CN117566313A

CN117566313A - Warehouse system, article sorting method and device, computing equipment and medium

Info

Publication number: CN117566313A
Application number: CN202311452877.XA
Authority: CN
Inventors: 陆亦军
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2023-11-02
Filing date: 2023-11-02
Publication date: 2024-02-20

Abstract

The embodiment of the invention provides a storage system article sorting method, a storage system article sorting device, a computing device and a storage system medium, wherein the article sorting method comprises the steps of obtaining the type of a target storage rack in a carrying area, wherein the storage surface of the target storage rack is divided into a plurality of storage positions, and the type of the storage rack represents the distribution condition of the plurality of storage positions; determining a target shelf position according to the type of the shelf and binding information of each shelf position, wherein the binding information is determined based on the first coverage area of a shelf position parking shelf and the position information of a delivery grid, and the binding information comprises distribution information of the delivery grid bound by the shelf position; and dispatching the carrying object to carry the target goods shelf to the target goods shelf position, and controlling the release of the target delivery grid bound by the target goods shelf position so as to deliver the goods to be sorted to the storage position of the target goods shelf through the target delivery grid. By the article sorting method, the sorting flexibility, throughput and delivery grid utilization efficiency of the warehouse system are improved, and more efficient sorting operation is realized in a limited field.

Description

Warehouse system, article sorting method and device, computing equipment and medium

Technical Field

The embodiment of the invention relates to the technical field of automatic logistics, in particular to an article sorting method.

Background

With the rapid development of electronic commerce, how to improve the goods sorting efficiency is always an important problem to be solved in the logistics storage industry. In fully flexible sorting scenarios and multi-layer sorting scenarios, one delivery pocket typically corresponds to one shelf, through which items may drop or be placed on the shelf, and when the items in the shelf are delivered full or after a certain number of items have been delivered, the sorting system performs a next operation, such as transporting the items to a designated location.

However, since the size of the racks is fixed, the number of racks is limited by the size of the site, and in the case that one delivery grid can only correspond to one rack, the number of available delivery grids in the sorting system is further limited, and the flexibility and expansibility of the sorting system are reduced.

Thus, there is a need for a new method that improves the sorting flexibility, throughput and delivery grid utilization efficiency of a warehousing system, and that enables more efficient sorting operations in limited sites.

Disclosure of Invention

In view of this, the embodiment of the invention provides an article sorting method. One or more embodiments of the present invention are also directed to an article sorting apparatus, a computing device, a computer-readable storage medium, and a computer program that address the technical shortcomings of the prior art.

According to a first aspect of an embodiment of the present invention, there is provided an article sorting method applied to a dispatch terminal of a warehouse system, where the warehouse system includes the dispatch terminal, a sorting area, and a handling area, the sorting area is provided with a plurality of delivery grid openings, and the handling area is provided with a plurality of shelf positions; the method comprises the following steps:

acquiring the goods shelf type of a target goods shelf in the carrying area, wherein the storage object plane of the target goods shelf is divided into a plurality of storage locations, and the goods shelf type represents the distribution condition of the plurality of storage locations;

determining a target shelf position according to the type of the shelf and binding information of each shelf position, wherein the binding information is determined based on a first coverage area of a shelf position parking shelf and position information of delivery grid openings, and the binding information comprises distribution information of the delivery grid openings bound by the shelf position;

and dispatching a carrying object to carry the target goods shelf to the target goods shelf position, and controlling the target delivery grid bound by the target goods shelf position to release so as to deliver the goods to be sorted to the storage position of the target goods shelf through the target delivery grid.

According to a second aspect of an embodiment of the present invention, there is provided an article sorting apparatus comprising:

The storage object plane of the target goods shelf is divided into a plurality of storage levels, and the goods shelf type represents the distribution condition of the storage levels;

the determining module is configured to determine a target shelf position according to the shelf type and the binding information of each shelf position, wherein the binding information is determined based on the first coverage area of a shelf position parking shelf and the position information of a delivery grid, and the binding information comprises the distribution information of the delivery grid bound by the shelf position;

the scheduling module is configured to schedule a carrying object to carry the target goods shelf to the target goods shelf position, and control the release of a target delivery grid bound by the target goods shelf position so as to deliver the goods to be sorted to the storage position of the target goods shelf through the target delivery grid.

According to a third aspect of embodiments of the present invention, there is provided a computing device comprising:

a memory and a processor;

the memory is configured to store computer-executable instructions and the processor is configured to execute the computer-executable instructions that, when executed by the processor, perform the steps of the method for sorting items described above

According to a fourth aspect of embodiments of the present invention, there is provided a computer readable storage medium storing computer executable instructions which, when executed by a processor, implement the steps of the above-described method of sorting items.

According to a fifth aspect of embodiments of the present invention, there is provided a computer program, wherein the computer program, when executed in a computer, causes the computer to perform the steps of the above-described method of sorting articles.

According to a sixth aspect of an embodiment of the present invention, there is provided a warehousing system, including: the system comprises a dispatching end, a sorting area, a carrying area and a carrying object, wherein the sorting area is provided with a plurality of delivery grid openings, and the carrying area is provided with a plurality of goods shelf positions;

the scheduling end acquires the type of a goods shelf of a target goods shelf in the carrying area, wherein the storage object plane of the target goods shelf is divided into a plurality of storage locations, and the goods shelf type represents the distribution condition of the plurality of storage locations; determining a target shelf position according to the type of the shelf and binding information of each shelf position, wherein the binding information is determined based on a first coverage area of a shelf position parking shelf and position information of delivery grid openings, and the binding information comprises distribution information of the delivery grid openings bound by the shelf position; sending a conveying instruction to the conveying object and sending a control instruction to the sorting area;

The sorting area is used for responding to the control instruction and releasing the target delivery grid bound by the target goods shelf position;

the object to be transported is used for transporting the target goods shelf to the target goods shelf position in response to the transport instruction.

According to the article sorting method provided by the invention, on one hand, the storage system scheduling end obtains the type of the goods shelf of the target goods shelf in the carrying area, wherein the storage object plane of the target goods shelf is divided into a plurality of storage positions, the type of the goods shelf represents the distribution condition of the plurality of storage positions, and the storage object plane of the goods shelf is divided into the plurality of storage positions, so that each storage position can correspond to a plurality of delivery grids, and the utilization rate of the delivery grids is increased; on the other hand, the storage system scheduling end determines the target storage rack position according to the storage rack type and the binding information of each storage rack position, wherein the binding information is determined based on the first coverage area of the storage rack where the storage rack is stopped and the position information of the delivery grid, the binding information comprises the distribution information of the delivery grid bound by the storage rack position, the target storage rack is transported to the corresponding target storage rack position, the storage system scheduling end finally schedules the transport object to transport the target storage rack to the target storage rack position, and controls the release of the target delivery grid bound by the target storage rack position so as to deliver the articles to be sorted to the storage position of the target storage rack through the target delivery grid, the delivery grid bound by the target storage rack can be fully utilized, the sorting flexibility and throughput of the storage system are improved, and more efficient sorting operation can be realized in a limited field.

Drawings

FIG. 1 (a) is a schematic diagram of an interactive flow of a warehousing system architecture according to one embodiment of the invention;

FIG. 1 (b) is a schematic diagram of a warehouse system structure according to an embodiment of the present invention;

FIG. 2 is a flow chart of a method of sorting articles according to one embodiment of the present invention;

FIG. 3 is a schematic diagram of a position relationship between a shelf location and a delivery grid according to an embodiment of the present invention;

FIG. 4 is an interface diagram of a first coverage area of a computing shelf location docking shelf provided by one embodiment of the present invention;

FIG. 5 is a schematic illustration of an interface for calculating a second coverage of a delivery grid according to one embodiment of the present invention;

FIG. 6 is a schematic diagram of another embodiment of a position relationship between a shelf location and a delivery grid;

FIG. 7 is a schematic view of an interface for obtaining a target shelf angle according to an embodiment of the present invention;

FIG. 8 is a schematic view of a target shelf angle provided by an embodiment of the present invention;

FIG. 9 is a schematic illustration of a storage level on a target shelf according to one embodiment of the present invention;

FIG. 10 is a logic flow diagram of a method for distributing a handle object according to one embodiment of the present invention;

FIG. 11 is a schematic illustration of a storage level of a target shelf displayed on a display device of a packaging station according to one embodiment of the present invention;

FIG. 12 is a process flow diagram of an article sorting method for multi-port shelf cage carts according to one embodiment of the present invention;

fig. 13 is a schematic structural view of an article sorting apparatus according to an embodiment of the present invention;

FIG. 14 is a block diagram of a computing device provided by one embodiment of the invention.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than those herein described, and those skilled in the art will readily appreciate that the present invention may be similarly embodied without departing from the spirit or essential characteristics thereof, and therefore the present invention is not limited to the specific embodiments disclosed below.

The terminology used in the one or more embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of the invention. As used in one or more embodiments of the invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present invention refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that, although the terms first, second, etc. may be used in one or more embodiments of the invention to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first may also be referred to as a second, and similarly, a second may also be referred to as a first, without departing from the scope of one or more embodiments of the invention. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.

Furthermore, it should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for analysis, stored data, presented data, etc.) according to one or more embodiments of the present invention are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the relevant data is required to comply with relevant laws and regulations and standards of relevant countries and regions, and is provided with corresponding operation entries for the user to select authorization or rejection.

First, terms related to one or more embodiments of the present invention will be explained.

Full flexible sorting: a sorting scenario capable of automatically sorting and handling items.

And (3) a goods shelf: support structures for storing goods are typically comprised of beams, columns and shelf panels.

Carrying objects: the transport object in the embodiment of the present invention is mainly used for transporting the racks according to the transport command, and may be a transport robot or an automatic guided vehicle (Automated Gu ided Veh ic le, AGV) or a handling operator.

Carrying area: a work area for transporting the object.

Goods shelf position: the area of the carrying area where the shelves may be placed.

Sorting area: the working area for storing the articles to be sorted is provided, and in the embodiment of the invention, the sorting area releases the delivery grid according to the control instruction to deliver the articles to be sorted.

Cargo space: and dividing the object storage surface in the goods shelf to obtain an object storage area. The storage position is also called in the embodiment of the invention.

Type of shelf: and the identification is used for indicating the distribution of the goods space in the goods shelf.

And (3) a packaging workstation: a working area or apparatus for subjecting goods that have been sorted or picked to a final packaging process.

PT: namely a Packet Task, a parcel Task, a handling Task in a warehouse system.

CT: i.e. Change Container Task, a container change task, a handling task in a warehouse system.

ST: namely, a support Task and a supplementary Task, and a carrying Task in a warehouse system.

FC: i.e. Free Robot Count, free Robot number.

With the development of automated logistics, the need for fully flexible sorting and multi-layer sorting is growing. In the prior art, a delivery slot usually corresponds to a portable shelf, and when the shelf is full, the cage will carry the shelf to the packaging position for packaging task. However, the size of the pallet cages is typically fixed, such as 1.0 meter by 1.0 meter, since the number of pallets entering the handling area is limited by the size of the field of the handling area, when one pallet corresponds to one pallet, more pallets cannot be activated in a limited field, thereby limiting sorting capacity and efficiency, and further limiting the number of workstations that can be delivered. Thus, there is a need for a new method that improves the sorting flexibility, throughput and delivery grid utilization efficiency of a warehousing system, and that enables more efficient sorting operations in limited sites.

In view of the above problems, in the present invention, there is provided an article sorting method, and the present invention relates to an article sorting apparatus, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

Referring to fig. 1 (a), fig. 1 (a) shows an interactive flow diagram of a storage system architecture provided by an embodiment of the present invention, where the storage system includes a scheduling end, a sorting area, a carrying area, and a carrying object, the sorting area is provided with a plurality of delivering grid openings, the carrying area is provided with a plurality of shelf positions, the scheduling end is used to obtain a shelf type of a target shelf in the carrying area, where a storage surface of the target shelf is divided into a plurality of storage positions, and the shelf type represents a distribution condition of the plurality of storage positions; determining a target shelf position according to the type of the shelf and binding information of each shelf position, wherein the binding information is determined based on the first coverage area of a shelf position parking shelf and the position information of a delivery grid, and the binding information comprises distribution information of the delivery grid bound by the shelf position; sending a conveying instruction to a conveying object and sending a control instruction to a sorting area; the sorting area is used for responding to the control instruction and releasing a target delivery grid bound with the target goods shelf position; the transporting object is used for responding to the transporting instruction and transporting the target goods shelf to the target goods shelf position.

Referring to fig. 1 (b), fig. 1 (b) is a schematic diagram of a warehouse system structure according to an embodiment of the present invention, where a sorting area and a carrying area are distributed in an upper-lower layer, and a scheduling end 102 is configured to obtain a shelf type of a target shelf in the carrying area, where a storage surface of the target shelf is divided into a plurality of storage levels, and the shelf type represents a distribution situation of the plurality of storage levels; determining a target shelf position according to the type of the shelf and binding information of each shelf position, wherein the binding information is determined based on the first coverage area of a shelf position parking shelf and the position information of a delivery grid, and the binding information comprises distribution information of the delivery grid bound by the shelf position; sending a conveying instruction to a conveying object and sending a control instruction to a sorting area; a plurality of delivery grids 1042 exist in the sorting area 104, and the sorting area 104 is used for responding to the control instruction and releasing the target delivery grids bound by the target goods shelf position; at least one object 1062, a plurality of shelves 1064, and a plurality of shelf locations 1066 are present in the transport area 106, and the object 1062 is used to transport the target shelf to the target shelf location in response to the transport command.

It can be understood that the carrying area and the sorting area in the warehouse system can be the structure of fig. 1 (b) in which the carrying area and the sorting area are distributed in the upper layer and the lower layer, or can be a single-layer fully flexible structure in which the carrying area and the sorting area are distributed in the same layer, and the specific structure of the carrying area and the sorting area is not particularly limited.

According to the storage system, on one hand, a storage system scheduling end obtains the type of a storage rack of a target storage rack in a carrying area, wherein the storage object surface of the target storage rack is divided into a plurality of storage positions, the storage rack type represents the distribution condition of the plurality of storage positions, and the storage object surface of the storage rack is divided into the plurality of storage positions, so that each storage rack position can correspond to a plurality of delivery grids, and the utilization rate of the delivery grids is increased; on the other hand, the storage system scheduling end determines the target storage rack position according to the storage rack type and the binding information of each storage rack position, wherein the binding information is determined based on the first coverage area of the storage rack where the storage rack is stopped and the position information of the delivery grid, the binding information comprises the distribution information of the delivery grid bound by the storage rack position, the target storage rack is transported to the corresponding target storage rack position, the storage system scheduling end finally schedules the transport object to transport the target storage rack to the target storage rack position, and controls the release of the target delivery grid bound by the target storage rack position so as to deliver the articles to be sorted to the storage position of the target storage rack through the target delivery grid, the delivery grid bound by the target or the storage rack can be fully utilized, the sorting flexibility and throughput of the storage system are improved, and more efficient sorting operation can be realized in a limited field.

Referring to fig. 2, fig. 2 shows a flowchart of an article sorting method according to an embodiment of the present invention, where the article sorting method is applied to a dispatching end of a warehouse system, the warehouse system includes the dispatching end, a sorting area, and a handling area, the sorting area is provided with a plurality of delivery pockets, the handling area is provided with a plurality of shelf positions, and the article sorting method specifically includes the following steps.

Step 202: and acquiring the goods shelf type of the target goods shelf in the carrying area, wherein the storage object plane of the target goods shelf is divided into a plurality of storage positions, and the goods shelf type represents the distribution condition of the plurality of storage positions.

The storage object plane is divided into two storage positions symmetrically or into a plurality of storage positions based on any other dividing mode, and the distribution situation of the storage positions corresponds to the dividing mode of the storage object plane, for example, the storage object plane is divided in a cross-shaped dividing mode to obtain four storage positions distributed in a field shape, and then the storage positions represented by the goods shelf type are distributed in the field shape.

In practical application, firstly, an operator can add a target goods shelf through a handheld PDA (personal digital assistant ) and inform a warehouse system scheduling end, or the warehouse system scheduling end uses a sensor such as a camera, a laser scanner, detection equipment or a depth sensor to identify that the target goods shelf enters a carrying area, and the process of entering the carrying area by the target goods shelf can be automatically or manually carried out; secondly, after the target goods shelf is identified, the storage system scheduling end can take a picture through a camera to carry out image analysis or detect the distribution condition of storage levels in the target goods shelf through a laser scanner, a depth sensor, bar code scanning and other modes; and finally, integrating the storage level distribution condition in the target goods shelf by the warehouse system dispatching end, and determining the goods shelf type of the target goods shelf, or directly receiving the type of the target goods shelf sent by the warehouse system management end.

In one embodiment of the invention, an operator can add the target shelf through a handheld PDA and notify the warehouse system dispatch terminal, and simultaneously send the shelf type of the target shelf to the warehouse system dispatch terminal.

In another embodiment of the present invention, taking the storage rack type as two storage levels and being symmetrically distributed as an example, firstly, a warehouse system dispatching end uses a laser scanner to identify a target storage rack entering a carrying area; secondly, the warehouse system dispatching end acquires images of the target goods shelf through the camera, performs image analysis and determines the distribution conditions of the quantity, the position, the size and the like of the storage positions in the target goods shelf; and finally, integrating the distribution conditions of the number, the position, the size and the like of the storage positions in the target goods shelf by the warehouse system dispatching end, and determining the goods shelf type of the target goods shelf.

Step 204: and determining a target shelf position according to the type of the shelf and the binding information of each shelf position, wherein the binding information is determined based on the first coverage area of a shelf position stop shelf and the position information of the delivery grid, and the binding information comprises the distribution information of the delivery grid bound by the shelf position.

The shelf position is a position in the carrying area where the shelf can be parked, for example, the shelf position a is bound with the delivery grid a and the delivery grid B, and then the shelf position a can receive the articles to be sorted released by the delivery grid a and the delivery grid B.

In practical application, the warehouse system dispatching end determines distribution information of delivery grids bound with each shelf position in the sorting area, and determines a target shelf position of which the binding information can be matched with the shelf type.

In a specific embodiment of the present invention, taking the storage rack type as two storage locations with symmetrical distribution as an example, the warehouse system scheduling end firstly sorts the distribution information of each delivery grid bound with each storage location in the area, determines that the storage rack with two adjacent and parallel delivery grids bound can be matched with the storage rack type with symmetrical distribution of the two storage locations, and then determines the storage rack with two adjacent and parallel delivery grids bound as the target storage rack.

Further, before the determining the target shelf location according to the shelf type and the binding information of each shelf location, the method further includes: determining the position information of each shelf position in the carrying area and the position information of each delivery grid in the sorting area; according to the position information of each shelf position and the preset shelf size, calculating a first coverage range of each shelf position parking shelf; according to the position information of each delivery grid and the preset grid size, respectively calculating a second coverage area of each delivery grid; determining a first delivery grid covered in the first coverage area of a first shelf-position stop shelf according to the first coverage area of the first shelf-position stop shelf and a second coverage area of each delivery grid, wherein the first shelf position is any one of a plurality of shelf positions; and establishing a binding relation between the first delivery grid and the first goods shelf position, and determining binding information of the first goods shelf position.

The position information of each shelf position may be a coordinate of each shelf position in the carrying area, the position information of each delivery gate may be a coordinate of a projection of each delivery gate in the carrying area, the first coverage area may be a carrying area occupied by the shelf when the shelf is parked to the shelf position, and the second coverage area may be an area of the projection of the delivery gate in the carrying area.

In practical applications, the shelf size and the delivery grid size of a warehouse system are usually fixed, for example, the preset shelf size is 1.2 m×1.2 m, the preset grid size is 0.6 m×0.6 m, before determining the target shelf position, firstly, the warehouse system dispatching end obtains the position information of each shelf position and the position information of each delivery grid in the carrying area, and the position information is obtained through the data provided by the sensor, the scanning device or the management end of the warehouse system; secondly, according to the position information of each shelf position and the preset shelf size, respectively calculating a first coverage area of each shelf position for stopping the shelf, wherein the first coverage area can represent the receiving range of the shelf positioned at the shelf position; thirdly, respectively calculating a second coverage area of each delivery grid according to the position information of the delivery grid and the preset grid size, wherein the second coverage area can represent the delivery range of the delivery grid; then, according to the first coverage area of the first shelf position parking shelf and the second coverage area of each delivery grid, determining the second coverage area of at least one delivery grid covered in the first coverage area, which means that at least one delivery grid with the receiving range of the shelf position and the delivery range of the delivery grid overlapped is found, wherein the first shelf position can be any one of a plurality of shelf positions; and finally, establishing a binding relation between the first delivery grid and the first goods shelf position, and determining binding information of the first goods shelf position, wherein the binding relation means that the first delivery grid is bound with the first goods shelf position so as to ensure the delivery and sorting accuracy of the subsequent goods.

In a specific embodiment of the present invention, referring to fig. 3, fig. 3 is a schematic diagram of a positional relationship between a shelf location and a delivery slot according to an embodiment of the present invention, B1 is the shelf location, A1, A2, A3, and A4 are the delivery slots, and first, a warehouse system dispatching end determines positional information of B1 and positional information of A1, A2, A3, and A4 according to data provided by a management end of a warehouse system.

Next, according to the position information of B1 and the preset shelf size, a first coverage area of B1 is calculated, referring to fig. 4, fig. 4 is an interface schematic diagram for calculating the first coverage area of a shelf location stop shelf according to an embodiment of the present invention, where a cell is selected in an operation interface, a shelf location coded as B1 is selected, and a center point coordinate of B1 is obtained as X:23.079, Y:23.435, the length is 0.2, the width is 1.13, the occupied robot ID and occupied shelf code are-1, which represents that the B1 shelf position does not occupy the robot and the shelf currently, and the first coverage area of the B1 is calculated according to the position information and the preset shelf size.

Again, according to the position information of A1, A2, A3 and A4 and the preset size of the cell, the second coverage area is calculated, referring to fig. 5, fig. 5 is a schematic diagram of an interface for calculating the second coverage area of the delivery cell according to an embodiment of the present invention, a cell is selected in the operation interface, a shelf position encoded as A2 is selected, a "lock", "pause" and "release" control is used to characterize which release state the A2 cell is in, and the central point coordinate of A2 is obtained as X:23.329, y:23.680, the length is 0.465 and the width is 0.565, and the second coverage of A2 is calculated according to the position information and the preset size of the grid.

Then, it is determined that the first coverage of B1 includes a second coverage of A1, a second coverage of A2, a second coverage of A3, and a second coverage of A4, B1 is taken as the first shelf location, and A1, A2, A3, and A4 are taken as the first delivery grid.

And finally, establishing a binding relation between B1 and A1, A2, A3 and A4, and determining binding information of B1.

In another embodiment of the invention, the coordinates may also include z-coordinates, i.e., the number of floors where the shelf locations and delivery grid are located.

Based on the method, the binding relation and the binding information can be determined according to the position information of the goods shelf position and the delivery grid, the goods shelf size and the grid size and the calculation and comparison of the coverage area, and accurate guidance and guidance are provided for subsequent logistics operation. This helps to optimize the sorting and delivery process and improves logistics efficiency.

Further, before determining the target shelf location according to the shelf type and the binding information of each shelf location, the method further comprises: determining the position information of each shelf position in the carrying area and the position information of each delivery grid in the sorting area; according to the position information of each shelf position and the preset shelf size, calculating a first coverage range of each shelf position parking shelf; determining a first delivery grid which is positioned in the first coverage area of a first shelf position stop shelf according to the first coverage area of the first shelf position stop shelf and the position information of each delivery grid, wherein the first shelf position is any one of a plurality of shelf positions; and establishing a binding relation between the first delivery grid and the first goods shelf position, and determining binding information of the first goods shelf position.

In practical application, firstly, a warehouse system dispatching end acquires position information of each shelf position and position information of each delivery grid in a carrying area, and the position information is acquired through data provided by a sensor, scanning equipment or a management end of the warehouse system; secondly, according to the position information of each shelf position and the preset shelf size, respectively calculating a first coverage area of each shelf position for stopping the shelf, wherein the first coverage area can represent the receiving range of the shelf positioned at the shelf position; thirdly, determining the position information of the delivery grid, and representing the delivery position of the delivery grid; and then determining at least one delivery grid included in the first coverage area according to the first coverage area of the first shelf position parking shelf and the position information of each delivery grid, wherein the delivery point including the at least one delivery grid in the at least one shelf position receiving range is found, and the first shelf position can be any one of a plurality of shelf positions.

In a specific embodiment of the present invention, referring to fig. 3, first, the warehouse system dispatching end determines the position information of B1 and the position information of A1, A2, A3, A4 according to the data provided by the management end of the warehouse system.

Secondly, according to the position information of the B1 and the preset shelf size, calculating a first coverage area of the B1, referring to FIG. 4, wherein a cell is selected in an operation interface, a shelf position coded as the B1 is selected, and a center point coordinate of the B1 is obtained as X:23.079, Y:23.435, the length is 0.2, the width is 1.13, the occupied robot ID and occupied shelf code are-1, which represents that the B1 shelf position does not occupy the robot and the shelf currently, and the first coverage area of the B1 is calculated according to the position information and the preset shelf size.

Again, determining the position information of A1, A2, A3 and A4, referring to fig. 5, selecting a cell in the operation interface, selecting a shelf position encoded as A2, and obtaining the center point coordinate of A2 as X:23.329, y:23.680.

then, it is determined that the first coverage area of B1 includes the center point coordinates of A1, the center point coordinates of A2, the center point coordinates of A3, and the center point coordinates of A4, taking B1 as the first shelf location, and taking A1, A2, A3, and A4 as the first delivery grid.

Based on the method, the binding relation and the binding information can be determined according to the position information of the goods shelf position and the delivery grid, the goods shelf size and the calculation and comparison of the coverage area, and accurate guidance and guidance are provided for subsequent logistics operation. This helps to optimize the sorting and delivery process and improves logistics efficiency.

Further, the establishing the binding relationship between the first delivery gate and the first shelf location, and determining the binding information of the first shelf location includes: determining distribution information of the first delivery grid; determining a target goods shelf type matched with the distribution information according to the distribution information; and establishing a binding relation between the first delivery grid and the first shelf position according to the type of the target shelf, and determining binding information of the first shelf position.

The distribution information of the first delivery grid openings can comprise the number of the first delivery grid openings and the distribution condition of the first mopping grid openings, and the target goods shelf type is a goods shelf type which indicates that the storage positions in the target goods shelf are in one-to-one correspondence with the first delivery grid openings in the number and the position.

In practical application, firstly, the warehouse system dispatching end determines the distribution information condition of the first delivery grids according to the position information of the first delivery grids, for example, the number of the first delivery grids, and the position, the number or other identifiers of each first delivery grid: secondly, the warehouse system dispatching end analyzes and compares available goods shelf types according to the distribution information of the first delivery grids, and determines a target goods shelf type matched with the distribution information, and storage positions in corresponding goods shelves of the target goods shelf type are in one-to-one correspondence with the first delivery grids in space; then, the warehouse system dispatching end establishes a binding relation between the first delivery grid and the first shelf position according to the determined target shelf type, and matches and maps the first delivery grid with the first shelf position so as to ensure correct article delivery and storage; and finally, determining the binding information of the first shelf position by the warehouse system scheduling end according to the established binding relation.

In a specific embodiment of the present invention, firstly, a warehouse system dispatching end determines that the number of first delivery grids is 4 according to the position information of the first delivery grids, as shown in fig. 3, and each first delivery grid is distributed in a 'field'; secondly, determining that the matched target goods shelf type is F2B2 according to distribution information of 4 first delivery grid openings in a 'field' shape, wherein F2B2 represents that the goods shelf has two storage positions in the F (front) direction and the B (back) direction respectively; then, the warehouse system dispatching end establishes a binding relation between 4 first delivery grid openings and first shelf positions according to the shelf type of F2B 2; and finally, determining the binding information of the first shelf position by the warehouse system scheduling end according to the established binding relation.

In another embodiment of the present invention, referring to fig. 6, the number of first delivery openings is determined to be 2, each first delivery opening is distributed in a "day" shape, and then, the warehouse system dispatching end determines that the matched target shelf type is B2 according to the distribution information that 2 first delivery openings are distributed in a "day" shape, wherein B2 represents that there are two storage locations in the B direction; then, the warehouse system dispatching end establishes a binding relation between 2 first delivery grid openings and first shelf positions according to the shelf type of the B2; and finally, determining the binding information of the first shelf position by the warehouse system scheduling end according to the established binding relation.

Based on the above, the binding information of the first shelf location can be determined based on the distribution information of the delivery grid, the shelf type and the setting of the binding relationship. This facilitates accurate and efficient delivery of items to designated shelf locations during logistics operations to support subsequent storage, picking and other logistics processes.

Further, determining a target shelf location according to the shelf type and the binding information of each shelf location includes: determining distribution information of delivery grid openings bound by all the goods shelf positions according to the binding information of all the goods shelf positions; according to the distribution information of the delivery grid bound by each shelf position, determining candidate shelf positions of which the distribution information is matched with the shelf types; and determining a target shelf position based on the distance between each candidate shelf position and the target shelf.

The candidate shelf location is a shelf location matching the shelf type of the target shelf, and the target shelf location may be a shelf location closest to the target shelf among the candidate shelf locations.

In practical application, firstly, according to binding information of each shelf position, determining distribution information of delivery grid openings bound by each shelf position; secondly, according to the distribution information of the delivery grid, determining candidate shelf positions matched with the distribution information and the shelf types; finally, for the determined candidate shelf locations, a target shelf location is determined based on the distance between the candidate shelf location and the target shelf.

In a specific embodiment of the present invention, taking the shelf type of the target shelf as F2B2 as an example, firstly, according to the binding information of each shelf position, determining the distribution information of the delivery grid bound by each shelf position; secondly, according to the distribution information of the delivery grid, determining candidate shelf positions matched with the distribution information and F2B 2; finally, selecting the candidate shelf position closest to the target shelf as the target shelf position

Based on this, the target shelf location can be determined from the shelf type and binding information for each shelf location. By analyzing distribution information of the delivery grid, matching candidate shelf positions and considering the distance between the shelf positions and the target shelf, the most suitable shelf position is ensured to be selected. This helps to improve the efficiency and accuracy of the logistics operations and ensures that items can be placed in the proper location for subsequent storage, picking and other logistics requirements

Step 206: and dispatching a carrying object to carry the target goods shelf to the target goods shelf position, and controlling the target delivery grid bound by the target goods shelf position to release so as to deliver the goods to be sorted to the storage position of the target goods shelf through the target delivery grid.

The object to be carried can be a carrying robot, an AGV, a cage or other carrying equipment, the target delivery grid is a delivery grid which is indicated by binding information and is bound with the target goods shelf position, and the objects to be sorted can directly fall into the storage position of the target goods shelf under the action of gravity or enter the storage position of the target goods shelf through a downward-inclined conveying belt after the target delivery grid is released.

In practical application, firstly, determining an automatic transfer robot, an automatic guided vehicle, a mechanical arm or other transfer equipment for transfer according to a dispatching algorithm by a warehouse system dispatching end, wherein the dispatching algorithm can consider factors such as availability, performance, real-time environment condition of a transfer area and position of a target shelf position of each transfer object and the like, and send a transfer instruction to the transfer object; secondly, the object to be carried responds to the carrying instruction, positions the target goods shelf and carries the object to the target goods shelf position according to a path planning algorithm, wherein the path planning algorithm can relate to navigation and obstacle avoidance technology so as to ensure the safety and accuracy of the carrying process; then, after the target goods shelf is carried to the target goods shelf position by the carried object, the warehouse system dispatching end sends a control instruction to the sorting area; and finally, responding to the control instruction, releasing the target delivery grid bound with the target shelf position by the sorting area, so that the articles to be sorted in the target delivery grid enter the storage position of the target shelf in a manner of falling by gravity, a conveyor belt, a robot carrying a lifting structure or a mechanical arm or manual carrying.

In a specific embodiment of the invention, taking a carrying object as an example of a cage, firstly, determining the cage for carrying a target goods shelf by a warehouse system dispatching end according to a dispatching algorithm, and sending a carrying instruction to the cage; secondly, the cage vehicle responds to the conveying instruction, positions the current position of the target goods shelf according to a path planning algorithm and conveys the target goods shelf to the target goods shelf position indicated by the conveying instruction; then, after the target goods shelf is carried to the target goods shelf position by the cage vehicle, the warehouse system dispatching end sends a control instruction to the sorting area; and finally, the sorting area responds to a control instruction of a dispatching end of the warehousing system, and releases a target delivery grid bound with the target goods shelf, so that the goods to be sorted in the target delivery grid are delivered into the storage position of the target goods shelf.

Further, the number of the target delivery grid openings is the same as the number of storage positions on the target goods shelf; before the target delivery grid bound by the control target shelf position is released, the method further comprises the following steps: determining a shelf angle at which the target shelf reaches the target shelf position; determining the position information of each storage level according to the goods shelf angle; determining each target delivery grid corresponding to each storage level according to the position information of each storage level and the distribution information of the target delivery grids bound by the target shelf level; the controlling the release of the target delivery grid bound to the target shelf position comprises the following steps: and controlling the target delivery grids to be respectively released so as to respectively deliver the articles to be sorted to the corresponding storage positions through the target delivery grids.

The goods shelf angle is the two-dimensional direction of the target goods shelf in the carrying area, and the target delivery grid is the delivery grid corresponding to the storage position.

In practical application, firstly, after a target goods shelf is carried to a target goods shelf position, a warehouse system scheduling end determines the angle of the target goods shelf, and the angle of the target goods shelf can be obtained through a sensor, a position monitoring device or other related equipment; secondly, determining the position information of each storage level by the warehouse system scheduling end according to the angle of the target goods shelf, wherein the position information of each storage level can relate to the size and the shape of each storage level and the number or the identifier of the corresponding storage level; then, the warehouse system dispatching end determines a target delivery grid corresponding to each storage level according to the position information of the storage level and the distribution information of the target delivery grid bound by the target shelf level, and associates each storage level with a specific target delivery grid according to the relation between the storage level and the position of the target delivery grid and the matching rule; finally, after determining the target delivery grid corresponding to each storage level, the warehouse system scheduling end can control each target delivery grid to be released respectively so as to ensure that the articles to be sorted can be delivered to the corresponding storage level through the corresponding target delivery grid respectively.

In a specific embodiment of the present invention, taking the shelf position shown in fig. 3 as the target shelf position as an example, and referring to fig. 7, fig. 7 is an interface schematic diagram for obtaining the target shelf angle according to an embodiment of the present invention, in the "shelf" tab, "update shelf," "moving shelf," "locking shelf," "unlocking shelf," "update angle," and "send back goods area" are controls for controlling the target shelf, where the code of the target shelf is C1, and the center point coordinate is X:23.079, Y:23.435, the current angle is 0 °, referring to fig. 8, fig. 8 is a schematic diagram of a target shelf angle according to an embodiment of the present invention, which shows orientations of the target shelf at four shelf angles of 0 °, 90 °, 180 ° and-90 °, respectively.

Firstly, after a target goods shelf is carried to a target goods shelf position, a warehouse system dispatching end determines that the angle of the target goods shelf is 0 degrees; secondly, determining position information of each storage level by a storage system scheduling end according to the angle of a target storage rack, wherein the position information of each storage level can relate to the size and the shape of each storage level and the number or the identifier of the corresponding storage level, referring to fig. 9, fig. 9 is a schematic diagram of the storage level on the target storage rack according to one embodiment of the invention, wherein the target storage rack is composed of two storage levels F1 and F2 in the direction F and two storage levels B1 and B2 in the direction B; then, the warehouse system dispatching end determines the target delivery grid corresponding to each storage level according to the position information of the storage level and the distribution information of the target delivery grid bound by the target shelf level, and associates each storage level with a specific target delivery grid according to the relation between the storage level and the position of the target delivery grid and the matching rule, wherein the corresponding relation is shown in table 1:

Table 1 correspondence table of target delivery lattice and storage level

Target delivery grid	Storage position
		A1	B1
A2	F2
		A3	B2
A4	F1

Finally, after determining the target delivery grid openings corresponding to each storage level, the warehouse system scheduling end can control each target delivery grid opening to be released respectively so as to ensure that the articles to be sorted of A1 can be delivered into the storage level B1, the articles to be sorted of A2 can be delivered into the storage level F2, the articles to be sorted of A3 can be delivered into the storage level B2 and the articles to be sorted of A4 can be delivered into the storage level F1.

Based on the method, the angle of the target goods shelf can be determined before the target delivery grid bound with the target goods shelf is controlled to be released, the position information of the storage levels is determined, and each storage level is associated with the corresponding target delivery grid. And then, controlling the release of the target delivery grid openings to ensure that the articles to be sorted can be delivered to corresponding storage positions respectively. This helps to ensure the accuracy and efficiency of the logistics operations, increase the number of delivery openings available, and provide a suitable storage and sorting environment.

Further, after the target delivery grid bound by the control target shelf position is released, the method further comprises: identifying the storage state of each storage position; locking the target delivery grid under the condition that the storage level of which the storage state is the full state reaches a preset threshold value; and dispatching the carrying object to carry the target goods shelf to a packaging station so as to carry out packaging processing on the goods on the target goods shelf at the packaging station.

Wherein the storage state comprises two states of full and not full.

In practical application, firstly, a warehouse system dispatching end identifies the storage state of each storage position through a laser sensor, a camera or other detection equipment, and records related storage information; secondly, when the full storage level reaches a preset condition, the storage system scheduling end can lock the corresponding target delivery grid so as to prevent articles from being delivered to the storage level continuously; then, the target delivery grid is locked to stop vomiting, and the warehouse system dispatching end can dispatch proper carrying objects to carry the target goods shelf to the packaging station; finally, after the target goods shelf reaches the packaging station, the staff on the packaging station can perform relevant packaging processing operation, and the steps of packaging, labeling, sealing boxes and the like can be included for goods so as to prepare for further processing and delivery of the goods.

In a specific embodiment of the present invention, taking a preset condition as that a full storage level reaches a preset threshold value and the preset threshold value is 2 as an example, firstly, a storage system scheduling end identifies storage states of all storage levels through a laser sensor, and records related storage information; secondly, when the number of the full storage levels reaches 2, the warehouse system scheduling end can lock target delivery grids corresponding to the 2 full storage levels so as to prevent articles from being delivered to the storage levels continuously; then, the target delivery grid is locked to stop vomiting, and the warehouse system dispatching end can dispatch proper carrying objects to carry the target goods shelf to the packaging station; finally, after the target goods shelf reaches the packaging station, the staff on the packaging station can perform relevant packaging processing operation, and the steps of packaging, labeling, sealing boxes and the like can be included for goods so as to prepare for further processing and delivery of the goods.

In another embodiment of the present invention, taking the case that the number of the full storage levels reaches 50% of the total storage levels of the target storage rack and the case that the total storage levels of the target storage rack are 6 as the case, firstly, the storage system scheduling end identifies the storage states of all storage levels through the laser sensor and records the related storage information; secondly, when the number of the full storage levels reaches 3, the storage system scheduling end can lock target delivery grid openings corresponding to the 3 full storage levels so as to prevent articles from being delivered to the storage levels continuously; then, the target delivery grid is locked to stop vomiting, and the warehouse system dispatching end can dispatch proper carrying objects to carry the target goods shelf to the packaging station; finally, after the target goods shelf reaches the packaging station, the staff on the packaging station can perform relevant packaging processing operation, and the steps of packaging, labeling, sealing boxes and the like can be included for goods so as to prepare for further processing and delivery of the goods.

In another embodiment of the present invention, the logic for dispatching the carrying objects may be shown in fig. 10, and fig. 10 is a logic flow chart for distributing the carrying objects according to one embodiment of the present invention, wherein after a dispatching request is started, a dispatching end of the warehouse system obtains the current service condition of the transporting robot, the number of PT and CT of the matching shelf and the idle chute, the number of inquiring shelf and chute, respectively, to obtain FC, ST, PT, CT number, and then the inquiring workstation obtains the size of the station queue.

If the station queue is more than 0, further judging whether the number of CT robots is more than the station queue, otherwise judging that the number of CT robots is more than a preset threshold, if yes, the number of CT robots is less than the preset threshold, the number of PT robots is less than the number of FC robots, and the number of CT robots is less than the number of CT robots, so that a flow task is generated.

When the number of FCs is equal to or greater than the number of ST, the number of ST robots=st, the number of fcs=fc number-ST, or else the number of PT robots=fc number-CT robots, a flow task is generated.

ST robot number=st number, FC number=fc number-ST number, and if FC > 0, CT robot number=fc number×ct number/(PT number+ct number), flow task is generated.

After CT robot number=fc number×ct number/(PT number+ct number), if CT robot number > 0, station queue > 0, and CT robot number > station queue, CT robot number=station queue, PT robot number=fc number-CT robot number, otherwise PT robot number=fc number-CT robot number, flow task is generated.

After the number of PT robots=FC number-CT robots, if the number of CT robots is larger than 2, the number of PT robots is < =0, and the number of PT is larger than 0, otherwise, the number of CT robots=CT robots-1, and the number of PT robots=1, generating a flow task.

After the flow task is generated, if the number of PT robots is more than 0, sending PT to a warehousing system, otherwise, judging whether the number of CT robots is more than 0.

If the number of the CT robots is more than 0, sending the CT to a warehouse system, otherwise, judging and judging whether the number of the ST robots is more than 0.

If the number of the ST robots is more than 0, automatically generating ST and sending the ST to a warehouse system, otherwise, judging whether FC is more than 0.

If the FC is more than 0, judging whether the goods shelf is not matched with the resource adjustment, if so, automatically generating CT related to the goods shelf and sending the CT to a warehouse system.

If FC < 0, ending.

Based on the method, after the target delivery grid bound on the control target goods shelf is released, the storage state of the storage level can be identified, and the target delivery grid is locked when the preset threshold value is reached. Then, the appropriate transport object is scheduled to move the target shelf to the packet station for subsequent packet processing. This helps to achieve high efficiency and accuracy of the packaging effort for better logistics and out-of-stock operations.

Further, the scheduling the handling object to handle the target shelf to the packaging station includes: identifying whether the storage position with the storage state being an unsatisfied state corresponds to a grid-mouth-in-process task; if yes, waiting to deliver the articles to be sorted through the grid throwing port, and dispatching the carrying object to carry the target goods shelf to the packaging station, wherein the grid throwing port is a target delivery grid port with a grid throwing task.

Wherein, the delivery port is a target delivery port for delivery task.

In practical application, firstly, the storage system scheduling end finds out the storage level which is not full by identifying the storage state of the storage level, and it can be understood that the storage system scheduling end does not take the upper limit of the capacity of the storage level as the condition for checking that the storage level is full, but leaves a certain margin when identifying the storage state of the storage level, and the invention is not limited to this; secondly, if the situation that a task is being delivered by a grid port corresponding to the storage level which is not full is identified, the warehouse system scheduling end waits for the task to deliver the articles to be sorted to the corresponding grid port at the grid port so as to ensure that the articles can be successfully delivered to the corresponding grid port before the target goods shelf is carried; finally, after the delivery task at the grid port is completed, the warehouse system dispatching end dispatches the carrying object to execute the task of carrying the target goods shelf to the packaging station.

In a specific embodiment of the present invention, taking the shelf location and the delivery grid as shown in fig. 3 as an example, firstly, the warehouse system dispatching end finds out the storage locations which are not full by identifying the storage states of the storage locations; secondly, if the fact that the A3 and A4 grid openings corresponding to the storage level which is not full are identified to be delivered is recognized, the warehouse system scheduling end waits for the task to deliver the articles to be sorted to the corresponding grid openings at the throwing grid openings so as to ensure that the articles can be successfully delivered to the corresponding grid openings before the target goods shelves are carried; finally, after the delivery tasks of the A3 and A4 grids are completed, the warehouse system dispatching end dispatches the carrying object to execute the task of carrying the target goods shelf to the packaging station.

In another embodiment of the present invention, when it is identified that there is a slot corresponding to an unfilled storage location and a task is being put in, the warehouse system scheduling end may also directly lock the slot corresponding to the unfilled storage location, remove the target shelf from the target shelf location, and schedule other target shelves to the target shelf location for delivery.

It can be understood that before the warehouse system dispatching end dispatches the object to carry out the task of carrying the target shelf to the packaging station, the corresponding bin of the full storage level or the corresponding bin of the non-full storage level can be locked until the next target shelf reaches the target shelf level.

Based on the method, when the object to be transported is scheduled to transport the target goods shelf to the packaging station, the state of the storage position and related tasks can be identified, and the target goods shelf can be transported to the designated packaging station after the tasks are completed. This helps to optimise the flow and efficiency of the logistics operation, ensuring that the items to be sorted can be handled in the correct order and position.

Further, after the dispatch transport object transports the target rack to the packaging station, the method further comprises: determining a shelf angle of the target shelf reaching the packaging station; generating a storage level diagram of a target storage rack according to the orientation information of the packaging station and the storage rack angle, wherein the storage level diagram comprises distribution information and storage information of each storage level; and displaying the storage level schematic diagram on display equipment of the packaging station.

In practical application, firstly, after the target goods shelf reaches the packaging station, the warehouse system scheduling end determines the angle of the target goods shelf through a sensor or a position monitoring device, so that the method can help to further process the goods on the target goods shelf or perform other subsequent operations; secondly, according to the orientation information of the packaging station and the angle of the target goods shelf, a storage level diagram of the target goods shelf is generated, referring to fig. 11, fig. 11 is a storage level diagram of the target goods shelf displayed on a display device of the packaging station, wherein storage levels far away from the packaging station are respectively provided with 10 articles and 2 articles, and storage levels near the packaging station are respectively provided with 5 articles and 15 articles, namely, storage levels near the packaging station are respectively provided with C1001 and C1002; and finally, displaying the storage level schematic diagram on display equipment of the packaging station for an operator or staff to check and reference, so as to ensure that the staff can clearly know the distribution and loading state of each storage level on the target goods shelf.

Based on the method, after the target goods shelf reaches the packaging station, the angle of the goods shelf can be determined, and a storage level schematic diagram is generated according to the direction of the packaging station and the angle of the goods shelf. The storage level schematic diagram is displayed on display equipment of the packaging station, so that an operator can accurately know the distribution and state of the storage level. This helps to improve the accuracy and efficiency of the packing work and provides the operator with appropriate guidelines and references.

According to the article sorting method, on one hand, a storage system scheduling end obtains the type of a storage rack of a target storage rack in a carrying area, wherein the storage object surface of the target storage rack is divided into a plurality of storage positions, the storage rack type represents the distribution condition of the plurality of storage positions, the storage object surface of the storage rack is divided into the plurality of storage positions, each storage position can be bound with one delivery grid, each target storage rack can be bound with a plurality of delivery grids, and the utilization rate of the delivery grids is increased; on the other hand, the storage system scheduling end determines the target storage rack position according to the storage rack type and the binding information of each storage rack position, wherein the binding information is determined based on the first coverage area of the storage rack where the storage rack is stopped and the position information of the delivery grid, the binding information comprises the distribution information of the delivery grid bound by the storage rack position, the target storage rack is transported to the corresponding target storage rack position, the storage system scheduling end finally schedules the transport object to transport the target storage rack to the target storage rack position, and controls the release of the target delivery grid bound by the target storage rack position so as to deliver the articles to be sorted to the storage position of the target storage rack through the target delivery grid, the delivery grid bound by the target or the storage rack can be fully utilized, the sorting flexibility and throughput of the storage system are improved, and more efficient sorting operation can be realized in a limited field.

The method for sorting objects is further described below with reference to fig. 12, which illustrates an application of the method for sorting objects in a multi-port shelf cage vehicle. Fig. 12 shows a process flow chart of an article sorting method applied to sorting articles by a multi-port shelf cage vehicle, which specifically comprises the following steps.

Step 1202: and determining the relationship between the grid and the shelf position according to the size of the on-site use shelf cage vehicle and the map planning.

In one implementation, according to the size of the shelf cage and the center point coordinates of the shelf position, map grid points which are required to be occupied after the shelf is carried to the shelf position are calculated, and when the occupied map grid points are delivery points, the delivery points are bound with the shelf position corresponding to grid openings.

In one implementation manner, the method for judging whether to occupy or not may include two modes, that is, area coverage and point location, where the area coverage specifically includes: the method comprises the steps of calculating coordinates of four vertexes of a goods shelf position in a similar calculation mode to calculate a coverage area, calculating the coordinates of the four vertexes of the goods shelf position in a similar calculation mode to calculate the coverage area, calculating the coordinates of the four vertexes of the delivery grid in a similar calculation mode to determine whether the area of a delivery point is occupied in the situation that the goods shelf is stopped at the goods shelf position, and calculating the coordinates of the four vertexes of the delivery grid in a similar calculation mode to determine whether the area of the delivery point is occupied in the situation that the goods shelf is stopped at the goods shelf position.

The point location comprises, in particular, the abscissa of the shelf location center, which is less than or equal to half the length of the shelf cage vehicle, the ordinate of the shelf location center, which is less than or equal to half the width of the shelf location center, which is less than or equal to the ordinate of the shelf location center, and the half of the width of the shelf cage vehicle

Step 1204: and determining the type of the shelf which can be parked in the shelf position according to the relationship between the grid opening and the shelf position.

In one implementation, the information (coordinates) of the bound site point positions are obtained according to the shelf positions, and the layout condition of the point positions is calculated according to the point position coordinates, so that the shelf type where the shelf positions can be parked is calculated. The specific process is described with reference to the foregoing embodiments, and will not be repeated here.

Step 1206: and carrying to an effective shelf position and releasing the grid according to the type of the shelf actually entering.

In one implementation, after adding the shelves by hand-held PDAs, the system will transport the shelves to the nearest valid shelf location. When the shelf reaches the shelf position, the direction of the shelf is estimated by the shelf angle reaching the shelf position. The specific process is described with reference to the foregoing embodiments, and will not be repeated here.

Step 1208: after delivering packages or commodities, when a certain storage position on a goods shelf is full, the corresponding grid openings are locked, and the goods shelf is further strategically triggered to carry.

In one implementation, when a package or commodity is delivered, a certain storage level is full, the system detects whether the goods shelf is required to be triggered to carry through a strategy, and when the strategy is met, other grids associated with the goods shelf are triggered to be half full, and the carrying is triggered after the delivery in transit task is completed. The specific process is described with reference to the foregoing embodiments, and will not be repeated here.

Step 1210: and carrying the goods shelves to the packaging workstation according to the strategy.

In one implementation, after the storage shelves are triggered to be fully transported, the storage shelves are transported to a reasonable packaging station to execute packaging tasks according to a transportation strategy. Firstly, the system distributes the number of robots for executing various carrying tasks according to the number of carrying robots and the strategy of the site, and then executes the carrying task hit strategy. The specific process is described with reference to the foregoing embodiments, and will not be repeated here.

Step 1212: and performing the packet task at the packet bit.

In one implementation, after the shelf is transported to the package location, information about the storage location on the shelf is displayed based on the orientation of the package location and the angle of the shelf. The operator can execute the packaging task according to the prompt of the full storage level, and can also autonomously determine the semi-full storage level to execute the packaging task. The specific process is described with reference to the foregoing embodiments, and will not be repeated here.

Corresponding to the method embodiment, the invention also provides an embodiment of the article sorting device, and fig. 13 shows a schematic structural diagram of the article sorting device according to one embodiment of the invention. As shown in fig. 13, the apparatus includes:

an obtaining module 1302 configured to obtain a shelf type of a target shelf in the carrying area, where a storage surface of the target shelf is divided into a plurality of storage locations, and the shelf type represents a distribution condition of the plurality of storage locations;

a determining module 1304 configured to determine a target shelf location according to a shelf type and binding information of each shelf location, wherein the binding information is determined based on a first coverage area of a shelf where the shelf location rests and a second coverage area of a delivery grid, and the binding information includes distribution information of the delivery grid bound by the shelf location;

optionally, the determining module 1304 further includes a first binding module configured to determine location information of the respective shelf location in the handling area, location information of the respective delivery grid in the sorting area; according to the position information of each shelf position and the preset shelf size, calculating a first coverage range of each shelf position parking shelf; according to the position information of each delivery grid and the preset grid size, respectively calculating a second coverage area of each delivery grid; determining a first delivery grid covered in the first coverage area of a first shelf-position stop shelf according to the first coverage area of the first shelf-position stop shelf and a second coverage area of each delivery grid, wherein the first shelf position is any one of a plurality of shelf positions; and establishing a binding relation between the first delivery grid and the first goods shelf position, and determining binding information of the first goods shelf position.

Optionally, the determining module 1304 further includes a second binding module configured to determine location information of the respective shelf location in the handling area, location information of the respective delivery grid in the sorting area; according to the position information of each shelf position and the preset shelf size, calculating a first coverage range of each shelf position parking shelf; determining a first delivery grid which is positioned in the first coverage area of a first shelf position stop shelf according to the first coverage area of the first shelf position stop shelf and the position information of each delivery grid, wherein the first shelf position is any one of a plurality of shelf positions; and establishing a binding relation between the first delivery grid and the first goods shelf position, and determining binding information of the first goods shelf position.

Optionally, the first binding module or the second binding module is further configured to determine distribution information of the first delivery grid; determining a target goods shelf type matched with the distribution information according to the distribution information; and establishing a binding relation between the first delivery grid and the first shelf position according to the type of the target shelf, and determining binding information of the first shelf position.

Optionally, the determining module 1304 is further configured to determine distribution information of delivery openings bound by the respective shelf locations according to the binding information of the respective shelf locations; according to the distribution information of the delivery grid bound by each shelf position, determining candidate shelf positions of which the distribution information is matched with the shelf types; and determining a target shelf position based on the distance between each candidate shelf position and the target shelf.

The scheduling module 1306 is configured to schedule the handling object to handle the target goods shelf to the target goods shelf position, and control the release of the target delivery grid bound to the target goods shelf position, so as to deliver the goods to be sorted to the storage position of the target goods shelf through the target delivery grid.

Optionally, the scheduling module 1306 further comprises a release module that determines a shelf angle at which the target shelf reaches the target shelf location; determining the position information of each storage level according to the goods shelf angle; determining each target delivery grid corresponding to each storage level according to the position information of each storage level and the distribution information of the target delivery grids bound by the target shelf level; and controlling the target delivery grids to be respectively released so as to respectively deliver the articles to be sorted to the corresponding storage positions through the target delivery grids.

Optionally, the article sorting device further comprises a packaging module configured to identify a storage status of each storage location; locking the target delivery grid under the condition that the storage level of which the storage state is the full state reaches a preset threshold value; and dispatching the carrying object to carry the target goods shelf to a packaging station so as to carry out packaging processing on the goods on the target goods shelf at the packaging station.

Optionally, the packaging module is further configured to identify whether the storage level with the storage state being an unsatisfied state corresponds to a slot in-process task; if yes, waiting to deliver the articles to be sorted through the grid throwing port, and dispatching the carrying object to carry the target goods shelf to the packaging station, wherein the grid throwing port is a target delivery grid port with a grid throwing task.

Optionally, the packaging module is further configured to determine a shelf angle at which the target shelf reaches the packaging station; generating a storage level diagram of a target storage rack according to the orientation information of the packaging station and the storage rack angle, wherein the storage level diagram comprises distribution information and storage information of each storage level; and displaying the storage level schematic diagram on display equipment of the packaging station.

According to the article sorting device, on one hand, the type of a goods shelf of a target goods shelf in a carrying area is obtained, wherein the storage object surface of the target goods shelf is divided into a plurality of storage positions, the goods shelf type represents the distribution condition of the plurality of storage positions, and the storage object surface of the goods shelf is divided into the plurality of storage positions, so that each goods shelf position can correspond to a plurality of delivery grids, and the utilization rate of the delivery grids is increased; on the other hand, the target goods shelf position is determined according to the goods shelf type and the binding information of each goods shelf position, wherein the binding information is determined based on the first coverage area of the goods shelf position stop goods shelf and the position information of the delivery grid openings, the binding information comprises the distribution information of the delivery grid openings bound by the goods shelf position, the target goods shelf is transported to the corresponding target goods shelf position, finally, the transporting object is scheduled to transport the target goods shelf to the target goods shelf position, and the delivery grid openings bound by the target goods shelf position are controlled to be released, so that the goods to be sorted are delivered to the storage position of the target goods shelf through the delivery grid openings, the delivery grid openings bound with the target or the goods shelf can be fully utilized, the sorting flexibility and the throughput of the storage system are improved, and more efficient sorting operation can be realized in a limited field.

The above is an exemplary version of an article sorting apparatus of the present embodiment. It should be noted that, the technical solution of the article sorting device and the technical solution of the article sorting method belong to the same concept, and details of the technical solution of the article sorting device, which are not described in detail, can be referred to the description of the technical solution of the article sorting method.

Fig. 14 illustrates a block diagram of a computing device 1400 provided in accordance with an embodiment of the present invention. The components of computing device 1400 include, but are not limited to, a memory 1410 and a processor 1420. Processor 1420 is coupled to memory 1410 via bus 1430, and database 1450 is used to store data.

Computing device 1400 also includes an access device 1440, which access device 1440 enables computing device 1400 to communicate via one or more networks 1460. Examples of such networks include public switched telephone networks (PSTN, public Switched Telephone Network), local area networks (LAN, local Area Network), wide area networks (WAN, wide Area Network), personal area networks (PAN, personal Area Network), or combinations of communication networks such as the internet. The access device 1440 may include one or more of any type of network interface, wired or wireless (e.g., network interface card (NIC, network interface controller)), such as an IEEE802.11 wireless local area network (WLAN, wireless Local Area Network) wireless interface, a worldwide interoperability for microwave access (Wi-MAX, worldwide Interoperability for Microwave Access) interface, an ethernet interface, a universal serial bus (USB, universal Serial Bus) interface, a cellular network interface, a bluetooth interface, a near-field communication (NFC, near Field Communication).

In one embodiment of the invention, the above-described components of computing device 1400, as well as other components not shown in FIG. 14, may also be connected to each other, such as by a bus. It should be understood that the block diagram of the computing device illustrated in FIG. 14 is for exemplary purposes only and is not intended to limit the scope of the present invention. Those skilled in the art may add or replace other components as desired.

Computing device 1400 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., tablet, personal digital assistant, laptop, notebook, netbook, etc.), mobile phone (e.g., smart phone), wearable computing device (e.g., smart watch, smart glasses, etc.), or other type of mobile device, or a stationary computing device such as a desktop computer or personal computer (PC, personal Computer). Computing device 1400 may also be a mobile or stationary server.

Wherein the processor 1420 is operative to execute computer-executable instructions that, when executed by the processor, perform the steps of the article sorting method described above.

The foregoing is a schematic illustration of a computing device of this embodiment. It should be noted that, the technical solution of the computing device and the technical solution of the article sorting method belong to the same concept, and details of the technical solution of the computing device, which are not described in detail, can be referred to the description of the technical solution of the article sorting method.

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

The above is an exemplary version of a computer-readable storage medium of the present embodiment. It should be noted that, the technical solution of the storage medium and the technical solution of the article sorting method belong to the same concept, and details of the technical solution of the storage medium which are not described in detail can be referred to the description of the technical solution of the article sorting method.

An embodiment of the present invention also provides a computer program, wherein the computer program, when executed in a computer, causes the computer to perform the steps of the above-mentioned method for sorting articles.

The above is an exemplary version of a computer program of the present embodiment. It should be noted that, the technical solution of the computer program and the technical solution of the article sorting method belong to the same concept, and details of the technical solution of the computer program, which are not described in detail, can be referred to the description of the technical solution of the article sorting method.

The foregoing describes certain embodiments of the present invention. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

The computer instructions include computer program code which may be in source code form, object code form, executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be increased or decreased appropriately according to the requirements of the patent practice, for example, in some areas, according to the patent practice, the computer readable medium does not include an electric carrier signal and a telecommunication signal.

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

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 the related descriptions of other embodiments.

The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. Alternative embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the teachings of the embodiments of the present invention. The embodiments were chosen and described in order to best explain the principles of the embodiments and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.

Claims

1. The article sorting method is characterized by being applied to a dispatching end of a warehousing system, wherein the warehousing system comprises the dispatching end, a sorting area and a carrying area, the sorting area is provided with a plurality of delivery grids, and the carrying area is provided with a plurality of goods shelves; the method comprises the following steps:

2. The method of claim 1, wherein prior to said determining a target pallet location based on said pallet type and binding information for each pallet location, the method further comprises:

determining the position information of each shelf position in the carrying area and the position information of each delivery grid in the sorting area;

according to the position information of each shelf position and the preset shelf size, calculating a first coverage range of each shelf position parking shelf;

according to the position information of each delivery grid and the preset grid size, respectively calculating a second coverage area of each delivery grid;

Determining a first delivery grid covered in the first coverage area of a first shelf-position stop shelf according to the first coverage area of the first shelf-position stop shelf and a second coverage area of each delivery grid, wherein the first shelf position is any one of a plurality of shelf positions;

and establishing a binding relation between the first delivery grid and the first goods shelf position, and determining binding information of the first goods shelf position.

3. The method of claim 1, wherein prior to determining a target shelf location based on the shelf type and binding information for each shelf location, the method further comprises:

determining a first delivery grid which is positioned in the first coverage area of a first shelf position stop shelf according to the first coverage area of the first shelf position stop shelf and the position information of each delivery grid, wherein the first shelf position is any one of a plurality of shelf positions;

4. A method according to claim 2 or 3, wherein establishing the binding relationship between the first delivery site and the first shelf location, and determining the binding information of the first shelf location, comprises:

determining distribution information of the first delivery grid;

determining a target goods shelf type matched with the distribution information according to the distribution information;

and establishing a binding relation between the first delivery grid and the first shelf position according to the type of the target shelf, and determining binding information of the first shelf position.

5. The method of claim 1, wherein determining a target shelf location based on the shelf type and binding information for each shelf location comprises:

determining distribution information of delivery grid openings bound by all the goods shelf positions according to the binding information of all the goods shelf positions;

according to the distribution information of the delivery grid bound by each shelf position, determining candidate shelf positions of which the distribution information is matched with the shelf types;

and determining a target shelf position based on the distance between each candidate shelf position and the target shelf.

6. A method according to any one of claims 1-3, wherein the number of target delivery openings is the same as the number of storage locations on the target shelf;

before the release of the target delivery pocket that controls the target shelf location binding, the method further comprises:

determining a shelf angle at which the target shelf reaches the target shelf position;

determining the position information of each storage level according to the goods shelf angle;

determining each target delivery grid corresponding to each storage level according to the position information of each storage level and the distribution information of the target delivery grids bound by the target shelf level;

the controlling the release of the target delivery grid bound to the target shelf position comprises the following steps:

and controlling the target delivery grids to be respectively released so as to respectively deliver the articles to be sorted to the corresponding storage positions through the target delivery grids.

7. A method according to any one of claims 1-3, wherein after release of the target delivery pocket to which the control target shelf location binds, the method further comprises:

identifying the storage state of each storage position;

locking the target delivery grid under the condition that the storage level of which the storage state is the full state reaches a preset threshold value;

And dispatching the carrying object to carry the target goods shelf to a packaging station so as to carry out packaging processing on the goods on the target goods shelf at the packaging station.

8. The method of claim 7, wherein the scheduling the transport object to transport the target rack to the packing station comprises:

identifying whether the storage position with the storage state being an unsatisfied state corresponds to a grid-mouth-in-process task;

if yes, waiting to deliver the articles to be sorted through the grid throwing port, and dispatching the carrying object to carry the target goods shelf to the packaging station, wherein the grid throwing port is a target delivery grid port with a grid throwing task.

9. The method of claim 7, wherein after the dispatch transport object transports the target pallet to the packaging station, the method further comprises:

determining a shelf angle of the target shelf reaching the packaging station;

generating a storage level diagram of a target storage rack according to the orientation information of the packaging station and the storage rack angle, wherein the storage level diagram comprises distribution information and storage information of each storage level;

and displaying the storage level schematic diagram on display equipment of the packaging station.

10. An article sorting apparatus, comprising:

11. A computing device, comprising:

a memory and a processor;

the memory is configured to store computer-executable instructions that, when executed by the processor, perform the steps of the method of sorting items of any one of claims 1 to 9.

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

13. A warehousing system, comprising: the system comprises a dispatching end, a sorting area, a carrying area and a carrying object, wherein the sorting area is provided with a plurality of delivery grid openings, and the carrying area is provided with a plurality of goods shelf positions;