Goods Scheduling Method, Device, Equipment, Warehousing System and Storage Medium

Abstract

An embodiment of the present disclosure provides a goods scheduling method, device, equipment, warehousing system, and storage medium. The goods scheduling method includes: determining each to-be-scheduled good at the goods entrance of a target conveyor line, where the target conveyor line includes at least two sub-conveyor lines, and each sub-conveyor line includes at least two picking positions; determining the placement order of the to-be-scheduled goods according to the picking positions corresponding to the to-be-scheduled goods and each first good being transported on the target conveyor line, so as to place each to-be-scheduled good on the sub-conveyor line of the target conveyor line based on the placement order, thereby reducing the time required for each picking position to pick all the to-be-scheduled goods, improving the overall picking efficiency of each picking position, and further improving the goods picking efficiency of the warehousing system.

Description

[0001] This application is a divisional application of the invention patent application with the application number 202110945551.5, the application date of August 18, 2021, and the invention creation name of "Goods Scheduling Method, Device, Equipment, Warehousing System and Storage Medium", which was submitted to the China National Patent Office. Technical Field

[0002] The present disclosure relates to the field of intelligent warehousing technologies, and in particular, to a goods scheduling method, device, equipment, warehousing system and storage medium. Background Art

[0003] The robot-based warehousing system adopts an intelligent operating system to realize the automatic picking and storage of goods through system instructions. At the same time, it can operate continuously for 24 hours, replacing manual management and operation, improving the efficiency of warehousing, and being widely applied and favored.

[0004] When the warehousing system receives orders such as sorting, packing and outbound, it is necessary to use robots to transport each goods corresponding to the order to the conveyor line, and then transport the goods to each sorting position through the conveyor line. The operators or robotic arms corresponding to the sorting positions sort or pack the goods, so as to complete the corresponding order. In the prior art, the goods placed on the robot are often placed on the conveyor line in a set order, such as from top to bottom or from bottom to top, and each goods is transported to the corresponding sorting position for sorting. By adopting the above method, it is easy to cause congestion of goods on the conveyor line, and the efficiency of goods transportation and processing is low, which cannot meet the requirements. Summary of the Invention

[0005] The present disclosure provides a goods scheduling method, device, equipment, warehousing system and storage medium, which determines the placement order of each goods on the conveyor line based on the conveying situation of the conveyor line and the characteristics of the sorting positions, and improves the efficiency of goods transportation and processing.

[0006] In a first aspect, an embodiment of the present disclosure provides a goods scheduling method, the method includes: determining each goods to be scheduled at the goods inlet of the target conveyor line, where the target conveyor line includes at least two sub-conveyor lines, and each sub-conveyor line includes at least two picking positions; determining the placement order of the goods to be scheduled according to the picking positions corresponding to each goods to be scheduled and each first goods being transported on the target conveyor line, so as to place each goods to be scheduled on the sub-conveyor line of the target conveyor line based on the placement order.

[0007] Optionally, determining the placement order of the goods to be scheduled according to the picking positions corresponding to each of the goods to be scheduled and each of the first goods being transported on the target conveyor line includes: determining the first picking time of each picking position on the target conveyor line according to the picking positions corresponding to each of the first goods being transported on the target conveyor line; and determining the placement order of each of the goods to be scheduled according to the sub-conveyor lines to which each picking position belongs, the first picking time of each picking position, and the picking positions corresponding to each of the goods to be scheduled.

[0008] Optionally, each of the sub-conveyor lines includes at least one manual picking position and at least one robotic arm picking position. The manual picking position is picked by an operator, and the robotic arm picking position is picked by a robotic arm. Moreover, the robotic arm picking positions of each sub-conveyor line on the target conveyor line all correspond to the same robotic arm. Determining the first picking time of each picking position on the target conveyor line according to the picking positions corresponding to each of the first goods being transported on the target conveyor line includes: for the manual picking positions of each sub-conveyor line, determining the first picking time of the manual picking position of the sub-conveyor line according to the picking tasks of each of the first goods corresponding to the manual picking position of the sub-conveyor line; and determining the first picking time of each robotic arm picking position according to the picking tasks of each of the first goods corresponding to the robotic arm on the target conveyor line and the robotic arm picking positions to which each of the first goods belongs.

[0009] Optionally, determining the placement order of the goods to be scheduled according to the sub-conveyor lines to which each picking position belongs, the first picking time of each picking position, and the picking positions corresponding to each of the goods to be scheduled includes: for each sub-conveyor line, if the first picking time of the picking position upstream of the sub-conveyor line is less than the first picking time of the picking position downstream of the sub-conveyor line, then determining the placement order of each of the goods to be scheduled corresponding to the sub-conveyor line according to the difference between the first picking time of the picking position upstream and the first picking time of the picking position downstream, the picking positions corresponding to each of the goods to be scheduled corresponding to the sub-conveyor line, and the picking tasks of each of the goods to be scheduled corresponding to the sub-conveyor line, where the conveying direction of the goods on the sub-conveyor line points from the picking position upstream to the picking position downstream.

[0010] Optionally, based on the difference between the first picking time of the upstream picking position and the first picking time of the downstream picking position, the picking positions corresponding to each to-be-scheduled cargo on the sub-conveyor line, and the picking tasks of each to-be-scheduled cargo on the sub-conveyor line, determine the placement order of each to-be-scheduled cargo on the sub-conveyor line, including: for each sub-conveyor line, determine the first time for the cargo to be conveyed from the upstream picking position to the downstream picking position according to the distance between the upstream picking position and the downstream picking position on the sub-conveyor line; calculate the first difference obtained by subtracting the first picking time of the upstream picking position from the first picking time of the downstream picking position; based on the sum value of the first difference and the first time, the picking positions corresponding to each to-be-scheduled cargo on the sub-conveyor line, and the picking tasks of each to-be-scheduled cargo on the sub-conveyor line, determine the placement order of each to-be-scheduled cargo on the sub-conveyor line.

[0011] Optionally, based on the sum value of the first difference and the first time, the picking positions corresponding to each to-be-scheduled cargo on the sub-conveyor line, and the picking tasks of each to-be-scheduled cargo on the sub-conveyor line, determine the placement order of each to-be-scheduled cargo on the sub-conveyor line, including: when the sum value of the first difference and the first time is less than the preset time, determine the target cargo to be first placed on the sub-conveyor line from each to-be-scheduled cargo whose corresponding picking position is the downstream picking position; and / or, when the sum value of the first difference and the first time is greater than or equal to the preset time, determine the target cargo to be first placed on the sub-conveyor line from each to-be-scheduled cargo whose corresponding picking position is the upstream picking position; based on the picking task of the target cargo, the picking positions corresponding to each other to-be-scheduled cargo, the picking tasks of each other to-be-scheduled cargo, and the picking rate of each picking position, determine the placement order of each other to-be-scheduled cargo.

[0012] Optionally, based on the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, and the picking positions corresponding to each to-be-scheduled cargo, determine the placement order of each to-be-scheduled cargo, including: for each to-be-scheduled cargo, determine the operation time of the to-be-scheduled cargo according to the picking rate of the picking position corresponding to the to-be-scheduled cargo and the picking task of the to-be-scheduled cargo; based on the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, the picking positions corresponding to each to-be-scheduled cargo, and the operation time of each to-be-scheduled cargo, determine the placement order of each to-be-scheduled cargo.

[0013] Optionally, determining the placement order of the goods to be scheduled according to the picking positions corresponding to the goods to be scheduled and each first good being transported on the target conveyor line includes: determining each alternative order of the goods to be scheduled; for each alternative order, determining the second picking time of the target conveyor line according to each first good being transported on the target conveyor line, the picking positions corresponding to the goods to be scheduled, and the order corresponding to each good to be scheduled in the alternative order; and determining the alternative order with the shortest second picking time as the placement order.

[0014] Optionally, determining the second picking time of the target conveyor line according to each first good being transported on the target conveyor line, the picking positions corresponding to the goods to be scheduled, and the order corresponding to each good to be scheduled in the alternative order includes: determining the first picking time of each picking position on the target conveyor line according to the picking positions and picking tasks corresponding to each first good being transported on the target conveyor line; and determining the second picking time of each picking position on the target conveyor line according to the first picking time corresponding to each picking position, the picking positions corresponding to the goods to be scheduled, the picking tasks of the goods to be scheduled, and the order corresponding to each good to be scheduled in the alternative order.

[0015] In a second aspect, an embodiment of the present disclosure further provides a goods scheduling device, including: a goods to be scheduled determination module, configured to determine each good to be scheduled at the goods inlet of the target conveyor line, where the target conveyor line includes at least two sub-conveyor lines, and each sub-conveyor line includes at least two picking positions; and a placement order determination module, configured to determine the placement order of the goods to be scheduled according to the picking positions corresponding to the goods to be scheduled and each first good being transported on the target conveyor line, so as to place each of the goods to be scheduled on the sub-conveyor line of the target conveyor line based on the placement order.

[0016] In a third aspect, an embodiment of the present disclosure further provides a goods scheduling device, including: a memory and at least one processor; the memory stores computer execution instructions; and the at least one processor executes the computer execution instructions stored in the memory, so that the at least one processor executes the goods scheduling method provided in any embodiment corresponding to the first aspect of the present disclosure.

[0017] In a fourth aspect, an embodiment of the present disclosure further provides a warehousing system, including a target conveyor line, a robot, and the goods scheduling device provided in the embodiment corresponding to the third aspect of the present disclosure, where the target conveyor line includes at least two sub-conveyor lines, and each sub-conveyor line includes at least two picking positions.

[0018] Fifth aspect, embodiments of the present disclosure further provide a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the goods scheduling method provided in any of the embodiments corresponding to the first aspect of the present disclosure is implemented.

[0019] Sixth aspect, embodiments of the present disclosure further provide a computer program product, including a computer program. When the computer program is executed by a processor, the goods scheduling method provided in any of the embodiments corresponding to the first aspect of the present disclosure is implemented.

[0020] The goods scheduling method, device, equipment, warehousing system and storage medium provided by the embodiments of the present disclosure are directed to a warehousing system including a target conveyor line composed of multiple sub-conveyor lines, and each sub-conveyor line includes at least two picking positions. Based on the picking positions corresponding to each to-be-scheduled good at the goods inlet of the target conveyor line and each first good being transported on the target conveyor line currently, the placement order of each to-be-scheduled good is automatically determined, thereby reducing the time required for the target conveyor line to complete the picking task of each to-be-picked good, improving the picking efficiency of each picking position of the target conveyor line of the warehousing system, and improving the efficiency of goods picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings here are incorporated into the specification and constitute a part of this specification, showing the embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0022] Figure 1 It is an application scenario diagram of the goods scheduling method provided by the embodiments of the present disclosure;

[0023] Figure 2 It is a flowchart of the goods scheduling method provided by an embodiment of the present disclosure;

[0024] Figure 3 It is a schematic structural diagram of a target conveyor line provided by an embodiment of the present disclosure;

[0025] Figure 4 It is a schematic structural diagram of a target conveyor line provided by another embodiment of the present disclosure;

[0026] Figure 5 It is a flowchart of the goods scheduling method provided by another embodiment of the present disclosure;

[0027] Figure 6 For the present disclosure Figure 5 The flowchart of step S503 in the shown embodiment;

[0028] Figure 7 It is a flowchart of the goods scheduling method provided by another embodiment of the present disclosure;

[0029] Figure 8 A structural schematic diagram of a goods scheduling device provided by an embodiment of the present disclosure;

[0030] Figure 9 A structural schematic diagram of a goods scheduling device provided by an embodiment of the present disclosure;

[0031] Figure 10 A structural schematic diagram of a warehousing system provided by an embodiment of the present disclosure.

[0032] Through the above-mentioned drawings, specific embodiments of the present disclosure have been shown, and there will be more detailed descriptions hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of the present disclosure in any way, but to illustrate the concept of the present disclosure to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0033] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When referring to the drawings below, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0034] The technical solution of the present disclosure and how the technical solution of the present disclosure solves the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present disclosure will be described below in conjunction with the drawings.

[0035] The application scenarios of the embodiments of the present disclosure will be explained below:

[0036] Figure 1 An application scenario diagram of the goods scheduling method provided by an embodiment of the present disclosure. As Figure 1 shown, the goods scheduling method provided by an embodiment of the present disclosure can be executed by a goods scheduling device, and the goods scheduling device can be a scheduling device of a warehousing system, and its form can be a computer or a server. When the order receiving device 110 of the warehousing system receives a goods picking or outbound order, task information is generated and sent to the robot 120, such as any idle robot, and each corresponding good 130 in the order is transported by the robot 120. Figure 1Taking two goods 130 as an example, they are transported to the goods entrance I of the conveyor line 140, and the goods 130 are placed on the conveyor line 140 and transported by the conveyor line 140 to the corresponding picking positions, such as manual picking positions or robotic arm picking positions. At the corresponding picking positions, the picking or packing and outbound of the goods 130 are completed. If the goods 130 after picking need to be returned to the warehouse, the goods 130 can be transported by the conveyor line 140 to the goods outbound E, and then any robot, such as robot 120, transports the goods 130 to the warehouse and completes the inbound of the goods 130, such as storing the goods 130 in the original storage location or the reallocated storage location.

[0037] In some embodiments, the conveyor line 140 can be in the shapes of U-shaped, circular, strip-shaped, rectangular, etc., and can also be in an irregular shape, such as a stepped shape, which can be specifically determined according to the actual environment of the warehousing system.

[0038] In some embodiments, the conveying direction of the conveyor line 140 can be one-way or two-way.

[0039] To improve efficiency, on one conveyor line 140, multiple picking positions are often set. Figure 1 Taking two picking positions as an example. In the prior art, when there are multiple goods 130 at the goods entrance I of the conveyor line 140, the goods 130 on each layer of the temporary storage rack 121 of the robot 120 are often placed on the conveyor line 140 in the default order, such as from high to low or from low to high. Since different goods correspond to different picking positions, using the above method, it is easy to cause congestion at the upstream picking positions while the downstream picking positions are idle, resulting in congestion of the conveyor line, low efficiency of goods transportation and picking.

[0040] To improve the efficiency of goods transportation and picking, the embodiments of the present disclosure provide a goods scheduling method. The main idea of this method is: based on the picking positions corresponding to each to-be-scheduled good of the target conveyor line and the picking situation of each current picking position, determine the placement order of the to-be-scheduled goods on the target conveyor line, so as to reduce the time for all to-be-scheduled goods to be picked and improve the goods picking efficiency.

[0041] Figure 2 It is a flowchart of the goods scheduling method provided by an embodiment of the present disclosure. As Figure 2 shown, this goods scheduling method is applicable to a warehousing system and can be executed by a goods scheduling device. The goods scheduling method provided in this embodiment includes the following steps:

[0042] Step S201, determine each to-be-scheduled good at the goods entrance of the target conveyor line.

[0043] Among them, the goods inlet is the position where goods are placed on the target conveyor line. The target conveyor line includes at least two sub-conveyor lines, and each sub-conveyor line includes at least two picking positions. A picking position is an area on the conveyor line configured to pick and pack the goods transported to the working area of the picking position. The goods to be scheduled can be the goods in the warehouse of the storage system that need to be operated by the picking position.

[0044] In some embodiments, the target conveyor line may include two, three, four or other numbers of sub-conveyor lines. The number of picking positions on each sub-conveyor line can be the same or different. The sub-conveyor line can include 2, 3, 4 or other numbers of picking positions.

[0045] In some embodiments, the picking positions on the sub-conveyor line can include two types: manual picking positions and robotic arm picking positions. Goods can be picked by an operator at the manual picking position, and goods can be picked by a robotic arm at the robotic arm picking position.

[0046] In some embodiments, the robotic arm picking positions on each sub-conveyor line of the same target conveyor line can be picked by the same robotic arm.

[0047] Exemplarily, Figure 3 is a schematic structural diagram of the target conveyor line provided by an embodiment of the present disclosure. As Figure 3 shown, the target conveyor line 300 includes two U-shaped sub-conveyor lines 310. Each sub-conveyor line 310 includes two picking positions, a manual picking position 311 and a robotic arm picking position 312, which are respectively arranged on two straight sides of the U-shaped sub-conveyor line. The robotic arm picking positions 312 of the two sub-conveyor lines 310 are picked by the same robotic arm 313. The robotic arm 313 can rotate, such as rotating along the directions corresponding to the two arcs with arrows in Figure 3 . The maximum rotation angle can be 90°, 180°, 360° or other angles, and the present disclosure does not limit this. The working range of the robotic arm 313 is a circular area with the center of the robotic arm 313 as the center and the arm length of the robotic arm 313 as the radius, such as the area corresponding to the dotted circle in Figure 3 .

[0048] Exemplarily, Figure 4 is a schematic structural diagram of the target conveyor line provided by another embodiment of the present disclosure. As Figure 4 shown, the target conveyor line 400 includes 4 sub-conveyor lines, namely sub-conveyor line 401 to sub-conveyor line 404. Two picking positions are arranged on each sub-conveyor line.

[0049] Specifically, the goods identification of each goods to be scheduled can be identified by the goods inlet of the target conveyor line, and then each goods to be scheduled can be determined based on the goods identification.

[0050] Further, the robot can transport each goods to be scheduled to the goods inlet of the target conveyor line, and the robot can send the goods identification of each goods to be scheduled to the goods scheduling device.

[0051] Specifically, after receiving an order, such as receiving the order by the order receiving device, and then sending the order information of the order to the goods scheduling device, the order information may include information such as the order number and order requirements. The goods scheduling device determines the target operation platform corresponding to the order, assigns the order to the target operation platform, determines the conveyor line corresponding to the target operation platform as the target conveyor line, and determines each goods to be scheduled corresponding to the target conveyor line based on the order requirements of the order.

[0052] Step S202: Determine the placement order of the goods to be scheduled according to the picking positions corresponding to each goods to be scheduled and each first goods being transported on the target conveyor line, so as to place each goods to be scheduled on the sub-conveyor line of the target conveyor line based on the placement order.

[0053] Specifically, when each goods is first stored in the warehouse, a picking position can be configured for each goods, and a first correspondence relationship is established according to the picking position corresponding to the goods and the goods identification of the goods to be scheduled, so as to determine the picking positions corresponding to each goods to be scheduled based on the first correspondence relationship.

[0054] Specifically, a picking position can be pre-assigned to each goods to be scheduled, such as assigning a picking position to the goods to be scheduled according to parameters such as the goods type, goods fragility level, and goods size of the goods to be scheduled.

[0055] Specifically, the placement order of the goods to be scheduled can be determined according to the picking positions corresponding to each goods to be scheduled and the picking positions corresponding to each first goods, so as to reduce the waiting time of the first and last goods to be scheduled placed on the target conveyor line, thereby improving the picking efficiency of the target conveyor line.

[0056] Further, the first quantity of the first goods corresponding to each picking position on the target conveyor line can be counted according to the picking positions corresponding to each first goods, and the placement order of each goods to be scheduled can be determined according to the first quantity corresponding to each picking position and the picking positions corresponding to each goods to be scheduled.

[0057] Specifically, the picking positions can be sorted in ascending order of the first quantity, and the placement order of each goods to be scheduled can be determined based on the sorting result, the difference between the first quantities of two adjacent picking positions in the ranking, and the picking positions corresponding to each goods to be scheduled.

[0058] Exemplarily, assume that there are 5 picking positions in the target conveyor line, from picking position 01 to picking position 05, and the first quantities of the first goods corresponding to them are: 3, 2, 4, 1, 0 respectively. Then the sorting result of the picking positions is: picking position 05, picking position 04, picking position 02, picking position 01, and picking position 03. There are 5 goods to be scheduled, from goods 11 to goods 15, corresponding to picking positions 01 to 05 respectively. Then the placement order can be goods 15, goods 14, goods 12, goods 11, and goods 13.

[0059] Further, after determining the placement order, based on this placement order, each goods to be scheduled is placed on each sub-conveyor line of the target conveyor line in sequence. When the previous goods to be scheduled in the placement order has been conveyed a preset distance, the next goods to be scheduled in the placement order can be placed. This preset distance can be a fixed value, and the robot can judge whether the distance of the previous goods to be scheduled on this sub-conveyor line reaches this preset distance.

[0060] In some embodiments, the conveying direction of the sub-conveyor line is from the goods inlet to the goods outlet. Then when determining the placement order, the positions of the picking positions also need to be considered. The goods at the downstream picking positions need to wait until the picking at the upstream picking positions is completed or the upstream picking positions are idle before being conveyed to the downstream picking positions. Correspondingly, the placement order of each goods to be scheduled can be determined according to the picking positions corresponding to each goods to be scheduled, the positions of each picking position, and the first goods corresponding to each picking position.

[0061] Exemplarily, assume that the number of the first goods being transported on the target conveyor line is 3, namely goods A, goods B, and goods C. Among them, goods A and C correspond to the robotic arm picking positions of the second sub-conveyor line, and goods B corresponds to the manual picking position of the second sub-conveyor line. The manual picking position of each sub-conveyor line is the upstream picking position, while the robotic arm picking position is the downstream picking position. The number of goods to be scheduled is 4, namely goods a, goods b, goods c, and goods d. Goods a and goods b correspond to the manual picking position and the robotic arm picking position of the first sub-conveyor line respectively, and goods c and goods d correspond to the manual picking position and the robotic arm picking position of the second sub-conveyor line respectively. Then the placement order of the first sub-conveyor line can be b - a, and the placement order of the second sub-conveyor line can be c - d.

[0062] The goods scheduling method provided by the embodiments of the present disclosure is directed to a warehousing system including a target conveyor line composed of multiple sub-conveyor lines, and each sub-conveyor line includes at least two picking positions. Based on the picking positions corresponding to each to-be-scheduled good at the goods entrance of the target conveyor line and each first good being transported on the target conveyor line currently, the placement order of each to-be-scheduled good is automatically determined, thereby reducing the time required for the target conveyor line to complete the picking tasks of each to-be-picked good, improving the picking efficiency of each picking position on the target conveyor line of the warehousing system, and improving the goods picking efficiency.

[0063] Optionally, determining the placement order of the to-be-scheduled goods according to the picking positions corresponding to each to-be-scheduled good and each first good being transported on the target conveyor line includes: determining the first picking time of each picking position on the target conveyor line according to the picking positions corresponding to each first good being transported on the target conveyor line; determining the placement order of each to-be-scheduled good according to the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, and the picking positions corresponding to each to-be-scheduled good.

[0064] Wherein, the first picking time is the time required for the picking position to complete the picking tasks of the corresponding first goods.

[0065] Specifically, the first picking time of each picking position can be determined according to the picking positions corresponding to each first good and the picking tasks of each first good.

[0066] Specifically, after determining the first picking time of each picking position, the to-be-scheduled goods corresponding to the picking position with a smaller first picking time can be placed preferentially.

[0067] Specifically, since the target conveyor line includes multiple sub-conveyor lines, each sub-conveyor line can correspond to a goods entrance and can be used for placing the to-be-scheduled goods. When determining the placement order of the to-be-scheduled goods, the placement order of each to-be-scheduled good can be determined based on the sub-conveyor line corresponding to each picking position, the corresponding first picking time, and the picking positions corresponding to each to-be-scheduled good.

[0068] Exemplarily, assume that the target conveyor line includes two sub-conveyor lines, each sub-conveyor line includes two picking positions. The first picking times of picking positions A11 and A12 on the first sub-conveyor line are 10s and 15s respectively, and the first picking times of picking positions A21 and A22 on the second sub-conveyor line are 5s and 20s respectively. The picking positions corresponding to the goods B1 to B5 to be scheduled are A11, A12, A21, A21, and A22 in sequence. Then the placement order on the first sub-conveyor line can be B1 - B2, that is, control the robot at the goods inlet of the first sub-conveyor line to place the goods B1 to be scheduled and the goods B2 to be scheduled on the first sub-conveyor line successively; the placement order on the second sub-conveyor line can be B3 - B4 - B5 or B4 - B3 - B5, that is, control the robot at the goods inlet of the second sub-conveyor line to place the goods B3 to be scheduled, the goods B4 to be scheduled, and the goods B5 to be scheduled on the second sub-conveyor line in sequence, or place the goods B4 to be scheduled, the goods B3 to be scheduled, and the goods B5 to be scheduled on the second sub-conveyor line in sequence.

[0069] In some embodiments, picking positions with different picking rates are set on the sub-conveyor line. Thus, for the same picking task, due to different picking rates, the picking times required for different picking positions are different.

[0070] Optionally, each of the sub-conveyor lines includes at least one manual picking position and at least one robotic arm picking position. The manual picking position is picked by an operator, and the robotic arm picking position is picked by a robotic arm. Moreover, the robotic arm picking positions of each sub-conveyor line of the target conveyor line all correspond to the same robotic arm; determining the first picking time of each picking position of the target conveyor line according to the picking positions corresponding to the first goods being transported on the target conveyor line includes: for the manual picking positions of each sub-conveyor line, determining the first picking time of the manual picking position of the sub-conveyor line according to the picking tasks of the first goods corresponding to the manual picking position of the sub-conveyor line; determining the first picking time of each robotic arm picking position according to the picking tasks of the first goods corresponding to the robotic arm of the target conveyor line and the robotic arm picking positions to which the first goods belong.

[0071] Wherein, the first picking time is the time required for the picking position to pick all the corresponding first goods.

[0072] Specifically, since the manual picking positions on each sub-conveyor line are independent and do not need to share an operator with other sub-conveyor lines, for each manual picking position of the sub-conveyor line, the first picking time of the manual picking position of the sub-conveyor line can be directly determined based on the picking tasks of the first goods corresponding to the manual picking position of the sub-conveyor line and the picking rate of the manual picking position.

[0073] Specifically, since the robotic arm picking positions of different sub-conveyor lines are all picked by one robotic arm, when calculating the picking time of the first goods at the robotic arm picking position of the current sub-conveyor line, it is also necessary to consider the picking tasks of the first goods at the robotic arm picking positions of other sub-conveyor lines.

[0074] Furthermore, the picking order of each first good corresponding to the robotic arm can be determined, and then based on the picking order of each first good corresponding to the robotic arm and the picking tasks, the first picking time of each robotic arm picking position can be determined.

[0075] Exemplarily, taking the target conveyor line including 4 sub-conveyor lines as an example, there is one robotic arm picking position on each sub-conveyor line, and all the robotic arm picking positions share one robotic arm. The first goods corresponding to this robotic arm include 3, namely goods a51, a52, and a53, corresponding to the first sub-conveyor line, the third sub-conveyor line, and the fourth sub-conveyor line respectively. The picking order is a52, a51, a53. The picking task of a51 is 100 pieces of clothes c1, the picking task of a52 is 50 pieces of clothes c1, and the picking task of a53 is 10 pieces of clothes c1. It takes an average of 0.1 s for the robotic arm to pick one piece of clothes c1. Then the first picking times of the robotic arm picking positions on the first sub-conveyor line to the fourth sub-conveyor line are: 15 s, 0 s, 5 s, and 16 s respectively.

[0076] Optionally, determining the placement order of each of the goods to be scheduled according to the sub-conveyor lines to which each picking position belongs, the first picking time of each picking position, and the picking positions corresponding to each of the goods to be scheduled includes: for each good to be scheduled, determining the operation time of the good to be scheduled according to the picking rate of the picking position corresponding to the good to be scheduled and the picking task of the good to be scheduled; determining the placement order of each of the goods to be scheduled according to the sub-conveyor lines to which each picking position belongs, the first picking time of each picking position, the picking positions corresponding to each of the goods to be scheduled, and the operation time of each of the goods to be scheduled.

[0077] Specifically, the operation time of the good to be scheduled can be determined according to the ratio of the picking task of the good to be scheduled to the picking rate of the corresponding picking position.

[0078] In some embodiments, for the good to be scheduled H i the operation time t i the relational expression can be:

[0079]

[0080] where m i is the picking task of the good to be scheduled H i and v i is the picking rate of the picking position corresponding to the good to be scheduled H iThe picking rate of the corresponding picking position; t0 is a set time constant used to represent the time required for the goods H to be i be conveyed to the corresponding picking position until the picking at this picking position starts.

[0081] Specifically, for each sub-conveyor line, it can be determined whether the first picking time of the picking position upstream of this sub-conveyor line is less than the working position time of the picking position downstream. If so, based on the difference between the first picking time of the picking position downstream and the first picking time of the picking position upstream, one or more goods to be scheduled corresponding to the picking position upstream of this sub-conveyor line are determined from the goods to be scheduled as the first batch of goods to be placed on this sub-conveyor line. Then, the second batch of goods to be placed on this sub-conveyor line is determined as the goods to be scheduled corresponding to the picking position downstream of this sub-conveyor line, and so on, alternating the placement.

[0082] Further, if the picking rates of the picking position upstream and the picking position downstream are different, after removing the first batch of goods to be scheduled, the remaining goods to be scheduled can be alternately placed according to the ratio of the picking rates to reduce the idle time of each picking position and improve the operation efficiency.

[0083] Exemplarily, if there are two picking positions on the sub-conveyor line, the ratio of the picking speeds of the picking position upstream and the picking position downstream is 1:3, the first picking time of the picking position upstream is 5s, the first picking time of the picking position downstream is 30s, there are 10 goods to be scheduled at the goods inlet of this sub-conveyor line, 4 corresponding to the picking position upstream and 6 corresponding to the picking position downstream, and the picking tasks of each good to be scheduled are the same. It takes 12s for the picking position upstream to complete the picking task of one good to be scheduled, and it takes 4s for the picking position downstream. Then the placement order can be: 2 Hs U 、3 Hs D 、1 H U 、3 Hs D and 1 H U where the picking position corresponding to the good to be scheduled H D is the picking position downstream, and the picking position corresponding to the good to be scheduled H U is the picking position upstream.

[0084] When the first picking time of the picking position upstream of the sub-conveyor line is greater than or equal to the first picking time of the picking position downstream, the placement order can be directly determined based on the ratio of the picking rates of the picking position upstream and the picking position downstream and the picking positions corresponding to each good to be scheduled.

[0085] Exemplarily, the first picking times of the picking positions upstream and downstream of the sub-conveyor line are 20 s and 10 s respectively, and the ratio of the picking rates of the picking positions upstream and downstream is 1:2. There are 9 goods to be scheduled, 3 corresponding to the picking position upstream and 6 corresponding to the picking position downstream. The picking tasks of each good to be scheduled are the same. Then the placement order can be: 2 Hs D , 1 H U , 2 Hs D , 1 H U , 2 Hs D and 1 H U .

[0086] Figure 5 FIG. is a flowchart of a goods scheduling method provided by another embodiment of the present disclosure. In this embodiment, for each sub-conveyor line, there is an upstream picking position and a downstream picking position. The conveying direction of the sub-conveyor line is from the upstream picking position to the downstream picking position. The goods scheduling method provided in this embodiment is a further refinement of step S202 on the basis of the embodiment shown in Figure 2 . As shown in Figure 5 , the goods scheduling method provided in this embodiment may include the following steps:

[0087] Step S501, determining each good to be scheduled at the goods entrance of the target conveyor line.

[0088] Step S502, determining the first picking time of each picking position of the target conveyor line according to the picking positions corresponding to each first good being transported on the target conveyor line.

[0089] Specifically, if each sub-conveyor line of the target conveyor line independently performs processing tasks such as picking, transporting, and packing of corresponding goods, then for the picking position of each sub-conveyor line, the first picking time of this picking position can be determined according to the arrival time of each first good corresponding to this picking position and the picking tasks of each first good.

[0090] In some embodiments, the arrival time of the first good can be ignored, and the first picking time of this picking position can be directly determined according to the picking tasks of each first good corresponding to this picking position.

[0091] Exemplarily, if there are 3 first goods corresponding to the current picking position, and this picking position just starts to process the first first good, and the remaining two first goods wait for picking at a safe distance after the first good, then the first picking time of this picking position can be the ratio of the sum of the picking tasks of these three first goods to the picking rate of this picking position.

[0092] Step S503. For each sub-conveyor line, if the first picking time of the picking position upstream of the sub-conveyor line is less than the first picking time of the picking position downstream of the sub-conveyor line, then determine the placement order of each to-be-scheduled cargo corresponding to the sub-conveyor line according to the difference between the first picking time of the picking position upstream and the first picking time of the picking position downstream, the picking positions corresponding to each to-be-scheduled cargo corresponding to the sub-conveyor line, and the picking tasks of each to-be-scheduled cargo corresponding to the sub-conveyor line.

[0093] Wherein, the conveying direction of the cargo on the sub-conveyor line points from the picking position upstream to the picking position downstream.

[0094] In some embodiments, two picking positions are provided on each sub-conveyor line. The picking position upstream can be a manual picking position, and the picking position downstream can be a robotic arm picking position; or, the picking position upstream can be a robotic arm picking position, and the picking position downstream can be a manual picking position.

[0095] The first picking time of the picking position upstream is less than the first picking time of the picking position downstream, that is, the picking position upstream finishes picking the corresponding first cargo earlier than the picking position downstream. Then, based on the difference between the first picking times of the picking positions upstream and downstream of the same sub-conveyor line, and the picking positions and picking tasks of each to-be-scheduled cargo corresponding to the sub-conveyor line, the placement order of each to-be-scheduled cargo corresponding to the sub-conveyor line can be determined.

[0096] Specifically, when the difference in the first picking time is small, such as less than the first difference, such as 3 s, then determine that the cargo to be placed first on the sub-conveyor line is the to-be-scheduled cargo corresponding to the picking position downstream. Then, determine one or more to-be-scheduled cargos from the to-be-scheduled cargos corresponding to the picking position downstream as the first or the first batch of to-be-scheduled cargos to be placed on the sub-conveyor line. The to-be-scheduled cargos placed on the sub-conveyor line are regarded as the first cargos of the sub-conveyor line. Then, by analogy, determine the placement order of the subsequent to-be-scheduled cargos; when the difference in the first picking time is large, such as greater than the second difference, such as 10 s, then determine that the cargo to be placed first on the sub-conveyor line is the to-be-scheduled cargo corresponding to the picking position upstream. Then, determine one or more to-be-scheduled cargos from the to-be-scheduled cargos corresponding to the picking position upstream as the first or the first batch of to-be-scheduled cargos to be placed on the sub-conveyor line. The to-be-scheduled cargos placed on the sub-conveyor line are regarded as the first cargos of the sub-conveyor line. Then, by analogy, determine the placement order of the subsequent to-be-scheduled cargos.

[0097] Further, since the types of picking positions in the upstream and downstream are different, there may also be differences in their picking rates. For example, the picking rate of the robotic arm picking position is higher than that of the manual picking position. Therefore, when determining the placement order, it can also be determined in combination with the picking rate, that is, based on the picking rates of the picking positions in the upstream and downstream of the same sub-conveyor line, the difference in the first picking time, and the picking positions and picking tasks corresponding to each to-be-scheduled cargo on the sub-conveyor line, determine the placement order of each to-be-scheduled cargo corresponding to the sub-conveyor line.

[0098] In some embodiments, when the first picking time of the picking position in the upstream of the sub-conveyor line is greater than or equal to the first picking time of the picking position in the downstream, the placement order of each to-be-scheduled cargo can be determined according to the picking position corresponding to each to-be-scheduled cargo and the picking tasks of each to-be-scheduled cargo, and the picking position corresponding to the first to-be-scheduled cargo placed on the sub-conveyor line is the picking position in the downstream, so as to avoid the situation that the to-be-scheduled cargo at the picking position in the downstream cannot be conveyed to the picking position in the downstream when the picking position in the upstream is picking.

[0099] Optionally, for the case where the first picking time of the picking position in the upstream of the sub-conveyor line is less than the first picking time of the picking position in the downstream, Figure 6 For the present disclosure Figure 5 The flowchart of step S503 in the illustrated embodiment is as Figure 6 shown, and step S503 may include the following steps:

[0100] Step S5031, for each sub-conveyor line, determine the first time for the cargo to be conveyed from the picking position in the upstream to the picking position in the downstream according to the distance between the picking position in the upstream and the picking position in the downstream of the sub-conveyor line.

[0101] Since the conveying direction of the sub-conveyor line is one-way transmission along the direction of the cargo inlet, the picking position in the upstream, the picking position in the downstream, and the cargo outlet, and there is a certain distance between the picking position in the upstream and the picking position in the downstream, in order to further improve the picking efficiency, it is necessary to consider the time required for the cargo to be conveyed from the picking position in the upstream to the picking position in the downstream, that is, the above-mentioned first time.

[0102] Specifically, the first time is specifically the ratio of the distance between the picking position in the upstream and the picking position in the downstream of the sub-conveyor line to the conveying speed of the sub-conveyor line.

[0103] Step S5032, calculate the first difference obtained by subtracting the first picking time of the picking position in the upstream from the first picking time of the picking position in the downstream.

[0104] Step S5033: Determine the placement order of each to-be-scheduled cargo corresponding to the sub-conveyor line according to the sum value of the first difference and the first time, the picking positions corresponding to each to-be-scheduled cargo of the sub-conveyor line, and the picking tasks of each to-be-scheduled cargo of the sub-conveyor line.

[0105] When the first picking time of the picking position upstream of the sub-conveyor line is less than the first picking time of the picking position downstream, that is, the upstream picking position finishes picking the corresponding first cargo earlier than the downstream picking position. For the same to-be-scheduled cargo, assuming it is picked by the upstream picking position, the moment when the upstream picking position starts to pick the to-be-scheduled cargo is t1, then the moment when the downstream picking position starts to pick the to-be-scheduled cargo is t2, and t2 = t1 + t3, where t3 is the sum value of the first difference and the first time. This parameter is used to evaluate the difference in the start picking moments of the upstream and downstream picking positions for the same to-be-scheduled cargo.

[0106] Specifically, to improve the utilization rate of each picking position and reduce the idle time of the picking position, the target picking position to which the first to-be-scheduled cargo placed on the sub-conveyor line belongs can be determined according to the sum value of the first difference and the first time, that is, the upstream picking position or the downstream picking position. Then, according to the target picking position, the picking positions corresponding to each to-be-scheduled cargo, and the picking tasks of each to-be-scheduled cargo, the first to-be-scheduled cargo placed on the sub-conveyor line, that is, the first to-be-scheduled cargo, can be determined. The picking position corresponding to the first to-be-scheduled cargo is the target picking position. And when the target picking position is the upstream picking position, the time required for the upstream picking position to process the picking task of the first to-be-scheduled cargo should be as close as possible to the sum value of the first difference and the first time; when the target picking position is the downstream picking position, the first to-be-scheduled cargo can be the to-be-scheduled cargo with the smallest picking task corresponding to the downstream picking position.

[0107] Optionally, determining the placement order of each to-be-scheduled cargo corresponding to the sub-conveyor line according to the sum value of the first difference and the first time, the picking positions corresponding to each to-be-scheduled cargo of the sub-conveyor line, and the picking tasks of each to-be-scheduled cargo of the sub-conveyor line includes: when the sum value of the first difference and the first time is less than the preset time, determine the target cargo placed on the sub-conveyor line first from each to-be-scheduled cargo whose corresponding picking position is the downstream picking position; and / or when the sum value of the first difference and the first time is greater than or equal to the preset time, determine the target cargo placed on the sub-conveyor line first from each to-be-scheduled cargo whose corresponding picking position is the upstream picking position; determine the placement order of each other to-be-scheduled cargo according to the picking task of the target cargo, the picking positions corresponding to each other to-be-scheduled cargo, the picking tasks of each other to-be-scheduled cargo, and the picking rates of each picking position.

[0108] Among them, the preset time can be a default smaller time, such as 3s or 5s; the preset time can also be the minimum time corresponding to the downstream picking position to complete the picking task of a to-be-scheduled cargo in historical time.

[0109] Specifically, when the sum value of the first difference and the first time is small, that is, less than the preset time, it indicates that the time difference for starting the picking of allocating a to-be-scheduled cargo to the upstream picking position or the downstream picking position is small. Since the downstream picking position is usually a picking position with a higher picking rate, the first target cargo placed on the sub-conveyor line can be determined as the to-be-scheduled cargo corresponding to the downstream picking position. When the sum value of the first difference and the first time is large, that is, greater than the preset time, it indicates that when allocating a to-be-scheduled cargo to the upstream picking position or the downstream picking position, the starting time of the upstream picking position is much earlier than that of the downstream picking position. Then, the first target cargo placed on the sub-conveyor line is determined as the to-be-scheduled cargo corresponding to the upstream picking position, so as to avoid too long idle time of the upstream picking position.

[0110] After determining the first target cargo placed on the sub-conveyor line, based on the picking task of this target cargo, the picking positions corresponding to each other to-be-scheduled cargo, the picking tasks of each other to-be-scheduled cargo, and the picking rates of the upstream and downstream picking positions, the placement order of each other to-be-scheduled cargo can be determined. The specific method is similar to the method for determining the target cargo and will not be elaborated here.

[0111] Step S504, based on the placement order, control the robot to place each of the to-be-scheduled cargos on the sub-conveyor line of the target conveyor line.

[0112] In this embodiment, only one upstream picking position and one downstream picking position are taken as examples for illustration. For the determination method of the placement order in the case where the sub-conveyor line includes three or more picking positions, based on the above method, it can be analogously obtained and will not be elaborated here.

[0113] In this embodiment, for the case where the sub-conveyor line of the target conveyor line includes an upstream picking position and a downstream picking position, in order to further improve the picking efficiency and reduce the overall idle time of each picking position, considering the positions of each picking position, when the first picking time of the upstream picking position is less than the first picking time of the downstream picking position, based on the difference between the two first picking times, and the picking tasks and corresponding picking positions of each to-be-scheduled cargo, determine the placement order of the to-be-scheduled cargo, so that each to-be-scheduled cargo placed on the sub-conveyor line can be picked as early as possible, improving the efficiency of cargo picking.

[0114] Figure 7The flowchart of the goods scheduling method provided by another embodiment of the present disclosure. The goods scheduling method provided by this embodiment is based on the embodiment shown in Figure 2 After step S202, a step of determining the target shelf and storage location is added. As shown in Figure 7 The goods scheduling method provided by this embodiment includes the following steps:

[0115] Step S701, determine each goods to be scheduled at the goods entrance of the target conveyor line.

[0116] Step S702, determine each alternative order of the goods to be scheduled.

[0117] Among them, the alternative order can be based on permutation and combination to determine the placement order of each goods to be scheduled.

[0118] Exemplarily, taking 3 goods to be scheduled, namely goods H61, goods H62, and goods H63, as an example, the alternative orders are 6 (3!) kinds, which are goods H61, goods H62, goods H63; goods H61, goods H63, goods H62; goods H62, goods H61, goods H63; goods H62, goods H63, goods H61; goods H63, goods H61, goods H62; and goods H63, goods H62, goods H61, six alternative orders.

[0119] Step S703, for each alternative order, according to each first good being transported on the target conveyor line, the picking positions corresponding to each goods to be scheduled, and the order of each goods to be scheduled in the alternative order, determine the second picking time of the target conveyor line.

[0120] Among them, the second picking time is the time required for the target conveyor line to complete the picking tasks of each goods to be scheduled under the corresponding alternative order. It can be the time from when the first goods to be scheduled is placed on the target conveyor line until the last goods to be scheduled is picked up by the corresponding picking position, or it can be the time from when each goods to be scheduled arrives at the goods entrance of the target conveyor line until each goods to be scheduled arrives at the goods exit of the target conveyor line.

[0121] Specifically, the time required for each picking position to pick up the corresponding first good can be determined according to the picking tasks of each first good, the picking positions corresponding to each first good, and the picking rate of each picking position, that is, the above-mentioned first picking time.

[0122] Furthermore, for each alternative order, based on the first picking time corresponding to each picking position, the order corresponding to each to-be-scheduled good in this alternative order, as well as the picking position and picking task corresponding to each to-be-scheduled good, determine the time required for each picking position on the target conveyor line to complete the picking of each to-be-scheduled good under this alternative order, that is, the second picking time.

[0123] Specifically, the second picking time corresponding to each alternative order can be determined by simulating the operation process of the target conveyor line. For example, a simulation operation module is built. According to the current working condition of the target conveyor line, this alternative order, the picking positions corresponding to each to-be-scheduled good, and the picking position tasks, initialize this simulation operation module, and then the simulation operation module outputs the second picking time corresponding to this alternative order. The current working condition of the target conveyor line includes the first goods corresponding to each picking position on the target conveyor line, such as including the picking task of the first goods, the current position, etc.

[0124] In some embodiments, the number of the first goods can be 0, and then directly based on the picking positions corresponding to each to-be-scheduled good and the order corresponding to each to-be-scheduled good in the alternative order, determine the second picking time of the target conveyor line under this alternative order.

[0125] Optionally, determining the second picking time of the target conveyor line according to each first good being transported on the target conveyor line, the picking positions corresponding to each to-be-scheduled good, and the order corresponding to each to-be-scheduled good in the alternative order includes:

[0126] Determine the first picking time of each picking position on the target conveyor line according to the picking position and picking task corresponding to each first good being transported on the target conveyor line; determine the second picking time of each picking position on the target conveyor line according to the first picking time corresponding to each picking position, the picking positions corresponding to each to-be-scheduled good, the picking tasks of each to-be-scheduled good, and the order corresponding to each to-be-scheduled good in the alternative order.

[0127] Specifically, when the robot loaded with each to-be-scheduled good arrives at the goods entrance of the target conveyor line, there may be one or more first goods being transported on the target conveyor line. Then, it is necessary to determine the first picking time required for each picking position on the target conveyor line to complete the picking task of the corresponding first good based on the picking task of each first good, the picking position corresponding to each first good, and the picking rate of each picking position.

[0128] Further, the method further includes: for each sub-conveyor line, determining the scheduling start time of the sub-conveyor line, so as to place each to-be-scheduled cargo corresponding to the sub-conveyor line on the sub-conveyor line in the alternative order at the scheduling start time. Then, according to the scheduling start times corresponding to each sub-conveyor line corresponding to each alternative order and the second picking time, determine the placement order from each alternative order.

[0129] Wherein, the scheduling start time is the start time when the picking position corresponding to the sub-conveyor line starts to process the to-be-scheduled cargo, such as the time when the first to-be-scheduled cargo is placed on the corresponding sub-conveyor line.

[0130] In this embodiment, when the previous cargo in the placement area corresponding to the cargo entrance of the sub-conveyor line is transported away, the subsequent cargo can be placed on the placement area corresponding to the cargo entrance of the sub-conveyor line.

[0131] Specifically, the scheduling start time of the sub-conveyor line can be determined according to the time when the last first cargo corresponding to the sub-conveyor line leaves the placement area corresponding to the cargo entrance of the sub-conveyor line.

[0132] Specifically, the time when the last first cargo leaves the placement area corresponding to the cargo entrance of the sub-conveyor line can be determined according to the picking positions and picking tasks corresponding to each first cargo except the last first cargo.

[0133] In some embodiments, if there is no first cargo at the cargo entrance of the sub-conveyor line, the scheduling start time can be determined according to the time when the robot loaded with the to-be-scheduled cargo arrives at the cargo entrance of the sub-conveyor line.

[0134] Step S704, determine the alternative order with the shortest second picking time as the placement order.

[0135] When there are at least two equal second picking times, it is also possible to determine, among each alternative order, the time when the last to-be-scheduled cargo is placed on the corresponding sub-conveyor line, and determine the alternative order with the earliest such time as the placement order, so that the robot can drive out of the cargo entrance of the target conveyor line as early as possible to perform subsequent operation tasks.

[0136] Step S705, based on the placement order, control the robot to place each of the to-be-scheduled cargos on the sub-conveyor line of the target conveyor line.

[0137] In this embodiment, by determining the alternative orders of various goods to be scheduled, for each alternative order, the second picking time required for each picking position of the target conveyor line to complete each good to be scheduled is determined, so as to determine that the alternative order with the shortest second picking time is the placement order, and each good to be scheduled is placed based on this placement order, so that the goods to be scheduled can be picked up in the shortest time, improving the picking efficiency; at the same time, when there are multiple alternative orders with the least required time, the alternative order with the earliest moment when the last good to be scheduled is placed on the target conveyor line is determined as the placement order, so that the robot can perform other operation tasks as early as possible, improving the operation efficiency of the robot and reducing the operation cost.

[0138] Figure 8 The structural schematic diagram of a goods scheduling device provided by an embodiment of the present disclosure is as Figure 8 shown, the device includes: a goods to be scheduled determination module 810 and a placement order determination module 820.

[0139] Among them, the goods to be scheduled determination module 810 is used to determine each good to be scheduled at the goods entrance of the target conveyor line, where the target conveyor line includes at least two sub-conveyor lines, and each sub-conveyor line includes at least two picking positions; the placement order determination module 820 is used to determine the placement order of the goods to be scheduled according to the picking positions corresponding to each good to be scheduled and each first good being transported on the target conveyor line, and place each good to be scheduled on the sub-conveyor line of the target conveyor line based on the placement order.

[0140] Optionally, the placement order determination module 820 includes: a first picking time determination unit, which is used to determine the first picking time of each picking position of the target conveyor line according to the picking positions corresponding to each first good being transported on the target conveyor line; a first placement order determination unit, which is used to determine the placement order of each good to be scheduled according to the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, and the picking positions corresponding to each good to be scheduled.

[0141] Optionally, each of the sub-conveyor lines includes at least one manual picking position and at least one robotic arm picking position. The manual picking positions are picked by operators, and the robotic arm picking positions are picked by robotic arms. The robotic arm picking positions of the respective sub-conveyor lines of the target conveyor line all correspond to the same robotic arm. The first picking time determination unit is specifically configured to: for the manual picking positions of the respective sub-conveyor lines, determine the first picking time of the manual picking positions of the sub-conveyor lines according to the picking tasks of the respective first goods corresponding to the manual picking positions of the sub-conveyor lines; and determine the first picking time of each robotic arm picking position according to the picking tasks of the respective first goods corresponding to the robotic arm of the target conveyor line and the robotic arm picking positions to which the respective first goods belong.

[0142] Optionally, the first placement order determination unit is specifically configured to: for each sub-conveyor line, if the first picking time of the picking position upstream of the sub-conveyor line is less than the first picking time of the picking position downstream of the sub-conveyor line, then determine the placement order of the respective goods to be scheduled corresponding to the sub-conveyor line according to the difference between the first picking time of the picking position upstream and the first picking time of the picking position downstream, the picking positions corresponding to the respective goods to be scheduled corresponding to the sub-conveyor line, and the picking tasks of the respective goods to be scheduled corresponding to the sub-conveyor line, where the conveying direction of the goods on the sub-conveyor line points from the picking position upstream to the picking position downstream.

[0143] Optionally, the first placement order determination unit includes: for each sub-conveyor line, a first time determination sub-unit configured to determine the first time for the goods to be conveyed from the picking position upstream to the picking position downstream according to the distance between the picking position upstream and the picking position downstream of the sub-conveyor line; a time difference calculation sub-unit configured to calculate a first difference obtained by subtracting the first picking time of the picking position upstream from the first picking time of the picking position downstream; and a placement order determination sub-unit configured to determine the placement order of the respective goods to be scheduled corresponding to the sub-conveyor line according to the sum value of the first difference and the first time, the picking positions corresponding to the respective goods to be scheduled corresponding to the sub-conveyor line, and the picking tasks of the respective goods to be scheduled corresponding to the sub-conveyor line.

[0144] Optionally, a placement order determination subunit is specifically configured to: when the sum of the first difference and the first time is less than a preset time, determine a target good to be placed on the sub-conveyor line first from each of the goods to be scheduled with a picking position corresponding to a downstream picking position; and / or, when the sum of the first difference and the first time is greater than or equal to the preset time, determine a target good to be placed on the sub-conveyor line first from each of the goods to be scheduled with a picking position corresponding to an upstream picking position; and determine the placement order of each of the other goods to be scheduled according to the picking tasks of the target good, the picking positions corresponding to each of the other goods to be scheduled, the picking tasks of each of the other goods to be scheduled, and the picking rates of each picking position.

[0145] Optionally, a first placement order determination unit is specifically configured to: for each good to be scheduled, determine the operation time of the good to be scheduled according to the picking rate of the picking position corresponding to the good to be scheduled and the picking task of the good to be scheduled; and determine the placement order of each of the goods to be scheduled according to the sub-conveyor lines to which each picking position belongs, the first picking times of each picking position, the picking positions corresponding to each of the goods to be scheduled, and the operation times of each of the goods to be scheduled.

[0146] Optionally, the placement order determination module 820 includes: an alternative order determination unit, configured to determine each alternative order of the goods to be scheduled; a second picking time determination unit, configured to, for each alternative order, determine the second picking time of the target conveyor line according to each first good being transported on the target conveyor line, the picking positions corresponding to each of the goods to be scheduled, and the order corresponding to each of the goods to be scheduled in the alternative order; and a second placement order determination unit, configured to determine the alternative order with the shortest second picking time as the placement order.

[0147] Optionally, the second picking time determination unit is specifically configured to: determine the first picking time of each picking position on the target conveyor line according to the picking positions and picking tasks corresponding to each first good being transported on the target conveyor line; and determine the second picking time of each picking position on the target conveyor line according to the first picking time corresponding to each picking position, the picking positions corresponding to each of the goods to be scheduled, the picking tasks of each of the goods to be scheduled, and the order corresponding to each of the goods to be scheduled in the alternative order.

[0148] The goods scheduling device provided by the embodiments of the present disclosure can execute the goods scheduling method provided by any embodiment of the present disclosure, and has corresponding functional modules and beneficial effects for executing the method.

[0149] Figure 9 It is a schematic structural diagram of a goods scheduling device provided by an embodiment of the present disclosure, as Figure 9As shown, the goods scheduling device includes: a memory 910, a processor 920, and a computer program.

[0150] Among them, the computer program is stored in the memory 910 and is configured to be executed by the processor 920 to implement the goods scheduling method provided by any one of the embodiments corresponding to the present disclosure Figure 2 、 Figures 5 to 7 in the embodiments.

[0151] Among them, the memory 910 and the processor 920 are connected through a bus 930.

[0152] For relevant descriptions, reference can be made to the relevant descriptions and effects corresponding to the steps in Figure 2 、 Figures 5 to 7 and no further elaboration will be made here.

[0153] Figure 10 FIG. is a schematic structural diagram of a warehousing system provided by an embodiment of the present disclosure. As Figure 10 shown, the warehousing system includes: a target conveyor line 1010, a robot 1020, and a goods scheduling device 1030.

[0154] Among them, the goods scheduling device 1030 is the goods scheduling device provided by the embodiment shown in the present disclosure Figure 10 . The target conveyor line 1010 includes at least two sub-conveyor lines 1011, and each sub-conveyor line 1011 includes at least two picking positions.

[0155] In some embodiments, the target conveyor line 1010 may be the target conveyor line provided by the embodiment shown in the present disclosure Figure 3 or Figure 4 shown in the embodiments.

[0156] In some embodiments, the warehousing system further includes devices such as an operation console, a discharging machine, a hoist, and a transportation line.

[0157] An embodiment of the present disclosure provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the goods scheduling method provided by any one of the embodiments corresponding to the present disclosure Figure 2 、 Figures 5 to 7 in the embodiments.

[0158] Among them, the computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0159] The present disclosure also provides a program product, which includes an executable computer program stored in a readable storage medium. At least one processor of the goods scheduling device or the warehousing system can read the computer program from the readable storage medium, and the execution of the computer program by the at least one processor enables the goods scheduling device to implement the goods scheduling methods provided by the above various embodiments.

[0160] In several embodiments provided by the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of devices or modules can be in electrical, mechanical or other forms.

[0161] The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0162] In addition, in each embodiment of the present disclosure, the functional modules can be integrated in a processing unit, or each module can exist physically alone, or two or more modules can be integrated in one unit. The units formed by the above modules can be implemented in the form of hardware or in the form of a combination of hardware and software functional units.

[0163] The integrated modules implemented in the form of software functional modules can be stored in a computer-readable storage medium. The above software functional modules are stored in a storage medium, including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute some steps of the methods described in each embodiment of the present disclosure.

[0164] It should be understood that the above-mentioned processor may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in conjunction with the present disclosure can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.

[0165] The memory may include high-speed RAM memory, and may also include non-volatile storage NVM, such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disc, etc.

[0166] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience in representation, the buses in the drawings of the present disclosure are not limited to only one bus or one type of bus.

[0167] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disc. The storage medium can be any available medium accessible by a general or special-purpose computer.

[0168] An exemplary storage medium is coupled to the processor, enabling the processor to read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an Application Specific Integrated Circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a master control device.

[0169] Those of ordinary skill in the art will understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including those of the above method embodiments; and the aforementioned storage medium includes various media such as ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0170] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, and are not intended to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A goods scheduling method, characterized in that, The method includes: Determine each goods to be scheduled at the goods entrance of the target conveyor line. The target conveyor line includes at least two sub-conveyor lines, and each sub-conveyor line includes at least two picking positions. The at least two picking positions include at least one manual picking position and at least one robotic arm picking position. The manual picking position is picked by an operator, and the robotic arm picking position is picked by a robotic arm. Moreover, the robotic arm picking positions of each sub-conveyor line of the target conveyor line all correspond to the same robotic arm; Based on the picking positions corresponding to each goods to be scheduled and each first goods being transported on the target conveyor line, determine the placement order of the goods to be scheduled, so as to sequentially place each of the goods to be scheduled on the sub-conveyor lines of the target conveyor line according to the placement order; the placement order is related to the first picking time of each picking position of the target conveyor line, or the placement order is related to the second picking time of the target conveyor line; wherein, the first picking time is the time required for the picking position to complete the picking tasks of the corresponding first goods, and the second picking time is the time required for the target conveyor line to complete the picking tasks of each goods to be scheduled under the alternative order corresponding to each goods to be scheduled.

2. The method according to claim 1, wherein Based on the picking positions corresponding to each goods to be scheduled and each first goods being transported on the target conveyor line, determining the placement order of the goods to be scheduled includes: Based on the picking positions corresponding to each first goods being transported on the target conveyor line, determine the first picking time of each picking position of the target conveyor line; Based on the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, and the picking positions corresponding to each goods to be scheduled, determine the placement order of each goods to be scheduled.

3. The method according to claim 2, characterized in that, Based on the picking positions corresponding to each first goods being transported on the target conveyor line, determining the first picking time of each picking position of the target conveyor line includes: For the manual picking positions of each sub-conveyor line, based on the picking tasks of the corresponding first goods of the manual picking position of the sub-conveyor line, determine the first picking time of the manual picking position of the sub-conveyor line; Based on the picking tasks of the corresponding first goods of the robotic arm of the target conveyor line and the robotic arm picking positions to which each of the first goods belongs, determine the first picking time of each robotic arm picking position.

4. The method according to claim 2, characterized in that, Based on the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, and the picking positions corresponding to each goods to be scheduled, determining the placement order of the goods to be scheduled includes: For each sub-conveyor line, if the first picking time of the picking position upstream of the sub-conveyor line is less than the first picking time of the picking position downstream of the sub-conveyor line, then based on the difference between the first picking time of the picking position upstream and the first picking time of the picking position downstream, the picking positions corresponding to each to-be-scheduled cargo on the sub-conveyor line, and the picking tasks of each to-be-scheduled cargo on the sub-conveyor line, determine the placement order of each to-be-scheduled cargo on the sub-conveyor line, where the conveying direction of the cargo on the sub-conveyor line is from the picking position upstream to the picking position downstream.

5. The method according to claim 4, wherein Based on the difference between the first picking time of the picking position upstream and the first picking time of the picking position downstream, the picking positions corresponding to each to-be-scheduled cargo on the sub-conveyor line, and the picking tasks of each to-be-scheduled cargo on the sub-conveyor line, determining the placement order of each to-be-scheduled cargo on the sub-conveyor line includes: For each sub-conveyor line, based on the distance between the picking position upstream and the picking position downstream of the sub-conveyor line, determine the first time for the cargo to be conveyed from the picking position upstream to the picking position downstream. Calculate the first difference obtained by subtracting the first picking time of the picking position upstream from the first picking time of the picking position downstream. Based on the sum value of the first difference and the first time, the picking positions corresponding to each to-be-scheduled cargo on the sub-conveyor line, and the picking tasks of each to-be-scheduled cargo on the sub-conveyor line, determine the placement order of each to-be-scheduled cargo on the sub-conveyor line.

6. The method according to claim 5, characterized in that Based on the sum value of the first difference and the first time, the picking positions corresponding to each to-be-scheduled cargo on the sub-conveyor line, and the picking tasks of each to-be-scheduled cargo on the sub-conveyor line, determining the placement order of each to-be-scheduled cargo on the sub-conveyor line includes: When the sum value of the first difference and the first time is less than the preset time, determine the target cargo to be first placed on the sub-conveyor line from among each to-be-scheduled cargo whose corresponding picking position is the picking position downstream; and / or, when the sum value of the first difference and the first time is greater than or equal to the preset time, determine the target cargo to be first placed on the sub-conveyor line from among each to-be-scheduled cargo whose corresponding picking position is the picking position upstream. Based on the picking task of the target cargo, the picking positions corresponding to each other to-be-scheduled cargo, the picking tasks of each other to-be-scheduled cargo, and the picking rate of each picking position, determine the placement order of each other to-be-scheduled cargo.

7. The method according to claim 2 or 3, characterized in that, Based on the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, and the picking positions corresponding to each to-be-scheduled cargo, determining the placement order of each to-be-scheduled cargo includes: For each to-be-scheduled cargo, based on the picking rate of the picking position corresponding to the to-be-scheduled cargo and the picking task of the to-be-scheduled cargo, determine the operation time of the to-be-scheduled cargo. Based on the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, the picking positions corresponding to each to-be-scheduled cargo, and the operation time of each to-be-scheduled cargo, determine the placement order of each to-be-scheduled cargo.

8. The method according to claim 1, characterized in that Determine the placement order of the goods to be scheduled according to the picking positions corresponding to each of the goods to be scheduled and each of the first goods being transported on the target conveyor line, including: Determine each alternative order of the goods to be scheduled; For each alternative order, determine the second picking time of the target conveyor line according to each of the first goods being transported on the target conveyor line, the picking positions corresponding to each of the goods to be scheduled, and the order corresponding to each of the goods to be scheduled in the alternative order; Determine that the alternative order with the shortest second picking time is the placement order.

9. The method according to claim 8, wherein Determine the second picking time of the target conveyor line according to each of the first goods being transported on the target conveyor line, the picking positions corresponding to each of the goods to be scheduled, and the order corresponding to each of the goods to be scheduled in the alternative order, including: Determine the first picking time of each picking position on the target conveyor line according to the picking positions and picking tasks corresponding to each of the first goods being transported on the target conveyor line; Determine the second picking time of each picking position on the target conveyor line according to the first picking time corresponding to each picking position, the picking positions corresponding to each of the goods to be scheduled, the picking tasks of each of the goods to be scheduled, and the order corresponding to each of the goods to be scheduled in the alternative order.

10. A cargo scheduling device, characterized in that, The device includes: A goods-to-be-scheduled determination module, configured to determine each of the goods to be scheduled at the goods inlet of the target conveyor line, where the target conveyor line includes at least two sub-conveyor lines, each sub-conveyor line includes at least two picking positions, the at least two picking positions include at least one manual picking position and at least one robotic arm picking position, the manual picking position is picked by an operator, the robotic arm picking position is picked by a robotic arm, and the robotic arm picking positions of each sub-conveyor line of the target conveyor line correspond to the same robotic arm; A placement order determination module, configured to determine the placement order of the goods to be scheduled according to the picking positions corresponding to each of the goods to be scheduled and each of the first goods being transported on the target conveyor line, so as to place each of the goods to be scheduled on the sub-conveyor line of the target conveyor line based on the placement order; the placement order is related to the first picking time of each picking position of the target conveyor line, or the placement order is related to the second picking time of the target conveyor line; where the first picking time is the time required for the picking position to complete the picking tasks of the corresponding first goods, and the second picking time is the time required for the target conveyor line to complete the picking tasks of each of the goods to be scheduled under each alternative order corresponding to each of the goods to be scheduled.

11. A goods scheduling device, characterized in that, Includes: A memory and at least one processor; The memory stores computer-executable instructions; The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the goods scheduling method according to any one of claims 1-9.

12. A warehousing system, characterized in that, Includes: A target conveyor line, a robot, and the goods scheduling device according to claim 11, where the target conveyor line includes at least two sub-conveyor lines, and each sub-conveyor line includes at least two picking positions.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the goods scheduling method described in any one of claims 1-9 is implemented.

14. A computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, the goods scheduling method described in any one of claims 1-9 is implemented.

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