CN113496327B

CN113496327B - Cargo handling method, device, system, control terminal and computer storage medium

Info

Publication number: CN113496327B
Application number: CN202010205126.8A
Authority: CN
Inventors: 韩旭
Original assignee: Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Beijing Kuangshi Robot Technology Co Ltd
Priority date: 2020-03-20
Filing date: 2020-03-20
Publication date: 2024-12-03
Anticipated expiration: 2040-03-20
Also published as: CN113496327A

Abstract

The invention relates to a cargo handling method, a cargo handling device, a cargo handling system, a control terminal and a computer storage medium, and belongs to the field of logistics. The method comprises the steps of obtaining an order task and corresponding order information, obtaining goods information of goods to be carried at a target material-feeding site corresponding to the order task, and determining the quantity of the goods carried by the carrying robot at one time corresponding to the order task according to the goods information and the order information. In the process, the carrying robot can carry a plurality of cargoes at one time, so that the round trip times of the carrying robot for processing an order task between the target material feeding station and the material feeding port can be reduced, the probability of blocking a cargo carrying system can be reduced, and the cargo carrying efficiency can be improved.

Description

Cargo handling method, device, system, control terminal and computer storage medium

Technical Field

The application belongs to the field of logistics, and particularly relates to a cargo handling method, a cargo handling device, a cargo handling system, a control terminal and a computer storage medium.

Background

In the field of logistics, it is necessary to sort the goods and deliver the goods into the corresponding delivery openings by a transfer robot (AGV, automated Guided Vehicle). Because in existing solutions, typically only one item is taken at a time by each AGV for delivery, when multiple items need to be delivered to the same pocket, multiple AGVs need to go to the pocket or the AGVs need to shuttle multiple times between the pocket and the pocket. If a plurality of AGVs go to the same feeding port, the delivery route of the AGVs is easy to be blocked, so that the operation efficiency of the whole cargo handling system is lower, and if the AGVs go back and forth between the feeding site and the feeding port for many times, the operation efficiency of the whole cargo handling system is easy to be lower.

Disclosure of Invention

Accordingly, the present application is directed to a method, apparatus, system, control terminal and computer storage medium for handling goods, which can improve the operation efficiency of the whole goods handling system by controlling the number of goods taken by an AGV during one delivery.

Embodiments of the present application are implemented as follows:

In a first aspect, an embodiment of the present application provides a method for carrying goods, where the method includes obtaining an order task and corresponding order information, obtaining goods information of goods to be carried at a target feeding site corresponding to the order task, and determining, according to the goods information and the order information, the quantity of goods carried at one time by a carrying robot corresponding to the order task. In the process, the carrying robot can carry a plurality of cargoes at one time, so that the round trip times of the carrying robot between the target feeding station and the feeding port can be reduced, the probability of blocking a cargo carrying system is reduced, and the cargo carrying efficiency is improved.

In combination with the embodiment of the first aspect, in a possible implementation manner, the determining, according to the cargo information and the order information, the number of cargoes carried by the carrying robot corresponding to the order task at one time includes determining, according to the cargo information and the order information, whether the cargo to be carried currently located at the target loading site meets the requirement of the order task, determining, when the cargo is met, the number of cargoes carried by the carrying robot processing the order task at one time as the number of cargoes required by the order task, and determining, when the cargo is not met, the number of cargoes carried by the carrying robot corresponding to the order task at one time according to at least one factor of a distance between a similar cargo subsequently meeting the requirement and the target loading site, a busy level of the target loading site and a traffic condition at a loading port corresponding to the order task. When the goods currently cached at the target material throwing station meets the requirement of the order task, the transfer robot can transfer the goods which can complete the order task to the corresponding material throwing port at one time, the round trip times of the transfer robot can be reduced, and the goods transfer efficiency is improved.

In combination with the embodiment of the first aspect, in a possible implementation manner, the determining the number of the cargoes carried by the carrying robot corresponding to the order task at one time according to at least one factor selected from the distance between the similar cargoes meeting the requirement and the target feeding station, the busyness of the target feeding station and the traffic condition at the feeding port corresponding to the order task, includes determining the number of the cargoes carried by the carrying robot corresponding to the order task at one time according to the busyness in the distance, the busyness and the traffic condition preferentially.

In combination with the embodiment of the first aspect, in a possible implementation manner, the determining the number of cargoes carried by the carrying robot corresponding to the order task at one time according to at least one factor selected from the distance between the similar cargoes which subsequently meet the requirement and the target material-feeding site, the busyness of the target material-feeding site and the traffic condition at the material-feeding port corresponding to the order task includes determining that the number of cargoes carried by the carrying robot processing the order task at one time is greater than the number of similar cargoes currently located at the target material-feeding site when the distance is characterized as near, and controlling the carrying robot to wait at the target material-feeding site. If the similar goods meeting the requirements subsequently are closely spaced from the target feeding site, the transfer robot transfers partial goods meeting the requirements of the order task, which are currently cached at the target feeding site, to the transfer robot, and then the transfer robot waits for the similar goods meeting the requirements subsequently at the target feeding site, so that the round trip times of the transfer robot corresponding to the order task between the target feeding site and the feeding port can be reduced, congestion among the transfer robots can be reduced, and the work efficiency of the goods transfer system can be improved.

In combination with the embodiment of the first aspect, in a possible implementation manner, the determining, according to at least one factor of the distance between the similar goods which subsequently meet the requirement and the target material-throwing station, the busyness of the target material-throwing station and the traffic condition at the material-throwing port corresponding to the order task, the quantity of goods which are carried by the carrying robot at one time and corresponding to the order task includes determining that the quantity of goods which are carried by the carrying robot at one time and process the order task is larger than the quantity of similar goods which are currently located at the target material-throwing station when the distance is characterized as near and the busyness or when the distance is characterized as near and the traffic condition is characterized as congestion, and controlling the carrying robot to wait at the target material-throwing station. When the similar goods which subsequently meet the requirements are closely spaced from the target feeding sites, if the target feeding sites are busy or traffic at the corresponding feeding ports is not congested, if the control transfer robot waits for the similar goods which subsequently meet the requirements, the target feeding sites are busy or traffic at the corresponding feeding ports is the traffic congestion. Therefore, the distance between the similar goods which subsequently meet the requirements and the target feeding stations and the busyness of the target feeding stations can be comprehensively considered, or the distance between the similar goods which subsequently meet the requirements and the target feeding stations and the traffic condition of the feeding ports can be comprehensively considered, so that the operation efficiency of the goods handling system can be improved more conveniently. In combination with the embodiment of the first aspect, in a possible implementation manner, the determining the number of the cargoes carried by the carrying robot corresponding to the order task at one time according to at least one factor of the distance between the similar cargoes which subsequently meet the requirement and the target feeding site, the busyness of the target feeding site and the traffic condition at the feeding port corresponding to the order task includes determining that the number of the cargoes carried by the carrying robot processing the order task at one time is the number of the similar cargoes currently located at the target feeding site when the distance is far or the busyness is busy, and controlling the carrying robot to carry the similar cargoes currently located at the target feeding site to leave. If the similar goods meeting the requirements subsequently are far away from the target feeding station, or if the target feeding station is busy, the handling robot is controlled to wait, so that the handling robot can be prevented from falling down to improve the working efficiency of the handling system, and therefore, part of the goods meeting the requirements of the order task currently cached at the target feeding station can be separated from the handling robot, and the working efficiency of the goods handling system can be improved.

With reference to the embodiment of the first aspect, in a possible implementation manner, the method further includes obtaining a dynamic index, where the dynamic index is used to represent a distance between the similar goods currently being transported to the target feeding site and meeting the requirement and the target feeding site, determining that the distance is characterized as being near when the dynamic index is smaller than a threshold value, and otherwise determining that the distance is characterized as being far.

In combination with the first aspect embodiment, in a possible implementation manner, the method further includes obtaining a backlog number at the target feeding site and/or a transfer robot number at the target feeding site, determining that the busyness is not busy when the backlog number is smaller than a backlog threshold and/or the transfer robot number at the target feeding site is smaller than a first number threshold, and otherwise determining that the busyness is busy.

With reference to the first aspect embodiment, in a possible implementation manner, the method further includes obtaining the number of transfer robots at the material feeding hole corresponding to the order task, determining that the traffic situation is characterized as being congested when the number of transfer robots at the material feeding hole corresponding to the order task is greater than a second number threshold, and otherwise determining that the traffic situation is characterized as not being congested.

With reference to the embodiment of the first aspect, in a possible implementation manner, the method further includes checking whether the number of cargoes actually carried by the carrying robot is consistent with the determined number of cargoes, and controlling the carrying robot to run to a feeding port corresponding to the order task to feed when the number of cargoes actually carried by the carrying robot is consistent with the determined number of cargoes. The cargo carried by the carrying robot is checked before the carrying robot leaves the feeding port, so that the error probability of the cargo carrying system can be reduced.

In combination with the embodiment of the first aspect, in a possible implementation manner, the cargo handling system includes a plurality of feeding sites, before the acquiring cargo information of the cargo to be handled at the target feeding point corresponding to the order task, the method further includes determining the target feeding site from the plurality of feeding sites according to a distance relationship between a feeding port corresponding to the order task and the plurality of feeding sites and/or a task amount of each of the plurality of feeding sites, and distributing the order task to the target feeding site. When the target feeding station is determined, the feeding station capable of completing the order task as soon as possible can be selected, so that the time required by the transfer robot to complete the order task is shortened, and the operation efficiency of the transfer system is improved.

With reference to the embodiment of the first aspect, in a possible implementation manner, the method further includes distributing partial incomplete order tasks among the order tasks to other feeding stations in a normal state when it is determined that the target feeding station is in an abnormal state. When the target feeding station is abnormal, the target feeding station is switched in time, so that the fault tolerance of the cargo handling system is improved, and order tasks can be completed as soon as possible.

In a second aspect, an embodiment of the present application provides a cargo handling device, including an acquisition module and a determination module. The system comprises an order task, an acquisition module, a determination module and a transfer robot, wherein the order task is used for acquiring the order information, the acquisition module is used for acquiring the order task and the corresponding order information, the acquisition module is also used for acquiring the goods information of the goods to be transferred at the target feeding site corresponding to the order task, and the determination module is used for determining the quantity of the goods which are transferred by the transfer robot corresponding to the order task at one time according to the goods information and the order information.

In combination with the second aspect of the embodiment, in one possible implementation manner, the determining module is configured to determine, according to the cargo information and the order information, whether the cargo to be carried currently located at the target loading site meets a requirement of the order task, determine, when the cargo is satisfied, a number of cargoes to be carried by a carrying robot that processes the order task at one time as a number of cargoes required by the order task, and determine, when the cargo is not satisfied, a number of cargoes to be carried by the carrying robot that corresponds to the order task at one time according to at least one factor of a distance between a similar cargo that subsequently meets the requirement and the target loading site, a busy level of the target loading site, and a traffic condition at a loading port corresponding to the order task.

With reference to the second aspect of the embodiment, in one possible implementation manner, the determining module is configured to determine, in the near-far level, the busy level, and the traffic situation, preferentially according to the busy level, the number of goods that are carried at one time by the carrying robot corresponding to the order task.

With reference to the second aspect of the embodiment, in one possible implementation manner, the determining module is configured to determine that, when the distance is characterized as near, the number of cargoes that are handled at one time by the handling robot that handles the order task is greater than the number of cargoes of the same kind that are currently located at the target loading station, and control the handling robot to wait at the target loading station.

With reference to the second aspect of the embodiment, in one possible implementation manner, the determining module is configured to determine that the number of cargoes handled at one time by the handling robot that handles the order task is greater than the number of cargoes of the same kind currently located at the target loading site when the near-far degree is characterized as near and the busy degree is characterized as not busy, or when the near-far degree is characterized as near and the traffic condition is characterized as congested, and control the handling robot to wait at the target loading site.

With reference to the second aspect of the embodiment, in one possible implementation manner, the determining module is configured to determine, when the near-far degree is characterized as far, or when the busy degree is characterized as busy, that the number of cargoes that are handled at one time by the handling robot that handles the order task is the number of cargoes of the same kind that are currently located at the target loading station, and control the handling robot to handle the departure of the cargoes of the same kind that are currently located at the target loading station.

With reference to the second aspect of the embodiment, in a possible implementation manner, the obtaining module is further configured to obtain a dynamic index, where the dynamic index is used to represent a distance between the similar cargo currently being transported to the target feeding site and meeting the requirement and the target feeding site, and the determining module is further configured to determine that the distance is represented as near when the dynamic index is smaller than a threshold, and otherwise determine that the distance is represented as far.

With reference to the second aspect of the embodiment, in one possible implementation manner, the obtaining module is further configured to obtain the number of backlogged goods at the target feeding site and/or the number of transfer robots located at the target feeding site, and the determining module is further configured to determine that the busyness degree is not busy when the number of backlogged goods is smaller than a backlog threshold and/or the number of transfer robots located at the target feeding site is smaller than a first number threshold, and otherwise determine that the busyness degree is busy.

With reference to the second aspect of the embodiment, in one possible implementation manner, the obtaining module is further configured to obtain the number of transfer robots at the material loading port corresponding to the order task, and the determining module is further configured to determine that the traffic condition is characterized as being congested when the number of transfer robots at the material loading port corresponding to the order task is greater than a second number threshold, and otherwise determine that the traffic condition is characterized as not being congested.

With reference to the second aspect of the embodiment, in one possible implementation manner, the device further includes a verification module, configured to verify whether the number of cargoes actually handled by the handling robot is consistent with the determined number of cargoes, and when the number of cargoes is consistent with the determined number of cargoes, control the handling robot to operate to a feeding port corresponding to the order task to perform feeding.

In combination with the second aspect of the embodiment, in one possible implementation manner, the cargo handling system includes a plurality of feeding sites, and the determining module is further configured to determine the target feeding site from the plurality of feeding sites according to a distance relationship between a feeding port corresponding to the order task and the plurality of feeding sites and/or a task amount of each of the plurality of feeding sites, and assign the order task to the target feeding site.

In combination with the second aspect of the embodiment, in a possible implementation manner, the apparatus further includes a reassignment module, configured to assign, when it is determined that the target feeding station is in an abnormal state, a part of the incomplete order tasks among the order tasks to other feeding stations in a normal state.

In a third aspect, the embodiment of the present application further provides a control terminal, including a memory and a processor, where the memory is connected to the processor, where the memory is configured to store a program, and where the processor invokes the program stored in the memory, to perform the foregoing embodiment of the first aspect and/or a method provided in connection with any one of the possible implementation manners of the embodiment of the first aspect.

In a fourth aspect, embodiments of the present application further provide a non-volatile computer readable computer storage medium (hereinafter referred to as computer storage medium) having stored thereon a computer program which, when executed by a computer, performs the above-described embodiments of the first aspect and/or the method provided in connection with any of the possible implementations of the embodiments of the first aspect.

In a fifth aspect, an embodiment of the present application further provides a cargo handling system, where the cargo handling system includes at least one loading station for buffering cargo, at least one loading port for collecting cargo handled by a handling robot, a control terminal for executing the method provided by the embodiment of the first aspect and/or any possible implementation manner combined with the embodiment of the first aspect, and a handling robot communicatively connected to the control terminal, where the handling robot is configured to handle cargo between the loading station and the loading port according to control of the control terminal.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the embodiments of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. The above and other objects, features and advantages of the present application will become more apparent from the accompanying drawings. Like reference numerals refer to like parts throughout the several views of the drawings. The drawings are not intended to be drawn to scale, with emphasis instead being placed upon illustrating the principles of the application.

Fig. 1 is a schematic diagram of a cargo handling system according to an embodiment of the present application.

Fig. 2 shows a flow chart of a method for handling cargo provided by an embodiment of the present application.

Fig. 3 is a block diagram of a cargo handling device according to an embodiment of the present application.

Fig. 4 shows a schematic structural diagram of a control terminal according to an embodiment of the present application.

10-Cargo handling system, 100-control terminal, 110-processor, 120-memory, 200-handling robot, 300-loading station, 400-loading port, 500-cargo handling device, 510-acquisition module, 520-determination module.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, relational terms such as "first," "second," and the like may be used solely to distinguish one entity or action from another entity or action in the description of the application without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

Furthermore, the term "and/or" in the present application is merely an association relation describing the association object, and indicates that three kinds of relations may exist, for example, a and/or B may indicate that a exists alone, and a and B exist together, and B exists alone.

In addition, the disadvantage of the prior art of delivering the load by the AGV that results in a lower operating efficiency of the overall load handling system is the result of the applicant's practice and careful study, and therefore the discovery of the above-mentioned drawbacks and the solutions presented below for the above-mentioned drawbacks by embodiments of the present application should be all the contributions of the applicant to the present application during the course of the present application.

In order to solve the above-mentioned drawbacks, embodiments of the present application provide a method, an apparatus, a system, a control terminal, and a computer storage medium for cargo handling, so as to improve the working efficiency of the whole cargo handling system.

The technology can be realized by adopting corresponding software, hardware and a combination of the software and the hardware. Embodiments of the present application are described in detail below.

First, a cargo handling system 10 for implementing an embodiment of the present application will be described with reference to fig. 1, the cargo handling system 10 including a control terminal 100, a handling robot 200, at least one loading station 300, and at least one loading port 400.

The control terminal 100 is communicatively connected to the transfer robot 200.

The transfer robot 200 is used to transfer goods between the loading site 300 and the loading port 400 according to the control of the control terminal 100, for example, the transfer robot 200 transfers goods acquired from the loading site 300 to the loading port 400 and unloads the goods into the loading port 400.

The transfer robot 200 of the present application has a movable body and a carrying mechanism for carrying a load or a pick-and-place mechanism for picking and placing a load, and can place the load on the carrying mechanism or connect with the load through a connection mechanism to move the load. For example, in one alternative embodiment, the transfer robot 200 may be a flap robot for unloading the goods by turning a cover plate carrying the goods, in another alternative embodiment, the transfer robot 200 may be a box type stocker robot for unloading the goods by sandwiching both sides of the goods by two sandwiching arms or unloading the goods by a fork, and in another alternative embodiment, the transfer robot 200 may be a roll type robot for unloading the goods placed on a roll by controlling the roll rotation.

The loading station 300 is used for buffering the goods transmitted by the goods transmission line. The goods may be handled onto the handling robot at the loading station 300 by manual or automated equipment (e.g., robotic arms, etc.).

It is noted that in embodiments of the present application, there is at least one cargo transmission line for transporting cargo.

In some embodiments, one cargo transmission line may correspond to one loading station 300, or in some embodiments, the cargo transmission line includes a plurality of transfer branches, and a transfer mechanism for changing a cargo transmission direction is provided at each transfer branch, so that cargoes may be respectively transmitted to each loading station 300 corresponding to the transfer branch, i.e., one cargo transmission line may correspond to a plurality of loading stations 300.

In an alternative embodiment, the cargo transmission line may transmit cargo directly. The control terminal 100 may acquire category information and quantity information of the goods being transmitted on the goods transmission line in advance through a sensor or by reading data input by a user.

In another alternative embodiment, the cargo transfer line may transfer containers (e.g., trays, bins, bags, containment frames, etc.) and the like, wherein the cargo is stored within the containers. In this embodiment, for one container, a plurality of cargoes of the same category may be contained therein, and a plurality of cargoes of different categories may be contained therein. The control terminal 100 may acquire the order of the respective containers being transmitted on the goods transmission line, and the goods category information and the quantity information within each container in advance through a sensor or by reading data inputted by a user.

The feeding port 400 is used for collecting cargoes carried by the carrying robot.

In the embodiment of the present application, the control terminal 100 may acquire an order task. For each order task, there is order information corresponding to the order task and a feed port identification.

Wherein the port identifier is used to identify the port 400 corresponding to the order task, i.e. the port 400 to which the goods required for the order task should be destined. The feed port identification can be stored in order information or can be stored independently.

The order information may include detailed information indicating goods required for the order task, such as a goods category and a quantity of goods. The required goods category may comprise one kind, for example 5 items a in one order task, and of course, a plurality, for example 2 items a and 3 items B, for one order task.

When the control terminal 100 obtains the order task, at least one target delivery site 300 corresponding to the order task may be determined according to the order information, and meanwhile, according to the order information, the cargo transmission line is controlled to transmit the corresponding category and the corresponding number of cargoes to the target delivery site 300, or the cargo transmission line is controlled to transmit the containers including the corresponding category and the corresponding number to the target delivery site 300.

In an alternative embodiment, a robotic arm may be provided at the feeding station. Wherein the robot arm is communicatively connected to the control terminal 100. After the control terminal 100 obtains the order task, the mechanical arm at the target feeding station can be controlled to grasp the goods (possibly placed in the container) reaching the target feeding station 300 and meeting the order information requirement (including the category and the quantity) onto the transfer robot 200 according to the order information corresponding to the order task, so that the transfer robot 200 transports the goods placed onto itself to the feeding port 400 corresponding to the order task for delivery.

In another alternative embodiment, a display screen may be provided at the feeding station 300 for displaying at least the order tasks and the corresponding order information. After the control terminal 100 acquires the order task, the order task and the corresponding order information are displayed on a display screen at the target feeding site 300 determined by the control terminal 100 for the staff to check. After checking the order information, the worker sorts the goods which reach the target delivery site 300 and meet the order information requirement onto the transfer robot 200, so that the transfer robot 200 transports the goods placed on itself to the delivery port 400 corresponding to the order task for delivery.

In some embodiments, the control terminal 100 may monitor, in real time, the location where each handling robot in the warehouse is located and the current state (e.g., currently in a working state, an idle state, a charging state, or a sleep state, etc.). For example, the transfer robot 200 may report the location and the current state of the transfer robot to the control terminal 100. The control terminal 100 may select, according to the position and the current state of each transfer robot 200, a proper transfer robot 200 to establish a binding relationship with an order task currently allocated at the target loading station 300 by adopting some strategies, and control the transfer robot 200 bound with the target loading station 300 to transport goods from the target loading station 300 to the loading port 400 corresponding to the order task for delivery. The strategy adopted in selecting the transfer robot 200 that establishes a binding relationship with the order task currently allocated to the target feeding station 300 may be various, and the application is not limited thereto, for example, a binding relationship may be selected between a transfer robot closest to the target feeding station 300 and in an idle state, a binding relationship may be selected between a transfer robot with sufficient electric power and in an idle state, a binding relationship may be selected between a transfer robot closest to the task currently being executed and the transfer robot that is about to complete, and so on.

Of course, in some embodiments, the transfer robot 200 may also be configured to establish a binding relationship with the order task in other manners, which will not be described herein.

Regarding the number of transfer robots 200 handling the same order task and how the types of goods and the number of goods that need to be transferred by each transfer robot 200 handling the same order task should be determined, this will be described below in connection with fig. 2.

Referring to fig. 2, an embodiment of the application provides a cargo handling method applied to the control terminal 100, which includes the following steps.

And S110, acquiring order tasks and corresponding order information.

In the embodiment of the application, the material inlet corresponding to the order task can be understood as the shipment outlet of the order task, and the goods required by the order task need to be shipped through the material inlet.

It can be understood that in the embodiment of the present application, when an order task is acquired, a feed port identifier corresponding to the order task is correspondingly acquired.

In an alternative embodiment, the correspondence between the order task and the port identifier may be pre-established. After the order task is acquired, the corresponding material inlet identification is directly distributed for the order task according to the pre-established corresponding relation. For example, three feeding ports exist, the corresponding feeding port identifiers are A, B, C, and corresponding relations are established between the order task of the user a and the feeding port identifier A, between the order task of the user B and the feeding port identifier B, and between the order task of the user C and the feeding port identifier C in advance. When the order task corresponding to the user a is obtained subsequently, a corresponding feed port identifier A is directly allocated to the order task of the user a according to the corresponding relation.

In another alternative embodiment, the correspondence between the order task and the port identifier may be generated temporarily. After the order task is acquired, the control terminal distributes corresponding feed port identifiers for the order task according to the service condition (such as busyness) of each feed port. For example, there are three feed inlets, the corresponding feed inlet identifiers of which are A, B, C respectively. After the control terminal obtains the order tasks of the user a, the control terminal finds that the material feeding port A and the material feeding port C are executing other order tasks, and then the control terminal establishes a corresponding relation between the material feeding port B and the order tasks of the user a.

Of course, in another alternative embodiment, a fixed correspondence may be pre-established between part of the port identifiers and part of the user's order tasks, and the remaining port identifiers may be used to establish a temporary correspondence with other order tasks.

And step 120, acquiring cargo information of the cargo to be carried at the target material throwing site corresponding to the order task.

The foregoing describes that, after the control terminal obtains the order task, a corresponding target feeding station needs to be allocated for the current order task.

In an alternative embodiment, the control terminal may obtain the assigned order task currently being processed by each of the feeding stations, so as to obtain the current task amount of each of the feeding stations, and then assign the current order task to the feeding station with a relatively smaller task amount.

In the foregoing, after the control terminal obtains the order task, the feeding port corresponding to the order task may be determined. In another alternative embodiment, the target feeding site of the order task may be determined according to a distance relationship between the feeding port corresponding to the order task and each feeding site. For example, the control terminal obtains distances between the material feeding ports corresponding to the order tasks and each material feeding site, and then determines the material feeding site with the relatively smaller distance as the target material feeding site.

Of course, in another alternative embodiment, the control terminal may combine the task amounts of each feeding station and the distance relationship between each feeding station and the feeding port to comprehensively determine the target feeding station.

In addition, in an alternative embodiment, there may be a situation that a certain order task needs to be split, for example, the amount of goods required by the order task a is large, in order to relieve the pressure of the material throwing station, the order task a may be split into multiple sub-order tasks (where the sub-order tasks are just distinguished from the order tasks by names), then according to the principle of determining the target material throwing station, the respective target material throwing station is determined for each split sub-order task, and then for each target material throwing station, the corresponding split sub-order task may be processed.

In the foregoing, the control terminal can acquire category information and quantity information of the goods transmitted on the goods transmission line. After determining the target material-throwing station, the control terminal can control the material-throwing line to transmit the material corresponding to the order information of the order task (namely the material type and the material quantity required by the order task) to the target material-throwing station corresponding to the order task on the premise that the category information and the quantity information of the material transmitted on the material-throwing transmission line are acquired.

In addition, the control terminal can acquire the goods information of the goods to be carried at the target material feeding site through the sensor arranged at the target material feeding site, and the goods information can comprise the type of the goods currently cached at the target material feeding site and the quantity of the goods.

And S130, determining the quantity of cargoes which are carried by the carrying robot at one time and correspond to the order task according to the cargoes information and the order information.

It was mentioned above that at each loading station one or more transfer robots are distributed awaiting transfer acquisition. After the goods successively reach the target material-throwing station, the goods required by the order task are placed on the transfer robot by automatic equipment such as a mechanical arm or staff, and the transfer robot transfers the goods to the corresponding material-throwing port.

The control terminal can determine the quantity of goods to be carried at one time when each carrying robot currently processing the order task executes the current carrying task according to the goods information of the goods to be carried at the current target material-feeding site and the order information.

In an alternative embodiment, the control terminal may determine whether the goods to be carried currently located at the target loading site meets the requirement of the order task, where the requirement of the order task includes both the quantity requirement and the category requirement.

In some embodiments, when the to-be-handled goods at the target loading station meet the requirement of the order task, for example, the quantity of goods required by the order task represented by the order information is three pieces a, at least three pieces a are cached at the target loading station, and at this time, the control terminal determines that the quantity of goods handled at one time by the handling robot handling the order task is the quantity of goods required by the order task.

In some embodiments, it is assumed that the amount of goods required for the order task does not exceed the carrying capacity of one transfer robot, and at this time, the goods of the amount of goods required for the order task may be removed after being transferred by one transfer robot. Corresponding to the above example, one transfer robot can finish the task of the order after transferring three pieces A at a time and leave, compared with the transfer robot in the prior art which transfers one cargo at a time, the method of transferring the order back and forth for a plurality of times is caused to finish one task, and the operation efficiency of the cargo transfer system is improved.

In some embodiments, it is assumed that the number of cargoes required for the order task exceeds the carrying capacity of one carrying robot, and at this time, the cargoes may be carried out by one carrying robot and the number of cargoes corresponding to the carrying capacity may be removed first, and as for the remaining cargoes required for the order task, the carrying robot may wait for unloading the cargoes carried first and then carry the cargoes again, or the carrying may be continued by the remaining carrying robots. Corresponding to the above example, assuming that the upper limit of the carrying capacity of the carrying robot is two pieces a, the carrying robot can first carry two pieces a at a time and then leave, and then the carrying robot unloads the two pieces a to the material inlet and returns to the target material feeding station to continue carrying one piece a or the other carrying robot continues carrying one piece a, so that the order task can be completed.

In some embodiments, the control terminal has taken into account the carrying capacity of the transfer robot when assigning the transfer robot to the order task. If the number of goods required by the order task exceeds the carrying capacity of one carrying robot, the control terminal determines in advance that a plurality of carrying robots are required to process the order task, at this time, the control terminal can determine the number of goods required to be carried by each of the plurality of carrying robots corresponding to the order task, so that the plurality of carrying robots corresponding to the order task can carry the goods required by the order task at one time, that is, can complete the order task at one time, and compared with the case that the carrying robots in the prior art carry one good at one time, the time for completing the order task can be relatively shortened, thereby being beneficial to improving the operation efficiency of the goods carrying system.

In some embodiments, when the to-be-handled goods at the target feeding station does not meet the requirement of the order task, for example, the goods required by the order information for representing the order task are two pieces a and two pieces B, at this time, the two pieces a and the one piece B are cached at the target feeding station, and at this time, the control terminal may determine the quantity of the goods that are currently handled by the handling robot for handling the order task according to at least one factor of the distance between the similar goods that subsequently meet the requirement and the target feeding station (hereinafter referred to as distance), the busyness of the target feeding station (hereinafter referred to as busyness) and the traffic condition at the feeding port corresponding to the order task (hereinafter referred to as traffic condition).

It should be noted that the similar goods are the same as the goods required by the order task, and for different order tasks, the corresponding similar goods are different, for example, when the goods required by the order task are a, a is the similar goods corresponding to the order task, and when the goods required by the order task are a and B, a and B are the similar goods corresponding to the order task.

In addition, if the current goods to be carried at the target material-throwing station does not meet the requirement of the order task, for the target material-throwing station, the similar goods which subsequently meet the requirement refer to the goods which are missing by the current goods to be carried which are buffered at the target material-throwing station and relatively meet the requirement of the order task, for example, the goods which are required by the order task are two pieces A and two pieces B, and at the moment, the two pieces A and one piece B are buffered at the target material-throwing station, then for the target material-throwing station, the goods B which are still on the goods transmission line subsequently are the similar goods which subsequently meet the requirement.

The number of cargoes carried by the carrying robot for processing the order task at one time is mainly divided into two cases, wherein one case is that the number of cargoes carried by the carrying robot at one time is the number of similar cargoes which can be provided by the target feeding station temporarily at present, and after carrying the cargoes of the number, the control terminal controls the carrying robot to leave the target feeding station first and go to the corresponding feeding port for feeding. In some embodiments, the number of goods that are handled by the handling robot at a time does not exceed the requirement of the order task, for example, the target loading station is currently temporarily capable of providing five pieces a and one piece B, the requirement of the order task is four pieces a and two pieces B, and at this time, the goods handled by the handling robot are four pieces a (five pieces a are not handled) and one piece B.

In addition, another situation is that the number of cargoes carried by the carrying robot at one time is larger than the number of similar cargoes which can be provided by the target material feeding station temporarily at present, and at the moment, the control terminal can control the carrying robot to wait for similar cargoes which can meet requirements at the target material feeding station.

After the mechanical arm or the staff loads partial cargoes meeting the demands of the order task to the transfer robot, the transfer robot leaves the feed port before going to the feed port or continues to wait at the target feed station, and the control terminal makes a decision according to at least one factor of the distance degree, the busyness degree and the traffic condition.

For the near-far factor, the control terminal can perform quantization by acquiring a dynamic index. After the dynamic index is obtained, the control terminal compares the dynamic index with a preset threshold value, when the dynamic index is smaller than the threshold value, the distance between the similar goods which subsequently meet the requirements and the target feeding site is represented to be near, and when the dynamic index is not smaller than the threshold value, the distance between the similar goods which subsequently meet the requirements and the target feeding site is represented to be far.

In an alternative embodiment, the dynamic index may be the distance between the same type of cargo currently being transported to the target loading site and meeting the demand and the target loading site, and the threshold value in this embodiment is the distance threshold value. In another alternative embodiment, the dynamic indicator may be the minimum time required for the same type of cargo currently being transported to the target loading site and meeting the demand to be transported to the target loading site, and the threshold in this embodiment is a time threshold.

For busyness factors, the control terminal can quantify busyness of the target charging station by acquiring a variable. After the control terminal obtains a variable used for representing the busyness of the target feeding site, comparing the variable with a first quantity threshold, representing that the target feeding site is not busyness when the variable is smaller than the first quantity threshold, and representing that the target feeding site is busyness when the variable is not smaller than the first quantity threshold.

In an alternative embodiment, the variable may be the number of items currently backlogged at the target loading site, and the first threshold in this embodiment is the backlogged item number threshold accordingly. In another alternative embodiment, the variable may be the number of transfer robots currently located at the target loading station, and the first threshold value in this embodiment is the transfer robot number threshold value, accordingly.

In another optional implementation manner, the control terminal may also simultaneously represent the variable by combining the number of the backlogged goods at the target feeding site and the number of the transfer robots at the target feeding site, and in this implementation manner, the first threshold may include a backlogged goods number threshold corresponding to the backlogged goods number and a transfer robot number threshold corresponding to the transfer robot number, and at this time, two sets of data, namely the backlogged goods number and the backlogged goods number threshold and the transfer robot number threshold, need to be compared in size respectively, and when the backlogged goods number is smaller than the backlogged goods number threshold and the transfer robot number is smaller than the transfer robot number threshold, the target feeding site is not busy.

Aiming at traffic situation factors, the control terminal can quantify the traffic situation at the feed port by acquiring the number of transfer robots at the feed port corresponding to the order task. After the control terminal obtains the number of the transfer robots at the material feeding port, comparing the number of the transfer robots at the material feeding port with a second number threshold, and representing that traffic conditions at the material feeding port are congestion when the number of the transfer robots at the material feeding port is larger than the second threshold, and representing that traffic conditions at the material feeding port are not congestion when the number of the transfer robots at the material feeding port is not larger than the second threshold.

The decision making process for the control terminal will be described below.

In an alternative embodiment, the control terminal may make the decision based on a near-far factor. When the control terminal determines that the distance between the similar goods which subsequently meet the requirements and the target feeding site is near, the control terminal determines that the quantity of goods which are once carried by the carrying robot for processing the order task is larger than the quantity of similar goods which are currently located at the target feeding site, and controls the carrying robot to wait for the similar goods which subsequently meet the requirements at the target feeding site.

If the distance is short, the time for the similar goods meeting the requirements to reach the target feeding site is short, at the moment, the transfer robot is controlled to wait, the round trip times of the transfer robot corresponding to the order task between the target feeding site and the feeding port can be reduced by consuming a small amount of time, the congestion among the transfer robots is reduced, and therefore the operation efficiency of the goods transfer system is improved. If the distance is far, the time for the similar goods which subsequently meet the requirements to reach the target feeding station is long, and at the moment, if the handling robot is controlled to wait, the waiting time can be longer than the time for the handling robot to make a plurality of trips, so that the handling robot is controlled to leave, and the operation efficiency of the goods handling system is improved.

In an alternative embodiment, the control terminal may make the decision based on busyness factors. When the control terminal determines that the busyness of the target feeding station is not busy, the control terminal determines that the quantity of the goods which are once carried by the carrying robot for processing the order task is larger than the quantity of the similar goods which are currently located at the target feeding station, and controls the carrying robot to wait for the similar goods which subsequently meet the requirement at the target feeding station.

If the busyness is not busyness, the target feeding site has enough capacity to process order tasks, at the moment, the transfer robots are controlled to wait, the round trip times of the transfer robots corresponding to the order tasks between the target feeding site and the feeding port can be reduced by consuming a small amount of time, the congestion among the transfer robots is reduced, and therefore the operation efficiency of the cargo handling system is improved. If the busyness is busy, it indicates that the target feeding station has insufficient capacity to process the order task, at this time, if the control transfer robot waits, the target feeding station may be more busy, so that the control transfer robot leaves at this time to facilitate reducing the workload of the target feeding station, and to facilitate improving the working efficiency of the cargo transfer system.

In an alternative embodiment, the control terminal may make decisions based on traffic situation factors. When the control terminal determines that the traffic condition of the corresponding feeding station is not congested, the control terminal determines that the quantity of the goods which are once carried by the carrying robot for processing the order task is larger than the quantity of the similar goods which are currently positioned at the target feeding station, and controls the carrying robot to wait for the similar goods which subsequently meet the requirements at the target feeding station.

If the traffic situation is congestion, it is stated that the possibility of congestion at the feed port is high, at this time, the transfer robot is controlled to wait, the round trip times of the transfer robot corresponding to the order task between the target feed station and the feed port can be reduced by consuming a small amount of time, and meanwhile, the congestion degree at the feed port is possibly relieved after waiting for a period of time, so that the transfer robot is controlled to wait, the transfer robot is further facilitated to congestion, and the work efficiency of the cargo transfer system is further improved.

Optionally, the control terminal may determine the number of goods that are handled by the handling robot corresponding to the order task at a time preferentially according to the busyness degree of the three factors.

In an alternative embodiment, the control terminal may combine the near-far level and the busy level to make a decision. For example, when the control terminal determines that the distance between the similar goods which subsequently meet the demand and the target feeding site is short and the target feeding site is not busy, the control terminal determines that the quantity of the similar goods which are carried at one time by the carrying robot for processing the order task is larger than the quantity of the similar goods which are currently positioned at the target feeding site, and controls the carrying robot to wait for the similar goods which subsequently meet the demand at the target feeding site, and when the control terminal determines that the distance between the similar goods which subsequently meet the demand and the target feeding site is short and the target feeding site is busy, the control terminal controls the carrying robot to carry the similar goods which are currently positioned at the target feeding site and are required by the order task to leave.

When the similar goods which subsequently meet the requirements are closely spaced from the target feeding site and the target feeding site is busy, if the transfer robot is controlled to wait for the similar goods which subsequently meet the requirements, the target feeding site may be busy. Therefore, the distance between the similar goods which subsequently meet the demands and the target feeding site and the busyness of the target feeding site can be comprehensively considered, and the operation efficiency of the goods handling system can be improved.

In an alternative embodiment, the control terminal may combine the distance and the traffic situation at the feed inlet to make decisions. For example, when the control terminal determines that the distance between the similar goods which subsequently meet the demand and the target material-feeding site is short and the traffic condition at the material-feeding port corresponding to the order task is congestion, the control terminal determines that the quantity of the goods which are once carried by the carrying robot which processes the order task is larger than the quantity of the similar goods which are currently positioned at the target material-feeding site, and controls the carrying robot to wait for the similar goods which subsequently meet the demand at the target material-feeding site, and when the control terminal determines that the distance between the similar goods which subsequently meet the demand and the target material-feeding site is short and the traffic condition at the material-feeding port corresponding to the order task is not congestion, the control terminal controls the carrying robot to carry the similar goods which are currently positioned at the target material-feeding site and are required to leave.

When the similar goods which subsequently meet the requirements are closely spaced from the target feeding sites, and traffic at the corresponding feeding ports is not jammed, if the control transfer robot waits for the similar goods which subsequently meet the requirements, the target feeding sites can be busy, or traffic at the corresponding feeding ports can be jammed. Therefore, the distance degree between the similar goods which subsequently meet the requirements and the target feeding site and the traffic condition of the feeding port can be comprehensively considered, and the operation efficiency of the goods handling system can be improved.

In an alternative embodiment, the control terminal may combine the distance, busyness and traffic at the feed opening to make decisions at the same time. For example, when the control terminal determines that the distance between the similar goods which subsequently meet the requirements and the target material feeding site is near, the target material feeding site is not busy, and the traffic condition corresponding to the material feeding port is congestion, the control terminal determines that the quantity of goods which are once carried by the carrying robot for processing the order task is greater than the quantity of similar goods which are currently located at the target material feeding site, and controls the carrying robot to wait for the similar goods which subsequently meet the requirements at the target material feeding site. Meanwhile, three elements of the distance degree, the busyness degree and the traffic condition are considered, and in the practical situation, time waste caused by the distance degree, adverse effects on the working efficiency caused by the busyness degree and adverse effects on the working efficiency caused by the traffic condition can be avoided, so that the decision making applicability of the control terminal is stronger.

And supposing that the goods required by the order task are five pieces A, three pieces B and two pieces C, at the moment, two pieces A, one piece B and three pieces C are cached at the target feeding site, namely the goods currently cached at the target feeding site do not meet the goods required by the order task. In this example, for the target loading site, the currently cached goods to be carried (two pieces a, one piece B, and three pieces C) are three pieces a and two pieces B, which are missing goods meeting the demand of the order task (five pieces a, three pieces B, and two pieces C), so that the same kind of goods meeting the demand later at this time are a and B.

After making a decision through the control terminal, if the transfer robot needs to leave after transferring similar goods required by the order task currently located at the target material feeding site, the control terminal controls the transfer robot to transfer two pieces A, one B and two C cached at the target material feeding site and leave the corresponding material feeding port in advance.

After making a decision through the control terminal, if the transfer robot is required to continuously wait for the similar goods which are transported to the target material-throwing station and subsequently meet the requirements after transferring the similar goods required by the order task currently positioned at the target material-throwing station, the control terminal controls the transfer robot to transfer the two pieces A, the one piece B and the two pieces C cached at the target material-throwing station and then continuously wait. In the above example, for the target loading site, the currently cached goods to be carried (two pieces a, one piece B, and three pieces C) are three pieces a and two pieces B, which are missing goods meeting the demands of the order task (five pieces a, three pieces B, and two pieces C), so that the same kind of goods meeting the demands subsequently at this time are a and B. Of course, after the similar goods meeting the requirements subsequently arrive at the target feeding station and are carried to the carrying robot in the waiting state, the goods carried on the carrying robot may still not meet the requirements of the order task, for example, the carrying robot first waits for three pieces a and still worse for two pieces B. At this time, the transfer robot leaves the target feeding station first to go to the corresponding feeding port, or continues to wait for the second time or more times later at the target feeding station, and the control terminal can continue to make a decision according to the above process.

In addition, in some embodiments, before a certain amount of goods need to be transported to the material inlet, the transporting robot needs to carry out quantity verification on the goods carried by the transporting robot through the control terminal. In this embodiment, the control terminal may acquire the number of the cargos actually handled by the handling robot (the number of the cargos may carry category information of the cargos, for example, three cargos a and two cargos B), and then check whether the number of the cargos actually handled by the handling robot is consistent with the previously determined number of the cargos, and when the number of the cargos is consistent with the previously determined number of the cargos, the control terminal controls the handling robot to operate to the corresponding feeding port to perform feeding.

In order to enable the control terminal to obtain cargo information (e.g. category information, quantity information of the cargo) of the cargo handled by the handling robot, in an alternative embodiment, a sensor for identifying the cargo handled by the handling robot 200 may also be provided at each of the loading stations 300, e.g. on a gantry at the loading station 300. The sensor may be an RFID reader, in which case, a corresponding RFID chip is disposed on the goods or containers transported by the transport robot 200, the RFID reader identifies the goods transported by the transport robot 200 by reading the RFID chip, the sensor may be a scanner, and identifies the goods transported by the transport robot 200 by scanning an identifier (such as a two-dimensional code, a bar code, etc.) on the goods or containers transported by the transport robot 200, or the sensor may be a camera, and the information of the goods or containers may be obtained by performing image identification on the images captured by the transport robot 200.

In an alternative embodiment, the target loading site may be in an abnormal state due to factors (e.g., too much tasks, too much buffered cargo, cargo transmission line failure, robot failure, etc.), resulting in reduced loading efficiency. At this time, the control terminal may further distribute the incomplete part of the order tasks processed by the abnormal target feeding site to other feeding sites in a normal state, that is, redetermine one target feeding site, and the redetermined target feeding site continuously completes the incomplete part of the order tasks. Of course, the control terminal correspondingly controls the goods transmission line to transmit the similar goods meeting the requirements to the newly determined target feeding site for buffering.

Furthermore, as can be seen from the above description, the same task order may require the transfer robot to traverse between the target loading station and the loading port multiple times to complete. In this case, the same transfer robot may travel between the target loading station and the loading port, or a different transfer robot may travel between the target loading station and the loading port.

According to the goods handling method provided by the embodiment of the application, after the order task and the corresponding order information are acquired, the quantity of goods which are handled by the handling robot corresponding to the order task at one time is determined according to the goods information and the order information of the goods to be handled at the target feeding site corresponding to the order task. In the process, the carrying robot can carry a plurality of cargoes at one time, so that the round trip times of the carrying robot for processing an order task between the target material feeding station and the material feeding port can be reduced, the probability of blocking a cargo carrying system can be reduced, and the cargo carrying efficiency can be improved.

As shown in fig. 3, the embodiment of the present application further provides a cargo handling device 500, where the cargo handling device 500 may include an acquisition module 510 and a determination module 520.

The acquiring module 510 is configured to acquire an order task and corresponding order information;

The acquiring module 510 is further configured to acquire cargo information of a cargo to be carried at a target delivery site corresponding to the order task;

The determining module 520 is configured to determine, according to the cargo information and the order information, the number of cargoes that are carried by the carrying robot at one time and correspond to the order task.

In a possible implementation manner, the determining module 520 is configured to determine whether the to-be-handled goods currently located at the target feeding site meets the requirement of the order task according to the goods information and the order information, determine that the number of goods handled by the handling robot handling the order task at one time is the number of goods required by the order task when the to-be-handled goods are met, and determine the number of goods handled by the handling robot corresponding to the order task at one time according to at least one factor of a distance between the similar goods subsequently meeting the requirement and the target feeding site, a busy degree of the target feeding site, and a traffic condition at a feeding port corresponding to the order task when the to-be-handled goods are not met.

In one possible implementation manner, the determining module 520 is configured to determine, in the near-far level, the busy level, and the traffic situation, the number of goods that are carried at one time by the carrying robot corresponding to the order task preferentially according to the busy level.

In a possible implementation manner, the determining module 520 is configured to determine that the number of cargoes handled at one time by the handling robot that handles the order task is greater than the number of cargoes of the same kind currently located at the target loading station when the distance is characterized as near, and control the handling robot to wait at the target loading station.

In a possible implementation manner, the determining module 520 is configured to determine that the number of cargoes that are handled at one time by the handling robot that processes the order task is greater than the number of cargoes of the same kind currently located at the target loading site when the near-far degree is characterized as near and the busy degree is characterized as not busy, or when the near-far degree is characterized as near and the traffic condition is characterized as congestion, and control the handling robot to wait at the target loading site.

In a possible implementation manner, the determining module 520 is configured to determine that the number of cargoes that are handled at one time by the handling robot that handles the order task is the number of cargoes of the same kind that are currently located at the target loading station when the distance is characterized as far or when the busyness is characterized as busy, and control the handling robot to handle the cargoes of the same kind that are currently located at the target loading station to leave.

In a possible implementation manner, the obtaining module 510 is further configured to obtain a dynamic index, where the dynamic index is used to characterize a distance between the similar goods currently being transported to the target feeding site and meeting the requirement and the target feeding site, the determining module 520 is further configured to determine that the distance is characterized as being short when the dynamic index is less than a threshold, and otherwise determine that the distance is characterized as being long.

In a possible implementation manner, the obtaining module 510 is further configured to obtain the number of backlog at the target loading site and/or the number of transfer robots located at the target loading site, and the determining module 520 is further configured to determine that the busyness is not busy when the number of backlog is less than a backlog threshold and/or the number of transfer robots located at the target loading site is less than a first number threshold, and otherwise determine that the busyness is busy.

In one possible implementation manner, the obtaining module 510 is further configured to obtain the number of transfer robots at the material inlet corresponding to the order task, and the determining module 520 is further configured to determine that the traffic situation is characterized as being congested when the number of transfer robots at the material inlet corresponding to the order task is greater than a second number threshold, and otherwise determine that the traffic situation is characterized as not being congested.

In a possible implementation manner, the device further comprises a verification module, wherein the verification module is used for verifying whether the quantity of the cargoes actually carried by the carrying robot is consistent with the determined quantity of the cargoes, and controlling the carrying robot to run to a feeding port corresponding to the order task to feed when the quantity of the cargoes actually carried by the carrying robot is consistent with the determined quantity of the cargoes.

In one possible implementation, the cargo handling system includes a plurality of loading stations, and the determining module 520 is further configured to determine the target loading station from the plurality of loading stations according to a distance relationship between a loading port corresponding to the order task and the plurality of loading stations and/or a task amount of each of the plurality of loading stations, and assign the order task to the target loading station.

In a possible implementation manner, the device further comprises a reassignment module, which is used for assigning partial incomplete order tasks in the order tasks to other feeding stations in a normal state when the target feeding station is determined to be in an abnormal state.

The cargo handling device 500 according to the embodiment of the present application has the same implementation principle and technical effects as those of the foregoing method embodiment, and for brevity, reference may be made to the corresponding contents of the foregoing method embodiment where the device embodiment is not mentioned.

In addition, the embodiment of the application also provides a computer storage medium, and the computer storage medium stores a computer program, and when the computer program is run by a computer, the method for carrying goods is executed.

In addition, as shown in fig. 4, the embodiment of the present application further provides a control terminal 100, which may include a processor 110 and a memory 120.

Optionally, the control terminal 100 may be, but is not limited to, a personal computer (Personal computer, PC), a smart phone, a tablet computer, a Mobile internet device (Mobile INTERNET DEVICE, MID), a personal digital assistant, a server, and the like.

It should be noted that the components and structures of the control terminal 100 shown in fig. 4 are only exemplary and not limiting, and the control terminal 100 may have other components and structures as desired.

The processor 110, the memory 120, and other components that may be present in the control terminal 100 are electrically connected to each other, either directly or indirectly, to enable transmission or interaction of data. For example, the processor 110, the memory 120, and possibly other components may be electrically connected to each other by one or more communication buses or signal lines.

The memory 120 is used for storing programs, such as programs corresponding to the previously presented cargo handling methods or previously presented cargo handling devices. Alternatively, when the cargo handling device is stored in memory 120, the cargo handling device includes at least one software functional module that may be stored in memory 120 in the form of software or firmware (firmware).

Alternatively, the software functional modules included in the cargo handling device may be implemented in an Operating System (OS) of the control terminal 100.

The processor 110 is configured to execute executable modules stored in the memory 120, such as software functional modules or computer programs included in the cargo handling device. When the processor 110 receives the execution instruction, it may execute a computer program, for example, to acquire an order task and corresponding order information, acquire cargo information of a cargo to be carried at a target loading site corresponding to the order task, and determine the number of cargoes carried at one time by the carrying robot corresponding to the order task according to the cargo information and the order information.

Of course, the methods disclosed in any of the embodiments of the present application may be applied to the processor 110 or implemented by the processor 110.

In summary, the method, device, system, control terminal and computer storage medium for carrying goods according to the embodiments of the present invention determine the quantity of goods to be carried by the carrying robot corresponding to the order task at one time according to the goods information and the order information of the goods to be carried at the target feeding station corresponding to the order task after the order task and the corresponding order information are obtained. In the process, the carrying robot can carry a plurality of cargoes at one time, so that the round trip times of the carrying robot for processing an order task between the target material feeding station and the material feeding port can be reduced, the probability of blocking a cargo carrying system can be reduced, and the cargo carrying efficiency can be improved.

It should be noted that, in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described as different from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a computer storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a notebook computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. The computer storage medium includes a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application.

Claims

1. A method of handling cargo, the method comprising:

Acquiring order tasks and corresponding order information;

acquiring cargo information of cargoes to be carried at a target feeding site corresponding to the order task;

according to the goods information and the order information, determining the quantity of goods which are carried at one time by the carrying robot and correspond to the order task;

The determining, according to the goods information and the order information, the number of goods that are carried at one time by the carrying robot corresponding to the order task includes:

Judging whether the goods to be carried currently positioned at the target material feeding site meets the requirement of the order task or not according to the goods information and the order information;

When the goods are satisfied, determining that the quantity of goods which are once carried by a carrying robot for processing the order task is the quantity of goods required by the order task;

And when the requirement is not met, determining the quantity of the goods which are carried by the carrying robot at one time and correspond to the order task according to at least one factor of the distance degree between the similar goods which subsequently meet the requirement and the target material-feeding site, the busyness degree of the target material-feeding site and the traffic condition at the material-feeding port corresponding to the order task, wherein the target material-feeding site is used for caching the goods transmitted by the goods transmission line.

2. The method according to claim 1, wherein determining the number of goods to be carried by the carrying robot corresponding to the order task at a time according to at least one factor selected from the distance between the similar goods subsequently meeting the demand and the target loading site, the busyness of the target loading site, and the traffic condition at the loading port corresponding to the order task comprises:

And preferentially determining the quantity of the goods which are carried at one time by the carrying robot and correspond to the order task according to the busyness degree in the distance degree, the busyness degree and the traffic condition.

3. The method according to claim 1, wherein determining the number of goods to be carried by the carrying robot corresponding to the order task at a time according to at least one factor selected from the distance between the similar goods subsequently meeting the demand and the target loading site, the busyness of the target loading site, and the traffic condition at the loading port corresponding to the order task comprises:

When the distance degree is characterized as near, determining that the quantity of cargoes which are carried at one time by a carrying robot for processing the order task is larger than the quantity of the similar cargoes currently positioned at the target feeding station;

and controlling the transfer robot to wait at the target feeding station.

4. The method according to claim 1, wherein determining the number of goods to be carried by the carrying robot corresponding to the order task at a time according to at least one factor selected from the distance between the similar goods subsequently meeting the demand and the target loading site, the busyness of the target loading site, and the traffic condition at the loading port corresponding to the order task comprises:

When the distance degree is characterized as near and the busyness degree is characterized as not busy, or when the distance degree is characterized as near and the traffic condition is characterized as congestion, determining that the quantity of goods which are once carried by the carrying robot for processing the order task is larger than the quantity of similar goods currently positioned at the target feeding site;

and controlling the transfer robot to wait at the target feeding station.

5. The method according to claim 1, wherein determining the number of goods to be carried by the carrying robot corresponding to the order task at a time according to at least one factor selected from the distance between the similar goods subsequently meeting the demand and the target loading site, the busyness of the target loading site, and the traffic condition at the loading port corresponding to the order task comprises:

when the distance degree is characterized as far, or when the busyness degree is characterized as busyness, determining the quantity of the cargoes which are carried at one time by the carrying robot for processing the order task as the quantity of the cargoes of the same kind currently positioned at the target feeding site;

And controlling the transfer robot to transfer the similar cargoes currently located at the target feeding site to leave.

6. The method according to claim 1, wherein the method further comprises:

Acquiring a dynamic index, wherein the dynamic index is used for representing the distance between the similar goods which are currently transported to the target feeding site and meet the requirements and the target feeding site;

Determining that the near-far degree is characterized as near when the dynamic index is smaller than a threshold value;

Otherwise, determining that the near-far degree is characterized as far.

7. The method according to claim 1, wherein the method further comprises:

acquiring the number of backlog at the target feeding station and/or the number of transfer robots positioned at the target feeding station;

Determining that the busyness is characterized as not busyness when the number of backlogged goods is less than a backlog threshold and/or the number of transfer robots located at the target feeding site is less than a first number threshold;

otherwise, determining that the busyness is characterized as busyness.

8. The method according to claim 1, wherein the method further comprises:

acquiring the number of transfer robots at a feed port corresponding to the order task;

Determining that the traffic condition is characterized as congestion when the number of transfer robots at a feed port corresponding to the order task is greater than a second number threshold;

Otherwise, determining that the traffic condition is characterized as not being congested.

9. The method according to claim 1, wherein the method further comprises:

Checking whether the quantity of the cargoes actually carried by the carrying robot is consistent with the determined quantity of the cargoes;

and when the order tasks are consistent, controlling the transfer robot to run to a feeding port corresponding to the order tasks for feeding.

10. The method of claim 1, wherein the cargo handling system comprises a plurality of loading stations, and wherein prior to the acquiring cargo information for the cargo to be handled at the target loading point corresponding to the order task, the method further comprises:

And determining the target feeding site from the plurality of feeding sites according to the distance relation between the feeding port corresponding to the order task and the plurality of feeding sites and/or the task quantity of each of the plurality of feeding sites, and distributing the order task to the target feeding site.

11. The method according to claim 1, wherein the method further comprises:

And when the target feeding station is determined to be in an abnormal state, distributing partial unfinished order tasks in the order tasks to other feeding stations in a normal state.

12. A cargo handling system, the system comprising:

at least one feeding station for buffering the goods;

At least one feeding port for collecting the goods carried by the carrying robot;

a control terminal for performing the method according to any one of claims 1-11, and

And the transfer robot is in communication connection with the control terminal and is used for transferring goods between the feeding station and the feeding port according to the control of the control terminal.

13. The control terminal is characterized by comprising a memory and a processor, wherein the memory is connected with the processor;

The memory is used for storing programs;

the processor invokes a program stored in the memory to perform the method of any one of claims 1-11.

14. A computer storage medium, characterized in that it has stored thereon a computer program which, when executed by a computer, performs the method according to any of claims 1-11.

15. A cargo handling device, the device comprising:

the acquisition module is used for acquiring order tasks and corresponding order information;

the acquisition module is further used for acquiring cargo information of the cargo to be carried at the target material feeding site corresponding to the order task;

The determining module is used for determining the quantity of cargoes which are carried at one time by the carrying robot and correspond to the order task according to the cargoes information and the order information;

The determining module is specifically configured to: