A picking scheduling method and device for determining a docking position

Abstract

This specification discloses a picking scheduling method and device for determining a docking position. First, for each handling device, the picking position corresponding to each stock unit in each order task assigned to the handling device is determined. Then, based on at least some of the picking positions, a same docking point is determined as the comprehensive docking point. Finally, the handling device is guided to reach the comprehensive docking point according to the driving path. At the comprehensive docking point, the handling device receives the goods picked up by the user from at least some of the picking positions. By determining the comprehensive docking point of at least some of the picking positions and making the handling device dock at the comprehensive docking point, the picking of goods at at least some of the picking positions is completed. The movement of the handling device within a short distance is reduced, and the picking efficiency is improved.

Description

Technical Field

[0001] This application relates to the technical field of warehousing logistics, and in particular, to a picking scheduling method and device for determining a docking position. Background Art

[0002] With the rapid development of the warehousing logistics industry, the order volume of logistics has also increased significantly. Usually, when processing order tasks, a user carries a container or pushes a vehicle to pick up goods at the storage location corresponding to the order task and transports them out of the warehouse. Here, the user is a warehouse worker.

[0003] To improve the picking efficiency, in existing warehouses, users cooperate with handling equipment for picking. Among them, the handling equipment can sequentially travel to the picking positions corresponding to each assigned order task according to the task information of each order task, and at the picking position, the user picks the goods into the handling equipment.

[0004] However, since the handling equipment and users move mixedly in the warehouse, for safety considerations, the driving speed of the handling equipment usually needs to be restricted, and the handling equipment also needs to avoid obstacles to prevent collisions with users. As a result, when the handling equipment moves over a short distance, it usually takes a long time, resulting in low picking efficiency. Summary of the Invention

[0005] Embodiments of this specification provide a picking scheduling method and device for determining a docking position, which are used to partially solve the above problems existing in the prior art.

[0006] Embodiments of this specification adopt the following technical solutions:

[0007] A picking scheduling method for determining a docking position provided in this specification includes:

[0008] For each handling equipment, determine the picking position corresponding to each stock keeping unit (SKU) in each order task assigned to the handling equipment;

[0009] Determine a same docking point as a comprehensive docking point according to at least some of the determined picking positions;

[0010] Guide the handling equipment to reach the comprehensive docking point according to the driving path, and at the comprehensive docking point, enable the handling equipment to receive the goods picked up by the user from the at least some picking positions.

[0011] Optionally, the determining a same docking point as a comprehensive docking point according to at least some of the determined picking positions specifically includes:

[0012] According to the aisles where the determined picking locations are located, at least some of the picking locations among the picking locations are grouped so that the picking locations located in the same aisle are grouped into the same group;

[0013] For each determined group, clustering is performed according to the location information of the picking locations within the group to determine a number of clusters;

[0014] For each determined cluster, a same docking point is determined for the picking locations in the cluster as a comprehensive docking point.

[0015] Optionally, the method further includes:

[0016] The discrete picking locations that do not belong to any cluster during clustering are used as discrete docking points;

[0017] Guide the handling device to reach the discrete docking point according to the driving path. At the discrete docking point, the handling device receives the goods picked up by the operator from the discrete picking locations.

[0018] Optionally, the picking location corresponding to the SKU is the position of the foot point of the straight line passing through the center point of the goods location and perpendicular to the center line of the aisle in the aisle corresponding to the orientation of the goods location where the goods included in the SKU are located.

[0019] Optionally, when the width of the aisle is greater than the first preset distance, a straight line passing through the center point of the goods location and perpendicular to the center line of the aisle is determined, and the position of the point on the straight line and at a distance of the second preset distance from the goods shelf where the goods location is located is used as the picking location corresponding to the goods location, where the second preset distance is not greater than one-fourth of the first preset distance.

[0020] Optionally, the determining a same docking point for the picking locations in the cluster as a comprehensive docking point includes:

[0021] Determine a perpendicular line passing through the center point of the cluster and perpendicular to the center line of the aisle, and use the position of the foot point of the perpendicular line as the comprehensive docking point corresponding to the cluster.

[0022] Optionally, the clustering radius is the first preset radius;

[0023] The determining a same docking point for the picking locations in the cluster as a comprehensive docking point includes:

[0024] According to the location information of the picking locations within the cluster and the first preset radius, using the minimum circle covering algorithm, determine a number of circles that cover the picking locations within the cluster and have a diameter not greater than the first preset radius as the first type of circles;

[0025] For each first - type circle, according to the location information of each picking location within the first - type circle, determine the comprehensive docking point within the first - type circle;

[0026] According to the comprehensive docking points within each first - type circle included in the cluster, determine the comprehensive docking point corresponding to the cluster.

[0027] Optionally, the step of determining the comprehensive docking point within the first - type circle according to the location information of each picking location within the first - type circle includes:

[0028] According to the location information of each picking location within the first - type circle and the first preset radius, using the minimum - enclosing - circle algorithm, determine several circles that cover the largest number of picking locations within the first - type circle and have the smallest radius as the second - type circles, where the diameter of the second - type circles is not greater than the first preset radius;

[0029] For each second - type circle, according to the location information of each picking location included in the second - type circle, determine the comprehensive docking point within the second - type circle;

[0030] According to the comprehensive docking points within each second - type circle included in the first - type circle, determine the comprehensive docking point within the first - type circle.

[0031] Optionally, the clustering radius is the first preset radius;

[0032] The step of determining the same docking point for each picking location in the cluster as the comprehensive docking point includes:

[0033] According to the location information of each picking location in the cluster and the first preset radius, using the minimum - enclosing - circle algorithm, determine several circles that cover the largest number of picking locations in the cluster and have the smallest radius as the second - type circles, where the diameter of the second - type circles is not greater than the first preset radius;

[0034] For each second - type circle, according to the location information of each picking location included in the second - type circle, determine the comprehensive docking point within the second - type circle;

[0035] According to the comprehensive docking points within each second - type circle included in the cluster, determine the comprehensive docking point corresponding to the cluster.

[0036] Optionally, when the number of picking locations included in multiple circles is the same, according to the radii of the circles with the same number of picking locations included, determine the circle with the smallest radius as the second - type circle.

[0037] Optionally, when the number of picking locations included in multiple circles is the same and the radii of the circles with the same number of picking locations included are the same, arbitrarily select one circle from the circles with the same number of picking locations included as the second - type circle.

[0038] Optionally, the method further includes:

[0039] Determining a handling instruction that includes a comprehensive docking point and each picking location corresponding to the comprehensive docking point;

[0040] Sending the determined handling instruction to the handling device, so that the handling device displays the comprehensive docking point and each picking location corresponding to the comprehensive docking point according to the received handling instruction, to prompt the user to pick up goods from each picking location corresponding to the comprehensive docking point.

[0041] Optionally, the method further includes:

[0042] Determining task information that includes a docking point and each picking location corresponding to the docking point;

[0043] Sending the determined task information to the user terminal, so that the user terminal displays the docking point and each picking location corresponding to the docking point according to the received task information, to prompt the user to pick up goods from each picking location and place them on the handling device at the docking point.

[0044] This specification also provides a device for determining a docking position, including:

[0045] An allocation module, configured to determine, for each handling device, a picking location corresponding to each stock keeping unit (SKU) in each order task allocated to the handling device;

[0046] A docking point determination module, configured to determine a same docking point as a comprehensive docking point according to at least some of the determined picking locations;

[0047] A picking module, configured to guide the handling device to reach the comprehensive docking point according to a driving path, and at the comprehensive docking point, enable the handling device to receive goods picked up by the user from the at least some picking locations.

[0048] A computer-readable storage medium provided in this specification, where the storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned picking and scheduling method for determining a docking position is implemented.

[0049] An electronic device provided in this specification, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where when the processor executes the program, the above-mentioned picking and scheduling method for determining a docking position is implemented.

[0050] At least one of the above technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects:

[0051] In this specification, for each handling device, the picking location corresponding to each stock keeping unit in each order task assigned to the handling device can be determined first. Then, based on at least some of the picking locations, a same docking point is determined as the comprehensive docking point. Finally, the handling device is guided to reach the comprehensive docking point according to the driving path. At the comprehensive docking point, the handling device receives the goods picked up by the user from at least some of the picking locations. By determining the comprehensive docking point of at least some of the picking locations and making the handling device dock at the comprehensive docking point, the picking of goods at at least some of the picking locations is completed. The movement of the handling device within a short distance is reduced, and the picking efficiency is improved. Brief Description of the Drawings

[0052] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0053] Figure 1 It is a schematic diagram of the warehouse architecture provided by the embodiment of this specification;

[0054] Figure 2 It is a schematic diagram of shelves of different sizes provided by the embodiment of this specification;

[0055] Figure 3 It is a schematic diagram of determining the picking location provided by the embodiment of this specification;

[0056] Figure 4 It is a schematic flowchart of the picking scheduling method for determining the docking location provided by the embodiment of this specification;

[0057] Figure 5 It is a schematic diagram of determining the picking location provided by the embodiment of this specification;

[0058] Figure 6 It is a schematic diagram of determining a comprehensive docking point provided by the embodiment of this specification;

[0059] Figure 7 It is a schematic diagram of determining a comprehensive docking point provided by the embodiment of this specification;

[0060] Figure 8 It is a schematic diagram of determining a comprehensive docking point provided by the embodiment of this specification;

[0061] Figure 9 It is a schematic diagram of determining a comprehensive docking point provided by the embodiment of this specification;

[0062] Figure 10 It is a schematic diagram of displaying the docking point and the picking location corresponding to the docking point provided by the embodiment of this specification;

[0063] Figure 11 A schematic diagram for determining a picking location provided by an embodiment of this specification;

[0064] Figure 12 A schematic diagram for determining a comprehensive docking point provided by an embodiment of this specification;

[0065] Figure 13 A schematic diagram for determining a comprehensive docking point provided by an embodiment of this specification;

[0066] Figure 14 A schematic diagram for determining a comprehensive docking point provided by an embodiment of this specification;

[0067] Figure 15 A schematic diagram for determining a comprehensive docking point provided by an embodiment of this specification;

[0068] Figure 16 A schematic structural diagram of a picking scheduling device for determining a docking location provided by an embodiment of this specification;

[0069] Figure 17 An electronic device for implementing a picking scheduling method for determining a docking location provided by an embodiment of this specification. Detailed implementation manners

[0070] To make the objectives, technical solutions, and advantages of this specification clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0071] Currently, when picking goods in a warehouse, a handling device usually travels to the picking locations corresponding to each order task in sequence according to the task information of the assigned order tasks and waits for the user to pick up the goods. However, for safety considerations, in order to avoid collisions with users, the traveling speed of the handling device is slow. Especially when the picking locations are close to each other, the handling device takes longer to move within a short distance.

[0072] To solve the above problems existing in the prior art, the picking scheduling method for determining a docking location provided by this specification can select some adjacent picking locations from the picking locations corresponding to the SKUs in each assigned order task, determine a comprehensive docking point, and make the handling device dock at this comprehensive docking point to receive the goods picked by the user from each partial picking location, reducing the movement of the handling device within a short distance and further reducing the time consumed by the short-distance movement of the handling device.

[0073] Figure 1This is a schematic diagram of the warehouse structure in this specification. In the figure, the rectangles filled with diagonal lines represent goods. The positions where each good is placed are the shelves in the warehouse. There is an aisle between the shelves facing each other. The dotted line in the middle of the aisle represents the center line of the aisle. The hollow circles represent the determined docking points. Figure 1 It also includes a control center 100 and several handling devices 102. Users can access goods from the side of each shelf facing the aisle. Therefore, the direction of each shelf facing the aisle is used as the orientation of each storage location. Figure 2 This is a schematic diagram of the structure of each shelf in the warehouse. Figure 2 Each layer in the larger shelf on the left in it contains 3 storage locations. Figure 2 Each layer in the smaller shelf on the right in it contains 1 storage location. Moreover, each storage location of the shelf can hold the goods corresponding to one Stock Keeping Unit (SKU). For the convenience of description, this specification takes the example of setting one storage location on each layer of the shelf for illustration.

[0074] In this specification, the handling device is a device in the warehouse that cooperates with users for picking goods and is used to place the goods picked by users. Therefore, an area for placing the picked goods can be set on the handling device. For example, several buffer boxes are set on the handling device, or storage compartments are set in the handling device to hold the goods picked by users. This specification does not limit how the handling device specifically holds the goods. And since this handling device needs to move for handling, this handling device can specifically be a vehicle for handling, or it can also be an intelligent robot for handling. This specification does not limit this and can be set according to needs.

[0075] When picking goods in this specification, the position of the center point of the section of the aisle corresponding to the orientation of the storage location where the goods are located can be used as the picking position corresponding to the order task of picking this good. That is, in the aisle corresponding to the orientation of the storage location where the goods are located, the foot of the perpendicular of the straight line passing through the center point of this storage location and the center line of this aisle is used as the picking position. Subsequently, the control center can determine the comprehensive docking points of at least some of the picking positions according to the picking positions corresponding to each SKU in the order tasks assigned to each handling device, so as to guide the handling device to dock at this comprehensive docking point to facilitate users to pick goods. Among them, the picking position corresponding to the SKU is the picking position corresponding to the goods included in this SKU.

[0076] Among them, when determining the picking positions of each item of goods, the straight line passing through the center point of each shelf can be determined in advance according to the electronic map of the warehouse for each shelf, and the position of the foot of the perpendicular of this straight line to the center line of the aisle corresponding to the shelf orientation of this shelf can be determined as the picking position corresponding to this shelf. Among them, the electronic map at least includes the position information (coordinates of the center points of the shelves), shelf orientations, and coordinates on the center lines of each aisle in the warehouse. Of course, it can also include information such as the size of the shelves. After that, according to the determined picking positions of each shelf, the corresponding relationship between each shelf and the picking position can be established. Since picking needs to be done from the corresponding storage locations on the shelves during order picking, the corresponding relationship between each storage location and the picking position can also be established according to the corresponding relationship between each shelf and the storage location and the corresponding relationship between each shelf and the picking position. As Figure 3 shown, point c in the figure represents the center point of shelf C, and the foot of the perpendicular passing through point c and the center line of the aisle is point c1, then the position of this point c1 is the picking position corresponding to shelf C.

[0077] It should be noted that in this specification, subsequent capital English letters are used to represent shelves, lowercase English letters are used to represent the center points of each shelf, lowercase English letters + number 1 are used to represent the picking positions corresponding to the shelves, lowercase English letters + number 2 are used to represent the comprehensive docking points corresponding to several picking positions, and capital English letters O + number are used to represent the center of the cluster and the center of the circle.

[0078] In addition, when the size of the shelf is large, "aisle number + storage location number" is also displayed in the electronic map. Then, when determining the picking position, for each storage location, the straight line passing through the center point of this storage location can be determined, and the position of the foot of the perpendicular of this straight line to the center line of the aisle corresponding to the storage location orientation of this storage location can be determined as the picking position corresponding to this storage location. And according to the determined picking positions of each storage location, the corresponding relationship between the storage location and the picking position is established.

[0079] The following will, in conjunction with the accompanying drawings, detail the technical solutions provided by each embodiment of the present application.

[0080] Figure 4 It is a schematic flowchart of a picking scheduling method for determining a docking position provided by an embodiment of this specification, which specifically may include the following steps:

[0081] S100: For each handling device, determine the picking position corresponding to each stock - keeping unit (SKU) in each order task assigned to this handling device.

[0082] The picking scheduling method for determining the docking position provided in this specification can be specifically executed by a control center in a warehouse. The control center can allocate order tasks to each handling device, and perform path planning based on the picking positions of the goods in the order tasks of each handling device to guide each handling device to reach each docking point in sequence for docking. Among them, the control center can be a single server or a system composed of multiple servers, such as a distributed server, etc. This specification does not limit this and can be set as needed.

[0083] When picking goods in this specification, the control center can first determine the order tasks assigned to each handling device and the picking positions corresponding to each SKU in each order task. Subsequently, a comprehensive docking point can be determined based on at least some of the picking positions of each handling device for docking to reduce the movement of the handling device.

[0084] Specifically, the control center can first determine, for each handling device, the order tasks assigned to the handling device, where each order task contains several SKUs to be picked. Then, for each order task, the control center can determine the SKUs included in the order task, and for each SKU, determine the goods identifier included in the SKU. Finally, based on the corresponding relationship between the stored goods identifier and the location identifier, the location where the goods included in the SKU are located can be determined. Finally, based on the determined locations and the stored picking positions corresponding to each location, the picking position corresponding to the SKU can be determined.

[0085] S102: Determine a same docking point as the comprehensive docking point based on at least some of the determined picking positions.

[0086] In this specification, after the picking positions corresponding to each SKU assigned to the handling device are determined through step S100, a comprehensive docking point can be determined based on at least some of them to guide the handling device to dock at the comprehensive docking point and receive the goods picked by the user from these picking positions.

[0087] Specifically, the control center can cluster the determined picking positions to determine several clusters, where the picking positions within the same cluster are relatively close to each other. Then, for each determined cluster, based on the location information of each picking position included in the cluster, a same docking point is determined for each picking position in the cluster as the comprehensive docking point.

[0088] Since the picking locations corresponding to each SKU included in each order task may be located in different aisles, and if a comprehensive docking point is determined based on picking locations that are in different aisles but are adjacent in terms of absolute distance, there will be a situation where the user needs to detour to pick goods in different aisles and place the picked goods on the handling equipment at the comprehensive docking point. Usually, in the case of a long shelf, determining the comprehensive docking point in this way may lead to an increase in the user's picking time cost and travel distance, reducing the picking efficiency. As Figure 5 shown, Figure 5 in the picking locations corresponding to each storage location on shelf D are d1, and the picking locations corresponding to each storage location on shelf E are e1. Although the absolute positions of picking location d1 and picking location e1 are adjacent, the user needs to pick goods from aisle 1 and aisle 2 respectively and needs to detour.

[0089] Therefore, in order to avoid the above situation, the control center can first group the determined picking locations according to the aisles where the picking locations are located, so that the picking locations in the same aisle are grouped into the same group. That is, the picking locations in the same aisle are divided into one group. Then, when determining the docking location, the user does not need to pick goods across aisles, reducing the moving distance and saving the picking time. After that, for each group, since the picking locations in the group are all in the same aisle, and there are also differences in density and sparsity among the picking locations in the group. Therefore, in order to determine a comprehensive docking point with higher picking efficiency for the picking locations that are adjacent to each other in the aisle, the control center can perform clustering on each determined group according to the location information of the picking locations in the group to determine several clusters. Among them, this specification does not limit which clustering algorithm is used for clustering, and it can be specifically set according to needs. For example: the density-based algorithm (Ordering points to identify the clustering structure, OPTICS) can be used for clustering.

[0090] Finally, when several clusters are determined through clustering, the picking locations included in each cluster are adjacent picking locations. Therefore, for each determined cluster, according to the location information of the picking locations included in the cluster, a same docking point can be determined for the picking locations in the cluster as the comprehensive docking point, so that when the subsequent handling equipment docks at the comprehensive docking point corresponding to the cluster, the user can pick goods from the nearby picking locations and place them on the handling equipment at the comprehensive docking point.

[0091] Among them, when determining a same docking point for the picking locations in the cluster as the comprehensive docking point according to the location information of the picking locations included in the cluster, the control center can use the picking location closest to the center in the cluster as the comprehensive docking point corresponding to the cluster.

[0092] Alternatively, the control center may also use the position within the cluster that has the minimum sum of distances to each picking location, or the position with the minimum average distance to each picking location, as the corresponding integrated docking point for the cluster.

[0093] Alternatively, the control center may also determine the center point of the cluster, i.e., the center position of the circle corresponding to the cluster, and use the foot point position of the perpendicular line passing through the center point of the cluster and perpendicular to the center line of the lane as the corresponding integrated docking point for the cluster. In an actual warehouse, the picking locations in the lane can be set in two rows or one row according to the lane width. When set in two rows, the two rows of picking locations are symmetrically distributed with respect to the center line of the lane. When set in one row, the picking locations are located on the center line of the lane. To make the integrated docking point located on the center line of the lane for the convenience of the staff to pick, the above method can be used to determine the foot point position of the perpendicular line passing through the center point of the cluster and perpendicular to the center line of the lane as the corresponding integrated docking point for the cluster, so that when the handling device docks at the integrated docking point, it is located on the center line of the lane.

[0094] As Figure 6 shown, the dashed line in the figure represents the center line of the lane. Exemplarily, an example where there is only one row of picking locations in the lane is used for illustration. Of course, in this specification, when the lane width is large, there can be two rows of picking locations in the lane, which will be elaborated in detail later. Assume that the picking location points j1 and d1 are included in the cluster. Since there is only one row of picking locations in the lane, all the picking locations in the lane are located on the center line of the lane. Therefore, the center point of the cluster determined by clustering based on the picking location points j1 and d1 is also on the center line of the lane, i.e., the center point O1 of the cluster represented by the triangle in the figure, and the center point O1 of the cluster is used as the corresponding integrated docking point for the cluster. Additionally, in the case where there is only one row of picking locations in the lane, the position of the foot point of the perpendicular line passing through the center point of the cluster and perpendicular to the center line of the lane is also the center point O1 of the cluster. Of course, if there can be two rows of picking locations in the lane, the center point of the cluster may not be on the center line of the lane, then the position of the foot point of the perpendicular line passing through the center point of the cluster and perpendicular to the center line of the lane can be determined as the corresponding integrated docking point for the cluster. This specification does not limit the specific method for determining the integrated docking points within each cluster, which can be set according to needs.

[0095] S104: Guide the handling device to reach the integrated docking point according to the driving path. At the integrated docking point, enable the handling device to receive the goods picked up by the user from at least part of the picking locations.

[0096] In this specification, after determining the integrated docking points corresponding to each cluster, the control center can guide the handling device to reach each integrated docking point in sequence to receive the goods picked up by the user from each picking location in each cluster.

[0097] Specifically, after determining each comprehensive docking point, the control center can plan a path based on the location of the handling device and the location information of each comprehensive docking point. Then, a handling instruction is sent to the handling device to control the handling device to dock at each determined comprehensive docking point in sequence according to the planned driving path. Moreover, a display device can be arranged on the handling device to sequentially display the current comprehensive docking point and each picking location corresponding to the comprehensive docking point according to the received handling instruction, prompting the user to pick up goods from each picking location corresponding to the comprehensive docking point. When the handling device determines that the picking is completed based on the monitored user operation, the control center can receive the information that the picking is completed sent by the handling device and continue to send the next handling instruction to the handling device. Among them, the handling instruction at least includes the docking points where the handling device needs to dock and the storage locations of each piece of goods corresponding to each docking point.

[0098] In addition, for the discrete picking locations that do not belong to each cluster during clustering, since the distance between this picking location and other picking locations is relatively far, in this specification, the discrete picking locations with discrete distributions can be separately used as a discrete docking point. When performing the order picking task, the control center can plan a path based on the location of the handling device, the location information of each determined comprehensive docking point, and the location information of each discrete docking point. Then, a handling instruction is sent to the handling device to control the handling device to dock at each docking point in sequence according to the planned driving path. Among them, when guiding the handling device to dock at the discrete docking point, the user can pick the goods at the picking location corresponding to the discrete docking point onto the handling device. When guiding the handling device to dock at the comprehensive docking point, the user can pick the goods at each picking location corresponding to the comprehensive docking point onto the handling device.

[0099] Based on Figure 4 For the picking scheduling method for determining the docking position shown, for each handling device, the picking location corresponding to each stock keeping unit (SKU) in each order task assigned to the handling device can be determined first. Then, based on at least some of the determined picking locations, a same docking point is determined as the comprehensive docking point. Finally, the handling device is guided to reach the comprehensive docking point according to the driving path. At the comprehensive docking point, the handling device receives the goods picked up by the user from at least some of the picking locations. By determining the comprehensive docking point for at least some of the picking locations and making the handling device dock at the comprehensive docking point, the picking of the goods at at least some of the picking locations is completed. The movement of the handling device within a short distance is reduced, and the picking efficiency is improved.

[0100] In addition, in this specification, since the lengths of the aisles in the warehouse are relatively long, the range of each cluster obtained by clustering according to the picking locations is the range of a circle with a first preset radius as the clustering radius. The number of picking locations included in this range may be relatively large. Therefore, when the user picks the goods corresponding to each picking location in the cluster onto the handling equipment parked at the comprehensive docking point, a relatively long distance needs to be moved. Therefore, according to the location information of each picking location, the cluster can be further divided into several smaller ranges, and a comprehensive docking point is determined within each range. That is, the minimum circle algorithm can be used to determine several first-class circles within the cluster to determine several comprehensive docking points within the cluster. Among them, the first preset radius as the clustering radius can be set as needed, and this specification does not limit it.

[0101] Specifically, first, for each cluster obtained by clustering, the control center can use the minimum circle covering algorithm to determine several circles that cover each picking location within the cluster and whose diameter is not greater than the first preset radius, based on the location information of each picking location within the cluster and the first preset radius, as the first-class circles.

[0102] After that, for each first-class circle, based on the location information of each picking location included in the first-class circle, the comprehensive docking point within the first-class circle is determined. Among them, the picking location closest to the center of the circle within the first-class circle can be used as the comprehensive docking point within the first-class circle, or the picking location with the minimum sum of distances to each picking location within the first-class circle, or the picking location with the minimum average distance to each picking location, can be used as the comprehensive docking point within the first-class circle. Or, the position of the foot of the perpendicular from the line passing through the center of the first-class circle and perpendicular to the center line of the aisle can also be used as the comprehensive docking point within the first-class circle. This specification does not limit it and can be set as needed.

[0103] Finally, the comprehensive docking points within each first-class circle included in the cluster are used as the comprehensive docking points corresponding to the cluster. That is to say, the number of comprehensive docking points included in the cluster is the same as the number of first-class circles included in the cluster.

[0104] As Figure 7 shown, Figure 7 the solid circles in the figure represent the range of a cluster obtained by clustering, each solid dot represents a picking location, the dashed line represents the center line of the aisle, and the triangle O1 represents the center point of the cluster. Figure 7The clustering radius is R (i.e., the first preset radius). There are 10 picking locations within this cluster. The dashed circles in the figure are the first type of circles determined by the minimum circle algorithm. Triangles O2 and O3 respectively represent the centers of the first type of circles. For the first type of circle with O2 as the center, the position c2 of the foot of the perpendicular passing through O2 and perpendicular to the center line of the roadway can be determined, represented by a hollow dot, as the comprehensive docking point within this first type of circle. For the first type of circle with O3 as the center, the position b2 of the foot of the perpendicular passing through O3 and perpendicular to the center line of the roadway can be determined, represented by a hollow dot, as the comprehensive docking point within this first type of circle. And the comprehensive docking point b2 and the comprehensive docking point c2 can be used as the comprehensive docking points corresponding to this cluster.

[0105] In addition, in this specification, since the ranges covered by the clusters obtained by clustering are relatively large, the number of picking locations included is relatively large, and there are picking locations with dense distribution and sparse distribution within the cluster, and the comprehensive docking points within the cluster are determined based on the center points of the cluster. When the user picks the goods corresponding to each picking location within the cluster to the handling equipment located at the comprehensive docking point, the moving distance required is relatively long. To further reduce the moving distance of the user, so that the picking locations close to each other within the cluster can correspond to one comprehensive docking point.

[0106] Specifically, first, for each determined cluster, the control center can, according to the position information of each picking location within the cluster and the first preset radius, use the minimum circle covering algorithm to determine several circles with the smallest radius that cover the largest number of picking locations within the cluster as the second type of circles, where the diameter of the second type of circles is not greater than the first preset radius.

[0107] After that, for each second type of circle, according to the position information of each picking location included within the second type of circle, the comprehensive docking point within the second type of circle is determined. Among them, the picking location closest to the center of the circle within the second type of circle can be used as the comprehensive docking point within the second type of circle, or the picking location with the smallest sum of distances to each picking location within the second type of circle, or the picking location with the smallest average distance to each picking location within the second type of circle can be used as the comprehensive docking point within the second type of circle. Or, the position of the foot of the perpendicular where the straight line passing through the center of the second type of circle is perpendicular to the center line of the roadway can also be used as the comprehensive docking point within the second type of circle. This specification does not limit this and can be set as needed.

[0108] Finally, according to the comprehensive docking points within each second type of circle included within the cluster, the comprehensive docking point corresponding to the cluster is determined.

[0109] As Figure 8 shown, Figure 8The solid circle represents the range of a cluster obtained by clustering. The triangle O1 represents the center point of the cluster. The dashed line represents the center line of the roadway. The clustering radius in the figure is R (i.e., the first preset radius). There are 8 picking positions in this cluster, represented by solid dots. The dashed circle in the figure is the second type of circle determined by the minimum circle algorithm. Triangles O4 and O5 represent the centers of each second type of circle respectively. Then, for the second type of circle with O4 as the center, the position of the foot of the perpendicular passing through O4 and perpendicular to the center line of the roadway can be determined. Figure 8 coincides with the center position O4 of this second type of circle, that is, the center O4 of this second type of circle is used as the comprehensive docking point within this second type of circle. For the second type of circle with O5 as the center, the position of the foot of the perpendicular passing through O5 and perpendicular to the center line of the roadway can be determined. Figure 8 coincides with the center position O5 of this second type of circle, that is, the center O5 of this second type of circle is used as the comprehensive docking point within this second type of circle.

[0110] Among them, the minimum number of picking positions included in the second type of circle is 2. When the number of picking positions included in multiple circles is the same, the circle with the smallest radius can be determined according to the radii of the circles with the same number of picking positions included, as the second type of circle. And when the number of picking positions included in multiple circles is the same, and the radii of the circles with the same number of picking positions included are also the same, any one of the circles with the same number of picking positions included can be selected as the second type of circle.

[0111] In summary, by combining the clustering algorithm and the minimum circle algorithm to determine the comprehensive docking points included in each cluster, the distance that the user moves when picking goods within each cluster can be shorter. By combining the clustering algorithm and the minimum circle algorithm to determine the comprehensive docking points included in each cluster, the distance that the user moves when picking goods within each cluster can also be shorter. Therefore, in this specification, the clustering algorithm, the minimum circle algorithm, and the minimum circle algorithm can be combined to determine the comprehensive docking points included in each cluster, further reducing the moving distance of the user when picking goods.

[0112] Specifically, after the control center obtains several clusters through clustering, for each determined cluster, based on the position information of each picking location within the cluster and the first preset radius, using the minimum circle covering algorithm, several circles that cover each picking location within the cluster and have a diameter not greater than the first preset radius are determined as the first type of circles. Then, for each first-type circle, based on the position information of each picking location within the first-type circle and the first preset radius, using the minimum circle covering algorithm, several circles that cover the largest number of picking locations within the first-type circle and have the smallest radius are determined as the second type of circles, where the diameter of the second type of circles is not greater than the first preset radius. Then, for each second-type circle, based on the position information of each picking location included in the second-type circle, the comprehensive docking point within the second-type circle is determined, and the comprehensive docking points within each second-type circle included in the first-type circle are used as the comprehensive docking points within the first-type circle. The number of comprehensive docking points within the first-type circle is the same as the number of second-type circles included in the first-type circle. Finally, the comprehensive docking points within each first-type circle included in the cluster are used as the comprehensive docking points corresponding to the cluster.

[0113] As Figure 9 shown, the thick-line circles in the figure represent the first-type circles determined by the minimum circle algorithm, the triangle O6 represents the center of the first-type circle, the thin-line circles represent the second-type circles within the first-type circle determined by the minimum circle algorithm, and the triangle O7 represents the center of the second-type circle. Then, the position of the foot of the perpendicular passing through O7 and perpendicular to the center line of the roadway can be determined, that is, the center O7 of the second-type circle, as the comprehensive docking point within the second-type circle, and the comprehensive docking point O7 is used as the comprehensive docking point within the first-type circle.

[0114] In step S104 of this specification, the control center can also send task information to the user terminal to prompt the user to pick up goods. Specifically, after the control center determines the task information including the docking point and each picking location corresponding to the docking point, it can send the determined task information to the user terminal, so that the user terminal displays the docking point and each picking location corresponding to the docking point according to the received task information, to prompt the user to pick up goods from each picking location and place them on the handling equipment parked at the docking point. When the user terminal determines that the picking is completed based on the monitored user operations, such as clicking, swiping, etc., the control center can receive the information that the picking is completed sent by the user terminal, so that the control center continues to send the next task information to the user terminal.

[0115] As Figure 10 shown, Figure 10The server in it represents the control center 100 in the warehouse, the vehicle represents the handling device 102, and the mobile device represents the user terminal 104. The control center 100 can send handling instructions to the handling device 102, causing the handling device to display each stop point and the corresponding picking positions at each stop point, and prompting the user to pick up goods. Alternatively, the control center 100 can also send task information to the user terminal 104, causing the user terminal 104 to display each stop point and the corresponding picking positions at each stop point, and prompting the user to pick up goods. Figure 10 Exemplarily shown in it is the display content in the user terminal 104, including the stop points and several storage locations corresponding to the stop points. For example: the stop point c2 corresponds to storage locations 1, 3, 5, 7, and the stop point h2 corresponds to storage location 9.

[0116] In this specification, it should be noted that: when the roadway width is relatively wide, in order to avoid a relatively long distance between the picking position of the handling device and the storage location where the goods are located, the picking position may not be set on the center line of the roadway. Specifically, when determining the picking position of a certain good, the roadway corresponding to the orientation of the storage location where the good is located can be determined first, and the width of the roadway can be determined. When the width of the roadway is greater than the first preset distance, a straight line passing through the center point of the storage location and perpendicular to the center line of the roadway is determined, and the position of the point on this straight line and at a distance of the second preset distance from the shelf where the storage location is located is taken as the picking position corresponding to the storage location, where the second preset distance is not greater than one-fourth of the first preset distance. The first preset distance and the second preset distance can be set as needed, and this specification does not limit this.

[0117] As Figure 11 shown, assuming that the width of the roadway shown in the figure is α, the first preset distance is β, and α > β, the second preset distance is γ, where γ is not greater than α / 4, then a straight line passing through the center point k of the storage location and perpendicular to the center line of the roadway can be determined, and the position of the point k1 on this straight line and at a distance of γ from the shelf where the storage location is located is taken as the picking position corresponding to the storage location.

[0118] Assume that the roadway width is relatively wide and exceeds the first preset distance, then there are two rows of picking positions in the roadway. As Figure 12 shown, the solid dots h1, i1, m1 represent each picking position. Among them, h1 is the picking position corresponding to each storage location on the left row of shelves, and i1, m1 are the picking positions corresponding to each storage location on the right row of shelves. The distance from each picking position to the corresponding shelf is γ. The solid circles in the figure represent the range of the cluster, the dotted line represents the center line of the roadway, and the triangle O1 represents the center point of the cluster. Then, when determining the comprehensive stop point within each cluster, the hollow point d2 at the position passing through the center point O1 of the cluster and perpendicular to the center line of the roadway can be determined as the comprehensive stop point of the cluster. Among them, γ is less than one-fourth of the roadway width.

[0119] When the roadway width is relatively wide and there are two rows of picking positions, the minimum circle algorithm can be used to determine the comprehensive docking points within each cluster. For example, Figure 13 as shown, Figure 13 In the figure, the solid circle represents the range of a cluster obtained by clustering, the triangle O1 represents the center point of the cluster, the dashed line represents the center line of the roadway, the clustering radius in the figure is R, that is, the first preset radius is R. This cluster contains 6 picking positions, which are represented by solid dots. The dashed circle in the figure is the first type of circle determined by the minimum circle algorithm, and the triangles O8 and O9 represent the centers of each first type of circle respectively. Then, for the first type of circle with O8 as the center, the position of the foot of the perpendicular passing through O8 and perpendicular to the center line of the roadway can be determined, that is, the hollow dot f2, as the comprehensive docking point within this first type of circle. For the first type of circle with O9 as the center, the position of the foot of the perpendicular passing through O9 and perpendicular to the center line of the roadway can be determined, that is, the hollow dot e2, as the comprehensive docking point within this first type of circle. And the comprehensive docking point e2 and the comprehensive docking point f2 can be used as the comprehensive docking points corresponding to this cluster.

[0120] When the roadway width is relatively wide and there are two rows of picking positions, the minimum circle algorithm can be used to determine the comprehensive docking points within each cluster. For example, Figure 14 as shown, following the above description, the solid circle represents the range of the cluster, the solid dots represent the picking positions, this cluster contains 6 picking positions, the dashed circle in the figure is the second type of circle determined by the minimum circle algorithm, and the triangles O10 and O11 represent the centers of each second type of circle respectively. Then, for the second type of circle with O10 as the center, the position of the foot of the perpendicular passing through the triangle O10 and perpendicular to the center line of the roadway can be determined, that is, the hollow dot h2, as the comprehensive docking point within this second type of circle. For the first type of circle with O11 as the center, the position of the foot of the perpendicular passing through O11 and perpendicular to the center line of the roadway can be determined, that is, the hollow dot g2, as the comprehensive docking point within this second type of circle. And the comprehensive docking point h2 and the comprehensive docking point g2 can be used as the comprehensive docking points corresponding to this cluster.

[0121] When the roadway width is relatively wide and there are two rows of picking positions, the minimum circle algorithm and the minimum circle algorithm can also be combined to determine the comprehensive docking points within each cluster. For example, Figure 15 as shown, each solid dot in the figure represents a picking position, the dashed line represents the center line of the roadway, the thick circle represents the first type of circle determined by the minimum circle algorithm, the triangle O12 represents the center of this first type of circle, the thin circle represents the second type of circle within this first type of circle determined by the minimum circle algorithm, the triangle O13 represents the center of this second type of circle, then the position of the foot of the perpendicular passing through O13 and perpendicular to the center line of the roadway can be determined, that is, the hollow dot i2, as the comprehensive docking point within this second type of circle, and the comprehensive docking point i2 is used as the comprehensive docking point within this first type of circle.

[0122] Based on Figure 4 the method for determining the docking position shown in, the embodiments of this specification also correspondingly provide a schematic structural diagram of a device for determining the docking position, as shown in Figure 16 .

[0123] Figure 16 FIG. is a schematic structural diagram of a picking scheduling device for determining a docking position provided by an embodiment of this specification. The device includes:

[0124] An allocation module 200, configured to determine, for each handling device, the picking position corresponding to each stock keeping unit (SKU) in each order task allocated to the handling device;

[0125] A docking point determination module 202, configured to determine a same docking point as a comprehensive docking point according to at least some of the determined picking positions;

[0126] A picking module 204, configured to guide the handling device to reach the comprehensive docking point according to the driving path, and at the comprehensive docking point, enable the handling device to receive the goods picked up by the user from at least some of the picking positions.

[0127] Optionally, the allocation module 200 is specifically configured to group at least some of the picking positions according to the lanes where the determined picking positions are located, so that the picking positions located in the same lane are grouped into the same group. For each determined group, clustering is performed according to the position information of the picking positions in the group to determine several clusters. For each determined cluster, a same docking point is determined for the picking positions in the cluster as the comprehensive docking point.

[0128] Optionally, the docking point determination module 202 is further configured to use the discrete picking positions that do not belong to any cluster during clustering as discrete docking points, guide the handling device to reach the discrete docking points according to the driving path, and at the discrete docking points, the handling device receives the goods picked up by the user from the discrete picking positions.

[0129] Optionally, the picking position corresponding to the SKU is the position of the foot of the perpendicular from the straight line passing through the center point of the goods location and perpendicular to the center line of the lane in the lane corresponding to the orientation of the goods location where the goods in the SKU are located.

[0130] Optionally, when the width of the lane is greater than a first preset distance, a straight line passing through the center point of the goods location and perpendicular to the center line of the lane is determined, and the position of the point on the straight line and at a second preset distance from the goods shelf where the goods are located is used as the picking position corresponding to the goods location, where the second preset distance is not greater than one-fourth of the first preset distance.

[0131] Optionally, the stop point determination module 202 is specifically used to determine a vertical line passing through the center point of the cluster and perpendicular to the center line of the lane, and use the foot point position of the vertical line as the comprehensive stop point corresponding to the cluster.

[0132] Optionally, the clustering radius is a first preset radius, and the stop point determination module 202 is specifically used to determine, based on the location information of each pickup location in the cluster and the first preset radius, a number of circles covering each pickup location in the cluster and with a diameter not greater than the first preset radius using a minimum circle coverage algorithm, as first-class circles; for each first-class circle, a comprehensive stop point within the first-class circle is determined based on the location information of each pickup location within the first-class circle; and based on the comprehensive stop points in each first-class circle contained in the cluster, a comprehensive stop point corresponding to the cluster is determined.

[0133] Optionally, the stop point determination module 202 is specifically used to determine, based on the location information of each pickup location within the first category circle and the first preset radius, several circles with the smallest radius covering the largest number of pickup locations within the first category circle using a minimum circle coverage algorithm, as second category circles, wherein the diameter of the second category circle is not greater than the first preset radius, and for each second category circle, a comprehensive stop point within the second category circle is determined based on the location information of each pickup location included in the second category circle, and a comprehensive stop point within the first category circle is determined based on the comprehensive stop points in each second category circle included in the first category circle. Optionally, the stop point determination module 202 is specifically used to, the clustering radius is a first preset radius, according to the location information of each pickup location in the cluster and the first preset radius, using a minimum circle covering algorithm, determine a number of circles with the smallest radius covering the largest number of pickup locations in the cluster as second-class circles, wherein the diameter of the second-class circle is not greater than the first preset radius, for each second-class circle, according to the location information of each pickup location included in the second-class circle, determine the comprehensive stop point in the second-class circle, and according to the comprehensive stop points in each second-class circle included in the cluster, determine the comprehensive stop point corresponding to the cluster

[0134] Optionally, when there are multiple circles containing the same number of pickup locations, a circle with the smallest radius is determined as the second type of circle based on the radius of each circle containing the same number of pickup locations.

[0135] Optionally, when there are multiple circles containing the same number of pickup locations, and the radii of the circles containing the same number of pickup locations are the same, one circle is selected from the circles containing the same number of pickup locations as the second type of circle.

[0136] Optionally, the picking module 204 is further configured to determine a handling instruction including the comprehensive docking point and each picking location corresponding to the comprehensive docking point, and send the determined handling instruction to the handling device, so that the handling device displays the comprehensive docking point and each picking location corresponding to the comprehensive docking point according to the received handling instruction, to prompt the user to pick up goods from each picking location corresponding to the comprehensive docking point.

[0137] Optionally, the picking module 204 is further configured to determine task information including the docking point and each picking location corresponding to the docking point, and send the determined task information to the user terminal, so that the user terminal displays the docking point and each picking location corresponding to the docking point according to the received task information, to prompt the user to pick up goods from each picking location and place them on the handling device at the docking point.

[0138] An embodiment of this specification also provides a computer-readable storage medium, which stores a computer program that can be used to execute the above Figure 4 provided picking and scheduling method for determining the docking position.

[0139] Based on Figure 4 the shown picking and scheduling method for determining the docking position, an embodiment of this specification also proposes Figure 17 the schematic structural diagram of the electronic device shown. As Figure 17 shown, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory. Of course, there may also be other hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement the above Figure 4 shown picking and scheduling method for determining the docking position.

[0140] Of course, in addition to the software implementation, this specification does not exclude other implementation manners, such as a logic device or a combination of software and hardware, etc. That is to say, the execution subject of the following processing flow is not limited to each logic unit, and can also be hardware or a logic device.

[0141] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software improvements (improvements to method flows). However, with the development of technology, many method flow improvements today can be regarded as direct improvements to hardware circuit structures. Almost all designers obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement to a method flow cannot be implemented using a hardware entity module. For example, a Programmable Logic Device (PLD) (e.g., a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logical function is determined by the user programming the device. Designers can program a digital system "integrated" on a single PLD by themselves, without having to ask a chip manufacturer to design and fabricate a dedicated integrated circuit chip. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly implemented using "logic compiler" software, which is similar to the software compiler used in program development and writing. The original code before compilation also has to be written in a specific programming language, which is called a Hardware Description Language (HDL). There are not only one kind of HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones currently are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also be aware that by simply performing a little logical programming on the method flow using the above-mentioned several hardware description languages and programming it into an integrated circuit, it is easy to obtain the hardware circuit that implements the logical method flow.

[0142] The controller can be implemented in any suitable manner. For example, the controller can take the form of, for example, a microprocessor or a processor and a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the (micro)processor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of the controller include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that, in addition to implementing the controller in the form of pure computer-readable program code, it is entirely possible to logically program the method steps to enable the controller to be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, and embedded microcontrollers to achieve the same function. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be regarded as the structures within the hardware component. Or even, the devices for implementing various functions can be regarded as either software modules for implementing the method or the structures within the hardware component.

[0143] The systems, devices, modules, or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0144] For the convenience of description, when describing the above devices, they are described separately as various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0145] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code.

[0146] The present invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each flow and / or block of the flowchart illustrations and / or block diagrams, and combinations of flows and / or blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing apparatus create means for implementing the functions specified in the flowchart flow or flows and / or block or blocks. Figure 1 in a flow or flows and / or block or blocks Figure 1 or means for implementing the functions specified in a block or blocks.

[0147] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means that implement the functions specified in the flowchart flow or flows and / or block or blocks. Figure 1 in a flow or flows and / or block or blocks Figure 1 or means for implementing the functions specified in a block or blocks.

[0148] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and / or block or blocks. Figure 1 in a flow or flows and / or block or blocks Figure 1 or means for implementing the functions specified in a block or blocks.

[0149] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0150] Memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read only memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

[0151] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0152] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0153] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0154] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0155] The various embodiments in this specification are described in a progressive manner. For the same or similar parts among the various embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple. For the relevant parts, reference can be made to the partial description of the method embodiments.

[0156] The above are only the embodiments of this specification and are not intended to limit this specification. For those skilled in the art, various changes and modifications can be made to this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this specification shall be included within the scope of the claims of this specification.

Claims

1. A picking scheduling method for determining a docking position, characterized in that Including: For each handling device, determine the picking location corresponding to each stock keeping unit (SKU) in each order task assigned to the handling device; Based on at least some of the determined picking locations, determine a same docking point as the comprehensive docking point; Wherein the comprehensive docking point refers to clustering the determined picking locations to obtain several clusters, and determining a same docking point for the picking locations in the cluster; Guide the handling device to reach the comprehensive docking point according to the driving path. At the comprehensive docking point, enable the handling device to receive the goods picked up by the user from at least some of the picking locations.

2. The method according to claim 1, characterized in that, The step of determining a same docking point as the comprehensive docking point based on at least some of the determined picking locations specifically includes: Group at least some of the picking locations according to the aisles where the determined picking locations are located, so that the picking locations in the same aisle are grouped into the same group; For each determined group, perform clustering according to the location information of the picking locations in the group to determine several clusters; For each determined cluster, determine a same docking point for the picking locations in the cluster as the comprehensive docking point.

3. The method according to claim 2, characterized in that The method further includes: Regarding the discrete picking locations that do not belong to any cluster during clustering as discrete docking points; Guide the handling device to reach the discrete docking point according to the driving path. At the discrete docking point, the handling device receives the goods picked up by the user from the discrete picking locations.

4. The method according to claim 1, wherein The picking location corresponding to the SKU is the position of the foot of the perpendicular from the straight line passing through the center point of the goods location to the center line of the aisle in the aisle corresponding to the orientation of the goods location where the goods contained in the SKU are located.

5. The method according to claim 4, characterized in that, When the width of the aisle is greater than the first preset distance, determine the straight line passing through the center point of the goods location and perpendicular to the center line of the aisle, and use the position of the point on the straight line and at a distance of the second preset distance from the shelf where the goods location is located as the picking location corresponding to the goods location, where the second preset distance is not greater than one-fourth of the first preset distance.

6. The method according to claim 2, wherein The step of determining a same docking point for the picking locations in the cluster as the comprehensive docking point includes: Determine the perpendicular line passing through the center point of the cluster and perpendicular to the center line of the aisle, and use the position of the foot of the perpendicular as the comprehensive docking point corresponding to the cluster.

7. The method according to claim 2, wherein The clustering radius is the first preset radius; The step of determining a same docking point for the picking locations in the cluster as the comprehensive docking point includes: According to the location information of the picking locations in the cluster and the first preset radius, use the minimum circle covering algorithm to determine several circles that cover the picking locations in the cluster and have a diameter not greater than the first preset radius as the first type of circles; For each first type of circle, determine the comprehensive docking point within the first type of circle according to the location information of the picking locations within the first type of circle; Determine the comprehensive docking point corresponding to the cluster according to the comprehensive docking points within each first type of circle included in the cluster.

8. The method according to claim 7, wherein The step of determining the comprehensive docking point within the first type of circle according to the location information of the picking locations within the first type of circle includes: Based on the location information of each picking location within the first type of circle and the first preset radius, using the minimum circle covering algorithm, determine several circles that cover the largest number of picking locations within the first type of circle and have the smallest radius as the second type of circle, where the diameter of the second type of circle is not greater than the first preset radius; For each second type of circle, based on the location information of each picking location included in the second type of circle, determine the comprehensive docking point within the second type of circle; Based on the comprehensive docking points within each second type of circle included in the first type of circle, determine the comprehensive docking point within the first type of circle.

9. The method according to claim 2, wherein The clustering radius is the first preset radius; Determining a same docking point for each picking location in the cluster as the comprehensive docking point includes: Based on the location information of each picking location within the cluster and the first preset radius, using the minimum circle covering algorithm, determine several circles that cover the largest number of picking locations within the cluster and have the smallest radius as the second type of circle, where the diameter of the second type of circle is not greater than the first preset radius; For each second type of circle, based on the location information of each picking location included in the second type of circle, determine the comprehensive docking point within the second type of circle; Based on the comprehensive docking points within each second type of circle included in the cluster, determine the comprehensive docking point corresponding to the cluster.

10. The method according to claim 9, wherein When the number of picking locations included in multiple circles is the same, based on the radii of the circles with the same number of picking locations included, determine the circle with the smallest radius as the second type of circle.

11. The method according to claim 9, wherein, When the number of picking locations included in multiple circles is the same and the radii of the circles with the same number of picking locations included are the same, randomly select one circle from the circles with the same number of picking locations included as the second type of circle.

12. The method according to claim 1, characterized in that, The method further includes: Determine a handling instruction that includes the comprehensive docking point and each picking location corresponding to the comprehensive docking point; Send the determined handling instruction to the handling device, so that the handling device displays the comprehensive docking point and each picking location corresponding to the comprehensive docking point according to the received handling instruction, to prompt the user to pick up goods from each picking location corresponding to the comprehensive docking point.

13. The method according to claim 1, characterized in that The method further includes: Determine task information that includes the docking point and each picking location corresponding to the docking point; Send the determined task information to the user terminal, so that the user terminal displays the docking point and each picking location corresponding to the docking point according to the received task information, to prompt the user to pick up goods from each picking location and place them on the handling device at the docking point.

14. A picking scheduling device for determining a docking position, characterized in that, Includes: An allocation module for, for each handling device, determining the picking location corresponding to each stock keeping unit (SKU) in each order task allocated to the handling device; A docking point determination module for determining a same docking point as the comprehensive docking point based on at least some of the determined picking locations; Where the comprehensive docking point refers to clustering the determined picking locations to obtain several clusters and determining a same docking point for each picking location in the cluster; The picking module is used to guide the handling device to reach the comprehensive docking point according to the driving path, and at the comprehensive docking point, enable the handling device to receive the goods picked up by the user from at least part of the picking positions.

15. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1-13 above is implemented.

16. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, the method according to any one of claims 1-13 above is implemented.

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