CN117262546A - Method for determining picking sequence, robot control method and system - Google Patents

Abstract

The application discloses a method for determining a picking order, a robot control method and a system, wherein weight grade information is configured for each commodity in a warehouse-out order, and then the picking order of the commodity in the warehouse-out order is determined according to the weight grade information; finally, the picking order including the picking order is sent to the robot control system. Therefore, the robot control system can call the robot to convey commodities to the workstation according to the received picking sequence, namely, the commodities in the warehouse-out order are conveyed to the workstation according to the sequence from heavy to light, and therefore, operators of the workstation can directly code the trays according to the order of the arrival, repeated code tray is avoided, the code tray working efficiency is improved, and the inventory space is saved.

Description

A picking sequence determination method, robot control method and system

Technical field

This application belongs to the field of logistics and warehousing technology, and in particular relates to a method for determining a picking sequence, a robot control method and a system.

Background technique

With the development of the fast moving consumer goods industry, there are more and more cross-docking scenarios where suppliers deliver large quantities of goods to consumption points such as retailers and stores. The solution of cross-docking sorting through robot "goods to person" is also gradually become a trend.

Among them, in the scenario of cross-docking sorting through robot "goods-to-person", the robot transports the goods on the outbound order to the workstation. The staff at the workstation selects the goods and performs palletizing operations, that is, the picked goods are coded into the container. After all the goods on the container are stacked, just wait for them to be shipped out of the warehouse. Among them, the palletizing operation requires that heavy goods cannot be pressed on top of light goods to avoid crushing the light goods.

In the existing palletizing operation, one method is to use manual judgment to place the light-weight products next to the container after selecting the goods, and then stack the light-weight goods after the heavy goods. This kind of palletization The palletizing method requires re-palletizing, which is a waste of manpower; the other method is to palletize the goods after all the goods have arrived. This palletizing operation method will occupy a larger space to store the goods to be palletized.

Therefore, how to improve pallet operation efficiency and save inventory space is an urgent problem that needs to be solved.

Contents of the invention

In order to solve the technical problems in the prior art that the pallet operation efficiency is low and the inventory space is occupied, this application provides a method for determining the picking sequence, a robot control method and a system.

In a first aspect, this application provides a method for determining a picking sequence, which includes: receiving an outbound order; configuring weight grade information for each commodity in the outbound order; and based on the weight grade of each commodity in the outbound order. information to determine the picking order of the goods in the outbound order, wherein the goods in the picking order are sorted from high weight grade to low weight grade; send a picking task to the robot control system, where the picking task includes The picking sequence.

In an implementable manner, each commodity in the outbound order is configured with weight level information, including: obtaining the weight information of each commodity in the outbound order; determining the weight corresponding to the weight information of each commodity Grade; mark the weight grade corresponding to each commodity in the outbound order.

In an implementable manner, there are multiple out-of-warehouse orders; and determining the picking order of the goods in the out-of-warehouse order based on the weight level information of each commodity in the out-of-warehouse order includes: obtaining each First attribute information of the outbound order, the first attribute information is used to characterize the wave type to which the outbound order belongs, wherein the wave type includes dynamic waves and fixed waves; according to the first Attribute information, marking the wave type of each outbound order; forming a corresponding wave according to the wave type and wave grouping strategy of each outbound order; according to the weight of the goods in each wave Level information that determines the order in which items are picked in each said wave.

In an implementable manner, if the wave type of the current outbound order is a fixed wave, a fixed wave including the current outbound order is composed according to the wave grouping strategy, wherein the current outbound order It is any one of multiple outbound orders; based on the weight grade information of the commodities in the fixed wave, the picking sequence of the commodities in the fixed wave is determined.

In an implementable manner, if the wave type of the current outbound order is a dynamic wave, it is determined whether the current outbound order satisfies a first preset condition, wherein the first preset condition is the current outbound order. The weight grade of all commodities in the outbound order is less than or equal to the lowest weight grade of the commodities in the first dynamic wave, which is an existing dynamic wave that satisfies the same wave grouping strategy as the current outbound order. times, wherein the current outbound order is any one of multiple outbound orders; if the current outbound order satisfies the first preset condition, the current outbound order is added to the third outbound order. A dynamic wave is used to obtain a first updated dynamic wave; based on the weight level information of the goods in the first updated dynamic wave, the picking order of the goods in the first updated dynamic wave is determined.

In an implementable manner, if the current outbound order does not meet the first preset condition, it is determined whether the current outbound order satisfies the second preset condition, wherein the second preset condition is to add Dynamic wave conditions; if the current outbound order meets the second preset condition, a second dynamic wave is formed; the current outbound order is added to the second dynamic wave; according to the second dynamic wave The weight grade information of the second product determines the picking order of the products in the second dynamic wave.

In one implementation manner, if the current outbound order does not meet the second preset condition, the outbound order is kept in the order pool.

In an implementable manner, the method further includes: determining shelf information corresponding to the goods in the outbound order and workstation information corresponding to the outbound order; determining based on the shelf information and workstation information, The picking task corresponding to each workstation; the picking task of each workstation is sent to the corresponding workstation and robot control system.

In a second aspect, this application provides a robot control method, which method includes: receiving a picking task, where the picking task includes the picking sequence of goods in the outbound order; determining that the picking sequence is the transport task sequence; determining that the The shelf information corresponding to each commodity in the outbound order, and the workstation information corresponding to each commodity in the outbound order; the control robot carries the goods in the outbound order from the corresponding shelf to the corresponding workstation.

In a third aspect, this application provides a system for determining a picking sequence. The system includes a first transceiver and a first processor; the first transceiver is used to receive an outbound order, wherein the outbound order Each commodity in the is configured with weight grade information; the first processor is configured to determine the picking sequence of the commodities in the outbound order based on the weight grade information, wherein the commodities in the picking sequence are in accordance with Sorting from high weight level to low weight level; the first transceiver is also used to send a picking task to the robot control system, where the picking task includes the picking sequence.

In a fourth aspect, the present application provides a robot control system, including a second transceiver, a second processor, and at least one robot; the second transceiver is used to receive a picking task, and the picking task includes items in an outbound order. The picking sequence of commodities; the second processor is used to determine that the picking sequence is the transport task sequence; determine the shelf information corresponding to each commodity in the outbound order, and determine the shelf information corresponding to each commodity in the outbound order workstation information; control the robot to transport the goods in the outbound order from the corresponding shelf to the corresponding workstation according to the transport task sequence; and the at least one robot is used to transport the outbound goods according to the transport task sequence. The goods in the inventory order are transported from the corresponding shelf location to the corresponding workstation location.

In a fifth aspect, the present application provides a computer storage medium in which computer programs or instructions are stored. When the computer programs or instructions are executed, the method as described in any one of the first aspect or the third aspect is performed. The methods described in both aspects are implemented.

In summary, this application provides a picking sequence determination method, robot control method and system, by configuring weight grade information for each commodity in the outbound order, and then, based on the weight grade information, determines the quality of the goods in the outbound order. Picking sequence; finally, the picking task including the picking sequence is sent to the robot control system. In this way, the robot control system can call the robot to transport the goods to the workstation according to the received picking order, that is, in the order of heavy quality to light quality, the goods in the outbound order will be transported to the workstation. In this way, the workers at the workstation can directly follow the order. Incoming goods are palletized sequentially to avoid repeated pallets, thereby improving palletizing efficiency and saving inventory space.

Description of the drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a scene diagram of cross-docking sorting provided by the embodiment of the present application;

Figure 2 is a work flow chart of a method for determining a picking sequence provided by an embodiment of the present application;

Figure 3 is a workflow diagram of yet another method for determining a picking sequence provided by an embodiment of the present application;

Figure 4 is a work flow chart of a wave grouping method for outbound orders of a dynamic wave type provided by an embodiment of the present application;

Figure 5 is a work flow chart of a robot control method provided by an embodiment of the present application;

Figure 6 is a work flow chart of yet another robot control method provided by an embodiment of the present application;

Figure 7 is a structural block diagram of a determination system provided by this application;

Figure 8 is a structural block diagram of a robot control system provided by this application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of this application.

The method for determining the picking sequence provided by the embodiment of the present application can be applied to any cargo sorting scenario, for example, to a cross-docking sorting scenario. The following takes the cross-docking sorting scenario as an example to illustrate the picking sequence determination method, robot control method and system provided by the embodiments of the present application.

Figure 1 is a scene diagram of cross-docking sorting provided by the embodiment of the present application. As shown in Figure 1, the cross-dock sorting scenario provided by the embodiment of the present application includes a WMS (Warehouse Management System, warehouse management system) system 10, an RMS (Robot Management System, robot control system) system 20, a shelf area 30 and Workstation 40.

The WMS system 10 is a system used to manage and control the purchase, inventory and delivery of warehouses. In this application, the WMS system 10 includes a picking sequence determination system 100. The picking sequence determination system 100 is used to execute the steps of the picking sequence determination method provided by the embodiment of the present application; the RMS system 20 is used to control the robot 210 to move the picking sequence from the shelf area 30 according to the picking sequence determined by the picking sequence determination system 100. The corresponding commodities are transported to each workstation 40. Further, the workers at the workstation 40 sequentially carry the commodities to the container 410 according to the order in which the robot 210 carries the commodities. The container can be a box, a pallet, a cage, etc.

The method for determining the picking sequence provided by the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

Figure 2 is a workflow diagram of a method for determining a picking sequence provided by an embodiment of the present application. The method includes the following steps:

Step S1: Receive the outbound order.

Step S2: Configure weight grade information for each commodity in the outbound order.

In this application, the outbound order can be a request order for each store. For example, outbound order A01 is a request order corresponding to store A. The outbound order A01 can include a product list and product information corresponding to each product, such as product Quantity information, shelf location information corresponding to the product, product weight information, product volume information, etc.

This application configures weight grade information for each commodity in the outbound order, where the weight grade information is used to characterize the weight grade of the commodity, such as ultra-light, light, heavy, overweight, etc. Among them, the higher the weight grade, the heavier the weight of the product, that is, the weight grade from high to low is "overweight", "heavy", "light", and "super light".

In an implementable manner, the method of configuring the weight level information of each commodity in the outbound order in this application can be implemented in the following manner: first obtain the weight information of each commodity in the outbound order; then, determine the weight information related to each commodity in the outbound order. The weight grade corresponding to the weight information of the product; finally, mark the weight grade corresponding to each product in the outbound order.

For example: Outbound order A01 includes product 1, product 2 and product 3. Among them, the corresponding weight of product 1 is 500g, the corresponding weight of product 2 is 1000g, and the corresponding weight of product 3 is 7000g. Furthermore, the weight grade corresponding to each commodity can be determined based on the preset relationship between weight and weight grade. For example, the weight grade corresponding to the preset weight range 0-809g is ultra-light, and the weight grade corresponding to the weight range 810g-2439g is The weight grade is light, the weight range corresponding to 2440g-6999g is heavy, and the weight range corresponding to 7000g or above is overweight. In this way, it can be determined that the weight grade corresponding to product 1 is ultra-light, the weight grade corresponding to product 2 is light, and the weight grade corresponding to product 3 is overweight.

It should be noted that the embodiments of the present application only illustrate the classification of weight classes into ultra-light, light, heavy, and overweight, and do not limit the classification of weight classes. Other weight class classification methods may also be used.

Step S3: Determine the picking sequence of the commodities in the outbound order based on the weight grade information of each commodity in the outbound order, where the commodities in the picking sequence are sorted from high weight grade to low weight grade.

First of all, it needs to be explained that the heavy and light palletizing rules in the embodiment of the present application refer to the palletizing operation rules that the operators of the workstation 40 must abide by when palletizing commodities into containers, that is, heavy commodities cannot be weighed down. on light goods.

The above-mentioned step S3 can be understood as sorting each commodity in the outbound order in order from heavy to light based on the weight level information of each commodity in the outbound order. In this way, in the subsequent process, the goods can be transported to the workstation 40 according to the determined picking sequence of the goods in the outbound order. In this way, the operators of the workstation 40 directly palletize the goods in the order of incoming goods, that is, the heavy-quality goods are palletized first and then the light-weight goods are palletized, that is, the requirements of palletizing the heavy goods and not the light ones are met.

It should be noted that in this application, the outbound order can be one or multiple. If there are multiple outbound orders, in order to improve the picking efficiency, a wave operation can be performed on the multiple outbound orders, and then each The order in which items are picked in the wave.

In one possible way, the method of determining the picking order of goods in multiple outbound orders, as shown in Figure 3, can be implemented in the following way:

Step S31: Obtain the first attribute information of each outbound order. The first attribute information is used to characterize the wave type of the outbound order, where the wave type includes dynamic waves and fixed waves.

In order to adapt to different business needs, this application divides waves into two types, one is dynamic wave and the other is fixed wave. Among them, the dynamic wave means that the included outbound orders are not fixed, and new outbound orders can be added as needed; the fixed wave means that the included outbound orders are determined when the wave is formed, that is, the included outbound orders are not fixed. New outbound orders will be added to the fixed waves that have been completed.

The first attribute information refers to the wave type to which the outbound order belongs. This application does not limit the first attribute information. The first attribute information can be set according to actual business requirements. For example, for store A, the WMS system 10 will receive all outbound orders corresponding to store A at once every day; for store B, the WMS system 10 will not receive all outbound orders corresponding to store B at once every day, but will be divided into parts. Multiple outbound orders from store B are received in batches. In this way, this application can set the store information in each outbound order as the first attribute information. When it is recognized that the store information in the outbound order is store A, it is determined that the wave type of the outbound order is a fixed wave. ; When it is recognized that the store information in the outbound order is store B, it is determined that the wave type of the outbound order is dynamic wave.

Step S32: Mark the wave type of each outbound order according to the first attribute information.

In order to facilitate the wave operation of each outbound order according to the wave type, you can first mark the wave type of each outbound order.

Step S33: According to the wave type of each outbound order and the wave grouping strategy, a corresponding wave is formed.

First of all, it should be noted that the wave grouping strategy in this application refers to a strategy that can group different outbound orders into the same wave. This application does not limit the wave grouping strategy, and the wave grouping strategy can be set according to actual business needs. For example, the wave grouping strategy can determine whether the same wave can be formed based on the store information of the outbound order and the quantity of the outbound order. For example, if the wave grouping strategy requires that the number of outbound orders is less than or equal to 10, and the outbound orders of less than or equal to 10 all belong to the same store, then you can group the outbound orders that are less than or equal to 10 and belong to the same store. Outbound orders from the same store form one wave.

It can be seen from this that the wave type of the outbound orders in each wave composed of step S33 is the same and satisfies the same wave grouping strategy.

Step S34: Determine the picking order of the commodities in each wave based on the weight level information of the commodities in each wave.

Each wave can include multiple outbound orders, and each outbound order can include multiple products. All goods in each wave will be transported to a workstation corresponding to that wave, and then the workers at the workstation will palletize the transported goods. Therefore, in this application, after grouping multiple outbound orders into waves, it is necessary to determine the picking sequence of the goods in each wave.

For outbound orders of different wave types, different wave grouping methods can be used. The following takes the current outbound order as a fixed wave type and a dynamic wave type as examples to analyze the different wave grouping methods provided by the embodiments of the present application. Note, the current outbound order can be any outbound order among multiple outbound orders.

In one possible way, this application's method of grouping outbound orders with a fixed wave type can be implemented in the following way: If the wave type of the current outbound order is a fixed wave, the wave grouping strategy can be , forming a fixed wave that includes the current outbound order; then, based on the weight grade information of the goods in the fixed wave, determine the picking order of the goods in the fixed wave.

In one possible way, this application's wave grouping method for outbound orders of dynamic wave type, as shown in Figure 4, can be implemented in the following way:

Step S331: If the wave type of the current outbound order is a dynamic wave, determine whether the current outbound order satisfies the first preset condition.

Among them, the first preset condition is that the weight level of all goods in the current outbound order is less than or equal to the lowest weight level of the goods in the first dynamic wave, and the first dynamic wave is the existing dynamic wave that satisfies the same wave grouping strategy. Second-rate.

Since dynamic waves allow new outbound orders to be added, when receiving an outbound order of a new dynamic wave type, you can first consider whether you can add an existing dynamic wave that satisfies the same wave group strategy (i.e. the first a dynamic wave). If it can be added to the existing dynamic wave, the current outbound order will be appended to the first dynamic wave.

Since the first dynamic wave may have already determined a picking sequence, if the goods with the lowest weight class greater than the goods in the first dynamic wave are appended to the first dynamic wave, then the first dynamic wave will be disrupted. The picking sequence that has been determined within the wave. Therefore, this application determines whether the current outbound order can be added to the first dynamic wave by first determining whether the current outbound order satisfies the first preset condition, where the first preset condition is the weight of all commodities in the current outbound order. The grade is less than or equal to the lowest grade of the product weight grade in the first dynamic wave. In this way, after the products with the lowest weight level less than or equal to the products in the first dynamic wave are appended to the first dynamic wave, the products in the current order will be ranked behind the original products in the first dynamic wave, and It will not interfere with the picking sequence of the original products in the first dynamic wave.

Step S332: If the current outbound order satisfies the first preset condition, add the first dynamic wave to the current outbound order to obtain the first updated dynamic wave.

Step S333: Determine the picking order of the commodities in the first dynamic update wave based on the weight level information of the commodities in the first dynamic update wave.

Step S334: If the current outbound order does not meet the first preset condition, determine whether the current outbound order satisfies the second preset condition.

Among them, the second preset condition is a new dynamic wave condition.

This application does not limit the second preset condition. For example, the second preset condition may be that the quantity, volume, and number of available wave containers of the goods in the current outbound order must be greater than the corresponding preset values.

Step S335: If the current outbound order meets the second preset condition, a second dynamic wave is formed.

Step S336: Add the current outbound order to the second dynamic wave.

Step S337: Determine the picking order of the commodities in the second dynamic wave based on the weight level information of the commodities in the second dynamic wave.

Step S338: If the current outbound order does not meet the second preset condition, the current outbound order will stay in the order pool and wait for the next wave group.

If the current outbound order satisfies neither the first preset condition nor the second preset condition, the current outbound order will stay in the order pool and wait for the next wave group. It should be understood that when the next wave-forming operation is performed on the current outbound order, wave-forming will still be performed according to the above-mentioned steps S331 to S338.

It can be seen from this that in this application, if the wave type of the current outbound order is a dynamic wave, there are two ways in which the current outbound order can be composed into a dynamic wave. The first way to form a dynamic wave is to add the current outbound order to an existing dynamic wave; the second way to form a dynamic wave is to form a new one including the current outbound order. Dynamic waves.

Furthermore, after this application completes the wave grouping operation for multiple outbound orders, the following steps can also be performed: allocate the goods in each wave to wave containers, where, after each wave container allocation is completed, The wave container is configured with a wave container number, and then the wave container number is bound to the wave until all the products in the wave are allocated. In this way, the picking order of goods in each wave container can be determined down to the granularity.

It should be noted that in the embodiment of the present application, the container 410 refers to the container actually used by the workstation operator, and the wave container refers to the virtual container corresponding to the container 410 set in the system. Among them, the wave container should be the same size as container 410.

Step 103: Send the picking task to the RMS system 20, where the picking task includes the picking sequence.

In this application, after receiving the picking task, the RMS system 20 can schedule the robot 210 to carry the goods to the workstation according to the received picking sequence. Among them, the robot 210 refers to a transportation equipment used to transport commodities.

It should be noted that if the determination system 100 in the embodiment of the present application performs a wave grouping operation on outbound orders, the picking sequence refers to the picking sequence corresponding to each wave. If the determination system 100 in the embodiment of the present application further allocates the goods in each wave to each container, the picking order refers to the picking order of the goods in each container.

The method for determining the picking sequence provided by this application may also include the following steps: first determine the shelf information corresponding to the goods in the outbound order, and the workstation information corresponding to the outbound order; then, based on the shelf information and workstation information, Determine the picking task corresponding to each workstation; finally, send the picking task of each workstation to the corresponding workstation and robot control system.

In this way, in addition to the above-determined picking sequence, the picking tasks in this application can also include shelf information corresponding to each commodity in the outbound order, as well as workstation information corresponding to each commodity, wave or wave container in the outbound order. . Among them, the shelf information includes the location information of the shelf, and the workstation information includes the location information of the workstation.

Correspondingly, the method for the RMS system 20 in this application to control the robot to transport the goods in the outbound order from the corresponding shelf position to the corresponding workstation position can be implemented in the following manner: First, the RMS system 20 receives the picking sent by the determination system 100 task, in which the picking task includes the picking sequence of the goods in the outbound order; then, the picking sequence is determined to be the transport task sequence; then, the shelf information corresponding to each commodity in the outbound order is determined, and the corresponding shelf information corresponding to each commodity in the outbound order is determined workstation information; finally, the control robot carries the goods in the outbound order from the corresponding shelf to the corresponding workstation according to the order of the handling tasks.

The following is an example where the system 100 performs a wave operation on outbound orders and the RMS system 20 receives the picking sequence corresponding to each wave. The robot control method of the RMS system 20 is exemplarily explained.

As shown in Figure 5, the determination system 100 performs a wave grouping operation on the outbound order according to the method provided by the embodiment of the present application, and obtains two waves, one is the dynamic wave 001, and the other is the fixed wave 002. Dynamic wave 001 includes product 1, product 2, and product 3, and fixed wave 002 includes product 4, product 5, and product 6. Correspondingly, the determination system 100 sends the picking task to the RMS system 20, where the picking task includes the product list in dynamic wave 001 and fixed wave 002, product weight level information, and the picking order of the products (sequence number in Figure 5) . The picking task also includes workstation information corresponding to the wave. For example, dynamic wave 001 is associated with workstation 40A, and fixed wave 002 is associated with workstation 40B. That is, the target position of goods transportation in dynamic wave 001 is workstation 40A. The target location for product transportation in wave 002 is workstation 40B.

After receiving the above picking task, the RMS system 20 uses the dynamic wave 001 as the transportation task group B001 and the fixed wave 002 as the transportation task group B002. Correspondingly, the picking of each commodity in the dynamic wave 001 and the fixed wave 002 is Sequence, as the transport sequence of each transport task group.

For the tasks added to the dynamic wave 001, such as the added products 7 and 8, the RMS system 20 adds the additional tasks to the corresponding transportation task group B001.

In this way, the RMS system 20 can schedule the robot to carry the goods in the dynamic wave 001 from the corresponding shelf position to the workstation 40A in sequence according to the goods handling sequence in the handling task group B001; similarly, the RMS system 20 can schedule the robot to carry the goods according to the handling order. The goods transportation sequence in task group B002 is to transport the goods in fixed wave 002 from the corresponding shelf positions to workstation 40B in sequence.

Among them, if there are goods with the same weight class in the same handling task group, multiple robots can be dispatched at the same time to carry the goods with the same weight class to the workstation.

Next, it is determined that the system 100 performs a wave operation on outbound orders and further distributes the goods in each wave to each container. The RMS system 20 receives the picking sequences corresponding to multiple containers as an example. For the RMS system 20 Examples of working methods.

As shown in Figure 6, the determination system 100 performs a wave grouping operation on the outbound order according to the method provided by the embodiment of the present application, and obtains two waves, one is the dynamic wave 001, and the other is the fixed wave 002. Among them, the products in dynamic wave 001 are allocated to wave container R1 and wave container R2, and the products in fixed wave 002 are allocated to wave container R3 and wave container R4. In this way, correspondingly, the determination system 100 sends the product picking sequences corresponding to the wave container R1, the wave container R2, the wave container R3, and the wave container R4 to the RMS system 20 respectively. The wave container R1 and the wave container R2 may be respectively associated with the container 410A1 and the container 410A2 in the workstation 40A, and the wave container R3 and the wave container R4 may be respectively associated with the container 410B1 and the container 410B2 in the workstation 40B.

Correspondingly, the RMS system 20 receives the product picking sequence corresponding to each wave of containers, and then the RMS system 20 uses the product picking sequence corresponding to each wave of containers as a handling task group. Specifically, it is determined that the product picking sequence corresponding to wave container R1 is the product handling sequence in the handling task group R001, the product picking sequence corresponding to wave container R2 is determined to be the product handling sequence in the handling task group R002, and the product picking sequence corresponding to wave container R3 is determined. The product picking sequence is the product transportation sequence in the transportation task group R003. It is determined that the product picking sequence corresponding to the wave container R4 is the product transportation sequence in the transportation task group R004.

In this way, the RMS system 20 can schedule the robot to carry the goods in the transport task groups R001 and R002 to the workstation 40A in sequence, and similarly, transport the goods in the transport task groups R003 and R004 to the workstation 40B in sequence. Correspondingly, the workers at workstation 40A will lift the product codes in the transportation task group R001 to the container 410A1, and will lift the commodity codes in the transportation task group R002 to the container 410A2; the workers at the workstation 40B will lift the commodity codes in the transportation task group R003. Put it into the container 410B1, and put the product code in the transportation task group R004 into the container 410B2.

It should be noted that in this application, the robot can directly transport the shelves containing corresponding products from the shelf area to the corresponding workstation.

In summary, the method for determining the picking sequence provided by the embodiment of this application configures weight grade information for each commodity in the outbound order, and then determines the picking sequence of the commodities in the outbound order based on the weight grade information. The picking sequence The products are sorted from high weight grade to low weight grade; finally, the picking task including the picking sequence is sent to the robot control system. In this way, the robot control system can call the robot to transport the goods to the workstation according to the received picking order, that is, in the order of heavy quality to light quality, the goods in the outbound order will be transported to the workstation. In this way, the workers at the workstation can directly follow the order. Incoming goods are palletized sequentially to avoid repeated pallets, thereby improving palletizing efficiency and saving inventory space.

Each method embodiment described in this article can be an independent solution or can be combined according to internal logic. These solutions all fall within the protection scope of this application.

It can be understood that in the above method embodiments, the methods and operations implemented by the communication device can also be implemented by components (such as chips or circuits) that can be used in the communication device.

The above embodiments introduce the picking sequence determination method and robot control method provided by this application. It can be understood that, in order to implement the above functions, the communication device includes hardware structures and/or software modules corresponding to each function. Persons skilled in the art should easily realize that, with the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is performed by hardware or computer software driving the hardware depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of this application.

Embodiments of the present application can divide the communication device into functional modules according to the above method examples. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or software function modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. In actual implementation, there may be other division methods.

Above, the method provided by the embodiment of the present application is described in detail with reference to FIGS. 1 to 6 . Hereinafter, the device provided by the embodiment of the present application will be described in detail with reference to FIGS. 7 to 8 . It should be understood that the description of the device embodiments corresponds to the description of the method embodiments. Therefore, for content that is not described in detail, please refer to the above method embodiments. For the sake of brevity, they will not be described again here.

Referring to Figure 7, Figure 7 is a structural block diagram of an embodiment of the picking sequence determination system provided by the present application. As shown in FIG. 7 , the determination system 100 may include: a first transceiver 1001 and a first processor 1002 . The first transceiver 1001 and the first processor 1002 may perform operations performed in the method embodiments shown in FIG. 2, FIG. 3, and FIG. 4.

For example, in an optional embodiment of the present application, the first transceiver 1001 is used to receive an outbound order, wherein each commodity in the outbound order is configured with weight grade information; the first processor 1002 , used to determine the picking sequence of the goods in the outbound order based on the weight class information, wherein the goods in the picking sequence are sorted from high weight class to low weight class; the first transceiver 1001 also For sending a picking task to the robot control system, wherein the picking task includes the picking sequence.

In a possible implementation, the first transceiver 1001 is specifically configured to obtain the weight information of each commodity in the outbound order; the first processor 1002 is specifically configured to determine the weight information corresponding to each commodity. Weight grade; mark the weight grade corresponding to each commodity in the outbound order.

In a possible implementation, the first transceiver 1001 is specifically used to obtain the first attribute information of each outbound order, and the first attribute information is used to characterize the wave type to which the outbound order belongs, where , the wave types include dynamic waves and fixed waves; the first processor 1002 is specifically configured to mark the wave type of each outbound order according to the first attribute information; according to each The wave type of the outbound order and the wave grouping strategy form the corresponding wave; based on the weight grade information of the goods in each wave, the picking order of the goods in each wave is determined.

In a possible implementation, the first processor 1002 is specifically configured to, if the wave type of the current outbound order is a fixed wave, form a fixed wave including the current outbound order according to the wave grouping strategy. times, wherein the current outbound order is any outbound order among multiple outbound orders; and the picking order of the merchandise in the fixed wave is determined based on the weight grade information of the merchandise in the fixed wave.

In a possible implementation, the first processor 1002 is specifically configured to determine whether the current outbound order satisfies the first preset condition if the wave type of the current outbound order is a dynamic wave, wherein: The first preset condition is that the weight grade of all commodities in the current outbound order is less than or equal to the lowest weight grade of the commodities in the first dynamic wave, and the first dynamic wave is the same as the current outbound order. Existing dynamic waves that satisfy the same wave group strategy, wherein the current outbound order is any outbound order among multiple outbound orders; if the current outbound order satisfies the first preset condition, all outbound orders will be Add the first dynamic wave to the current outbound order to obtain the first updated dynamic wave; determine the goods in the first updated dynamic wave based on the weight grade information of the goods in the first updated dynamic wave selection sequence.

In a possible implementation, the first processor 1002 is specifically configured to determine whether the current outbound order satisfies the second preset condition if the current outbound order does not meet the first preset condition, wherein, The second preset condition is a new dynamic wave condition; if the current outbound order satisfies the second preset condition, a second dynamic wave is formed; the current outbound order is added to the second dynamic wave. Wave: Determine the picking order of the commodities in the second dynamic wave based on the weight level information of the commodities in the second dynamic wave.

In one possible implementation, the first processor 1002 is specifically configured to keep the outbound order in the order pool if the current outbound order does not meet the second preset condition.

In one possible implementation, the first processor 1002 is specifically configured to determine shelf information corresponding to the goods in the outbound order, and workstation information corresponding to the outbound order; according to the shelf information and workstation information to determine the picking task corresponding to each workstation; the first transceiver 1001 is specifically used to send the picking task of each workstation to the corresponding workstation and robot control system.

Referring to Figure 8, Figure 8 is a structural block diagram of an embodiment of the robot control system provided by this application. As shown in FIG. 8 , the RMS system 20 (robot control system) may include: a second transceiver 2001 , a second processor 2002 and at least one robot 210 .

In an optional embodiment of the present application, the second transceiver 2001 is used to receive a picking task, where the picking task includes the picking order of goods in the outbound order; the second processor 2002 is used to determine the picking order. The order is the order of handling tasks; determine the shelf information corresponding to each commodity in the outbound order, and the workstation information corresponding to each commodity in the outbound order; control the robot to move the outbound order according to the order of the handling tasks. The goods in the order are transported from the corresponding shelf to the corresponding workstation; at least one robot 210 is used to transport the goods in the outbound order from the corresponding shelf location to the corresponding workstation location according to the transport task sequence.

During the implementation process, each step of the above method can be completed by instructions in the form of hardware integrated logic circuits or software in the processor. The steps of the methods disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware processor for execution, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.

It should be noted that the processor in the embodiment of the present application may be an integrated circuit chip with signal processing capabilities. During the implementation process, each step of the above method embodiment can be completed through an integrated logic circuit of hardware in the processor or instructions in the form of software. The above-mentioned processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. . Each method, step and logical block diagram disclosed in the embodiment of this application can be implemented or executed. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

It can be understood that the memory in the embodiment of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically removable memory. Erase programmable read-only memory (electrically EPROM, EEPROM) or flash memory. Volatile memory may be random access memory (RAM), which is used as an external cache. By way of illustration, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synchlink DRAM, SLDRAM) and direct memory bus random access memory (directrambus RAM, DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

According to the method provided by the embodiment of the present application, the embodiment of the present application also provides a computer program product. The computer program product includes: a computer program or instructions. When the computer program or instructions are run on a computer, the computer executes FIG. 2 , the method of any one of the embodiments shown in Figures 3, 4, 5 and 6.

According to the method provided by the embodiment of the present application, the embodiment of the present application also provides a computer storage medium. The computer storage medium stores a computer program or instructions. When the computer program or instructions are run on the computer, the computer is caused to execute FIG. 2 , the method of any one of the embodiments shown in Figures 3, 4, 5 and 6.

It should be understood that in each embodiment of the present application, the execution order of each step should be determined by its function and internal logic. The size of each step number does not mean the order of execution, and does not limit the implementation process of the embodiment.

Each part of this specification is described in a progressive manner. The same and similar parts between various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of systems, computer storage media, and computer program products, since they are basically similar to the method embodiments, the descriptions are relatively simple. For relevant details, please refer to the description in the method embodiments.

Although the preferred embodiments of the present application have been described, those skilled in the art will be able to make additional changes and modifications to these embodiments once the basic inventive concepts are apparent. Therefore, it is intended that the appended claims be construed to include the preferred embodiments and all changes and modifications that fall within the scope of this application.

The above-described embodiments of the present application do not limit the scope of protection of the present application.

Claims (12)

1. A method for determining a picking sequence, which is characterized by including: Receive outbound orders; Configure weight grade information for each commodity in the outbound order; According to the weight grade information of each commodity in the outbound order, the picking order of the commodities in the outbound order is determined, and the commodities in the picking sequence are sorted from high weight grade to low weight grade; A picking task is sent to the robot control system, wherein the picking task includes the picking sequence. 2. The method according to claim 1, characterized in that each commodity in the outbound order is configured with weight grade information, including: Obtain the weight information of each commodity in the outbound order; Determine the weight class corresponding to the weight information of each product; Mark the weight class corresponding to each item in the outbound order. 3. The method according to claim 1, characterized in that there are multiple outbound orders; Determining the picking sequence of the commodities in the outbound order based on the weight grade information of each commodity in the outbound order includes: Obtain first attribute information of each outbound order, where the first attribute information is used to characterize the wave type to which the outbound order belongs, where the wave type includes dynamic waves and fixed waves; Mark the wave type of each outbound order according to the first attribute information; According to the wave type and wave grouping strategy of each outbound order, the corresponding wave is formed; The picking order of the commodities in each wave is determined based on the weight level information of the commodities in each wave. 4. The method according to claim 3, characterized in that, If the wave type of the current outbound order is a fixed wave, then according to the wave grouping strategy, a fixed wave including the current outbound order is formed, wherein the current outbound order is one of multiple outbound orders. Any outbound order; The picking sequence of the commodities in the fixed wave is determined based on the weight level information of the commodities in the fixed wave. 5. The method according to claim 3, characterized in that, If the wave type of the current outbound order is a dynamic wave, it is determined whether the current outbound order satisfies the first preset condition, where the first preset condition is the number of all commodities in the current outbound order. The weight grade is less than or equal to the lowest grade of the commodity weight grade in the first dynamic wave. The first dynamic wave is an existing dynamic wave that satisfies the same wave grouping strategy as the current outbound order, wherein the current The outbound order is any one of multiple outbound orders; If the current outbound order satisfies the first preset condition, add the first dynamic wave to the current outbound order to obtain a first updated dynamic wave; According to the weight level information of the commodities in the first updated dynamic wave, the picking order of the commodities in the first updated dynamic wave is determined. 6. The method according to claim 5, characterized in that, If the current outbound order does not meet the first preset condition, determine whether the current outbound order satisfies the second preset condition, where the second preset condition is a new dynamic wave condition; If the current outbound order meets the second preset condition, a second dynamic wave is formed; Add the current outbound order to the second dynamic wave; The picking order of the commodities in the second dynamic wave is determined based on the weight level information of the commodities in the second dynamic wave. 7. The method according to claim 6, characterized in that if the current outbound order does not meet the second preset condition, the outbound order will stay in the order pool. 8. The method according to claim 1, characterized in that, the method further comprises: Determine the shelf information corresponding to the goods in the outbound order, and the workstation information corresponding to the outbound order; Determine the picking task corresponding to each workstation based on the shelf information and workstation information; Send the picking tasks of each workstation to the corresponding workstation and robot control system. 9. A robot control method, characterized in that the method includes: Receive picking tasks, which include the picking sequence of goods in the outbound order; Determine the picking sequence as the handling task sequence; Determine the shelf information corresponding to each commodity in the outbound order, and the workstation information corresponding to each commodity in the outbound order; The control robot transports the goods in the outbound order from the corresponding shelf to the corresponding workstation according to the sequence of the transport tasks. 10. A picking sequence determination system, characterized in that the system includes a first transceiver and a first processor; The first transceiver is used to receive an outbound order, wherein each commodity in the outbound order is configured with weight grade information; The first processor is configured to determine the picking order of the goods in the outbound order based on the weight level information, and the goods in the picking order are sorted from high weight level to low weight level; The first transceiver is also used to send a picking task to the robot control system, where the picking task includes the picking sequence. 11. A robot control system, characterized by comprising a second transceiver, a second processor and at least one robot; The second transceiver is used to receive picking tasks, where the picking tasks include the picking sequence of goods in the outbound order; The second processor is used to determine that the picking sequence is a handling task sequence; determine shelf information corresponding to each commodity in the outbound order, and workstation information corresponding to each commodity in the outbound order; control The robot transports the goods in the outbound order from the corresponding shelf to the corresponding workstation according to the sequence of the transport tasks; The at least one robot is used to transport the goods in the outbound order from the corresponding shelf position to the corresponding workstation position according to the transport task sequence. 12. A computer storage medium, characterized in that a computer program or instructions are stored in the computer storage medium. When the computer program or instructions are executed, the method according to any one of claims 1-8 Or the method of claim 9 is performed.