Cargo picking method, system and readable storage medium

Abstract

The embodiments of the present invention relate to the field of intelligent warehousing technology and disclose a cargo picking method, system, and storage medium. The method is applied to a server and includes: obtaining a pending order and determining a first robot corresponding to the pending order; determining the number of target picking locations hit by the cargo in the pending order in at least one picking lane based on cargo information in the pending order; generating a first transport instruction and a release instruction when the number of target picking locations is greater than a quantity threshold; the first transport instruction is used to instruct the first robot to transport a cargo storage device to a docking position corresponding to the target lane, and the release instruction is used to instruct the first robot to release the cargo storage device at the docking position to perform a new transport task; and sending the first transport instruction and the release instruction to the first robot. The application of the technical solution of the present invention can reduce the number of robot starts and stops and the waiting time, thereby improving cargo picking efficiency.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of intelligent warehousing technology, and more particularly to a cargo picking method, system, and readable storage medium. Background Art

[0002] The rapid growth of e-commerce has also led to significant changes in the logistics and warehousing industries. "Order-to-person" robotic systems, a key model for picking goods, involve human pickers remaining in inventory while robots carry orders to the corresponding warehouse. The human pickers then place the goods for the orders into containers carried by the robots.

[0003] Typically, if there are multiple items to be picked in a pending order, the robot will carry the container to each picking point in sequence. The robot must wait for the picker to finish picking the items at each picking point before moving on to the next. As a result, the robot will frequently start and stop when picking items in a pending order, resulting in a lot of waiting time and low picking efficiency. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention provide a cargo picking method, system, and readable storage medium to solve the problem of low cargo picking efficiency in the prior art.

[0005] According to one aspect of an embodiment of the present invention, a cargo picking method is provided, which is applied to a server, and the method includes: obtaining a pending order and determining a first robot corresponding to the pending order; the pending order includes cargo information of at least one cargo; based on the cargo information in the pending order, determining the number of target picking locations hit by the cargo in the pending order in at least one picking lane; when the number of the target picking locations is greater than a quantity threshold, generating a first transport instruction and a release instruction; wherein the first transport instruction is used to instruct the first robot to transport a cargo storage device to a docking position corresponding to the target lane; the release instruction is used to instruct the first robot to release the cargo storage device at the docking position to perform a new transport task; the at least one picking lane includes the target lane; sending the first transport instruction and the release instruction to the first robot, so that a picker or a picking robot picks the cargo in the pending order based on the docking position.

[0006] In some embodiments, when the number of the target picking locations is less than or equal to the quantity threshold, a second transport instruction is generated; the second transport instruction is sent to the first robot; wherein the second transport instruction is used to instruct the first robot to transport the cargo storage device to the target picking location, so that the picker or the picking robot picks the cargo at the target picking location based on the pending order.

[0007] In some embodiments, the method further includes: determining the docking position based on the position of the target lane; or determining the docking position based on the positions of multiple target picking locations in the target lane.

[0008] In some embodiments, determining the docking position based on the position of the target lane includes: determining the lane entrance of the target lane or the middle position of the target lane as the docking position.

[0009] In some embodiments, the docking position is determined based on the positions of the multiple target picking locations in the target aisle, including: according to the picking order of the multiple target picking locations in the target aisle, the position corresponding to the target picking location with the earliest picking order is determined as the docking position; or, according to the positions of the multiple target picking locations in the target aisle, the middle position of the multiple target picking locations is determined as the docking position; or, based on the cargo information stored in the cargo storage device and the positions of the multiple target picking locations, the docking position is determined.

[0010] In some embodiments, the determining of the docking position based on the cargo information stored in the cargo storage device and the positions of the plurality of target picking locations includes: determining the storable space of the cargo storage device according to the cargo information stored in the cargo storage device; and determining, according to the storable space of the cargo storage device and the cargo information of each of the target picking locations, the position corresponding to the target picking location whose cargo information matches the storable space as the docking position.

[0011] In some embodiments, the method further includes: when there are multiple picking lanes, determining the lane heat of each picking lane based on the number of robots in each picking lane; and determining the picking lane with the lowest lane heat among the multiple picking lanes as the target lane based on the lane heat of each picking lane.

[0012] In some embodiments, the method further includes: determining the location heat of each of the target picking locations in the target aisle, the location heat of the target picking locations being determined according to the queue number of the target picking locations; determining the picking order of each of the target picking locations in the target aisle according to the location heat of each of the target picking locations in the target aisle, so that the picker or picking robot picks the goods in the pending order according to the picking order; wherein, the higher the location heat of the target picking location, the later the picking order of the target picking location.

[0013] In some embodiments, the method further includes: sending a picking instruction to the picking robot, wherein the picking instruction is used to instruct the picking robot to pick the goods in the pending order according to the picking order.

[0014] In some embodiments, the method further includes: receiving picking scheduling information, the picking scheduling information being used to indicate that each of the target picking locations in the target aisle has completed cargo picking; and in response to the picking scheduling information, sending an aisle adjustment instruction to the second robot so that the second robot moves the cargo storage device to the next picking aisle for picking.

[0015] In some embodiments, the method further includes: receiving picking completion information, the picking completion information being used to indicate that all goods in the pending order have been picked; in response to the picking completion information, sending a device moving instruction to a third robot so that the third robot moves the goods storage device to a review area or a designated location.

[0016] According to another aspect of an embodiment of the present invention, a cargo picking method is provided, which is applied to a first robot, and the method includes: receiving a first transport instruction and a release instruction sent by a server; wherein, the first transport instruction and the release instruction are generated when the number of target picking locations hit by the cargo in the pending order in at least one picking lane is greater than a quantity threshold; in response to the first transport instruction, a first cargo storage device is transported to a docking position corresponding to the target lane, and the at least one picking lane includes the target lane; in response to the release instruction, the first cargo storage device is released at the docking position to perform a new transport task.

[0017] In some embodiments, the method further includes: receiving a second transport instruction sent by the server; wherein, the second transport instruction is generated when the number of target picking locations hit by the goods in the pending order in the at least one picking aisle is less than or equal to the quantity threshold; in response to the second transport instruction, the first cargo storage device is transported to the target picking location, so that a picker or a picking robot picks the goods in the target picking location based on the pending order.

[0018] In some embodiments, the method further includes: receiving a third transport instruction sent by the server; and transporting the second cargo storage device to a target location in response to the third transport instruction.

[0019] According to another aspect of an embodiment of the present invention, a cargo picking system is provided, comprising: a server for executing any of the steps of the cargo picking method performed by the server described above; and a robot for executing any of the steps of the cargo picking method performed by the first robot described above.

[0020] According to another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any one of the above-mentioned methods for picking goods are implemented.

[0021] In summary, according to the cargo picking method, system and readable storage medium of the embodiments of the present invention, it is possible to obtain a pending order and determine the first robot corresponding to the pending order. Based on the cargo information in the pending order, the number of target picking locations hit by the cargo in the pending order in at least one picking aisle is determined. When the number of target picking locations is greater than the quantity threshold, a first transport instruction and a release instruction are generated to enable the first robot to transport the cargo storage device to the docking position corresponding to the target aisle, release the cargo storage device at the docking position, and then perform a new transport task. The picker or picking robot can pick the cargo in the pending order based on the docking position.

[0022] Through this method, when the number of target picking locations is greater than the quantity threshold, the first robot can be controlled to place the cargo storage device at the docking position corresponding to the target aisle and perform other handling tasks without waiting for the cargo storage device to complete cargo picking in the target aisle. This can reduce the robot's waiting time and improve picking efficiency.

[0023] The above description is only an overview of the technical solutions of the embodiments of the present invention. In order to more clearly understand the technical means of the embodiments of the present invention, they can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiments of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the drawings. In the drawings:

[0025] Figure 1 A schematic diagram of a business scenario of a cargo picking system provided by the present invention is shown;

[0026] Figure 2 A flow chart of a cargo picking method provided by the present invention is shown;

[0027] Figure 3 A schematic diagram of a target picking location provided by the present invention is shown;

[0028] Figure 4 A flow chart of another cargo picking method provided by the present invention is shown;

[0029] Figure 5 A flow chart of another cargo picking method provided by the present invention is shown;

[0030] Figure 6 A schematic diagram showing a docking position provided by the present invention is shown;

[0031] Figure 7 A flow chart of a method for determining a docking position provided by the present invention is shown;

[0032] Figure 8 A flow chart of another cargo picking method provided by the present invention is shown;

[0033] Figure 9 A flowchart of the method for determining a picking order provided by the present invention is shown;

[0034] Figure 10 A flow chart of another cargo picking method provided by the present invention is shown;

[0035] Figure 11 A flow chart of another cargo picking method provided by the present invention is shown;

[0036] Figure 12 A flow chart of another cargo picking method provided by the present invention is shown;

[0037] Figure 13 A flow chart of another cargo picking method provided by the present invention is shown;

[0038] Figure 14 A flow chart of another cargo picking method provided by the present invention is shown;

[0039] Figure 15A schematic diagram of a cargo picking system provided by the present invention is shown. DETAILED DESCRIPTION

[0040] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0041] Figure 1 A business scenario diagram of a goods picking system provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the goods picking system 100 may include a server 110 , a robot 20 , a device storage area 30 , a goods storage area 40 , and a packaging review area 50 .

[0042] The server 110 may be a server or a Figure 1 The server cluster shown may also be a cloud server providing cargo picking services. Device storage area 30 includes multiple cargo storage devices, which can be used to store cargo to be picked. Depending on the size, shape, and weight of the cargo to be picked, the cargo storage devices in device storage area 30 may include cargo boxes, containers, shelves, pallets, trailers, or storage robots.

[0043] Server 110 can provide management services such as order processing, product management, and robot control. For example, server 110 can provide e-shopping services to users and update product inventory based on order status. Server 110 may include a processor and memory. The processor is the server's computing and control core, providing functions such as processing instructions, executing operations, and processing data. The memory is a storage component that stores programs and various data information, such as a collection of orders.

[0044] Users can access electronic shopping applications through terminal devices such as smart phones, computers, etc., and place orders through the shopping interface. After the order is completed, the server 110 can receive the order information and store the order information in the order collection of the memory.

[0045] The server 110 can obtain information such as the shelves in the cargo storage area 40 and the type, name and quantity of cargo on each shelf, and can also obtain status information of the robot 20, such as its location, task content and power level, through a communication connection with the robot 20.

[0046] The cargo storage area 40 includes a plurality of picking lanes, and a plurality of shelves are provided on one side of each picking lane. For example, four shelves are provided on the left side of picking lane 1. Various goods can be placed on the shelves of the picking lanes. Generally speaking, the same goods are placed on the same shelf. In some cases, a certain type of goods in the cargo storage area 40 may have a high order popularity, that is, a large number of people purchase the goods. In order to improve the picking convenience of the goods, the goods can be placed on the shelves in multiple picking lanes at the same time, that is, the same type of goods can be placed on the shelves in different picking lanes.

[0047] In some embodiments, the shelf may include multiple layers of shelves, and each layer of the shelf structure has identifiable shelf information. The administrator can scan the shelf information through the corresponding equipment and update the goods information on the shelf, such as modifying the type and quantity of goods on a certain layer of the shelf.

[0048] When picking goods, the server 110 can determine whether the goods in the goods storage area 40 can meet the picking requirements of the order based on the order information and the goods information in the goods storage area 40. For example, if the order information includes N goods A, it can be determined whether the number of goods A in the goods storage area 40 is greater than N, where N is a positive integer.

[0049] If so, the server 110 may issue a transport task to an idle robot in the robots 20. Upon receiving the transport task, the idle robot may move to the device storage area 30 and transport any cargo storage device therein, such as cargo storage device 31, to a corresponding location in the cargo storage area 40, such as the shelf where cargo A is located. In some embodiments, each robot in the robots 20 has a lifting mechanism. When the robot moves to the location of the device storage area 30 in accordance with the instructions issued by the server 10, the robot may use the lifting mechanism to lift the cargo storage device in the device storage area 30, thereby completing the transport of the cargo storage device.

[0050] In some embodiments, a cargo storage device is provided on the robot 20, and the cargo storage device is detachable. In this case, each robot in the robots 20 can use its own cargo storage device to store cargo without going to the device storage area 30 to obtain the cargo storage device.

[0051] In some embodiments, each robot in the robots 20 has an autonomous navigation function. The server 110 can send the location of the cargo storage device to any robot, and the robot can autonomously plan a path based on the location of the cargo storage device to reach the location of the cargo storage device.

[0052] The picker or picking robot waits in the picking lane of the cargo storage area 40. When the cargo storage device arrives, the picker can pick the goods corresponding to the order to the cargo storage device based on the order information corresponding to the cargo storage device. In some embodiments, the cargo storage device has identification information that can be scanned or recognized. The picker or picking robot can scan or recognize this identification information using a corresponding handheld terminal (Personal Digital Assistant) (PDA) to update the status of the cargo storage device. For example, after the picker scans the identification information of the cargo storage device using the handheld terminal, the picker can select the "Picking Completed" option in the interface that pops up on the handheld terminal, thereby updating the picking status of the cargo storage device to "Completed".

[0053] In some embodiments, a terminal device may be provided on the cargo storage device, and the picker may view the order information corresponding to the cargo storage device through the terminal device on the cargo storage device and update the picking status of the cargo storage device.

[0054] In some embodiments, the cargo storage device may be a device with cargo identification and detection capabilities. When cargo is placed in the cargo storage device, the cargo storage device may obtain cargo information and update its picking status based on the cargo information. Furthermore, the cargo storage device may synchronize information such as the cargo storage status with the server 110.

[0055] In some embodiments, one or more picking lanes may be provided with a display terminal. For example, a display terminal may be provided at the entrance of each picking lane, and a picker may use the display terminal to determine the goods to be picked in the goods storage device within the picking lane. After completing the picking of the goods to be picked, the picker may update the picking status of the goods storage device on the display terminal.

[0056] The server 110 may receive picking status information sent by the goods storage device, pickers, or picking robots through corresponding devices, and determine the picking status and progress of each order.

[0057] After completing the picking process, the picker or picking robot can place the cargo storage device at a designated location. For example, based on the number of robots at both ends of the picking lane, the lane entrance with fewer than a certain number of robots or no robots can be used as the location for the cargo storage device. Alternatively, any arbitrary location in the picking lane can be used as the location for the cargo storage device. After obtaining the status of the cargo storage device, the server 110 can assign another robot to move the cargo storage device to the packaging review area 50 to execute the packaging process. Once packaging is completed, the goods corresponding to the order can be shipped out.

[0058] In order to elaborate on the cargo picking method provided by the embodiment of the present invention, Figure 2 A flowchart of a cargo picking method provided by an embodiment of the present invention is shown. The method can be executed by a server so that it can obtain pending orders, and a first robot transports a cargo storage device to a docking position corresponding to a target lane, so that a picker or a picking robot can obtain the cargo storage device at the docking position and pick the cargo in the pending orders to the cargo storage device.

[0059] During the above process, when the first robot transports the cargo storage device to the docking location corresponding to the target lane, it releases the cargo storage device at the docking location and then performs other transport tasks. This can reduce the first robot's waiting time, improve its work efficiency, and thus improve cargo picking efficiency.

[0060] Among them, the first robot can be Figure 1 Any one of the robots 20 shown in the figure may be a movable device of any form having a carrying function in terms of structure.

[0061] refer to Figure 2 As shown, the cargo picking method provided by the embodiment of the present invention may include the following steps:

[0062] Step 210: Obtain the pending order and determine the first robot corresponding to the pending order.

[0063] A pending order is an order that requires picking and may include cargo information for at least one item, such as the item's identification, code, and quantity. The first robot may be used to carry the items in the pending order. To facilitate storage of the items in the pending order, the first robot may be equipped with a cargo storage device, or the first robot may obtain a cargo storage device and place it on itself.

[0064] When a user places an order through an e-commerce shopping app, the e-commerce app's server can create a corresponding pending order in response to the user's order, and the server can obtain order information for the pending order. This pending order information may include the ordered goods, order quantity, order time, and generated order number.

[0065] In some embodiments, users can also place orders through other methods, such as placing orders through offline stores, telephone shopping, etc. In this case, the order information can be manually entered by the staff, and the server can obtain the order information of the pending order by obtaining the order information entered by the staff.

[0066] After the server obtains the pending order, it can allocate a first robot according to the order information of the pending order. The first robot can be used to transport the goods in the pending order, such as moving to the goods storage area and picking up the goods in the pending order, and after the picking is completed, transporting the goods to the packaging review area.

[0067] In some embodiments, the pending order can be a single order or a collection of multiple orders. Therefore, when the pending order is a collection of orders, the goods in each order corresponding to the pending order can be picked. That is, a single picking process can complete the picking of goods for multiple orders, which can significantly improve the efficiency of picking goods for orders and improve order processing efficiency.

[0068] For example, order sets can be divided based on the type of goods in each order. For example, multiple orders corresponding to the same goods can be grouped into one order set. It is understood that an order set is a combination of orders divided according to a certain attribute, which can be the type of goods, or other attributes such as weight, size, and order address. This embodiment does not specifically limit this.

[0069] Step 220: Determine the number of target picking locations hit by the goods in the order to be processed in at least one picking lane based on the goods information in the order to be processed.

[0070] In order to facilitate the picking of goods in pending orders, the server can determine whether there are targeted picking locations for the goods in the pending orders in each picking lane, as well as the number of targeted picking locations based on the goods information in the pending orders.

[0071] For example, the server can search for goods corresponding to the goods information in the local database based on the goods information in the pending order, determine the picking aisle where these goods are located, and the target picking location hit in this picking aisle.

[0072] For example, there are five types of goods in the pending order, namely Goods A, Goods B, Goods C, Goods D, and Goods E, and the quantities of the goods are 1, 1, 2, 3, and 1, respectively. Figure 3 As shown, the picking lanes hit by the five goods in the pending order can be {goods A, goods B, goods C: picking lane 1}, {goods D: picking lane 2}, {goods E: picking lane N}, among which the target picking locations hit by goods A, B, and C in picking lane 1 are 1, 2, and 4 respectively, the target picking location hit by goods D in picking lane 2 is 3, and the target picking location hit by goods E in picking lane N is 2.

[0073] Through the above method, the picking aisle corresponding to the goods in the pending order and the target picking location hit in the picking aisle can be determined according to the goods information in the pending order, that is, the picking location of the order goods can be determined, which facilitates the subsequent picking of goods in the order.

[0074] When the goods in the pending order hit multiple picking lanes, in order to determine the picking lane that the first robot arrives at, Figure 4 FIG. 1 shows a flow chart of another method for picking goods provided by the present invention. Figure 4 As shown, the server can determine the target lane among multiple picking lanes by executing steps 410 to 420:

[0075] Step 410: When there are multiple picking lanes, determine the lane heat of each picking lane based on the number of robots in each picking lane.

[0076] When multiple picking lanes are targeted by the goods in a pending order, the goods at the target picking location must be picked in each picking lane in turn. To determine the target lane for the first robot to reach, the lane heat of each picking lane can be determined based on the number of robots in each picking lane. For example, if there are only two robots in any picking lane, the lane heat of that picking lane can be directly determined as 2.

[0077] In some embodiments, the number of robots in the picking lane and the lane heat may have a certain mathematical relationship. When calculating the lane heat, the number of robots in each picking lane may be mathematically calculated according to the corresponding heat formula to obtain the lane heat of each picking lane.

[0078] Step 420: According to the lane heat of each picking lane, determine the picking lane with the lowest lane heat among the multiple picking lanes as the target lane.

[0079] That is to say, the target lane reached by the first robot can be the picking lane with the lowest lane temperature among multiple picking lanes, so that the first robot can move the cargo storage device to the target lane, and because the number of robots in the target lane is the least and the congestion is the lowest, the picker or picking robot can quickly complete the cargo picking in the lane.

[0080] After completing the picking of goods in the target lane, the server can further determine the lane temperature of each picking lane to be picked based on the number of robots at the current moment, and then determine the picking lane with the lowest lane temperature at the current moment as the new target lane, so that the new robot can move the cargo storage device to the new target lane for cargo picking.

[0081] Through the above method, the first robot can be controlled to move the cargo storage device to the picking aisle with the lowest aisle temperature, so that the cargo in the pending orders can be picked to the cargo storage device, thereby improving the picking efficiency of the cargo in the pending orders.

[0082] To facilitate the movement of the cargo storage device within the target aisle by the picker or picking robot to pick the goods, thereby improving the efficiency of picking goods for pending orders, the first robot can place the cargo storage device at a docking location corresponding to the target aisle. In a real-world environment, the layout of the aisles and the layout of the shelves within the aisles may differ, so the docking location corresponding to the target aisle may also vary.

[0083] In some embodiments, Figure 5 A flowchart of another method for picking goods provided by the present invention is shown. The method can be performed as follows: Figure 5 Step 510 or step 520 shown in the figure determines the docking position corresponding to the target lane. The method includes:

[0084] Step 510: Determine a stop location based on the location of the target lane.

[0085] According to the position of the target lane, any position in the target lane can be determined as the docking position. For example, when the length of the target lane is very short, an unoccupied position in the target lane can be determined as the docking position.

[0086] In some embodiments, the entrance of the target lane or the middle position of the target lane may also be determined as the parking position. Figure 6 As shown in FIG, the entrance of the picking lane 1 can be determined as the docking position, so that the cargo storage device 31 can be placed at the entrance of the picking lane 1. For another example, when the lane is long, in order to shorten the distance between the picker or picking robot and the cargo storage device, the middle position of the target lane can be determined as the docking position, as shown in FIG. Figure 6 As shown, the cargo storage device 32 is placed in the middle of the picking lane 2 .

[0087] Step 520: Determine a docking location based on the locations of multiple target picking locations in the target lane.

[0088] In order to facilitate the picker or picking robot to pick up the goods on the target picking location, the location that is convenient for the picker or picking robot to pick up the goods can be determined as the docking location based on the locations of multiple target picking locations in the target aisle.

[0089] In some embodiments, the above step 520 may be implemented by the following method:

[0090] According to the picking order of multiple target picking locations in the target aisle, the position corresponding to the target picking location with the earliest picking order is determined as the docking position.

[0091] The picking order of the target picking locations can be determined based on whether the target picking locations are occupied, the distance between the target picking locations and the picker or picking robot, etc. For example, among the unoccupied target picking locations in the target aisle, the picking order of each unoccupied target picking location can be determined based on the distance between each unoccupied target picking location and the picker. The closer the target picking location is, the earlier the picking order will be.

[0092] When determining the docking location, you can determine the location corresponding to the target picking location with the earliest picking order as the docking location according to the picking order of each target picking location. For example, when there is a gap between shelves in the picking aisle, you can determine the shelf gap next to the target picking location with the earliest picking order as the docking location. Figure 6 As shown, assuming that picking lane 2 is the target lane, and the target picking location with the earliest picking order in picking lane 2 is 3, the docking position can be determined as the position next to the target picking location 3, that is, the position where the cargo storage device 32 is located.

[0093] In this way, the docking position where the cargo storage device is released is a position adjacent to the target picking location that the picker or picking robot wants to pick first, so the picker or picking robot can quickly obtain the cargo storage device and put the cargo of the target picking location to be picked first into the cargo storage device.

[0094] In some embodiments, the above step 520 may also be implemented by the following method:

[0095] According to the positions of multiple target picking locations in the target aisle, the middle position of the multiple target picking locations is determined as the docking position.

[0096] To facilitate the picker or picking robot to access the cargo storage device, the middle position of multiple target picking locations can be determined as the docking position based on the locations of multiple target picking locations in the target aisle. In this way, no matter which target picking location the picker or picking robot is picking, it can quickly access the cargo storage device from the middle position and move the cargo storage device to the corresponding target picking location for picking.

[0097] In some embodiments, the above step 520 may also be implemented by the following method:

[0098] The docking location is determined based on the cargo information stored in the cargo storage device and the locations of the plurality of target picking locations.

[0099] Considering that some goods may already be stored in the cargo storage device carried by the first robot when it arrives at the target aisle, to ensure that the cargo storage device can store the goods of the target picking location, the docking position can be determined as the location corresponding to the target picking location corresponding to the goods that can be stored in the cargo storage device based on the cargo information stored in the cargo storage device and the locations of multiple target picking locations.

[0100] In some embodiments, reference Figure 7 As shown, the method for determining the docking location based on the cargo information stored in the cargo storage device and the locations of multiple target picking locations can be implemented by the following method:

[0101] Step 710: Determine the available storage space of the cargo storage device based on the cargo information stored in the cargo storage device.

[0102] For example, the server may determine the dimensions of the stored goods based on the information about the goods stored in the goods storage device, calculate the remaining space in the goods storage device, and obtain the available storage space of the goods storage device. Alternatively, the server may determine the weight and dimensions of the stored goods, calculate the remaining storage weight and remaining space in the goods storage device, and obtain the available storage space of the goods storage device.

[0103] Step 720: According to the available storage space of the cargo storage device and the cargo information of the target picking location, a position corresponding to the target picking location where the cargo information matches the available storage space is determined as a docking position.

[0104] For example, the server may determine, based on the remaining space size of the cargo storage device, a location adjacent to the target picking location where cargo whose size is smaller than the remaining space size is located as the docking location. Alternatively, the server may determine, based on the remaining storage weight and the remaining space size of the cargo storage device, a location adjacent to the target picking location where cargo whose size is smaller than the remaining space size and whose weight is smaller than the remaining storage weight is located as the docking location.

[0105] Through the above steps 710 to 720, the position corresponding to the target picking location where the goods that can be stored in the goods storage device are located can be determined as the docking position, so that the picker or picking robot can pick the goods that can be placed in the goods storage device, ensuring successful picking.

[0106] In fact, by determining the docking position corresponding to the target aisle, it is convenient for the picker or picking robot to obtain the cargo storage device from the docking position and pick the cargo, thereby improving the cargo picking efficiency of the order.

[0107] Step 230: When the quantity of the target picking locations is greater than the quantity threshold, generate a first transport instruction and a release instruction.

[0108] The first transport instruction may instruct the first robot to transport a cargo storage device to a docking location corresponding to a target lane. A cargo storage device refers to a cargo box, container, shelf, pallet, trailer, or storage robot, and can be used to store goods for pending orders. The first robot may place the cargo storage device in the target lane, and the specific placement location may be a docking location corresponding to the target lane. The at least one picking lane includes the target lane.

[0109] The release instruction can be used to instruct the first robot to release the cargo storage device at the docking location to perform a new handling task. In this embodiment, the first handling instruction and the release instruction can be two instructions, and the server can send the first handling instruction and the release instruction to the first robot at different times; or the first handling instruction and the release instruction can be integrated into one instruction, and the server can send the first handling instruction and the release instruction to the first robot at the same time.

[0110] The quantity threshold can be customized by the operator, for example, it can be set to the average quantity of the target picking location over a period of time, or the quantity threshold can be set to a system-defined default value.

[0111] If the number of target picking locations exceeds the threshold, this indicates that the pending order contains a large number of different types or quantities of goods, and the picking time may be long. To reduce the waiting time for the first robot, a first transport instruction and a release instruction may be generated, allowing the first robot to transport and release the goods storage device corresponding to the pending order according to the first transport instruction and the release instruction. For example, the first robot may transport the goods storage device to the docking position corresponding to the target lane according to the first transport instruction, and then release the goods storage device to the docking position corresponding to the target lane according to the release instruction. After the release is completed, the server may send a new transport instruction to the first robot, causing it to perform a new transport task.

[0112] The target lane is the picking lane to which the first robot will transport the cargo storage device. It can be any of the picking lanes targeted by the cargo in the pending order. For example, among the picking lanes targeted by the cargo in the pending order, the target lane can be the picking lane with the largest number of target picking locations, or the picking lane with the earliest picking order.

[0113] Step 240: Send a first transport instruction and a release instruction to the first robot, so that the picker or the picking robot picks the goods in the order to be processed based on the docking position.

[0114] After generating the first transport instruction and release instruction, the server can send the first transport instruction and release instruction to the first robot, so that the first robot can transport the cargo storage device to the docking position corresponding to the target aisle according to the first transport instruction and release instruction, and release the cargo storage device at the docking position.

[0115] For example, the server can first send a first transport instruction to the first robot, so that the first robot transports the cargo storage device to the docking position corresponding to the target lane. At the same time, the server can determine whether the first robot has reached the docking position corresponding to the target lane based on the real-time position of the first robot. When it is determined that the first robot has arrived, a release instruction can be sent to the first robot so that the first robot can release the cargo storage device at the docking position.

[0116] For another example, the server can simultaneously send a first transport instruction and a release instruction to the first robot. The first robot can then determine the docking location corresponding to the target lane based on the received first transport instruction and release instruction, transport the cargo storage device to the docking location corresponding to the target lane, and release it. In this case, the first transport instruction and the release instruction can be integrated into the same instruction.

[0117] After the cargo storage device reaches the docking position corresponding to the target aisle, the picker or picking robot can move the cargo storage device at the docking position to the target picking location in the target aisle, and place the cargo at the target picking location into the cargo storage device to complete the cargo picking at the target picking location.

[0118] In some embodiments, a smart device is installed on the cargo storage device. When the device reaches the docking location corresponding to the target lane, the smart device can receive instructions from the server and call a picker or picking robot to start picking the goods, thereby reducing the waiting time for picking. In addition, the smart device of the cargo storage device can also display the cargo information of the pending orders, such as the cargo information of the pending goods in the target lane where the cargo storage device is located, so that the picker or picking robot can pick the goods according to the cargo information displayed by the smart device.

[0119] Through steps 210 to 240, the pending order can be obtained, and the first robot corresponding to the pending order can be determined. According to the cargo information in the pending order, the number of target picking locations hit by the cargo in the pending order in at least one picking aisle is determined. When the number of target picking locations is greater than the quantity threshold, a first transport instruction and a release instruction are generated to enable the first robot to transport the cargo storage device to the docking position corresponding to the target aisle, release the cargo storage device at the docking position, and then perform a new transport task. The picker or picking robot can pick the cargo in the pending order based on the docking position.

[0120] Through the above method, when the number of target picking locations is greater than the quantity threshold, the first robot can be controlled to place the cargo storage device at the docking position corresponding to the target aisle and perform other handling tasks without waiting for the cargo storage device to complete cargo picking in the target aisle. This can increase the working time of the first robot and improve picking efficiency.

[0121] Figure 8 A flowchart of another method for picking goods provided by an embodiment of the present invention is shown. Figure 8 As shown, after steps 210 to 220, the following steps 250 to 260 may be performed:

[0122] Step 250: When the quantity of the target picking locations is less than or equal to the quantity threshold, a second transport instruction may be generated.

[0123] Among them, the second transport instruction can be used to instruct the first robot to transport the cargo storage device to the target picking location, so that the picker or the picking robot picks the cargo at the target picking location based on the pending order.

[0124] Step 260: Send a second transport instruction to the first robot.

[0125] When the number of target picking locations is less than or equal to the quantity threshold, it means that the types of goods to be picked in the target aisle for the pending order are relatively small and the picking time is short, so a second transport instruction can be generated and sent to the first robot, so that the first robot can transport the goods storage device directly to the target picking location. The picker or picking robot can then pick the goods in the target picking location to the goods storage device according to the goods information of the goods to be picked in the target aisle for the pending order.

[0126] In the above method, if there is more than one target picking location, the server can send the location of each target picking location to the first robot, so that the first robot can determine whether the picking of goods at a target picking location is completed based on the weight change of the goods storage device, etc. When it is determined that the picking of goods at a target picking location is completed, the first robot can transport the goods storage device to the next target picking location, so that the picker or the picking robot does not need to move the goods storage device, but picks the goods of each target picking location to the goods storage device according to the location where the first robot transports the goods storage device, thereby providing picking convenience for the picker or the picking robot.

[0127] In some cases, if there are a large number of target picking locations in the target aisle, the picker or picking robot needs to shuttle back and forth in the aisle to complete the picking of goods at each target picking location, which may lead to low picking efficiency. Therefore, in order to improve the picking efficiency of order goods, the picker or picking robot can pick goods in the picking order. For example, refer to Figure 9 As shown, the picking order of each target picking location can be determined by the following methods:

[0128] Step 910: Determine the location heat of each target picking location in the target aisle. The location heat of the target picking location is determined based on the number of queues at the target picking location.

[0129] Among them, the location heat of the target picking location can be used to indicate the number of queues at the target picking location within a period of time. The higher the number of queues, the higher the location heat of the target picking location.

[0130] When determining the location popularity of each target picking location, the server can obtain the number of queues at each target picking location at the current moment to determine the location popularity of each target picking location. For example, the number of queues at the target picking location at the current moment, m, can be directly determined as the location popularity of the target picking location, where m is a positive integer.

[0131] In some embodiments, the location popularity of a target picking location can also be determined based on both the number of queued items and the number of items being picked at the target picking location. For example, the server can calculate the location popularity R = am + bn for the target picking location based on the number of queued items m at the current moment and the total number of items waiting to be picked at the target picking location n, where a and b are the weights of the queued items and the total number of items waiting to be picked, respectively, and n is a positive integer.

[0132] Step 920: Determine the picking order of each target picking location in the target aisle according to the location popularity of each target picking location in the target aisle, so that the picker or picking robot picks the goods in the pending order according to the picking order.

[0133] Among them, the higher the location popularity of the target picking location, the later the picking order of the target picking location.

[0134] For example, the server can sort the target picking locations within the target aisle by location popularity from smallest to largest to determine the picking order for each target picking location within the target aisle. The lower the location popularity, the earlier the target picking location is picked. This ensures that pickers or picking robots prioritize picking target picking locations with lower location popularity, without having to wait for the completion of picking at target picking locations with higher location popularity. This reduces picking time for pending orders and improves picking efficiency.

[0135] It should be noted that the execution order of the above steps 910 to 920 and steps 220 to 240 is not fixed. For example, steps 910 to 920 can be executed before or after any step of steps 220 to 240.

[0136] In some embodiments, the server may also send a picking instruction to the picking robot, and the picking instruction may be used to instruct the picking robot to pick the goods in the order to be processed according to the picking order.

[0137] Since the goods in the pending order may hit multiple picking lanes in the goods storage area, in order to complete the picking of goods in each picking lane, after completing the picking of goods in one picking lane, the robot can be used to move the goods storage device to the next picking lane for picking. Figure 10 As shown, after step 240, the server may further execute the following method:

[0138] Step 1010: Receive picking scheduling information.

[0139] The picking scheduling information may be used to indicate that each target picking location in the target lane has completed picking of goods. The server may receive the picking scheduling information and determine the target lane for completing the picking of goods based on the picking scheduling information.

[0140] Step 1020: In response to the picking scheduling information, send an aisle adjustment instruction to the second robot, so that the second robot moves the cargo storage device to the next picking aisle for picking.

[0141] The second robot may be another robot that performs the handling task. When the first robot is in an idle state, or when the first robot is closest to the cargo storage device, the second robot may also be the first robot.

[0142] In response to the picking scheduling information, the server can determine the picking progress of the pending order and determine the next picking lane, and then send a lane adjustment instruction to the second robot so that the second robot can move the cargo storage device to the next picking lane.

[0143] Among them, the aisle adjustment instruction may include the aisle position of the next picking aisle and the docking position of the cargo storage device in the next picking aisle. In this way, the second robot can transport the cargo storage device to the docking position corresponding to the next picking aisle, so that the picker or picking robot can pick the cargo at the target picking location in the next picking aisle based on the docking position.

[0144] Through the above method, the server can call different robots to move the cargo storage device from one picking lane to another according to the picking progress of the picking lane and the working status of each robot, thereby enhancing the working flexibility of the robot, reducing waiting time and improving work efficiency.

[0145] After completing the picking of the goods in the target picking locations of all picking aisles hit by the pending orders, the goods storage device can be transported back to the picking completion area by the robot, such as Figure 1 The package review area 50 shown in FIG. 1 is used to execute the next process. Figure 11 As shown, after step 240, the server may execute the following method:

[0146] Step 1110: Receive picking completion information.

[0147] The picking completion information indicates that all goods in the pending order have been picked. The server can receive the picking completion information and, based on the picking completion information, determine whether all picking has been completed in each picking lane. In some cases, if the server receives the picking completion information, it indicates that all goods in the pending order have been picked.

[0148] Step 1120: In response to the picking completion information, a device transport instruction is sent to the third robot, so that the third robot transports the cargo storage device to the review area or the designated location.

[0149] The review area refers to the area where the goods in the pending orders that have been picked are reviewed. It can be Figure 1 The designated location may be a fixed location, such as any storage area of ​​a storage device for goods that have been picked. The third robot may be a robot that is currently idle or a robot that is closest to the storage device.

[0150] In response to the picking completion information, the server can determine the picking progress of the pending orders and determine whether all picking aisles have completed picking. When it is determined that all picking aisles have completed picking, the server sends a device transport instruction to the third robot so that the third robot can transport the cargo storage device to the location indicated by the device transport instruction, that is, the review area or the designated location.

[0151] Through the above method, the server can call different robots to move the goods storage device that has completed picking to the review area or designated location according to the picking progress of each picking lane and the working status of each robot, thereby completing the picking and transportation of goods for pending orders, reducing the waiting time of the robot and improving work efficiency.

[0152] According to the cargo picking method provided in this embodiment, the first robot's handling strategy for the cargo storage device can be determined based on the relationship between the number of target picking locations hit by the cargo in the pending order in at least one picking aisle and the quantity threshold, so that the robot can reduce the waiting time and the number of starts and stops, thereby increasing the amount of handling tasks per unit time, improving the cargo picking efficiency, and reducing operating costs.

[0153] In some embodiments, a second robot can be used to transport the cargo storage device to the next picking aisle for picking, and a third robot can be used to transport the cargo storage device to a review area or a designated location. That is, according to the working status of the robot, an idle robot is selected to perform the transport task, and the robot is decoupled from the picking process of a pending order so that it does not need to be bound throughout the process, thereby increasing the robot's working time and efficiency.

[0154] Figure 12 Another cargo picking method provided by an embodiment of the present invention is shown. This method can be applied to a first robot, so that it can receive a first transport instruction and a release instruction sent by a server, and in response to the first transport instruction, transport the first cargo storage device to a docking position corresponding to the target lane, and in response to the release instruction, release the first cargo storage device at the docking position to perform a new transport task.

[0155] Reference below Figure 12 The cargo picking method provided by the embodiment of the present invention is described in detail:

[0156] Step 1210: Receive the first transport instruction and release instruction sent by the server.

[0157] The first transport instruction and the release instruction are generated when the number of target picking locations hit by the goods in the pending order in at least one picking lane is greater than a quantity threshold.

[0158] In some embodiments, the first robot may receive the first handling instruction and the release instruction from the server simultaneously, or may receive the first handling instruction and the release instruction from the server in sequence. The manner in which the first robot receives the first handling instruction and the release instruction corresponds to the manner in which the server sends the first handling instruction and the release instruction.

[0159] Step 1220: In response to the first transport instruction, transport the first cargo storage device to a docking position corresponding to the target lane.

[0160] Wherein, at least one picking lane includes a target lane. The first cargo storage device refers to a cargo storage device that stores cargo in pending orders, such as Figure 1 Any one of the cargo storage devices in the device storage area 30.

[0161] Upon receiving the first transport instruction, the first robot may respond to the instruction and transport the first cargo storage device to a docking position corresponding to the target lane. The docking position corresponding to the target lane may be a lane entrance or a middle position of the target lane, a position corresponding to a target picking location with the earliest picking order in the target lane, or a middle position among multiple target picking locations in the target lane.

[0162] Step 1230: In response to the release instruction, release the first cargo storage device at the docking position to perform a new transport task.

[0163] Upon receiving the release instruction, the first robot may respond to the instruction by releasing the first cargo storage device to the docking position, allowing a picker or a picking robot to access the first cargo storage device at the docking position and pick the cargo in the pending order to the first cargo storage device. After the first robot releases the first cargo storage device to the docking position, it may receive a new instruction from the server to execute a new handling task.

[0164] Through the above method, the handling task can be divided into fine granularity, so that the first robot does not need to wait for the picker or picking robot to pick goods in the target aisle, which can increase the working time of the first robot and improve work efficiency.

[0165] In some embodiments, reference Figure 13 As shown, the first robot can also perform the following method:

[0166] Step 1310: Receive a second transport instruction sent by the server.

[0167] The second handling instruction is generated when the number of target picking locations hit by goods in the pending order in at least one picking lane is less than or equal to a quantity threshold.

[0168] When the number of target picking locations hit by goods in a pending order in at least one picking aisle is less than or equal to a quantity threshold, it may only take a shorter time for the picker or picking robot to complete the picking of goods in the target picking locations in the picking aisle. At this time, the server can send a second handling instruction to the first robot.

[0169] Step 1320: In response to the second transport instruction, the first cargo storage device is transported to the target picking location, so that the picker or the picking robot picks the cargo at the target picking location based on the pending order.

[0170] In response to the second transport instruction, the first robot may transport the first cargo storage device to the target picking location, so that the picker or the picking robot may directly pick the cargo in the target picking location to the first cargo storage device.

[0171] When the number of target picking locations hit in at least one of the above-mentioned picking aisles is more than one, the first robot can transport the first cargo storage device to each target picking location in turn according to the picking progress of the picker or the picking robot, so that the picker or the picking robot can quickly complete the cargo picking of each target picking location.

[0172] In some embodiments, the picking progress of a picker or picking robot can be determined by scanning cargo information when the picker or picking robot completes picking of a cargo. For example, when the picker or picking robot places cargo from a target picking location into the first cargo storage device, the placed cargo information can be scanned and uploaded to update the picking progress.

[0173] In some embodiments, reference Figure 14 As shown, the first robot can also perform the following method:

[0174] Step 1410: Receive the third transport instruction sent by the server.

[0175] The third transport instruction is an instruction to instruct the first robot to perform other transport tasks, such as an instruction to instruct the first robot to transport other cargo storage devices to the corresponding picking aisle, or an instruction to instruct the first robot to transport the cargo storage device that has completed picking to the review area, or an instruction to instruct the first robot to transport the cargo storage device that has completed picking in a picking aisle to the next picking aisle.

[0176] Step 1420: In response to the third transport instruction, transport the second cargo storage device to the target location.

[0177] The second cargo storage device may be another cargo storage device, which may be a storage device for cargo to be picked, a storage device for cargo being picked, or a storage device for cargo that has already been picked. The target location may be the destination for the first robot to perform other handling tasks. For example, it may be a docking location corresponding to a picking lane that the second cargo storage device is to reach.

[0178] Through the above method, the server can send a third transport instruction to the first robot, causing it to perform other transport tasks.

[0179] According to the aforementioned cargo picking method, the first robot can receive a first transport instruction and a release instruction from a server. In response to the first transport instruction, the robot can move the first cargo storage device to a docking location corresponding to the target lane. In response to the release instruction, the robot can release the first cargo storage device at the docking location to perform a new transport task. This method can subdivide the first robot's transport tasks, reducing the first robot's waiting time and the number of starts and stops, thereby improving order picking efficiency.

[0180] At the same time, in some embodiments, the first robot can receive a second transport instruction to transport the first cargo storage device to a target picking location, allowing a picker or picking robot to pick cargo at the target picking location based on the pending order. This can reduce the distance the picker or picking robot must move the cargo storage device, further improving order picking efficiency.

[0181] Figure 15 FIG. 1 shows a schematic diagram of a cargo picking system provided by an embodiment of the present invention. Figure 15 As shown, the goods picking system 1500 may include a server 110 and a first robot 120. The first robot 120 may be Figure 1 Any one of the robots 20 shown.

[0182] The server 110 may be a single server, a server cluster consisting of multiple servers, or a cloud server providing cargo picking services. The first robot 120 may be used to carry cargo storage devices corresponding to pending orders. Structurally, the first robot 120 may include a lifting mechanism that can be used to lift or lower the cargo storage devices.

[0183] The server 110 may be specifically configured to execute the operation steps of the cargo picking method executed by the server above; the first robot 120 may be specifically configured to execute the operation steps of the cargo picking method executed by the first robot above.

[0184] The specific details of the above-mentioned cargo picking method performed by the server and the cargo picking method performed by the first robot have been described in detail in the implementation method of the method part. The details of the undisclosed scheme can be found in the implementation method of the method part, and will not be repeated here.

[0185] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned method for picking goods are implemented.

[0186] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any particular programming language.

[0187] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the present invention may be practiced without these specific details. Similarly, in order to streamline the present invention and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. The claims that follow the detailed description are hereby expressly incorporated into that detailed description, with each claim itself serving as a separate embodiment of the present invention.

[0188] Those skilled in the art will appreciate that the modules in the devices of the embodiments can be adaptively changed and installed in one or more devices different from the embodiments. The modules, units, or components in the embodiments can be combined into one module, unit, or component, and furthermore, they can be divided into multiple submodules, subunits, or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0189] It should be noted that the above embodiments illustrate rather than limit the invention, and that alternative embodiments may be devised by a person skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising several different elements and by means of appropriately programmed computers. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments should not be understood as limiting the order of execution unless otherwise specified.

Claims

1. A method for picking goods, characterized in that: Applied to a server, the method includes: Obtaining a pending order and determining a first robot corresponding to the pending order; the pending order includes cargo information of at least one cargo; Determine, based on the goods information in the pending order, the number of target picking locations hit by the goods in the pending order in at least one picking lane; When the number of the target picking locations is greater than a quantity threshold, a first transport instruction and a release instruction are generated; wherein the first transport instruction is used to instruct the first robot to transport the cargo storage device to a docking position corresponding to the target lane; the release instruction is used to instruct the first robot to release the cargo storage device at the docking position to perform a new transport task; the at least one picking lane includes the target lane; the docking position is determined based on the position of the target lane or the positions of multiple target picking locations in the target lane; The first transport instruction and the release instruction are sent to the first robot, so that a picker or a picking robot picks the goods in the pending order based on the docking position.

2. The method according to claim 1, characterized in that The method further comprises: generating a second transport instruction when the quantity of the target picking locations is less than or equal to the quantity threshold; sending the second transport instruction to the first robot; The second transport instruction is used to instruct the first robot to transport the cargo storage device to the target picking location, so that the picker or the picking robot picks the cargo at the target picking location based on the pending order.

3. The method according to claim 1, characterized in that The method further comprises: The entrance of the target lane or the middle position of the target lane is determined as the parking position.

4. The method according to claim 1, wherein The method further comprises: According to the picking order of the plurality of target picking locations in the target lane, the position corresponding to the target picking location with the earliest picking order is determined as the docking position; or According to the positions of the plurality of target picking cargo locations in the target lane, the middle position of the plurality of target picking cargo locations is determined as the docking position; or The docking position is determined based on the cargo information stored in the cargo storage device and the positions of the plurality of target picking locations.

5. The method according to claim 4, characterized in that The determining of the docking position based on the cargo information stored in the cargo storage device and the positions of the plurality of target picking locations includes: determining the available storage space of the cargo storage device according to the cargo information stored in the cargo storage device; According to the storable space of the cargo storage device and the cargo information of each target picking cargo location, the position corresponding to the target picking cargo location whose cargo information matches the storable space is determined as the docking position.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: In the case where there are multiple picking lanes, determining the lane heat of each picking lane according to the number of robots in each picking lane; According to the lane temperatures of each of the picking lanes in the target lane, the picking lane with the lowest lane temperature among the multiple picking lanes is determined as the target lane.

7. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Determine the location popularity of each target picking location in the target lane, where the location popularity of the target picking location is determined according to the number of queues at the target picking location; According to the location popularity of the target picking location, the picking order of each target picking location in the target aisle is determined, so that the picker or picking robot picks the goods in the pending order according to the picking order; wherein, the higher the location popularity of the target picking location, the later the picking order of the target picking location.

8. The method according to claim 7, characterized in that The method further comprises: A picking instruction is sent to the picking robot, where the picking instruction is used to instruct the picking robot to pick the goods in the pending order according to the picking order.

9. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Receiving picking scheduling information, wherein the picking scheduling information is used to indicate that the goods picking has been completed for each of the target picking locations in the target lane; In response to the picking scheduling information, an aisle adjustment instruction is sent to the second robot, so that the second robot moves the cargo storage device to the next picking aisle for picking.

10. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Receiving picking completion information, wherein the picking completion information is used to indicate that all goods in the pending order have been picked; In response to the picking completion information, a device transport instruction is sent to the third robot, so that the third robot transports the cargo storage device to a review area or a designated location.

11. A method for picking goods, characterized in that: Applied to a first robot, the method includes: Receiving a first transport instruction and a release instruction sent by a server; wherein the first transport instruction and the release instruction are generated when the number of target picking locations hit by goods in the pending order in at least one picking lane is greater than a quantity threshold; In response to the first transport instruction, transport the first cargo storage device to a docking position corresponding to a target lane, where the at least one picking lane includes the target lane; the docking position is determined based on a position of the target lane or positions of a plurality of target picking locations in the target lane; In response to the release instruction, the first cargo storage device is released at the docking position to perform a new transport task.

12. The method according to claim 11, characterized in that The method further comprises: receiving a second transport instruction sent by the server; wherein the second transport instruction is generated when the number of target picking locations hit by the goods in the pending order in the at least one picking lane is less than or equal to the quantity threshold; In response to the second transport instruction, the first cargo storage device is transported to the target picking location, so that a picker or a picking robot picks the cargo at the target picking location based on the pending order.

13. The method according to claim 11, characterized in that The method further comprises: receiving a third transport instruction sent by the server; In response to the third transport instruction, the second cargo storage device is transported to the target location.

14. A cargo picking system, characterized in that: include: A server, configured to execute the steps of the cargo picking method according to any one of claims 1 to 10; A robot for executing the steps of the cargo picking method according to any one of claims 11 to 13.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the goods picking method according to any one of claims 1 to 13 are implemented.

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