed the outbound picking to the warehouse.
  • a third transmission control module which is used to control the transmission mechanism to return the to-be-replenished material box to the warehouse when the replenishment picking operation of the to-be-replenished material box is completed, or, when it is determined that the to-be-picked material box that has completed the outbound picking is not the to-be-replenished material box, control the transmission mechanism to return the to-be-picked material box that has completed the outbound picking to the warehouse.
  • an embodiment of the present application provides a processing terminal, including: at least one processor; And, a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the cargo transportation method as described above.
  • an embodiment of the present application provides a computer-readable storage medium, in which computer execution instructions are stored.
  • a processor executes the computer execution instructions, the cargo transportation method as described above is implemented.
  • the cargo transmission system, method and processing terminal provided by the embodiments of the present application are provided by setting at least one picking workstation, at least one warehousing workstation and a transmission mechanism, wherein the transmission mechanism is used to connect at least one picking workstation and at least one warehousing workstation, and at least one warehousing workstation is arranged at a downstream position of at least one picking workstation.
  • the solution provided by the present application realizes the integration of warehousing and outbound transportation of goods by setting the picking workstation and the warehousing workstation on the same transmission mechanism, reduces the robot handling cost, and does not affect the outbound picking efficiency.
  • the outbound picking and reverse warehousing balance is achieved through the picking workstation and the warehousing workstation, thereby improving the storage capacity utilization rate.
  • FIG1 is a schematic diagram of a cargo transportation system provided in an embodiment of the present application.
  • FIG2 is a schematic diagram of a cargo transportation system provided by another embodiment of the present application.
  • FIG3 is a schematic diagram of a cargo transportation system provided by another embodiment of the present application.
  • FIG4 is a flow chart of a cargo transportation method provided in an embodiment of the present application.
  • FIG5 is a structural block diagram of a cargo transport device provided in an embodiment of the present application.
  • FIG6 is a schematic diagram of the structure of a processing terminal provided in an embodiment of the present application.
  • a picking workstation is used to provide picking operations for bins passing through the picking workstation, specifically, to perform picking operations on commodities in the bins.
  • the bins may be in a full box, a non-full box, or other states. After the picking operation by the operator of the picking workstation, the bins may be changed to a non-full box state or an empty box state.
  • the warehousing workstation is used to perform replenishment picking operations on bins passing through it.
  • the bins passing through the warehousing workstation may be transported by a robot to a conveyor line, and the bins are directly transported to the warehousing workstation through the conveyor line.
  • bins to be replenished refer to bins that need to be replenished with goods that are returned by users and need to be stored or new goods that are stored. Such bins belong to bins to be replenished.
  • the operator of the warehousing workstation performs a picking operation on the to-be-replenished goods to put the to-be-replenished goods into the corresponding to-be-replenished bins.
  • the picking operation includes putting the same type of goods into the same bin, and also includes filling a partially full bin, etc.
  • the above-mentioned operators include robots, robotic arms, natural persons, etc.
  • the embodiment of the present application provides a cargo transmission system and a cargo transmission method, by setting at least one picking workstation and at least one warehousing workstation on a closed-loop conveyor line, the picking workstation performs a picking operation on the material box, and determines whether the material box after the picking operation is a material box to be replenished. If the material box is a material box to be replenished, it is transmitted to the warehousing workstation through the closed-loop conveyor line, and the material box to be replenished is performed at the warehousing workstation. The material boxes after the picking operation of the picking workstation and/or the warehousing workstation are returned to the warehouse through the same conveyor line return point.
  • the return to the warehouse includes warehousing the non-to-be-replenished material box after the picking operation of the picking workstation, and warehousing the to-be-replenished material box after the picking operation of the warehousing workstation.
  • the robot handling cost is reduced, and the outbound picking efficiency is not affected.
  • the outbound picking and reverse warehousing balance is achieved through the picking workstation and the warehousing workstation, thereby improving the storage capacity utilization rate.
  • FIG1 is a schematic diagram of a cargo transportation system provided in an embodiment of the present application.
  • the cargo transportation system includes: at least one picking workstation 11 , at least one warehousing workstation 12 and a transportation mechanism.
  • the picking workstation 11 and the warehousing workstation 12 are arranged on the transmission mechanism, and the transmission mechanism connects the picking workstation 11 and the warehousing workstation 12 in series to form a closed-loop transmission line.
  • the transmission direction of the transmission line is shown by the arrow in Figure 1.
  • the warehousing workstation 12 is arranged downstream of the picking workstation 11.
  • the transmission line including arrows shown in Figure 1 constitutes the transmission mechanism.
  • the transmission mechanism includes a first picking conveyor line 131, a second picking conveyor line 132 and a picking cache line 133.
  • the picking cache line 133 is connected to the first picking conveyor line 131 and the second picking conveyor line 132 respectively.
  • the picking workstation 11 is arranged on the first picking conveyor line 131, and the warehousing workstation 12 is arranged on the second picking conveyor line 132.
  • the cargo transmission system is used to pick and sort out the cargo in the material box, and the cargo transmission system can realize the cargo out of the material box and the cargo in the material box at the same time. Specifically, after the material box is put on the line, the material box is transmitted to the first picking conveyor line 131 through the picking buffer line 133, and the picking workstation 11 performs the out-of-warehouse picking operation on the passing material box, and identifies whether the material box after the out-of-warehouse picking operation is a material box to be replenished.
  • the material box after the picking operation of the picking workstation 11 is a material box to be replenished
  • the material box to be replenished is transported to the second picking conveyor line 132 through the picking buffer line 133, and the warehousing workstation 12 performs the replenishment picking operation on the material box to be replenished, and the goods are stored in the corresponding material box slot in the material box to be replenished through the replenishment picking operation.
  • this type of material box can be transported to the return point through the picking buffer line 133.
  • the material boxes returning to the warehouse and the material boxes leaving the warehouse can be docked with the robot through the loading and unloading equipment, so that the material boxes can be returned to the warehouse or left the warehouse.
  • the loading and unloading equipment includes a loader and an unloader.
  • the unloader is used to unload the material box from the robot and put the material box on the transmission mechanism so that the material box can be picked.
  • the loader is used to take the material box from the exit of the transmission mechanism and load the material box to the robot, and the robot transports the material box back to the warehouse.
  • the picking workstation 11 When the picking workstation 11 identifies whether the material box after the picking operation is a material box to be replenished, it can detect whether the material box after the picking operation is a material box to be replenished by setting relevant detection equipment near the picking workstation 11, such as reading the QR code on the material box by a code reading device to determine whether the material box is the material box to be replenished required by the system, or setting a camera device to capture the image of the material box. Technologies such as recognition and image processing are used to determine whether the container is the replenishment container required for the incoming goods.
  • a barcode scanner 14 is provided downstream of the picking workstation 11, and the barcode scanner 14 is used to identify whether the to-be-picked material box that has completed outbound picking is a to-be-replenished material box.
  • One or more barcode scanners 14 may be provided downstream of a picking workstation 11, and the barcode scanner 14 is mainly used to identify the code on the material box, and determine whether the material box is a to-be-replenished material box based on the code.
  • the coding information corresponding to the to-be-replenished material box may be pre-stored in the barcode scanner 14, and when a code is detected, the code is compared with the pre-stored related coding information to determine whether the material box corresponding to the code belongs to the to-be-replenished material box.
  • the barcode scanner 14 can be connected to an external device, such as a communication connection with a background server, and the barcode scanner 14 uploads the scanned coded information to the background server, which determines whether the material box corresponding to the coded information belongs to the material box to be replenished, and controls the flow direction of the material box through the cargo transmission system according to the judgment result, or the barcode scanner can be connected to the equipment of the picking workstation for communication, and the barcode scanner 14 uploads the scanned coded information to the equipment of the picking workstation, and the picker determines whether it is a material box to be replenished.
  • one or more of the barcode scanners 14 can be respectively set downstream of each picking workstation 11 to detect whether the material box picked by each picking workstation 11 belongs to the material box to be replenished.
  • a transfer device can be set on the transmission mechanism, and the transmission direction of the material boxes on the transmission mechanism can be changed by the transfer device, so that the to-be-replenished material boxes and the non-to-be-replenished material boxes are transmitted to corresponding positions.
  • the transfer device can be connected to an external device for communication, such as a background server, and the background server is connected to the controller of the transmission mechanism for communication, or directly connected to the controller of the transmission mechanism for communication.
  • the controller of the transmission mechanism controls the transfer device to determine the conveying direction of the material box according to the judgment result of the material box, so as to realize that the to-be-replenished material boxes and the non-to-be-replenished material boxes are transmitted to corresponding positions.
  • the non-to-be-replenished material boxes are material boxes that are not the to-be-stored material boxes.
  • a plurality of transfer devices can be set, including respectively setting transfer devices on the picking buffer line 133, the first picking conveyor line 131 and the second picking conveyor line 132, so as to form a first transmission line and a second transmission line.
  • the first picking conveyor line 131, the picking buffer line 133 and the transfer device constitute the first transmission line, and the first transmission line is provided with a picking workstation 11.
  • the first picking conveyor line 131, the picking buffer line 133, the second picking conveyor line 132 and the transfer device constitute the second transmission line, and the second transmission line is provided with a picking workstation 11 and a warehousing workstation 12.
  • the first transmission line and the second transmission line may partially overlap, for example, the first picking conveyor line corresponding to the picking workstation 11 is the first transmission line. and the overlapping portion of the second transmission line.
  • the material box to be picked when the material box to be picked is not the material box to be replenished, the material box to be picked is returned to the warehouse through the first transmission line.
  • the material box to be picked is the material box to be replenished
  • the material box to be replenished is transported to the warehousing workstation 12 through the second transmission line, and is returned to the warehouse through the second transmission line when the picking operation of the material box to be replenished is completed.
  • each picking workstation 11 and/or the warehousing workstation 12 include multiple ones, each picking workstation 11 has a corresponding line segment of the first picking conveyor line 131, and each warehousing workstation 12 has a corresponding line segment of the second picking conveyor line 132.
  • the first conveyor line and the second conveyor line corresponding to the picking workstation 11 can be determined according to the judgment result of the picked material box corresponding to the picking workstation 11.
  • the next material box corresponding to the material box that is performing the picking operation in the picking workstation 11 and the warehousing workstation 12 can be in a waiting state, and similarly, all the material boxes behind the next material box are also in a waiting state, until the material box that is performing the picking operation is picked up, and then the next material box is transmitted to the picking workstation 11 or the warehousing workstation 12 to perform the corresponding picking operation.
  • the picking workstation 11 and the warehousing workstation 12 respectively include at least one operating table, and the operating table corresponding to the picking workstation 11 is set on the first picking conveyor line 131, which is used to perform outbound picking operations on the material box to be picked.
  • the operating table corresponding to the warehousing workstation 12 is set on the second picking conveyor line 132, which is used to perform replenishment picking operations on the material box to be replenished.
  • the operating table provides a platform for the operator to perform picking operations on the material box.
  • a barcode scanner and a display are provided on the operating table of the warehousing workstation 12.
  • the material box to be replenished passes through the second picking conveyor line 132, and the material boxes to be replenished on the second picking conveyor line 132 are put into a collective queue.
  • a material box to be replenished is located, it is automatically identified by the barcode scanner.
  • the display displays the information of the to-be-replenished slots and the quantity information that needs to be replenished in the material box to be replenished, so as to provide the operator at the warehousing workstation 12 with information on how to replenish the goods to be entered into the warehouse to the corresponding slots.
  • the barcode scanner can be similar to the above-mentioned barcode scanner 14, and the barcode scanner and the display are both connected to external devices for communication, such as being connected to the background server for communication.
  • the specific placement position and placement method of the display can be adjusted in combination with the position of the operator to maximize the convenience of the operator's operation of the material box.
  • the picking cache line 133 includes a cache location, and the cache location is used to cache boxes.
  • the cache location is used to cache boxes.
  • Some of the boxes are cached in the cache storage location of the picking cache line 133 to relieve the pressure of the picking workstation 11 and/or the warehousing workstation 12 on processing the boxes.
  • the transmission mechanism further includes a cross-station line 134, which can be arranged in parallel with the picking cache line, and the cross-station line 134 is connected between at least two of the first picking conveyor lines 131, and the cross-station line 134 is used to transport the material box to be picked from the first picking workstation to the second picking workstation, and the first picking workstation and the second picking workstation are any one of the at least one picking workstation.
  • the cargo transmission system includes multiple picking workstations 11
  • the material box can be transported to the target picking workstation through the cross-station line 134, and the target picking workstation is any one or more of the at least one picking workstation 11.
  • At least one transfer device is arranged on the cross-station line 134, and the cross-station line 134 is connected to the first picking conveyor line 131 through the transfer device.
  • the cross-station line 134 Through the cross-station line 134, the material box picked by the first picking workstation can be quickly transported to the target position when it needs to be picked by the second picking workstation, thereby improving the transmission efficiency of the material box. At the same time, it can alleviate the cache pressure of the picking cache line 133.
  • the cross-station line 134 can be a part of the picking cache line 133, that is, it has the function of caching material boxes and also has the function of quickly crossing the station. When the material box needs to move from one workstation to another, it does not occupy the cache position of the picking cache line 133, but can quickly cross the station through the cross-station line 134.
  • Figure 1 only shows two picking workstations 11, one warehousing workstation 12, part of the first picking conveyor line 131, part of the second picking conveyor line 132, part of the picking cache line 133 and part of the cross-station line 134. It is worth noting that the number of picking workstations 11 and warehousing workstations 12 in Figure 1 is only an example, and there can be a larger number of picking workstations 11 and warehousing workstations 12, and the setting of the first picking conveyor line 131, the second picking conveyor line 132, the picking cache line 133 and the cross-station line 134 can be more or less according to the setting of the picking workstations 11 and the warehousing workstation 12.
  • the embodiment of the present application provides a cargo transport system, which realizes the integration of cargo warehousing and outbound by setting a picking workstation and a warehousing workstation on the same transport mechanism, reduces the robot handling cost, and does not affect the outbound picking efficiency.
  • the outbound picking and reverse warehousing balance is achieved through the picking workstation and the warehousing workstation, thereby improving the storage capacity utilization rate.
  • FIG. 2 is a schematic diagram of a cargo transportation system provided by another embodiment of the present application.
  • the cargo transportation system includes at least one picking workstation 11, at least one warehousing workstation 12 and a transportation mechanism, wherein the transportation mechanism includes at least one first picking conveyor line 131 and at least one second picking conveyor line 132, wherein the first picking conveyor line 131 is provided with the picking conveyor line 132.
  • the workstation 11, the warehousing workstation 12 is arranged on the second picking conveying line 132.
  • the functions of the picking workstation 11 and the warehousing workstation 12 may refer to the above-mentioned cargo transportation system embodiment.
  • At least one transfer device is arranged on the first picking conveyor line 131 , and the transfer device is used to transfer the to-be-picked material boxes that have completed outbound picking on the first picking conveyor line 131 to the second picking conveyor line 132 .
  • the material boxes can be put on line through different entrances. After the material boxes are put on line, they are transported through the first picking conveyor line 131. When they are transported to the picking workstation 11, the material boxes passing through are picked for outbound storage, and it is identified whether the material boxes after the outbound storage picking operation are the material boxes to be replenished. If the material box after the picking operation by the picking workstation 11 is the material box to be replenished, the material box to be replenished is transported from the first picking conveyor line 131 to the second picking conveyor line 132 by the transfer device, and the warehousing workstation 12 located on the second picking conveyor line 132 performs a replenishment picking operation on the material box to be replenished.
  • the goods in the material box to be replenished are stored in the corresponding material box grid, so that the material box can be put into storage. If the material box after the outbound storage picking operation performed by the picking workstation 11 is not the material box to be replenished, this type of material box can be directly transported to the exit through the first picking conveyor line 131, and this type of material box at the exit can be put into storage or returned to the storage.
  • the cargo transport system provided in FIG2 can realize the integration of the storage and outbound of the material box by setting the first picking conveyor line 131, the second picking conveyor line 132, the picking workstation 11, the storage workstation 12 and the transfer device, thereby realizing the integration of the storage and outbound of the goods, reducing the robot handling cost, and not affecting the outbound picking efficiency.
  • the outbound picking and reverse storage balance is achieved through the picking workstation and the storage workstation, thereby improving the storage capacity utilization rate.
  • FIG2 is only an example of the cargo transportation system of this embodiment, and may also include more or less picking workstations 11, warehousing workstations 12, transfer devices, first picking conveyor lines 131, and second picking conveyor lines 132.
  • picking workstations 11 warehousing workstations 12
  • transfer devices first picking conveyor lines 131
  • second picking conveyor lines 132 second picking conveyor lines 132.
  • Figure 4 is a flow chart of a cargo transportation method provided in an embodiment of the present application.
  • the method can be applied to the following processing terminal, which can be connected to the cargo transportation system in the above embodiment.
  • the cargo transportation method includes:
  • S101 controlling the transmission mechanism to transmit the material box to be picked to at least one picking workstation
  • the cargo transmission system includes a barcode scanner, and the barcode scanner is arranged downstream of the picking workstation.
  • the method also includes: identifying the code of the material box passing through the picking workstation by the barcode scanner, and detecting whether the material box is a material box to be replenished according to the code.
  • the cargo transmission system includes a barcode scanner and a display, and the barcode scanner and the display are arranged at the warehousing workstation.
  • the method also includes: after identifying the to-be-replenished material box through the barcode scanner, displaying the to-be-replenished slot information and the replenishment quantity in the to-be-replenished material box through the display.
  • the method further includes: when the replenishment picking operation of the to-be-replenished material box is completed, controlling the conveying mechanism to return the to-be-replenished material box to the warehouse, or, when it is determined that the to-be-picked material box that has completed the outbound picking is not the to-be-replenished material box, controlling the conveying mechanism to return the to-be-picked material box that has completed the outbound picking to the warehouse.
  • the cargo transportation method provided in the embodiment of the present application and the cargo transportation system in the above embodiment are based on the same inventive concept, and the corresponding details can refer to the above embodiment.
  • the cargo transmission method provided in the embodiment of the present application is executed by the processing terminal and is specifically applied to the cargo transmission system.
  • the method realizes the integration of cargo warehousing and outbound by setting the picking workstation and the warehousing workstation on the same transmission mechanism, reduces the robot handling cost, and does not affect the outbound picking efficiency.
  • the outbound picking and reverse warehousing balance is achieved through the picking workstation and the warehousing workstation, thereby improving the storage capacity utilization rate.
  • FIG. 5 is a structural block diagram of a cargo transmission device provided in an embodiment of the present application.
  • the modules corresponding to the cargo transmission device 20 can be applied to the following processing terminals, and the cargo transmission device 20 includes: a first transmission control module 21, a material box determination module 22, and a second transmission control module 23.
  • the first transmission control module 21 is used to control the transmission mechanism to transmit the to-be-picked material box to at least one picking workstation;
  • the material box determination module 22 is used to determine that the to-be-picked material box that has completed the outbound picking is the to-be-replenished material box;
  • the second transmission control module 23 is used to control the transmission mechanism to transmit the to-be-replenished material box to the incoming workstation to complete the replenishment picking operation for the to-be-replenished material box.
  • the cargo transportation system includes a barcode scanner, which is arranged downstream of the picking workstation.
  • the material box determination module 22 is specifically used to identify the code of the material box passing through the picking workstation through the barcode scanner, and detect whether the material box is a material box to be replenished according to the code.
  • the cargo transport system includes a barcode scanner and a display
  • the barcode scanner and the display are arranged at the warehousing workstation
  • the device 20 also includes a display module 24, the display module 24 is used to display the cargo transport system after the cargo box to be replenished is identified by the barcode scanner. Describes the information of the slots to be replenished in the to-be-replenished material box and the replenishment quantity.
  • the device 20 also includes a third transmission control module 25, which is used to control the transmission mechanism to return the to-be-replenished material box to the warehouse when the replenishment picking operation of the to-be-replenished material box is completed, or, when it is determined that the to-be-picked material box that has completed the outbound picking is not the to-be-replenished material box, control the transmission mechanism to return the to-be-picked material box that has completed the outbound picking to the warehouse.
  • a third transmission control module 25 which is used to control the transmission mechanism to return the to-be-replenished material box to the warehouse when the replenishment picking operation of the to-be-replenished material box is completed, or, when it is determined that the to-be-picked material box that has completed the outbound picking is not the to-be-replenished material box, control the transmission mechanism to return the to-be-picked material box that has completed the outbound picking to the warehouse.
  • the above cargo transport device can execute the cargo transport method provided in the embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method.
  • the cargo transport method provided in the embodiment of the present invention.
  • FIG. 6 is a schematic diagram of the structure of a processing terminal provided in an embodiment of the present application.
  • the processing terminal can execute the above-mentioned cargo transportation method, and the processing terminal can be connected to the above-mentioned cargo transportation system in communication.
  • the processing terminal 30 includes: one or more processors 31 and a memory 32, and FIG. 6 takes one processor 32 as an example.
  • the processor 31 and the memory 32 may be connected via a bus or other means, and FIG6 takes the connection via a bus as an example.
  • the memory 32 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions/modules corresponding to the cargo transmission method in the embodiment of the present application.
  • the processor 31 executes various functional applications and data processing of the processing terminal by running the non-volatile software programs, instructions and modules stored in the memory 32, that is, the cargo transmission method in the above method embodiment is realized.
  • the memory 32 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function.
  • the memory 32 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices.
  • the one or more modules are stored in the memory 32, and when executed by the one or more processors 31, the cargo transportation method in any of the above method embodiments is executed, for example, the method steps in FIG. 4 described above are executed.
  • the above-mentioned product can execute the method provided in the embodiment of the present application, and has the functional modules and beneficial effects corresponding to the execution method.
  • the method provided in the embodiment of the present application please refer to the method provided in the embodiment of the present application.
  • the processing terminal of the embodiment of the present application exists in various forms, including but not limited to: a mobile communication device Devices: This type of equipment is characterized by mobile communication functions, such as smart phones and functional phones; ultra-mobile personal computer devices: This type of equipment belongs to the category of personal computers, has computing and processing functions, and generally also has mobile Internet features.
  • This type of terminal includes PDA, MID and UMPC devices; servers: devices that provide computing services.
  • the composition of servers includes processors, hard disks, memory, system buses, etc. Servers are similar to general computer architectures, but because they need to provide highly reliable services, they have higher requirements in terms of processing power, stability, reliability, security, scalability, manageability, etc., as well as other electronic devices with data interaction functions.
  • An embodiment of the present application provides a non-volatile computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, such as a processor 31 in Figure 6, so that the one or more processors can execute the cargo transportation method in any of the above method embodiments.
  • An embodiment of the present application provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions.
  • the processing terminal is enabled to execute the cargo transportation method in any of the above-mentioned method embodiments.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each implementation method can be implemented by means of software plus a general hardware platform, and of course, can also be implemented by hardware.
  • Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium.
  • the program When the program is executed, it can include the processes of the embodiments of the above-mentioned methods.
  • the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

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Abstract

一种货物传输系统、货物传输方法和处理终端，货物传输系统包括：至少一个拣选工作站（11）；至少一个入库工作站（12）；传输机构，传输机构用于连接至少一个拣选工作站和至少一个入库工作站，至少一个入库工作站设置于至少一个拣选工作站的下游位置。通过设置拣选工作站和入库工作站在同一传输机构上，从而实现了货物的入库和出库一体化，降低了机器人搬运成本，并且不影响出库拣选效率。另外，通过拣选工作站和入库工作站实现出库拣选和逆向入库平衡，从而提升了库容利用率。

Description

货物传输系统、货物传输方法和处理终端
本申请要求于2022年11月02日提交中国专利局、申请号为202211364182.1、申请名称为“货物传输系统、货物传输方法和处理终端”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
【技术领域】
本申请涉及智能仓储技术领域，特别涉及一种货物传输系统、货物传输方法和处理终端。
【背景技术】
近年来，基于仓储机器人搬运货物的技术日益成熟。现有技术中，仓储机器人在搬运货物入库的过程中，通常会需要将库区内的料箱搬运出至工作站，通过工作站将需要入库的货物放入这些料箱中进行入库，在这个过程中，被搬运至工作站的料箱不能作为出库拣选所需的料箱，影响出库效率，而且，料箱会多次被出库任务和入库任务分别命中，进行重复搬运，导致整体仓储效率较低。
【发明内容】
本申请实施例提供一种货物传输系统、货物传输方法以及处理终端，用于提升出入库搬运效率。
第一方面，本申请实施例提供一种货物传输系统，所述货物传输系统包括：至少一个拣选工作站；至少一个入库工作站；传输机构，所述传输机构用于连接所述至少一个拣选工作站和所述至少一个入库工作站，所述至少一个入库工作站设置于所述至少一个拣选工作站的下游位置。
在一些实施例中，所述传输机构包括至少一条第一拣选输送线和至少一条第二拣选输送线，所述第一拣选输送线上设置有所述拣选工作站，所述第二拣选输送线上设置有所述入库工作站。
在一些实施例中，所述第一拣选输送线上设置有至少一个第一移载装置，所述第一移载装置用于将所述第一拣选输送线上完成出库拣选的待拣选料箱输送至所述第二拣选输送线。
在一些实施例中，所述传输机构包括拣选缓存线、至少一条第一拣选输送线和至少一条第二拣选输送线，所述第一拣选输送线上设置有所述拣选工作站，所述第二拣选输送线上设置有所述入库工作站；所述拣选缓存线包括至少一个缓存货位，用于缓存待拣选料箱，并将所述待拣选料箱输送至所述第一拣选输送线和/或所述第二拣选输送线。
在一些实施例中，所述拣选工作站的下游设置有扫码器，用于识别完成出库拣选的待拣选料箱是否为待补货料箱。
在一些实施例中，所述第一拣选输送线、所述第二拣选输送线和所述拣选缓存线上分别设置有至少一个第二移载装置，所述第一拣选输送线与所述拣选缓存线通过所述第二移载装置构成第一传输线，所述第一拣选输送线和所述第二拣选输送线与所述拣选缓存线通过所述第二移载装置构成第二传输线；在完成出库拣选的所述待拣选料箱不是待补货料箱时，通过所述第一传输线将所述待拣选料箱回库；在完成出库拣选的所述待拣选料箱是待补货料箱时，通过所述第二传输线将所述待补货料箱输送至所述入库工作站，并在所述待补货料箱拣选操作完成时通过所述第二传输线回库。
在一些实施例中，所述传输机构还包括跨站线，所述跨站线连接于至少两条所述第一拣选输送线之间，所述跨站线用于将待拣选料箱由第一拣选工作站输送至第二拣选工作站，所述第一拣选工作站和所述第二拣选工作站为所述至少一个拣选工作站中的任意一个拣选工作站。
在一些实施例中，所述跨站线上设置有至少一个第三移载装置，所述跨站线通过所述第三移载装置与至少一个所述第一拣选输送线连通。
在一些实施例中，所述拣选工作站和所述入库工作站分别包括操作台，所述拣选工作站对应的操作台设置于所述第一拣选输送线上，用于对待拣选料箱执行出库拣选操作；所述入库工作站对应的操作台设置于所述第二拣选输送线上，用于对待补货料箱执行补货拣选操作。
在一些实施例中，所述入库工作站的操作台上设置有扫码器和显示器，所述显示器用于在所述扫码器识别出所述待补货料箱时，显示所述待补货料箱中的待补货格口信息以及补货数量。
第二方面，本申请实施例提供一种货物传输方法，应用于处理终端，所述处理终端与如上所述的货物传输系统通信连接，所述货物传输方法包括：控制传输机构传输待拣选料箱至至少一个拣选工作站；确定完成出库拣选的 所述待拣选料箱为待补货料箱；控制所述传输机构传输所述待补货料箱至入库工作站，以完成针对所述待补货料箱的补货拣选操作。
在一些实施例中，所述货物传输系统包括扫码器，所述扫码器设置于拣选工作站的下游，所述方法还包括：通过所述扫码器识别通过所述拣选工作站的料箱的编码，根据所述编码检测所述料箱是否为待补货料箱。
在一些实施例中，所述货物传输系统包括扫码器和显示器，所述扫码器和所述显示器设置于入库工作站，所述方法还包括：在通过所述扫码器识别出所述待补货料箱后，通过所述显示器显示所述待补货料箱中的待补货格口信息以及补货数量。
在一些实施例中，所述方法还包括：在所述待补货料箱的补货拣选操作完成时，控制所述传输机构对所述待补货料箱进行回库，或，在确定所述完成出库拣选的待拣选料箱不是所述待补货料箱时，控制所述传输机构对所述完成出库拣选的所述待拣选料箱进行回库。
第三方面，本申请实施例提供一种货物传输装置，应用于处理终端，所述处理终端与如上所述的货物传输系统通信连接，所述货物传输装置包括：第一传输控制模块，用于控制传输机构传输待拣选料箱至至少一个拣选工作站；料箱确定模块，用于确定完成出库拣选的所述待拣选料箱为待补货料箱；第二传输控制模块，用于控制所述传输机构传输所述待补货料箱至入库工作站，以完成针对所述待补货料箱的补货拣选操作。
在一些实施例中，所述货物传输系统包括扫码器，所述扫码器设置于拣选工作站的下游，所述料箱确定模块具体用于：通过所述扫码器识别通过所述拣选工作站的料箱的编码，根据所述编码检测所述料箱是否为待补货料箱。
在一些实施例中，所述货物传输系统包括扫码器和显示器，所述扫码器和所述显示器设置于入库工作站，所述装置还包括：显示模块，用于在通过所述扫码器识别出所述待补货料箱后，通过所述显示器显示所述待补货料箱中的待补货格口信息以及补货数量。
在一些实施例中，所述装置还包括：第三传输控制模块，用于在所述待补货料箱的补货拣选操作完成时，控制所述传输机构对所述待补货料箱进行回库，或，在确定所述完成出库拣选的待拣选料箱不是所述待补货料箱时，控制所述传输机构对所述完成出库拣选的所述待拣选料箱进行回库。
第四方面，本申请实施例提供一种处理终端，包括：至少一个处理器； 以及，与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如上所述的货物传输方法。
第五方面，本申请实施例提供一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，当处理器执行所述计算机执行指令时，实现如上所述的货物传输方法。
本申请实施例提供的货物传输系统、方法以及处理终端，通过设置至少一个拣选工作站、至少一个入库工作站和传输机构，传输机构用于将至少一个拣选工作站和至少一个入库工作站连接起来，并且至少一个入库工作站设置于至少一个拣选工作站的下游位置。本申请提供的方案通过设置拣选工作站和入库工作站在同一传输机构上，从而实现了货物的入库和出库一体化，降低了机器人搬运成本，并且不影响出库拣选效率。另外，通过拣选工作站和入库工作站实现出库拣选和逆向入库平衡，从而提升了库容利用率。
【附图说明】
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。通过下述附图，已示出本申请明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本申请构思的范围，而是通过参考特定实施例为本领域技术人员说明本申请的概念。
图1是本申请实施例提供的一种货物传输系统的示意图；
图2是本申请另一实施例提供的一种货物传输系统的示意图；
图3是本申请又一实施例提供的一种货物传输系统的示意图；
图4是本申请实施例提供的一种货物传输方法的流程图；
图5是本申请实施例提供的一种货物传输装置的结构框图；
图6是本申请实施例提供的一种处理终端的结构示意图。
【具体实施方式】
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是用于限制本申请。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
在本申请实施例中，拣选工作站用于对经过所述拣选工作站的料箱提供拣选操作，具体是对料箱中的商品进行拣选操作，料箱可以是满箱、非满箱等状态，经过拣选工作站的操作员的拣选操作后，可以将料箱变成非满箱状态、空箱状态。入库工作站用于对经过其的料箱进行补货拣选操作，经过入库工作站的料箱可以是由机器人搬运至输送线，并通过输送线将料箱直接运输至入库工作站的料箱，也可以是由机器人搬运至输送线首先经过拣选工作站拣选操作后并且被检测为属于待补货料箱的料箱。所述待补货料箱指的是需要将用户退回的需要入库的货物或者新入库货物补货进的料箱，这类料箱都属于待补货料箱。所述待补货料箱经过入库工作站时，入库工作站的操作员对这些待入库货物进行拣选操作，以将待入库货物放入对应的待补货料箱，该拣选操作包括将同类商品归于同一料箱，还包括将非满箱料箱补全，等。上述操作员包括机器人、机械臂、自然人等。
目前相关技术在设置拣选工作站和入库工作站时，两种类型的工作站分别独立设置，从而造成机器人搬运成本高、库存容积率低等问题。
为解决上述问题，本申请实施例提供一种货物传输系统和货物传输方法，通过在闭环输送线上设置至少一个拣选工作站和至少一个入库工作站，通过拣选工作站对料箱进行拣选操作，并判断拣选操作后的料箱是否为待补货料箱，如果料箱是待补货料箱，通过该闭环输送线传输至入库工作站，在入库工作站对待补货料箱进行补货拣选操作，经过所述拣选工作站和/或所述入库工作站拣选操作后的料箱均通过同一输送线回库点位进行回库。该回库包括将经过所述拣选工作站拣选操作后的非待补货料箱进行入库，以及将经过所述入库工作站拣选操作后的待补货料箱进行入库。通过这种拣选工作站和入库工作站的一体化设计，降低了机器人搬运成本，并且不影响出库拣选效率。另外，通过拣选工作站和入库工作站实现出库拣选和逆向入库平衡，从而提升了库容利用率。
下面以具体地实施例对本申请的技术方案以及本申请的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对 于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本申请的实施例进行描述。
图1是本申请实施例提供的一种货物传输系统的示意图，如图1所示，该货物传输系统包括：至少一个拣选工作站11、至少一个入库工作站12以及传输机构。
拣选工作站11和入库工作站12设置于所述传输机构上，所述传输机构串联起所述拣选工作站11和所述入库工作站12形成闭环的传输线，传输线的传输方向如图1中箭头所示，在所述传输线上，所述入库工作站12设置于所述拣选工作站11的下游。图1中所示的包含箭头的传输线构成所述传输机构。其中，传输机构包括第一拣选输送线131、第二拣选输送线132和拣选缓存线133。所述拣选缓存线133分别连接所述第一拣选输送线131和所述第二拣选输送线132。所述拣选工作站11设置于所述第一拣选输送线131上，所述入库工作站12设置于所述第二拣选输送线132上。
在本申请实施例中，所述货物传输系统用于对料箱中的货物进行拣选出库和拣选入库，通过该货物传输系统就能同时实现货物的出库和入库。具体地，料箱上线后，通过拣选缓存线133传输料箱至所述第一拣选输送线131，拣选工作站11对经过的料箱进行出库拣选操作，并识别出库拣选操作后的料箱是否为待补货料箱。如果被拣选工作站11拣选操作后的料箱是待补货料箱，则该待补货料箱通过拣选缓存线133输送至第二拣选输送线132，所述入库工作站12对所述待补货料箱进行补货拣选操作，通过该补货拣选操作使商品存入待补货料箱中对应的料箱格口。如果被拣选工作站11拣选操作后的料箱不是所述待补货料箱，则该类料箱可以通过拣选缓存线133输送至回库点位。
其中，回库的料箱和出库的料箱可以通过装卸料设备与机器人对接，从而使料箱回库或出库。所述装卸料设备包括上料机和卸料机，卸料机用于从机器人处卸下料箱，并将料箱放入传输机构上，使得该料箱被拣选。所述上料机用于从传输机构的出口取下料箱，并将该料箱上货至机器人，由机器人运送料箱回库。
其中，拣选工作站11在识别拣选操作后的料箱是否为待补货料箱时，可以通过在拣选工作站11的附近位置设置相关检测设备检测所述拣选操作后的料箱是否为待补货料箱，比如通过读码装置读取料箱上的二维码，确定该料箱是否为系统需要的待补货料箱，或者设置摄像装置拍摄料箱图像，通过图 像识别和图像处理等技术，以确定所述料箱是否是待入库货物所需的的待补货料箱。
在一些实施例中，如图1所示，所述拣选工作站11的下游设置有扫码器14，所述扫码器14用于识别完成出库拣选的待拣选料箱是否是待补货料箱。一个拣选工作站11的下游位置可以设置一个或多个扫码器14，扫码器14主要用于识别料箱上的编码，根据编码判断该料箱是否是待补货料箱。可以在扫码器14中预先存储关于待补货料箱对应的编码信息，当检测到一编码时，通过比较该编码和预先存储的相关编码信息，从而确定该编码对应的料箱是否属于待补货料箱。可以将扫码器14与外部设备连接，比如与后台服务器通信连接，扫码器14将扫描到的编码信息上传至后台服务器，由后台服务器判断该编码信息对应的料箱是否属于待补货料箱，并根据判断结果通过货物传输系统控制料箱的流向，或者可以将扫码器与拣选工作站的设备进行通信连接，扫码器14将扫描到的编码信息上传至拣选工作站的设备，由拣选人员来确定是否为待补货料箱。当拣选工作站11包含多个时，每一个拣选工作站11的下游均可分别设置一个或多个所述扫码器14，用于对每一拣选工作站11拣选后的料箱是否属于待补货料箱进行检测。
其中，所述待补货料箱和非待补货料箱会经过不同的传输线输送至相应的位置。可以在所述传输机构上设置移载装置，通过移载装置改变料箱在传输机构上的传输方向，从而使所述待补货料箱和所述非待补货料箱传输至对应的位置。所述移载装置可以与外部设备通信连接，比如与后台服务器通信连接，同时后台服务器与传输机构的控制器通信连接，或者与传输机构的控制器直接通信连接。所述传输机构的控制器控制移载装置根据对料箱的判断结果决策料箱的输送方向，从而实现使待补货料箱和非待补货料箱传输至对应的位置。其中，所述非待补货料箱为不是所述待入库料箱的料箱。例如如图1所示，可以设置多个移载装置，包括在拣选缓存线133、第一拣选输送线131以及第二拣选输送线132上分别设置移载装置，从而形成第一传输线和第二传输线。其中，第一拣选输送线131、拣选缓存线133以及移载装置构成所述第一传输线，所述第一传输线上设有拣选工作站11。第一拣选输送线131、拣选缓存线133、第二拣选输送线132以及移载装置构成所述第二传输线，所述第二传输线上设有拣选工作站11和入库工作站12。第一传输线和第二传输线可以部分重叠，比如，拣选工作站11对应的第一拣选输送线为第一传输线 和第二传输线的重叠部分。
其中，在所述待拣选料箱不是所述待补货料箱时，通过所述第一传输线将所述待拣选料箱回库。在所述待拣选料箱是所述待补货料箱时，通过所述第二传输线将所述待补货料箱输送至所述入库工作站12，并在所述待补货料箱拣选操作完成时通过所述第二传输线回库。
当所述拣选工作站11和/或所述入库工作站12包括多个时，每一拣选工作站11有其对应的第一拣选输送线131的线段，每一所述入库工作站12有其对应的第二拣选输送线132的线段。可以根据拣选工作站11对应的拣选后的料箱的判断结果确定其对应的第一传输线、第二传输线。
其中，拣选工作站11和入库工作站12在分别执行出库拣选操作和补货拣选操作时，拣选工作站11和入库工作站12中正在执行拣选操作的料箱所对应的下一料箱可以处于等待状态，同理该下一料箱的后面的全部料箱也是处于等待状态，直至正在执行拣选操作的料箱被拣选完成后，该下一料箱传输至拣选工作站11或入库工作站12，以被执行对应的拣选操作。可选地，所述拣选工作站11和所述入库工作站12分别包括至少一个操作台，所述拣选工作站11对应的操作台设置于所述第一拣选输送线131上，用于对待拣选料箱执行出库拣选操作。所述入库工作站12对应的操作台设置于所述第二拣选输送线132上，用于对待补货料箱执行补货拣选操作。所述操作台提供操作员对料箱进行拣选操作的平台。
在一些实施例中，所述入库工作站12的操作台上设置有扫码器和显示器。当经过拣选工作站拣选并被确定为所述待补货料箱时，该待补货料箱经过所述第二拣选输送线132，位于第二拣选输送线132上的待补货料箱进行集放式排队，当某一待补货料箱被定位后，自动被所述扫码器识别，此时所述显示器显示所述待补货料箱中待补货格口信息和需要补货的数量信息，从而提供给入库工作站12处的操作员知悉将待入库货物如何补货至对应的格口。其中，所述扫码器可同理于上述扫码器14，所述扫码器和所述显示器均与外部设备通信连接，比如均与后台服务器通信连接。所述显示器的具体放置位置和放置方式可结合操作员的位置进行调整，以最大的方便操作员对料箱的操作。
在一些实施例中，所述拣选缓存线133包括缓存货位，所述缓存货位用于缓存料箱。当拣选工作站11和/或入库工作站12处需要处理的料箱较多时，或者第一拣选输送线131和/或第二拣选输送线132上排队的料箱较多时，可 以在拣选缓存线133的缓存货位缓存部分料箱，以缓解拣选工作站11和/或入库工作站12的处理料箱的压力。
在一些实施例中，所述传输机构还包括跨站线134，所述跨站线134可与所述拣选缓存线并列设置，并且所述跨站线134连接于至少两条所述第一拣选输送线131之间，所述跨站线134用于将待拣选料箱由第一拣选工作站输送至第二拣选工作站，所述第一拣选工作站和所述第二拣选工作站为所述至少一个拣选工作站中的任意一个拣选工作站。当货物传输系统包括多个拣选工作站11时，可以通过该跨站线134将料箱输送至目标拣选工作站，所述目标拣选工作站为所述至少一个拣选工作站11中的任意一个或多个拣选工作站。其中，所述跨站线134上设置有至少一个移载装置，所述跨站线134通过所述移载装置与所述第一拣选输送线131连通。通过所述跨站线134可以快速的将被第一拣选工作站拣选完成的料箱在需要被第二拣选工作站拣选时，快速输送至目标位置，提高了料箱的传输效率，同时，可以缓解拣选缓存线133的缓存压力，跨站线134可以是拣选缓存线133的一部分，即有缓存料箱的作用，也有将料箱快速跨站的作用，当料箱需要从一个工作站进入另外一个工作站的情况下，可以不占用拣选缓存线133的缓存位，而通过跨站线134快速跨站。
需要说明的是，图1中仅示出了两个拣选工作站11、一个入库工作站12、部分第一拣选输送线131、部分第二拣选输送线132、部分拣选缓存线133以及部分跨站线134，值得说明的是，图1中拣选工作站11和入库工作站12的数量仅作为一种示例，还可以是更多数量的拣选工作站11和入库工作站12，而第一拣选输送线131、第二拣选输送线132、拣选缓存线133以及跨站线134的设置可根据拣选工作站11和入库工作站12设置更多或更少。
本申请实施例提供了一种货物传输系统，该货物传输系统通过设置拣选工作站和入库工作站在同一传输机构上，从而实现了货物的入库和出库一体化，降低了机器人搬运成本，并且不影响出库拣选效率。另外，通过拣选工作站和入库工作站实现出库拣选和逆向入库平衡，从而提升了库容利用率。
在一些实施例中，请参阅图2，图2是本申请另一实施例提供的一种货物传输系统的示意图。该货物传输系统包括至少一个拣选工作站11、至少一个入库工作站12和传输机构，所述传输机构包括至少一条第一拣选输送线131和至少一条第二拣选输送线132，所述第一拣选输送线131上设置有所述拣选 工作站11，所述第二拣选输送线132上设置有所述入库工作站12。
其中，所述拣选工作站11和所述入库工作站12的功能作用可参考上述货物传输系统实施例。
其中，所述第一拣选输送线131上设置有至少一个移载装置，所述移载装置用于将所述第一拣选输送线131上完成出库拣选的待拣选料箱输送至所述第二拣选输送线132。
如图2所示，料箱可以通过不同的入口上线，料箱上线后通过第一拣选输送线131进行传输，在传输至拣选工作站11时，对经过的料箱进行出库拣选操作，并识别出库拣选操作后的料箱是否为待补货料箱。如果被拣选工作站11拣选操作后的料箱是待补货料箱，则该待补货料箱通过移载装置从第一拣选输送线131输送至第二拣选输送线132，位于第二拣选输送线132上的入库工作站12对所述待补货料箱进行补货拣选操作，通过该补货拣选操作使待补货料箱中的商品存入对应的料箱格口，以便料箱入库。如果被拣选工作站11执行出库拣选操作后的料箱不是所述待补货料箱，则该类料箱可以通过第一拣选输送线131直接输送至出口，在出口处的该类料箱可以入库，也可以回库。
图2提供的货物传输系统通过设置第一拣选输送线131、第二拣选输送线132、拣选工作站11、入库工作站12以及移载装置，就能实现料箱的入库和出库一体化，从而实现了货物的入库和出库一体化，降低了机器人搬运成本，并且不影响出库拣选效率。另外，通过拣选工作站和入库工作站实现出库拣选和逆向入库平衡，从而提升了库容利用率。
需要说明的是，图2仅作为本实施例的所述货物传输系统的一种示例，还可以包括更多或更少的拣选工作站11、入库工作站12、移载装置、第一拣选输送线131、第二拣选输送线132。例如，如图3所示的货物传输系统。
请参阅图4，图4是本申请实施例提供的一种货物传输方法的流程图。该方法可应用于下述处理终端，该处理终端可与上述实施例中的货物传输系统通信连接。如图4所示，所述货物传输方法包括：
S101、控制传输机构传输待拣选料箱至至少一个拣选工作站；
S102、确定完成出库拣选的所述待拣选料箱为待补货料箱；
S103、控制所述传输机构传输所述待补货料箱至入库工作站，以完成针对所述待补货料箱的补货拣选操作。
其中，所述货物传输系统包括扫码器，所述扫码器设置于拣选工作站的下游，所述方法还包括：通过所述扫码器识别通过所述拣选工作站的料箱的编码，根据所述编码检测所述料箱是否为待补货料箱。
其中，所述货物传输系统包括扫码器和显示器，所述扫码器和所述显示器设置于入库工作站，所述方法还包括：在通过所述扫码器识别出所述待补货料箱后，通过所述显示器显示所述待补货料箱中的待补货格口信息以及补货数量。
在一些实施例中，所述方法还包括：在所述待补货料箱的补货拣选操作完成时，控制所述传输机构对所述待补货料箱进行回库，或，在确定所述完成出库拣选的待拣选料箱不是所述待补货料箱时，控制所述传输机构对所述完成出库拣选的所述待拣选料箱进行回库。
本申请实施例提供的货物传输方法与上述实施例中的货物传输系统是基于相同的发明构思的，相应的细节部分可参考上述实施例。
本申请实施例提供的货物传输方法，由处理终端执行该方法，并将该方法具体应用于上述货物传输系统，该方法通过设置拣选工作站和入库工作站在同一传输机构上，从而实现了货物的入库和出库一体化，降低了机器人搬运成本，并且不影响出库拣选效率。另外，通过拣选工作站和入库工作站实现出库拣选和逆向入库平衡，从而提升了库容利用率。
请参阅图5，图5是本申请实施例提供的一种货物传输装置的结构框图。该货物传输装置20对应的模块可应用于下述处理终端，该货物传输装置20包括：第一传输控制模块21、料箱确定模块22、第二传输控制模块23。
第一传输控制模块21用于控制传输机构传输待拣选料箱至至少一个拣选工作站；料箱确定模块22用于确定完成出库拣选的所述待拣选料箱为待补货料箱；第二传输控制模块23用于控制所述传输机构传输所述待补货料箱至入库工作站，以完成针对所述待补货料箱的补货拣选操作。
其中，所述货物传输系统包括扫码器，所述扫码器设置于拣选工作站的下游，所述料箱确定模块22具体用于通过所述扫码器识别通过所述拣选工作站的料箱的编码，根据所述编码检测所述料箱是否为待补货料箱。
在一些实施例中，所述货物传输系统包括扫码器和显示器，所述扫码器和所述显示器设置于入库工作站，所述装置20还包括显示模块24，显示模块24用于在通过所述扫码器识别出所述待补货料箱后，通过所述显示器显示所 述待补货料箱中的待补货格口信息以及补货数量。
在一些实施例中，所述装置20还包括第三传输控制模块25，第三传输控制模块25用于在所述待补货料箱的补货拣选操作完成时，控制所述传输机构对所述待补货料箱进行回库，或，在确定所述完成出库拣选的待拣选料箱不是所述待补货料箱时，控制所述传输机构对所述完成出库拣选的所述待拣选料箱进行回库。
需要说明的是，上述货物传输装置可执行本申请实施例所提供的货物传输方法，具备执行方法相应的功能模块和有益效果。未在货物传输装置实施例中详尽描述的技术细节，可参见本发明实施例所提供的货物传输方法。
请参阅图6，图6是本申请实施例提供的一种处理终端的结构示意图。所述处理终端可执行上述货物传输方法，所述处理终端可与上述货物传输系统通信连接。该处理终端30包括：一个或多个处理器31以及存储器32，图6中以一个处理器32为例。
处理器31和存储器32可以通过总线或者其他方式连接，图6中以通过总线连接为例。
存储器32作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本申请实施例中的货物传输方法对应的程序指令/模块。处理器31通过运行存储在存储器32中的非易失性软件程序、指令以及模块，从而执行处理终端的各种功能应用以及数据处理，即实现上述方法实施例货物传输方法。
存储器32可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序。此外，存储器32可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。
所述一个或者多个模块存储在所述存储器32中，当被所述一个或者多个处理器31执行时，执行上述任意方法实施例中的货物传输方法，例如，执行以上描述的图4中的方法步骤。
上述产品可执行本申请实施例所提供的方法，具备执行方法相应的功能模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本申请实施例所提供的方法。
本申请实施例的处理终端以多种形式存在，包括但不限于：移动通信设 备，这类设备的特点是具备移动通信功能，例如智能手机、功能性手机等；超移动个人计算机设备，这类设备属于个人计算机的范畴，有计算和处理功能，一般也具备移动上网特性，这类终端包括PDA、MID和UMPC设备等；服务器，提供计算服务的设备，服务器的构成包括处理器、硬盘、内存、系统总线等，服务器和通用的计算机架构类似，但是由于需要提供高可靠的服务，因此在处理能力、稳定性、可靠性、安全性、可扩展性、可管理性等方面要求较高，以及其他具有数据交互功能的电子装置。
本申请实施例提供了一种非易失性计算机可读存储介质，所述非易失性计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如图6中的一个处理器31，可使得上述一个或多个处理器可执行上述任意方法实施例中的货物传输方法。
本申请实施例提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被所述处理终端执行时，使所述处理终端能够执行上述任意方法实施例中的货物传输方法。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施方式的描述，本领域普通技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(Random Access Memory,RAM)等
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实 施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相对应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (17)

  1. 一种货物传输系统，其特征在于，所述货物传输系统包括：
    至少一个拣选工作站；
    至少一个入库工作站；
    传输机构，所述传输机构用于连接所述至少一个拣选工作站和所述至少一个入库工作站，所述至少一个入库工作站设置于所述至少一个拣选工作站的下游位置。
  2. 根据权利要求1所述的货物传输系统，其特征在于，所述传输机构包括至少一条第一拣选输送线和至少一条第二拣选输送线，所述第一拣选输送线上设置有所述拣选工作站，所述第二拣选输送线上设置有所述入库工作站。
  3. 根据权利要求2所述的货物传输系统，其特征在于，所述第一拣选输送线上设置有至少一个第一移载装置，所述第一移载装置用于将所述第一拣选输送线上完成出库拣选的待拣选料箱输送至所述第二拣选输送线。
  4. 根据权利要求1所述的货物传输系统，其特征在于，所述传输机构包括拣选缓存线、至少一条第一拣选输送线和至少一条第二拣选输送线，所述第一拣选输送线上设置有所述拣选工作站，所述第二拣选输送线上设置有所述入库工作站；
    所述拣选缓存线包括至少一个缓存货位，用于缓存待拣选料箱，并将所述待拣选料箱输送至所述第一拣选输送线和/或所述第二拣选输送线。
  5. 根据权利要求4所述的货物传输系统，其特征在于，所述拣选工作站的下游设置有扫码器，用于识别完成出库拣选的所述待拣选料箱是否为待补货料箱。
  6. 根据权利要求4所述的货物传输系统，其特征在于，所述第一拣选输送线、所述第二拣选输送线和所述拣选缓存线上分别设置有至少一个第二移载装置，所述第一拣选输送线与所述拣选缓存线通过所述第二移载装置构成第一传输线，所述第一拣选输送线和所述第二拣选输送线与所述拣选缓存线通过所述第二移载装置构成第二传输线；
    在完成出库拣选的所述待拣选料箱不是待补货料箱时，通过所述第一传输线将所述待拣选料箱回库；
    在完成出库拣选的所述待拣选料箱是待补货料箱时，通过所述第二传输 线将所述待补货料箱输送至所述入库工作站，并在所述待补货料箱拣选操作完成时通过所述第二传输线回库。
  7. 根据权利要求2-6任一项所述的货物传输系统，其特征在于，所述传输机构还包括跨站线，所述跨站线连接于至少两条所述第一拣选输送线之间，所述跨站线用于将待拣选料箱由第一拣选工作站输送至第二拣选工作站，所述第一拣选工作站和所述第二拣选工作站为所述至少一个拣选工作站中的任意一个拣选工作站。
  8. 根据权利要求7所述的货物传输系统，其特征在于，所述跨站线上设置有至少一个第三移载装置，所述跨站线通过所述第三移载装置与至少一个所述第一拣选输送线连通。
  9. 根据权利要求2-6任一项所述的货物传输系统，其特征在于，所述拣选工作站和所述入库工作站分别包括操作台，
    所述拣选工作站对应的操作台设置于所述第一拣选输送线上，用于对待拣选料箱执行出库拣选操作；
    所述入库工作站对应的操作台设置于所述第二拣选输送线上，用于对待补货料箱执行补货拣选操作。
  10. 根据权利要求5所述的货物传输系统，其特征在于，所述入库工作站的操作台设置有扫码器和显示器，所述显示器用于在所述扫码器识别出所述待补货料箱时，显示所述待补货料箱中的待补货格口信息以及补货数量。
  11. 一种货物传输方法，应用于处理终端，所述处理终端与权利要求1至10任一项所述的货物传输系统通信连接，其特征在于，所述货物传输方法包括：
    控制传输机构传输待拣选料箱至至少一个拣选工作站；
    确定完成出库拣选的所述待拣选料箱为待补货料箱；
    控制所述传输机构传输所述待补货料箱至入库工作站，以完成针对所述待补货料箱的补货拣选操作。
  12. 根据权利要求11所述的货物传输方法，其特征在于，所述货物传输系统包括扫码器，所述扫码器设置于拣选工作站的下游，所述方法还包括：
    通过所述扫码器识别通过所述拣选工作站的料箱的编码，根据所述编码检测所述料箱是否为待补货料箱。
  13. 根据权利要求12所述的货物传输方法，其特征在于，所述货物传输 系统包括扫码器和显示器，所述扫码器和所述显示器设置于入库工作站，所述方法还包括：
    在通过所述扫码器识别出所述待补货料箱后，通过所述显示器显示所述待补货料箱中的待补货格口信息以及补货数量。
  14. 根据权利要求11至13任一项所述的货物传输方法，其特征在于，所述方法还包括：
    在所述待补货料箱的补货拣选操作完成时，控制所述传输机构对所述待补货料箱进行回库，或，在确定所述完成出库拣选的待拣选料箱不是所述待补货料箱时，控制所述传输机构对所述完成出库拣选的所述待拣选料箱进行回库。
  15. 一种货物传输装置，应用于处理终端，所述处理终端与权利要求1至10任一项所述的货物传输系统通信连接，其特征在于，所述货物传输装置包括：
    第一传输控制模块，用于控制传输机构传输待拣选料箱至至少一个拣选工作站；
    料箱确定模块，用于确定完成出库拣选的所述待拣选料箱为待补货料箱；
    第二传输控制模块，用于控制所述传输机构传输所述待补货料箱至入库工作站，以完成针对所述待补货料箱的补货拣选操作。
  16. 一种处理终端，其特征在于，包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如权利要求11至14任一项所述的货物传输方法。
  17. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机执行指令，当处理器执行所述计算机执行指令时，实现如权利要求11至14任一项所述的货物传输方法。
PCT/CN2023/126922 2022-11-02 2023-10-26 货物传输系统、货物传输方法和处理终端 WO2024093805A1 (zh)

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CN217497389U (zh) * 2022-06-22 2022-09-27 深圳市海柔创新科技有限公司 仓储系统
CN115892812A (zh) * 2022-11-02 2023-04-04 深圳市海柔创新科技有限公司 货物传输系统、货物传输方法和处理终端

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