Method, device, equipment and computer-readable storage medium for controlling goods out of warehouse

Abstract

The present application proposes a control method, device, equipment and computer-readable storage medium for goods out of the warehouse, wherein the control method for goods out of the warehouse includes: determining the target workstation according to the goods information of the outbound order; determining the candidate boxes according to the goods information of each current box and the goods information of the outbound order, and determining the candidate box with the lowest transportation cost from each candidate box as the target box; determining the target robot according to the location information of the target box; and controlling the target robot to transport the target box to the target workstation. By adopting the above scheme, the box with the highest transportation efficiency from the storage shelf to the target workstation can be selected from multiple candidate boxes as the target box, thereby reducing the transportation time of the target robot to transport the target box to the target workstation or reducing the number of transportation times of the target robot, thereby improving the efficiency of goods out of the warehouse.

Description

[0001] This application claims priority to a Chinese patent application filed with the China Patent Office on November 6, 2020, with application number 2020112312368 and invention name “Control methods, devices, equipment and computer-readable storage medium for goods outbound”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of warehousing technology, and in particular to a control method, device, equipment and computer-readable storage medium for goods out of warehouse. Background Art

[0003] In the related art, the warehousing system usually uses a handling robot to automatically carry the boxes on the shelf to the workstation to complete the outbound task. However, since the outbound task involves many factors such as the selection of boxes, the selection of workstations and the selection of robots, it is difficult to ensure the efficiency of the outbound task. Summary of the invention

[0004] The embodiments of the present application provide a method, device, equipment and computer-readable storage medium for controlling the outbound delivery of goods to solve the problems existing in the related technologies. The technical solutions are as follows:

[0005] In a first aspect, an embodiment of the present application provides a method for controlling the outbound delivery of goods, including:

[0006] Determine the target workstation based on the product information of the outbound order;

[0007] Determine candidate containers according to the product information of each current container and the product information of the delivery order, and determine the candidate container with the lowest transportation cost from among the candidate containers as the target container;

[0008] Determine the target robot according to the location information of the target material box;

[0009] Control the target robot to move the target material box to the target workstation.

[0010] In one implementation, determining a target workstation according to product information of a delivery order includes:

[0011] Determine the number of slots to be occupied based on the product information of the outbound order;

[0012] Select a workstation whose number of free slots is greater than or equal to the number of slots to be occupied from each workstation as a candidate workstation;

[0013] Calculate the first quantity of goods corresponding to the candidate workstation, where the first quantity of goods is the quantity of goods whose goods information of the allocated material box of the candidate workstation matches the goods information of the outbound delivery order;

[0014] According to the second quantity of goods corresponding to the candidate workstation and the distance between each material box and the candidate workstation, the average efficiency value of each candidate workstation is calculated, wherein the second quantity of goods is the quantity of goods whose goods information of the material box not allocated to the candidate workstation matches the remaining goods information of the outbound order;

[0015] Calculate the allocation efficiency value of each candidate workstation according to the average efficiency value of each candidate workstation and the quantity of the first goods;

[0016] The candidate workstation with the largest allocation efficiency value is determined as the target workstation.

[0017] In one implementation, the allocation efficiency value I of the candidate workstation satisfies the following formula:

[0018] I=(V+u*W)*(1+P) / C,

[0019] Among them, V is the number of first goods in the candidate workstation, W is the average efficiency value of the candidate workstation, P is the ratio of the priority value of the outbound order to the maximum priority value of all outbound orders, C is the number of slots to be occupied, and u is the preset value.

[0020] In one embodiment, determining a candidate container with the lowest transportation cost from each candidate container as a target container includes:

[0021] Determine the remaining goods information of the outbound order based on the goods information of the outbound order and the goods information of the allocated material box of the target workstation;

[0022] According to the product information of each current material box, the material box that meets the remaining product information of the outbound order is determined as a candidate material box;

[0023] The transportation cost of each candidate container is calculated, and the candidate container with the lowest transportation cost is determined as the target container.

[0024] In one embodiment, the transportation cost U of the candidate container satisfies the following formula:

[0025]

[0026] Where, d is the distance from the candidate bin to the target workstation, d max is the maximum distance from the candidate bin to the target workstation; s is the number of goods in the candidate bin that meet the goods information of the outbound order, s max is the maximum number of goods that the candidate bin can satisfy the goods information of the outbound order; n is the current number of inbound and outbound tasks in the lane where the candidate bin is located, n max is the maximum number of in-and-out tasks in the lane where each candidate material box is located; m is the number of workstations assigned to the candidate material box, m maxis the maximum number of workstations allocated to the candidate bin; w1, w2, w3, w4 and w5 are preset coefficients; f is 1 when the candidate bin is located in the storage position, and is 0 when the candidate bin is not located in the storage position.

[0027] In one embodiment, determining a target robot according to the position information of a target material box includes:

[0028] According to the location information of the target material box, determine the target lane corresponding to the target material box;

[0029] When there is no first robot in the target lane, a first robot in an idle state located in other lanes which is closest to the target lane is determined as the first target robot, wherein the first target robot is used to move the target material box from the storage position to the cache position.

[0030] In one embodiment, determining the target robot according to the position information of the target material box further includes:

[0031] The second robot that is closest to the center point of the target lane is determined as the second target robot, wherein the second target robot is used to transport the target material box from the cache position to the target workstation.

[0032] In one embodiment, after controlling the target robot to transport the target material box to the target workstation, the method further includes:

[0033] The second target robot is controlled to move the target material box from the target workstation to the target shelf.

[0034] In one embodiment, after controlling the second target robot to move the target material box from the target workstation to the target shelf, the method further includes:

[0035] The second target robot is controlled to dock below an empty cache position of the storage shelf.

[0036] In one embodiment, controlling the target robot to move the target material box to the target workstation includes:

[0037] In the case where there are multiple target workstations corresponding to the target material box, the order in which the target robot visits each target workstation is determined according to the preset configuration order;

[0038] The preset configuration order is that the number of material boxes that are about to arrive at each target workstation is arranged in order from small to large.

[0039] In a second aspect, an embodiment of the present application provides a control device for goods out of a warehouse, comprising:

[0040] The target workstation determination module is used to determine the target workstation according to the product information of the outbound order;

[0041] The target container determination module is used to determine the candidate containers according to the product information of each current container and the product information of the delivery order, and determine the candidate container with the lowest transportation cost from each candidate container as the target container;

[0042] A target robot determination module is used to determine the target robot according to the position information of the target material box;

[0043] The target robot control module is used to control the target robot to move the target material box to the target workstation.

[0044] In one embodiment, the target workstation determination module further includes:

[0045] The unit for determining the number of slots to be occupied is used to determine the number of slots to be occupied according to the product information of the outbound order;

[0046] A candidate workstation selection unit, used to select a workstation whose number of free slots is greater than or equal to the number of slots to be occupied from each workstation as a candidate workstation;

[0047] A first product quantity calculation unit, used to calculate the first product quantity corresponding to the candidate workstation, where the first product quantity is the product quantity whose product information of the allocated material box of the candidate workstation matches the product information of the delivery order;

[0048] an average efficiency value calculation unit, used to calculate the average efficiency value of each candidate workstation according to the second quantity of goods corresponding to the candidate workstation and the distance between each material box and the candidate workstation, wherein the second quantity of goods is the quantity of goods whose goods information of the material box not allocated to the candidate workstation matches the remaining goods information of the outbound delivery order;

[0049] an allocation efficiency value calculation unit, used to calculate the allocation efficiency value of each candidate workstation according to the average efficiency value of each candidate workstation and the quantity of the first product;

[0050] The target workstation determination unit is used to determine the candidate workstation with the largest allocation efficiency value as the target workstation.

[0051] In one implementation, the allocation efficiency value I of the candidate workstation satisfies the following formula:

[0052] I=(V+u*W)*(1+P) / C,

[0053] Among them, V is the number of first goods in the candidate workstation, W is the average efficiency value of the candidate workstation, P is the ratio of the priority value of the outbound order to the maximum priority value of all outbound orders, C is the number of slots to be occupied, and u is the preset value.

[0054] In one embodiment, the target bin determination module further includes:

[0055] The remaining goods information determining unit is used to determine the remaining goods information of the outbound order according to the goods information of the outbound order and the goods information of the allocated material box of the target workstation;

[0056] A candidate material box determination unit is used to determine the material box that meets the remaining product information of the delivery order as a candidate material box according to the product information of each current material box;

[0057] The target material box determination unit is used to calculate the transportation cost of each candidate material box and determine the candidate material box with the lowest transportation cost as the target material box.

[0058] In one embodiment, the transportation cost U of the candidate container satisfies the following formula:

[0059]

[0060] Where, d is the distance from the candidate bin to the target workstation, d max is the maximum distance from the candidate bin to the target workstation; s is the number of goods in the candidate bin that meet the goods information of the outbound order, s max is the maximum number of goods that the candidate bin can satisfy the goods information of the outbound order; n is the current number of inbound and outbound tasks in the lane where the candidate bin is located, n max is the maximum number of in-and-out tasks in the lane where each candidate material box is located; m is the number of workstations assigned to the candidate material box, m max is the maximum number of workstations allocated to the candidate bin; w1, w2, w3, w4 and w5 are preset coefficients; f is 1 when the candidate bin is located in the storage position, and is 0 when the candidate bin is not located in the storage position.

[0061] In one embodiment, the target robot determination module further includes:

[0062] A target lane determining unit, used to determine the target lane corresponding to the target material box according to the position information of the target material box;

[0063] The first target robot determination unit is used to determine the first robot in an idle state located in other lanes closest to the target lane as the first target robot when there is no first robot in the target lane, wherein the first target robot is used to move the target material box from the storage position to the cache position.

[0064] In one embodiment, the target robot determination module further includes:

[0065] The second target robot determination unit is used to determine the second robot that is closest to the center point of the target lane as the second target robot, wherein the second target robot is used to transport the target material box from the cache position to the target workstation.

[0066] In one embodiment, the target robot control module is further used to:

[0067] The second target robot is controlled to move the target material box from the target workstation to the target shelf.

[0068] In one embodiment, the target robot control module is further used to:

[0069] The second target robot is controlled to dock below an empty cache position of the storage shelf.

[0070] In one embodiment, the target robot control module is further used to:

[0071] In the case where there are multiple target workstations corresponding to the target material box, the order in which the target robot visits each target workstation is determined according to the preset configuration order;

[0072] The preset configuration order is that the number of material boxes that are about to arrive at each target workstation is arranged in order from small to large.

[0073] In a third aspect, an embodiment of the present application provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor so that the at least one processor can execute the above-mentioned method of controlling the goods leaving the warehouse.

[0074] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the method in any one of the above-mentioned embodiments is executed.

[0075] The advantages or beneficial effects of the above technical solution include at least: a box with the highest transportation efficiency from the storage shelf to the target workstation can be selected from multiple candidate boxes as the target box, thereby reducing the transportation time of the target robot to transport the target box to the target workstation or reducing the number of transportation times of the target robot, thereby improving the efficiency of goods out of the warehouse.

[0076] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present application will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in the present application and should not be regarded as limiting the scope of the present application.

[0078] Figure 1 It is a flow chart of a method for controlling the goods out of the warehouse according to an embodiment of the present application;

[0079] Figure 2 for Figure 1 Specific flow chart of step S101;

[0080] Figure 3 for Figure 1 Specific flow chart of step S102;

[0081] Figure 4 for Figure 1 Specific flow chart of step S103;

[0082] Figure 5 for Figure 1 Specific flow chart of step S103;

[0083] Figure 6 A flowchart of a method for controlling the shipment of goods according to another embodiment of the present application;

[0084] Figure 7 This is a flow chart of a method for controlling the goods out of a warehouse according to another embodiment of the present application;

[0085] Figure 8 is a block diagram of a control device for goods out of a warehouse according to an embodiment of the present application;

[0086] Fig. 9 A block diagram of a target workstation determination module of a control device for goods out of a warehouse according to an embodiment of the present application;

[0087] Fig.10 A block diagram of a target bin determination module of a control device for goods out of a warehouse according to an embodiment of the present application;

[0088] Fig.11 A block diagram of a target robot determination module of a control device for goods out of a warehouse according to an embodiment of the present application;

[0089] Fig.12 It is a block diagram of a goods outbound device according to an embodiment of the present application. DETAILED DESCRIPTION

[0090] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present application. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0091] Reference below Figure 1-Figure 7 The control method for goods out of warehouse according to the embodiment of the present application is described. The control method for goods out of warehouse according to the embodiment of the present application can be applied to a warehousing system to implement the goods out of warehouse task of the warehousing system.

[0092] Figure 1 A flow chart of a method for controlling the shipment of goods according to an embodiment of the present application is shown.

[0093] like Figure 1 As shown, the control method for the goods out of the warehouse may include:

[0094] Step S101: Determine the target workstation according to the product information of the delivery order;

[0095] Step S102: Determine candidate containers according to the product information of each current container and the product information of the delivery order, and determine the candidate container with the lowest transportation cost from among the candidate containers as the target container;

[0096] Step S103: Determine the target robot according to the position information of the target material box;

[0097] Step S104: Control the target robot to move the target material box to the target workstation.

[0098] In one example, a delivery order may include multiple work orders, and the product information of the delivery order may be the type and quantity of the target products corresponding to each work order. The target workstation is used for the staff to sort the target products corresponding to each work order out of the target bin. It should be noted that there may be multiple workstations, one of which may be the target workstation of a delivery order or the target workstation of multiple delivery orders. The target workstation is the candidate workstation with the highest allocation efficiency value.

[0099] In one example, a bin is used to store goods, and the current bin may be a bin placed on a storage shelf. According to the product information of each current bin, a current bin that at least partially matches the product information of the delivery order is selected as a candidate bin. The transportation cost of the candidate bin may be calculated according to the distance of the candidate bin from the target workstation and the number of goods stored in the candidate bin that match the target goods of the delivery order.

[0100] It can be understood that the transportation cost of a candidate bin is directly proportional to the distance between the candidate bin and the target workstation, that is, the smaller the distance between the candidate bin and the target workstation, the lower the transportation cost of the candidate bin; the transportation cost of a candidate bin is inversely proportional to the number of goods stored in the candidate bin that match the target goods of the delivery order, that is, the greater the number of goods stored in the candidate bin that match the target goods of the delivery order, the lower the transportation cost of the candidate bin.

[0101] In one example, the location information of the target material box may be the location information of the storage shelf where the target material box is located. The robot may be a transport robot (Automated Guided Vehicle, AGV), and the transport robot may travel along a prescribed navigation path to transport the material box between the workstation and the storage shelf. The target robot may be specifically determined according to the location information of the storage shelf where the target material box is located.

[0102] After determining the target workstation, target material box and target robot, a material box handling task is generated and sent to the target robot, thereby controlling the target robot to carry the target material box from the storage shelf to the target workstation.

[0103] According to the control method for goods outbound in the embodiment of the present application, the candidate bins are determined according to the goods information of the bins and the goods information of the outbound order, and the candidate bin with the lowest transportation cost is determined from each candidate bin as the target bin. For example, the transportation cost of each candidate bin can be calculated by combining the distance of the candidate bin from the target workstation and the number of goods that match the candidate bin with the goods information of the outbound order, and the candidate bin with the lowest transportation cost is selected as the target bin. Thus, the bin with the highest transportation efficiency from the storage shelf to the target workstation can be selected from multiple candidate bins as the target bin, thereby reducing the transportation time of the target robot to transport the target bin to the target workstation or reducing the number of transportation times of the target robot, thereby improving the efficiency of goods outbound.

[0104] In one embodiment, Figure 2 As shown, step S101 includes:

[0105] Step S201: Determine the number of slots to be occupied based on the product information of the delivery order;

[0106] Step S202: Selecting a workstation whose number of free slots is greater than or equal to the number of slots to be occupied from each workstation as a candidate workstation;

[0107] Step S203: Calculate the first product quantity corresponding to the candidate workstation, where the first product quantity is the product quantity whose product information of the allocated material box of the candidate workstation matches the product information of the delivery order;

[0108] Step S204: Calculate the average efficiency value of each candidate workstation according to the second quantity of goods corresponding to the candidate workstation and the distance between each material box and the candidate workstation, wherein the second quantity of goods is the quantity of goods whose goods information of the material box not allocated to the candidate workstation matches the remaining goods information of the outbound order; it can be understood that the remaining goods information of the outbound order is the goods information of the outbound order minus the goods information of the allocated material box of the candidate workstation that matches the outbound order;

[0109] Step S205: Calculating the allocation efficiency value of each candidate workstation according to the average efficiency value of each candidate workstation and the quantity of the first product;

[0110] Step S206: Determine the candidate workstation with the largest allocation efficiency value as the target workstation.

[0111] In one example, a workstation is provided with a sorting shelf having a plurality of slots for placing target goods sorted out from a target bin. The number of slots to be occupied can be determined according to the number and type of target goods of the outbound order, and specifically, the number of slots to be occupied can be determined according to the number of job orders of the outbound order. Among them, each target goods required by a job order corresponds to a slot to be occupied, that is, the number of slots to be occupied is equal to the number of job orders of the outbound order. By selecting a workstation whose number of free slots is greater than or equal to the number of slots to be occupied as a candidate workstation, it is ensured that the number of free slots of the candidate workstation is sufficient to place the target goods of multiple job orders.

[0112] It should be noted that the allocated bins of a candidate workstation can be understood as the target bins that the candidate workstation has previously been allocated as the target workstation of other prior delivery orders. The bins that are not allocated to a candidate workstation can be understood as all bins on the current storage shelf that are not allocated to the candidate workstation.

[0113] Exemplarily, the efficiency value E of each unallocated material box corresponding to the candidate workstation satisfies the following formula:

[0114]

[0115] Where K is the number of first items at the candidate workstation, d is the distance from the unassigned bin to the candidate workstation, and d max is the maximum value of the distance from the unassigned material box to the candidate workstation, and h is a preset value, for example, h=0.1.

[0116] The average efficiency value W of the candidate workstation can be obtained by calculating the average efficiency value E of all unassigned bins corresponding to the candidate workstation.

[0117] Optionally, the allocation efficiency value I of the candidate workstation satisfies the following formula:

[0118] I=(V+u*W)*(1+P) / C,

[0119] Wherein, V is the number of first goods of the candidate workstation, W is the average efficiency value of the candidate workstation, P is the ratio of the priority value of the outbound order to the maximum priority value of all outbound orders, C is the number of slots to be occupied, and u is a preset value. It can be understood that the priority value of the outbound order can be pre-configured according to the importance of the target goods of the outbound order.

[0120] According to the control method for goods outbound in the embodiment of the present application, the first quantity of goods and the second quantity of goods of each candidate workstation are calculated, and the average efficiency value of the candidate workstation is calculated according to the second quantity of goods and the distance between the candidate workstation and each bin, and the allocation efficiency value of the candidate workstation is calculated according to the average efficiency value of the candidate workstation and the first quantity of goods, and finally the candidate workstation with the highest allocation efficiency value is selected from each candidate workstation as the target workstation. Thus, the allocation efficiency value of each candidate workstation can be obtained by combining the goods information of the allocated bins and unallocated bins of the candidate workstation with the goods information of the outbound order, and the distance between each bin and the workstation, and other factors, and the candidate workstation with the highest allocation efficiency is selected from each candidate workstation as the target workstation of the outbound order with reference to the allocation efficiency value, thereby maximizing the efficiency of goods outbound.

[0121] In one embodiment, Figure 3 As shown, step S102 includes:

[0122] Step S301: determining the remaining goods information of the outbound order according to the goods information of the outbound order and the goods information of the allocated material box of the target workstation; wherein the remaining goods information of the outbound order can be understood as the goods information of the outbound order minus the goods information of the allocated material box of the target workstation that satisfies the outbound order;

[0123] Step S302: According to the product information of each current material box, a material box that meets the remaining product information of the outbound order is determined as a candidate material box; wherein the material box that meets the product information of the outbound order may be a material box in which at least part of the products currently stored match the product information of the outbound order;

[0124] Step S303: Calculate the transportation cost of each candidate container, and determine the candidate container with the lowest transportation cost as the target container.

[0125] In one example, the transportation cost U of the candidate container satisfies the following formula:

[0126]

[0127] Where, d is the distance from the candidate bin to the target workstation, dmax is the maximum distance from the candidate bin to the target workstation; s is the number of goods in the candidate bin that meet the goods information of the outbound order, s max is the maximum number of goods that the candidate bin can satisfy the goods information of the outbound order; n is the current number of inbound and outbound tasks in the lane where the candidate bin is located, n max is the maximum number of in-and-out tasks in the lane where each candidate material box is located; m is the number of workstations assigned to the candidate material box, m max is the maximum number of workstations allocated to the candidate bin; w1, w2, w3, w4 and w5 can be preset coefficients, for example, w1=1, w2=1, w3=10, w4=1, w5=1; f is 1 when the candidate bin is located in the storage position, and is 0 when the candidate bin is not located in the storage position.

[0128] In one embodiment, Figure 4 As shown, step S103 includes:

[0129] Step S401: determining the target lane corresponding to the target material box according to the location information of the target material box;

[0130] Step S402: When there is no first robot in the target lane, a first robot in an idle state located in other lanes closest to the target lane is determined as the first target robot, wherein the first target robot is used to move the target material box from the storage position to the cache position.

[0131] Thus, the distance that the first target robot moves to the target lane can be minimized, thereby maximizing the efficiency of the first target robot moving to the target lane.

[0132] Exemplarily, the location information of the target material box may be the location information of the storage shelf where the target material box is located, and the lane adjacent to the storage shelf where the target material box is located is the target lane. Among them, a lane is defined between two adjacent storage shelves. The storage shelf has storage positions and cache positions, and the storage positions and the cache positions are arranged in different layers, and the cache positions may be located at the bottom layer of the storage shelf. The robot includes a first robot and a second robot, the first robot can move along the lane, and the first robot is provided with a lifting mechanism and a conveying mechanism for conveying the material box from the storage position to the cache position or conveying the material box from the cache position to the storage position. The first robot in an idle state can be understood as the first robot that is not currently assigned a material box conveying task. The second robot can move along the lane to convey the material box to the storage shelf or to remove the material box from the storage shelf.

[0133] After the first target robot is determined, a movement instruction is sent to the first target robot to move the first target robot from other lanes to the lane entrance of the target lane. Then, a first material box handling task is sent to the first target robot to control the first target robot to carry the target material box located at the storage position to the cache position.

[0134] It can be understood that if there is a first robot in the target lane, the first robot is selected as the first target robot, and the first material box handling task is sent to the first target robot.

[0135] In one embodiment, Figure 5 As shown, step S103 also includes:

[0136] Step S501: Determine a second robot that is closest to the center point of the target lane as a second target robot, wherein the second target robot is used to transport the target material box from the cache position to the target workstation.

[0137] In this way, the distance that the second target robot moves to the cache position where the target material box is located can be minimized, thereby improving the handling efficiency of the second target robot.

[0138] Exemplarily, after determining the second target robot, a second material box handling task is sent to the second target robot to control the second target robot to move along the target aisle to under the cache position of the storage shelf, and transport the target material box located at the cache position to the target workstation.

[0139] Alternatively, if Figure 5 As shown, step S103 also includes:

[0140] Step S502: Control the second target robot to move the target material box from the target workstation to the target shelf.

[0141] For example, after the target bin is sorted at the target workstation, if there are still remaining goods in the target bin, a bin return task is sent to the second target robot to control the second target robot to move the target bin to the cache position of the storage shelf. Further, the first robot moves the target bin from the cache position to the storage position.

[0142] Alternatively, if Figure 5 As shown, step S103 also includes:

[0143] Step S503: Control the second target robot to dock below an empty cache position of the storage shelf.

[0144] Exemplarily, if no new material box handling task is assigned after the second target robot completes the return task, a target stop point is assigned to the second target robot in an idle state. Specifically, a lane with an idle cache position is selected from each current lane as a candidate lane, and the stop cost value of each candidate lane is calculated according to the current number of tasks of each candidate lane and the distance between each candidate lane and the second target robot, and the candidate lane with the lowest stop cost value is selected as the stop lane, and a stop point is randomly selected from the stop points under the idle cache position of the stop lane as the target stop point of the second target robot, and then a stop task is generated and sent to the second target robot to control the second target robot to move to the target stop point.

[0145] In one embodiment, Figure 6 As shown, step S104 includes:

[0146] Step S601: When there are multiple target workstations corresponding to a target material box, determine the order in which the target robot visits each target workstation according to a preset configuration sequence, wherein the preset configuration sequence is the order in which the number of material boxes to be reached at each target workstation is arranged from small to large.

[0147] It is understandable that, when multiple outbound orders need to be processed simultaneously and the target bins correspond to multiple target workstations, it is necessary to determine the order in which the target bins visit the multiple target workstations. The second target robot can visit the multiple target workstations in sequence according to the preset configuration sequence. In addition, the preset configuration sequence can also visit each target workstation in sequence from small to large according to the sum of the number of bins that have arrived at each target workstation and the number of bins that are about to arrive.

[0148] In other examples of the present application, the preset configuration order can also be determined according to the priority value of the delivery order corresponding to each target workstation, that is, the second target robot preferentially visits the target workstation with a high priority value. Alternatively, the preset configuration order can also be arranged in ascending order according to the distance between the current location of the target material box and each target workstation, that is, the second target robot visits each target workstation in order from near to far.

[0149] Refer to the following Figure 7 A method for controlling the shipment of goods according to an embodiment of the present application is described with a specific example.

[0150] like Figure 7As shown, after receiving the work order (i.e., the outbound order), the target workstation is determined according to the work order allocation workstation algorithm. Specifically, the allocation efficiency value of each candidate workstation can be calculated according to the average efficiency value of each candidate workstation and the second quantity of goods, and the candidate workstation with the lowest allocation efficiency value is selected as the target workstation. Among them, the second quantity of goods is the number of goods whose remaining goods information of the allocated shelves of the candidate workstation matches the goods information of the work order. Then, the target material box is determined according to the work order allocation material box algorithm. Specifically, the material box that meets the goods information of the work order can be determined as the candidate material box according to the goods information of each current material box, and the transportation cost of each candidate material box is calculated, and the candidate material box with the lowest transportation cost is determined as the target material box. It should be noted that if the goods information of all candidate material boxes cannot meet the goods information of the work order, that is, when the inventory required by the work order is insufficient, the target material box allocation fails, and the work order is suspended and the bound target workstation is cancelled.

[0151] If the target bin is successfully assigned, and the target bin corresponds to multiple target workstations at the same time, the order in which the target robot visits each target workstation is determined according to the bin access multi-workstation sequence algorithm, and the bin handling task is generated and sent to the target robot. Then, the target robot is determined according to the task assignment Xiao Zhuque algorithm, and the work point with the fewest target robots assigned to the workstation is selected and assigned to the target robot.

[0152] Reference below Figure 8-Figure 11 A control device 700 for goods out of warehouse according to an embodiment of the present application is described.

[0153] Figure 8 FIG. 7 is a block diagram of a control device 700 for goods out of a warehouse according to an embodiment of the present application. Figure 8 As shown, the control device 700 for goods out of the warehouse includes:

[0154] The target workstation determination module 701 is used to determine the target workstation according to the product information of the outbound order;

[0155] The target container determination module 702 is used to determine candidate containers according to the product information of each current container and the product information of the delivery order, and determine the candidate container with the lowest transportation cost from each candidate container as the target container;

[0156] The target robot determination module 703 is used to determine the target robot according to the position information of the target material box;

[0157] The target robot control module 704 is used to control the target robot to transport the target material box to the target workstation.

[0158] In one implementation, the target workstation determination module 701 further includes:

[0159] The slot number determination unit 711 is used to determine the slot number to be occupied according to the product information of the outbound order;

[0160] A candidate workstation selection unit 712, configured to select, from each workstation, a workstation whose number of free slots is greater than or equal to the number of slots to be occupied as a candidate workstation;

[0161] A first product quantity calculation unit 713 is used to calculate the first product quantity corresponding to the candidate workstation, where the first product quantity is the quantity of products whose product information of the allocated material box of the candidate workstation matches the product information of the delivery order;

[0162] The average efficiency value calculation unit 714 is used to calculate the average efficiency value of each candidate workstation according to the second quantity of goods corresponding to the candidate workstation and the distance between each material box and the candidate workstation, wherein the second quantity of goods is the quantity of goods whose goods information of the material box not allocated to the candidate workstation matches the remaining goods information of the outbound order;

[0163] The allocation efficiency value calculation unit 715 is used to calculate the allocation efficiency value of each candidate workstation according to the average efficiency value of each candidate workstation and the first product quantity;

[0164] The target workstation determining unit 716 is configured to determine the candidate workstation with the largest allocation efficiency value as the target workstation.

[0165] In one implementation, the allocation efficiency value I of the candidate workstation satisfies the following formula:

[0166] I=(V+u*W)*(1+P) / C,

[0167] Among them, V is the number of first goods in the candidate workstation, W is the average efficiency value of the candidate workstation, P is the ratio of the priority value of the outbound order to the maximum priority value of all outbound orders, C is the number of slots to be occupied, and u is the preset value.

[0168] In one embodiment, the target container determination module 720 further includes:

[0169] The remaining goods information determining unit 721 is used to determine the remaining goods information of the outbound order according to the goods information of the outbound order and the goods information of the allocated material box of the target workstation;

[0170] A candidate material box determination unit 722 is used to determine the material box that meets the remaining product information of the delivery order as a candidate material box according to the product information of each current material box;

[0171] The target container determining unit 723 is used to calculate the transportation cost of each candidate container and determine the candidate container with the lowest transportation cost as the target container.

[0172] In one embodiment, the transportation cost U of the candidate container satisfies the following formula:

[0173]

[0174] Where, d is the distance from the candidate bin to the target workstation, d max is the maximum distance from the candidate bin to the target workstation; s is the number of goods in the candidate bin that meet the goods information of the outbound order, s max is the maximum number of goods that the candidate bin can satisfy the goods information of the outbound order; n is the current number of inbound and outbound tasks in the lane where the candidate bin is located, n max is the maximum number of in-and-out tasks in the lane where each candidate material box is located; m is the number of workstations assigned to the candidate material box, m max is the maximum number of workstations allocated to the candidate bin; w1, w2, w3, w4 and w5 are preset coefficients; f is 1 when the candidate bin is located in the storage position, and is 0 when the candidate bin is not located in the storage position.

[0175] In one embodiment, the target robot determination module 730 further includes:

[0176] The target lane determining unit 731 is used to determine the target lane corresponding to the target material box according to the position information of the target material box;

[0177] The first target robot determination unit 732 is used to determine the first robot in an idle state located in other lanes closest to the target lane as the first target robot when there is no first robot in the target lane, wherein the first target robot is used to move the target material box from the storage position to the cache position.

[0178] In one embodiment, the target robot determination module 730 further includes:

[0179] The second target robot determination unit 733 is used to determine the second robot that is closest to the center point of the target lane as the second target robot, wherein the second target robot is used to transport the target material box from the cache position to the target workstation.

[0180] In one embodiment, the target robot control module 740 is further configured to:

[0181] The second target robot is controlled to move the target material box from the target workstation to the target shelf.

[0182] In one embodiment, the target robot control module 740 is further configured to:

[0183] The second target robot is controlled to dock below an empty cache position of the storage shelf.

[0184] In one embodiment, the target robot control module 740 is further configured to:

[0185] In the case where there are multiple target workstations corresponding to the target material box, the order in which the target robot visits each target workstation is determined according to the preset configuration order;

[0186] The preset configuration order is that the number of material boxes that are about to arrive at each target workstation is arranged in order from small to large.

[0187] The functions of the various modules in the control device 700 for goods out of the warehouse in the embodiment of the present invention can be found in the corresponding descriptions in the above method, and will not be repeated here.

[0188] Fig.12 FIG. 1 is a block diagram showing a structure of an electronic device according to an embodiment of the present application. Fig.12 As shown, the electronic device includes: a memory 810 and a processor 820, and the memory 810 stores instructions that can be run on the processor 820. When the processor 820 executes the instruction, the control method for goods out of the warehouse in the above embodiment is implemented. The number of the memory 810 and the processor 820 can be one or more. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0189] The electronic device may also include a communication interface 830 for communicating with external devices and performing data exchange transmission. The various devices are interconnected using different buses and may be installed on a common motherboard or in other ways as needed. The processor 820 may process instructions executed within the electronic device, including instructions stored in or on a memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to an interface). In other embodiments, if necessary, multiple processors and / or multiple buses may be used together with multiple memories and multiple memories. Similarly, multiple electronic devices may be connected, each device providing some of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, Fig.12 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0190] Optionally, in a specific implementation, if the memory 810, the processor 820 and the communication interface 830 are integrated on a chip, the memory 810, the processor 820 and the communication interface 830 can communicate with each other through an internal interface.

[0191] 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), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor supporting the Advanced RISC Machines (ARM) architecture.

[0192] An embodiment of the present application provides a computer-readable storage medium (such as the memory 810 described above), which stores computer instructions. When the program is executed by a processor, the method provided in the embodiment of the present application is implemented.

[0193] Optionally, the memory 810 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the electronic device for goods out of the warehouse, etc. In addition, the memory 810 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 810 may optionally include a memory remotely arranged relative to the processor 820, and these remote memories may be connected to the electronic device for goods out of the warehouse via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0194] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0195] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0196] Any process or method description in the flow chart or otherwise described herein can be understood to represent a module, fragment or portion of a code including one or more (two or more) executable instructions for implementing the steps of a specific logical function or process. And the scope of the preferred embodiment of the present application includes other implementations, in which the functions may not be performed in the order shown or discussed, including in a substantially simultaneous manner or in a reverse order according to the functions involved.

[0197] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, which can be embodied in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processor or other system that can fetch instructions from an instruction execution system, apparatus or device and execute instructions), or used in combination with these instruction execution systems, apparatuses or devices.

[0198] It should be understood that the various parts of the present application can be implemented with hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented with software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the above embodiment method can be completed by instructing the relevant hardware through a program, which can be stored in a computer-readable storage medium, and when the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0199] In addition, each functional unit in each embodiment of the present application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the above-mentioned integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The storage medium can be a read-only memory, a disk or an optical disk, etc.

[0200] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling the outbound delivery of goods, characterized in that: include: Determine the target workstation based on the product information of the outbound order; Determine candidate containers according to the product information of each current container and the product information of the delivery order, and determine the candidate container with the lowest transportation cost from the candidate containers as the target container; Determining a target robot according to the position information of the target material box; Controlling the target robot to move the target material box to the target workstation; Among them, according to the product information of the outbound order, the target workstation is determined, including: Determine the number of slots to be occupied according to the product information of the delivery order; select a workstation whose number of free slots is greater than or equal to the number of slots to be occupied from each workstation as a candidate workstation; Calculating the first quantity of goods corresponding to the candidate workstation, where the first quantity of goods is the quantity of goods whose goods information of the allocated material box of the candidate workstation matches the goods information of the delivery order; Calculate the average efficiency value of each candidate workstation according to the second quantity of goods corresponding to the candidate workstation and the distance between each material box and the candidate workstation, wherein the second quantity of goods is the quantity of goods whose goods information of the material box not allocated to the candidate workstation matches the remaining goods information of the delivery order; According to the average efficiency value of each candidate workstation and the first product quantity, the allocation efficiency value of each candidate workstation is calculated; and the candidate workstation with the largest allocation efficiency value is determined as the target workstation.

2. The method according to claim 1, characterized in that The allocation efficiency value I of the candidate workstation satisfies the following formula: ， Among them, V is the first quantity of goods in the candidate workstation, W is the average efficiency value of the candidate workstation, P is the ratio of the priority value of the outbound order to the maximum priority value of all outbound orders, C is the number of slots to be occupied, and u is a preset value.

3. The method according to claim 1, characterized in that Determining a candidate container with the lowest transportation cost from the candidate containers as a target container includes: Determine the remaining goods information of the delivery order according to the goods information of the delivery order and the goods information of the allocated material box of the target workstation; According to the product information of each current material box, a material box that meets the remaining product information of the delivery order is determined as a candidate material box; The transportation cost of each of the candidate containers is calculated, and the candidate container with the lowest transportation cost is determined as the target container.

4. The method according to claim 3, characterized in that: The transportation cost U of the candidate container satisfies the following formula: ， Where, d is the distance from the candidate bin to the target workstation, d max is the maximum value of the distance from the candidate bin to the target workstation; s is the number of goods in the candidate bin that meet the goods information of the delivery order, s max is the maximum number of goods that the candidate material box meets the goods information of the delivery order; n is the current number of inbound and outbound tasks in the lane where the candidate material box is located, n max is the maximum number of current in-and-out tasks in the lane where each candidate material box is located; m is the number of workstations allocated to the candidate material box, m max is the maximum number of workstations allocated to the candidate bin; w1, w2, w3, w4 and w5 are preset coefficients; f is 1 when the candidate bin is located at the storage position, and is 0 when the candidate bin is not located at the storage position.

5. The method according to claim 1, characterized in that Determining a target robot according to the position information of the target material box includes: Determining the target lane corresponding to the target material box according to the position information of the target material box; When there is no first robot in the target lane, a first robot in an idle state located in other lanes that is closest to the target lane is determined as the first target robot, wherein the first target robot is used to move the target material box from the storage position to the cache position.

6. The method according to claim 5, characterized in that Determining the target robot according to the position information of the target material box also includes: A second robot that is closest to the center point of the target lane is determined as a second target robot, wherein the second target robot is used to transport the target material box from the cache position to the target workstation.

7. The method according to claim 6, characterized in that After controlling the target robot to transport the target material box to the target workstation, the method further includes: The second target robot is controlled to move the target material box from the target workstation to the target shelf.

8. The method according to claim 7, characterized in that After controlling the second target robot to move the target material box from the target workstation to the target shelf, the method further includes: The second target robot is controlled to dock below an empty cache position of the storage shelf.

9. The method according to claim 1, characterized in that: Controlling the target robot to transport the target material box to the target workstation includes: In the case where the target material box corresponds to a plurality of the target workstations, determining the order in which the target robot visits each of the target workstations according to a preset configuration order; The preset configuration sequence is the order in which the number of material boxes that are about to arrive at each target workstation is arranged from small to large.

10. A control device for goods out of warehouse, characterized in that: include: The target workstation determination module is used to determine the target workstation according to the product information of the outbound order; A target container determination module is used to determine candidate containers according to the product information of each current container and the product information of the delivery order, and determine the candidate container with the lowest transportation cost from the candidate containers as the target container; A target robot determination module, used to determine the target robot according to the position information of the target material box; A target robot control module, used to control the target robot to carry the target material box to the target workstation; Wherein, the target workstation determination module further includes: A slot number determination unit to be occupied, used to determine the slot number to be occupied according to the product information of the delivery order; A candidate workstation selection unit, configured to select, from each workstation, a workstation whose number of free slots is greater than or equal to the number of slots to be occupied as a candidate workstation; A first product quantity calculation unit, used to calculate the first product quantity corresponding to the candidate workstation, where the first product quantity is the product quantity whose product information of the allocated material box of the candidate workstation matches the product information of the delivery order; an average efficiency value calculation unit, configured to calculate an average efficiency value of each candidate workstation according to the second quantity of goods corresponding to the candidate workstation and the distance between each material box and the candidate workstation, wherein the second quantity of goods is the quantity of goods whose goods information of the material box not allocated to the candidate workstation matches the remaining goods information of the delivery order; an allocation efficiency value calculation unit, configured to calculate an allocation efficiency value of each candidate workstation according to an average efficiency value of each candidate workstation and the quantity of the first product; The target workstation determining unit is configured to determine the candidate workstation with the largest allocation efficiency value as the target workstation.

11. The device according to claim 10, characterized in that The allocation efficiency value I of the candidate workstation satisfies the following formula: ， Among them, V is the first quantity of goods in the candidate workstation, W is the average efficiency value of the candidate workstation, P is the ratio of the priority value of the outbound order to the maximum priority value of all outbound orders, C is the number of slots to be occupied, and u is a preset value.

12. The device according to claim 10, characterized in that The target bin determination module also includes: A remaining goods information determining unit, configured to determine the remaining goods information of the delivery order according to the goods information of the delivery order and the goods information of the allocated material boxes of the target workstation; A candidate material box determination unit, configured to determine a material box that satisfies the remaining product information of the delivery order as a candidate material box according to the product information of each current material box; The target material box determination unit is used to calculate the transportation cost of each of the candidate material boxes, and determine the candidate material box with the lowest transportation cost as the target material box.

13. The device according to claim 12, characterized in that The transportation cost U of the candidate container satisfies the following formula: ， Where, d is the distance from the candidate bin to the target workstation, d max is the maximum value of the distance from the candidate bin to the target workstation; s is the number of goods in the candidate bin that meet the goods information of the delivery order, s max is the maximum number of goods that the candidate material box meets the goods information of the delivery order; n is the current number of inbound and outbound tasks in the lane where the candidate material box is located, n max is the maximum number of current in-and-out tasks in the lane where each candidate material box is located; m is the number of workstations allocated to the candidate material box, m max is the maximum number of workstations allocated to the candidate bin; w1, w2, w3, w4 and w5 are preset coefficients; f is 1 when the candidate bin is located at the storage position, and is 0 when the candidate bin is not located at the storage position.

14. The device according to claim 10, characterized in that The target robot determination module also includes: A target lane determining unit, used to determine the target lane corresponding to the target material box according to the position information of the target material box; The first target robot determination unit is used to determine, when there is no first robot in the target lane, a first robot in an idle state located in other lanes closest to the target lane as the first target robot, wherein the first target robot is used to move the target material box from the storage position to the cache position.

15. The device according to claim 14, characterized in that The target robot determination module also includes: The second target robot determination unit is used to determine a second robot that is closest to the center point of the target lane as the second target robot, wherein the second target robot is used to transport the target material box from the cache position to the target workstation.

16. The device according to claim 15, characterized in that The target robot control module is also used for: The second target robot is controlled to move the target material box from the target workstation to the target shelf.

17. The device according to claim 16, characterized in that The target robot control module is also used for: The second target robot is controlled to dock below an empty cache position of the storage shelf.

18. The device according to claim 10, characterized in that The target robot control module is also used for: In the case where the target material box corresponds to a plurality of the target workstations, determining the order in which the target robot visits each of the target workstations according to a preset configuration order; The preset configuration sequence is the order in which the number of material boxes that are about to arrive at each target workstation is arranged from small to large.

19. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 9.

20. A computer-readable storage medium, wherein computer instructions are stored in the computer-readable storage medium, and when the computer instructions are executed by a processor, the method according to any one of claims 1 to 9 is implemented.

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