Cargo handling method and device

Abstract

The cargo processing method and device provided in the embodiments of the present application may include: after obtaining a task to be processed including storage location identifiers corresponding to multiple cargoes to be processed, determining the identifiers of preset stop points corresponding to each storage location identifier, and determining target stop points corresponding to the multiple storage locations based on a set of storage location identifiers corresponding to each preset stop point, and any two storage locations among the multiple storage locations whose distance is less than a preset threshold value correspond to the same target stop point, that is, for different tasks to be processed, and in combination with the storage locations corresponding to the multiple cargoes to be processed in different tasks to be processed, the target stop point is determined, so that when the multiple cargoes to be processed are processed at the determined target stop point, it will not affect the processing operation of the existing cargoes, and the number of stops of the robot is reduced, thereby achieving improved cargo processing efficiency when processing the cargoes.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics and warehousing, and in particular to a cargo handling method and device. Background Art

[0002] Cargo picking is an important part of logistics warehousing. When picking goods, in order to reduce the workload of pickers, robots are usually set up to assist pickers in carrying work. Pickers only need to focus on the robot's picking operations.

[0003] When the robot assists the picker in the handling work, in order to facilitate the robot to dock and the picker to pick the goods, in the prior art, a docking point is set in front of each storage location where the items are placed. When the robot receives a picking task, it will automatically drive to the docking point corresponding to the storage location where the first item to be picked is located in the picking task, and the picker will pick the items and put them into the robot's container. After the current storage location where the first item to be picked is picked, the robot will automatically drive to the docking point corresponding to the storage location where the next item to be picked is located, and so on, until all the picking operations in the picking task are completed, and the robot will automatically drive to the review table, at which point all the picking operations in the picking task are completed.

[0004] However, since each storage location is provided with its corresponding stop point, when there are many storage locations corresponding to the picking task, the robot needs to stop at the stop point corresponding to each storage location, and the robot needs to start and stop each time it stops, resulting in low picking efficiency. Summary of the invention

[0005] The embodiments of the present invention provide a cargo processing method and device, which improve cargo processing efficiency when processing cargo.

[0006] In a first aspect, an embodiment of the present application provides a cargo processing method, which may include:

[0007] Obtain a task to be processed, wherein the task to be processed includes storage location identifiers corresponding to a plurality of goods to be processed.

[0008] Determine the identifier of the preset stop corresponding to each storage location identifier.

[0009] A storage location identification set corresponding to each of the preset stop points is determined, wherein the storage location identification set includes at least one storage location identification corresponding to the cargo to be processed.

[0010] According to each of the storage location identification sets, target stop points corresponding to the multiple storage locations are determined, wherein, among the multiple storage locations, any two storage locations whose distance is less than a preset threshold correspond to the same target stop point.

[0011] The plurality of cargoes to be processed are processed at the target stop.

[0012] In a possible implementation, determining the target stop points corresponding to the plurality of storage locations according to the storage location identifier sets includes:

[0013] Determine a storage location index set corresponding to each storage location identification set, wherein each storage location identification in the storage location identification set corresponds to a storage location index, and different storage location identifications correspond to different storage location indexes.

[0014] According to each of the storage location index sets and preset constraints, target stop points corresponding to the multiple storage locations are determined.

[0015] In a possible implementation, the preset constraint condition includes:

[0016] The storage location corresponding to the determined target docking point may cover the storage locations corresponding to the plurality of goods to be processed, and one storage location can only correspond to one docking point.

[0017] In a possible implementation, determining a set of storage location identifiers corresponding to each of the preset stop points includes:

[0018] According to the correspondence between the preset stop points and the storage location identifiers, a plurality of preset storage location identifiers corresponding to the preset stop points are determined.

[0019] A set of storage location identifiers among the plurality of preset storage location identifiers that are identical to the storage location identifiers corresponding to the plurality of goods to be processed is determined as the storage location identifier set corresponding to the preset stop point.

[0020] In a possible implementation, there is a one-to-one correspondence between the storage location identifiers and the preset stop point identifiers.

[0021] In a possible implementation manner, at least one storage location identifier set among the storage location identifier sets includes at least two storage location identifiers.

[0022] In a second aspect, an embodiment of the present application further provides a cargo handling device, which may include:

[0023] The acquisition unit is used to acquire a task to be processed, wherein the task to be processed includes storage location identifiers corresponding to a plurality of goods to be processed.

[0024] The processing unit is used to determine the identifier of the preset stop point corresponding to each storage location identifier; and determine the storage location identifier set corresponding to each preset stop point, wherein the storage location identifier set includes at least one storage location identifier corresponding to the goods to be processed.

[0025] The processing unit is further used to determine target stop points corresponding to the multiple storage locations according to each of the storage location identification sets, wherein any two storage locations among the multiple storage locations whose distance is less than a preset threshold correspond to the same target stop point.

[0026] The processing unit is further used to process the multiple goods to be processed at the target stop point.

[0027] In one possible implementation, the processing unit is specifically used to determine a storage location index set corresponding to each of the storage location identification sets, and determine the target stop points corresponding to the multiple storage locations based on each of the storage location index sets and preset constraints; wherein each storage location identification in the storage location identification set corresponds to a storage location index, and different storage location identifications correspond to different storage location indexes.

[0028] In a possible implementation, the preset constraint condition includes:

[0029] The storage location corresponding to the determined target docking point may cover the storage locations corresponding to the plurality of goods to be processed, and one storage location can only correspond to one docking point.

[0030] In a possible implementation, the processing unit is specifically used to determine a plurality of preset storage location identifiers corresponding to each preset stop point based on the correspondence between the preset stop points and the storage location identifiers; and determine a set of storage location identifiers among the plurality of preset storage location identifiers that are identical to the storage location identifiers corresponding to each of the plurality of goods to be processed as the storage location identifier set corresponding to the preset stop points.

[0031] In a possible implementation, there is a one-to-one correspondence between the storage location identifiers and the preset stop point identifiers.

[0032] In a possible implementation manner, at least one storage location identifier set among the storage location identifier sets includes at least two storage location identifiers.

[0033] In a third aspect, an embodiment of the present application further provides a cargo processing device, which may include a memory and a processor; wherein:

[0034] The memory is used to store computer programs.

[0035] The processor is used to read the computer program stored in the memory and execute the cargo handling method described in any possible implementation manner of the first aspect according to the computer program in the memory.

[0036] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer execution instructions. When a processor executes the computer execution instructions, the cargo handling method described in any possible implementation method of the first aspect above is implemented.

[0037] It can be seen that the cargo processing method and device provided in the embodiment of the present application, after obtaining a task to be processed including storage location identifiers corresponding to multiple cargoes to be processed, determines the identifiers of the preset stop points corresponding to each storage location identifier, and determines the target stop points corresponding to the multiple storage locations according to the set of storage location identifiers corresponding to each preset stop point, and among the multiple storage locations, any two storage locations whose distance is less than a preset threshold correspond to the same target stop point, that is, for different tasks to be processed, and in combination with the storage locations corresponding to the multiple cargoes to be processed in different tasks to be processed, the target stop points are determined, so that when processing the multiple cargoes to be processed at the determined target stop points, it will not affect the processing operation of the existing cargoes and will reduce the number of stops of the robot, thereby achieving improved cargo processing efficiency when processing the cargoes. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0039] Figure 1 A schematic diagram of the position between a storage location and a docking point provided by the prior art;

[0040] Figure 2 A schematic diagram of the position between a storage location and a docking point provided in an embodiment of the present application;

[0041] Figure 3 A flow chart of a cargo handling method provided in an embodiment of the present application;

[0042] Figure 4 A schematic diagram of the positions between another storage location and a docking point provided in an embodiment of the present application;

[0043] Figure 5 A structural schematic diagram of a cargo handling device provided in an embodiment of the present application;

[0044] Figure 6 A schematic structural diagram of a cargo handling device provided in an embodiment of the present invention.

[0045] The above drawings show clear embodiments of the present disclosure, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present disclosure in any way, but to illustrate the concepts of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0046] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0047] In the embodiments of the present invention, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of the present invention, the character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0048] The cargo handling method provided in the embodiment of the present application can be applied to the scene of cargo picking, the scene of cargo storage, or other similar scenes. Taking the scene of cargo picking as an example, in the prior art, when picking cargo, a stop point is set in front of each storage location where the items are placed. For example, see Figure 1 As shown, Figure 1 A schematic diagram of the positions between storage locations and docking points provided by the prior art, for storage location A, storage location B, storage location C, storage location D, storage location E, storage location F, storage location G, storage location H, storage location I, storage location J, storage location K and storage location L, each storage location has a corresponding docking point. Figure 1 As shown, the stop point corresponding to storage position A is stop point 1, the stop point corresponding to storage position B is stop point 2, the stop point corresponding to storage position C is stop point 3, the stop point corresponding to storage position D is stop point 4, the stop point corresponding to storage position E is stop point 5, the stop point corresponding to storage position F is stop point 6, the stop point corresponding to storage position G is stop point 7, the stop point corresponding to storage position H is stop point 8, the stop point corresponding to storage position I is stop point 9, the stop point corresponding to storage position J is stop point 10, the stop point corresponding to storage position K is stop point 11 and the stop point corresponding to storage position L is stop point 12.

[0049] When the robot receives a picking task, assuming that the picking task includes six storage location identifiers corresponding to the items to be picked, and the storage location identifiers corresponding to the six items to be picked are storage location B, storage location C, storage location D, storage location I, storage location J, and storage location K, the robot will first automatically drive to the stop point corresponding to storage location B where the first item to be picked is located, and the picker will pick the items and put the items in storage location B into the robot's container; the robot will then automatically drive to the stop point corresponding to storage location C where the second item to be picked is located, and the picker will pick the items and put the items in storage location K into the robot's container. The items in position C are placed into the robot's container; the robot then automatically drives to the stop point corresponding to storage position D where the third item to be picked is located, and the picker picks the items and places the items in storage position D into the robot's container; and so on, the robot automatically drives to the stop point corresponding to storage position K where the sixth item to be picked is located, and the picker picks the items and places the items in storage position K into the robot's container. After completing all picking operations in the picking task, the robot automatically drives to the review table, and now all picking operations in the picking task are completed.

[0050] However, when executing the above Figure 1 In the picking task shown, since each of the six storage locations is provided with its corresponding stop point, the robot needs to stop once at stop point 2 corresponding to storage location B, stop point 3 corresponding to storage location C, stop point 4 corresponding to storage location D, stop point 9 corresponding to storage location I, stop point 10 corresponding to storage location J and stop point 11 corresponding to storage location K. The number of stops is relatively large, and the robot needs to start and stop each time it stops, resulting in low picking efficiency.

[0051] In order to reduce the number of stops of the robot and thus improve the picking efficiency, a technical solution that can be easily thought of is: when setting the stop point, instead of setting a stop point for each storage location, a stop point is set for adjacent storage locations that are close to each other, that is, multiple adjacent storage locations that are close to each other are mapped to the stop point in a many-to-one manner, as can be seen in Figure 2 As shown, Figure 2A schematic diagram of the positions between storage locations and stop points provided in an embodiment of the present application shows that for storage location A, storage location B, storage location C, storage location D, storage location E, storage location F, storage location G, storage location H, storage location I, storage location J, storage location K and storage location L, it is no longer that each storage location is provided with a corresponding stop point. Instead, the same stop point 1 is provided for storage location A, storage location B and storage location C, the same stop point 2 is provided for storage location D, storage location E and storage location F, the same stop point 3 is provided for storage location G, storage location H and storage location I, and the same stop point 4 is provided for storage location J, storage location K and storage location L. Similarly, assuming that the storage location labels corresponding to the six items to be picked in the picking task are storage location B, storage location C, storage location D, storage location I, storage location J and storage location K, the robot will first automatically drive to stop point 1, and the picker will pick the items and put the items in storage location B and storage location C into the robot's container; the robot will then automatically drive to stop point 2, and the picker will pick the items and put the items in storage location D into the robot's container; the robot will then automatically drive to stop point 3, and the picker will pick the items and put the items in storage location I into the robot's container; the robot will then automatically drive to stop point 4, and the picker will pick the items and put the items in storage location J and storage location K into the robot's container; after completing all picking operations in the picking task, the robot will automatically drive to the review table, and at this point, all picking operations in the picking task are completed.

[0052] It can be seen that by mapping multiple adjacent storage locations to docking points in a many-to-one manner, the robot can perform the picking task at the docking point more quickly than the existing technology, which requires six dockings. Figure 2 The solution shown in the figure only needs 4 stops to complete the picking task, which can reduce the number of stops to a certain extent and improve the picking efficiency. Figure 2 In the scheme shown, the many-to-one mapping relationship between storage locations and docking points is statically configured, and does not take into account the randomness of the distribution of storage locations corresponding to the items to be picked in different picking tasks. Therefore, the most reasonable docking points corresponding to different picking tasks cannot be dynamically calculated.

[0053] Combination Figure 1 or Figure 2 It is not difficult to see that when the storage location labels corresponding to the six items to be picked in the picking task are storage location B, storage location C, storage location D, storage location I, storage location J and storage location K respectively, the most reasonable docking plan is: first dock once at the docking point 3 corresponding to storage location C, and the picker picks the items and puts the items in storage location B, storage location C and storage location D into the robot's container; dock once at the docking point 10 corresponding to storage location J, and the picker picks the items and puts the items in storage location I, storage location J and storage location K into the robot's container, that is, only two dockings are needed to complete the picking task.

[0054] Based on the above description, in order to improve the processing efficiency of goods when processing goods, the processing of goods may include not only picking goods but also storing goods. An embodiment of the present application provides a method for processing goods, firstly obtaining a task to be processed, wherein the task to be processed includes storage location identifiers corresponding to multiple goods to be processed, determining the identifiers of preset stops corresponding to each storage location identifier, and determining a storage location identifier set corresponding to each preset stop point, wherein the storage location identifier set includes storage location identifiers corresponding to multiple goods to be processed; then, according to each storage location identifier set, determining the target stop point corresponding to the multiple storage locations, wherein, among the multiple storage locations, any two storage locations whose distance is less than a preset threshold value correspond to the same target stop point; after determining the target stop point, the multiple goods to be processed may be processed at the target stop point. Among them, the storage location identifiers corresponding to the multiple goods to be processed may be understood as the identifiers of the storage locations corresponding to the multiple goods to be processed.

[0055] It can be understood that in the embodiment of the present application, the number of determined target stop points can be one or more, which can be determined specifically according to the actual tasks to be processed, as long as the storage locations corresponding to the determined target stop points can cover the storage locations corresponding to multiple goods to be processed in the tasks to be processed.

[0056] It can be seen that the cargo handling method provided in the embodiment of the present application, after obtaining a pending task including storage location identifiers corresponding to multiple pending cargoes, determines the identifiers of the preset stop points corresponding to each storage location identifier, and determines the target stop points corresponding to the multiple storage locations based on the storage location identifier set corresponding to each preset stop point, and among the multiple storage locations, any two storage locations whose distance is less than a preset threshold correspond to the same target stop point, that is, for different pending tasks, the target stop points are determined in combination with the storage locations corresponding to the multiple pending cargoes in the pending tasks, thereby reducing the number of stops of the robot without affecting the existing cargo handling operations, thereby achieving improved cargo handling efficiency when handling cargo.

[0057] The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0058] Figure 3 This is a flow chart of a cargo handling method provided in an embodiment of the present application. The cargo handling method can be executed by software and / or hardware devices. For example, the hardware device can be a movable device, such as the robot described above. For example, see Figure 3 As shown, the cargo handling method may include:

[0059] S301, obtaining tasks to be processed.

[0060] The tasks to be processed include storage location identifiers corresponding to a plurality of goods to be processed.

[0061] For example, when obtaining pending tasks, you can receive pending tasks entered by staff on the display screen of the cargo handling device, or you can receive pending tasks sent by other devices. Of course, you can also obtain pending tasks in other ways. Here, the embodiment of the present application is just to illustrate the example of receiving pending tasks entered by staff on the display screen of the cargo handling device, or receiving pending tasks sent by other devices, but it does not mean that the embodiment of the present application is limited to this.

[0062] After obtaining the storage location identifiers corresponding to the multiple goods to be processed, the identifiers of the preset stop points corresponding to the storage location identifiers can be determined, that is, the following S302 is executed:

[0063] S302: Determine the identifiers of the preset stop points corresponding to the storage location identifiers.

[0064] Among them, there is a one-to-one correspondence between the storage location signs and the preset stop point signs.

[0065] Combined with the above Figure 1 As shown, storage location A, storage location B, storage location C, storage location D, storage location E, storage location F, storage location G, storage location H, storage location I, storage location J, storage location K and storage location L, each storage location has a corresponding stop point. Continuing to assume that the acquired pending task includes six storage location identifiers corresponding to the items to be picked, and the storage location identifiers corresponding to the six items to be picked are storage location B, storage location C, storage location D, storage location I, storage location J and storage location K, see Figure 4 As shown, Figure 4 According to another position schematic diagram between storage positions and stop points provided in an embodiment of the present application, it can be determined that the preset stop point corresponding to storage position B is identified as 2, that is, the preset stop point corresponding to storage position B is stop point 2, the preset stop point corresponding to storage position C is identified as 3, that is, the preset stop point corresponding to storage position C is stop point 3, the preset stop point corresponding to storage position D is identified as 4, that is, the preset stop point corresponding to storage position D is stop point 4, the preset stop point corresponding to storage position I is identified as 9, that is, the preset stop point corresponding to storage position I is stop point 9, the preset stop point corresponding to storage position J is identified as 10, that is, the preset stop point corresponding to storage position J is stop point 10, and the preset stop point corresponding to storage position K is identified as 11, that is, the preset stop point corresponding to storage position K is stop point 11.

[0066] After the identifiers of the preset stop points corresponding to the storage location identifiers included in the task to be processed are determined respectively, the following S303 can be executed:

[0067] S303: Determine a storage location identification set corresponding to each preset stop point.

[0068] The storage location identification set includes at least one storage location identification corresponding to the goods to be processed.

[0069] For example, when determining the set of storage location identifications corresponding to each preset stop point, you can first determine multiple preset storage location identifications corresponding to each preset stop point based on the correspondence between the preset stop point and the storage location identification; and then determine a set of storage location identifications among the multiple preset storage location identifications that are identical to the storage location identifications corresponding to each of the multiple goods to be processed as the set of storage location identifications corresponding to the preset stop point.

[0070] Continue to combine Figure 4 As shown, assuming that according to the correspondence between the preset stop point and the storage location identifier, it can be determined that the multiple preset storage location identifiers corresponding to the preset stop point 2 are storage location A, storage location B and storage location C, respectively. It can be understood that at the preset stop point 2, not only the goods in the storage location B corresponding to the preset stop point 2 can be processed, but also the goods in the two storage locations adjacent to storage location B, storage location A and storage location C, can be processed, that is, the storage locations that the preset stop point 2 can process in the storage locations corresponding to the six items to be picked are storage location B and storage location C, then it can be concluded that the storage location identifier set corresponding to the preset stop point includes storage location B and storage location C, as shown in the following Table 1. Similarly, according to the correspondence between the preset stop point and the storage location identifier, it can be determined that the multiple preset storage location identifiers corresponding to the preset stop point 3 are storage location B, storage location C and storage location D, respectively. It can be understood that at the preset stop point 3, not only The goods in the storage location C corresponding to the preset stop point 3 can be processed, and the goods in the two storage locations adjacent to storage location C, storage location B and storage location D, can also be processed, that is, the storage locations that the preset stop point 3 can process among the storage locations corresponding to the six items to be picked are storage location B, storage location C and storage location D, then it can be concluded that the storage location identification set corresponding to the preset stop point 3 includes storage location B, storage location C and storage location D; similarly, according to the correspondence between the preset stop points and the storage location identifications, it can be concluded that the storage location identification set corresponding to the preset stop point 4 corresponding to storage location D includes storage location C and storage location D; the storage location identification set corresponding to the preset stop point 9 corresponding to storage location I includes storage location I and storage location J; the storage location identification set corresponding to the preset stop point 10 corresponding to storage location J includes storage location I, storage location J and storage location K; the storage location identification set corresponding to the preset stop point 11 corresponding to storage location K includes storage location J and storage location K.

[0071] Table 1

[0072]

[0073]

[0074] Among them, column 1 in Table 1 represents the storage location index corresponding to the storage location identification corresponding to the pending goods in the pending tasks, column 2 in Table 1 represents the storage location identification corresponding to the pending goods in the pending tasks, column 3 in Table 1 represents the preset stop points corresponding to the storage location identification corresponding to the pending goods in the pending tasks, column 4 in Table 1 represents the storage location identification set corresponding to each preset stop point, and column 5 in Table 1 represents the storage location index set corresponding to each preset stop point.

[0075] For example, there is at least one storage location identification set in each storage location identification set that includes at least two storage location identifications. When there is at least one storage location identification set that includes at least two storage location identifications, it means that the preset stop point corresponding to the storage location identification set can handle the goods in at least two storage locations. In this way, the robot can stop once at the preset stop point to handle the goods in the at least two storage locations. Compared with the prior art of stopping once at the preset stop point corresponding to each storage location, the number of stops of the robot is reduced, thereby improving the goods processing efficiency.

[0076] As shown in Table 1, after the storage location identification sets corresponding to the preset stop points are determined respectively, the target stop points corresponding to the multiple storage locations can be determined according to the storage location identification sets, that is, the following S304 is executed:

[0077] S304: Determine target stop points corresponding to the plurality of storage locations according to the sets of storage location identifiers.

[0078] Among the multiple storage locations, any two storage locations whose distance is less than a preset threshold correspond to the same target stop point.

[0079] For example, when determining the target stop points corresponding to multiple storage locations based on each storage location identification set, the storage location index set corresponding to each storage location identification set can be determined first, and then the target stop points corresponding to the multiple storage locations can be determined based on each storage location index set and preset constraints. Among them, each storage location identification in the storage location identification set corresponds to a storage location index, and different storage location identifications correspond to different storage location indexes. Among them, the preset constraints include: the storage location corresponding to the determined target stop point can cover the storage locations corresponding to multiple goods to be processed, and one storage location can only correspond to one stop point. It can be understood that when determining the target stop point, in addition to the above-mentioned preset constraints, it can also include: the fewer the number of determined target stop points, the better.

[0080] When determining the target stop point according to the preset constraints, if the i-th stop point is selected, then x i The value of is 1. On the contrary, if the i-th stop is selected, then x i The value of is 0, and x is used to indicate whether the stop point is selected, which can be expressed by the following formula 1:

[0081]

[0082] Then the objective function corresponding to the target stop point can be expressed by the following formula 2:

[0083] c min =∑ i∈I x i Formula 2

[0084] And the above formula 2 needs to meet the preset constraints:

[0085]

[0086]

[0087] Among them, formula 3 is used to constrain the storage location corresponding to the determined target stop point to cover the storage locations corresponding to multiple goods to be processed, and one storage location can only correspond to one stop point. Formula 4 is used to constrain x i The value of is 0 or 1. I represents the storage location index corresponding to the storage location identifier corresponding to the pending goods in the pending task, that is, the first column in the above Table 1, and P represents the storage location index set corresponding to each preset stop point in the pending task, that is, the fifth column in the above Table 1.

[0088] When calculating and solving according to the above formula 2, the business data corresponding to the task to be processed can be converted into solver parameters, the solver calculates the optimal solution, and then converts the solution result into an actual stop point, which is the target stop point corresponding to the multiple storage locations finally determined.

[0089] As shown in Table 1, when determining the storage location index set corresponding to the storage location identification set corresponding to the preset stop point 2, since the storage location identification set corresponding to the preset stop point 2 includes storage location B and storage location C, and the storage location index corresponding to storage location B is 0, and the storage location index corresponding to storage location C is 1, the storage location index set corresponding to the storage location identification set corresponding to the preset stop point 2 includes 0 and 1; when determining the storage location index set corresponding to the storage location identification set corresponding to the preset stop point 3, since the storage location identification set corresponding to the preset stop point 3 includes storage location B, storage location C and storage location D, and the storage location index corresponding to storage location B is 1. The reference is 0, the storage location index corresponding to storage location C is 1, and the storage location index corresponding to storage location D is 2. Then the storage location index set corresponding to the storage location identification set corresponding to the preset stop point 3 includes 0, 1 and 2. Similarly, it can be determined that the storage location index set corresponding to the storage location identification set corresponding to the preset stop point 4 includes 0 and 1, the storage location index set corresponding to the storage location identification set corresponding to the preset stop point 9 includes 3 and 4, the storage location index set corresponding to the storage location identification set corresponding to the preset stop point 10 includes 3, 4 and 5, and the storage location index set corresponding to the storage location identification set corresponding to the preset stop point 11 includes 4 and 5.

[0090] After respectively determining the storage location index sets corresponding to the storage location identification sets corresponding to the preset stop point 2, preset stop point 3, preset stop point 4, preset stop point 9, preset stop point 10, and preset stop point 11, the target stop points corresponding to the multiple pending goods in the pending task can be calculated according to the objective function shown in the above formula 2. min =∑ i∈I x i When calculating in combination with the above Table 1, the above Formula 2 can be described as: x0+x1+x2+x3+x4+x5, wherein x0 indicates whether the preset stop point 2 is selected, x1 indicates whether the preset stop point 3 is selected, x2 indicates whether the preset stop point 4 is selected, x3 indicates whether the preset stop point 9 is selected, x4 indicates whether the preset stop point 10 is selected, and x5 indicates whether the preset stop point 11 is selected.

[0091] After obtaining x0+x1+x2+x3+x4+x5, it can be converted into solver parameters. The converted solver parameters are: [1, 1, 1, 1, 1, 1]. The first element 1 in the matrix is ​​the value of x0, the second element 1 in the matrix is ​​the value of x1, the third element 1 in the matrix is ​​the value of x2, the fourth element 1 in the matrix is ​​the value of x3, the fifth element 1 in the matrix is ​​the value of x4, and the sixth element 1 in the matrix is ​​the value of x5. Combined with the constraints, we can get the matrix corresponding to position B: [1, 1, 0, 0, 0, 0] = 1, the matrix corresponding to position C: [1, 1, 1, 0, 0, 0] = 1, the matrix corresponding to position D: [0, 1, 1, 0, 0, 0] = 1, the matrix corresponding to position I: [0, 0, 0, 1, 1, 0] = 1, the matrix corresponding to position J: [0, 0, 0, 1, 1, 1] = 1, and the matrix corresponding to position K: [0, 0, 0, 0, 1, 1] = 1; through the solver, we can get: [0, 1, 0, 0, 1, 0], that is, x1 = 1, and x4 = 1, and then convert it into actual stop points. The stop point with index 1 is the preset stop point 3, and the stop point with index 4 is the preset stop point 10. Therefore, it can be determined that the target stop points corresponding to the storage locations corresponding to the six items to be picked in the task to be processed are the preset stop point 3 and the preset stop point 10.

[0092] S305: Process the multiple cargoes to be processed at the target stop.

[0093] Combined with the above Figure 4As shown, after determining the target stop point 3 and the target stop point 10, the robot can first drive to the target stop point 3, stop once at the target stop point 3, and the picker picks the goods and puts the items in storage locations B, C and D into the robot's container; then drive to the target stop point 10, stop once at the target stop point 10, and the picker picks the goods and puts the items in storage locations I, J and K into the robot's container. It can be seen that in this embodiment of the present application, the robot only needs to stop twice to complete the picking task.

[0094] It can be seen that the cargo processing method provided in the embodiment of the present application first receives a task to be processed including storage location identifiers corresponding to multiple cargoes to be processed, determines the identifiers of the preset stop points corresponding to each storage location identifier, and determines the target stop points corresponding to the multiple storage locations according to the storage location identifier set corresponding to each preset stop point, and among the multiple storage locations, any two storage locations whose distance is less than a preset threshold correspond to the same target stop point, that is, for different tasks to be processed, and in combination with the storage locations corresponding to multiple cargoes to be processed in different tasks to be processed, the target stop points are determined, so that when processing multiple cargoes to be processed at the determined target stop points, it will not affect the processing operation of the existing cargoes and will reduce the number of stops of the robot, thereby achieving improved cargo processing efficiency when processing the cargoes.

[0095] Figure 5 A structural diagram of a cargo handling device 50 provided in an embodiment of the present application, for example, see Figure 5 As shown, the cargo handling device 50 may include:

[0096] The acquisition unit 501 is used to acquire a task to be processed, wherein the task to be processed includes storage location identifiers corresponding to a plurality of goods to be processed.

[0097] The processing unit 502 is used to determine the identifier of the preset stop point corresponding to each storage location identifier; and determine the storage location identifier set corresponding to each preset stop point, the storage location identifier set includes at least one storage location identifier corresponding to the goods to be processed.

[0098] The processing unit 502 is further configured to determine target stop points corresponding to the plurality of storage locations according to the storage location identification sets, wherein any two storage locations among the plurality of storage locations whose distance is less than a preset threshold correspond to the same target stop point.

[0099] The processing unit 502 is further used to process a plurality of goods to be processed at the target stop point.

[0100] Optionally, the processing unit 502 is specifically used to determine a storage location index set corresponding to each storage location identification set, and determine the target stop points corresponding to multiple storage locations based on each storage location index set and preset constraints; wherein each storage location identification in the storage location identification set corresponds to a storage location index, and different storage location identifications correspond to different storage location indexes.

[0101] Optionally, the preset constraints include:

[0102] The storage location corresponding to the determined target docking point can cover the storage locations corresponding to multiple goods to be processed, and one storage location can only correspond to one docking point.

[0103] Optionally, the processing unit 502 is specifically used to determine multiple preset storage location identifiers corresponding to each preset stop point based on the correspondence between the preset stop points and the storage location identifiers; and determine a set of storage location identifiers among the multiple preset storage location identifiers that are identical to the storage location identifiers corresponding to each of the multiple goods to be processed as the storage location identifier set corresponding to the preset stop points.

[0104] Optionally, there is a one-to-one correspondence between the storage location identifiers and the preset stop point identifiers.

[0105] Optionally, there is at least one storage location identifier set in each storage location identifier set including at least two storage location identifiers.

[0106] The cargo handling device 50 provided in the embodiment of the present application can execute the technical solution of the cargo handling method in any of the above-mentioned embodiments. Its implementation principle and beneficial effects are similar to those of the cargo handling method. Please refer to the implementation principle and beneficial effects of the cargo handling method, and no further details will be given here.

[0107] Figure 6 A structural diagram of a cargo handling device 60 provided in an embodiment of the present invention is provided. Figure 6 As shown, the cargo processing device 60 may include a processor 601 and a memory 602; wherein,

[0108] The memory 602 is used to store computer programs.

[0109] The processor 601 is used to read the computer program stored in the memory 602 and execute the technical solution of the cargo handling method in any of the above embodiments according to the computer program in the memory 602.

[0110] Optionally, the memory 602 can be independent or integrated with the processor 601. When the memory 602 is a device independent of the processor 601, the cargo processing device can further include: a bus for connecting the memory 602 and the processor 601.

[0111] Optionally, this embodiment further includes: a communication interface, which can be connected to the processor 601 through a bus. The processor 601 can control the communication interface to implement the receiving and sending functions of the above-mentioned cargo handling device.

[0112] The cargo handling device 60 shown in the embodiment of the present invention can execute the technical solution of the cargo handling method in any of the above-mentioned embodiments. Its implementation principle and beneficial effects are similar to the implementation principle and beneficial effects of the cargo handling method. Please refer to the implementation principle and beneficial effects of the cargo handling method, and no further details will be given here.

[0113] An embodiment of the present invention further provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the technical solution of the cargo handling method in any of the above embodiments is implemented. The implementation principle and beneficial effects thereof are similar to those of the cargo handling method. Please refer to the implementation principle and beneficial effects of the cargo handling method, which will not be repeated here.

[0114] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0115] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0116] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to perform some steps of the methods of various embodiments of the present invention.

[0117] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0118] The memory may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, etc.

[0119] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present invention is not limited to only one bus or one type of bus.

[0120] The computer-readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium may be any available medium that can be accessed by a general or special purpose computer.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cargo handling method, characterized in that: include: Obtaining a task to be processed, wherein the task to be processed includes storage location identifiers corresponding to a plurality of goods to be processed; Determine the identifier of the preset stop point corresponding to each storage location identifier; According to the correspondence between the preset stop points and the storage location identifiers, a plurality of preset storage location identifiers corresponding to each preset stop point are determined; For each preset stop point: determining a set of storage location identifiers that are identical to the storage location identifiers corresponding to the plurality of to-be-processed goods among the plurality of preset storage location identifiers corresponding to the preset stop point as a target storage location identifier set corresponding to the preset stop point; According to the target storage location identification sets and preset constraints, the target docking points corresponding to the multiple storage locations are determined, wherein any two storage locations whose distance is less than a preset threshold value among the multiple storage locations correspond to the same target docking point; the preset constraints include: the storage location corresponding to the target docking point can cover the storage locations corresponding to the multiple goods to be processed, and one storage location can only correspond to one docking point; Processing the plurality of cargoes to be processed at the target stop; Determining target stop points corresponding to the plurality of storage locations according to the target storage location identification sets and preset constraints includes: Determine a storage location index set corresponding to each of the target storage location identifier sets, wherein each storage location identifier in the target storage location identifier set corresponds to a storage location index, and different storage location identifiers correspond to different storage location indexes; The target stop points corresponding to the plurality of storage locations are determined according to each of the storage location index sets and the preset constraint conditions.

2. The method according to claim 1, characterized in that There is a one-to-one correspondence between the storage location identifiers and the preset stop point identifiers.

3. The method according to claim 1, characterized in that Among the target storage location identification sets, there is at least one target storage location identification set including at least two storage location identifications.

4. A cargo handling device, characterized in that: include: An acquisition unit, used for acquiring a task to be processed, wherein the task to be processed includes storage location identifiers corresponding to a plurality of goods to be processed; The processing unit is used to determine the identifier of the preset stop point corresponding to each storage location identifier; and determine multiple preset storage location identifiers corresponding to each preset stop point according to the correspondence between the preset stop point and the storage location identifier; for each preset stop point: among the multiple preset storage location identifiers corresponding to the preset stop point, a set of storage location identifiers that are the same as the storage location identifiers corresponding to each of the multiple goods to be processed is determined as a target storage location identifier set corresponding to the preset stop point; The processing unit is further used to determine the target docking points corresponding to the multiple storage locations according to the target storage location identification sets and preset constraints, wherein any two storage locations of the multiple storage locations whose distance is less than a preset threshold correspond to the same target docking point; the preset constraints include: the storage location corresponding to the target docking point can cover the storage locations corresponding to the multiple goods to be processed, and one storage location can only correspond to one docking point; The processing unit is further used to process the plurality of goods to be processed at the target stop; Determining target stop points corresponding to the plurality of storage locations according to the target storage location identification sets and preset constraints includes: Determine a storage location index set corresponding to each of the target storage location identifier sets, wherein each storage location identifier in the target storage location identifier set corresponds to a storage location index, and different storage location identifiers correspond to different storage location indexes; The target stop points corresponding to the plurality of storage locations are determined according to each of the storage location index sets and the preset constraint conditions.

5. The device according to claim 4, characterized in that There is a one-to-one correspondence between the storage location identifiers and the preset stop point identifiers.

6. The device according to claim 4, characterized in that Among the target storage location identification sets, there is at least one target storage location identification set including at least two storage location identifications.

7. A cargo handling device, characterized in that: comprising a memory and a processor; wherein, The memory is used to store computer programs; The processor is used to read the computer program stored in the memory and execute the cargo handling method according to any one of claims 1 to 3 according to the computer program in the memory.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the cargo handling method described in any one of claims 1 to 3 is implemented.

9. A computer program product, characterized in that The method comprises a computer program which, when executed by a processor, implements the cargo handling method according to any one of claims 1 to 3.

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