CN116198902A

CN116198902A - Goods collection and distribution method and related device

Info

Publication number: CN116198902A
Application number: CN202310149736.4A
Authority: CN
Inventors: 刘伟荫
Original assignee: Shenzhen Kubo Software Co Ltd
Current assignee: Shenzhen Kubo Software Co Ltd
Priority date: 2023-02-14
Filing date: 2023-02-14
Publication date: 2023-06-02
Also published as: WO2024169513A1; TW202432439A

Abstract

The embodiment of the application discloses a cargo collecting and distributing method and a related device, wherein the method comprises the following steps: acquiring an order to be processed; determining at least one target first container and a bearing number of target second containers corresponding to each target first container; determining a target butt joint point according to the target first container and the target second container corresponding to the target first container, wherein the target butt joint point is an idle position in a storage sorting area; invoking a first transfer robot to acquire a target first container from a shelf storage area of a storage sorting area, and transporting the target first container from the shelf storage area to a target docking point corresponding to the target first container; and invoking at least one second transfer robot to acquire the target second containers with the bearing number corresponding to the target first containers from the fixed racks of the storage area of the storage sorting area, and transferring the target second containers with the bearing number corresponding to the target first containers. The utility model provides a collection efficiency who is favorable to improving the second container to improve the utilization ratio of feed bin storage space.

Description

Goods collection and distribution method and related device

Technical Field

The application relates to the technical field of data processing, in particular to a cargo collection and distribution method and a related device.

Background

In the related art, when the warehouse system performs cargo collection and distribution, a second container to be delivered is generally taken out from a fixed shelf by a cargo handling robot (i.e. the second container to be delivered is subjected to cargo handling), and then is carried to a delivery position for discharging. The maximum second container quantity that the tally robot can bear once is limited, and if the tally robot quantity on site is less, single tally robot need go back and forth many times to carry out tally and transportation, and efficiency is lower.

Disclosure of Invention

The embodiment of the application provides a cargo collecting and distributing method and a related device, so as to improve the cargo collecting efficiency of a second container.

In a first aspect, an embodiment of the present application provides a cargo collecting and distributing method, applied to a server, where the method includes:

acquiring an order to be processed;

according to the order to be processed, determining at least one target first container and a plurality of target second containers which correspond to the target first containers in number;

determining target docking points corresponding to the target first containers according to the target first containers and the target second containers which bear the number corresponding to the target first containers, wherein the target docking points are idle positions in a storage sorting area, and the idle positions are any positions meeting docking space requirements in the storage sorting area selected by the server;

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

invoking at least one second transfer robot to acquire a number of target second containers corresponding to the target first containers from a fixed shelf of a storage area in the storage sorting area, transferring the number of target second containers corresponding to the target first containers, wherein the fixed shelf stored in the storage area stores a plurality of second containers, and the target second containers are at least one of the plurality of second containers.

In a second aspect, embodiments of the present application provide a cargo collection and delivery device for use with a server, the device comprising:

the acquisition unit is used for acquiring an order to be processed;

the first determining unit is used for determining at least one target first container and a plurality of target second containers corresponding to the target first containers according to the order to be processed;

The second determining unit is used for determining target opposite points corresponding to the target first containers according to the target first containers and the target second containers which are correspondingly loaded with the target first containers, wherein the target opposite points are idle positions in a storage sorting area, and the idle positions are any positions meeting the requirement of an opposite space in the storage sorting area selected by the server;

a first calling unit, configured to call a first transfer robot to obtain the target first container from a shelf storage area in the storage sorting area, and transport the target first container from the shelf storage area to the target docking point corresponding to the target first container, where the shelf storage area stores at least one first container, and the target first container is one of the at least one first container;

the second transferring unit is used for transferring at least one second transfer robot to obtain the target second containers with the bearing number corresponding to the target first containers from the fixed shelves of the storage area in the storage sorting area, transferring the target second containers with the bearing number corresponding to the target first containers, wherein the fixed shelves stored in the storage area store a plurality of second containers, and the target second containers are at least one of the second containers.

In a third aspect, embodiments of the present application provide a server comprising a processor, a memory, a communication interface, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps in the first aspect of embodiments of the present application.

In a fourth aspect, embodiments of the present application provide a computer storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform some or all of the steps as described in the first aspect of the present embodiment.

It can be seen that, in this embodiment, when the server obtains the order to be processed; determining at least one target first container and a plurality of target second containers corresponding to the target first containers according to the order to be processed; then, according to each target first container and target second containers which are correspondingly loaded with a plurality of target first containers, determining target opposite points corresponding to each target first container, wherein the target opposite points are idle positions in a storage sorting area, and the idle positions are any positions meeting the requirement of the abutting space in the storage sorting area selected by the server; the server calls the first transfer robot to acquire a target first container from a goods shelf storage area in the storage sorting area, and conveys the target first container from the goods shelf storage area to a target butt joint point corresponding to the target first container, wherein at least one first container is stored in the goods shelf storage area, and the target first container is one of the at least one first container; and invoking at least one second transfer robot to acquire a number of target second containers corresponding to the target first containers from a storage area in the storage sorting area, and transferring the number of target second containers corresponding to the target first containers, wherein a plurality of second containers are stored in a fixed shelf stored in the storage area, and the target second containers are at least one of the plurality of second containers.

Therefore, in the application, the server can shorten the moving distance of the second transfer robot by transferring the first container of the target to be transferred by the first transfer robot to be in butt joint with the second container of the target transferred by the at least one second transfer robot, so that the efficiency of the second transfer robot in handling and transporting is improved. In addition, the target butt joint point is determined to be the idle position located at any position of the storage sorting area, and any idle position of the storage sorting area can be determined as the target butt joint point according to the requirement of an order to be processed, so that the storage sorting area does not need to be fixed as the target butt joint point in a planned independent area, the storage space utilization rate of the storage sorting area is improved, and the flexibility of selecting the target butt joint point is improved.

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 required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1a is a schematic diagram of a cargo collection and delivery system according to an embodiment of the present application;

FIG. 1b is a schematic diagram of another exemplary cargo distribution system architecture according to an embodiment of the present application;

FIG. 1c is a schematic view of a device location in a cargo collection and delivery system according to an embodiment of the present application;

FIG. 1d is a schematic view of the location of equipment in another cargo distribution system according to an embodiment of the present application;

FIG. 1e is a schematic diagram of a portion of a device in a cargo distribution system according to an embodiment of the present disclosure;

fig. 1f is a schematic structural diagram of an electronic device according to an embodiment of the present application;

FIG. 2 is a flow chart of a method for shipping a cargo collection according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of a cargo collecting and distributing device according to an embodiment of the present application;

fig. 4 is a functional block diagram of a cargo dispenser according to an embodiment of the present application.

Detailed Description

In order to make the present application solution better understood by those skilled in the art, the following description will clearly and completely describe the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

The terms first, second and the like in the description and in the claims of the present application and in the above-described figures, are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

Embodiments of the present application are described below with reference to the accompanying drawings.

Referring to fig. 1a and 1b, fig. 1a and 1b are two exemplary architecture diagrams of a cargo collecting and dispensing system according to an embodiment of the present application. As shown in fig. 1a, the cargo distribution system may specifically include a server 100, a first transfer robot 200, and a second transfer robot 300. As shown in fig. 1b, the cargo distribution system may specifically include a server 100, a first transfer robot 200, and a plurality of second transfer robots (i.e., a second transfer robot 301, second transfer robots 302, …, and a second transfer robot 30 n). The server may control the motion of the first transfer robot, for example, control the first transfer robot to move to a specific location (e.g., a specific first container storing a sorting area, a specific target docking point storing a sorting area, etc.), control the second transfer robot to acquire a second container filled with a material from a specific fixed shelf, control the second transfer robot to move to a specific location (e.g., a specific fixed shelf storing a sorting area, a specific target docking point storing a sorting area), control the second transfer robot to acquire a second container from a specific fixed shelf, control the second transfer robot to transport a specific second container to a specific docking position, control the second transfer robot to transfer a specific second container to a specific first container located at a specific docking position, etc., and the first transfer robot and the second transfer robot may perform corresponding operations according to the control of the server.

Specifically, the server may be in communication connection with the transfer robots (i.e., the first transfer robot and the second transfer robot), and the manner in which the server controls the transfer robots may specifically be to send a control instruction to the transfer robots, where the control instruction is used to instruct the transfer robots to perform an operation, and after the transfer robots receive the control instruction, the transfer robots may implement a corresponding operation according to the control instruction. In addition, the handling robot may send a notification to the server after performing a certain operation according to the control of the server each time to notify the server that the operation has been performed, so that the server can control the handling robot to perform other operations again.

In particular, when the server obtains the order to be processed, at least one target first container and a target second container with the number corresponding to each target first container are determined according to the order to be processed, and target docking points corresponding to each target first container are determined according to each target first container and the target second container with the number corresponding to each target first container, wherein the target docking points are any one position in a storage sorting area determined according to the order to be processed, and the storage sorting area is the operation area for executing the carrying task. And then the server can control the first transfer robot to acquire the target first container from the shelf storage area in the storage sorting area, and after the first transfer robot acquires the target first container according to the control of the server, the server can control the first transfer robot to transport the target first container from the shelf storage area to the target docking point corresponding to the target first container. The server can also control the second transfer robot to acquire the target second containers with the bearing quantity corresponding to the target first containers from the storage area in the storage sorting area, and after the second transfer robot acquires the target second containers according to the control of the server, the server can control the second transfer robot to transport the target second containers to the target opposite points and transfer the target second containers to the first containers, so that the cargo collecting operation aiming at the orders to be processed is realized.

Because the server can determine any position meeting the preset condition in the storage sorting area as the target docking point according to the order to be processed, the preset condition is a position meeting the space requirement of placing the target first container and meeting the space requirement of docking the first transfer robot and the second transfer robot. Further, in order to avoid interfering with the processing of other orders, causing traffic jams, the selected location may also be out of the way of the other mobile device. Therefore, the storage sorting area in the method does not need to plan a separate area to serve as a target butt joint point, so that the storage occupied area of the storage sorting area is reduced, and the storage space utilization rate of the storage sorting area is improved. And, do not set up fixed point position as the butt joint position that is used for second transfer robot and first container butt joint, still do benefit to the flexibility that improves the target butt joint point and select.

Referring to fig. 1f, the composition of any one of the electronic devices (e.g., the server 100, the first transfer robot 200, the second transfer robot 300, the second transfer robot 301, the second transfer robots 302, …, the second transfer robot 30 n) in the present application may be as shown in fig. 1f, and the electronic device may include a processor 110, a memory 120, a communication interface 130, and one or more programs 121, wherein the one or more programs 121 are stored in the memory 120 and configured to be executed by the processor 110, and the one or more programs 121 include instructions for performing any of the steps of the method embodiments described above. Wherein the communication interface 130 is used to support communication between the electronic device and other devices. In particular implementations, the processor 110 is configured to perform any of the steps performed by the electronic device in the method embodiments described below, and when performing data transmission such as sending, optionally invoke the communication interface 130 to perform the corresponding operations. It should be noted that the above schematic structural diagram of the electronic device is merely an example, and more or fewer devices may be specifically included, which is not limited only herein.

Referring to fig. 2, fig. 2 is a flow chart of a cargo collecting and delivering method according to an embodiment of the present application, where the method may be applied to a server in a cargo collecting and delivering system as shown in fig. 1a or fig. 1b, where the server is provided with a service module and a scheduling module. As shown in fig. 2, the cargo collecting and distributing method includes:

step S210, obtaining a pending order.

The order to be processed comprises material attribute information of materials carried by the second containers to be delivered, the number of the second containers to be delivered, delivery time, specific line side stations to be delivered and the like. The content of the pending order is sent by the operator to the server via the terminal device according to the production line requirements of the production area. The terminal equipment is a mobile phone, a tablet, a notebook computer, a wearable device and the like.

In a specific implementation, the server receives a pending order from a terminal device used by an operator through a service module.

Step S220, determining at least one target first container and a plurality of target second containers corresponding to the target first containers according to the order to be processed.

Wherein the first container may be a movable shelf, tray, or the like, that may be used to carry the second container. The second container may be a bin, carton, or the like for carrying material.

Wherein the number of the first containers for carrying the second containers at a maximum of one time is at least one. When the maximum single bearing number of the first containers is one, the target second containers with the bearing number corresponding to the target first containers are one. When the number of the single maximum bearing of the first containers is multiple, at least one target second container with the number corresponding to each target first container is provided, and the number of the target second containers with the number corresponding to each target first container is smaller than the number of the single maximum bearing of the first containers. For example, when the first container has a maximum number of 4 at a time, the number of target second containers carried with the first container may be 1, 2, 3, or 4.

In a specific implementation, a server obtains the maximum bearing number of a first container and the total number of second containers to be taken out of a warehouse corresponding to an order to be processed through a service module, so that order processing tasks of the second containers to be taken out of the warehouse corresponding to the order to be processed (namely, the total number) are decomposed into a plurality of subtasks, and each subtask is used for representing the number of target second containers which are carried by a single target first container once aiming at the order to be processed. And then the service module of the server allocates corresponding target first containers and target second containers to each subtask. Wherein, if each subtask can be respectively allocated to a target first container; alternatively, if each sub-task can be assigned to the same target first container; still alternatively, at least some of the individual subtasks may be assigned to the same target first container.

Specifically, the service module of the server can preferentially allocate each subtask to one target first container respectively, so that simultaneous batch transportation of a plurality of target second containers corresponding to the to-be-processed order is realized, and the ex-warehouse efficiency of the to-be-ex-warehouse second containers corresponding to the to-be-processed order is improved. When the number of first containers free in the sorting area and the total number of subtasks corresponding to the order to be processed are stored, at least part of each subtask can be distributed to the same target first container, so that timely transportation is realized while the transportation efficiency is ensured. Of course, if the number of first containers that are free in the storage sorting area is one, each sub-task may be assigned to the same target first container. Thus, the flexibility of sub-task allocation implementation can be improved through the mode.

For example, if the total number of second containers to be taken out of the warehouse corresponding to the order to be processed is 10, and the loadable number of the single first container is 3, the order processing task corresponding to the order to be processed may be decomposed into at least 4 subtasks. Taking 4 subtasks as an example, a first container of 3 subtasks needs to bear 3 second containers at a time, and a first container of another subtask needs to bear 1 second container at a time. At this time, if each subtask can respectively correspond to one target first container, the number of target first containers is 4, wherein the number of target second containers borne by three corresponding carriers is 3, and the number of target second containers borne by another corresponding carrier is 1. Or if the first container with the empty storage picking area is only three, at least part of each subtask is allocated to the same target first container, namely three of the 4 subtasks can be allocated to one first container correspondingly, and the other subtask can be allocated to any one of the three first containers, at this time, in the process of completing the transportation of the second container to be delivered, one of the three first containers needs to complete the transportation twice. Or if only one first container is idle in the storage picking area, each subtask can be distributed to the same target first container, namely 4 subtasks are distributed to the same target first container, and the target first container is used for completing the transportation of the second container to be delivered in batches corresponding to each subtask.

Step S230, determining target docking points corresponding to the target first containers according to the target first containers and the target second containers corresponding to the target first containers, where the target docking points are idle positions in a storage sorting area, and the idle positions are any positions in the storage sorting area selected by the server, where the docking space requirement is met.

The docking space requirement refers to a space requirement for placing the first container, and a space requirement for docking the first transfer robot and the second transfer robot. That is, the idle position refers to a position where a space that satisfies a space requirement for the target first container to be placed and a space requirement for the first transfer robot and the second transfer robot to perform docking is located. In a specific implementation, the idle position may be a position on the movement route of other movable devices (i.e. equipment other than the one used for processing the order to be processed, such as a first transfer robot other than the one used for transferring the target first container and a second transfer robot other than the one used for transferring the target second container, etc.) not in the sorting area, so as to avoid interfering with the processing of other orders, causing traffic jam. The target docking point is one of all the free positions of the storage picking zone.

The storage sorting area is an area for storing the second containers and for collecting the target second containers for the order to be processed.

Specifically, the server may place individual sub-orders for the pending order to the scheduling module via the business module. The server then determines, via the dispatch module, target docking points corresponding to each target first container.

In a specific implementation, all the target first containers can respectively correspond to one target butt joint point, so that all the target first containers can collect goods at the same time, and the goods collection efficiency is improved. When there are insufficient free locations in the storage pick zone, at least some of all of the target first receptacles may correspond to one and the same target docking location. When the first containers of different targets correspond to the same target docking position, the server may call the first transfer robot to transfer each first container of the targets to the target docking position in order to ensure that each subtask can be sequentially performed while not interfering with the operation of other movable devices when executing step S240.

In one possible example, the idle location is a location that is not currently reserved. In this example, the free location may also be a location that is not reserved by other removable devices while meeting the docking space requirements. Therefore, when the current order to be processed is executed, the execution of other orders is not required to be waited, and the execution of other orders is not interfered, so that the order to be processed can be directly executed, and the processing efficiency of the order to be processed is improved.

In one possible example, the idle location is a location where the historical reservation frequency is below a preset threshold. In this example, the spatial location may also be a location where the historical reservation frequency is below a preset threshold while meeting the docking space requirement. Thus, the possibility of collision of the target docking point with other order tasks can be reduced, and the processing efficiency of the pending orders is improved. And the idle position is determined to be the position with the history reservation frequency lower than the preset threshold value, so that the utilization rate of each space in the storage sorting area can be improved, and idle space waste is avoided.

Step S240, invoking a first transfer robot to acquire the target first container from the shelf storage area in the storage sorting area, and transporting the target first container from the shelf storage area to the target docking point corresponding to the target first container.

Wherein the shelf storage area stores a plurality of first containers, the target first container being one of the at least one first container.

In a specific implementation, after a service module of a server issues each subtask to a scheduling module, the scheduling module of the server issues an instruction for carrying a target first container to a first carrying robot, and then the first carrying robot obtains the target first container from a shelf storage area in a storage sorting area according to the instruction sent by the scheduling module and transports the target first container from the shelf storage area to a target opposite point corresponding to the target first container.

Step S250, invoking at least one second transfer robot to acquire a number of target second containers corresponding to the target first containers from the fixed racks of the storage area in the storage sorting area, and transferring the number of target second containers corresponding to the target first containers.

The fixed goods shelf stored in the storage area stores a plurality of second containers, and the target second container is at least one of the second containers.

In a specific implementation, after a service module of a server issues each subtask to a scheduling module, the scheduling module of the server issues an instruction for carrying a target second container to at least one second carrying robot, and then the at least one second carrying robot obtains a target first container from a storage area in a storage sorting area according to the instruction sent by the scheduling module, and transports the target first container from a shelf storage area to a target butt joint point corresponding to the target first container.

In one possible example, when at least two transfer robots are invoked, the transferring the target second containers, which correspond to the target first containers and bear a number of the target second containers, onto the target first containers includes: at the target docking point, at least two second transfer robots are simultaneously docked with the target first container on the same side or different sides of the target first container. In this example, by calling a plurality of second transfer robots to transfer the target second containers, the completion efficiency of the order to be processed can be improved. In addition, when the plurality of second transfer robots dock with the target first container on the same side of the target first container, the space position required for the docking space requirement can be reduced, so that the possibility of target docking selection can be increased. When the plurality of second transfer robots are docked with the target first container at different sides of the target first container, the efficiency of the completion of the docking of all the second transfer robots with the target first container can be improved.

It can be seen that, in this embodiment, when the server obtains the order to be processed; determining at least one target first container and a plurality of target second containers corresponding to the target first containers according to the order to be processed; then, according to each target first container and target second containers which are correspondingly loaded with a plurality of target first containers, determining target opposite points corresponding to each target first container, wherein the target opposite points are idle positions in a storage sorting area, and the idle positions are located at any positions in the storage sorting area; the server calls the first transfer robot to acquire a target first container from a goods shelf storage area in the storage sorting area, and conveys the target first container from the goods shelf storage area to a target butt joint point corresponding to the target first container, wherein at least one first container is stored in the goods shelf storage area, and the target first container is one of the at least one first container; and invoking at least one second transfer robot to acquire a number of target second containers corresponding to the target first containers from a storage area in the storage sorting area, transferring the number of target second containers corresponding to the target first containers, wherein a plurality of second containers are stored in a fixed shelf stored in the storage area, and the target second containers are at least one of the plurality of second containers.

Therefore, in the application, the server can shorten the moving distance of the second transfer robot by transferring the first container of the target to be transferred by the first transfer robot to be in butt joint with the second container of the target transferred by the at least one second transfer robot, so that the efficiency of the second transfer robot in handling and transporting is improved. In addition, the target butt joint point is determined to be the idle position located at any position of the storage sorting area, and any idle position of the storage sorting area can be determined as the target butt joint point according to the requirement of an order to be processed, so that the storage sorting area does not need to be fixed as the target butt joint point in a planned independent area, the storage space utilization rate of the storage sorting area is improved, and the flexibility of selecting the target butt joint point is improved. Meanwhile, the passable space of the first transfer robot and the second transfer robot can be improved, so that the server can design more passable paths for the first transfer robot and the second transfer robot, and further the cargo collecting and distributing efficiency is improved through path selection.

In addition, by setting the service module and the scheduling module to cooperatively schedule the second container for goods collection and delivery, the service work (such as the work of determining the target first container, the target second container and the like according to the to-be-processed order) and the scheduling work (such as the work of calling the first transfer robot to transfer the target first container and the work of calling the second transfer robot to transfer the target second container) for another order can be simultaneously performed, thereby being beneficial to improving the processing efficiency of the server for the to-be-processed order.

In addition, when the number of the second transfer robots is plural, the order completion efficiency can be improved by transferring the target second containers by the plural second transfer robots.

In one possible example, the determining, according to each of the target first containers and the target second containers corresponding to each of the target first containers and carrying a number of the target second containers, a target docking point corresponding to each of the target first containers includes: acquiring a first idle point position of the storage sorting area; when the first idle points are multiple, determining a cargo collecting route of each first idle point for the target first container and the target second containers with the number corresponding to the target first container, wherein the cargo collecting route refers to the sum of a route of the first transfer robot transferring the target first container from a shelf storage area to the first idle point and a route of the second transfer robot transferring the target second containers with the number corresponding to the target first container; and comparing the cargo collecting routes of the first idle points, and determining the first idle point corresponding to the cargo collecting route with the shortest distance as a target butt point corresponding to the target first container.

The first idle point location refers to storing an idle position in the sorting area when the pending order is received.

In a specific implementation, if one first idle point exists, the first idle point is used as a target butt joint point corresponding to a target first container. At this time, if there are multiple target first containers, the server may call the first transfer robot to transfer each target first container to the target docking point in sequence, and then call the second transfer robot to place the target second container on the target first container located at the target docking point. If there are multiple first idle points, the server may first obtain all the first idle points, then generate a cargo collecting route for each first idle point according to the target first container and the target second container corresponding to the target first container, and obtain distances of the cargo collecting routes for each first idle point. And then the server compares the distance of the goods collecting route of each first idle point position, and determines the first idle point position corresponding to the goods collecting route with the shortest distance as the target moving point position.

Specifically, when there are a plurality of first idle points, the server may compare the number of first idle points with the number of target first containers in generating a cargo collecting route for each first idle point according to the target first containers and the target second containers corresponding to the first idle points, and perform the foregoing steps for each target first container respectively, so as to match corresponding first idle points for each target first container in turn. If the number of the first idle points is larger than the number of the target first containers, the number of the first idle points matched with the target first containers matched later is equal to the difference between the number of all the first idle points and the number of the first idle points matched with other target first containers. Therefore, all target first containers can be ensured to be synchronously moved and transported, and the carrying efficiency is improved. If the number of the first idle points is smaller than that of the target first containers, the number of the first idle points matched with the target first containers matched later is equal to that of all the first idle points, and at least part of target butt joint points corresponding to the target first containers are the same.

It can be seen that, in this example, when there are a plurality of first idle points, by using the first idle point with the shortest pickup route as the target docking point for the target first container, it is advantageous to improve the efficiency of transporting the target second containers, which carry the number of target second containers corresponding to the target first container, to the target first container.

In one possible example, after the invoking the at least one second transfer robot obtains the number of the target second containers corresponding to the target first containers from the fixed racks of the storage area in the storage sorting area, and transfers the number of the target second containers corresponding to the target first containers onto the target first containers, the invoking includes: when detecting that the target second containers which correspond to the target first containers in bearing quantity are conveyed to the target first containers, judging whether the distribution condition of the target first containers is met; if yes, the first transfer robot is called to transfer the target first container from the target docking point to a target delivery point, and the target delivery point is located outside the storage sorting area; and if not, calling the first transfer robot to transfer the target first container from the target docking point to a warehouse-out waiting position, wherein the warehouse-out waiting position is positioned in the storage sorting area.

The server needs to call the first transfer robot to transfer the destination to which the target first container arrives after the target second containers, the number of which corresponds to the number of the target first containers, are transferred to the target first container by at least one second transfer robot. Wherein the target delivery point is located outside the storage sorting area, and the delivery waiting position is located in the storage sorting area.

The distribution condition is the delivery time of the order to be processed. And judging whether the delivery condition of the target first container is reached or not, namely judging whether the delivery time of the to-be-processed order corresponding to the target first container is reached or not.

In a specific implementation, when detecting that the target second containers corresponding to the target first containers bear a plurality of targets and are all transported to the target first containers, the server can determine whether the order to be processed is a real-time order, that is, the order to be processed starts to be distributed after the collection is completed. If yes, the server directly calls the first transfer robot to transport the target automatic goods shelf from the target docking point to the target delivery point. If not, the server transfers the target first container from the target docking point to the delivery waiting position by calling the first transfer robot, and then transfers the target first container from the delivery waiting position to the target delivery point by calling the first transfer robot when the delivery time of the order to be processed is reached. Particularly, when the order to be processed is not a real-time order, but the server detects that the number of target second containers corresponding to the target first containers are all transported to the target first containers, and the time reaches the delivery time of the order to be processed, the server can also directly call the first transfer robot to transport the target automatic goods shelf from the target docking point to the target delivery point.

When the server detects that the target second containers which correspond to the target first containers in number are all carried to the target first containers, the server can bind the target first containers with the target second containers carried by the target first containers, and correspondingly generate order numbers. When the subsequent server calls the first transfer robot to transfer the target first container to be delivered, the position of the target first container can be queried through the order number, and the subsequent transfer delivery action is executed.

Therefore, in this example, when the delivery condition of the target first container is reached, the server transfers the target first container to the target delivery point by calling the first transfer robot, so that the target first container can be transferred in a transregional manner, a docking position is not required to be set between the regions, the target first container is discharged in the docking position, the space occupation area can be reduced, the delivery and transfer efficiency of materials is improved, and timely meeting of the production requirements of the production line is facilitated.

In one possible example, the working area of the first transfer robot includes the storage culling area and a production area, and the target ex-warehouse location is located in the production area.

Wherein the production area is an area for producing products by utilizing materials.

Referring to fig. 1c, the work area of the first transfer robot comprises a storage picking area and a production area, wherein the storage picking area comprises a storage area and a shelf storage area for storing empty first containers. The storage area is used for storing the second container. The storage area is provided with a plurality of fixed goods shelves, can deposit a plurality of second containers on every fixed goods shelves. The production area comprises at least one production line, and each production line is provided with at least one line edge station. That is, as in fig. 1c, the line side station 1, the line side station 2, the line side stations 3, …, and the line side station n may be a plurality of line side stations on the same production line, or may be line side stations on different production lines, which is not limited herein.

In a specific implementation, when the server detects that the delivery condition of the target first container is met, the first transfer robot may be invoked to directly transfer the target first container to the production area. Specifically, the line side station can be provided with a material rack for bearing the second containers, and at the moment, the target second containers borne on the same target first container can correspond to different material attribute information, so that the flexibility of material distribution is improved. Alternatively, the wire edge station may not be provided with a material rack. At this time, after the first transfer robot transfers the target first container to the corresponding line-edge station, the target first container may be placed in the line-edge station to perform the subsequent processing operation. So, not only can reduce the expense that the line limit station set up the work or material rest, and reduced the step that the second container was carried to the work or material rest from the first container of target for the production line material loading is more convenient, rapid, has still guaranteed in addition that the whole unmanned worker of collection goods delivery participated in, has realized promptly from the storage to the delivery to the line of falling to the ground completely unmanned, and has still improved storage management and material transportation's intelligence.

It can be seen that, in this example, when the delivery condition of the target first container is reached, the server directly transports the target first container to the production line by calling the first transfer robot, thereby realizing the transportation of goods across regions, reducing the storage space for transportation, and improving the delivery efficiency of materials.

In one possible example, the working area of the first transfer robot includes the storage sorting area and the loading area, and the target delivery point is located in the loading area.

The loading area is an area where the skip is located, the skip can assemble a plurality of second containers, and the assembled second containers are uniformly distributed to the production area.

Referring to fig. 1d, the work area of the first transfer robot includes a storage picking area, a loading area, and a production area. Wherein, the loading area is equipped with the skip that is used for transporting the second container. The loading area is located between the storage sorting area and the production area. When the second container needs to be taken out of the warehouse. The server can call the first transfer robot to transfer the target first container to the loading area so that the second container is uniformly transferred to the line-side station of the production line through the target first container.

In the specific implementation, the maximum bearing capacity of the skip is larger than that of the target first containers, and the skip can simultaneously transport a plurality of target first containers corresponding to the target second containers to a line-side station of a production line in a single mode. Specifically, when transferring the second container to the skip car, the third transfer robot in the loading area can take the second container out of the target first container and then put the second container on the skip car, so that the number of configurations required by the target first container is reduced, and the cost is reduced. Or when the second container is transferred to the skip car, the whole target first container and the target second container carried by the whole target first container can be transferred to the skip car together, so that the transfer efficiency is improved.

It can be seen that, in this example, when the delivery condition of the target first container is reached, the server transfers the target first container to the loading area by calling the first transfer robot, and then transfers the second container corresponding to the target first container to the line-side station of the production line by the skip car of the loading area, so that the number of single transfers can be increased, thereby reducing the number of transfers and reducing the energy consumption.

In one possible example, before the invoking the first transfer robot to transfer the target first container from the target docking point to the out-of-stock waiting position, the method further comprises: acquiring the delivery time of the target first container according to the order to be processed; acquiring a second idle point position of the storage sorting area; when the second idle point positions are multiple, determining the delivery distance between each second idle point position and the target delivery point; and determining the waiting position for delivery according to the delivery time and the delivery distance of each second idle point, wherein the waiting position for delivery is one of a plurality of second idle points.

The second idle point location is a location in the storage sorting area which is not reserved or occupied by other movable devices when the server detects that the number of target second containers corresponding to the target first containers are carried to the target first containers. To avoid interfering with other order executions, the second free point may also be a location within the storage picking area that is not on the other mobile device's mobile route.

In particular implementations, the storage picking area may simultaneously process at least one task of pending orders. When storing the task of only one pending order currently in the picking area, the server may compare the outbound distance corresponding to each second idle point, and determine the second idle point with the shortest distance as the outbound waiting position. When the tasks of jointly processing the plurality of to-be-processed orders in the sorting area are stored, the server can compare the ex-warehouse time of each to-be-processed order, and determine the second idle point position with the closer ex-warehouse distance as the ex-warehouse waiting position corresponding to the target first container with the earlier ex-warehouse time, so that the ex-warehouse efficiency is further improved.

Specifically, determining the delivery waiting position according to the delivery time and the delivery distance of each second idle point location includes: and determining a preselected position according to the ex-warehouse time and the ex-warehouse distance of each second idle point, acquiring the ex-warehouse distance between the target docking position and the target ex-warehouse point, comparing the ex-warehouse distance corresponding to the preselected position with the ex-warehouse distance corresponding to the target docking position, and taking the position with the shorter ex-warehouse distance as the ex-warehouse waiting position. Therefore, if the ex-warehouse distance of the current rest idle positions is greater than the ex-warehouse distance of the target opposite points corresponding to the target first container, the server can directly take the target opposite points as the ex-warehouse waiting positions without calling the first transfer robot to move the target first container, so that the ex-warehouse efficiency is ensured to be higher.

In practical application, the server can monitor the second idle point location in real time and update the waiting position for delivery, so that the target first container can be delivered quickly when delivery time is reached.

In this example, when the target first container is not in real-time delivery, the server obtains the second idle point location, and matches the delivery waiting position of the proper delivery distance according to the delivery time of the target first container, so that delivery efficiency can be improved while ordered delivery of all the target first containers corresponding to the order to be processed is ensured.

In one possible example, the storage area is provided with a plurality of fixed shelves having a first receiving space for storing a second container and a second receiving space for storing the first container; the idle position is at least one of a second accommodation space of the fixed shelf and other positions of the storage sorting area where the fixed shelf is not disposed.

Referring to fig. 1c and 1d, other locations of the storage picking area where the fixed shelf is not located may be located in aisles of the storage area, between the storage area and the shelf storage area, or the shelf storage area, etc., without further limitation.

Referring to fig. 1e, the fixed shelf 50 includes a first receiving space 50a for carrying the second container 60, and a second receiving space 50b for storing the first container 40. Wherein a space for accommodating the first transfer robot 200 is left at the bottom of the first container 40, and the first transfer robot 200 can lift or lower the first container 40 from the bottom of the first container 40.

It can be seen that, in this example, providing the second accommodation space accommodating the target first container at the bottom of the fixed shelf can improve space utilization. Meanwhile, in the example, the server can flexibly select the second accommodating space or other idle positions of the fixed shelf as the target docking point or the waiting position for leaving, so that the space utilization rate can be improved, and the traffic space of other mobile equipment can be increased. In addition, the diversity of idle positions which can be determined as target docking points or waiting positions for leaving can be improved, so that the position waiting time is reduced, and the efficiency is higher.

In one possible example, before the invoking the first transfer robot to transfer the target first container from the target docking point to a target delivery point, the method further comprises: acquiring adjustment information for the order to be processed; invoking at least one second transfer robot to transfer a plurality of second containers corresponding to the adjustment information from a fixed shelf of the storage area to the target first container according to the adjustment information; or, according to the adjustment information, invoking at least one second transfer robot to transfer the target second containers with the number corresponding to the adjustment information from the target first containers to the fixed shelves of the storage area.

The content of the adjustment information is sent to the server by the operator according to the conditions of production line scheduling adjustment, warehouse delivery plan adjustment and the like through the terminal equipment. The adjustment information is an adjustment requirement for the second container ex-warehouse quantity of the order to be processed. The content of the adjustment information may be: adding a certain number of second containers to be delivered on the basis of the number of second containers to be delivered corresponding to the existing order to be processed; or reducing a certain number of second containers to be delivered on the basis of the number of second containers to be delivered corresponding to the existing order to be processed. When a certain number of second containers to be delivered are reduced, the reduced number is smaller than or equal to the number of the second containers to be delivered corresponding to the existing order to be processed.

In a specific implementation, after receiving the adjustment information for the order to be processed, if the content of the adjustment information is a certain number of second containers to be processed and stored on the basis of the number of second containers to be stored corresponding to the existing order to be processed, the server adds a certain number of second containers to be stored and stored. The server may process the adjustment information as a new pending order. Specifically, the server may redetermine at least one target first container and a number of target second containers corresponding to the respective target first containers according to the adjustment information, and then execute the above steps S230 to S250, so as to implement the handling of the number of target second containers corresponding to the adjustment information from the storage area to the target first containers. In particular, in the case that there is an underfill of the target first container corresponding to the existing pending order, the target first container may be used as the target first container determined according to the adjustment information.

Or in a specific implementation, after receiving the adjustment information for the order to be processed, if the content of the adjustment information is a certain number of second containers to be processed and delivered based on the number of second containers to be delivered corresponding to the existing order to be processed, the server reduces the number of second containers to be delivered. The server can determine an adjustment butt joint point according to the first container to be adjusted and the position of a fixed goods shelf corresponding to the first container to be adjusted, then call the first transfer robot to transfer the first container to be adjusted to the adjustment butt joint point, and call at least one second transfer robot to move to the adjustment butt joint point, so that the at least one second transfer robot can acquire the second container to be adjusted from the first container to be adjusted, transfer the second containers to be adjusted to the fixed goods shelf corresponding to the first container to be adjusted, and further transfer a plurality of target second containers corresponding to adjustment information from the target first container to a storage area by the at least one second transfer robot. The first container to be adjusted is a target first container corresponding to the order to be processed. The second container to be adjusted is the target second container. The fixed shelf corresponding to the first container to be adjusted is a fixed shelf for placing the second container to be adjusted. The adjusting docking point is used for docking the first transfer robot and the second transfer robot to transfer the position of the second container to be adjusted, and the specific determination manner of the adjusting docking point can refer to the target docking point, which is not further described herein.

It can be seen that, in this example, the operator can send adjustment information to the server according to actual requirements, so that the server invokes the first transfer robot and at least one second transfer robot to coordinate and adjust the number of second containers to be taken out of the warehouse, which is beneficial to meeting actual production requirements.

In one possible example, after the invoking the first transfer robot to transfer the target first container from the target docking point to a target delivery point, further comprises: acquiring material returning information aiming at the order to be processed; determining a material returning opposite point according to the material returning information, wherein the material returning opposite point is an idle position in a storage sorting area; transferring the target first container from the target delivery point to a material returning butt point by calling the first transfer robot; after detecting that the target first container reaches the material returning butt point, invoking at least one second transfer robot to transfer all the target second containers on the target first container to a fixed shelf of the material storage area; and after all the target second containers on the target first container are detected to be removed, the first transfer robot is called to transfer the target first container to the goods shelf storage area.

The content of the material returning information is sent to the server through the terminal equipment according to the condition that the operator adjusts the production line scheduling plan.

Referring to fig. 1c, if the operator adjusts according to the actual scheduling plan to send the material returning information for the order to be processed to the server, the server may determine the material returning alignment point according to the first container to be returned located at the line station and the position of the fixed shelf corresponding to the first container to be returned located at the storage sorting area, then call the first handling robot to obtain the first container to be returned from the line station, and transport the first container to be returned to the material returning alignment point, and the server may call at least one second handling robot to move to the material returning alignment point, thereby obtaining the second container to be returned on the first container to be returned, and then transport the second container to be returned to the fixed shelf corresponding to the first container to be returned, thereby implementing the material returning operation for the material returning information. The first container to be returned is a target first container corresponding to the order to be processed. The second container to be returned is the target second container. The fixed goods shelf corresponding to the first container to be returned is used for placing the second container to be returned. The material returning butt joint is a position for butt-joint transfer of the second container to be returned by the first transfer robot and the second transfer robot, and a specific determination manner of the material returning butt joint can refer to the target butt joint and will not be further described herein.

Referring to fig. 1d, if the operator sends the material returning information for the order to be processed to the server according to the actual scheduling adjustment, the server may send a skip to transfer the second container to be returned located at the line station to the loading area, determine the material returning docking point according to the first container to be returned located at the loading area and the corresponding position of the fixed shelf located at the storage sorting area, then call the first handling robot loading area to obtain the first container to be returned, and transfer the first container to be returned to the material returning docking point, and the server may further call at least one second handling robot to move to the material returning docking point, thereby obtaining the second container to be returned on the first container to be returned, and then transfer the second container to be returned to the fixed shelf corresponding to the first container to be returned, thereby realizing the material returning operation for the material returning information.

It can be seen that, in this example, the operator may send the material returning information to the server according to the actual requirement, so that the server invokes the first transfer robot to cooperate with the at least one second transfer robot to transfer the target second container located on the target first container in the production area back to the fixed shelf, which is beneficial to meeting the actual production requirement.

In one possible example, the invoking at least one of the second transfer robots to retrieve the target second container from a fixed shelf of a storage area in the storage sort zone and transfer the target second container onto the target first container includes: invoking at least one second transfer robot to acquire the target second container from a fixed shelf of a storage area in the storage sorting area; invoking at least one second transfer robot to transport the target second container from the storage area to a target docking station; and when the first transfer robot is detected to transport the target first container to a target butt joint point, at least one second transfer robot is called to place the target second container in the target first container.

In a specific implementation, the server may first call the first transfer robot to obtain the target first container from the storage area of the shelf, transfer the target first container to the target docking point, then call at least one second transfer robot to obtain the target second container from the storage area, transfer the target second container from the storage area to the target docking point, and finally call at least one second transfer robot to transfer the target second container to the target first container, thereby completing docking transfer of the target second container.

Or in a specific implementation, the server may call the first transfer robot to obtain the target first container from the shelf storage area, transfer the target first container to the target docking point, call the at least one second transfer robot to obtain the target second container from the storage area, transfer the target second container from the storage area to the target docking point, and then transfer the target second container to the target first container after the target first container reaches the target docking point. The transfer efficiency can be improved by calling the first transfer robot and the second transfer robot to work simultaneously.

Specifically, when the server calls the first transfer robot and the second transfer robot to work simultaneously, the server may call the first transfer robot and the second transfer robot simultaneously; or, the server may invoke the second transfer robot during the operation of the first transfer robot; alternatively still, the server may invoke the first transfer robot during operation of the second transfer robot. The specific sequence of the server for calling the first transfer robot and the second transfer robot can be determined according to the working time of the first transfer robot for acquiring and transporting the target first container and the working time of the second transfer robot for acquiring and transporting the target second container, so that the first transfer robot and the second transfer robot can reach the target butt joint point at the same time, the transfer efficiency is improved, and meanwhile, all the first transfer robots and the second transfer robots in the storage sorting area are flexibly called, and other task execution is avoided.

It can be seen that, in this example, the server may ensure that the target second container can be successfully docked and transferred by transferring the target second container to the target first container by invoking at least one second transfer robot after detecting that the first transfer robot transfers the target first container to the target docking point, thereby completing the cargo collecting task for the order to be processed.

The present application may divide functional units of a server according to the above method example, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated in one processing unit. The integrated units may be implemented in hardware or in software functional units. It should be noted that, in the embodiment of the present application, the division of the units is schematic, which is merely a logic function division, and other division manners may be implemented in actual practice.

FIG. 3 is a schematic view of a cargo collecting and distributing device according to an embodiment of the present application; the cargo dispenser 70 may be used in a server 100 in a cargo dispenser system as shown in fig. 1a or 1b, the cargo dispenser 70 comprising:

An acquiring unit 710, configured to acquire an order to be processed;

a first determining unit 720, configured to determine, according to the order to be processed, at least one target first container and a number of target second containers corresponding to the target first containers;

a second determining unit 730, configured to determine, according to each target first container and the target second containers corresponding to each target first container and carrying a number of target second containers, a target docking point corresponding to each target first container, where the target docking point is an idle position in a storage sorting area, and the idle position is an arbitrary position in the storage sorting area selected by the server, where a docking space requirement is met;

a first invoking unit 740 configured to invoke a first transfer robot to acquire the target first container from a shelf storage area in the storage sorting area, and to transport the target first container from the shelf storage area to the target docking point corresponding to the target first container, where the shelf storage area stores at least one first container, and the target first container is one of the at least one first container;

The second transferring unit 750 is configured to transfer at least one second transfer robot to obtain, from a fixed shelf in a storage area in the storage sorting area, a number of target second containers corresponding to the number of target first containers, and transfer the number of target second containers corresponding to the number of target first containers, where the fixed shelf in the storage area stores a plurality of second containers, and the target second container is at least one of the plurality of second containers.

In one possible example, in the aspect of determining the target docking point corresponding to each of the target first containers according to each of the target first containers and the target second containers bearing a number corresponding to each of the target first containers, the second determining unit is specifically configured to: acquiring a first idle point position of the storage sorting area; when the first idle points are multiple, determining a cargo collecting route of each first idle point for the target first container and the target second containers with the number corresponding to the target first container, wherein the cargo collecting route refers to the sum of a route of the first transfer robot transferring the target first container from a shelf storage area to the first idle point and a route of the second transfer robot transferring the target second containers with the number corresponding to the target first container; and comparing the cargo collecting routes of the first idle points, and determining the first idle point corresponding to the cargo collecting route with the shortest distance as a target butt point corresponding to the target first container.

In one possible example, the apparatus further comprises a delivery unit, in particular for: after the at least one second transfer robot is called to acquire the target second containers with the bearing number corresponding to the target first containers from the fixed shelves of the storage area in the storage sorting area, and transfer the target second containers with the bearing number corresponding to the target first containers onto the target first containers, judging whether the distribution condition of the target first containers is met when the fact that the target second containers with the bearing number corresponding to the target first containers are transferred to the target first containers is detected; if yes, the first transfer robot is called to transfer the target first container from the target docking point to a target delivery point, and the target delivery point is located outside the storage sorting area; and if not, calling the first transfer robot to transfer the target first container from the target docking point to a warehouse-out waiting position, wherein the warehouse-out waiting position is positioned in the storage sorting area.

In one possible example, the delivery unit is further configured to obtain, before the invoking the first transfer robot to transfer the target first container from the target docking point to a delivery waiting position, a delivery time of the target first container according to the order to be processed; acquiring a second idle point position of the storage sorting area; when the second idle point positions are multiple, determining the delivery distance between each second idle point position and the target delivery point; and determining the waiting position for delivery according to the delivery time and the delivery distance of each second idle point, wherein the waiting position for delivery is one of a plurality of second idle points.

In one possible example, the working area of the first transfer robot includes the storage culling area and a production area, and the target ex-warehouse location is located in the production area;

or the operation area of the first transfer robot comprises the storage sorting area, the loading area and the production area, and the target delivery point is positioned in the loading area.

In a possible example, the apparatus further comprises an adjustment unit, the adjustment unit being specifically configured to obtain adjustment information for the order to be processed before the invoking the first transfer robot to transfer the target first container from the target docking point to a target delivery point; invoking at least one second transfer robot to transfer a plurality of second containers corresponding to the adjustment information from a fixed shelf of the storage area to the target first container according to the adjustment information; or, according to the adjustment information, invoking at least one second transfer robot to transfer the target second containers with the number corresponding to the adjustment information from the target first containers to the fixed shelves of the storage area.

In one possible example, the apparatus further includes a material returning unit, where the material returning unit is specifically configured to acquire material returning information for the to-be-processed order after the transferring the target first container from the target docking point to the target delivery point by the first transfer robot; determining a material returning opposite point according to the material returning information, wherein the material returning opposite point is an idle position in a storage sorting area; transferring the target first container from the target delivery point to a material returning butt point by calling the first transfer robot; after detecting that the target first container reaches the material returning butt point, invoking at least one second transfer robot to transfer all the target second containers on the target first container to a fixed shelf of the material storage area; and after all the target second containers on the target first container are detected to be removed, the first transfer robot is called to transfer the target first container to the goods shelf storage area.

In one possible example, in terms of said invoking at least one of said second transfer robots to take said target second container from a fixed shelf of a storage area in said storage sorting area and transfer said target second container onto said target first container, said second invoking unit is specifically configured to: invoking at least one second transfer robot to acquire the target second container from a fixed shelf of a storage area in the storage sorting area; invoking at least one second transfer robot to transport the target second container from the storage area to a target docking station; and when the first transfer robot is detected to transport the target first container to a target butt joint point, at least one second transfer robot is called to place the target second container in the target first container.

In one possible example, the idle location is a location that is not currently reserved; or the idle position is a position with the history reservation frequency lower than a preset threshold value.

In one possible example, when invoking at least two transfer robots, the second invoking unit is specifically further configured to, in the aspect of transferring the target second containers, which correspond to the target first containers, to the target first containers in number: and at the target docking point, at least two second transfer robots are called to dock with the target first container at the same side or different sides of the target first container.

Where integrated units are employed, a functional unit block diagram of a cargo dispenser 80 provided in accordance with an embodiment of the present application is shown in fig. 4. In fig. 4, the cargo dispenser 80 includes: a processing module 820 and a communication module 810. The processing module 820 is configured to control and manage actions of the cargo distribution device 80, such as, for example, steps performed by the acquisition unit 710, the first determination unit 720, the second determination unit 730, the first invocation unit 740, the second invocation unit 750, and/or other processes for performing the techniques described herein. The communication module 810 is used to support interactions between the cargo dispenser 80 and other devices. As shown in FIG. 4, the cargo dispenser 80 may also include a memory module 830, where the memory module 830 is configured to store program code and data for the cargo dispenser 80.

The processing module 820 may be a processor or controller, such as a central processing unit (Centra l Process ing Un it, CPU), a general purpose processor, a digital signal processor (Digita l Signa l Processor, DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules and circuits described in connection with the disclosure of embodiments of the present application. The processor may also be a combination that performs the function of a computation, e.g., a combination comprising one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 810 may be a transceiver, an RF circuit, or a communication interface, etc. The storage module 830 may be a memory.

All relevant contents of each scenario related to the above method embodiment may be cited to the functional description of the corresponding functional module, which is not described herein. The collection and delivery devices can execute the steps executed by the server in the collection and delivery method shown in fig. 2.

The embodiment of the application also provides a computer storage medium, where the computer storage medium stores a computer program for electronic data exchange, where the computer program causes a computer to execute part or all of the steps of any one of the methods described in the embodiments of the method, where the computer includes a server.

It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, such as the above-described division of units, merely a division of logic functions, and there may be additional manners of dividing in actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, or may be in electrical or other forms.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a memory, including several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned method of the various embodiments of the present application. And the aforementioned memory includes: a U-disk, a Read-only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Those of ordinary skill in the art will appreciate that all or a portion of the steps in the various methods of the above embodiments may be implemented by a program that instructs associated hardware, and the program may be stored in a computer readable memory, which may include: flash disk, read-only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk.

The foregoing has outlined rather broadly the more detailed description of embodiments of the present application, wherein specific examples are provided herein to illustrate the principles and embodiments of the present application, the above examples being provided solely to assist in the understanding of the methods of the present application and the core ideas thereof; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. A method of shipping a collection, the method comprising:

acquiring an order to be processed;

invoking at least one second transfer robot to acquire a number of target second containers corresponding to the target first containers from a fixed shelf of a storage area in the storage sorting area, and transferring the number of target second containers corresponding to the target first containers, wherein the fixed shelf of the storage area stores a plurality of second containers, and the target second containers are at least one of the plurality of second containers.

2. The method of claim 1, wherein said determining a target docking point corresponding to each of said target first containers based on each of said target first containers and a number of said target second containers carried corresponding to each of said target first containers comprises:

acquiring a first idle point position of the storage sorting area;

when the first idle points are multiple, determining a cargo collecting route of each first idle point for the target first container and the target second containers with the number corresponding to the target first container, wherein the cargo collecting route refers to the sum of a route of the first transfer robot transferring the target first container from a shelf storage area to the first idle point and a route of the second transfer robot transferring the target second containers with the number corresponding to the target first container;

and comparing the cargo collecting routes of the first idle points, and determining the first idle point corresponding to the cargo collecting route with the shortest distance as a target butt point corresponding to the target first container.

3. The method of claim 1, wherein the invoking the at least one second transfer robot to retrieve a number of the target second containers corresponding to the target first containers from the fixed shelves of the storage area in the storage culling area and transfer the number of the target second containers corresponding to the target first containers onto the target first containers comprises:

When detecting that the target second containers which correspond to the target first containers in bearing quantity are conveyed to the target first containers, judging whether the distribution condition of the target first containers is met;

if yes, the first transfer robot is called to transfer the target first container from the target docking point to a target delivery point, and the target delivery point is located outside the storage sorting area;

and if not, calling the first transfer robot to transfer the target first container from the target docking point to a warehouse-out waiting position, wherein the warehouse-out waiting position is positioned in the storage sorting area.

4. A method according to claim 3, wherein before the invoking the first transfer robot to transfer the target first container from the target docking point to a warehouse-out waiting position, the method further comprises:

acquiring the delivery time of the target first container according to the order to be processed;

acquiring a second idle point position of the storage sorting area;

when the second idle point positions are multiple, determining the delivery distance between each second idle point position and the target delivery point;

and determining the waiting position for delivery according to the delivery time and the delivery distance of each second idle point, wherein the waiting position for delivery is one of a plurality of second idle points.

5. A method according to claim 3, characterized in that the working area of the first transfer robot comprises the storage picking area and a production area, the target ex-warehouse location being located in the production area;

or the operation area of the first transfer robot comprises the storage sorting area and the loading area, and the target ex-warehouse point is located in the loading area.

6. A method according to claim 3, wherein the invoking the first transfer robot transfers the target first container from the target docking point to a target delivery point, the method further comprising:

acquiring adjustment information for the order to be processed;

invoking the second transfer robot to transfer the second containers with the quantity corresponding to the adjustment information to the target first containers from a fixed shelf of the storage area according to the adjustment information;

or, according to the adjustment information, invoking the second transfer robot to transfer the target second containers with the number corresponding to the adjustment information from the target first containers to the fixed shelves of the storage area.

7. A method according to claim 3, wherein said invoking said first transfer robot to transfer said target first container from said target docking point to a target delivery point further comprises:

Acquiring material returning information aiming at the order to be processed;

determining a material returning opposite point according to the material returning information, wherein the material returning opposite point is the idle position in the storage sorting area;

invoking the first transfer robot to transfer the target first container from the target delivery point to the reject docking point;

after the target first container is detected to reach the material returning butt joint point, the second transfer robot is called to transfer all the target second containers on the target first container to a fixed goods shelf of the material storage area;

and after all the target second containers on the target first container are detected to be removed, the first transfer robot is called to transfer the target first container to the goods shelf storage area.

8. The method according to claim 1, wherein the storage area is provided with a plurality of stationary shelves having a first receiving space for storing a second container and a second receiving space for storing a first container; the idle position is at least one of a second accommodation space of the fixed shelf and other positions of the storage sorting area where the fixed shelf is not disposed.

9. The method of claim 1, wherein the invoking at least one of the second transfer robots to retrieve the target second container from a fixed shelf of a storage area in the storage sort zone and transfer the target second container onto the target first container comprises:

invoking at least one second transfer robot to acquire the target second container from a fixed shelf of a storage area in the storage sorting area;

invoking at least one second transfer robot to transport the target second container from the storage area to a target docking station;

and when the first transfer robot is detected to transport the target first container to a target butt joint point, at least one second transfer robot is called to place the target second container in the target first container.

10. The method of claim 1, wherein the idle location is a location that is not currently reserved;

or the idle position is a position with the history reservation frequency lower than a preset threshold value.

11. The method of claim 1, wherein transferring the number of the target second containers, which corresponds to the target first container, onto the target first container when at least two transfer robots are invoked, comprises:

And at the target docking point, at least two second transfer robots are called to dock with the target first container at the same side or different sides of the target first container.

12. A cargo collection and distribution device for use with a server, said device comprising:

the acquisition unit is used for acquiring an order to be processed;

13. A server comprising a processor, a memory, a communication interface, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps in the method of any of claims 1-11.

14. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to perform the steps in the method according to any one of claims 1-11.