阅读说明：本技术 一种物流拣选方法、装置、系统以及可读存储介质 (Logistics sorting method, device and system and readable storage medium ) 是由 王晶 陈俊虎 孟杰 李俊伟 高雪 于 2021-09-01 设计创作，主要内容包括：本发明公开了一种物流拣选方法、装置、系统以及可读存储介质,该方法包括检测预置拣选设备的拣选任务信息；根据所述拣选任务信息计算当前拣选任务和下一拣选任务的间隔时长；根据所述预定阈值判断所述间隔时长,如果所述间隔时长大于预定阈值,则将所述下一拣选任务间隔预定间隔时间排产在所述当前拣选任务后得到排产任务信息；根据所述排产任务信息调动预置的拣选物品供应设备使所述预置拣选设备执行拣选。将拣选过程自动化,从而提高效率,有助于解决现有技术中人工拣选效率低下的技术问题。(The invention discloses a method, a device and a system for sorting logistics and a readable storage medium, wherein the method comprises the steps of detecting sorting task information of preset sorting equipment; calculating the interval duration of the current picking task and the next picking task according to the picking task information; judging the interval time length according to the preset threshold value, and if the interval time length is greater than the preset threshold value, scheduling the next picking task at intervals of the preset interval time to the current picking task to obtain scheduling task information; and transferring preset picking article supply equipment according to the scheduling task information to enable the preset picking equipment to carry out picking. The picking process is automated, so that the efficiency is improved, and the technical problem of low manual picking efficiency in the prior art is solved.)

1. A method of sorting a stream, the method comprising:

detecting picking task information of preset picking equipment;

calculating the interval duration of the current picking task and the next picking task according to the picking task information;

judging the interval time length according to the preset threshold value, and if the interval time length is greater than the preset threshold value, scheduling the next picking task at intervals of the preset interval time to the current picking task to obtain scheduling task information;

and transferring preset picking article supply equipment according to the scheduling task information to enable the preset picking equipment to carry out picking.

2. The method of sorting logistics according to claim 1, wherein said calculating a time interval between a current picking order and a next picking order based on said picking order information comprises:

judging whether the preset picking equipment has a current picking task or not according to the picking task information, if so, calculating the interval duration of the current picking task and the next picking task of the preset picking equipment, setting the current picking task as the highest priority, and setting the next picking task as the lowest priority.

3. The method of logistics picking of claim 2, wherein said determining whether said pre-positioned picking apparatus has a current picking order based on said picking order information further comprises:

if the pre-set picking apparatus does not have the current picking task, the next picking task is taken as the current picking task and the subsequent steps are performed.

4. The method of logistics picking of claim 2, wherein said invoking a pre-positioned picked item supply facility to cause said pre-positioned picking facility to perform picking in accordance with said scheduling task information comprises:

obtaining a current location of a pre-set picked item supply device;

estimating a pickup distance from the current position to a pickup position according to the current position;

selecting target preset picking equipment according to the current task quantity of different preset picking equipment;

calculating the comprehensive cost according to different priorities, the goods taking distance, the task quantity of the target preset picking equipment and the distance between the goods taking positions;

and transferring preset picking article supply equipment according to the arrangement mode of the comprehensive cost to enable the target preset picking equipment to carry out picking.

5. A system for sorting logistics, the system comprising: the system comprises a background host, at least one group of preset picking equipment and at least one AGV trolley;

the pre-picking equipment comprises a mechanical arm and at least one tray conveying device;

the background host is used for detecting picking task information of preset picking equipment, wherein the preset picking equipment is the mechanical arm; calculating the interval duration of the current picking task and the next picking task according to the picking task information; judging the interval time length according to the preset threshold value, and if the interval time length is greater than the preset threshold value, scheduling the next picking task at intervals of the preset interval time to the current picking task to obtain scheduling task information; and transferring preset picking item supply equipment according to the scheduling task information to enable the preset picking equipment to carry out picking so as to enable the preset picking equipment to pick the items, wherein the picking item supply equipment is the AGV trolley.

6. The logistics picking system of claim 5, wherein the at least one pallet conveyor 3 comprises two pallet conveyors 3;

the calculating the interval duration of the current picking task and the next picking task according to the picking task information comprises:

judging whether the preset picking equipment has a current picking task or not according to the picking task information, if so, calculating the interval duration of the current picking task and the next picking task of the preset picking equipment, setting the current picking task as the highest priority and setting the next picking task as the lowest priority;

and marking the current picking task as the ith task and marking the next picking task as the (i + 2) th task, wherein the ith task and the (i + 2) th task are the same pallet conveying device 3.

7. The system of claim 6, wherein the at least one set of pre-picking devices comprises a plurality of sets of pre-picking devices;

the background host is used for acquiring the current position of the preset picking article supply equipment; estimating a pickup distance from the current position to a pickup position according to the current position; selecting target preset picking equipment according to the current task quantity of different preset picking equipment; calculating the comprehensive cost according to different priorities, the goods taking distance, the task quantity of the target preset picking equipment and the distance between the goods taking positions; and transferring the preset AGV trolleys according to the arrangement mode of the comprehensive cost to enable the target preset picking equipment to carry out picking.

8. A logistics sorting apparatus, the apparatus comprising:

the detection module is used for detecting picking task information of the preset picking equipment;

the calculation module is used for calculating the interval duration of the current picking task and the next picking task according to the picking task information;

the judging module is used for judging the interval time according to the preset threshold, and if the interval time is greater than the preset threshold, the next picking task is scheduled to be produced after the current picking task at intervals of the preset interval time to obtain scheduling task information;

and the transferring module is used for transferring preset picking article supply equipment according to the scheduling task information so that the preset picking equipment carries out picking.

9. A logistics picking apparatus, the apparatus comprising: a processor and a memory;

the memory has stored therein an application executable by the processor for causing the processor to perform the steps of the method of logistics picking of any of claims 1 to 4.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of logistics picking in accordance with any one of claims 1 to 4.

Technical Field

The invention relates to the field of logistics, in particular to a logistics sorting method, a logistics sorting device, a logistics sorting system and a readable storage medium.

Background

At present, along with the rapid development of logistics industry, still adopt the manual work to select among the work of selecting prior art to article in the warehouse to select, also can adopt AGV dolly and specialized conveying equipment to assist, the tray that the AGV dolly will load and have the goods is carried to the station position of arm through the order from storage position, this process is selected the realization through selecting personnel's manual work among the prior art, leads to the commodity circulation to select the technical problem that link efficiency is low. Therefore, a logistics picking method is urgently needed, the picking process is automated, the efficiency is improved, and the technical problem that the manual picking efficiency is low in the prior art is solved.

Disclosure of Invention

The application provides a logistics picking method, aims to move preset picking equipment and picking article supply equipment to pick goods through automatic production scheduling of picking tasks, and provides the logistics picking method which is beneficial to solving the technical problem of low manual picking efficiency in the prior art.

Detecting picking task information of preset picking equipment;

calculating the interval duration of the current picking task and the next picking task according to the picking task information;

judging the interval time length according to the preset threshold value, and if the interval time length is greater than the preset threshold value, scheduling the next picking task at intervals of the preset interval time to the current picking task to obtain scheduling task information;

and transferring preset picking article supply equipment according to the scheduling task information to enable the preset picking equipment to carry out picking.

In an embodiment, said calculating the interval duration of the current picking task and the next picking task according to said picking task information comprises:

judging whether the preset picking equipment has a current picking task or not according to the picking task information, if so, calculating the interval duration of the current picking task and the next picking task of the preset picking equipment, setting the current picking task as the highest priority, and setting the next picking task as the lowest priority.

In an embodiment, said determining whether said pre-arranged picking device has a current picking order based on said picking order information further comprises:

if the pre-set picking apparatus does not have the current picking task, the next picking task is taken as the current picking task and the subsequent steps are performed.

In one embodiment, said invoking a pre-positioned picking item supply device to cause said pre-positioned picking device to perform picking in accordance with said scheduling task information comprises:

obtaining a current location of a pre-set picked item supply device;

estimating a pickup distance from the current position to a pickup position according to the current position;

selecting target preset picking equipment according to the current task quantity of different preset picking equipment;

calculating the comprehensive cost according to different priorities, the goods taking distance, the task quantity of the target preset picking equipment and the distance between the goods taking positions;

and transferring preset picking article supply equipment according to the arrangement mode of the comprehensive cost to enable the target preset picking equipment to carry out picking.

In one embodiment, the application further provides a logistics picking system, which comprises a background host, a group of preset picking devices and at least one AGV trolley;

the pre-picking equipment comprises a mechanical arm and at least one tray conveying device;

the background host

The picking task information detection system is used for detecting picking task information of a preset picking device, wherein the preset picking device is the mechanical arm; calculating the interval duration of the current picking task and the next picking task according to the picking task information; judging the interval time length according to the preset threshold value, and if the interval time length is greater than the preset threshold value, scheduling the next picking task at intervals of the preset interval time to the current picking task to obtain scheduling task information; and transferring preset picking item supply equipment according to the scheduling task information to enable the preset picking equipment to carry out picking so as to enable the preset picking equipment to pick the items, wherein the picking item supply equipment is the AGV trolley.

In one embodiment, the at least one tray transport comprises two tray transports;

if calculating the interval duration of the current picking task and the next picking task according to the picking task information comprises:

judging whether the preset picking equipment has a current picking task or not according to the picking task information, if so, calculating the interval duration of the current picking task and the next picking task of the preset picking equipment, setting the current picking task as the highest priority and setting the next picking task as the lowest priority;

and marking the current picking task as the ith task and marking the next picking task as the (i + 2) th task, wherein the ith task and the (i + 2) th task are the same pallet conveying device 3.

In an embodiment, the at least one set of pre-picking devices comprises a plurality of sets of pre-picking devices;

the background host is used for acquiring the current position of the preset picking article supply equipment; estimating a pickup distance from the current position to a pickup position according to the current position; selecting target preset picking equipment according to the current task quantity of different preset picking equipment; calculating the comprehensive cost according to different priorities, the goods taking distance, the task quantity of the target preset picking equipment and the distance between the goods taking positions; and transferring the preset AGV trolleys according to the arrangement mode of the comprehensive cost to enable the target preset picking equipment to carry out picking.

In one embodiment, the present application provides a logistics picking apparatus, the apparatus comprising:

the detection module is used for detecting picking task information of the preset picking equipment;

the calculation module is used for calculating the interval duration of the current picking task and the next picking task according to the picking task information;

the judging module is used for judging the interval time according to the preset threshold, and if the interval time is greater than the preset threshold, the next picking task is scheduled to be produced after the current picking task at intervals of the preset interval time to obtain scheduling task information;

and the transferring module is used for transferring preset picking article supply equipment according to the scheduling task information so that the preset picking equipment carries out picking.

In one embodiment, the present application further provides a logistics picking apparatus, the apparatus comprising: a processor and a memory;

the memory stores an application program executable by the processor for causing the processor to perform the steps of the method for sorting logistics.

In an embodiment, the present application further provides a computer-readable storage medium, on which a computer program is stored, wherein the program is implemented to realize the steps of the logistics picking method when being executed by a processor.

As can be seen from the above, based on the above embodiments, a logistics picking method is provided by automatically scheduling picking tasks, moving preset picking equipment and picked item supply equipment to pick items, which is helpful for solving the technical problem of low manual picking efficiency in the prior art.

Drawings

FIG. 1 is a schematic diagram of a process 100 for sorting a material flow in accordance with an embodiment of the present invention;

FIG. 2 is a schematic diagram of a process 200 for sorting a stream in accordance with another embodiment of the present invention;

FIG. 3 is a schematic diagram of a logistics picking system in another embodiment of the present invention;

FIG. 4 is a schematic diagram of a process 300 for sorting a stream in accordance with another embodiment of the present invention;

fig. 5 is a schematic diagram of a logistics picking apparatus according to another embodiment of the invention.

Detailed Description

In the prior art, the sorting work in the logistics storage is completed manually, a tray is taken by an AGV trolley 1 or manually, at this time, the tray is provided with goods to be sorted, then the tray is taken down and placed on an empty tray according to the order requirement, the goods of the required quantity on the tray are placed on the empty tray, because the goods required by each order may not be a kind but a plurality of kinds, a plurality of trays carrying different goods may be required, then the trays of different kinds of goods place the goods of the corresponding kind on one empty tray according to the required quantity of the order, the goods of different kinds placed on the empty tray can display different corresponding codes in a background system, because each kind of goods can correspond to one code, because many kinds of goods are placed on the empty tray, that is to say, when the goods to be placed on the empty tray are identified, the background system may generate a "mixing" phenomenon, that is, one tray has a code corresponding to a plurality of goods. In the process, the transport pallets can be transported by the AGV cart 1 during the picking process, but the picking operation is performed manually, which obviously has low automation degree and low efficiency.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 1 is a schematic diagram of a process 100 for sorting a material flow according to an embodiment of the present invention. As shown in fig. 1, in one embodiment, the present application provides a method of logistics picking, the method comprising:

s101, picking task information of the preset picking equipment is detected.

In order to enable the picking process to be completed by using equipment, in this step, the picking task information can be generated through received orders, for example, 10 mobile phones, 3 notebook computers and 3 earphones are needed, the picking task information is an instruction text for picking three goods, the instruction text comprises codes and corresponding quantities of different goods, the picking process of each goods needs to meet two conditions, a tray with all goods in the order is needed to be found, and as in the above example, three trays with three types of goods, namely a mobile phone and a notebook computer, and earphones are needed. The second requirement is to find an empty tray configured for the order, so the picking task information corresponding to each order relates to task contents required by different types of goods, namely picking of 10 mobile phones, picking of 3 notebook computers and picking of 3 earphones. Of course, it is also understood that different orders may also have different picking order information, which is not simply for items in an order, but may also be extended to the picking order information between different orders.

S102, calculating the interval duration of the current picking task and the next picking task according to the picking task information.

This step provides a specific step of calculating the interval duration between the current picking task and the next picking task. If the current picking task exists, the preset picking equipment is in a working state, at this time, the interval time between the next picking tasks is calculated, the interval time comprises two influence elements, the first is the time that the AGV trolley 1 acquires a goods tray, and the other is the time that the AGV trolley 1 transports an empty tray, and the two times can be calculated according to the information in the order, for example, the following formula can be adopted for calculation:

wherein alpha is₁And alpha₂Is a weight coefficient;

for the straight cost, for example, the time required for the AGV 1 to go straight by one meter is 1 second, the distance traveled by the AGV 1 is determined, and the required time can be calculated, and the straight cost can be understood as the time taken for the straight running.

The time required to turn the AGV 1, such as 4 seconds, may also be calculated for the turn cost, which may be understood as the time taken to turn, as described above.

Any section of path is formed by splicing straight lines and turns, so that the sum of the straight lines and the turns is the time length calculation mode of the current picking task, and similarly, the time length of the next picking task can also be calculated, and the subtraction of the straight lines and the turns is the interval time length.

S103, judging the interval time length according to the preset threshold value, and if the interval time length is larger than the preset threshold value, scheduling the next picking task at intervals of the preset interval time to the current picking task to obtain scheduling task information.

A specific embodiment of determining the interval duration according to the predetermined threshold is provided in this step. The purpose in this step is to generate a reasonable information about the scheduling tasks, both to ensure a correct order and to ensure the closeness between tasks, so that the duration of the interval is an important measure relative to the time span between the control of adjacent tasks. If the interval time is too long, the next picking task needs to be timely adjusted, the next picking task is supplemented again, a more appropriate interval time length is obtained, namely the preset interval time, and the situation that the interval time length is longer is easy to appear between different types of articles or between orders.

And S104, transferring preset picking article supply equipment according to the scheduling task information to enable the preset picking equipment to carry out picking.

In this step, a specific step of activating the preset picking item supply device according to the scheduling task information to make the preset picking device execute picking is provided. In this step, the picked item supply device may be understood as an AGV cart 1, and it should be noted that, in this step, the AGV cart 1 that can be called in the current order is not limited, but all AGV carts 1 in the scene may be called to cooperate with the pre-set picking device to perform picking tasks.

In an embodiment, said calculating the interval duration of the current picking task and the next picking task according to said picking task information comprises:

judging whether the preset picking equipment has a current picking task or not according to the picking task information, if so, calculating the interval duration of the current picking task and the next picking task of the preset picking equipment, setting the current picking task as the highest priority, and setting the next picking task as the lowest priority. In this embodiment a specific embodiment is provided for setting the next picking task to the lowest priority and the current picking task to the highest priority. The present embodiment makes the order of the current picking task and the next picking task clear, and also facilitates the processing of the subsequent steps.

In an embodiment, said determining whether said pre-arranged picking device has a current picking order based on said picking order information further comprises:

if the pre-set picking apparatus does not have the current picking task, the next picking task is taken as the current picking task and the subsequent steps are performed.

In this embodiment a specific embodiment is provided in which the pre-picking apparatus does not have the current picking order. In this case, the robot arm 2 is now idle and needs to be replenished with a new picking order as soon as possible.

The purpose of this embodiment is to ensure the order of picking goods for the subsequent palletizing and mixing of the mechanical arm 2.

Fig. 2 is a schematic diagram of a process 200 for sorting a material flow according to another embodiment of the present invention. As shown in fig. 2, in one embodiment, said invoking a pre-positioned picked item supply device to cause said pre-positioned picking device to perform picking based on said scheduling task information comprises:

s201, obtaining the current position of the preset picking item supply equipment.

A specific step of computationally obtaining the pre-ordered pick items is provided in this step. The scheduling task information sorts the sorting tasks of different types of goods, and when the sorting item supply equipment is moved, the sorting item supply equipment can be understood as an AGV trolley 1, and the AGV trolley 1 needs to determine the current position.

S202, estimating the goods taking distance from the current position to the goods taking position according to the current position.

A specific step of calculating the pickup distance is provided in this step. First, when the preset picking item supply device receives an item to be picked, the distance between the current position and the picking position, that is, the picking distance, may be calculated.

And S203, selecting target preset picking equipment according to the current task amount of different preset picking equipment.

In the step, a specific step of evaluating the current task amount according to the preset picking equipment is provided, in a scene, the number of the mechanical arms 2 is not one, in a large-scale logistics, the number of the mechanical arms 2 may be many, and the current task amount of each mechanical arm 2 is different, so that one mechanical arm 2 with the least current task amount is selected as the target preset picking equipment.

And S204, calculating the comprehensive cost according to different priorities, the goods taking distance and the distance between the task quantity and the goods taking position of the target preset picking equipment.

In this step, a specific implementation step for calculating the comprehensive cost according to the above elements is provided. In order to make the above approach most efficient, the total cost consideration in the picking order process is calculated, since the final total cost differs due to the difference in priority, the difference in the picking distance, and the difference in the distance between the target pre-picking device and the picking position.

S205, preset picking article supply equipment is moved according to the arrangement mode of the comprehensive cost, so that the target preset picking equipment carries out picking.

In step (c), a specific manner of executing picking by moving the picking item supply device preset according to the arrangement manner of the comprehensive cost is provided.

In order to better influence the relationship between the order-picking item supply device and the order-picking item supply device in this exemplary embodiment, the current position of the order-picking item supply device is first determined, it being noted that, prior to this step, it is to be ascertained whether the order-picking item supply device is in an idle state, and if it is found that the order-picking item supply device is in an idle state, the subsequent steps are carried out. For example, when the preset selected article supply equipment is an AGV trolley 1, the current position of the preset selected article supply equipment is obtained when the AGV trolley 1 is used, then the AGV trolley 1 needs to get goods first, and a tray needing to be selected is transferred to conveying line stations on two sides of the mechanical arm 2, so the AGV trolley 1 firstly locates the current position, then estimates the current position to the goods taking distance of the goods taking position, then determines the difference of the current task quantity of the mechanical arm 2, and the difference of the current task quantity of the mechanical arm 2, the current task quantity of the mechanical arm 2 is different, and one of the mechanical arm 2 with the minimum current task quantity is sought as the target preset selected equipment in principle. In addition to the above elements, the distance from the pick location to the target pre-picking apparatus is the delivery distance, which also needs to be taken into account, and the combined cost is calculated according to the above elements and different weights, and the arrangement is obtained by sorting the combined cost, so as to move the AGV cart 1 to provide goods for the target pre-picking apparatus to perform picking work.

Fig. 3 is a schematic structural diagram of a logistics picking system in another embodiment of the invention. As shown in fig. 3, in an embodiment, the present application further provides a logistics picking system, including: the AGV comprises a background host, at least one group of preset picking equipment and at least one AGV trolley 1;

the pre-picking equipment comprises a mechanical arm 2 and at least one tray conveying device 3;

the background host is used for detecting picking task information of preset picking equipment, wherein the preset picking equipment is the mechanical arm; calculating the interval duration of the current picking task and the next picking task according to the picking task information; judging the interval time length according to the preset threshold value, and if the interval time length is greater than the preset threshold value, scheduling the next picking task at intervals of the preset interval time to the current picking task to obtain scheduling task information; and transferring preset picking item supply equipment according to the scheduling task information to enable the preset picking equipment to carry out picking so as to enable the preset picking equipment to pick the items, wherein the picking item supply equipment is the AGV trolley.

In an embodiment, the at least one tray conveyor 3 comprises two tray conveyors 3;

if calculating the interval duration of the current picking task and the next picking task according to the picking task information comprises:

judging whether the preset picking equipment has a current picking task or not according to the picking task information, if so, calculating the interval duration of the current picking task and the next picking task of the preset picking equipment, setting the current picking task as the highest priority and setting the next picking task as the lowest priority;

and marking the current picking task as the ith task and marking the next picking task as the (i + 2) th task, wherein the ith task and the (i + 2) th task are the same pallet conveying device 3.

Why are the i-th task and the i + 2-th task to be calibrated in this embodiment? Because the present embodiment is based on the picking mode having two tray conveying devices 3, as for the robot arm 2, the two tray conveying devices 3 pick at intervals, and when one of the tray conveying devices 3 is taken as a reference object, the adjacent tasks are the i-th task and the (i + 2) -th task, but not the i-th task and the (i + 1) -th task.

In an embodiment, the at least one set of pre-picking devices comprises a plurality of sets of pre-picking devices;

the background host is used for acquiring the current position of the preset picking article supply equipment; estimating a pickup distance from the current position to a pickup position according to the current position; selecting target preset picking equipment according to the current task quantity of different preset picking equipment; calculating the comprehensive cost according to different priorities, the goods taking distance, the task quantity of the target preset picking equipment and the distance between the goods taking positions; and transferring the preset AGV trolley 1 according to the arrangement mode of the comprehensive cost to enable the target preset picking equipment to carry out picking.

Based on the logistics picking system, the whole scheme is combed and exemplified, and the picking work in the prior art needs to be converted into an automatic picking method in the application. The logistics picking system comprises the background host, at least one group of preset picking equipment and at least one AGV trolley 1.

The preset picking equipment comprises a mechanical arm 2 and at least one tray conveying device 3, each group of the preset picking equipment is provided with two tray conveying devices for illustration, the selected article supply equipment is an AGV trolley 1, and the AGV trolley 1 can be dispatched in a cluster mode to configure tasks in a large logistics environment.

Therefore, a set of the pre-picking apparatus includes one of the robot arms 2 and two of the tray conveying devices 3, two of the tray conveying devices 3 may be installed on both sides of the robot arm 2, and the robot arm 2 may pick the goods at intervals on both sides, for example, first pick the goods from one of the tray conveying devices 3 and then pick the goods from the other tray conveying device 3. The robot arm 2 should also have a place to place an empty pallet in its working position.

In the above-mentioned logistics sector there should also be a pallet at the shelf location, which pallet contains goods, as well as an empty pallet. AGV dolly 1 is according to specific select task information, according to the task information of arranging production gets corresponding cargo tray earlier, and will correspond cargo tray places on the tray transmission device 3, then give dispose an empty tray on the station of arm 2, arm 2 will carry the goods of cargo tray to place according to the order demand on the empty tray.

Fig. 4 is a schematic diagram of a process 300 for sorting a stream in another embodiment of the present invention. As shown in fig. 4, according to the above-mentioned work flow, the present application provides a method for sorting logistics, which includes:

s301, the background host detects picking task information of the preset picking equipment.

There should be a trigger condition in this step so that the background host computer detects the picking task information of the robot arm 2 according to the trigger condition. In any case, the next step may be executed because the current picking task information is detected, and the trigger condition may be set to a time, such as an adjustment every 10 seconds.

S302, the background host judges whether the preset picking equipment has a current picking task or not according to the picking task information, if the preset picking equipment has the current picking task, the interval duration of the current picking task and the next picking task of the preset picking equipment is calculated, and the current picking task is set as the highest priority. If the pre-set picking apparatus does not have the current picking task, the next picking task is taken as the current picking task and the subsequent steps are performed.

In this step, it is determined whether the robot arm 2 has a current picking order, because at this time the robot arm 2 may have an order being picked and may be in an idle state. When the robotic arm 2 now has the current picking task, the current picking task remains unchanged in order to ensure proper operation. It should be noted that, since the robotic arms 2 may be in different groups of the pre-picking devices, the robotic arms 2 of each group of the pre-picking devices may be concurrently tested, and a test determination may be made for one of the robotic arms 2.

And S303, judging the interval time according to the preset threshold, if the interval time is greater than the preset threshold, scheduling the next picking task behind the current picking task to obtain scheduling task information, and if the preset picking equipment does not have the current picking task, taking the next picking task as the current picking task and executing subsequent steps.

In this step, the relation between the interval duration and the predetermined threshold is calculated with the aim of guaranteeing that the interval between the current picking order and the next picking order is a reasonable range interval. The essence of this step is that the interval between picking tasks is adjusted, which is too large and inefficient, so the interval duration needs to be calculated. Finally, in this way, all goods picking orders of different categories and orders can be placed on production. Setting the next picking task to the lowest priority. And the current picking task and the next picking task are used as the ranking units of the sequence, and the calibration of the highest priority and the lowest priority is the absolute sequence between the current picking task and the next picking task.

S304, the background host computer obtains the current position of the preset picking article supply equipment, estimates the picking distance from the current position to the picking position according to the current position, selects the target preset picking equipment according to the current task quantity of different preset picking equipment, and calculates the comprehensive cost according to different priorities, the picking distance and the distance between the task quantity and the picking position of the target preset picking equipment.

In this step, the robot arm 2 is not used as an object, but all AGV carts 1 in the scene are used as an object to be moved together.

The calculation mode of the comprehensive cost is as follows:

α₁f₁+α₂f₂+α₃f₃+α₄f₄

wherein f is₁Parameters corresponding to the highest priority and the lowest priority are provided, the highest priority is 0, and the lowest priority is 1;

f₂is the current amount of tasks for different groups of the pre-set picking devices, different values of the current amount of tasks will correspond to different values for the calculation, for example 100 means 100 picking tasks and 20 means 20 picking tasks.

f₃Is the distance of the AGV car 1 from the current position to the pickup position, i.e. the distance to pick up the pallets, which is objectively not selectable, so if the pickup distance is K, f₃＝1/K。

f₄Is the distance from the pick position to the target pre-set picking device for the AGV trolley 1 carrying the pallet.

α₁And alpha₂And α₃And alpha₄Are weight coefficients.

S305, the background host computer transfers preset picking item supply equipment according to the arrangement mode of the comprehensive cost to enable the target preset picking equipment to pick.

In this step, the AGV trolley 1 is finally made to provide the bearing trays corresponding to the order according to the arrangement mode of the comprehensive cost.

In very special cases, the problem of disorder may still exist, the area adjacent to the workstation is defined as a buffer area, and a local unnecessary point is set as a parking waiting area. When the task with the lowest priority reaches the buffer area, the AGV trolley 1 and the tray temporarily wait in the parking waiting area, and the execution is continued when the task is updated to the highest priority.

In the embodiment, a specific logistics picking method is provided, which changes the manual picking mode in the prior art into an automatic scheduling mode and is executed by an automatic device.

Fig. 5 is a schematic diagram of a logistics picking apparatus according to another embodiment of the invention. As shown in fig. 5, in one embodiment, the present application further provides a logistics picking apparatus, comprising:

the detection module 101 is used for detecting picking task information of the preset picking equipment;

a calculating module 102, configured to calculate an interval duration between a current picking task and a next picking task according to the picking task information;

a judging module 103, configured to judge the interval duration according to the predetermined threshold, and if the interval duration is greater than the predetermined threshold, perform scheduling on the next picking task at intervals of the predetermined interval duration after the current picking task to obtain scheduling task information;

and an invoking module 104, configured to invoke a preset picking item supply device according to the scheduling task information to enable the preset picking device to perform picking.

In one embodiment, the present application further provides a logistics picking apparatus, the apparatus comprising: a processor and a memory;

the memory stores an application program executable by the processor for causing the processor to perform the steps of the logistics picking method as described.

In an embodiment, the present application further provides a computer-readable storage medium, on which a computer program is stored, wherein the program is implemented to realize the steps of the logistics picking method when being executed by a processor.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.