Goods collection and distribution method and related device

Abstract

The embodiment of the present application discloses a cargo collection and distribution method and related devices, the method comprising: obtaining a pending order; determining at least one target first container and a corresponding number of target second containers for each target first container; determining a target docking point based on the target first container and the corresponding target second container, the target docking point being an idle position in the storage and picking area; calling a first handling robot to obtain the target first container from the shelf storage area of ​​the storage and picking area, and transporting the target first container from the shelf storage area to the target docking point corresponding to the target first container; calling at least one second handling robot to obtain the corresponding number of target second containers for the target first container from the fixed shelf in the storage area of ​​the storage and picking area, and transferring the corresponding number of target second containers to the target first container. The present application is conducive to improving the cargo collection efficiency of the second container and improving the utilization rate of the silo storage space.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a cargo collection and distribution method and related devices. Background Art

[0002] In related technologies, when warehouse systems collect and distribute goods, a tallying robot typically first retrieves the second containers to be shipped from fixed shelves (i.e., tallies the second containers to be shipped), then transports them to the shipping location for unloading. The maximum number of second containers a tallying robot can carry at a time is limited. If there are only a few tallying robots on site, a single tallying robot will need to make multiple trips to tally and transport the goods, resulting in low efficiency. Summary of the Invention

[0003] The embodiments of the present application provide a cargo collection and distribution method and related devices to improve the cargo collection efficiency of the second container.

[0004] In a first aspect, an embodiment of the present application provides a cargo collection and distribution method, applied to a server, the method comprising:

[0005] Get pending orders;

[0006] Determining, according to the pending order, at least one target first container and a target second container carrying a corresponding number of items to each of the target first containers;

[0007] Determine, based on each of the target first containers and the number of target second containers corresponding to each of the target first containers, a target docking point corresponding to each of the target first containers, wherein the target docking point is an idle position in the storage and picking area, and the idle position is any position in the storage and picking area selected by the server that meets the docking space requirement;

[0008] Invoking a first handling robot to obtain the target first container from a shelf storage area in the storage and picking area, and transporting the target first container from the shelf storage area to the target docking point corresponding to the target first container, wherein the shelf storage area stores at least one first container, and the target first container is one of the at least one first container;

[0009] At least one second handling robot is called to obtain the target second containers with a carrying quantity corresponding to the target first container from the fixed shelves in the storage area of ​​the storage picking area, and transfer the target second containers with a carrying quantity corresponding to the target first container to the target first container. The fixed shelves in the storage area store multiple second containers, and the target second container is at least one of the multiple second containers.

[0010] In a second aspect, an embodiment of the present application provides a cargo collection and distribution device, applied to a server, comprising:

[0011] An acquisition unit, used to acquire pending orders;

[0012] A first determining unit is configured to determine, according to the pending order, at least one target first container and a target second container carrying a corresponding number of items to each of the target first containers;

[0013] a second determining unit configured to determine, based on each of the target first containers and the number of target second containers carried by each of the target first containers, a target docking point corresponding to each of the target first containers, wherein the target docking point is an idle position in the storage and picking area, and the idle position is any position in the storage and picking area selected by the server that meets the docking space requirement;

[0014] a first calling unit, configured to call a first transport robot to obtain the target first container from a shelf storage area in the storage picking area, and to transport the target first container from the shelf storage area to the target docking point corresponding to the target first container, wherein the shelf storage area stores at least one first container, and the target first container is one of the at least one first container;

[0015] The second calling unit is used to call at least one second handling robot to obtain the target second containers with a carrying quantity corresponding to the target first container from the fixed shelves in the storage area of ​​the storage picking area, and transfer the target second containers with a carrying quantity corresponding to the target first container to the target first container. The fixed shelves stored in the storage area store multiple second containers, and the target second container is at least one of the multiple second containers.

[0016] In a third aspect, an embodiment of the present application provides a server comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for executing the steps in the first aspect of the embodiment of the present application.

[0017] In a fourth aspect, an embodiment of the present application provides a computer storage medium that stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute some or all of the steps described in the first aspect of this embodiment.

[0018] It can be seen that in this embodiment, when the server obtains a pending order, it determines at least one target first container and a target second container corresponding to the carrying quantity of each target first container based on the pending order; then, based on each target first container and the target second container corresponding to the carrying quantity of each target first container, it determines a target docking point corresponding to each target first container, where the target docking point is an idle position in the storage and picking area, and the idle position is any position in the storage and picking area selected by the server that meets the docking space requirement; then, the server calls the first handling robot to obtain the target first container from the shelf storage area in the storage and picking area, and transports the target first container from the shelf storage area to the target docking point corresponding to the target first container, wherein the shelf storage area stores at least one first container, and the target first container is one of the at least one first container; and calls at least one second handling robot to obtain the target second container corresponding to the carrying quantity of the target first container from the storage area in the storage and picking area, and transfers the target second container corresponding to the carrying quantity of the target first container to the target first container, where the fixed shelf stored in the storage area stores multiple second containers, and the target second container is at least one of the multiple second containers.

[0019] It can be seen that in this application, by invoking the first handling robot to carry the target first container to dock with the target second container carried by at least one second handling robot, the server can shorten the moving distance of the second handling robot, thereby improving the efficiency of the second handling robot in sorting and transportation. In addition, in this application, by determining the target docking point as an idle position at any position in the storage and picking area, any idle position in the storage and picking area can be determined as the target docking point according to the needs of the pending order. In this way, the storage and picking area does not need to plan a separate area as a fixed target docking point, which is conducive to improving the storage space utilization rate of the storage and picking area and increasing the flexibility of target docking point selection. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1a This is a schematic diagram of the cargo collection and distribution system architecture provided by an embodiment of the present application;

[0022] Figure 1b This is another schematic diagram of the cargo collection and distribution system architecture provided by an embodiment of the present application;

[0023] Figure 1c This is a schematic diagram of equipment locations in a cargo collection and distribution system provided in an embodiment of the present application;

[0024] Figure 1d This is another schematic diagram of equipment locations in a cargo collection and distribution system provided in an embodiment of the present application;

[0025] Figure 1e This is a schematic diagram of the structure of some equipment in a cargo collection and distribution system provided in an embodiment of the present application;

[0026] Figure 1f This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0027] Figure 2 This is a flow chart of a cargo collection and distribution method provided in an embodiment of the present application;

[0028] Figure 3 This is a schematic diagram of the structure of a cargo collection and distribution device provided in an embodiment of the present application;

[0029] Figure 4 This is a block diagram of the functional units of a cargo collection and distribution device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0031] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0032] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0033] The embodiments of the present application are described below with reference to the accompanying drawings.

[0034] See also Figure 1a and Figure 1b , Figure 1a and Figure 1b These are two exemplary architecture diagrams of the cargo collection and distribution system provided in the embodiments of this application. Figure 1a As shown, the cargo collection and distribution system may specifically include a server 100, a first transport robot 200, and a second transport robot 300. Figure 1b As shown, the cargo collection and distribution system may specifically include a server 100, a first handling robot 200, and a plurality of second handling robots (i.e., a second handling robot 301, a second handling robot 302, ..., a second handling robot 30n). The server may control the actions of the first handling robot, for example, controlling the first handling robot to move to a specific location (e.g., a specific first container in a storage and picking area, a specific target docking point in a storage and picking area, etc.), controlling the second handling robot to obtain a second container containing materials from a specific fixed shelf, controlling the second handling robot to move to a specific location (e.g., a specific fixed shelf in a storage and picking area, a specific target docking point in a storage and picking area), controlling the second handling robot to obtain a second container from a specific fixed shelf, controlling the second handling robot to transport a specific second container to a specific docking position, controlling the second handling robot to transfer a specific second container to a specific first container located at a specific docking position, etc. The first handling robot and the second handling robot may then perform corresponding operations according to the control of the server.

[0035] Specifically, the server may be in communication with the transport robots (i.e., the first transport robot and the second transport robot). The server may control the transport robots by sending control instructions to the transport robots. The control instructions are used to instruct the transport robots on the operations to be performed. Upon receiving the control instructions, the transport robots may perform the corresponding operations according to the control instructions. In addition, each time the transport robots complete an operation under the control of the server, they may send a notification to the server to inform the server that the operation has been completed, so that the server can control the transport robots to perform other operations again.

[0036] In particular, upon receiving a pending order, the server may determine, based on the pending order, at least one target first container and a corresponding number of target second containers for each target first container, and determine, based on each target first container and the corresponding number of target second containers, a target docking point corresponding to each target first container, wherein the target docking point is any location in the storage and picking area determined based on the pending order, and the storage and picking area is the work area for performing the transport task. The server may then control the first transport robot to retrieve the target first container from a shelf storage area in the storage and picking area. After the first transport robot retrieves the target first container according to the server's control, the server may control the first transport robot to transport the target first container from the shelf storage area to the target docking point corresponding to the target first container. The server can also control the second transport robot to obtain the target second containers with the corresponding carrying quantity of the target first container from the storage area in the storage and picking area. After the second transport robot obtains the target second container according to the control of the server, the server can control the second transport robot to transport the target second container to the target docking point, and transfer the target second container to the first container, thereby realizing the collection operation for the orders to be processed.

[0037] Since the server can determine any location in the storage and picking area that meets the preset conditions as the target docking point based on the needs of the pending orders, the preset conditions refer to a location that can meet the space requirements for placing the target first container and the space requirements for docking between the first handling robot and the second handling robot. Furthermore, in order to avoid interfering with the processing of other orders and causing traffic jams, the selected location may not be on the moving route of other movable devices. It can be seen that in the present application, there is no need to plan a separate area in the storage and picking area as the target docking point, which is conducive to reducing the storage area occupied by the storage and picking area and improving the storage space utilization rate of the storage and picking area. In addition, not setting a fixed point as the docking position for the second handling robot and the first container is also conducive to improving the flexibility of selecting the target docking point.

[0038] See also Figure 1f The composition structure of any electronic device in the present application (such as the server 100, the first transfer robot 200, the second transfer robot 300, the second transfer robot 301, the second transfer robot 302, ..., the second transfer robot 30n) can be as follows Figure 1fAs shown, the electronic device may include a processor 110, a memory 120, a communication interface 130 and one or more programs 121, wherein the one or more programs 121 are stored in the above-mentioned memory 120 and are configured to be executed by the above-mentioned processor 110, and the one or more programs 121 include instructions for executing any step in the above-mentioned method embodiment. Among them, the communication interface 130 is used to support communication between the electronic device and other devices. In a specific implementation, the processor 110 is used to execute any step performed by the electronic device in the following method embodiment, and when performing data transmission such as sending, the communication interface 130 can be optionally called to complete the corresponding operation. It should be noted that the structural diagram of the above-mentioned electronic device is only an example, and the specific devices included may be more or less, and are not uniquely limited here.

[0039] See also Figure 2 , Figure 2 This is a flow chart of a cargo collection and distribution method provided by an embodiment of the present application. This method can be applied in the following situations: Figure 1a or Figure 1b The server in the cargo collection and distribution system shown in FIG. 1 is provided with a business module and a scheduling module. Figure 2 As shown, the cargo collection and distribution method includes:

[0040] Step S210: Obtain pending orders.

[0041] The pending order includes information such as the material attributes of the second container to be shipped, the number of containers to be shipped, the shipping time, and the specific line station where the goods are to be loaded. Operators send the details of the pending order to the server via a terminal device based on the production line requirements. Terminal devices include mobile phones, tablets, laptops, wearable devices, and so on.

[0042] In a specific implementation, the server receives pending orders from the terminal device used by the operator through the business module.

[0043] Step S220: Determine, according to the pending order, at least one target first container and a target second container corresponding to the number of items carried by each target first container.

[0044] The first container may be a movable shelf, a pallet, or other equipment that can be used to carry the second container. The second container may be a material box, a carton, or the like for loading materials.

[0045] The maximum number of second containers that a first container can carry at a time is at least one. When the maximum number of containers a first container can carry at a time is one, the number of target second containers that can carry the same number of containers as each target first container is one. When the maximum number of containers a first container can carry at a time is multiple, the number of target second containers that can carry the same number of containers as each target first container is at least one, and the number of target second containers that can carry the same number of containers as each target first container is less than the maximum number of containers a first container can carry at a time. For example, when the maximum number of containers a first container can carry at a time is four, the number of target second containers that can carry the same number of containers as the first container can be one, two, three, or four.

[0046] In a specific implementation, the server obtains the maximum carrying capacity of the first container and the total number of second containers to be shipped corresponding to the pending order through the business module, thereby decomposing the order processing task of the number (i.e., the total number) of second containers to be shipped corresponding to the pending order into multiple subtasks, each of which is used to represent the number of target second containers to be transported in a single time by a single target first container for the pending order. The server's business module then assigns the corresponding target first container and target second container to each subtask. In this case, each subtask can be assigned to a target first container; or, each subtask can be assigned to the same target first container; or, at least part of each subtask can be assigned to the same target first container.

[0047] Specifically, the server's business module can prioritize assigning each subtask to a target first container, so as to achieve simultaneous batch transportation of the number of target second containers corresponding to the pending orders, which is beneficial to improving the efficiency of the dispatch of the second containers corresponding to the pending orders. When the number of idle first containers in the storage and picking area is equal to the total number of subtasks corresponding to the pending orders, at least part of the subtasks can be assigned to the same target first container to ensure timely transportation while ensuring transportation efficiency. Of course, if there is only one idle first container in the storage and picking area, all subtasks can be assigned to the same target first container. In this way, the flexibility of subtask allocation implementation can be improved through the above method.

[0048] For example, if the total number of second containers to be shipped corresponding to pending orders is 10, and the capacity of a single first container is 3, then the order processing task corresponding to the pending order can be decomposed into at least 4 subtasks. Taking the decomposition into 4 subtasks as an example, the first container of 3 subtasks needs to carry 3 second containers at a time, and the first container of another subtask needs to carry 1 second container at a time. In this case, if each subtask can correspond to a target first container, the number of target first containers is 4, of which three correspond to carrying 3 target second containers, and the other corresponds to carrying 1 target second container. Alternatively, if there are only three idle first containers in the storage and picking area, at least some of the subtasks can be assigned to the same target first container. That is, three of the 4 subtasks can be assigned to a single first container, and the other subtask can be assigned to any of the three first containers. In this case, in the process of completing the transportation of the second container to be shipped, one of the three first containers needs to be transported twice. Alternatively, if there is only one idle first container in the storage and picking area, each subtask can be assigned to the same target first container, that is, the four subtasks will be assigned to the same target first container, and the target first container will complete the transportation of the second containers to be shipped out in batches corresponding to each subtask.

[0049] Step S230: Determine the target docking point corresponding to each of the target first containers based on each of the target first containers and the target second containers carrying the corresponding number of containers. The target docking point is an idle position in the storage picking area. The idle position is any position in the storage picking area selected by the server that meets the docking space requirements.

[0050] Among them, the docking space requirement refers to the space requirement for placing the target first container and the space requirement for docking between the first handling robot and the second handling robot. That is, the idle position refers to the location of the space that meets the space requirement for placing the target first container and the space requirement for docking between the first handling robot and the second handling robot. In a specific implementation, the idle position may be a position that is not on the moving route of other movable devices in the storage and picking area (i.e., equipment other than those used to process pending orders, for example, the first handling robot other than that used to transport the target first container and the second handling robot other than that used to transport the target second container, etc.), so as to avoid interfering with the processing of other orders and causing traffic jams. The target docking point is one of all the idle positions in the storage and picking area.

[0051] The storage and picking area is an area for storing the second containers and for collecting target second containers for orders to be processed.

[0052] Specifically, the server can send each sub-order of the pending order to the scheduling module through the business module, and then determine the target docking point corresponding to each target first container through the scheduling module.

[0053] In a specific implementation, all target first containers can correspond to a target docking point, allowing each target first container to collect goods simultaneously, thereby improving collection efficiency. When there are insufficient free spaces in the storage and picking area, at least some of all target first containers can correspond to the same target docking position. When different target first containers correspond to the same target docking position, when executing step S240, the server can call the first transport robot to transport each target first container to the target docking point in sequence, thereby ensuring that each subtask can be carried out in an orderly manner without interfering with the operation of other movable equipment.

[0054] In one possible example, the vacant location is a location that is currently unreserved. In this example, the vacant location can satisfy docking space requirements while also being unreserved by other mobile devices. This allows the current pending order to be executed without waiting for other orders to complete or interfering with their execution, ensuring that pending orders can be executed directly, thereby improving the efficiency of processing pending orders.

[0055] In one possible example, the vacant location is a location with a historical reservation frequency below a preset threshold. In this example, the spatial location can meet the docking space requirement while also being a location with a historical reservation frequency below the preset threshold. This reduces the likelihood of conflicts between the target docking point and other order tasks, thereby improving the processing efficiency of pending orders. Furthermore, by defining vacant locations as locations with a historical reservation frequency below the preset threshold, the utilization rate of each space within the storage and picking area can be improved, avoiding wasted space.

[0056] Step S240: Invoke a first transport robot to obtain the target first container from the shelf storage area in the storage picking area, and transport the target first container from the shelf storage area to the target docking point corresponding to the target first container.

[0057] The shelf storage area stores a plurality of first containers, and the target first container is one of the at least one first container.

[0058] In the specific implementation, after the business module of the server sends each subtask to the scheduling module, the scheduling module of the server will send an instruction to the first transport robot to transport the target first container. Then, the first transport robot will obtain the target first container from the shelf storage area in the storage picking area according to the instruction sent by the scheduling module, and transport the target first container from the shelf storage area to the target docking point corresponding to the target first container.

[0059] Step S250, calling at least one second handling robot to obtain the target second containers with a carrying quantity corresponding to the target first container from the fixed shelves in the storage area of ​​the storage picking area, and transferring the target second containers with a carrying quantity corresponding to the target first container to the target first container.

[0060] The fixed shelves in the storage area store a plurality of second containers, and the target second container is at least one of the plurality of second containers.

[0061] In the specific implementation, after the business module of the server sends each subtask to the scheduling module, the scheduling module of the server will send an instruction to transport the target second container to at least one second transport robot, and then at least one second transport robot will obtain the target first container from the storage area in the storage picking area according to the instruction sent by the scheduling module, and transport the target first container from the shelf storage area to the target docking point corresponding to the target first container.

[0062] In one possible example, when calling at least two transport robots, the target second containers corresponding to the number of containers carried by the target first container are transferred to the target first container, including: at the target docking point, at least two of the second transport robots dock with the target first container on the same side or different sides of the target first container at the same time. In this example, by calling multiple second transport robots to transport the target second containers, the efficiency of completing pending orders can be improved. In addition, when multiple second transport robots dock with the target first container on the same side of the target first container, the spatial position required for docking space requirements can be reduced, thereby increasing the possibility of selecting the target docking point. When multiple second transport robots dock with the target first container on different sides of the target first container, the efficiency of completing the docking of all second transport robots with the target first container can be improved.

[0063] It can be seen that in this embodiment, when the server obtains a pending order, it will determine at least one target first container and a target second container with a corresponding carrying quantity of each target first container according to the pending order; then, based on each target first container and the target second container with a corresponding carrying quantity of each target first container, it will determine a target docking point corresponding to each target first container, where the target docking point is an idle position in the storage and picking area, and the idle position is located at any position in the storage and picking area; thereafter, the server will call the first handling robot to obtain the target first container from the shelf storage area in the storage and picking area, and transport the target first container from the shelf storage area to the target docking point corresponding to the target first container, where the shelf storage area stores at least one first container, and the target first container is one of the at least one first container; and call at least one second handling robot to obtain the target second container with a corresponding carrying quantity of the target first container from the storage area in the storage and picking area, and transfer the target second container with a corresponding carrying quantity of the target first container to the target first container, where the fixed shelf stored in the storage area stores multiple second containers, and the target second container is at least one of the multiple second containers.

[0064] It can be seen that in the present application, the server can shorten the moving distance of the second transport robot by calling the first transport robot to carry the target first container to dock with the target second container carried by at least one second transport robot, thereby improving the efficiency of the second transport robot in sorting and transportation. In addition, in the present application, by determining the target docking point as an idle position located at any position in the storage and picking area, any idle position in the storage and picking area can be determined as the target docking point according to the needs of the pending orders. In this way, the storage and picking area does not need to plan a separate area to be fixed as the target docking point, which is conducive to improving the storage space utilization rate of the storage and picking area and increasing the flexibility of the target docking point selection. At the same time, this can also increase the passable space of the first transport robot and the second transport robot, so that the server can design more passage paths for the first transport robot and the second transport robot, and then improve the efficiency of cargo collection and distribution through path selection.

[0065] In addition, by setting up a business module and a scheduling module on the server to coordinate scheduling and realize the second container collection and distribution, business work for a pending order (such as determining the target first container, target second container, etc. based on the pending order) and scheduling work for another order (such as calling the first transport robot to transport the target first container and calling the second transport robot to transport the target second container, etc.) can be carried out at the same time, which is conducive to improving the server's processing efficiency for pending orders.

[0066] Furthermore, when there are multiple second transport robots, order completion efficiency can be improved by calling multiple second transport robots to transport the target second container.

[0067] In one possible example, the target docking point corresponding to each target first container is determined based on each target first container and the target second container with a corresponding carrying quantity thereof, including: obtaining a first idle point in the storage and picking area; when there are multiple first idle points, determining a collection route for each first idle point with respect to the target first container and the target second container with a corresponding carrying quantity thereof, the collection route refers to the sum of a route for the first transport robot to transport the target first container from the shelf storage area to the first idle point, and a route for the second transport robot to transport the target second container with a corresponding carrying quantity thereof to the target first container; comparing the collection routes of each first idle point, and determining the first idle point corresponding to the collection route with the shortest distance as the target docking point corresponding to the target first container.

[0068] The first idle point refers to an idle position in the storage and picking area when the pending order is received.

[0069] In a specific implementation, if there is one first idle point, the first idle point will be used as the target docking point corresponding to the target first container. At this time, if there are multiple target first containers, the server can call the first transport robot to transport each target first container to the target docking point in turn, and then call the second transport robot to place the target second container on the target first container located at the target docking point. If there are multiple first idle points, the server can first obtain all first idle points, and then generate a cargo collection route for each first idle point based on the target first container and the corresponding target second container, and obtain the distance of the cargo collection route for each first idle point. The server then compares the distances of the cargo collection routes of each first idle point, and determines the first idle point corresponding to the cargo collection route with the shortest distance as the target moving point.

[0070] Specifically, when there are multiple first idle points, in terms of generating a cargo collection route for each first idle point based on the target first container and the corresponding target second container, the server can first compare the number of first idle points and the number of target first containers, and then perform the aforementioned steps for each target first container respectively, so as to match the corresponding first idle points for each target first container in turn. If the number of first idle points is greater than the number of target first containers, the number of first idle points used to match the target first container to be matched later is equal to the difference between the number of all first idle points and the number of first idle points that have been matched with other target first containers. In this way, it can be ensured that all target first containers can be moved and transported synchronously, which is conducive to improving handling efficiency. If the number of first idle points is less than the number of target first containers, the number of first idle points used to match the target first container to be matched later is equal to the number of all first idle points. At this time, the target docking points corresponding to at least some of the target first containers are the same.

[0071] It can be seen that in this example, when there are multiple first idle points, by using the first idle point with the shortest collection route as the target docking point for the target first container, it is beneficial to improve the efficiency of transporting the target second containers with the corresponding carrying quantity as the target first container to the target first container.

[0072] In one possible example, the calling of at least one second handling robot to obtain the target second containers with a carrying quantity corresponding to the target first container from the fixed shelves in the storage area of ​​the storage and picking area, and transferring the target second containers with a carrying quantity corresponding to the target first container to the target first container includes: when it is detected that the target second containers with a carrying quantity corresponding to the target first container are all transferred to the target first container, judging whether the delivery conditions of the target first container are met; if so, calling the first handling robot to transfer the target first container from the target docking point to the target outbound point, and the target outbound point is located outside the storage and picking area; if not, calling the first handling robot to transfer the target first container from the target docking point to the outbound waiting position, and the outbound waiting position is located in the storage and picking area.

[0073] The target delivery point and delivery waiting position are both located outside the storage and picking area. After at least one second handling robot transfers the number of target second containers corresponding to the target first container to the target first container, the server must call the first handling robot to deliver the target first container to the destination. The target delivery point is located outside the storage and picking area, and the delivery waiting position is located within the storage and picking area.

[0074] The delivery condition is the delivery time of the pending order. Determining whether the delivery condition of the target first container is met is to determine whether the delivery time of the pending order corresponding to the target first container is met.

[0075] In a specific implementation, when it is detected that the target second containers corresponding to the target first container are all transported to the target first container, the server can determine whether the pending order is a real-time order, that is, the pending order will start to be delivered after the collection is completed. If so, the server directly calls the first handling robot to transport the target automatic shelf from the target docking point to the target outbound point. If not, the server calls the first handling robot to transport the target first container from the target docking point to the outbound waiting position, and then when it is monitored that the time reaches the outbound time of the pending order, the server calls the first handling robot to transport the target first container from the outbound waiting position to the target outbound point. In particular, when the pending order is not a real-time order, but the server detects that the target second containers corresponding to the target first container are all transported to the target first container, and the time has reached the outbound time of the pending order, the server can also directly call the first handling robot to transport the target automatic shelf from the target docking point to the target outbound point.

[0076] In a specific implementation, when the server detects that the number of target second containers corresponding to the target first container has been transported to the target first container, it can bind the target first container and the target second containers it carries and generate a corresponding order number. When the server subsequently calls the first transport robot to transport the target first container out of the warehouse, it can use this order number to query the location of the target first container and perform subsequent transport operations.

[0077] It can be seen that in this example, when the delivery conditions of the target first container are met, the server calls the first handling robot to transport the target first container to the target outbound point, so that the target first container can transport goods across regions without setting up docking positions between regions, and allowing the target first container to unload materials at the docking position, which can reduce the space occupied and improve the efficiency of material outbound transportation, which is conducive to timely meeting the production needs of the production line.

[0078] In a possible example, the operating area of ​​the first handling robot includes the storage and picking area and the production area, and the target delivery point is located in the production area.

[0079] Among them, the production area is the area where materials are used to produce products.

[0080] See also Figure 1cThe operation area of ​​the first handling robot includes a storage and picking area and a production area, wherein the storage and picking area includes a material storage area and a shelf storage area, and the shelf storage area is used to store idle first containers. The material storage area is used to store second containers. The material storage area is provided with a plurality of fixed shelves, and each fixed shelf can store a plurality of second containers. The production area includes at least one production line, and each production line is provided with at least one line-side workstation. That is, Figure 1c The line-side station 1, line-side station 2, line-side station 3, ..., line-side station n can be multiple line-side stations on the same production line or on different production lines, and there is no limitation here.

[0081] In a specific implementation, when the server detects that the delivery conditions of the target first container are met, it can call the first handling robot to directly transport the target first container to the production area. Specifically, the line-side station can be provided with a material rack for carrying the second container. At this time, the target second container carried on the same target first container can correspond to different material attribute information, which is conducive to improving the flexibility of material distribution. Alternatively, the line-side station may not be provided with a material rack. At this time, after the first handling robot transports the target first container to the corresponding line-side station, the target first container can be placed at the line-side station for subsequent processing operations. In this way, not only can the cost of setting up material racks at the line-side station be reduced, but also the steps of transporting the second container from the target first container to the material rack are reduced, making the production line loading more convenient and rapid. In addition, it ensures that there is no human involvement in the entire process of collection and distribution, that is, it realizes complete unmanned operation from storage to delivery to delivery on the production line, and also improves the intelligence of warehouse management and material transportation.

[0082] It can be seen that in this example, when the delivery conditions of the target first container are met, the server calls the first handling robot to transport the target first container directly to the production line, thereby realizing cross-regional transportation of goods, reducing the storage space for transfer, and improving the efficiency of material outbound delivery.

[0083] In a possible example, the operating area of ​​the first handling robot includes the storage and picking area and the loading area, and the target delivery point is located in the loading area.

[0084] Among them, the loading area is the area where the material truck is located. The material truck can assemble multiple second containers and uniformly deliver the assembled second containers to the production area.

[0085] See also Figure 1dThe first handling robot's operating area includes a storage and picking area, a loading area, and a production area. The loading area is equipped with a feed truck for transporting the second container. The loading area is located between the storage and picking area and the production area. When the second container needs to be shipped out of the warehouse, the server can call the first handling robot to transport the target first container to the loading area, so that the second container can be transported to the lineside station of the production line together with the target first container.

[0086] In a specific implementation, the maximum carrying capacity of the feed cart is greater than the maximum carrying capacity of the target first container. The feed cart can simultaneously transport multiple target first containers and corresponding target second containers to the lineside workstation of the production line. Specifically, when transferring the second container to the feed cart, a third handling robot in the loading area can first remove the second container from the target first container and then place it on the feed cart, thereby reducing the number of target first containers required and lowering costs. Alternatively, when transferring the second container to the feed cart, the entire target first container and the target second container it carries can be transferred to the feed cart together to improve transfer efficiency.

[0087] It can be seen that in this example, when the delivery conditions of the target first container are met, the server calls the first handling robot to transport the target first container to the loading area, and then the material truck in the loading area transports the second container corresponding to the target first container to the line-side workstation of the production line, which can increase the number of single transportations, thereby reducing the number of transportations and reducing energy consumption.

[0088] In one possible example, before calling the first handling robot to move the target first container from the target docking point to the outbound waiting position, the method also includes: obtaining the outbound time of the target first container based on the pending order; obtaining the second idle point in the storage picking area; when there are multiple second idle points, determining the outbound distance between each second idle point and the target outbound point; determining the outbound waiting position based on the outbound time and the outbound distance of each second idle point, and the outbound waiting position is one of the multiple second idle points.

[0089] The second free point refers to a location within the storage and picking area that is not reserved or occupied by other mobile devices when the server detects that the number of target second containers carrying the same number of containers as the target first container has been transported to the target first container. To avoid interfering with the execution of other orders, the second free point can also be a location within the storage and picking area that is not on the movement path of other mobile devices.

[0090] In a specific implementation, the storage and picking area can simultaneously process at least one pending order task. When there is only one pending order task in the storage and picking area, the server can compare the dispatch distances corresponding to each second idle point and determine the second idle point with the shortest distance as the dispatch waiting position. When the storage and picking area is processing multiple pending orders, the server can compare the dispatch times of each pending order and determine the second idle point with the closest dispatch distance as the dispatch waiting position corresponding to the target first container with the earlier dispatch time, thereby further improving dispatch efficiency.

[0091] Specifically, determining the outbound waiting position based on the outbound time and the outbound distances of each of the second idle points includes: determining a preselected position based on the outbound time and the outbound distances of each of the second idle points, obtaining the outbound distance between the target docking position and the target outbound point, comparing the outbound distance corresponding to the preselected position with the outbound distance corresponding to the target docking position, and selecting the position with the shorter outbound distance as the outbound waiting position. In this way, if the outbound distance of the remaining idle positions is greater than the outbound distance of the target docking point corresponding to the target first container, the server may not call the first handling robot to move the target first container, but directly select the target docking point as the outbound waiting position, thereby ensuring higher outbound efficiency.

[0092] In actual applications, the server can monitor the second idle point in real time and update the outbound waiting position, thereby ensuring that the target first container can be quickly shipped out when the outbound time arrives.

[0093] It can be seen that in this example, when the target first container is not shipped out in real time, the server obtains the second idle point and matches the shipping waiting position with an appropriate shipping distance according to the shipping time of the target first container. This can ensure that the target first containers corresponding to all pending orders are shipped out in an orderly manner while improving the shipping efficiency.

[0094] In one possible example, the storage area is provided with a plurality of fixed shelves, each of which has a first storage space for storing the second container and a second storage space for storing the first container; the idle position is at least one of the second storage space of the fixed shelf and other positions in the storage and picking area where the fixed shelf is not provided.

[0095] See also Figure 1c and Figure 1d Other locations in the storage and picking area where the fixed shelves are not set can be located in the aisles of the storage area, between the storage area and the shelf storage area, or in the shelf storage area, etc., without further restriction.

[0096] See also Figure 1eThe fixed shelf 50 includes a first receiving space 50a for carrying the second container 60 and a second receiving space 50b for storing the first container 40. A space is left at the bottom of the first container 40 to accommodate the first handling robot 200, which can lift or put down the first container 40 from the bottom.

[0097] As can be seen, in this example, providing a second storage space at the bottom of the fixed shelf to accommodate the target first container improves space utilization. Furthermore, in this example, the server can flexibly select the second storage space of the fixed shelf or other free locations as the target docking point or waiting position for shipment. This not only improves space utilization but also increases the space available for other mobile devices. Furthermore, this increases the diversity of free locations that can be designated as target docking points or waiting positions for shipment, thereby reducing waiting time and improving efficiency.

[0098] In one possible example, before calling the first transport robot to move the target first container from the target docking point to the target delivery point, the method also includes: obtaining adjustment information for the pending order; calling at least one of the second transport robots according to the adjustment information to transport the second containers with a load quantity corresponding to the adjustment information from the fixed shelves in the storage area to the target first container; or, calling at least one of the second transport robots according to the adjustment information to transport the target second containers with a load quantity corresponding to the adjustment information from the target first container to the fixed shelves in the storage area.

[0099] The adjustment information is sent to the server via a terminal device by the operator based on adjustments to the production line schedule and warehouse delivery plan. The adjustment information is a request to adjust the delivery quantity of the second containers for pending orders. This adjustment information can include: adding a certain number of second containers to be shipped based on the number of second containers to be shipped corresponding to existing pending orders; or reducing a certain number of second containers to be shipped based on the number of second containers to be shipped corresponding to existing pending orders. When reducing the number of second containers to be shipped, the reduction must be less than or equal to the number of second containers to be shipped corresponding to existing pending orders.

[0100] In a specific implementation, when the server receives adjustment information for a pending order, if the content of the adjustment information is to increase the number of second containers to be shipped out of the existing pending order, the server can process the adjustment information as a new pending order. Specifically, the server can determine at least one target first container and the target second container with the carrying capacity corresponding to each target first container based on the adjustment information, and then execute the above steps S230 to S250, thereby achieving the transfer of the target second containers with the carrying capacity corresponding to the adjustment information from the storage area to the target first container. In particular, if the target first container corresponding to the existing pending order is not full, the target first container can be used as the target first container determined based on the adjustment information.

[0101] Alternatively, in a specific implementation, when the server receives adjustment information for a pending order, if the content of the adjustment information is to reduce the number of second containers to be shipped corresponding to the existing pending order by a certain number, the server can determine the adjustment docking point based on the position of the first container to be adjusted and the fixed shelf corresponding to the first container to be adjusted, and then call the first handling robot to move the first container to be adjusted to the adjustment docking point, and call at least one second handling robot to move to the adjustment docking point, so that the at least one second handling robot can obtain the second containers to be adjusted from the first container to be adjusted and transfer these second containers to be adjusted to the fixed shelf corresponding to the first container to be adjusted, thereby enabling the at least one second handling robot to transport the target second containers corresponding to the adjustment information from the target first container to the storage area. The first container to be adjusted is the target first container corresponding to the pending order. The second container to be adjusted is the target second container. The fixed shelf corresponding to the first container to be adjusted is the fixed shelf for placing the second containers to be adjusted. The adjustment docking point is used for the first handling robot and the second handling robot to dock and transfer the position of the second container to be adjusted. The specific method for determining the adjustment docking point can refer to the target docking point and will not be further described here.

[0102] It can be seen that in this example, the operator can send adjustment information to the server according to actual needs, so that the server calls the first handling robot and at least one second handling robot to cooperate in adjusting the number of second containers to be shipped out, which is conducive to meeting actual production needs.

[0103] In one possible example, after calling the first handling robot to move the target first container from the target docking point to the target outbound point, it also includes: obtaining return material information for the pending order; determining a return material docking point based on the return material information, and the return material docking point is an idle position in the storage picking area; calling the first handling robot to move the target first container from the target outbound point to the return material docking point; after detecting that the target first container arrives at the return material docking point, calling at least one of the second handling robots to transport all the target second containers on the target first container to the fixed shelf in the storage area; after detecting that all the target second containers on the target first container have been removed, calling the first handling robot to move the target first container to the shelf storage area.

[0104] The content of the returned material information is sent to the server via the terminal device by the operator based on the adjustment of the production line scheduling plan.

[0105] See also Figure 1c If the operator sends return information for a pending order to the server based on actual production schedule adjustments, the server can first determine a return docking point based on the first container to be returned at the lineside station and the corresponding fixed shelf in the storage and picking area. The server then calls upon a first handling robot to retrieve the first container to be returned from the lineside station and transport it to the return docking point. The server can also call upon at least one second handling robot to move to the return docking point to retrieve a second container to be returned from the first container. The server then transports the second container to be returned to the fixed shelf corresponding to the first container, thereby completing the return operation for the return information. The first container to be returned is the target first container corresponding to the pending order. The second container to be returned is the target second container. The fixed shelf corresponding to the first container to be returned is the fixed shelf for placing the second container to be returned. The return docking point is the location where the first and second handling robots dock and transfer the second container to be returned. The specific method for determining the return docking point can be found in the target docking point and will not be further described here.

[0106] See also Figure 1dIf the operator sends the return material information for the pending order to the server according to the actual production schedule adjustment, the server can dispatch a material cart to move the second container to be returned located at the line-side workstation to the loading area, and determine the return material docking point based on the position of the first container to be returned located in the loading area and the corresponding fixed shelf located in the storage and picking area, and then call the first handling robot to obtain the first container to be returned in the loading area, and transport the first container to be returned to the return material docking point. The server can also call at least one second handling robot to move to the return material docking point, thereby obtaining the second container to be returned on the first container to be returned, and then transport the second container to be returned to the fixed shelf corresponding to the first container to be returned, thereby realizing the return operation based on the return material information.

[0107] It can be seen that in this example, the operator can send material return information to the server according to actual needs, so that the server can call the first handling robot and at least one second handling robot to cooperate to transport the target second container on the target first container located in the production area back to the fixed shelf, which is conducive to meeting actual production needs.

[0108] In one possible example, calling at least one of the second handling robots to obtain the target second container from the fixed shelf in the storage area in the storage and picking area, and transferring the target second container to the target first container includes: calling at least one of the second handling robots to obtain the target second container from the fixed shelf in the storage area in the storage and picking area; calling at least one of the second handling robots to transport the target second container from the storage area to the target docking position; and when detecting that the first handling robot transports the target first container to the target docking point, calling at least one of the second handling robots to place the target second container on the target first container.

[0109] In a specific implementation, the server can first call the first transport robot to obtain the target first container from the shelf storage area, and transport the target first container to the target docking point, and then call at least one of the second transport robots to obtain the target second container from the storage area, and transport the target second container from the storage area to the target docking position, and finally call at least one second transport robot to move the target second container to the target first container, thereby completing the docking transfer of the target second container.

[0110] Alternatively, in a specific implementation, the server can call a first handling robot to obtain a target first container from a shelf storage area and transport the target first container to a target docking point, while calling at least one second handling robot to obtain a target second container from a material storage area and transport the target second container from the material storage area to a target docking position, and then transfer the target second container to the target first container after the target first container arrives at the target docking point. By calling the first handling robot and the second handling robot to work simultaneously, the handling efficiency can be improved.

[0111] Specifically, when the server calls the first handling robot and the second handling robot to work simultaneously, the server can call the first handling robot and the second handling robot simultaneously; or, the server can call the second handling robot during the working process of the first handling robot; or, the server can call the first handling robot during the working process of the second handling robot. The specific order in which the server calls the first handling robot and the second handling robot can be determined based on the working time of the first handling robot to obtain and transport the target first container and the working time of the second handling robot to obtain and transport the target second container, so as to ensure that the first handling robot and the second handling robot can reach the target docking point at the same time, so as to improve the handling efficiency while flexibly calling all the first handling robots and the second handling robots in the storage and picking area and avoid interfering with the execution of other tasks.

[0112] It can be seen that in this example, the server can ensure that the target second container can be docked and transferred smoothly by calling at least one second transport robot to move the target second container to the target first container after detecting that the first transport robot transports the target first container to the target docking point, thereby completing the collection task for the pending orders.

[0113] The present application can divide the server into functional units according to the above method examples. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical functional division. In actual implementation, there may be other division methods.

[0114] Figure 3 This is a schematic diagram of the composition structure of a cargo collection and distribution device provided in an embodiment of the present application; the cargo collection and distribution device 70 can be used in Figure 1a or Figure 1b On the server 100 in the cargo collection and distribution system shown, the cargo collection and distribution device 70 includes:

[0115] An acquisition unit 710 is used to acquire pending orders;

[0116] A first determining unit 720 is configured to determine, according to the pending order, at least one target first container and a target second container corresponding to the number of items carried by each target first container;

[0117] The second determining unit 730 is configured to determine, based on each of the target first containers and the number of target second containers corresponding to each of the target first containers, a target docking point corresponding to each of the target first containers, wherein the target docking point is an idle position in the storage and picking area, and the idle position is any position in the storage and picking area selected by the server that meets the docking space requirement;

[0118] a first calling unit 740 configured to call a first transport robot to obtain the target first container from a shelf storage area in the storage and picking area, and to transport the target first container from the shelf storage area to the target docking point corresponding to the target first container, wherein the shelf storage area stores at least one first container, and the target first container is one of the at least one first container;

[0119] The second calling unit 750 is used to call at least one second handling robot to obtain the target second containers with a carrying quantity corresponding to the target first container from the fixed shelves in the storage area of ​​the storage picking area, and transfer the target second containers with a carrying quantity corresponding to the target first container to the target first container. The fixed shelves stored in the storage area store multiple second containers, and the target second container is at least one of the multiple second containers.

[0120] In one possible example, in determining the target docking point corresponding to each target first container based on each target first container and the target second container with a corresponding carrying quantity to each target first container, the second determination unit is specifically used to: obtain the first idle point in the storage and picking area; when there are multiple first idle points, determine the collection route of each first idle point for the target first container and the target second container with a corresponding carrying quantity to the target first container, the collection route refers to the sum of the route for the first transport robot to transport the target first container from the shelf storage area to the first idle point, and the route for the second transport robot to transport the target second container with a corresponding carrying quantity to the target first container to the target first container; compare the collection routes of each first idle point, and determine the first idle point corresponding to the collection route with the shortest distance as the target docking point corresponding to the target first container.

[0121] In one possible example, the device also includes a distribution unit, which is specifically used to: after calling at least one second handling robot to obtain the target second containers with a carrying quantity corresponding to the target first container from the fixed shelves in the storage area of ​​the storage and picking area, and transferring the target second containers with a carrying quantity corresponding to the target first container to the target first container, when it is detected that the target second containers with a carrying quantity corresponding to the target first container are all transferred to the target first container, determine whether the distribution condition of the target first container is met; if so, call the first handling robot to transfer the target first container from the target docking point to the target outbound point, and the target outbound point is located outside the storage and picking area; if not, call the first handling robot to transfer the target first container from the target docking point to the outbound waiting position, and the outbound waiting position is located in the storage and picking area.

[0122] In one possible example, the distribution unit is also used to obtain the outbound time of the target first container according to the pending order before calling the first handling robot to move the target first container from the target docking point to the outbound waiting position; obtain the second idle point in the storage picking area; when there are multiple second idle points, determine the outbound distance between each second idle point and the target outbound point; determine the outbound waiting position according to the outbound time and the outbound distance of each second idle point, and the outbound waiting position is one of the multiple second idle points.

[0123] In a possible example, the operating area of ​​the first handling robot includes the storage and picking area and the production area, and the target delivery point is located in the production area;

[0124] Alternatively, the operating area of ​​the first transport robot includes the storage and picking area, the loading area, and the production area, and the target delivery point is located in the loading area.

[0125] In one possible example, the device also includes an adjustment unit, which is specifically used to obtain adjustment information for the pending order before calling the first transport robot to move the target first container from the target docking point to the target delivery point; calling at least one of the second transport robots according to the adjustment information to transport the second containers with a load quantity corresponding to the adjustment information from the fixed shelves of the storage area to the target first container; or, calling at least one of the second transport robots according to the adjustment information to transport the target second containers with a load quantity corresponding to the adjustment information from the target first container to the fixed shelves of the storage area.

[0126] In one possible example, the device also includes a material return unit, which is specifically used to obtain return material information for the pending order after calling the first handling robot to move the target first container from the target docking point to the target outbound point; determine the return material docking point based on the return material information, and the return material docking point is an idle position in the storage picking area; call the first handling robot to move the target first container from the target outbound point to the return material docking point; after detecting that the target first container arrives at the return material docking point, call at least one of the second handling robots to move all the target second containers on the target first container to the fixed shelf in the storage area; after detecting that all the target second containers on the target first container have been removed, call the first handling robot to move the target first container to the shelf storage area.

[0127] In one possible example, the storage area is provided with a plurality of fixed shelves, each of which has a first storage space for storing the second container and a second storage space for storing the first container; the idle position is at least one of the second storage space of the fixed shelf and other positions in the storage and picking area where the fixed shelf is not provided.

[0128] In one possible example, in terms of calling at least one of the second handling robots to obtain the target second container from the fixed shelves in the storage area in the storage and picking area, and moving the target second container to the target first container, the second calling unit is specifically used to: call at least one of the second handling robots to obtain the target second container from the fixed shelves in the storage area in the storage and picking area; call at least one of the second handling robots to transport the target second container from the storage area to the target docking position; and when it is detected that the first handling robot transports the target first container to the target docking point, call at least one of the second handling robots to place the target second container on the target first container.

[0129] In a possible example, the idle location is a location that is not currently reserved; or, the idle location is a location whose historical reservation frequency is lower than a preset threshold.

[0130] In one possible example, when calling at least two transport robots, in terms of transferring the target second containers carrying a number corresponding to the target first container to the target first container, the second calling unit is specifically further used to: at the target docking point, call at least two of the second transport robots to dock with the target first container on the same side or different sides of the target first container at the same time.

[0131] In the case of using an integrated unit, the functional unit composition block diagram of the cargo collection and distribution device 80 provided in the embodiment of the present application is as follows: Figure 4 As shown. Figure 4 In the embodiment, the goods collection and distribution device 80 includes: a processing module 820 and a communication module 810. The processing module 820 is used to control and manage the actions of the goods collection and distribution device 80, for example, the steps performed by the acquisition unit 710, the first determination unit 720, the second determination unit 730, the first calling unit 740, the second calling unit 750, and / or other processes for performing the technology described herein. The communication module 810 is used to support the interaction between the goods collection and distribution device 80 and other devices. Figure 4 As shown, the goods collection and distribution device 80 may further include a storage module 830 , which is used to store program codes and data of the goods collection and distribution device 80 .

[0132] Among them, the processing module 820 can be a processor or controller, for example, a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute the various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the embodiments of the present application. The processor can also be a combination that implements computing functions, for example, a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 810 can be a transceiver, an RF circuit or a communication interface, etc. The storage module 830 can be a memory.

[0133] Among them, all relevant contents of each scenario involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here. Figure 2 The steps executed by the server in the cargo collection and distribution method shown.

[0134] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes a server.

[0135] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0136] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0137] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0138] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0139] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0140] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods of each embodiment of the present application. The aforementioned memory includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0141] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0142] The above is a detailed introduction to the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those skilled in the art, according to the idea of ​​the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A cargo collection and distribution method, characterized in that: Applied to a server, the method includes: Get pending orders; Determining, according to the pending order, at least one target first container and a target second container carrying a corresponding number of items to each of the target first containers; Obtain the first free point in the storage and picking area; When there are multiple first idle points, determine a collection route for each first idle point for the target first container and the target second containers carrying a corresponding number of the target first container, where the collection route refers to the sum of the route for the first transport robot to transport the target first container from the shelf storage area to the first idle point, and the route for the second transport robot to transport the target second containers carrying a corresponding number of the target first container to the target first container; Comparing the cargo collection routes of the first idle points, determining the first idle point corresponding to the cargo collection route with the shortest distance as the target docking point corresponding to the target first container, the target docking point being an idle position in the storage and picking area, and the idle position being any position in the storage and picking area selected by the server that meets the docking space requirement; Invoking the first handling robot to obtain the target first container from a shelf storage area in the storage and picking area, and transporting the target first container from the shelf storage area to the target docking point corresponding to the target first container, wherein the shelf storage area stores at least one first container, and the target first container is one of the at least one first container; At least one of the second handling robots is called to obtain the target second containers with a carrying quantity corresponding to the target first container from the fixed shelves in the storage area of ​​the storage picking area, and transfer the target second containers with a carrying quantity corresponding to the target first container to the target first container. The fixed shelves in the storage area store multiple second containers, and the target second container is at least one of the multiple second containers.

2. The cargo collection and distribution method according to claim 1, characterized in that: The method of calling at least one second handling robot to obtain the target second containers having a corresponding number of carrying capacity of the target first container from a fixed shelf in a storage area of ​​the storage picking area, and transferring the target second containers having a corresponding number of carrying capacity of the target first container to the target first container includes: When it is detected that the number of the target second containers corresponding to the carrying quantity of the target first container are all transported to the target first container, determining whether the delivery condition of the target first container is met; If so, calling the first transport robot to move the target first container from the target docking point to a target outbound point, where the target outbound point is outside the storage and picking area; If not, the first transport robot is called to move the target first container from the target docking point to a waiting position for outbound transport, and the waiting position for outbound transport is located in the storage and picking area.

3. The cargo collection and distribution method according to claim 2, characterized in that: Before calling the first transport robot to move the target first container from the target docking point to the outbound waiting position, the method further includes: According to the pending order, obtaining the delivery time of the target first container; Acquire a second idle point in the storage and picking area; When there are multiple second idle points, determining the delivery distance between each of the second idle points and the target delivery point; The outbound waiting position is determined according to the outbound time and the outbound distance of each second idle point, and the outbound waiting position is one of the plurality of second idle points.

4. The cargo collection and distribution method according to claim 2, characterized in that: The operation area of ​​the first handling robot includes the storage and picking area and the production area, and the target delivery point is located in the production area; Alternatively, the operation area of ​​the first transport robot includes the storage and picking area and the loading area, and the target delivery point is located in the loading area.

5. The cargo collection and distribution method according to claim 2, characterized in that: Before calling the first transport robot to move the target first container from the target docking point to the target delivery point, the method further includes: Obtaining adjustment information for the pending order; Invoke the second transport robot according to the adjustment information to transport the second containers, the number of which corresponds to the adjustment information, from the fixed shelf in the storage area to the target first container; Alternatively, the second transport robot is called according to the adjustment information to transport the target second containers, the number of which corresponds to the adjustment information, from the target first container to the fixed shelf in the storage area.

6. The cargo collection and distribution method according to claim 2, characterized in that: After calling the first transport robot to transfer the target first container from the target docking point to the target delivery point, the method further includes: Obtaining material return information for the pending order; Determine a material return docking point according to the material return information, where the material return docking point is the idle position in the storage and picking area; Invoking the first transport robot to move the target first container from the target outbound point to the material return docking point; After detecting that the target first container arrives at the material return docking point, calling the second transport robot to transport all the target second containers on the target first container to the fixed shelf in the storage area; After detecting that all the target second containers on the target first container are removed, calling the first transport robot to move the target first container to the shelf storage area.

7. The cargo collection and distribution method according to claim 1, characterized in that: The storage area is provided with a plurality of fixed shelves, each of which has a first storage space for storing a second container and a second storage space for storing a first container; the idle position is at least one of the second storage space of the fixed shelf and other positions in the storage and picking area where the fixed shelf is not provided.

8. The cargo collection and distribution method according to claim 1, characterized in that: The calling of at least one second handling robot to obtain the target second containers having a corresponding number of carrying capacity of the target first container from a fixed shelf in a storage area of ​​the storage picking area, and transferring the target second containers having a corresponding number of carrying capacity of the target first container to the target first container includes: Invoking at least one of the second handling robots to obtain the target second container from a fixed shelf in a storage area in the storage picking area; Invoking at least one of the second handling robots to transport the target second container from the storage area to a target docking position; When it is detected that the first transport robot transports the target first container to the target docking point, at least one of the second transport robots is called to place the target second container on the target first container.

9. The cargo collection and distribution method according to claim 1, characterized in that: The vacant position is a position that is not currently reserved; Alternatively, the idle location is a location whose historical reservation frequency is lower than a preset threshold.

10. The cargo collection and distribution method according to claim 1, characterized in that: When calling at least two transport robots, transferring the target second containers corresponding to the number of the target first container to the target first container includes: At the target docking point, at least two of the second transport robots are called to dock with the target first container at the same side or different sides of the target first container at the same time.

11. A cargo collection and distribution device, characterized in that: Applied to a server, the cargo collection and distribution device includes: An acquisition unit, used to acquire pending orders; A first determining unit is configured to determine, according to the pending order, at least one target first container and a target second container carrying a corresponding number of items to each of the target first containers; The second determination unit is used to obtain a first idle point in the storage and picking area; and when there are multiple first idle points, determine a collection route for each first idle point for the target first container and the target second containers carrying a corresponding number of items to the target first container, the collection route refers to the sum of a route for the first handling robot to transport the target first container from the shelf storage area to the first idle point, and a route for the second handling robot to transport the target second containers carrying a corresponding number of items to the target first container to the target first container; compare the collection routes of each first idle point, and determine the first idle point corresponding to the collection route with the shortest distance as the target docking point corresponding to the target first container, the target docking point is an idle position in the storage and picking area, and the idle position is any position in the storage and picking area selected by the server that meets the docking space requirements; a first calling unit, configured to call the first handling robot to obtain the target first container from a shelf storage area in the storage picking area, and to transport the target first container from the shelf storage area to the target docking point corresponding to the target first container, wherein the shelf storage area stores at least one first container, and the target first container is one of the at least one first container; The second calling unit is used to call at least one of the second handling robots to obtain the target second containers with a carrying quantity corresponding to the target first container from the fixed shelves in the storage area of ​​the storage picking area, and transfer the target second containers with a carrying quantity corresponding to the target first container to the target first container. The fixed shelves stored in the storage area store multiple second containers, and the target second container is at least one of the multiple second containers.

12. A server, characterized in that: The method comprises a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for executing the steps in the method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that A computer program for electronic data exchange is stored, wherein the computer program enables a computer to execute the steps of the method according to any one of claims 1 to 10.

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