CN114066340A - Method, device, equipment and medium for adjusting position of stock container - Google Patents
Method, device, equipment and medium for adjusting position of stock container Download PDFInfo
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- CN114066340A CN114066340A CN202010773488.7A CN202010773488A CN114066340A CN 114066340 A CN114066340 A CN 114066340A CN 202010773488 A CN202010773488 A CN 202010773488A CN 114066340 A CN114066340 A CN 114066340A
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Abstract
The embodiment of the invention discloses a position adjusting method, device, equipment and medium for an inventory container. The method comprises the following steps: determining a free inventory location in an inventory area upon returning a target inventory receptacle from a workstation to the inventory area; searching at least one free inventory position with the return cost of the target inventory container lower than a preset threshold value from the free inventory positions; selecting one free inventory position from the searched at least one free inventory position as a new storage position of the target inventory container; controlling the robot to transport the target inventory receptacle to the new storage location. By adopting the scheme, when the inventory container is returned, the returning cost caused by the fact that the inventory container is returned to the robot to carry the container can be fully considered, the inventory container is returned to the proper inventory position, and the time consumed by the robot to carry the inventory container is greatly increased due to the fact that the inventory container is returned to the improper inventory position is avoided.
Description
Technical Field
The embodiment of the invention relates to the technical field of warehousing, in particular to a position adjusting method, device, equipment and medium for warehousing containers.
Background
In a storage scene, inventory containers such as shelves, bins and the like required by operations such as picking, warehousing and the like can be transported to a workstation by adopting a goods-to-person mode so as to carry out operations such as picking, warehousing and the like in the workstation.
In the operation process of picking, warehousing and the like, used inventory containers are usually placed and returned to the original position again, and if the original position is far away, the turnover time of the robot is too long, so that the robot cannot effectively pick the inventory containers, and the operation efficiency of the warehouse is reduced.
Disclosure of Invention
The embodiment of the invention provides a position adjusting method, device, equipment and medium for inventory containers, which are used for effectively returning the inventory containers, reducing the turnover time of a robot and improving the operation efficiency of a warehouse.
In a first aspect, an embodiment of the present invention provides a method for adjusting a position of an inventory container, where, when returning a target inventory container from a workstation to an inventory area, the method for adjusting the position of the inventory container includes:
determining a free inventory location in the inventory area;
searching at least one free inventory position with the return cost of the target inventory container lower than a preset threshold value from the free inventory positions; wherein the return cost for the target inventory receptacle comprises at least one of: a total elapsed time, a total distance traveled by the robot to return the target inventory receptacle to the free inventory location, a total elapsed time for the robot to return the target inventory receptacle to the free inventory location and to a location of a next inventory receptacle in a transfer task and to transfer the next inventory receptacle to a workstation;
selecting one free inventory position from the searched at least one free inventory position as a new storage position of the target inventory container;
controlling the robot to transport the target inventory receptacle to the new storage location.
In a second aspect, an embodiment of the present invention further provides a position adjustment device for an inventory container, where when returning a target inventory container from a workstation to an inventory area, the position adjustment device for the inventory container includes:
an idle position determination module for determining an idle inventory position in the inventory area;
the free position searching module is used for searching at least one free inventory position with the return cost of the target inventory container lower than a preset threshold value from the free inventory positions; wherein the return cost for the target inventory receptacle comprises at least one of: a total elapsed time, a total distance traveled by the robot to return the target inventory receptacle to the free inventory location, a total elapsed time for the robot to return the target inventory receptacle to the free inventory location and to a location of a next inventory receptacle in a transfer task and to transfer the next inventory receptacle to a workstation;
the free position selection module is used for selecting one free stock position from the searched at least one free stock position as a new storage position of the target stock container;
and the position adjustment control module is used for controlling the robot to convey the target inventory container to the new storage position.
Optionally, in a case that the return cost of the target inventory receptacle is a travel distance for the robot to return the target inventory receptacle to the idle inventory location, the idle location finding module includes:
at least one free inventory location is found that is less than a first preset distance threshold from the current location of the robot.
Optionally, in a case that the return cost of the target inventory receptacle is a total travel distance for the robot to return the target inventory receptacle to the free inventory location and to a location of a next inventory receptacle in the transfer task and to transfer the next inventory receptacle to a workstation, the free location finding module comprises:
searching at least one idle inventory position which is less than a second preset distance threshold value from the position of the next inventory container; and/or the presence of a gas in the gas,
and searching at least one idle stock position which is less than a third preset distance threshold value away from the running route in the running route to the position of the next stock container by the robot.
Optionally, in a case that the return cost of the target inventory container is time-consuming for the robot to return the target inventory container to the idle inventory location, the idle location finding module includes:
determining a driving road condition and a driving distance when the robot returns the inventory container to the idle inventory position aiming at each idle inventory position in the inventory area;
calculating the time consumption required by the robot to return the target inventory container to each idle inventory position respectively according to the driving road condition and the driving distance at least partially;
determining at least one free inventory location for which the elapsed time is less than a first preset time threshold.
Optionally, in a case that a return cost of the target inventory receptacle is a total time taken to return the target inventory receptacle to the free inventory location and to a location of a next inventory receptacle in a transfer task and to transfer the next inventory receptacle to a workstation, the free location finding module includes:
determining a driving road condition and a driving distance when the robot drives to each idle inventory position and returns the target inventory container in a driving route to the position of the next inventory container;
calculating the time consumption of the robot for returning the target inventory container to each idle inventory position in the running route to the position of the next inventory container according to the running road condition and the running distance at least partially;
determining at least one free inventory location for which the elapsed time is less than a second preset time threshold.
Optionally, the idle position determination module includes:
and taking the temporary storage position in an idle state and/or the permanent storage position in an idle state deployed in the inventory area as the idle inventory position.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processing devices;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processing devices, the one or more processing devices are caused to implement the method for adjusting the position of an inventory receptacle according to any of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a readable storage medium, on which a computer program is stored, where the computer program, when executed by a processing device, implements the method for adjusting the position of an inventory receptacle according to any one of the embodiments of the present invention.
The embodiment of the invention provides a position adjusting method of an inventory container, which can determine free inventory positions in an inventory area when a target inventory container needs to be returned from a workstation to the inventory area, search at least one free inventory position with the return cost lower than a preset threshold value from the free inventory positions according to the return cost generated by returning the target inventory container to each free inventory position, further select one free inventory position from the searched free inventory positions as a new storage position of the target inventory container, and then control a robot to transfer the target inventory container to the selected free inventory position for storage. By adopting the scheme, when the inventory container is returned, the returning cost caused by the fact that the inventory container is returned to the robot to carry the container can be fully considered, the inventory container is returned to a proper inventory position, the time consumed by the robot to carry the inventory container due to the fact that the inventory container is returned to the improper inventory position is greatly increased, and the problem that the warehouse operation efficiency is greatly reduced is solved.
The above summary of the present invention is merely an overview of the technical solutions of the present invention, and the present invention can be implemented in accordance with the content of the description in order to make the technical means of the present invention more clearly understood, and the above and other objects, features, and advantages of the present invention will be more clearly understood.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a flowchart of a method for adjusting the position of an inventory container according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for adjusting the position of an inventory receptacle provided in an embodiment of the present invention;
FIG. 3 is a flow chart of yet another method for adjusting the position of an inventory receptacle provided in an embodiment of the present invention;
FIG. 4 is a flow chart of yet another method for adjusting the position of an inventory receptacle provided in an embodiment of the present invention;
FIG. 5 is a block diagram of an apparatus for adjusting the position of an inventory container according to an embodiment of the present invention
Fig. 6 is a schematic structural diagram of an electronic device provided in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations (or steps) can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Fig. 1 is a flowchart of a method for adjusting a position of an inventory container according to an embodiment of the present invention. The technical scheme of the embodiment can be suitable for the condition of dynamically adjusting the storage position of the inventory container needing to be returned. The method can be executed by a position adjusting device of the inventory container, which can be realized in a software and/or hardware manner and integrated on any electronic equipment with a network communication function. Wherein the electronic device may be a control server of the inventory system. As shown in fig. 1, the method for adjusting the position of an inventory container in the embodiment of the present application may include the following steps S110 to S140:
s110, when the target inventory container is returned to the inventory area from the workstation, determining a free inventory position in the inventory area.
In this embodiment, the stock area may be a storage area in a floor type warehousing operation scene, and the robot may operate on the ground of the storage area; alternatively, the inventory area may be a storage area in a platform type warehousing operation scene, and the robot may also run on a platform surface of the storage area. In the inventory area, a plurality of inventory locations may be provided, at which inventory receptacles may be allowed to be stored. For example, the inventory container may be an inventory rack or the like for holding various items or material bins, and the inventory location may be a location of an area of the inventory area for placing the inventory rack; for another example, the inventory container may be a material box for containing various articles, and the like, and the inventory location may be a storage location on each compartment of the inventory rack, one storage location storing one inventory container.
In this embodiment, a plurality of inventory locations are deployed in the inventory area, each inventory location may be arranged in an array in the inventory area as required, the inventory containers may be stored at the corresponding inventory location, and one or more workstations may be disposed near the inventory locations arranged in the array. Alternatively, the target inventory container may be an inventory container in the inventory area that needs to be returned from the workstation to an inventory location in the inventory area for storage. For example, when an inventory container in a transport use state needs to be returned from any one of the workstations in the inventory area to the inventory location in the inventory area, the inventory container currently in the transport use state and needing to be returned to the stock is taken as a target inventory container. When the target inventory container needs to be returned to the inventory area, a free inventory position in a free state is found from various inventory positions in the inventory area.
In an alternative to this embodiment, determining a free inventory location in the inventory area may include the following operations: and taking the temporary storage position in the idle state and/or the permanent storage position in the idle state deployed in the inventory area as the idle inventory position. The temporary storage location may be an inventory location preset in the inventory area for temporarily storing the target inventory container, for example, a storage area temporarily opened in the inventory area. The permanent storage location may be a location provided in the inventory area for long-term storage of inventory containers. The robot may be controlled to return the inventory receptacles temporarily stored in the temporary storage location after performing other tasks or while in an idle state.
And S120, searching at least one free inventory position with the return cost of the target inventory container lower than a preset threshold value from the free inventory positions.
In this embodiment, there are a plurality of free inventory locations in the inventory area, so that location screening needs to be performed on the free inventory locations, and one satisfactory inventory location is selected to store the target inventory container to be returned. Therefore, the scheme of the application introduces a returning cost which is generated by returning the target inventory container to each free inventory position through the robot, and a plurality of free inventory positions are screened based on the returning cost of the target inventory container.
In this embodiment, the number of robots in the stock area is limited, and when the robot returns one stock container to the stock position, it is usually necessary to continue the carrying task of the next stock container. If the time for returning the stock container is long, the next stock container conveying task is inevitably influenced, so that the next stock container conveying task cannot be executed on time, and the warehouse operation efficiency is influenced by gradual accumulation. Thus, the return cost for a target inventory container may include the following, as may be considered from the dimension of returning inventory containers to free inventory locations: the robot returns the target inventory receptacle to the elapsed time or travel distance of the free inventory location.
In this embodiment, after the robot returns one inventory receptacle to the free inventory location, the robot usually needs to continue to perform the transportation task of the next inventory receptacle, in this case, if the robot cannot move to the next inventory receptacle quickly, the transportation efficiency for the next inventory receptacle is reduced, and the gradual accumulation also affects the warehouse operation efficiency. Thus, in addition to the return cost from the dimension of returning an inventory container to a free inventory location, the return cost from the dimension of handling the next inventory container may also be considered, optionally the return cost for the target inventory container may also include: after returning the target inventory receptacle, the robot proceeds to the time-consuming or travel distance to be generated at the location of the next inventory receptacle indicated by the transfer task.
In this embodiment, the return cost for the target inventory receptacle may include the following: the total elapsed time or total distance traveled by the robot to return the target inventory receptacle to the free inventory location and to the location of the next inventory receptacle in the transfer task and to transfer the next inventory receptacle to the workstation. If the target inventory container is used more frequently, there is a significant chance that the target inventory container will need to be moved again to the workstation during subsequent handling. For this reason, for a target inventory container with a high frequency of use, the return cost for the target inventory container may also include, from the dimension of the frequency of use of the target inventory container: after returning the target inventory container to a free location in the inventory area for storage, the target inventory container is moved to the time-consuming or travel distance required by each workstation.
In this embodiment, at least one free inventory position where the return cost of the target inventory container is lower than the preset threshold value can be searched from the free inventory positions, so that the situation that the return cost of the target inventory container is too high due to the searched free inventory positions and the operation efficiency of the warehouse is seriously reduced is avoided. The preset threshold value can be set according to the actual situation, and the return cost of the inventory container is controlled within a reasonable value range, so that the operation efficiency of the warehouse is not seriously reduced.
In an alternative of this embodiment, finding at least one free inventory location for which the return cost of the target inventory receptacle is below a preset threshold may include the operations of:
under the condition that the returning cost of the target inventory container is the driving distance of the robot returning the target inventory container to the idle inventory position, at least one idle inventory position which is less than a first preset distance threshold value from the current position of the robot is searched; alternatively, at least one free inventory location closest to the current location of the robot is located for depositing the target inventory receptacle.
By adopting the alternative scheme of the embodiment, the robot can return the stock container by adopting the shortest possible running distance, the carrying resources of the robot are released as soon as possible, the running distance generated when the robot returns the stock container is reduced, and the running resource waste of the robot in the returning process is avoided.
In another alternative of this embodiment, finding at least one free inventory location for which the return cost of the target inventory receptacle is below a preset threshold may comprise the operations of:
in the case that the return cost of the target inventory container is the total travel distance of the robot for returning the target inventory container to the free inventory position and going to the position of the next inventory container in the transfer task and transferring the next inventory container to the workstation, at least one free inventory position which is less than a second preset distance threshold from the position of the next inventory container is searched; or at least one free inventory location closest to the location of the next inventory container is searched for depositing the target inventory container.
By adopting the alternative scheme of the embodiment, the robot can be ensured to execute the next conveying task of the inventory container by adopting the shortest possible running distance after returning the target inventory container, the running distance required by the robot to convey the next inventory container is reduced, and the waste of running resources is avoided when conveying the next inventory container.
In yet another alternative of this embodiment, finding at least one free inventory location for which the return cost of the target inventory receptacle is below a preset threshold may comprise the operations of:
in the case that the return cost of the target inventory container is the total travel distance of the robot returning the target inventory container to the free inventory position, going to the position of the next inventory container in the carrying task and carrying the next inventory container to the workstation, at least one free inventory position, which is less than a third preset distance threshold value away from the travel route, in the travel route going to the position of the next inventory container, of the robot is searched for; or at least one idle stock position which is closest to the driving route in the driving route to the position of the next stock container is searched by the robot to store the target stock container.
By adopting the alternative scheme of the embodiment, the inventory containers can be returned by adopting the shortest possible running distance in the process of executing the next inventory container conveying task by the robot, the conveying resources of the robot are released as soon as possible, the distance to be traveled when the robot returns the inventory containers can be reduced, and meanwhile, the running distance for conveying the next inventory container is considered.
It should be noted that, in the above alternatives, the values of the first preset distance threshold, the second preset distance threshold, and the third preset distance threshold may be the same or different, and the return cost of the inventory container may be controlled from corresponding dimensions by the first preset distance threshold, the second preset distance threshold, and the third preset distance threshold, so as to search for a suitable free inventory location.
And S130, selecting one idle inventory position from the searched at least one idle inventory position as a new storage position of the target inventory container.
In this embodiment, after at least one free inventory location that can control the return cost of the target inventory container within a reasonable range is found from the free inventory locations in the inventory area, a free inventory location that can minimize the return cost can be further selected from the found free inventory locations as a new storage location for the target inventory container.
And S140, controlling the robot to convey the target inventory container to a new storage position for returning the target inventory container to the new storage position for storage.
In this embodiment, after determining an empty inventory location for returning the target inventory receptacle, an inventory receptacle transport instruction may be sent to the robot instructing the robot to transport the target inventory receptacle to a selected empty inventory location for storage. Thus, the inventory container transfer command can control the robot to transfer the target inventory container to a new storage position for restocking.
The embodiment of the invention provides a position adjusting method of inventory containers, which can fully consider the returning cost of robot carrying containers due to returning the inventory containers to each idle inventory position when returning target inventory containers, so as to return the inventory containers to proper inventory positions, and avoid the problem that the time consumed by the robot for carrying the inventory containers is greatly increased due to returning the inventory containers to improper inventory positions, so that the operation efficiency of a warehouse is greatly reduced.
Fig. 2 is a flowchart of another method for adjusting the position of an inventory container according to an embodiment of the present invention, where the technical solution of this embodiment is further optimized based on the above embodiment, and the technical solution of this embodiment may be combined with various alternatives in one or more of the above embodiments. As shown in fig. 2, the method for adjusting the position of an inventory container provided in the embodiment of the present application may include the following steps S210 to S260:
s210, when the target inventory container is returned to the inventory area from the workstation, determining a free inventory position in the inventory area.
And S220, determining the driving road condition and the driving distance when the robot returns the target inventory container to the idle inventory position according to each idle inventory position in the inventory area under the condition that the returning cost of the target inventory container is the time consumed for the robot to return the target inventory container to the idle inventory position.
In this embodiment, for each free inventory location in the inventory area, location information of the respective free inventory location in the inventory area may be determined; and determining the position information of the current inventory area of the target inventory container needing to be returned by the robot. For each free inventory position, the driving road condition and the driving distance used by the robot for returning the containers to each free inventory position from the current position of the target inventory container can be determined. For example, a path planning algorithm (such as a-algorithm) may be used to plan the travel path information of the robot from the current position of the target inventory container to the idle inventory position. Therefore, according to the planned driving path information, the driving road conditions and the driving distances used by the robot for driving from the position of the target inventory container to each idle inventory position can be determined.
And S230, calculating the time consumption generated when the robot returns the target inventory containers to the idle inventory positions respectively at least partially according to the driving road conditions and the driving distance.
In this embodiment, when calculating the time consumed for returning the inventory item to the free inventory location, not only the travel distance to be used for returning the inventory item but also the travel road condition to be experienced by returning the inventory item need to be considered, because the travel road condition for returning the target inventory item may involve some travel obstacles, which may cause additional time consumed for returning the inventory item by the robot. Therefore, when the calculation robot returns the inventory containers to the respective free inventory positions, it is necessary to consider both the travel distance and the travel road condition during the return process.
In this embodiment, the driving road condition can reflect a driving obstacle that may cause additional time consumption increase in the process of driving the robot along the driving path. For example, the above-described travel obstacle may include: the running path is temporarily occupied by other robots, and the robots carrying the target inventory containers need to run at a reduced speed due to congestion and the like in the running process, so that the time consumption is increased; and the travel path includes special road sections such as turns, the robot carrying the target inventory container needs to spend more time to complete the turning action, and the time consumption is increased again.
In this embodiment, optionally, the consumed time to be generated when the target inventory container is returned to each free inventory location may be represented in the form of a loss matrix, and the consumed time to be generated when the target inventory container is returned is a matrix element in the loss matrix. By calculating the position of the inventory container and the travel distance of the inventory position, the time consumption from the position of the inventory container to each inventory position can be estimated by combining the travel distance and the travel road condition, and the time loss matrix can be obtained.
S240, determining at least one free inventory position which consumes less time than a first preset time threshold from the free inventory positions, and returning the free inventory position with the cost lower than a preset threshold as a target inventory container.
In this embodiment, the first preset time threshold may be set statistically based on time consumed for returning each inventory container from its location according to an actual scene, as long as it is ensured that the returning cost of the inventory container is controlled to the idle inventory location within the range of the first preset time threshold, and no serious reduction in the warehouse operating efficiency is caused. Therefore, the robot can return the stock container in the shortest time possible, the conveying resources of the robot are released as soon as possible, and the time consumed when the robot returns the stock container is reduced, so that the robot can carry out the next container conveying task as soon as possible. Alternatively, at least one free stock location that takes the shortest time may be determined from among the free stock locations as a free stock location whose return cost is lower than a preset threshold.
And S250, selecting one idle inventory position from the searched at least one idle inventory position as a new storage position of the target inventory container.
And S260, controlling the robot to convey the target inventory container to a new storage position for returning the target inventory container to the new storage position for storage.
The embodiment of the invention provides a position adjusting method of an inventory container, which can fully consider time consumption caused in the process of returning the inventory container by a robot when returning a target inventory container, so that a proper idle inventory position can be selected according to the returning time consumption, the phenomenon that the time consumption for returning the container of the robot is greatly increased due to returning the target inventory container to an improper inventory position is avoided, the robot can be released in time, more time is provided for executing subsequent tasks, the turnover time of the robot is reduced, the effective picking time of a work station is prolonged, and the operation efficiency of a warehouse is greatly improved.
Fig. 3 is a flowchart of a further method for adjusting the position of an inventory container according to an embodiment of the present invention, where the technical solution of this embodiment is further optimized based on the above embodiment, and the technical solution of this embodiment may be combined with various alternatives in one or more of the above embodiments. As shown in fig. 3, the method for adjusting the position of an inventory container provided in the embodiment of the present application may include the following steps S310 to S360:
s310, when the target inventory container is returned to the inventory area from the workstation, the free inventory position in the inventory area is determined.
And S320, determining the driving road conditions and the driving distance when the robot drives to each idle inventory position to return the target inventory container in the driving route to the position of the next inventory container in the next inventory container under the condition that the returning cost of the target inventory container is the total time for returning the target inventory container to the idle inventory position, moving the target inventory container to the position of the next inventory container in the conveying task and conveying the next inventory container to the workstation.
In this embodiment, when the robot needs to return the target inventory receptacle, the robot may send the transfer task of the next inventory receptacle to the robot, so that the robot may travel along the travel route used by the transfer task of the next inventory receptacle, and further, in the travel route where the robot travels to the location of the next inventory receptacle, a suitable free inventory location may be found from the vicinity of the travel route. Therefore, the driving road condition and the driving distance used by the robot for returning the container to each idle storage position can be determined according to the next driving route used by the robot for the carrying task of the next storage container.
And S330, calculating the time consumption of the robot for returning the target inventory container to each idle inventory position in the running route of the robot to the position of the next inventory container according to the running road condition and the running distance.
In this embodiment, optionally, in the travel route where the robot travels to the position of the next inventory receptacle, the consumed time to be generated when the robot travels to each free inventory position to return the target inventory receptacle may be represented in the form of a loss matrix, and the consumed time to be generated when the robot returns the target inventory receptacle is a matrix element in the loss matrix. By calculating the position of the inventory container and the travel distance of the inventory position, the time consumption from the position of the inventory container to each inventory position can be estimated by combining the travel distance and the travel road condition, and the time loss matrix can be obtained.
S340, determining at least one free inventory position with the time consumption smaller than a second preset time threshold from the free inventory positions, and using the free inventory position as a free inventory position with the target inventory container return cost lower than a preset threshold.
In this embodiment, the second preset time threshold may be used to statistically set time consumed for returning each inventory container in a travel route of the robot to the next inventory container according to an actual scene, so long as it is ensured that the returning cost of the inventory container is controlled to the idle inventory position within the range of the second preset time threshold, and the operation efficiency of the warehouse is not seriously reduced. Alternatively, at least one free stock location that takes the shortest time may be determined from among the free stock locations as a free stock location whose return cost is lower than a preset threshold. Therefore, the inventory container can be returned within the shortest time consumption when the robot executes the next inventory container conveying task, the conveying resources of the robot are released as soon as possible, the time consumption of returning the inventory container by the robot can be reduced, and the time consumption of conveying the next inventory container is taken into account.
It should be noted that, in the above alternatives, the values of the first preset time threshold and the second preset time threshold may be the same or different, and the first preset time threshold and the second preset time threshold may both control the return cost of the inventory container from corresponding dimensions, so as to search for a suitable idle inventory location.
And S350, selecting one idle inventory position from the searched at least one idle inventory position as a new storage position of the target inventory container.
And S360, controlling the robot to convey the target inventory container to a new storage position for returning the target inventory container to the new storage position for storage.
The embodiment of the invention provides a position adjusting method of an inventory container, which can execute the time consumption caused in the process of returning the inventory container by a robot in the next inventory container by fully considering the time consumption in the process of returning the inventory container by a robot when returning a target inventory container, so as to select a proper idle inventory position according to the returning time consumption, avoid greatly increasing the container returning time consumption of the robot due to returning the target inventory container to an improper inventory position, release the robot in time to have more time to execute subsequent tasks, further achieve the effects of reducing the turnover time of the robot and increasing the effective picking time of a work station, and further greatly improve the operation efficiency of a warehouse.
Fig. 4 is a flowchart of a further method for adjusting the position of an inventory container according to an embodiment of the present invention, where the technical solution of this embodiment is further optimized based on the above embodiment, and the technical solution of this embodiment may be combined with various alternatives in one or more of the above embodiments. As shown in fig. 4, the method for adjusting the position of an inventory container provided in the embodiment of the present application may include the following steps S310 to S350:
s410, when the target inventory container is returned to the inventory area from the workstation, determining a free inventory position in the inventory area.
And S420, determining the driving road condition and the driving distance which are required by the robot to drive to each workstation from each idle stock position according to each idle stock position in the stock area under the condition that the returning cost of the target stock container is the consumed time or the driving distance required by moving the target stock container to each workstation after returning the target stock container to one idle position in the stock area for storage.
And S430, calculating the time consumption of the robot for respectively transporting the target inventory container from the idle inventory position to each work station according to the driving road condition and the driving distance at least partially.
In this embodiment, if the target inventory receptacle is used more frequently, there is a greater chance that the robot will be required to subsequently move the target inventory receptacle to the workstation again. However, the inventory area includes multiple workstations and there is no way to determine which workstation to ship the target inventory container to next. Therefore, the moving road condition and the moving distance of the robot to be used when the robot moves from any free stock position to each work station can be determined, and the average moving time of the robot to move the target stock container from each free stock position to each work station again can be calculated according to the moving road condition and the moving distance to be used when the robot moves to each work station. In this way, a free stock location can be found from the various free stock locations that is least time consuming to average move and that is not biased towards any workstation.
S440, determining at least one free stock position which consumes least time from the free stock positions.
And S450, selecting one free inventory position from the searched at least one free inventory position as a new storage position of the target inventory container.
And S460, controlling the robot to convey the target inventory container to the new storage position for returning the target inventory container to the new storage position for storage.
Fig. 5 is a block diagram of a position adjustment device for an inventory container according to an embodiment of the present invention. The technical scheme of the embodiment can be suitable for the condition of dynamically adjusting the storage position of the inventory container needing to be returned. The device can be implemented in software and/or hardware and integrated on any electronic equipment with network communication function. Wherein the electronic device may be a control server of the inventory system.
As shown in fig. 5, the position adjustment device for an inventory container in the embodiment of the present application may include: an idle position determination module 510, an idle position lookup module 520, an idle position selection module 530, and a position adjustment control module 540. Wherein:
an idle location determination module 510 for determining an idle inventory location in the inventory region.
A free location searching module 520, configured to search, from the free inventory locations, at least one free inventory location where the return cost of the target inventory container is lower than a preset threshold; wherein the return cost for the target inventory receptacle comprises at least one of: a time-consuming or distance-traveled by the robot to return the target inventory receptacle to the free inventory location, a total time-consuming or distance-traveled by the robot to return the target inventory receptacle to the free inventory location and to a location of a next inventory receptacle in the transfer task and to transfer the next inventory receptacle to a workstation.
A free location selection module 530, configured to select one free inventory location from the at least one found free inventory location as a new storage location for the target inventory container.
A position adjustment control module 540 for controlling the robot to move the target inventory receptacle to the new storage location.
On the basis of the foregoing embodiment, optionally, in a case that the returning cost of the target inventory container is a travel distance for the robot to return the target inventory container to the idle inventory location, the idle location finding module 520 includes:
at least one free inventory location is found that is less than a first preset distance threshold from the current location of the robot.
On the basis of the above embodiment, optionally, in the case that the returning cost of the target inventory container is the total travel distance of the robot returning the target inventory container to the free inventory location and going to the location of the next inventory container in the transfer task and transferring the next inventory container to the workstation, the free location finding module 520 includes:
searching at least one idle inventory position which is less than a second preset distance threshold value from the position of the next inventory container; and/or the presence of a gas in the gas,
and searching at least one idle stock position which is less than a third preset distance threshold value away from the running route in the running route to the position of the next stock container by the robot.
On the basis of the foregoing embodiment, optionally, in a case that the returning cost of the target inventory container is time-consuming for the robot to return the target inventory container to the idle inventory location, the idle location finding module 520 includes:
determining a driving road condition and a driving distance when the robot returns the inventory container to the idle inventory position aiming at each idle inventory position in the inventory area;
calculating the time consumption required by the robot to return the target inventory container to each idle inventory position respectively according to the driving road condition and the driving distance at least partially;
determining at least one free inventory location for which the elapsed time is less than a first preset time threshold.
Based on the above embodiment, optionally, in the case that the return cost of the target inventory container is the total time for returning the target inventory container to the free inventory location and going to the location of the next inventory container in the transportation task and transporting the next inventory container to the workstation, the free location finding module 520 includes:
determining a driving road condition and a driving distance when the robot drives to each idle inventory position and returns the target inventory container in a driving route to the position of the next inventory container;
calculating the time consumption of the robot for returning the target inventory container to each idle inventory position in the running route to the position of the next inventory container according to the running road condition and the running distance at least partially;
determining at least one free inventory location for which the elapsed time is less than a second preset time threshold.
On the basis of the foregoing embodiment, optionally, the idle position determining module 510 includes:
and taking the temporary storage position in an idle state and/or the permanent storage position in an idle state deployed in the inventory area as the idle inventory position.
The position adjusting device for an inventory container provided in the embodiments of the present invention may perform the position adjusting method for an inventory container provided in any embodiments of the present invention, and has corresponding functions and advantages for performing the position adjusting method for an inventory container.
Fig. 6 is a schematic structural diagram of an electronic device provided in an embodiment of the present invention. As shown in fig. 6, the electronic device provided in the embodiment of the present invention includes: one or more processors 610 and storage 620; the processor 610 in the electronic device may be one or more, and one processor 610 is taken as an example in fig. 6; storage 620 is used to store one or more programs; the one or more programs are executable by the one or more processors 610 to cause the one or more processors 610 to implement a method of position adjustment for an inventory receptacle as described in any of the embodiments of the invention.
The electronic device may further include: an input device 630 and an output device 640.
The processor 610, the storage 620, the input device 630 and the output device 640 in the electronic apparatus may be connected by a bus or other means, and fig. 6 illustrates an example of connection by a bus.
The storage device 620 in the electronic device may be used as a computer-readable storage medium for storing one or more programs, which may be software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the position adjustment method for the inventory containers provided in the embodiments of the present invention. The processor 610 executes various functional applications and data processing of the electronic device by executing software programs, instructions and modules stored in the storage device 620, that is, implements the position adjustment method of the inventory receptacle in the above method embodiment.
The storage device 620 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the electronic device, and the like. Further, the storage 620 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the storage 620 may further include memory located remotely from the processor 610, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 630 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic device. The output device 640 may include a display device such as a display screen.
And, when the one or more programs included in the electronic device are executed by the one or more processors 610, the programs perform the following operations:
determining a free inventory location in an inventory area upon returning a target inventory receptacle from a workstation to the inventory area;
searching at least one free inventory position with the return cost of the target inventory container lower than a preset threshold value from the free inventory positions; wherein the return cost for the target inventory receptacle comprises at least one of: a time-consuming or distance-traveled by the robot to return the target inventory receptacle to the free inventory location, a total time-consuming or distance-traveled by the robot to return the target inventory receptacle to the free inventory location and to a location of a next inventory receptacle in a transfer task and to transfer the next inventory receptacle to a workstation;
selecting one free inventory position from the searched at least one free inventory position as a new storage position of the target inventory container;
controlling the robot to transport the target inventory receptacle to the new storage location.
Of course, it will be understood by those skilled in the art that when one or more programs included in the electronic device are executed by the one or more processors 610, the programs may also perform operations related to the method for adjusting the position of an inventory receptacle provided in any of the embodiments of the present invention.
An embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, is configured to perform a method of adjusting a position of an inventory receptacle, the method comprising:
determining a free inventory location in an inventory area upon returning a target inventory receptacle from a workstation to the inventory area;
searching at least one free inventory position with the return cost of the target inventory container lower than a preset threshold value from the free inventory positions; wherein the return cost for the target inventory receptacle comprises at least one of: a time-consuming or distance-traveled by the robot to return the target inventory receptacle to the free inventory location, a total time-consuming or distance-traveled by the robot to return the target inventory receptacle to the free inventory location and to a location of a next inventory receptacle in a transfer task and to transfer the next inventory receptacle to a workstation;
selecting one free inventory position from the searched at least one free inventory position as a new storage position of the target inventory container;
controlling the robot to transport the target inventory receptacle to the new storage location.
Optionally, the program when executed by the processor may be further configured to perform a method of adjusting a position of an inventory receptacle as provided in any of the embodiments of the invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take a variety of forms, including, but not limited to: an electromagnetic signal, an optical signal, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method of adjusting the position of an inventory receptacle, when returning a target inventory receptacle from a workstation to an inventory area, the method comprising:
determining a free inventory location in the inventory area;
searching at least one free inventory position with the return cost of the target inventory container lower than a preset threshold value from the free inventory positions; wherein the return cost for the target inventory receptacle comprises at least one of: a total elapsed time, a total distance traveled by the robot to return the target inventory receptacle to the free inventory location, a total elapsed time for the robot to return the target inventory receptacle to the free inventory location and to a location of a next inventory receptacle in a transfer task and to transfer the next inventory receptacle to a workstation;
selecting one free inventory position from the searched at least one free inventory position as a new storage position of the target inventory container;
controlling the robot to transport the target inventory receptacle to the new storage location.
2. The method of claim 1,
in a case where the return cost of the target inventory receptacle is a travel distance for the robot to return the target inventory receptacle to the free inventory location, the searching for at least one free inventory location where the return cost of the target inventory receptacle is below a preset threshold value includes:
at least one free inventory location is found that is less than a first preset distance threshold from the current location of the robot.
3. The method of claim 1,
in the event that the return cost of the target inventory receptacle is a total travel distance for the robot to return the target inventory receptacle to the free inventory location and to a location of a next inventory receptacle in the transfer task and to transfer the next inventory receptacle to a workstation, the finding at least one free inventory location for which the return cost of the target inventory receptacle is below a preset threshold comprises:
searching at least one idle inventory position which is less than a second preset distance threshold value from the position of the next inventory container; and/or the presence of a gas in the gas,
and searching at least one idle stock position which is less than a third preset distance threshold value away from the running route in the running route to the position of the next stock container by the robot.
4. The method of claim 1,
in a case that the return cost of the target inventory container is time-consuming for the robot to return the target inventory container to the free inventory location, the searching for at least one free inventory location for which the return cost of the target inventory container is below a preset threshold value includes:
determining a driving road condition and a driving distance when the robot returns the target inventory container to the idle inventory position according to each idle inventory position in the inventory area;
calculating the time consumption required by the robot to return the target inventory container to each idle inventory position respectively according to the driving road condition and the driving distance at least partially;
determining at least one free inventory location for which the elapsed time is less than a first preset time threshold.
5. The method of claim 1,
in the event that the return cost of the target inventory receptacle is the total time taken to return the target inventory receptacle to the free inventory location and to the location of and transport the next inventory receptacle to a workstation in a transport task, the finding at least one free inventory location for which the return cost of the target inventory receptacle is below a preset threshold comprises:
determining a driving road condition and a driving distance when the robot drives to each idle inventory position and returns the target inventory container in a driving route to the position of the next inventory container;
calculating the time consumption of the robot for returning the target inventory container to each idle inventory position in the running route to the position of the next inventory container according to the running road condition and the running distance at least partially;
determining at least one free inventory location for which the elapsed time is less than a second preset time threshold.
6. The method of claim 1, wherein the determining a free inventory location in the inventory region comprises:
and taking the temporary storage position in an idle state and/or the permanent storage position in an idle state deployed in the inventory area as the idle inventory position.
7. An apparatus for adjusting the position of an inventory container, the apparatus comprising:
an idle position determination module for determining an idle inventory position in the inventory area;
the free position searching module is used for searching at least one free inventory position with the return cost of the target inventory container lower than a preset threshold value from the free inventory positions; wherein the return cost for the target inventory receptacle comprises at least one of: a total elapsed time, a total distance traveled by the robot to return the target inventory receptacle to the free inventory location, a total elapsed time for the robot to return the target inventory receptacle to the free inventory location and to a location of a next inventory receptacle in a transfer task and to transfer the next inventory receptacle to a workstation;
the free position selection module is used for selecting one free stock position from the searched at least one free stock position as a new storage position of the target stock container;
and the position adjustment control module is used for controlling the robot to convey the target inventory container to the new storage position.
8. The apparatus of claim 7, wherein the free location finding module, in the event that the return cost of the target inventory receptacle is a travel distance for the robot to return the target inventory receptacle to the free inventory location, comprises:
at least one free inventory location is found that is less than a first preset distance threshold from the current location of the robot.
9. An electronic device, comprising:
one or more processing devices;
storage means for storing one or more programs;
when executed by the one or more processing devices, cause the one or more processing devices to implement the method of position adjustment of an inventory receptacle of any of claims 1-6.
10. A medium on which a computer program is stored, characterized in that the program, when being executed by a processing device, carries out a method of position adjustment of an inventory receptacle as claimed in any one of claims 1 to 6.
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