Cross picking method and device

Abstract

The present invention discloses a cross picking method and device, and relates to the field of computer technology. A specific implementation of the method includes: when a source position material box arrives on the current side, a pre-processing task is performed on the source position material box on the current side to determine the picking route, and at the same time, it is determined whether there is a picking task on the opposite side; if there is, the picking task is performed on the current side after the picking task on the opposite side is completed, otherwise the picking task is directly performed on the current side to pick the items in the source position material box according to the picking route. This implementation can effectively use idle time to perform pre-processing in advance, improve picking efficiency, and maximize the utilization rate of the device using the picking method of the present invention.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a cross picking method and device. Background Art

[0002] The unmanned warehouse picking robot picks goods, and the source is the material box delivered by the left and right conveyor lines, and the destination is multiple shuttles. A picking robot arm is equipped with a visual scanner on the top of the left and right source material boxes. The robot can only pick goods from one source material box and put them to the destination at the same time. Before picking begins, it needs to receive pre-processing tasks and take pictures of the goods in the material box through visual equipment to confirm the current optimal picking goods and path.

[0003] When a material box arrives on one side, the robot performs a visual scan and picking task on the material box on this side. During this period, if a material box arrives on the other side, no operation of the robot can be triggered. The picking process is executed serially, and the robot's picking efficiency cannot be maximized. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a cross picking method and device, which can effectively utilize idle time to perform preprocessing in advance, improve picking efficiency, and maximize the utilization rate of the device using the picking method of the present invention.

[0005] According to one aspect of an embodiment of the present invention, a cross picking method is provided.

[0006] A cross picking method according to an embodiment of the present invention includes:

[0007] When a source material box arrives on the front side, a pre-processing task is performed on the source material box on the current side to determine the picking route, and at the same time, it is determined whether there is a picking task on the other side;

[0008] If it exists, the picking task is executed on the current side after the picking task on the other side is completed, otherwise the picking task is directly executed on the current side to pick the items in the source material box according to the picking route.

[0009] Optionally, before executing the preprocessing task on the source position material box of the current side, the method further includes: obtaining preprocessing information; the preprocessing information includes: the source position and the destination position;

[0010] The pre-processing task for the source bin of the current side includes: determining a route for picking the items in the source bin of the current side to the destination.

[0011] Optionally, before executing the preprocessing task on the source bin on the current side, it also includes: confirming that the state of the destination is idle, binding the source bin on the current side to the destination, and then modifying the state of the destination to occupied.

[0012] Optionally, the pre-processing information further includes: item identification and picking quantity of the items to be picked;

[0013] The pre-processing task for the source position material box on the current side also includes: identifying the items to be picked from the items in the source position material box according to the item identification, picking quantity and source position of the items to be picked.

[0014] Optionally, after the front side executes the picking task, the method further includes: modifying the state of the destination position to an idle state.

[0015] Optionally, before changing the state of the destination location to an idle state, it also includes: confirming that the total picking quantity of the items to be picked is equal to the preset picking quantity; and if the total picking quantity of the items to be picked is less than the preset picking quantity, the state of the destination location is not changed to an idle state, and preprocessing tasks and picking tasks are performed on the source location material boxes on the current side and / or the opposite side to pick the items to be picked in the source location material boxes on the current side and / or the opposite side.

[0016] According to still another aspect of an embodiment of the present invention, a cross picking device is provided.

[0017] The cross picking device according to an embodiment of the present invention comprises:

[0018] The monitoring module determines whether there is a picking task on the other side when a source material box arrives on the front side;

[0019] The pre-processing module performs pre-processing tasks on the source bins on the current side to determine the picking route when a source bin arrives on the current side;

[0020] The picking module executes the picking task on the current side after the picking task on the other side is completed if there is a picking task on the other side, otherwise the picking task is directly executed on the current side to pick the items in the source material box according to the picking route.

[0021] Optionally, the preprocessing module is further used to: before executing the preprocessing task on the source position material box on the current side, obtain preprocessing information; the preprocessing information includes: the source position and the destination position;

[0022] The preprocessing module performs preprocessing tasks on the source position material box of the current side, including: determining a route for picking the items in the source position material box of the current side to the destination position.

[0023] Optionally, the preprocessing module is further used to: before executing the preprocessing task on the source position bin on the current side, confirm that the state of the destination position is idle, bind the source position bin on the current side to the destination position, and then modify the state of the destination position to occupied.

[0024] Optionally, the pre-processing information further includes: item identification and picking quantity of the items to be picked;

[0025] The preprocessing module performs preprocessing tasks on the source position material box on the current side, and further includes: identifying the items to be picked from the items in the source position material box according to the item identification, picking quantity and source position of the items to be picked.

[0026] Optionally, the pre-processing module uses a visual scanning device to identify the items to be picked from the items in the source location box according to the item identification, picking quantity and source location of the items to be picked.

[0027] Optionally, the picking module is further used to: after the current side executes the picking task, modify the state of the destination position to an idle state.

[0028] According to another aspect of an embodiment of the present invention, a cross picking electronic device is provided.

[0029] The cross-picking electronic device according to an embodiment of the present invention includes:

[0030] one or more processors;

[0031] a storage device for storing one or more programs,

[0032] When the one or more programs are executed by the one or more processors, the one or more processors implement the cross picking method provided in the first aspect of the embodiment of the present invention.

[0033] According to yet another aspect of an embodiment of the present invention, a computer readable medium is provided.

[0034] According to the computer-readable medium of the embodiment of the present invention, a computer program is stored thereon, and when the program is executed by a processor, the cross picking method provided by the first aspect of the embodiment of the present invention is implemented.

[0035] One embodiment of the above invention has the following advantages or beneficial effects: when there is a picking task on the other side, the picking task is executed on the current side after the picking task on the other side is completed, otherwise the picking task is directly executed on the current side. In this way, the idle time can be effectively utilized to perform preprocessing in advance, thereby improving the picking efficiency and maximizing the utilization rate of the device using the picking method of the present invention.

[0036] The further effects of the above-mentioned non-conventional optional manner will be described below in conjunction with the specific implementation manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to better understand the present invention and do not constitute an improper limitation of the present invention.

[0038] Figure 1is a schematic diagram of the main process of the cross picking method according to an embodiment of the present invention;

[0039] Figure 2 is a schematic diagram of main modules of a cross picking device according to an embodiment of the present invention;

[0040] Figure 3 is an exemplary system architecture diagram to which embodiments of the present invention may be applied;

[0041] Figure 4 It is a schematic diagram of the structure of a computer system of a terminal device or a server suitable for implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0043] According to one aspect of an embodiment of the present invention, a cross picking method is provided.

[0044] Figure 1 FIG. 1 is a schematic diagram of the main process of the cross picking method according to an embodiment of the present invention. Figure 1 As shown, the cross picking method includes: step S101 and step S102.

[0045] Step S101, when a source material box arrives at the front side, a pre-processing task is performed on the source material box at the current side to determine a picking route, and at the same time, it is determined whether there is a picking task at the other side.

[0046] The current side refers to the side where the material box currently arrives at the source position, and the opposite side refers to the side different from the current side. The current side and the opposite side are used to distinguish the different sides of the equipment using the cross picking method of the embodiment of the present invention. For example, when the equipment using the cross picking method of the embodiment of the present invention has left and right sides, if the left side is the current side, the right side is the opposite side; for another example, when the equipment using the cross picking method of the embodiment of the present invention has multiple sides, one of the sides is the current side, and the other sides are opposite sides. Regardless of whether it is the current side or the opposite side, preprocessing tasks and picking tasks can be performed.

[0047] Before planning and determining the picking route, the destination position may also be unknown. For example, characters are used to replace the destination position to calculate the labor cost, time cost, etc. of various picking routes based on the source position and the destination position, thereby determining a method for selecting routes with the lowest comprehensive cost. Then, before executing the formal picking task, the relevant information of the destination position is brought into the method for selecting routes, so as to determine the most optimal route from the source position to the destination position as the picking route.

[0048] Of course, before planning and determining the picking route, the destination may be known. For example, before executing the preprocessing task on the source bin on the current side, it may also include: obtaining preprocessing information; the preprocessing information includes: the source and the destination. Executing the preprocessing task on the source bin on the current side may include: determining the route for picking the items in the source bin on the current side to the destination. In this way, the spare time can be further effectively utilized so that the accurate picking route can be determined in advance before executing the picking task, thereby improving the picking efficiency.

[0049] Before executing the preprocessing task on the source bin on the current side, the process may also include: confirming that the state of the destination is idle, binding the source bin on the current side to the destination, and then changing the state of the destination to occupied. Binding the source bin to the idle destination in advance can prevent the destination from being occupied by other preprocessing tasks or picking tasks, and avoid partial occupation failure and increased calculation caused by multiple occupations of the same destination.

[0050] The preprocessing information may also include: the item identification and the picking quantity of the items to be picked; performing the preprocessing task on the source bin on the current side may also include: identifying the items to be picked from the items in the source bin according to the item identification, picking quantity and source position of the items to be picked. According to the item identification, picking quantity and source position of the items to be picked, the items to be picked are identified from the items in the source bin in advance, so that the items to be picked can be extracted and determined before the picking task is performed, thereby further improving the picking efficiency.

[0051] Step S102: If yes, then after the picking task on the other side is completed, the picking task is executed on the current side; otherwise, the picking task is directly executed on the current side to pick the items in the source bin according to the picking route.

[0052] In order to solve the problem of low efficiency of one-sided serial picking in the prior art, the picking preprocessing tasks are issued in advance so that the picking routes of the items in the opposite side bin can be determined in advance during the picking process on the current side. When the picking on the opposite side is completed, the picking task on the current side can be started directly, thereby improving the picking efficiency and maximizing the utilization rate of the device using the picking method of the present invention.

[0053] After the current side executes the picking task, it may also include: changing the state of the destination position to an idle state. For example, after the current side picking task is completed and the picked items leave the destination position, the state of the destination position is changed to an idle state. In this way, the destination position can be released in time for subsequent use, thereby improving the utilization efficiency of the destination position.

[0054] Before changing the state of the destination location to an idle state, it may also include: confirming that the total picking quantity of the items to be picked is equal to the preset picking quantity; and if the total picking quantity of the items to be picked is less than the preset picking quantity, the state of the destination location is not changed to an idle state, and preprocessing tasks and picking tasks are performed on the source location material boxes on the current side and / or the opposite side to pick the items to be picked in the source location material boxes on the current side and / or the opposite side.

[0055] For example, the preset picking quantity of item A to be picked is 20 pieces, and the capacity of the destination position is limited. Each destination position can only accommodate 10 items. Therefore, after each preprocessing task and picking task are completed, a maximum of 10 items can be picked. After one picking of item A to be picked, its total picking quantity is 10 pieces, which is less than 20 pieces, and it is necessary to continue picking. At this time, the state of the currently bound destination position is not changed to an idle state, but the material boxes of the current side and / or opposite side source positions continue to be bound to the destination position, and the items A to be picked in the material boxes of the current side and / or opposite side source positions are picked to the destination position. After the second picking is completed, the total picking quantity of item A to be picked is 20 pieces, which is equal to the preset picking quantity. After the picking is completed, the state of the destination position is changed to an idle state for subsequent use.

[0056] It should be noted that the total picking quantity in the embodiment of the present invention refers to the picked quantity of items to be picked (that is, the sum of the picking quantities of all picking tasks that have been executed) and the sum of the picking quantities of preprocessing tasks and picking tasks being executed. For example, there are three tasks (including preprocessing tasks and picking tasks) for item B to be picked, one is the picking task Q1 that has been picked, one is the picking task Q2 that is being executed, and the other is the preprocessing task Q3 that is being executed. The picking quantities of these three tasks are Q1, Q2 and Q3 respectively, then the total picking quantity of item B to be picked is Q1+Q2+Q3.

[0057] When the total picking quantity of the items to be picked is less than the preset picking quantity, the items to be picked need to continue to be picked, and the destination position must be bound before picking. At this time, if the state of the destination position is changed to an idle state, the pre-processing task for the item to be picked needs to re-find an idle destination position and bind it, which is cumbersome and has low picking efficiency. In addition, if an idle destination position cannot be found immediately after the destination position is released for binding, the pre-processing task for the item to be picked cannot be performed, so that the items to be picked cannot be picked centrally, which prolongs the picking time and reduces the picking efficiency for the same type of items to be picked.

[0058] When the total number of items to be picked is less than the preset number of items to be picked, the state of the destination position is not changed to an idle state, but pre-processing tasks and picking tasks are performed on the source position bins on the current side and / or the opposite side to pick the items to be picked in the source position bins on the current side and / or the opposite side. In this way, the picking efficiency can be greatly improved.

[0059] The cross picking method according to the embodiment of the present invention is exemplarily described below in conjunction with specific embodiments.

[0060] illustrate:

[0061] 1) Robot equipment device: that is, a device using the picking method of the present invention, one robot equipment device corresponds to two source material boxes, and a robot vision device is placed above each material box. The robot picks the goods from the source material box to the destination shuttle (i.e., the destination position).

[0062] 2) Binding the source position to the destination shuttle: Each task needs to apply for binding to the destination shuttle, and it can be occupied successfully when there is a shuttle available; after the shuttle goods leave the shuttle, the shuttle can be released.

[0063] 3) Preprocessing tasks: Send preprocessing information and preprocessing tasks to the robot. The preprocessing information includes the product number, picking quantity, source location and destination location of the task. When the robot receives the preprocessing task, it will take visual photos of the material box at the source location of the task, identify the products and plan the optimal picking plan for the picking task.

[0064] 4) Formal task (i.e. picking task): A formal task is issued to the robot. When the robot receives a formal task, if the previous preprocessing task has not been completed or the preprocessing task has not been received, it will restart the visual device to take pictures, plan the path, and then pick; if the previous preprocessing has been completed, it will directly execute the picking task.

[0065] 5) Cross picking strategy: (assuming the current side of the robot is side A and the opposite side is side B)

[0066] 1. When the material box at the source position on side A arrives and there is no picking task being executed on side B of the robot, a pre-processing task is performed on the material box at the source position on side A, visual photography is performed, goods are identified, and the picking route of the picking task is planned, and then the formal task on side A is directly issued; if there is a picking task being executed on side B and the destination shuttle is free, while executing the picking task on side B, an application is made on side A to bind the source material box to the destination shuttle, and a pre-processing task on side A is issued to trigger the robot arm's visual scanning in advance and plan the picking route for the picking task on side A.

[0067] 2. After the picking task on the B side is completed, the picking task on the A side is sent to the robot arm, and then it is determined whether there is a material box that has arrived on the B side. If so, and the destination shuttle is free, while executing the picking task on the A side, apply for the source material box on the B side to bind the destination shuttle, and send the pre-processing task on the B side.

[0068] 3. After the picking task on side A is completed, the corresponding destination shuttle is released. When the release is completed, it is determined whether there are tasks to be executed at the current workstation (for example, a source material box arrives on side A or side B, or there are unexecuted pre-processing tasks or picking tasks). If there are, follow strategies 1-3 and execute them in a loop until there are no tasks to be executed, and then end the process; if not, end the process directly.

[0069] It can be seen from the above optional embodiments that when the cross picking method of the embodiment of the present invention is used for picking, there are three triggering events for the pre-processing task: 1. A material box arrives at the source position, 2. A picking task is completed, and 3. The state of the destination position is changed to an idle state. The occurrence of any of the above triggering events can trigger the issuance and execution of the pre-processing task on the corresponding side.

[0070] The embodiment of the present invention is applicable to the situation where the material boxes from the left and right source positions arrive continuously and are released in time from the destination shuttle at the same time, which can achieve uninterrupted picking to a great extent and greatly improve the picking efficiency.

[0071] According to still another aspect of an embodiment of the present invention, a cross picking device is provided.

[0072] Figure 2 FIG. 1 is a schematic diagram of the main process of the cross picking device according to an embodiment of the present invention. Figure 2 As shown, the cross picking device 200 according to an embodiment of the present invention includes:

[0073] Monitoring module 201, when a source material box arrives at the front side, determines whether there is a picking task on the other side;

[0074] A pre-processing module 202, when a source position material box arrives at the front side, performs a pre-processing task on the source position material box at the current side to determine a picking route;

[0075] The picking module 203 performs the picking task on the current side after the picking task on the other side is completed if there is a picking task on the other side, otherwise directly performs the picking task on the current side to pick the items in the source material box according to the picking route.

[0076] Optionally, the preprocessing module is further used to: before executing the preprocessing task on the source position material box on the current side, obtain preprocessing information; the preprocessing information includes: the source position and the destination position;

[0077] The preprocessing module performs preprocessing tasks on the source position material box of the current side, including: determining a route for picking the items in the source position material box of the current side to the destination position.

[0078] Optionally, the preprocessing module is further used to: before executing the preprocessing task on the source position bin on the current side, confirm that the state of the destination position is idle, bind the source position bin on the current side to the destination position, and then modify the state of the destination position to occupied.

[0079] Optionally, the pre-processing information further includes: item identification and picking quantity of the items to be picked;

[0080] The preprocessing module performs preprocessing tasks on the source position material box on the current side, and further includes: identifying the items to be picked from the items in the source position material box according to the item identification, picking quantity and source position of the items to be picked.

[0081] Optionally, the pre-processing module uses a visual scanning device to identify the items to be picked from the items in the source location box according to the item identification, picking quantity and source location of the items to be picked.

[0082] Optionally, the picking module is further used to: after the current side executes the picking task, modify the state of the destination position to an idle state.

[0083] Optionally, the picking module is also used to: confirm that the total picking quantity of the items to be picked is equal to the preset picking quantity before changing the state of the destination position to the idle state; and if the total picking quantity of the items to be picked is less than the preset picking quantity, the state of the destination position is not changed to the idle state, the preprocessing module performs preprocessing tasks on the source position material boxes on the current side and / or the opposite side, and the picking module performs picking tasks on the source position material boxes on the current side and / or the opposite side, so as to pick the items to be picked in the source position material boxes on the current side and / or the opposite side.

[0084] According to another aspect of an embodiment of the present invention, a cross picking electronic device is provided.

[0085] The cross-picking electronic device according to an embodiment of the present invention includes:

[0086] one or more processors;

[0087] a storage device for storing one or more programs,

[0088] When the one or more programs are executed by the one or more processors, the one or more processors implement the cross picking method provided in the first aspect of the embodiment of the present invention.

[0089] Figure 3 An exemplary system architecture 300 is shown to which a cross picking method or a cross picking device according to an embodiment of the present invention can be applied.

[0090] like Figure 3 As shown, the system architecture 300 may include terminal devices 301, 302, 303, a network 304 and a server 305. The network 304 is used to provide a medium for communication links between the terminal devices 301, 302, 303 and the server 305. The network 304 may include various connection types, such as wired, wireless communication links or optical fiber cables, etc.

[0091] Users can use terminal devices 301, 302, 303 to interact with server 305 through network 304 to receive or send messages, etc. Various communication client applications can be installed on terminal devices 301, 302, 303, such as shopping applications, web browser applications, search applications, instant messaging tools, email clients, social platform software, etc. (only examples).

[0092] The terminal devices 301 , 302 , and 303 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop computers, and desktop computers, etc.

[0093] The server 305 may be a server that provides various services, such as a backend management server (only an example) that provides support for shopping websites browsed by users using the terminal devices 301, 302, and 303. The backend management server may analyze and process the received product information query request and other data, and feed back the processing results (such as target push information, product information - only an example) to the terminal device.

[0094] It should be noted that the cross picking method provided in the embodiment of the present invention is generally executed by the server 305 , and accordingly, the cross picking device is generally arranged in the server 305 .

[0095] It should be understood that Figure 3 The number of terminal devices, networks and servers in the embodiment is only for illustration. Any number of terminal devices, networks and servers may be provided according to implementation requirements.

[0096] Reference below Figure 4, which shows a schematic diagram of the structure of a computer system 400 of a terminal device suitable for implementing an embodiment of the present invention. Figure 4 The terminal device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0097] like Figure 4 As shown, the computer system 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage part 408 into a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the system 400 are also stored. The CPU 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0098] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed, so that a computer program read therefrom is installed into the storage section 408 as needed.

[0099] In particular, according to the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 409, and / or installed from the removable medium 411. When the computer program is executed by the central processing unit (CPU) 401, the above-mentioned functions defined in the system of the present invention are executed.

[0100] It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0101] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0102] The modules involved in the embodiments of the present invention may be implemented in software or hardware. The modules described may also be set in a processor, for example, they may be described as: a processor comprising: a monitoring module, which determines whether there is a picking task on the other side when a source position material box arrives on the front side; a preprocessing module, which performs a preprocessing task on the source position material box on the current side to determine a picking route when a source position material box arrives on the front side; a picking module, which performs a picking task on the current side after the picking task on the other side is completed if there is a picking task on the other side, otherwise, the picking task is directly performed on the current side to pick the items in the source position material box according to the picking route. Among them, the names of these modules do not constitute a limitation on the modules themselves in some cases. For example, the preprocessing module may also be described as "a module that determines whether there is a picking task on the other side when a source position material box arrives on the current side".

[0103] As another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently without being assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by a device, the device includes: when a source position material box arrives on the current side, a pre-processing task is performed on the source position material box on the current side to determine the picking route, and at the same time, it is determined whether there is a picking task on the other side; if there is, the picking task is performed on the current side after the picking task on the other side is completed, otherwise the picking task is directly performed on the current side, so as to pick the items in the source position material box according to the picking route.

[0104] The technical solution according to the embodiment of the present invention has the following advantages or beneficial effects: when there is a picking task on the other side, the picking task is executed on the current side after the picking task on the other side is completed, otherwise the picking task is directly executed on the current side. In this way, the idle time can be effectively utilized to perform preprocessing in advance, the picking efficiency is improved, and the utilization rate of the device using the picking method of the present invention is maximized.

[0105] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cross picking method, characterized in that: include: When a source material box arrives on the front side, a pre-processing task is performed on the source material box on the current side to determine the picking route, and at the same time, it is determined whether there is a picking task on the other side; Executing the preprocessing task on the source bin of the current side includes: determining a route for picking the items in the source bin of the current side to the destination; wherein the route is determined based on the destination information and the route screening method; the route screening method is to determine the screening route with the lowest comprehensive screening cost based on the source and destination information; the current side is the side of the equipment using the cross picking method where the bin arrives at the source, and the opposite side is the side of the equipment using the cross picking method that is different from the current side; If it exists, the picking task is executed on the current side after the picking task on the other side is completed, otherwise the picking task is directly executed on the current side to pick the items in the source material box according to the picking route.

2. The method according to claim 1, characterized in that Before executing the preprocessing task on the source position material box on the current side, it also includes: obtaining preprocessing information; the preprocessing information includes: the source position and the destination position.

3. The method according to claim 2, characterized in that Before executing the preprocessing task on the source bin on the current side, it also includes: confirming that the state of the destination is idle, binding the source bin on the current side to the destination, and then modifying the state of the destination to occupied.

4. The method according to claim 3, characterized in that The pre-processing information also includes: item identification and picking quantity of the items to be picked; The pre-processing task for the source position material box on the current side also includes: identifying the items to be picked from the items in the source position material box according to the item identification, picking quantity and source position of the items to be picked.

5. The method according to claim 3, characterized in that After the front side executes the picking task, the method further includes: modifying the state of the destination position to an idle state.

6. The method according to claim 5, characterized in that Before changing the state of the destination location to an idle state, it also includes: confirming that the total picking quantity of the items to be picked is equal to the preset picking quantity; and if the total picking quantity of the items to be picked is less than the preset picking quantity, the state of the destination location is not changed to an idle state, and preprocessing tasks and picking tasks are performed on the source location material boxes on the current side and / or the opposite side to pick the items to be picked in the source location material boxes on the current side and / or the opposite side.

7. A cross picking device, characterized in that: include: The monitoring module determines whether there is a picking task on the other side when a source material box arrives on the front side; The pre-processing module performs pre-processing tasks on the source bins on the current side to determine the picking route when a source bin arrives on the current side; Executing the preprocessing task on the source bin of the current side includes: determining a route for picking the items in the source bin of the current side to the destination; wherein the route is determined based on the destination information and the route screening method; the route screening method is to determine the screening route with the lowest comprehensive screening cost based on the source and destination information; the current side is the side of the equipment using the cross picking method of claim 1 where the bin arrives at the source, and the opposite side is the side of the equipment using the cross picking method of claim 1 that is different from the current side; The picking module executes the picking task on the current side after the picking task on the other side is completed if there is a picking task on the other side, otherwise the picking task is directly executed on the current side to pick the items in the source material box according to the picking route.

8. The device according to claim 7, characterized in that The preprocessing module is also used to: obtain preprocessing information before executing the preprocessing task on the source position material box on the current side; The pre-processing information includes: a source bit and a destination bit.

9. The device according to claim 8, characterized in that The preprocessing module is also used to: before executing the preprocessing task on the source bin on the current side, confirm that the state of the destination is idle, bind the source bin on the current side to the destination, and then modify the state of the destination to occupied.

10. The device according to claim 9, characterized in that The pre-processing information also includes: item identification and picking quantity of the items to be picked; The preprocessing module performs preprocessing tasks on the source position material box on the current side, and further includes: identifying the items to be picked from the items in the source position material box according to the item identification, picking quantity and source position of the items to be picked.

11. The device according to claim 10, characterized in that The pre-processing module uses a visual scanning device to identify the items to be picked from the items in the source location box according to the item identification, picking quantity and source location of the items to be picked.

12. The device according to claim 9, characterized in that The picking module is also used to: after the current side executes the picking task, change the state of the destination position to an idle state.

13. The device according to claim 12, characterized in that The picking module is also used to: confirm that the total picking quantity of the items to be picked is equal to the preset picking quantity before changing the state of the destination position to the idle state; and if the total picking quantity of the items to be picked is less than the preset picking quantity, the state of the destination position will not be changed to the idle state, the preprocessing module will perform preprocessing tasks on the source position material boxes on the current side and / or the opposite side, and the picking module will perform picking tasks on the source position material boxes on the current side and / or the opposite side, so as to pick the items to be picked in the source position material boxes on the current side and / or the opposite side.

14. A cross-picking electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 6.

15. A computer readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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