Goods picking method, device, electronic device and readable storage medium

Abstract

The present invention discloses a method, device, electronic device and readable storage medium for picking goods. When the acquired order includes at least one first order information, for each first order information, a target workstation is determined from each workstation corresponding to each order. Parameter information of each robot is obtained, and according to the parameter information of each robot, a target robot and a target inventory container corresponding to the first order information are determined from each robot. Then, a cargo picking task is sent to the target robot so that the target robot transports the target inventory container to the target workstation. Among them, the workstation is a platform for picking goods for the first order information, and each first order information is used to indicate a kind of goods that need to be picked for which the inventory container is not determined, and the goods are stored in the inventory container. According to the parameter information of the robot, the inventory container and the robot corresponding to the first order information are adjusted in real time, and the robot is reasonably allocated to shorten the time of picking goods.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing, and in particular to a cargo picking method, device, electronic equipment and readable storage medium. Background Art

[0002] In recent years, the vigorous development of robotics has brought about tremendous technological changes in the entire logistics industry. The "goods-to-person" robot system has brought new technologies and new design concepts to the warehousing industry. In the "goods-to-person" robot system, it includes: robots used to perform cargo handling tasks, inventory containers for storing goods, and workstations. Inventory containers are usually containers for storing goods in warehouses. Warehouses usually include multiple inventory containers corresponding to multiple commodities. Multiple inventory containers storing the same commodity can be stored in a dispersed manner in the warehouse (for example, on storage shelves, on the ground, and in material boxes). That is, the same commodity can be distributed in multiple inventory containers in the warehouse. The workstation is the location for picking operations on the goods.

[0003] In the process of picking goods, the traditional "goods-to-person" robot system can determine the workstation corresponding to the order after obtaining the order, and then assign the handling task corresponding to the order to the robot. The handling task indicates the inventory container where the goods corresponding to the order are located. The robot transports the corresponding inventory container to the workstation according to the received handling task, so that the staff can pick the goods in the inventory container to realize goods picking.

[0004] However, the goods that need to be transported by robots often include multiple types, while the number of robots is limited. Therefore, when picking goods using existing methods, sometimes unreasonable allocation of robots occurs, resulting in a long and time-consuming process of picking goods. Summary of the invention

[0005] The present invention provides a cargo picking method, device, electronic device and readable storage medium to solve the problem that the cargo picking process takes a long time due to unreasonable robot allocation when using the traditional cargo picking method to pick cargo. Specifically, the embodiments of the present application disclose the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a method for picking goods, the method comprising:

[0007] In the case where the acquired order includes at least one first order information, for each of the first order information, a target workstation is determined from each of the workstations corresponding to each order, the workstation being a platform for picking the goods indicated by the first order information, each of the first order information being used to indicate a type of goods that need to be picked but for which an undetermined inventory container has not been determined, and the goods are stored in the inventory container;

[0008] Get parameter information of each robot in the warehouse;

[0009] Determine, from among the robots, a target robot and a target inventory container corresponding to the first order information according to the parameter information of each robot;

[0010] The cargo picking task corresponding to the target robot is sent to the target robot, so that the target robot moves the target inventory container to the target workstation based on the cargo picking task.

[0011] In an optional embodiment, before determining the target workstation from the workstations corresponding to the orders, the method further includes:

[0012] Get the operating status of each robot in the warehouse;

[0013] According to the operation status of each robot, it is determined whether to execute the step of determining the target workstation from the workstations corresponding to each order.

[0014] In an optional embodiment, determining the target workstation from the workstations corresponding to the orders includes:

[0015] When there is a robot in an idle state, the workstation with the least current workload is determined as the target workstation from among the workstations corresponding to the orders.

[0016] In an optional embodiment, determining the target robot and the target inventory container corresponding to the first order information from each robot according to the parameter information of each robot includes:

[0017] Determine, according to the parameter information of each robot, a target driving trajectory for each robot to obtain the inventory container corresponding to the first order information, where the target driving trajectory is a part or all of the driving trajectory of each robot in the process of carrying the inventory container corresponding to the first order information;

[0018] Based on the target driving trajectory, a target inventory container corresponding to the target robot and the first order information is determined.

[0019] In an optional embodiment, determining the target inventory container corresponding to the target robot and the first order information based on the target driving trajectory includes:

[0020] Determine the n candidate robots with the shortest target driving path as the target robot, where n is a positive integer;

[0021] Based on the target robot, a target inventory container is determined, and a distance between the target robot and the target inventory container is smaller than a distance between the target robot and other inventory containers.

[0022] In an optional embodiment, the parameter information of the robot includes the running state and the position of the robot; determining the target driving trajectory of each robot for acquiring the inventory container corresponding to the first order information according to the parameter information of each robot includes:

[0023] According to the operating status of each robot in the warehouse, a robot with an idle operating status is determined as the first candidate robot;

[0024] According to the position of each first candidate robot, a target driving trajectory of each first candidate robot is determined.

[0025] In an optional embodiment, the parameter information of the robot includes an idle time and a location, and determining a target driving trajectory for each robot to obtain an inventory container corresponding to the first order information according to the parameter information of each robot includes:

[0026] According to the idle time of each robot in the warehouse, the robot with the longest idle time is selected as the second candidate robot;

[0027] According to the position of each second candidate robot, a target driving trajectory of each second candidate robot is determined.

[0028] In an optional embodiment, the parameter information of the robot includes the workload and the location, and determining the target driving trajectory of each robot for acquiring the inventory container corresponding to the first order information according to the parameter information of each robot includes:

[0029] According to the workload of each robot in the warehouse, the robot with the least workload is selected as the third candidate robot;

[0030] According to the position of each third candidate robot, a target driving trajectory of each third candidate robot is determined.

[0031] In a second aspect, an embodiment of the present application further provides a cargo picking device, the device comprising:

[0032] A first determination module is used to determine, when the acquired order includes at least one first order information, a target workstation from each workstation corresponding to each order for each first order information, the workstation being a platform for picking the goods indicated by the first order information, each first order information being used to indicate a kind of goods that need to be picked but have not been determined to be stored in a storage container, and the goods are stored in the storage container;

[0033] The first acquisition module is used to obtain parameter information of each robot in the warehouse;

[0034] A second determination module is used to determine a target robot and a target inventory container corresponding to the first order information from each robot according to parameter information of each robot;

[0035] The task issuing module is used to issue the cargo picking task corresponding to the target robot to the target robot, so that the target robot moves the target inventory container to the target workstation based on the cargo picking task.

[0036] In a third aspect, an embodiment of the present application provides an electronic device comprising: a processor and a memory, the memory being used to store computer executable instructions; the processor being used to read instructions from the memory and execute the instructions to implement the aforementioned first aspect and the method of any implementation method of the first aspect.

[0037] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, in which computer instructions are stored, and the computer instructions are used to enable the computer to execute the method in the aforementioned first aspect and any implementation manner of the first aspect.

[0038] The cargo picking method, device, electronic device and readable storage medium provided in this embodiment, when the acquired order includes at least one first order information, for each first order information, a target workstation is determined from each workstation corresponding to each order. The parameter information of each robot in the warehouse is obtained, and the target robot and the target inventory container corresponding to the first order information are determined from each robot according to the parameter information of each robot. Then, the cargo picking task corresponding to the target robot is sent to the target robot, so that the target robot transports the target inventory container to the target workstation based on the cargo picking task. Among them, the workstation is a platform for picking the cargo indicated by the first order information, and each first order information is used to indicate a cargo that needs to be picked without determining the inventory container, and the cargo is stored in the inventory container. Different from the traditional technology in which robots and inventory containers are pre-assigned to each order information, since the first order information obtained by this application is cargo without determining the inventory container and robot, the inventory container corresponding to the first order information and the robot performing the cargo picking task can be adjusted in real time according to the parameter information of the robot, and a cargo picking task that conforms to the actual situation and is more reasonable is generated, thereby shortening the cargo picking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A schematic diagram of a cargo picking scenario in traditional technology;

[0041] Figure 2 A schematic diagram of another scenario of goods picking in traditional technology;

[0042] Figure 3 A schematic diagram of an application scenario of a cargo picking method provided in an embodiment of the present application;

[0043] Figure 4 A flowchart of a cargo picking method provided in an embodiment of the present application;

[0044] Figure 5 A schematic diagram of a flow chart of another method for picking goods provided in an embodiment of the present application;

[0045] Figure 6 A structural schematic diagram of a cargo picking device provided in an embodiment of the present application;

[0046] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0047] Figure 8 A schematic diagram of the structure of another electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application and to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application are further described in detail below in conjunction with the accompanying drawings.

[0049] In the traditional "people-to-goods" picking model, Figure 1 As shown, the inventory of goods is relatively concentrated, and the same goods A are all stored in adjacent locations of fixed shelves. The picking paths of pickers are basically fixed. The effect of improving picking efficiency by optimizing the combination of goods locations and changing the picking paths is very small.

[0050] With the continuous development of the robotics field, the picking mode has gradually shifted from the "people-to-goods" mode to the current "goods-to-people" mode, such as Figure 2 As shown, traditional automated sorting equipment such as shuttle carts 21 can be used to carry goods in large stereoscopic warehouses, and the picking efficiency is improved compared to manual picking. However, the shuttle cart 21 can only carry goods from one shelf position at a time, and each shelf 22 usually only stores one type of goods. The shuttle cart can only select the shelf 22 closest to the workstation 23 one by one according to the goods required on the order, so it is still impossible to further improve the picking efficiency by optimizing the position of the shelves where the combined goods are located and reducing the number of transportation times.

[0051] Based on this, the robot system of the "goods to person" mode is increasingly used in the management of goods picking. However, when the electronic device used to assign tasks obtains batch orders, it first determines the workstation corresponding to each order for each order, and then assigns the handling task corresponding to each item in the order to the robot. The handling task indicates the inventory container where the goods corresponding to the order are located. In other words, the designated inventory container is determined in advance for each item in all orders, and then the handling task is generated and sent to the designated robot. The robot moves the corresponding inventory container to the workstation according to the received handling task, so that the staff can pick the goods in the inventory container to realize the goods picking.

[0052] However, the goods that need to be transported by robots often include multiple types, but the number of robots is limited. Sometimes, the transportation tasks assigned to robots are unreasonable, resulting in a long process of picking goods.

[0053] For example, sometimes some robots have more carrying tasks, while some idle robots have fewer carrying tasks, or sometimes carrying tasks are assigned to robots that are farther away, causing the robots to travel a longer route when carrying goods, which will cause the cargo picking process to take a longer time.

[0054] In addition, in some cases, the inventory containers specified for each product in the order may be unreasonable. For example, the pre-specified inventory container is too far away from the robot, while there are inventory containers corresponding to the products near the robot. When the robot goes to obtain the farther inventory container, the goods picking process will take a long time.

[0055] Based on this, the present application provides a method, device, electronic device and readable storage medium for picking goods. When the acquired order includes at least one first order information, for each first order information, a target workstation is determined from each workstation corresponding to each order. The parameter information of each robot in the warehouse is obtained, and the target robot and the target inventory container corresponding to the first order information are determined from each robot according to the parameter information of each robot. Then, the cargo picking task corresponding to the target robot is sent to the target robot, so that the target robot transports the target inventory container to the target workstation based on the cargo picking task. Among them, the workstation is a platform for picking the goods indicated by the first order information, and each first order information is used to indicate a kind of goods that need to be picked without determining the inventory container, and the goods are stored in the inventory container. Different from the traditional technology in which robots and inventory containers are pre-assigned to each order information, since the first order information obtained by the present application is a cargo for which the inventory container and robot are not determined, the inventory container corresponding to the first order information and the robot performing the cargo picking task can be adjusted in real time according to the parameter information of the robot, and a cargo picking task that conforms to the actual situation and is more reasonable is generated, thereby shortening the process time of cargo picking.

[0056] Before describing the technical solution of the embodiments of the present application, the application scenarios of the embodiments of the present application are first described with reference to the accompanying drawings.

[0057] See also Figure 3 , Figure 3 A schematic diagram of an application scenario for cargo picking management provided in an embodiment of the present application. The application scenario 1 may include: an electronic device 31, an inventory container 32, a workstation 33, and a robot 34. Among them, the workstation 33 and the robot 34 can communicate with the electronic device 31 through a network. The electronic device 31 may include a server or a terminal, which is not limited here. Among them, the robot 34 is used to perform cargo handling tasks, the workstation 33 is a place for picking goods, and the inventory container 32 is a container for storing goods. A variety of commodities can correspond to multiple inventory containers respectively, and multiple inventory containers storing the same commodity can be stored in a dispersed manner in the warehouse (for example, on storage shelves, on the ground, in material boxes), that is, the same commodity can be distributed in multiple inventory containers in the warehouse.

[0058] After acquiring at least one order, the electronic device can assign designated workstations, inventory containers, and robots to some of the goods in each order. When the acquired order includes at least one first order information, that is, when the goods to be picked in the inventory container are not determined, the target workstation is first determined for each first order information. After acquiring the parameter information of each robot in the warehouse, the target robot and the target inventory container corresponding to the first order information are determined from each robot. The cargo picking task corresponding to the target robot is sent to the target robot, so that the target robot moves the target inventory container to the target workstation based on the cargo picking task.

[0059] The terminal may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, and portable wearable devices, and the server may be implemented as an independent server or a server cluster consisting of multiple servers, which is not limited here.

[0060] The technical solution provided in the embodiments of the present application is described in detail below.

[0061] Figure 4 A flowchart of a method for picking goods provided in an embodiment of the present application is shown in FIG. Figure 4 The method can be implemented by the server 10 or the terminal in the above application scenario 1. Specifically, the method includes:

[0062] S202, in the case that the acquired order includes at least one first order information, for the first order information, determine the target workstation from the workstations corresponding to the orders, the workstation is a platform for picking the goods indicated by the first order information, and each first order information is used to indicate a kind of goods that need to be picked in an undetermined inventory container, and the goods are stored in the inventory container.

[0063] It should be noted that orders can be issued in batches or one by one, and there is no restriction here. After the order is issued, the issued order can be posted on the wall. Posting the order on the wall means that each order is assigned to each workstation. When the order is obtained, the goods required in each order can be split first, some goods can be randomly selected, the corresponding inventory containers can be specified for the selected goods, and the robot can be specified to obtain the inventory container, and the specified task can be generated and sent to the specified robot.

[0064] The first order information is for goods without specifying a stock container, that is, goods without determining a stock container. A stock container is a container for storing goods. A stock container can be a material box, or goods directly stacked on the ground can also be called a stock container, or a shelf, which is not limited here. The target workstation is the workstation that currently needs to perform the picking task.

[0065] Specifically, when it is determined that there is at least one first order information, the workstation with the least current workload can be determined as the target workstation according to the priority of the first order information and the current task volume of each workstation. The workstation with the most number of pickers can also be determined as the target workstation according to the number of pickers at each workstation, and there is no limitation here.

[0066] Optionally, after determining the target workstation, a potential hit inventory container pool corresponding to each first order information may be constructed for the first order information corresponding to the target workstation. The potential hit inventory container pool includes all inventory containers storing corresponding goods in the warehouse corresponding to the first order information, the quantity of goods stored in each inventory container, and the location of each inventory container.

[0067] In an optional embodiment, in order to allocate the inventory container corresponding to the first order information in real time according to the running state of the robot, before determining the target workstation from the workstations corresponding to the orders, the method further includes:

[0068] S210, obtaining the operating status of each robot in the warehouse.

[0069] The running state refers to whether the robot is executing a task, which can be divided into idle and working.

[0070] S212, determining whether to execute the step of determining the target workstation from the workstations corresponding to each order according to the operating status of each robot.

[0071] Specifically, when there is a robot in an idle operating state, a step of determining, from among the workstations corresponding to the orders, the workstation with the least current workload as the target workstation may be performed.

[0072] When the running status of each robot is working, the step of determining the workstation with the least current workload as the target workstation from among the workstations corresponding to each order is not performed. The operation of determining the target workstation is performed when it is found that there is an idle workstation in the running status of each robot.

[0073] Optionally, when there is no idle robot, the task volume of each robot can be obtained, and when the task volume is less than a preset threshold value of the number of tasks to be executed, the step of determining the workstation with the least current workload as the target workstation from among the workstations corresponding to each order is executed.

[0074] In this embodiment, after the operating status of each robot in the warehouse is obtained, based on the obtained operating status of each robot in the warehouse, it is determined whether to execute the step of determining the target workstation from each workstation corresponding to each order according to the operating status of the robot. In the case of idle robots, the workstation that needs to pick goods can be determined in real time, so that the idle robots can be driven to perform tasks later, saving the time for picking goods.

[0075] S204, obtaining parameter information of each robot in the warehouse.

[0076] Among them, the parameter information of the robot may include the location of the robot, the operating status of the robot, the distance between the robot and each inventory container, the distance between the robot and each workstation, etc., which is not limited here.

[0077] S206: Determine, from among the robots, the target robot and the target inventory container corresponding to the first order information based on the parameter information of the robots.

[0078] Specifically, when the parameter information of each robot is obtained, the target robot that needs to perform the task and the target inventory container corresponding to the first order information can be determined based on the parameter information.

[0079] For example, after the operating status of the robot is obtained, the robot with an idle operating status is used as the reference robot, and then the distance between each reference robot and each inventory container in the potential hit container pool of the first order information is calculated, the inventory container with the closest distance is used as the target inventory container, and the corresponding target robot is used as the target robot.

[0080] In an optional embodiment, step S206 specifically includes:

[0081] S2062, determining, based on parameter information of each robot, a target driving trajectory for each robot to acquire the inventory container corresponding to the first order information, wherein the target driving trajectory is a portion or all of the driving trajectory of each robot in the process of carrying the inventory container corresponding to the first order information.

[0082] Among them, the target driving trajectory may include the trajectory of the robot acquiring the inventory container and the entire driving trajectory of moving the inventory container to the target workstation, and may also include a partial trajectory of the robot acquiring the inventory container, etc. The partial trajectory of the robot acquiring the inventory container may be the driving trajectory of the robot acquiring the inventory container, or the driving trajectory of the robot from the location of the inventory container to the target workstation, etc., which is not limited here.

[0083] Specifically, the target driving trajectory of each robot to acquire each inventory container corresponding to the first order information can be determined based on the location information of each robot and the location information of each inventory container in the potential hit inventory container pool corresponding to the first order information.

[0084] In an optional implementation, the parameter information of the robot includes the running state and the position of the robot. Further, the specific steps of step S2062 may include:

[0085] S2062a: According to the operating status of each robot in the warehouse, determine a robot with an idle operating status as the first candidate robot.

[0086] S2062b: Determine a target driving trajectory of each first candidate robot according to the position of each first candidate robot.

[0087] Specifically, after the operating status of each robot is obtained, the robot with an idle operating status is used as the first candidate robot. Based on the location of each first candidate robot, the location of each inventory container corresponding to the first order information, and the location of the target workstation, it can be determined that the robot obtains the inventory container and takes the entire driving trajectory of the inventory container to the target workstation as the target driving trajectory. It can also be determined that the robot obtains a partial driving trajectory of the inventory container as the target driving trajectory.

[0088] In an embodiment of the present application, an idle robot is determined as a candidate robot through the operating status of each robot in the warehouse, and then the target driving trajectory of each inventory container is determined based on the position of the first candidate robot. When an idle robot is determined, the driving trajectory of the robot that can perform the task can be determined in real time, so as to plan reasonable cargo picking tasks, save cargo picking time, increase the rationality of task allocation, reduce cargo picking time, and improve cargo picking efficiency.

[0089] In another optional implementation, the parameter information of the robot includes the idle time and the location. Further, the specific steps of step S2062 may include:

[0090] S2062A, based on the idle time of each robot in the warehouse, the robot with the longest idle time is selected as the second candidate robot.

[0091] S2062B: Determine a target driving trajectory of each second candidate robot according to the position of each second candidate robot.

[0092] The idle time is the time that the robot does not perform a task after completing the last task.

[0093] Specifically, after the idle time of each robot is obtained, the robot with the longest idle time can be selected as the second candidate robot. Furthermore, based on the location of the second candidate robot, the location of each inventory container corresponding to the first order information, and the location of the target workstation, the robot can be determined to obtain the inventory container and take the inventory container to the target workstation. The entire driving trajectory can be determined as the target driving trajectory, and the partial driving trajectory of the robot to obtain the inventory container can also be determined as the target driving trajectory.

[0094] In the embodiment of the present application, the robot with the longest idle time among all robots is selected as the second candidate robot, and the target driving trajectory of the second candidate robot is determined based on the location of the second candidate robot. The idle situation of the robot can be reasonably considered, and the robot can be scheduled in real time to perform tasks, so as to save the time of picking goods and increase the rationality of task allocation.

[0095] In other optional implementations, the parameter information of the robot includes the workload and the location. Further, the specific steps of step S2062 may include:

[0096] S20621, based on the workload of each robot in the warehouse, select the robot with the least workload as the third candidate robot.

[0097] S20622: Determine a target driving trajectory of each third candidate robot according to the position of each third candidate robot.

[0098] Specifically, after the workload of each robot is obtained, the robot with the least workload can be used as the third candidate robot. Furthermore, based on the location of the third candidate robot, the location of each inventory container corresponding to the first order information, and the location of the target workstation, the robot can be determined to obtain the inventory container and take the entire driving trajectory of the inventory container to the target workstation as the target driving trajectory. It is also possible to determine that the robot obtains a partial driving trajectory of the inventory container as the target driving trajectory.

[0099] In the embodiment of the present application, the robot with the least amount of tasks among all robots is selected as the third candidate robot, and the target driving trajectory of the third candidate robot is determined based on the location of the third candidate robot. The amount of tasks performed by the robots can be reasonably considered to balance the actual amount of tasks performed by each robot, thereby saving time for picking goods and increasing the rationality of task allocation.

[0100] S2064: Determine the target inventory container corresponding to the target robot and the first order information based on the target driving trajectory.

[0101] Specifically, the candidate robot corresponding to the shortest driving path in the target driving trajectory is used as the target robot, and the inventory container obtained by the target robot driving the shortest target driving trajectory is used as the target inventory container.

[0102] In an optional embodiment, step S2064 specifically includes:

[0103] S2064a, determining n candidate robots with the shortest target driving paths as target robots, where n is a positive integer.

[0104] S2064b, based on the target robot, determine the target inventory container, the distance between the target robot and the target inventory container is smaller than the distance between the target robot and other inventory containers.

[0105] Specifically, after obtaining each target driving track corresponding to each candidate robot, at least one shortest path can be determined in the target driving track. The candidate robot corresponding to each shortest path is the target robot. The inventory container obtained corresponding to the target robot is the target inventory container. The candidate robots may include a first candidate robot, a second candidate robot, and a third candidate robot.

[0106] In an embodiment of the present application, first, the n candidate robots with the shortest target driving paths are determined as the target robots. After the target robot is determined, since the distance between the target robot and the target inventory container is smaller than the distance between the target robot and other inventory containers, the target inventory container can be determined, thus saving the driving time of the robot to obtain the inventory container and transport it to the target workstation.

[0107] S208: Send the cargo picking task corresponding to the target robot to the target robot, so that the target robot moves the target inventory container to the target workstation based on the cargo picking task.

[0108] Specifically, a cargo picking task is generated based on the first order information, the corresponding target workstation, and the target inventory container, and is sent to the target robot, so that the target robot transports the target inventory container to the target workstation based on the cargo picking task for the staff to pick the goods.

[0109] In an embodiment of the present application, when the acquired order includes at least one first order information, for each first order information, a target workstation is determined from each workstation corresponding to each order. Parameter information of each robot in the warehouse is acquired, and the target robot and the target inventory container corresponding to the first order information are determined from each robot according to the parameter information of each robot. Then, the cargo picking task corresponding to the target robot is sent to the target robot, so that the target robot transports the target inventory container to the target workstation based on the cargo picking task. Among them, the workstation is a platform for picking the cargo indicated by the first order information, and each first order information is used to indicate a cargo that needs to be picked without determining the inventory container, and the cargo is stored in the inventory container. Different from the traditional technology in which robots and inventory containers are pre-assigned to each order information, since the first order information acquired by the present application is cargo without determining the inventory container and robot, the inventory container corresponding to the first order information and the robot performing the cargo picking task can be adjusted in real time according to the parameter information of the robot, and a cargo picking task that conforms to the actual situation and is more reasonable is generated, thereby shortening the cargo picking process.

[0110] In the embodiment of the present application, the target workstation that needs to perform the outbound task can be determined for each first order information of the undetermined inventory container, so as to reasonably distribute the picking pressure of the workstation and shorten the waiting time of the goods at the workstation. Further determining the target robot that executes the outbound delivery of the first order information and the most reasonable inventory container to be obtained are more in line with the actual situation of the robot in the working process, and allocating the most reasonable inventory container can greatly save the time of the robot to obtain the inventory container, shorten the duration of the entire cargo picking, and save the robot operation resources.

[0111] In order to facilitate the understanding of those skilled in the art, a method for picking goods is now described using a practical embodiment. Figure 5 As shown, the goods picking method includes:

[0112] S502, when the acquired order includes at least one first order information;

[0113] S504, obtaining the operating status of each robot in the warehouse;

[0114] S506, when there is a robot in an idle state, for each first order information, from each workstation corresponding to each order, the workstation with the least current workload is determined as the target workstation;

[0115] S508, according to the idle time of each robot, the robot with the longest idle time is selected as the second candidate robot;

[0116] S510, determining a target driving trajectory of each candidate robot according to the position of each candidate robot;

[0117] S512, determining n candidate robots with the shortest target driving paths as target robots, where n is a positive integer;

[0118] S514, determining a target inventory container based on the target robot, wherein the distance between the target robot and the target inventory container is smaller than the distance between the target robot and other inventory containers.

[0119] The above embodiment is only an optional example of the cargo picking method, and the cargo picking method may also include other achievable embodiments, which are not limited here. For the specific limitations of the cargo picking method and the beneficial effects that can be achieved, please refer to the limitations of the cargo picking method above, which will not be repeated here.

[0120] Based on the same inventive concept, the embodiment of the present application also provides a cargo picking device for implementing the cargo picking method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations of one or more cargo picking device embodiments provided below can refer to the limitations of the cargo picking method above, and will not be repeated here. Specifically, Figure 6 Schematic diagram of the structure of a cargo picking device in the embodiment of the present application. Figure 6 As shown, the device comprises:

[0121] The first determination module 601 is used to determine, when the acquired order includes at least one first order information, a target workstation from each workstation corresponding to each order for each first order information, the target workstation being a platform for picking the goods indicated by the first order information, each first order information being used to indicate a kind of goods that need to be picked but have not been determined to be stored in a storage container, and the goods are stored in the storage container;

[0122] The first acquisition module 602 is used to obtain parameter information of each robot in the warehouse;

[0123] A second determination module 603 is used to determine a target robot and a target inventory container corresponding to the first order information from each robot according to parameter information of each robot;

[0124] The task issuing module 604 is used to issue the cargo picking task corresponding to the target robot to the target robot, so that the target robot transports the target inventory container to the target workstation based on the cargo picking task.

[0125] Regarding the specific limitations of the cargo picking device and the beneficial effects that can be achieved, please refer to the limitations of the cargo picking method above, which will not be repeated here.

[0126] Optionally, in one embodiment, the cargo picking device further includes:

[0127] The second acquisition module is used to obtain the operating status of each robot in the warehouse;

[0128] The third determination module is used to determine whether to execute the step of determining the target workstation from each workstation in the warehouse corresponding to the first order information according to the operating status of each robot.

[0129] Optionally, in one embodiment, the first determination module is specifically used to determine, when there is a robot in an idle operating state, a workstation with the least current workload from among the workstations corresponding to each order as the target workstation.

[0130] Optionally, in one embodiment, the second determining module includes:

[0131] A first determining unit is used to determine, based on parameter information of each robot, a target driving trajectory for each robot to obtain the inventory container corresponding to the first order information, where the target driving trajectory is a portion or all of the driving trajectory of each robot in a process of carrying the inventory container corresponding to the first order information;

[0132] The second determination unit is used to determine the target robot and the target inventory container corresponding to the first order information based on the target driving trajectory.

[0133] Optionally, in one embodiment, the second determination unit is specifically used to determine n candidate robots with the shortest target driving path as the target robot, where n is a positive integer; based on the target robot, determine the target inventory container, and the distance between the target robot and the target inventory container is less than the distance between the target robot and other inventory containers.

[0134] Optionally, in one embodiment, the parameter information of the robot includes the operating status and position of the robot; the first determination unit is specifically used to determine a robot with an idle operating status as the first candidate robot according to the operating status of each robot in the warehouse; and determine the target driving trajectory of each candidate robot according to the position of each candidate robot.

[0135] Optionally, in one embodiment, the parameter information of the robot includes idle time and location. The first determination unit is specifically used to select the robot with the longest idle time as the second candidate robot based on the idle time of each robot in the warehouse; and determine the target driving trajectory of each candidate robot based on the location of each candidate robot.

[0136] Optionally, in one embodiment, the robot's parameter information includes the workload and the location. The first determination unit is specifically used to select the robot with the least workload as the third candidate robot based on the workload of each robot in the warehouse; and determine the target driving trajectory of each candidate robot based on the location of each candidate robot.

[0137] For the specific limitations of the cargo picking device and the beneficial effects that can be achieved, please refer to the limitations of the cargo picking method above, which will not be repeated here. Each module in the above-mentioned cargo picking device can be implemented in whole or in part through software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the electronic device in the form of hardware, or can be stored in the memory of the electronic device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0138] In a specific implementation, an embodiment of the present application further provides an electronic device, which may be the server in the aforementioned embodiment, and is used to implement all or part of the steps in the aforementioned cargo picking method.

[0139] like Figure 7 FIG. 1 is a schematic diagram of the structure of an electronic device provided by this embodiment, which includes: at least one processor 110, a memory 120 and at least one interface 130, and further includes a communication bus 140 for connecting the above components.

[0140] Among them, at least one processor 110 can be a CPU or a processing chip, which is used to read and execute computer program instructions stored in the memory 120, so that the at least one processor 110 can execute the method flow in the aforementioned various embodiments.

[0141] The memory 120 may be a non-transitory memory, which may include a volatile memory, such as a high-speed random access memory (RAM), or a non-volatile memory, such as at least one disk memory.

[0142] At least one interface 130 includes an input / output interface and a communication interface, and the communication interface may be a wired or wireless interface, so as to realize the communication connection between the electronic device and other devices. The input / output interface may be used to connect peripherals, such as a display screen, a keyboard, etc.

[0143] In some implementations, the memory 120 stores computer-readable program instructions. When the processor 110 reads and executes the program instructions in the memory 120 , a cargo picking method in the aforementioned embodiment can be implemented.

[0144] In addition, this embodiment also provides a computer program product for storing computer-readable program instructions, which, when executed by the processor 110, can implement a cargo picking method in the aforementioned embodiment.

[0145] In addition, this embodiment also provides an electronic device, which may be a terminal, and the terminal may be a robot or a vehicle, etc. The internal structure diagram of the terminal may be as follows: Figure 8 As shown. The electronic device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the electronic device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for picking goods is implemented. The display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the housing of the electronic device, or an external keyboard, touchpad or mouse, etc.

[0146] Those skilled in the art will understand that Figure 7 and Figure 8 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0147] In a specific implementation, an embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps of the method in any of the above embodiments are implemented.

[0148] In a specific implementation, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method in any of the above embodiments are implemented.

[0149] In a specific implementation, an embodiment of the present application provides a computer program product, including a computer program, which implements the steps of the method in any of the above embodiments when executed by a processor.

[0150] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it may include the processes of the embodiments of the above-mentioned methods. Among them, any reference to a memory, a database or other medium used in the embodiments provided in this application may include at least one of a non-volatile and a volatile memory. Non-volatile memory may include a read-only memory (ROM), a magnetic tape, a floppy disk, a flash memory, an optical memory, a high-density embedded non-volatile memory, a resistive random access memory (ReRAM), a magnetic random access memory (MRAM), a ferroelectric random access memory (FRAM), a phase change memory (PCM), a graphene memory, etc. Volatile memory may include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited thereto.

[0151] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0152] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for picking goods, characterized in that: The method comprises: In the case where the acquired order includes at least one first order information, for each first order information, a target workstation is determined from each workstation corresponding to each order, the workstation being a platform for picking goods indicated by the first order information, each first order information being used to indicate a kind of goods that need to be picked but for which an inventory container has not been determined, and the goods are stored in an inventory container; Obtain parameter information of each robot in the warehouse; wherein the parameter information includes the robot's location and operating status, or the robot's location and idle time, or the robot's location and workload; Determine, according to the parameter information of each robot, a target driving trajectory for each robot to obtain the inventory container corresponding to the first order information; wherein the target driving trajectory is a partial or complete driving trajectory of each robot in the process of carrying the inventory container corresponding to the first order information; Based on the target driving trajectory, determining a target robot and a target inventory container corresponding to the first order information from among the robots; The cargo picking task corresponding to the target robot is sent to the target robot, so that the target robot transports the target inventory container to the target workstation based on the cargo picking task.

2. The method according to claim 1, characterized in that Before determining the target workstation from the workstations corresponding to the orders, the method further includes: Obtaining the operating status of each robot in the warehouse; According to the operating status of each of the robots, it is determined whether to execute the step of determining the target workstation from the workstations corresponding to each of the orders.

3. The method according to claim 2, characterized in that Determining the target workstation from the workstations corresponding to the orders includes: When there is a robot in the idle running state, the workstation with the least current workload is determined as the target workstation from among the workstations corresponding to the orders.

4. The method according to any one of claims 1 to 3, characterized in that The step of determining, from among the robots, the target robot and the target inventory container corresponding to the first order information based on the target driving trajectory includes: Determine n candidate robots with the shortest target driving trajectories as the target robots, where n is a positive integer; Based on the target robot, the target inventory container is determined, and the distance between the target robot and the target inventory container is smaller than the distance between the target robot and other inventory containers.

5. The method according to claim 1, characterized in that The parameter information of the robot includes the running state and the position of the robot; and determining, based on the parameter information of each robot, the target driving trajectory of each robot for acquiring the inventory container corresponding to the first order information, includes: According to the operating status of each robot in the warehouse, determine a robot whose operating status is idle as a first candidate robot; According to the position of each of the first candidate robots, a target driving trajectory of each of the first candidate robots is determined.

6. The method according to claim 1, characterized in that The parameter information of the robots includes an idle time and a location. Determining, based on the parameter information of each robot, a target driving trajectory for each robot to obtain a stock container corresponding to the first order information includes: According to the idle time of each robot in the warehouse, the robot with the longest idle time is selected as the second candidate robot; According to the position of each of the second candidate robots, a target driving trajectory of each of the second candidate robots is determined.

7. The method according to claim 1, characterized in that: The parameter information of the robots includes the workload and the location. The determining, based on the parameter information of each robot, a target driving trajectory for each robot to obtain the inventory container corresponding to the first order information includes: According to the workload of each robot in the warehouse, the robot with the least workload is selected as the third candidate robot; According to the position of each of the third candidate robots, a target driving trajectory of each of the third candidate robots is determined.

8. A cargo picking device, characterized in that: The device comprises: A first determination module is used to determine, when the acquired order includes at least one first order information, a target workstation from each workstation corresponding to each of the first order information, wherein the workstation is a platform for picking the goods indicated by the first order information, and each of the first order information is used to indicate a kind of goods that need to be picked but have not been determined to be stored in a storage container; the goods are stored in a storage container; A first acquisition module is used to acquire parameter information of each robot in the warehouse; wherein the parameter information includes the location and operating status of the robot, the location and idle time of the robot, or the location and workload of the robot; A second determination module is used to determine, based on the parameter information of each robot, a target driving trajectory for each robot to obtain the inventory container corresponding to the first order information; wherein the target driving trajectory is a partial or complete driving trajectory of each robot in the process of carrying the inventory container corresponding to the first order information; based on the target driving trajectory, determine a target robot and a target inventory container corresponding to the first order information from each robot; The task issuing module is used to issue the cargo picking task corresponding to the target robot to the target robot, so that the target robot transports the target inventory container to the target workstation based on the cargo picking task.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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