Warehouse system, item sorting method and apparatus, computing device, and medium

Abstract

Embodiments of the present application provide a warehouse system article sorting method and device, a computing device and a medium, wherein the article sorting method comprises obtaining the shelf type of a target shelf in a conveying area, wherein the storage surface of the target shelf is divided into a plurality of storage locations, and the shelf type represents the distribution of the plurality of storage locations; determining a target shelf location according to the shelf type and binding information of each shelf location, wherein the binding information is determined based on the first coverage range of the shelf location stopping at the shelf and the location information of the delivery slot, and the binding information includes the distribution information of the delivery slot bound to the shelf location; scheduling a conveying object to convey the target shelf to the target shelf location, and controlling the target delivery slot bound to the target shelf location to release, so as to deliver the to-be-sorted article to the storage location of the target shelf through the target delivery slot. Through the article sorting method, the sorting flexibility, throughput and delivery slot utilization efficiency of the warehouse system are improved, and more efficient sorting operations are realized in a limited space.

Description

Technical Field

[0001] This invention relates to the field of automated logistics technology, and in particular to a method for sorting goods. Background Technology

[0002] With the rapid development of e-commerce, improving the efficiency of goods sorting has always been a crucial issue that the logistics and warehousing industry urgently needs to address. In fully flexible sorting and multi-level sorting scenarios, one delivery slot typically corresponds to one shelf. Goods can be dropped from the delivery slot or placed onto the shelf. When the shelf is full or a slot has received a certain number of goods, the sorting system will perform the next step, such as moving the goods to a designated location.

[0003] However, since the size of the shelves is fixed and the number of shelves is limited by the size of the site, the number of available delivery slots in the sorting system is further limited when only one shelf can be used for one delivery slot, which reduces the flexibility and scalability of the sorting system.

[0004] Therefore, there is an urgent need for a new method to improve the sorting flexibility, throughput and delivery slot utilization efficiency of warehousing systems, and to achieve more efficient sorting operations in limited space. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a method for sorting items. One or more embodiments of the present invention also relate to an item sorting device, a computing device, a computer-readable storage medium, and a computer program, to address the technical deficiencies existing in the prior art.

[0006] According to a first aspect of the present invention, a sorting method for goods is provided, applied to a dispatching terminal of a warehousing system, the warehousing system including the dispatching terminal, a sorting area, and a handling area, the sorting area having multiple delivery slots, and the handling area having multiple shelf positions; the method includes:

[0007] Obtain the shelf type of the target shelf in the handling area, wherein the storage surface of the target shelf is divided into multiple storage positions, and the shelf type represents the distribution of the multiple storage positions;

[0008] Based on the shelf type and the binding information of each shelf location, a target shelf location is determined, wherein the binding information is determined based on the first coverage area of ​​the shelf location and the location information of the delivery slots, and the binding information includes the distribution information of the delivery slots bound to the shelf location;

[0009] The dispatching and handling object moves the target shelf to the target shelf position and controls the release of the target delivery slot bound to the target shelf position so that the items to be sorted can be delivered to the storage position of the target shelf through the target delivery slot.

[0010] According to a second aspect of the present invention, an article sorting device is provided, comprising:

[0011] The acquisition module is configured to acquire the shelf type of the target shelf in the handling area, wherein the storage surface of the target shelf is divided into multiple storage positions, and the shelf type represents the distribution of the multiple storage positions;

[0012] The determination module is configured to determine the target shelf location based on the shelf type and the binding information of each shelf location, wherein the binding information is determined based on the first coverage area of ​​the shelf where the shelf location is located and the location information of the delivery slots, and the binding information includes the distribution information of the delivery slots bound to the shelf location;

[0013] The scheduling module is configured to schedule the transport object to move the target shelf to the target shelf position, and control the release of the target delivery slot bound to the target shelf position so as to deliver the items to be sorted to the storage position of the target shelf through the target delivery slot.

[0014] According to a third aspect of the present invention, a computing device is provided, comprising:

[0015] Memory and processor;

[0016] The memory stores computer-executable instructions, and the processor executes the computer-executable instructions. When executed by the processor, the computer-executable instructions implement the steps of the above-described item sorting method.

[0017] According to a fourth aspect of the present invention, a computer-readable storage medium is provided that stores computer-executable instructions, which, when executed by a processor, implement the steps of the above-described item sorting method.

[0018] According to a fifth aspect of the present invention, a computer program is provided, wherein when the computer program is executed in a computer, the computer is instructed to perform the steps of the above-described item sorting method.

[0019] According to a sixth aspect of the present invention, a warehousing system is provided, comprising: a dispatching terminal, a sorting area and a handling area, and a handling object, wherein the sorting area is provided with multiple delivery slots and the handling area is provided with multiple shelf positions;

[0020] The dispatch terminal acquires the shelf type of the target shelf in the handling area, wherein the storage surface of the target shelf is divided into multiple storage positions, and the shelf type represents the distribution of the multiple storage positions; it determines the target shelf position based on the shelf type and the binding information of each shelf position, wherein the binding information is determined based on the first coverage area of ​​the shelf to which the shelf position is parked and the location information of the delivery slot, and the binding information includes the distribution information of the delivery slots bound to the shelf position; it sends a handling instruction to the handling object and a control instruction to the sorting area;

[0021] The sorting area is used to release the target delivery slot bound to the target shelf location in response to the control command;

[0022] The transport object is used to transport the target shelf to the target shelf location in response to the transport instruction.

[0023] The item sorting method provided by this invention has two aspects. First, the warehouse system dispatcher obtains the shelf type of the target shelf in the handling area. The storage surface of the target shelf is divided into multiple storage positions. The shelf type represents the distribution of multiple storage positions. Dividing the shelf storage surface into multiple storage positions allows each shelf position to correspond to multiple delivery slots, increasing the utilization rate of delivery slots. Second, the warehouse system dispatcher determines the target shelf position based on the shelf type and the binding information of each shelf position. The binding information is determined based on the first coverage area of ​​the shelf where the shelf position is located and the location information of the delivery slots. The binding information includes the distribution information of the delivery slots bound to the shelf position. The target shelf is transported to the corresponding target shelf position. Finally, the warehouse system dispatcher schedules the handling object to move the target shelf to the target shelf position and controls the release of the target delivery slots bound to the target shelf position so that the items to be sorted can be delivered to the storage positions of the target shelf through the target delivery slots. This can make full use of the delivery slots bound to the target shelf, improve the sorting flexibility and throughput of the warehouse system, and achieve more efficient sorting operations in a limited space. Attached Figure Description

[0024] Figure 1(a) is a schematic diagram of the interaction flow of a warehousing system architecture provided in an embodiment of the present invention;

[0025] Figure 1(b) is a schematic diagram of a warehousing system structure provided in an embodiment of the present invention;

[0026] Figure 2 This is a flowchart of an item sorting method provided in one embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram illustrating the positional relationship between a shelf location and a delivery slot, provided in one embodiment of the present invention.

[0028] Figure 4 This is a schematic diagram of an interface for calculating the first coverage area of ​​a rack docking station according to an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of an interface for calculating the second coverage area of ​​a delivery grid according to an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram illustrating the positional relationship between a shelf location and a delivery slot, provided in one embodiment of the present invention.

[0031] Figure 7 This is a schematic diagram of an interface for obtaining the angle of a target shelf according to an embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of a target shelf angle provided in one embodiment of the present invention;

[0033] Figure 9 This is a schematic diagram of a storage location on a target shelf provided in one embodiment of the present invention;

[0034] Figure 10 This is a logic flowchart of allocating and transporting objects according to an embodiment of the present invention;

[0035] Figure 11 This is a schematic diagram of the storage location of a target shelf displayed on a display device at a packaging station, according to an embodiment of the present invention.

[0036] Figure 12 This is a flowchart of a sorting method for sorting items in a multi-compartment rack cage cart, provided by an embodiment of the present invention.

[0037] Figure 13 This is a schematic diagram of the structure of an item sorting device according to an embodiment of the present invention;

[0038] Figure 14 This is a structural block diagram of a computing device provided in one embodiment of the present invention. Detailed Implementation

[0039] Numerous specific details are set forth in the following description to provide a full understanding of the invention. However, the invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0040] The terminology used in one or more embodiments of the present invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The singular forms “a,” “the,” and “the” used in one or more embodiments of the invention and in the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” used in one or more embodiments of the invention refers to and includes any or all possible combinations of one or more associated listed items.

[0041] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of the present invention, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of the present invention, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0042] Furthermore, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of the present invention are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0043] First, the terminology used in one or more embodiments of the present invention will be explained.

[0044] Fully flexible sorting: a sorting scenario that can automatically sort and transport items.

[0045] Shelving: A supporting structure used for storing goods, typically consisting of beams, uprights, and shelving panels.

[0046] The object being transported can be a transport robot or an automated guided vehicle (AGV), or it can be an operator. In the embodiments of this invention, the object being transported is mainly used to transport shelves according to transport instructions.

[0047] Transportation area: The work area for the object being transported.

[0048] Shelf space: The area in the handling area where shelves can be placed.

[0049] Sorting area: A work area where items to be sorted are stored. In embodiments of the present invention, the sorting area releases the delivery slots according to control instructions to deliver the items to be sorted.

[0050] Storage location: A storage area obtained by dividing the storage surface of a shelf. In this embodiment of the invention, it is also referred to as a storage location.

[0051] Shelf type: A label used to indicate the location of goods on the shelf.

[0052] Packaging workstation: A work area or equipment used for the final packaging of sorted or selected goods.

[0053] PT stands for Packet Task, a type of handling task in a warehousing system.

[0054] CT stands for Change Container Task, a type of handling task in a warehousing system.

[0055] ST stands for Supplement Task, a type of handling task in a warehousing system.

[0056] FC: Free Robot Count, the number of idle robots.

[0057] With the development of automated logistics, the demand for fully flexible sorting and multi-level sorting is increasing. In existing technical solutions, one delivery slot typically corresponds to one transportable shelf. Once the shelf is full, a rack trolley transports it to the sealing position for sealing. However, the size of the rack trolley is usually fixed, such as 1.0m x 1.0m. Since the number of shelves entering the handling area is limited by the size of the handling area, when one slot corresponds to one shelf, more slots cannot be used in a limited space, thus limiting sorting capacity and efficiency, and further limiting the number of workstations that can be delivered. Therefore, there is an urgent need for a new method to improve the sorting flexibility, throughput, and delivery slot utilization efficiency of the warehousing system, achieving more efficient sorting operations in a limited space.

[0058] To address the aforementioned problems, this invention provides a method for sorting items. This invention also relates to an item sorting device, a computing device, and a computer-readable storage medium, which will be described in detail in the following embodiments.

[0059] Referring to Figure 1(a), Figure 1(a) shows a schematic diagram of the interaction flow of a warehousing system architecture provided by an embodiment of the present invention. The warehousing system includes a scheduling terminal, a sorting area and a handling area, and handling objects. The sorting area has multiple delivery slots, and the handling area has multiple shelf positions. The scheduling terminal is used to obtain the shelf type of the target shelf in the handling area. The storage surface of the target shelf is divided into multiple storage positions, and the shelf type represents the distribution of multiple storage positions. The scheduling terminal determines the target shelf position based on the shelf type and the binding information of each shelf position. The binding information is determined based on the first coverage area of ​​the shelf to which the shelf position is located and the location information of the delivery slots. The binding information includes the distribution information of the delivery slots bound to the shelf position. The scheduling terminal sends a handling instruction to the handling object and a control instruction to the sorting area. The sorting area is used to release the target delivery slots bound to the target shelf position in response to the control instruction. The handling object is used to move the target shelf to the target shelf position in response to the handling instruction.

[0060] Referring to Figure 1(b), which is a schematic diagram of a warehousing system structure provided in an embodiment of the present invention, the sorting area and the handling area are distributed in an upper and lower layer. The scheduling terminal 102 is used to obtain the shelf type of the target shelf in the handling area. The storage surface of the target shelf is divided into multiple storage positions, and the shelf type represents the distribution of multiple storage positions. The target shelf position is determined according to the shelf type and the binding information of each shelf position. The binding information is determined based on the first coverage area of ​​the shelf to which the shelf position is parked and the location information of the delivery slot. The binding information includes the distribution information of the delivery slots bound to the shelf position. A handling instruction is sent to the handling object, and a control instruction is sent to the sorting area. There are multiple delivery slots 1042 in the sorting area 104. The sorting area 104 is used to release the target delivery slot bound to the target shelf position in response to the control instruction. There is at least one handling object 1062, multiple shelves 1064, and multiple shelf positions 1066 in the handling area 106. The handling object 1062 is used to handle the target shelf to the target shelf position in response to the handling instruction.

[0061] It is understood that the handling area and sorting area in the warehousing system can be a structure with upper and lower layers as shown in Figure 1(b), or a single-layer fully flexible structure with both the handling area and sorting area distributed on the same layer. The present invention does not impose any special limitations on the specific structure of the handling area and sorting area.

[0062] Through this storage system, on the one hand, the scheduling end of the warehousing system obtains the shelf type of the target shelf in the handling area. The storage surface of the target shelf is divided into multiple storage positions, and the shelf type characterizes the distribution of the multiple storage positions. Dividing the storage surface of the shelf into multiple storage positions enables each shelf position to correspond to multiple delivery ports, increasing the utilization rate of the delivery ports. On the other hand, the scheduling end of the warehousing system determines the target shelf position according to the shelf type and the binding information of each shelf position. The binding information is determined based on the first coverage range of the shelf where the shelf position is docked and the position information of the delivery port. The binding information includes the distribution information of the delivery ports bound to the shelf position. The target shelf is transported to the corresponding target shelf position. Finally, the scheduling end of the warehousing system schedules the handling object to transport the target shelf to the target shelf position and controls the release of the target delivery port bound to the target shelf position, so as to deliver the items to be sorted to the storage positions of the target shelf through the target delivery port, which can make full use of the delivery ports bound to the target or shelf, improve the sorting flexibility and throughput of the warehousing system, and enable more efficient sorting operations in a limited space.

[0063] See Figure 2 , Figure 2 Fig. shows a flowchart of an item sorting method according to an embodiment of the present invention. The item sorting method is applied to the scheduling end of a warehousing system. The warehousing system includes a scheduling end, a sorting area and a handling area. The sorting area is provided with multiple delivery ports, and the handling area is provided with multiple shelf positions. The item sorting method specifically includes the following steps.

[0064] Step 202: Obtain the shelf type of the target shelf in the handling area, where the storage surface of the target shelf is divided into multiple storage positions, and the shelf type characterizes the distribution of the multiple storage positions.

[0065] Among them, the division method of the storage surface can be to symmetrically divide the storage surface into two storage positions or divide it into multiple storage positions based on any other division method. The distribution of the storage positions corresponds to the division method of the storage surface. For example, if the storage surface is divided in a "cross" shape to obtain four storage positions distributed in a "field" shape, the distribution of the storage positions characterized by the shelf type is four storage positions distributed in a "field" shape.

[0066] In practical applications, firstly, operators can add target shelves using a handheld PDA (personal digital assistant) and notify the warehouse system dispatcher, or the warehouse system dispatcher can use sensors such as cameras, laser scanners, detection devices, or depth sensors to identify the target shelf entering the handling area. The process of the target shelf entering the handling area can be automated or manual. Secondly, after the target shelf is identified, the warehouse system dispatcher can perform image analysis by taking pictures with a camera, or detect the distribution of storage locations in the target shelf by using laser scanners, depth sensors, barcode scanning, etc. Finally, the warehouse system dispatcher integrates the distribution of storage locations in the target shelf to determine the shelf type of the target shelf, or directly receives the target shelf type sent by the warehouse system management terminal.

[0067] In one specific embodiment of the present invention, the operator can add a target shelf and notify the warehouse system dispatch terminal by using a handheld PDA, and at the same time send the shelf type of the target shelf to the warehouse system dispatch terminal.

[0068] In another specific embodiment of the present invention, taking a shelf type with two storage locations symmetrically distributed as an example, firstly, the warehouse system dispatch terminal uses a laser scanner to identify the target shelf entering the handling area; secondly, the warehouse system dispatch terminal acquires an image of the target shelf through a camera, performs image analysis, and determines the distribution of the number, location, size, etc. of the storage locations in the target shelf; finally, the warehouse system dispatch terminal integrates the distribution of the number, location, size, etc. of the storage locations in the target shelf to determine the shelf type of the target shelf.

[0069] Step 204: Determine the target shelf location based on the shelf type and the binding information of each shelf location, wherein the binding information is determined based on the first coverage area of ​​the shelf to which the shelf location is located and the location information of the delivery slots, and the binding information includes the distribution information of the delivery slots bound to the shelf location.

[0070] Among them, the shelf position is the location in the handling area where shelves can be placed. For example, if shelf position A is bound to delivery slot A and delivery slot B, then shelf position A can receive items to be sorted released from delivery slot A and delivery slot B.

[0071] In practical applications, the warehouse system dispatch terminal determines the distribution information of each delivery slot bound to each shelf location in the sorting area, and identifies the target shelf location whose binding information can match the shelf type.

[0072] In a specific embodiment of the present invention, taking a shelf type with two storage locations symmetrically distributed as an example, the warehouse system scheduling terminal first sorts the distribution information of each delivery slot bound to each shelf location in the sorting area, determines that a shelf location bound to two adjacent and parallel delivery slots can be matched with a shelf type with two storage locations symmetrically distributed, and then determines the shelf location bound to two adjacent and parallel delivery slots as the target shelf location.

[0073] Further, before determining the target shelf location based on the shelf type and the binding information of each shelf location, the method further includes: determining the location information of each shelf location in the handling area and the location information of each delivery slot in the sorting area; calculating the first coverage area of ​​the shelf where each shelf location stops based on the location information of each shelf location and the preset shelf size; calculating the second coverage area of ​​each delivery slot based on the location information of each delivery slot and the preset slot size; determining the first delivery slot whose second coverage area is covered by the first coverage area of ​​the shelf where the first shelf location stops based on the first coverage area of ​​the shelf where the first shelf location stops and the second coverage area of ​​each delivery slot, wherein the first shelf location is any one of multiple shelf locations; establishing a binding relationship between the first delivery slot and the first shelf location, and determining the binding information of the first shelf location.

[0074] The location information of each shelf location can be the coordinates of each shelf location in the handling area, and the location information of each delivery slot can be the coordinates of the projection of each delivery slot in the handling area. The first coverage area can be the area of ​​the handling area occupied by the shelf when the shelf is parked in the shelf location, and the second coverage area can be the area of ​​the projection of the delivery slot in the handling area.

[0075] In practical applications, the shelf dimensions and delivery slot dimensions of a warehousing system are usually fixed. For example, the preset shelf dimensions are 1.2 meters × 1.2 meters, and the preset slot dimensions are 0.6 meters × 0.6 meters. Before determining the target shelf location, firstly, the warehousing system dispatch terminal obtains the location information of each shelf location and each delivery slot in the handling area. This location information is obtained through sensors, scanning equipment, or data provided by the warehousing system management terminal. Secondly, based on the location information of each shelf location and the preset shelf dimensions, the first coverage area of ​​the shelf to be docked at each shelf location is calculated. The first coverage area can characterize the receiving range of the shelf located at the shelf location. Thirdly, based on the location information of the delivery slot and the preset... The dimensions of each delivery slot are determined, and the second coverage area of ​​each slot is calculated. The second coverage area represents the delivery range of the delivery slot. Then, based on the first coverage area of ​​the shelf where the first shelf is located and the second coverage area of ​​each delivery slot, the second coverage area of ​​at least one delivery slot within the first coverage area is determined. This means finding at least one delivery slot where the receiving range of the shelf and the delivery range of the delivery slot overlap. The first shelf can be any one of multiple shelf positions. Finally, the binding relationship between the first delivery slot and the first shelf position is established, and the binding information of the first shelf position is determined. This means binding the first delivery slot to the first shelf position to ensure the accuracy of subsequent item delivery and sorting.

[0076] In a specific embodiment of the present invention, reference is made to... Figure 3 As shown, Figure 3 This is a schematic diagram of the positional relationship between a shelf location and a delivery slot provided in an embodiment of the present invention. B1 is a shelf location, and A1, A2, A3 and A4 are delivery slots. First, the warehouse system dispatch terminal determines the position information of B1 and the position information of A1, A2, A3 and A4 through the data provided by the warehouse system management terminal.

[0077] Secondly, based on the location information of B1 and the preset shelf dimensions, calculate the first coverage area of ​​B1, referring to... Figure 4 As shown, Figure 4 This is a schematic diagram of an interface for calculating the first coverage area of ​​a shelf unit in an embodiment of the present invention. In the operation interface, a cell is selected, and the shelf unit with code B1 is selected. The center point coordinates of B1 are obtained as X: 23.079, Y: 23.435, length is 0.2, width is 1.13. The robot ID and shelf code occupied are -1, indicating that the shelf unit B1 is not currently occupied by a robot or shelf. Based on the above location information and the preset shelf size, the first coverage area of ​​B1 is calculated.

[0078] Next, based on the location information of A1, A2, A3, and A4 and the preset grid size, the second coverage area is calculated, with reference to... Figure 5 As shown, Figure 5 This is a schematic diagram of an interface for calculating the second coverage area of ​​a delivery slot according to an embodiment of the present invention. In the operation interface, a cell is selected, and the shelf position coded A2 is selected. The "Lock", "Pause" and "Release" controls are used to indicate the release state of the A2 slot. The center point coordinates of A2 are obtained as X: 23.329, Y: 23.680, length is 0.465 and width is 0.565. Based on the above location information and the preset slot size, the second coverage area of ​​A2 is calculated.

[0079] Then, the first coverage area of ​​B1 is determined to include the second coverage areas of A1, A2, A3 and A4. B1 is designated as the first shelf location, and A1, A2, A3 and A4 are designated as the first delivery slots.

[0080] Finally, establish the binding relationship between B1 and A1, A2, A3, and A4, and determine the binding information of B1.

[0081] In another specific embodiment of the present invention, the coordinates may also include the z-coordinate, that is, the floor number where the shelf location and delivery slot are located.

[0082] Based on this, the binding relationships and binding information can be determined according to the location information of the shelf positions and delivery slots, the shelf dimensions and slot dimensions, and the calculation and comparison of the coverage area, providing accurate guidance and direction for subsequent logistics operations. This helps optimize the sorting and delivery process and improve logistics efficiency.

[0083] Furthermore, before determining the target shelf location based on the shelf type and the binding information of each shelf location, the method further includes: determining the location information of each shelf location in the handling area and the location information of each delivery slot in the sorting area; calculating the first coverage area of ​​the shelf to which each shelf location stops based on the location information of each shelf location and the preset shelf size; determining the first delivery slot whose location information is located within the first coverage area of ​​the shelf to which the first shelf location stops based on the first coverage area of ​​the shelf to which the first shelf location stops and the location information of each delivery slot, wherein the first shelf location is any one of multiple shelf locations; establishing the binding relationship between the first delivery slot and the first shelf location, and determining the binding information of the first shelf location.

[0084] In practical applications, firstly, the warehouse system dispatch terminal acquires the location information of each shelf location and each delivery slot in the handling area. This location information is obtained through sensors, scanning devices, or data provided by the warehouse system management terminal. Secondly, based on the location information of each shelf location and the preset shelf dimensions, the first coverage area of ​​the shelf to which each shelf location is located is calculated. The first coverage area can represent the receiving range of the shelf located at the shelf location. Thirdly, the location information of the delivery slot is determined, representing the delivery location of the delivery slot. Then, based on the first coverage area of ​​the shelf to which the first shelf location is located and the location information of each delivery slot, at least one delivery slot included in the first coverage area is determined. This means finding a delivery point that includes at least one delivery slot in the receiving range of at least one shelf location. The first shelf location can be any one of multiple shelf locations.

[0085] In a specific embodiment of the present invention, reference is made to... Figure 3 As shown, firstly, the warehouse system dispatch terminal determines the location information of B1 and the location information of A1, A2, A3, and A4 through the data provided by the warehouse system management terminal.

[0086] Secondly, based on the location information of B1 and the preset shelf dimensions, calculate the first coverage area of ​​B1, referring to... Figure 4 As shown, in the operation interface, select a cell, select the shelf position with code B1, and obtain the center point coordinates of B1 as X: 23.079, Y: 23.435, length 0.2, width 1.13. The occupied robot ID and occupied shelf code are -1, which means that the shelf position B1 is not currently occupied by a robot or shelf. Based on the above location information and the preset shelf size, calculate the first coverage area of ​​B1.

[0087] Next, determine the location information of A1, A2, A3, and A4, referring to... Figure 5 As shown, in the operation interface, select cell A2, select shelf location with code A2, and obtain the center point coordinates of A2 as X: 23.329, Y: 23.680.

[0088] Then, the first coverage area of ​​B1 is determined to include the center point coordinates of A1, A2, A3 and A4. B1 is designated as the first shelf location, and A1, A2, A3 and A4 are designated as the first delivery slots.

[0089] Finally, establish the binding relationship between B1 and A1, A2, A3, and A4, and determine the binding information of B1.

[0090] Based on this, the binding relationship and binding information can be determined according to the location information of the shelf positions and delivery slots, the shelf dimensions, as well as the calculation and comparison of the coverage range, providing accurate guidance and direction for subsequent logistics operations. This helps to optimize the sorting and delivery processes and improve logistics efficiency.

[0091] Further, establishing the binding relationship between the first delivery slot and the first shelf position and determining the binding information of the first shelf position includes: determining the distribution information of the first delivery slot; according to the distribution information, determining the target shelf type that matches the distribution information; according to the target shelf type, establishing the binding relationship between the first delivery slot and the first shelf position, and determining the binding information of the first shelf position.

[0092] Among them, the distribution information of the first delivery slot may include the number of the first delivery slots and the distribution of the first mopping slots, and the target shelf type is the shelf type in which the storage positions in the target shelf correspond one-to-one with the first delivery slots in terms of both quantity and position.

[0093] In practical applications, first, the warehousing system scheduling terminal determines the distribution information situation of the first delivery slot according to the location information of the first delivery slot, such as the number of the first delivery slots, the location, number or other identifiers of each first delivery slot. Second, the warehousing system scheduling terminal analyzes and compares the available shelf types according to the distribution information of the first delivery slot and determines the target shelf type that matches the distribution information. The storage positions in the corresponding shelf of the target shelf type correspond one-to-one with the first delivery slots in space. Then, the warehousing system scheduling terminal establishes the binding relationship between the first delivery slot and the first shelf position according to the determined target shelf type, matches and maps the first delivery slot and the first shelf position to ensure correct item delivery and storage. Finally, the warehousing system scheduling terminal determines the binding information of the first shelf position according to the established binding relationship.

[0094] In a specific embodiment of the present invention, first, the warehousing system scheduling terminal refers to Figure 3 as shown, and determines that the number of the first delivery slots is 4, and the first delivery slots are distributed in a "field" shape. Second, the warehousing system scheduling terminal determines the matching target shelf type as F2B2 according to the distribution information that the 4 first delivery slots are distributed in a "field" shape, where F2B2 indicates that there are two storage positions in the F (front) direction and the B (back) direction of the shelf. Then, the warehousing system scheduling terminal establishes the binding relationship between the 4 first delivery slots and the first shelf position according to the shelf type of F2B2. Finally, the warehousing system scheduling terminal determines the binding information of the first shelf position according to the established binding relationship.

[0095] In another specific embodiment of the present invention, refer to Figure 6As shown, it is determined that the number of the first delivery compartments is 2, and the first delivery compartments are distributed in a "day" character pattern. Secondly, according to the distribution information of the 2 first delivery compartments distributed in a "day" character pattern, the warehousing system scheduling end determines that the matching target shelf type is B2, where B2 indicates that there are two storage positions in the B direction; then, according to the shelf type of B2, the warehousing system scheduling end establishes a binding relationship between the 2 first delivery compartments and the first shelf positions; finally, according to the established binding relationship, the warehousing system scheduling end determines the binding information of the first shelf positions.

[0096] Based on this, the binding information of the first shelf positions can be determined based on the distribution information of the delivery compartments, the shelf type, and the setting of the binding relationship. This helps to accurately and efficiently deliver items to the designated shelf positions in the logistics operation to support subsequent storage, picking, and other logistics processes.

[0097] Furthermore, according to the shelf type and the binding information of each shelf position, determining the target shelf position includes: according to the binding information of each shelf position, determining the distribution information of the delivery compartments bound to each shelf position; according to the distribution information of the delivery compartments bound to each shelf position, determining the candidate shelf positions whose distribution information matches the shelf type; based on the distance between each candidate shelf position and the target shelf, determining the target shelf position.

[0098] Among them, the candidate shelf positions are the shelf positions that match the shelf type of the target shelf, and the target shelf position can be the shelf position closest to the target shelf among the candidate shelf positions.

[0099] In practical applications, first, according to the binding information of each shelf position, determine the distribution information of the delivery compartments bound to each shelf position; secondly, according to the distribution information of the delivery compartments, determine the candidate shelf positions whose distribution information matches the shelf type; finally, for the determined candidate shelf positions, based on the distance between the candidate shelf positions and the target shelf, determine the target shelf position.

[0100] In a specific embodiment of the present invention, taking the shelf type of the target shelf as F2B2 as an example, first, according to the binding information of each shelf position, determine the distribution information of the delivery compartments bound to each shelf position; secondly, according to the distribution information of the delivery compartments, determine the candidate shelf positions whose distribution information matches F2B2; finally, select the candidate shelf position closest to the target shelf as the target shelf position

[0101] Based on this, the target shelf location can be determined according to the shelf type and the binding information of each shelf location. By analyzing the distribution information of delivery slots, matching candidate shelf locations, and considering the distance between the shelf location and the target shelf, the most suitable shelf location is ensured to be selected. This helps improve the efficiency and accuracy of logistics operations and ensures that items can be placed in the appropriate location to meet subsequent storage, picking, and other logistics needs.

[0102] Step 206: The dispatching and handling object moves the target shelf to the target shelf position and controls the release of the target delivery slot bound to the target shelf position so that the items to be sorted can be delivered to the storage position of the target shelf through the target delivery slot.

[0103] The objects to be transported can be transport robots, AGVs, cage carts or other transport equipment. The target delivery slot is the delivery slot that is bound to the target shelf position as indicated by the binding information. After the target delivery slot is released, the items to be sorted can fall directly into it under the action of gravity or enter the storage position of the target shelf through the downward-sloping conveyor belt.

[0104] In practical applications, firstly, based on the scheduling algorithm, the warehouse system scheduler determines the automated guided vehicles (AGVs), robotic arms, or other handling equipment to be used for transport. This scheduling algorithm considers factors such as the availability and performance of each transported object, the real-time environmental conditions of the transport area, and the location of the target shelf, and issues transport instructions to the transported object. Secondly, in response to the transport instructions, the transported object locates the target shelf and transports it to the target shelf location according to the path planning algorithm. This path planning algorithm may involve navigation and obstacle avoidance technologies to ensure the safety and accuracy of the transport process. Then, after the target shelf is transported to its target shelf location, the warehouse system scheduler issues control instructions to the sorting area. Finally, in response to the control instructions, the sorting area releases the target delivery slot bound to the target shelf location, allowing the items to be sorted in the target delivery slot to enter the target shelf's storage location via gravity drop, conveyor belt, robot with lifting structure or robotic arm, or manual handling.

[0105] In a specific embodiment of the present invention, taking a cage cart as the object to be transported as an example, firstly, according to the scheduling algorithm, the warehouse system scheduling terminal determines the cage cart used to transport the target shelf and issues a transport instruction to the cage cart; secondly, in response to the transport instruction, the cage cart locates the current position of the target shelf according to the path planning algorithm and transports the target shelf to the target shelf position indicated by the transport instruction; then, after the target shelf is transported to the target shelf position by the cage cart, the warehouse system scheduling terminal issues a control instruction to the sorting area; finally, in response to the control instruction from the warehouse system scheduling terminal, the sorting area releases the target delivery slot bound to the target shelf, so that the items to be sorted in the target delivery slot are delivered into the storage position of the target shelf.

[0106] Furthermore, the number of target delivery slots is the same as the number of storage locations on the target shelf; before releasing the target delivery slots bound to the target shelf location, the method further includes: determining the shelf angle at which the target shelf reaches the target shelf location; determining the location information of each storage location based on the shelf angle; determining each target delivery slot corresponding to each storage location based on the location information of each storage location and the distribution information of the target delivery slots bound to the target shelf location; releasing the target delivery slots bound to the target shelf location includes: controlling each target delivery slot to release separately, so that the items to be sorted are delivered to the corresponding storage locations through each target delivery slot.

[0107] Among them, the shelf angle is the two-dimensional direction of the target shelf in the handling area, and the target delivery slot is the delivery slot corresponding to the storage location.

[0108] In practical applications, firstly, after the target shelf is moved to its target shelf location, the warehouse system dispatcher determines the angle of the target shelf, which can be obtained through sensors, position monitoring devices, or other relevant equipment. Secondly, based on the angle of the target shelf, the warehouse system dispatcher determines the location information of each storage location. The location information of each storage location may include its size and shape, as well as its corresponding number or identifier. Then, based on the location information of the storage locations and the distribution information of the target delivery slots bound to the target shelf locations, the warehouse system dispatcher determines the target delivery slot corresponding to each storage location. According to the relationship and matching rules between the locations of storage locations and target delivery slots, each storage location is associated with a specific target delivery slot. Finally, after determining the target delivery slot corresponding to each storage location, the warehouse system dispatcher can control the release of each target delivery slot to ensure that the items to be sorted can be delivered to the corresponding storage locations through the corresponding target delivery slots.

[0109] In a specific embodiment of the present invention, Figure 3 The shelf location shown is the target shelf location, taken as an example, combined with Figure 7 As shown, Figure 7 This is a schematic diagram of an interface for obtaining the angle of a target shelf according to an embodiment of the present invention. In the "Shelf" tab, "Update Shelf," "Move Shelf," "Lock Shelf," "Unlock Shelf," "Update Angle," and "Return Area" are controls for controlling the target shelf. The target shelf is coded as C1, with center point coordinates of X: 23.079, Y: 23.435, and a current angle of 0°. (Reference...) Figure 8 As shown, Figure 8This is a schematic diagram of a target shelf angle provided in one embodiment of the present invention, showing the orientation of the target shelf at four shelf angles: 0°, 90°, 180° and -90°.

[0110] First, after the target shelf is moved to its target location, the warehouse system dispatcher determines the angle of the target shelf to be 0°. Second, based on the angle of the target shelf, the warehouse system dispatcher determines the location information of each storage location. This location information may include the size and shape of each storage location, as well as its corresponding number or identifier. (See reference...) Figure 9 As shown, Figure 9 This is a schematic diagram of storage locations on a target shelf according to an embodiment of the present invention. The target shelf has two storage locations, F1 and F2, in direction F, and two storage locations, B1 and B2, in direction B. Then, the warehouse system scheduling terminal determines the target delivery slot corresponding to each storage location based on the location information of the storage locations and the distribution information of the target delivery slots bound to the target shelf locations. According to the relationship and matching rules between the storage locations and the target delivery slots, each storage location is associated with a specific target delivery slot. The correspondence is shown in Table 1.

[0111] Table 1. Correspondence between target delivery slots and storage locations

[0112] Target delivery slot storage space A1 B1 A2 F2 A3 B2 A4 F1

[0113] Finally, after determining the target delivery slot corresponding to each storage location, the warehouse system dispatcher can control each target delivery slot to be released separately, so as to ensure that the items to be sorted in A1 can be delivered to storage location B1, the items to be sorted in A2 can be delivered to storage location F2, the items to be sorted in A3 can be delivered to storage location B2, and the items to be sorted in A4 can be delivered to storage location F1.

[0114] Based on this, the angle of the target shelf and the location information of the storage location can be determined before the release of the target delivery slot bound to the target shelf location, and each storage location can be associated with its corresponding target delivery slot. Then, the release of the target delivery slot is controlled to ensure that items to be sorted can be delivered to their respective storage locations. This helps ensure the accuracy and efficiency of logistics operations, increases the number of available delivery slots, and provides a suitable storage and sorting environment.

[0115] Furthermore, after the target delivery slot bound to the target shelf location is released, the method further includes: identifying the storage status of each storage location; locking the target delivery slot when the storage location whose storage status is full reaches a preset threshold; and scheduling the handling object to move the target shelf to the sealing station to seal the items on the target shelf at the sealing station.

[0116] The storage status includes two states: full and not full.

[0117] In practical applications, firstly, the warehouse system dispatcher uses laser sensors, cameras, or other detection devices to identify the storage status of each storage location and record relevant storage information. Secondly, when a storage location is full and meets preset conditions, the warehouse system dispatcher can lock the corresponding target delivery slot to prevent further delivery of items to that location. Then, with the target delivery slot locked, the warehouse system dispatcher can schedule suitable handling equipment to move the target shelf to the sealing station. Finally, after the target shelf arrives at the sealing station, the staff at the sealing station can perform relevant sealing operations, including packaging, labeling, and sealing the goods, in preparation for further processing and outbound shipment.

[0118] In a specific embodiment of the present invention, taking the preset condition of a full storage location reaching a preset threshold of 2 as an example, firstly, the warehouse system dispatch terminal identifies the storage status of each storage location through a laser sensor and records the relevant storage information; secondly, when two storage locations are full, the warehouse system dispatch terminal can lock the target delivery slots corresponding to the two full storage locations to prevent further delivery of items to those storage locations; then, with the target delivery slots locked, the warehouse system dispatch terminal can dispatch suitable handling objects to move the target shelf to the sealing station; finally, after the target shelf arrives at the sealing station, the staff at the sealing station can perform relevant sealing processing operations, which may include packaging, labeling, and sealing the goods to prepare for further processing and outbound delivery.

[0119] In another specific embodiment of the present invention, taking the preset condition that the number of full storage locations reaches 50% of the total storage locations of the target shelf and the total storage locations of the target shelf is 6 as an example, firstly, the warehouse system dispatch terminal identifies the storage status of each storage location through a laser sensor and records the relevant storage information; secondly, when 3 storage locations are full, the preset condition is met, and the warehouse system dispatch terminal can lock the target delivery slots corresponding to the 3 full storage locations to prevent further delivery of items to those storage locations; then, with the target delivery slots locked and prevented from being delivered, the warehouse system dispatch terminal can dispatch suitable handling objects to move the target shelf to the sealing station; finally, after the target shelf arrives at the sealing station, the staff at the sealing station can perform relevant sealing processing operations, which may include packaging, labeling, and sealing the goods to prepare for further processing and outbound delivery of the items.

[0120] In another specific embodiment of the present invention, the logic for scheduling and transporting objects can be referred to Figure 10 As shown, Figure 10This is a logical flowchart of allocating transport objects according to an embodiment of the present invention. After the delivery request is initiated, the scheduling terminal of the warehouse system obtains the current usage status of the transport robot, matches the shelves and idle chutes, queries the PT and CT quantities of the shelves and chutes, obtains the FC, ST, PT, and CT quantities, and then queries the workstation to obtain the size of the station queue.

[0121] If the station queue is greater than 0, further determine whether the number of CT robots is greater than the station queue. Otherwise, determine whether the number of CT robots is greater than the preset threshold. If so, the number of CT robots is equal to the preset threshold, the number of PT robots is equal to the number of FC robots - the number of CT robots, and a process task is generated.

[0122] If the number of FCs is greater than or equal to the number of STs, then the number of ST robots = the number of STs and the number of FCs = the number of FCs - the number of STs. Otherwise, the number of PT robots = the number of FCs - the number of CT robots, and the process task is generated.

[0123] The number of ST robots = the number of ST robots, the number of FC robots = the number of FC robots - the number of ST robots, and if FC > 0, then the number of CT robots = the number of FC robots * the number of CT robots / (the number of PT robots + the number of CT robots), generating the process task.

[0124] After calculating the number of CT robots = number of FCs * number of CTs / (number of PTs + number of CTs), if the number of CT robots > 0, the station queue > 0, and the number of CT robots > the station queue, then the number of CT robots = the station queue and the number of PT robots = number of FCs - number of CT robots. Otherwise, the number of PT robots = number of FCs - number of CT robots, and a process task is generated.

[0125] After setting the number of PT robots = number of FC robots - number of CT robots, if the number of CT robots > 2, the number of PT robots <= 0, and the number of PT robots > 0, otherwise the number of CT robots = number of CT robots - 1, and the number of PT robots = 1, a process task is generated.

[0126] After generating the process task, if the number of PT robots is greater than 0, send the PT to the warehouse system; otherwise, determine if the number of CT robots is greater than 0.

[0127] If the number of CT robots is greater than 0, send CT to the warehouse system; otherwise, check if the number of ST robots is greater than 0.

[0128] If the number of ST robots is greater than 0, an ST is automatically generated and sent to the warehouse system; otherwise, it is determined whether the FC is greater than 0.

[0129] If FC > 0, determine whether the shelf and resource adjustment are mismatched. If so, automatically generate CT related to the shelf and send it to the warehouse system.

[0130] If FC < 0, the process ends.

[0131] Based on this, after the target delivery slot bound to the target shelf location is released, the storage status of the storage location can be identified, and the target delivery slot can be locked when a preset threshold is reached. Then, appropriate handling objects are dispatched to move the target shelf to the sealing station for subsequent sealing processing. This helps to achieve high efficiency and accuracy in sealing work, so as to better facilitate logistics and outbound operations.

[0132] Furthermore, the process of dispatching the transport object to move the target shelf to the sealing station includes: identifying whether the storage station whose storage status is not full corresponds to a slot with a delivery task; if so, waiting for the items to be sorted to be delivered to the slot, and then dispatching the transport object to move the target shelf to the sealing station, wherein the slot is a target delivery slot with a slot delivery task.

[0133] Among them, the delivery slot is the target delivery slot where a delivery task is in progress.

[0134] In practical applications, firstly, the warehouse system dispatcher identifies incomplete storage locations by recognizing their storage status. It's understood that the dispatcher typically doesn't use the maximum capacity of a storage location as a condition for determining if it's full, but rather leaves a certain margin. This invention does not impose such limitations. Secondly, if a task is identified corresponding to an incomplete storage location, the dispatcher waits for the task to complete the delivery of the items to be sorted at the delivery slot, ensuring that the items can be successfully delivered to the corresponding slot before the target shelf is moved. Finally, once the delivery task at the delivery slot is completed, the dispatcher schedules the handling of the target shelf to be moved to the packaging station.

[0135] In a specific embodiment of the present invention, Figure 3 Taking the shelf locations and delivery slots shown as an example, firstly, the warehouse system dispatcher identifies the storage status of the storage locations and finds those that are not full. Secondly, if it is found that slots A3 and A4, which correspond to the unfulfilled storage locations, are currently receiving deliveries, the warehouse system dispatcher waits for the task to complete the delivery of the items to be sorted at the slots to ensure that the items can be successfully delivered to the corresponding slots before the target shelf is moved. Finally, once the delivery tasks at slots A3 and A4 are completed, the warehouse system dispatcher will schedule the handling object to perform the task of moving the target shelf to the sealing station.

[0136] In another specific embodiment of the present invention, when it is detected that there is a delivery task in the compartment corresponding to an unfilled storage space, the warehouse system scheduling terminal can also directly lock the compartment corresponding to the unfilled storage space, move the target shelf away from the target shelf position, and schedule other target shelves to the target shelf position to continue delivery.

[0137] Understandably, before the warehouse system dispatcher schedules the handling of objects to carry out the task of moving the target shelf to the sealing station, both the storage compartments corresponding to full storage locations and the storage compartments corresponding to incomplete storage locations will be locked until the next target shelf arrives at the target shelf location.

[0138] Based on this, when dispatching handling objects to move target shelves to the sealing station, the status of the storage location and related tasks can be identified, and the target shelf can be moved to the designated sealing station after the tasks are completed. This helps optimize the process and efficiency of logistics operations, ensuring that items to be sorted are processed in the correct order and location.

[0139] Furthermore, after the dispatching and handling object moves the target shelf to the sealing station, the process further includes: determining the shelf angle at which the target shelf reaches the sealing station; generating a storage location diagram of the target shelf based on the orientation information of the sealing station and the shelf angle, wherein the storage location diagram includes the distribution information and storage information of each storage location; and displaying the storage location diagram on the display device of the sealing station.

[0140] In practical applications, firstly, after the target shelf arrives at the sealing station, the warehouse system dispatcher determines the angle of the target shelf using sensors or position monitoring devices. This helps in further processing the items on the target shelf or performing other follow-up operations. Secondly, based on the orientation information of the sealing station and the angle of the target shelf, a storage location diagram of the target shelf is generated for reference. Figure 11 As shown, Figure 11 This is an embodiment of the present invention that provides a schematic diagram of the storage locations of a target shelf displayed on a display device at a sealing station. Storage locations C1001 and C1002, which are farther from the sealing station, have 10 and 2 items respectively, while storage locations C1003 and C1004, which are closer to the sealing station, have 5 and 15 items respectively. Finally, the schematic diagram of the storage locations is displayed on the display device at the sealing station for operators or staff to view and refer to, ensuring that staff can clearly understand the distribution and loading status of each storage location on the target shelf.

[0141] Based on this, after the target shelf reaches the sealing station, the angle of the shelf can be determined, and a storage location diagram can be generated according to the orientation of the sealing station and the shelf angle. This storage location diagram is then displayed on the display device at the sealing station, helping operators accurately understand the distribution and status of the storage locations. This helps improve the accuracy and efficiency of the sealing work and provides operators with appropriate guidance and reference.

[0142] This item sorting method works in two ways. First, the warehouse system dispatcher obtains the shelf type of the target shelf in the handling area. The storage surface of the target shelf is divided into multiple storage locations, and the shelf type represents the distribution of these multiple storage locations. Each storage location can be bound to a delivery slot, and each target shelf can be bound to multiple delivery slots, increasing the utilization rate of the delivery slots. Second, the warehouse system dispatcher determines the target shelf location based on the shelf type and the binding information of each shelf location. The binding information is based on the number of shelves to which the shelf location is located. Once the coverage area and delivery slot location information are determined, the binding information includes the distribution information of delivery slots bound to the shelf location. The target shelf is transported to the corresponding target shelf location. Finally, the warehouse system dispatcher schedules the handling objects to move the target shelf to the target shelf location and controls the release of the target delivery slots bound to the target shelf location. This allows the items to be sorted to be delivered to the storage location of the target shelf through the target delivery slots. This can make full use of the delivery slots bound to the target or shelf, improve the sorting flexibility and throughput of the warehouse system, and achieve more efficient sorting operations in a limited space.

[0143] The following is in conjunction with the appendix Figure 12 Taking the application of the item sorting method provided by this invention in the sorting of items in a multi-compartment rack cage cart as an example, the item sorting method will be further explained. Figure 12 The present invention illustrates a process flow diagram of an item sorting method applied to a multi-compartment rack cage cart for sorting items, which specifically includes the following steps.

[0144] Step 1202: Determine the relationship between the grid and the shelf location based on the size of the racking trolley used on site and the map plan.

[0145] In one possible implementation, the map grid points that need to be occupied after the rack is moved to the rack position are calculated based on the rack cage size and the center point coordinates of the rack position. When the occupied map grid point is a delivery point, the corresponding grid of the delivery point is bound to the rack position.

[0146] In one possible implementation, the method for determining whether an area is occupied can include two methods: area coverage and location inclusion. Area coverage specifically involves: the horizontal coordinate of the shelf location center minus half the length of the shelf trolley, and the vertical coordinate of the shelf location center minus half the width of the shelf trolley. The coordinates of the four vertices of the shelf location are calculated using a similar method to determine the coverage area. Similarly, the horizontal coordinate of the delivery slot center minus half the length of the delivery slot, and the vertical coordinate of the delivery slot center minus half the width of the delivery slot, are calculated using a similar method to determine the coordinates of the four vertices of the delivery slot. This process is then used to determine whether the area of ​​the delivery point is within the area occupied when the shelf is parked in the shelf location.

[0147] The specific locations include: the x-coordinate of the shelf location center minus half the length of the shelf cage trolley ≤ the x-coordinate of the delivery slot center ≤ the x-coordinate of the shelf location center plus half the length of the shelf cage trolley; and the y-coordinate of the shelf location center minus half the width of the shelf cage trolley ≤ the y-coordinate of the delivery slot center ≤ the y-coordinate of the shelf location center plus half the width of the shelf cage trolley.

[0148] Step 1204: Determine the type of shelving that can be placed in the shelving space based on the relationship between the grid and the shelving location.

[0149] In one possible implementation, the bound grid location information (coordinates) is obtained based on the shelf location, and the layout of the location is calculated based on the coordinates, thereby deducing the types of shelves that can be placed in the shelf location. The specific process is as described in the aforementioned embodiments and will not be repeated here.

[0150] Step 1206: Based on the actual type of shelving entering the site, move the equipment to the available shelving location and release the slots.

[0151] In one possible implementation, after a shelf is added via a handheld PDA, the system moves the shelf to the nearest available shelf location. When the shelf arrives at its designated location, its orientation is calculated based on the angle at which it reaches the location. The specific process is described in the preceding embodiments and will not be repeated here.

[0152] Step 1208: After delivering a package or goods, when a storage slot on the shelf is full, lock the corresponding slot and trigger the handling process based on a specific strategy.

[0153] In one possible implementation, when a package or item is delivered and a storage location is full, the system checks whether shelf relocation needs to be triggered using a strategy. If the strategy is met, other associated storage locations on the shelf are partially full, and relocation is triggered after the delivery tasks in transit are completed. The specific process is as described in the aforementioned embodiments and will not be repeated here.

[0154] Step 1210: Move the shelving to the packaging workstation according to the strategy.

[0155] In one possible implementation, when the shelf triggers a full-storage-location handling, the item is moved to a suitable sealing station according to the handling strategy to perform the sealing task. First, the system allocates the number of robots to perform various handling tasks based on the number of handling robots on site and the strategy, and then executes the handling task matching strategy. The specific process is described in the aforementioned embodiments and will not be repeated here.

[0156] Step 1212: Execute the packetization task at the packetization location.

[0157] In one possible implementation, after the shelf is moved to the sealing position, the information of the storage location on the shelf is displayed according to the orientation of the sealing position and the angle of the shelf. The operator can perform the sealing task based on the full storage location prompt, or can independently decide to perform the sealing task for a half-full storage location. The specific process is as described in the aforementioned embodiments and will not be repeated here.

[0158] Corresponding to the above method embodiments, the present invention also provides an embodiment of an item sorting device. Figure 13 A schematic diagram of an item sorting device according to an embodiment of the present invention is shown. Figure 13 As shown, the device includes:

[0159] The acquisition module 1302 is configured to acquire the shelf type of the target shelf in the handling area, wherein the storage surface of the target shelf is divided into multiple storage locations, and the shelf type represents the distribution of the multiple storage locations;

[0160] The determination module 1304 is configured to determine the target shelf location based on the shelf type and the binding information of each shelf location. The binding information is determined based on the first coverage area of ​​the shelf where the shelf location is parked and the second coverage area of ​​the delivery slot. The binding information includes the distribution information of the delivery slots bound to the shelf location.

[0161] Optionally, the determining module 1304 further includes a first binding module, configured to: determine the location information of each shelf position in the handling area and the location information of each delivery slot in the sorting area; calculate the first coverage area of ​​the shelf where each shelf position stops based on the location information of each shelf position and the preset shelf size; calculate the second coverage area of ​​each delivery slot based on the location information of each delivery slot and the preset slot size; determine the first delivery slot whose second coverage area is covered by the first coverage area of ​​the shelf where the first shelf position stops based on the first coverage area of ​​the shelf where the first shelf position stops and the second coverage area of ​​each delivery slot, wherein the first shelf position is any one of multiple shelf positions; establish a binding relationship between the first delivery slot and the first shelf position, and determine the binding information of the first shelf position.

[0162] Optionally, the determining module 1304 further includes a second binding module, configured to: determine the location information of each shelf position in the handling area and the location information of each delivery slot in the sorting area; calculate the first coverage area of ​​the shelf to which each shelf position stops based on the location information of each shelf position and the preset shelf size; determine the first delivery slot whose location information is within the first coverage area of ​​the shelf to which the first shelf position stops based on the first coverage area of ​​the shelf to which the first shelf position stops and the location information of each delivery slot, wherein the first shelf position is any one of multiple shelf positions; establish a binding relationship between the first delivery slot and the first shelf position, and determine the binding information of the first shelf position.

[0163] Optionally, the first binding module or the second binding module is further configured to: determine the distribution information of the first delivery slot; determine the target shelf type that matches the distribution information based on the distribution information; establish a binding relationship between the first delivery slot and the first shelf position based on the target shelf type, and determine the binding information of the first shelf position.

[0164] Optionally, the determining module 1304 is further configured to determine the distribution information of the delivery slots bound to each shelf location based on the binding information of each shelf location; determine candidate shelf locations whose distribution information matches the shelf type based on the distribution information of the delivery slots bound to each shelf location; and determine the target shelf location based on the distance between each candidate shelf location and the target shelf.

[0165] The scheduling module 1306 is configured to schedule the transport object to move the target shelf to the target shelf position, and control the release of the target delivery slot bound to the target shelf position so that the items to be sorted can be delivered to the storage position of the target shelf through the target delivery slot.

[0166] Optionally, the scheduling module 1306 further includes a release module, which determines the shelf angle at which the target shelf reaches the target shelf position; determines the location information of each storage position based on the shelf angle; determines each target delivery slot corresponding to each storage position based on the location information of each storage position and the distribution information of the target delivery slots bound to the target shelf position; and controls each target delivery slot to be released so that the items to be sorted can be delivered to the corresponding storage positions through each target delivery slot.

[0167] Optionally, the item sorting device further includes a sealing module, configured to identify the storage status of each storage location; when the storage location whose storage status is full reaches a preset threshold, lock the target delivery slot; and schedule the transport object to transport the target shelf to the sealing station, so as to seal the items on the target shelf at the sealing station.

[0168] Optionally, the sealing module is further configured to identify whether the storage location in the storage state that is not full corresponds to a slot with a delivery task; if so, it waits for the target shelf to be moved to the sealing station after the item to be sorted is delivered to the slot, wherein the slot is the target delivery slot with a delivery task.

[0169] Optionally, the sealing module is further configured to determine the shelf angle at which the target shelf reaches the sealing station; generate a storage location diagram of the target shelf based on the orientation information of the sealing station and the shelf angle, wherein the storage location diagram includes the distribution information and storage information of each storage location; and display the storage location diagram on the display device of the sealing station.

[0170] This item sorting device achieves two main objectives. First, it acquires the shelf type of the target shelf in the handling area. The storage surface of the target shelf is divided into multiple storage positions, and the shelf type represents the distribution of these multiple storage positions. Dividing the shelf storage surface into multiple storage positions allows each shelf position to correspond to multiple delivery slots, increasing the utilization rate of the delivery slots. Second, it determines the target shelf position based on the shelf type and the binding information of each shelf position. The binding information is determined based on the first coverage area of ​​the shelf where the shelf position is located and the location information of the delivery slots. The binding information includes the distribution information of the delivery slots bound to the shelf position. The target shelf is then transported to the corresponding target shelf position. Finally, the handling objects are scheduled to move the target shelf to the target shelf position, and the target delivery slots bound to the target shelf position are released to allow the items to be sorted to be delivered to the storage positions of the target shelf through the target delivery slots. This fully utilizes the delivery slots bound to the target or shelf, improving the sorting flexibility and throughput of the warehousing system, and enabling more efficient sorting operations in limited space.

[0171] The above is a schematic scheme of an item sorting device according to this embodiment. It should be noted that the technical solution of this item sorting device and the technical solution of the item sorting method described above belong to the same concept. For details not described in detail in the technical solution of the item sorting device, please refer to the description of the technical solution of the item sorting method described above.

[0172] Figure 14A structural block diagram of a computing device 1400 according to an embodiment of the present invention is shown. The components of the computing device 1400 include, but are not limited to, a memory 1410 and a processor 1420. The processor 1420 is connected to the memory 1410 via a bus 1430, and a database 1450 is used to store data.

[0173] The computing device 1400 also includes an access device 1440, which enables the computing device 1400 to communicate via one or more networks 1460. Examples of such networks include Public Switched Telephone Network (PSTN), Local Area Network (LAN), Wide Area Network (WAN), Personal Area Network (PAN), or combinations of communication networks such as the Internet. The access device 1440 may include one or more of any type of wired or wireless network interface (e.g., a network interface card (NIC)), such as an IEEE 802.11 Wireless Local Area Network (WLAN) wireless interface, a Wi-MAX (Worldwide Interoperability for Microwave Access) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, or a Near Field Communication (NFC) interface.

[0174] In one embodiment of the present invention, the above-described components of the computing device 1400 and Figure 14 Other components, not shown, can also be connected to each other, for example, via a bus. It should be understood that... Figure 14 The illustrated block diagram of the computing device is for illustrative purposes only and is not intended to limit the scope of the invention. Those skilled in the art can add or replace other components as needed.

[0175] The computing device 1400 can be any type of stationary or mobile computing device, including mobile computers or mobile computing devices (e.g., tablet computers, personal digital assistants, laptop computers, notebook computers, netbooks, etc.), mobile phones (e.g., smartphones), wearable computing devices (e.g., smartwatches, smart glasses, etc.) or other types of mobile devices, or stationary computing devices such as desktop computers or personal computers (PCs). The computing device 1400 can also be a mobile or stationary server.

[0176] The processor 1420 is configured to execute the following computer-executable instructions, which, when executed by the processor, implement the steps of the above-described item sorting method.

[0177] The above is a schematic diagram of a computing device according to this embodiment. It should be noted that the technical solution of this computing device and the technical solution of the above-described item sorting method belong to the same concept. For details not described in detail in the technical solution of the computing device, please refer to the description of the technical solution of the above-described item sorting method.

[0178] An embodiment of the present invention also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of the above-described item sorting method.

[0179] The above is an illustrative scheme of a computer-readable storage medium according to this embodiment. It should be noted that the technical solution of this storage medium and the technical solution of the above-described item sorting method belong to the same concept. For details not described in detail in the technical solution of the storage medium, please refer to the description of the technical solution of the above-described item sorting method.

[0180] An embodiment of the present invention also provides a computer program, wherein when the computer program is executed in a computer, it causes the computer to perform the steps of the above-described item sorting method.

[0181] The above is an illustrative example of a computer program according to this embodiment. It should be noted that the technical solution of this computer program and the technical solution of the above-described item sorting method belong to the same concept. For details not described in detail in the technical solution of the computer program, please refer to the description of the technical solution of the above-described item sorting method.

[0182] The foregoing has described specific embodiments of the invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0183] Computer instructions include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in computer-readable media can be appropriately added or removed according to the requirements of patent practice. For example, in some regions, according to patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0184] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the embodiments of the present invention.

[0185] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0186] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to specific implementations. Clearly, many modifications and variations can be made based on the embodiments of the present invention. These embodiments are selected and specifically described to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A method for sorting items, characterized in that, A scheduling terminal for a warehousing system, the warehousing system including the scheduling terminal, a sorting area, and a handling area, the sorting area having multiple delivery slots, and the handling area having multiple shelf positions; the method includes: Obtain the shelf type of the target shelf in the handling area, wherein the storage surface of the target shelf is divided into multiple storage positions so that the target shelf corresponds to multiple delivery slots, and the shelf type represents the distribution of the multiple storage positions; Based on the shelf type and the binding information of each shelf location, a target shelf location is determined, wherein the binding information is determined based on the first coverage area of ​​the shelf location and the location information of the delivery slots, and the binding information includes the distribution information of the delivery slots bound to the shelf location; The dispatching and handling object moves the target shelf to the target shelf position and controls the release of the target delivery slot bound to the target shelf position so that the items to be sorted can be delivered to the storage position of the target shelf through the target delivery slot.

2. The method according to claim 1, characterized in that, Before determining the target shelf location based on the shelf type and the binding information of each shelf location, the method further includes: Determine the location information of each shelf position in the handling area and the location information of each delivery slot in the sorting area; Based on the location information of each shelf position and the preset shelf size, the first coverage area of ​​the shelf to be parked at each shelf position is calculated respectively; Based on the location information and preset grid size of each delivery grid, the second coverage area of ​​each delivery grid is calculated respectively; Based on the first coverage area of ​​the first shelf position and the second coverage area of ​​each delivery slot, the second coverage area is determined to be the first delivery slot within the first coverage area of ​​the first shelf position, wherein the first shelf position is any one of a plurality of shelf positions; Establish the binding relationship between the first delivery slot and the first shelf location, and determine the binding information of the first shelf location.

3. The method according to claim 1, characterized in that, Before determining the target shelf location based on the shelf type and the binding information of each shelf location, the method further includes: Determine the location information of each shelf position in the handling area and the location information of each delivery slot in the sorting area; Based on the location information of each shelf position and the preset shelf size, the first coverage area of ​​the shelf to be parked at each shelf position is calculated respectively; Based on the first coverage area of ​​the first shelf position and the location information of each delivery slot, determine the first delivery slot whose location information is located within the first coverage area of ​​the first shelf position, wherein the first shelf position is any one of multiple shelf positions; Establish the binding relationship between the first delivery slot and the first shelf location, and determine the binding information of the first shelf location.

4. The method according to claim 2 or 3, characterized in that, The process of establishing the binding relationship between the first delivery slot and the first shelf location, and determining the binding information of the first shelf location, includes: Determine the distribution information of the first delivery slot; Based on the distribution information, determine the target shelf type that matches the distribution information; Based on the target shelf type, establish the binding relationship between the first delivery slot and the first shelf location, and determine the binding information of the first shelf location.

5. The method according to claim 1, characterized in that, Based on the shelf type and the binding information of each shelf location, the target shelf location is determined, including: Based on the binding information of each shelf location, determine the distribution information of the delivery slots bound to each shelf location; Based on the distribution information of the delivery slots bound to each shelf location, candidate shelf locations that match the distribution information with the shelf type are determined; The target shelf location is determined based on the distance between each candidate shelf location and the target shelf location.

6. The method according to any one of claims 1-3, characterized in that, The number of the target delivery slots is the same as the number of storage locations on the target shelf; Before the target delivery slot bound to the controlled target shelf location is released, the method further includes: Determine the shelf angle at which the target shelf reaches the target shelf position; The location information of each storage location is determined based on the shelf angle; Based on the location information of each storage location and the distribution information of the target delivery slots bound to the target shelf locations, the target delivery slots corresponding to each storage location are determined. The release of the target delivery slot bound to the target shelf location includes: The system controls the release of each target delivery slot to deliver the items to be sorted to their corresponding storage locations.

7. The method according to any one of claims 1-3, characterized in that, After the target delivery slot bound to the controlled target shelf location is released, the method further includes: Identify the storage status of each storage location; When the storage space that is in a full state reaches a preset threshold, the target delivery slot is locked. The transport object is dispatched to move the target shelf to the sealing station, where the items on the target shelf are sealed.

8. The method according to claim 7, characterized in that, The dispatching and handling of the target shelf to the packaging station includes: Identify whether the storage location in the "not full" state corresponds to a slot with a data entry task. If so, then wait for the items to be sorted to be delivered through the delivery slot, and then schedule the handling object to move the target shelf to the packaging station. The delivery slot is the target delivery slot with a delivery task in progress.

9. The method according to claim 7, characterized in that, After the dispatched transport object moves the target shelf to the packaging station, the method further includes: Determine the shelf angle at which the target shelf reaches the sealing station; Based on the orientation information of the packaging station and the angle of the shelf, a storage location diagram of the target shelf is generated, wherein the storage location diagram includes the distribution information and storage information of each storage location; A schematic diagram of the storage location is displayed on the display device at the packaging station.

10. An item sorting device, characterized in that, include: The acquisition module is configured to acquire the shelf type of the target shelf in the handling area, wherein the storage surface of the target shelf is divided into multiple storage positions so that the target shelf corresponds to multiple delivery slots, and the shelf type represents the distribution of the multiple storage positions; The determination module is configured to determine the target shelf location based on the shelf type and the binding information of each shelf location, wherein the binding information is determined based on the first coverage area of ​​the shelf where the shelf location is parked and the location information of the delivery slot, and the binding information includes the distribution information of the delivery slots bound to the shelf location; The scheduling module is configured to schedule the transport object to move the target shelf to the target shelf position, and control the release of the target delivery slot bound to the target shelf position so as to deliver the items to be sorted to the storage position of the target shelf through the target delivery slot.

11. A computing device, characterized in that, include: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions, which, when executed by the processor, implement the steps of the item sorting method according to any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, It stores computer-executable instructions that, when executed by a processor, implement the steps of the item sorting method according to any one of claims 1-9.

13. A warehousing system, characterized in that, include: The system includes a dispatch terminal, a sorting area and a transport area, and transported objects. The sorting area has multiple delivery slots, and the transport area has multiple shelf positions. The dispatch terminal acquires the shelf type of the target shelf in the handling area, wherein the storage surface of the target shelf is divided into multiple storage positions so that the target shelf corresponds to multiple delivery slots, and the shelf type represents the distribution of the multiple storage positions; the terminal determines the target shelf position based on the shelf type and the binding information of each shelf position, wherein the binding information is determined based on the first coverage area of ​​the shelf to which the shelf position is parked and the location information of the delivery slots, and the binding information includes the distribution information of the delivery slots bound to the shelf position; the terminal sends a handling instruction to the handling object and a control instruction to the sorting area; The sorting area is used to release the target delivery slot bound to the target shelf location in response to the control command; The transport object is used to transport the target shelf to the target shelf location in response to the transport instruction.

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