CN-117622753-B - Cross-station picking method, device, equipment and storage medium

Abstract

The embodiment of the disclosure provides a cross-station picking method, a device, equipment and a storage medium, which are applied to an intelligent warehousing system. The method comprises the steps of determining pre-picking materials and pre-picking work stations based on a work bin hit by an outgoing order to be processed and corresponding work stations, wherein the pre-picking materials are used for representing materials needing to be picked in the work bin in a cross-station mode, determining a sorting robot used for carrying the pre-picking materials based on the pre-picking work stations and the pre-picking materials, sending pre-picking information to the work station where the work bin is located, sending indication information to the sorting robot, and the indication information is used for indicating the sorting robot to carry the pre-picking materials to the pre-picking work station from the work station where the work bin is located, and throwing the pre-picking materials. According to the technical scheme, the problem of invalid circulation of the feed box on the conveying line is solved, and the sorting efficiency when the feed box is sorted across the workstation is improved.

Inventors

• YE YIHUA
• REN ZIJIA

Assignees

• 深圳市海柔创新科技有限公司

Dates

Publication Date

20260508

Application Date

20220812

Claims (20)

1. 1. A cross-site picking method, characterized by being applied to an intelligent warehousing system, the cross-site picking method comprising: Determining pre-picking materials and pre-picking workstations based on a bin and corresponding workstations hit by an outgoing order to be processed, wherein the pre-picking materials are used for representing materials needing to be picked in a cross-station manner in the bin, and the pre-picking workstations are used for representing workstations for receiving the materials corresponding to the bin needing to be picked in the cross-station manner; Determining a sorting robot for handling the pre-picked material based on the pre-pick workstation and the pre-picked material; Sending pre-picking information to a workstation where the material box is located, wherein the pre-picking information is used for indicating the workstation where the material box is located to take out pre-picked materials from the material box and then placing the pre-picked materials on the sorting robot; sending indication information to the sorting robot, wherein the indication information is used for indicating the sorting robot to convey the pre-sorted materials to the pre-sorting workstation from the workstation where the material box is located, and throwing the pre-sorted materials.
2. 2. The cross-station picking method of claim 1, wherein the determining pre-picked material and pre-picking workstation based on bins and corresponding workstations on which the outgoing order to be processed hits comprises: Determining a delivery order hitting the material in the bin; determining that the work stations except the work station where the bin needing to be selected in a cross-station mode is located in the work stations corresponding to the ex-warehouse order are the pre-picking work stations; and determining the materials needed by the pre-picking workstation corresponding to the warehouse-out order in the bin as the pre-picking materials.
3. 3. The cross-station picking method of claim 1, wherein the determining a sorting robot for handling the pre-picked material based on the pre-picking workstation and the pre-picked material comprises any one of: Determining the number of sorting robots based on the number of pre-picked materials required by the corresponding outgoing orders of the pre-picking workstations, the sorting robots being used for carrying the pre-picked materials by piece; And determining the number of the sorting robots based on the number of the ex-warehouse orders corresponding to the pre-sorting workstations, wherein the sorting robots are used for carrying the pre-sorted materials according to the ex-warehouse orders.
4. 4. The cross-site picking method of claim 1, wherein the determining a sorting robot for handling the pre-picked material based on the pre-picking workstation and the pre-picked material comprises: and determining the number of the sorting robots and the sorting robots corresponding to the pre-sorting workstations based on the number of the pre-sorting workstations.
5. 5. A cross-station picking method according to any of claims 1 to 4, wherein the pre-picking workstation comprises at least one slot for depositing the pre-picked material into a corresponding order bin; the sending of the indication information to the sorting robot includes: And sending indication information to the sorting robot based on the current working states of the pre-sorting workstation and the notch.
6. 6. The cross-station picking method of claim 5, wherein the sending indication information to the sorting robot based on the current operating states of the pre-picking workstation and the slot comprises: When the notch is in an idle state, sending first indication information to the sorting robot, wherein the first indication information is used for indicating the sorting robot to convey the pre-sorted material to the notch from a workstation where the material box is located and throwing the pre-sorted material; And when the notch is in a non-idle state, sending second indication information to the sorting robot, wherein the second indication information is used for indicating the sorting robot to move to a waiting area after receiving the pre-sorted material from a workstation where the material box is located.
7. 7. The cross-station picking method of claim 6, wherein after sending the second indication information to the sorting robot when the slot is in a non-idle state, further comprising: And responding to the received notification message that the notch is in the idle state, sending third indication information to the sorting robot, wherein the third indication information is used for indicating the sorting robot to carry the received pre-sorted materials to the notch and throwing the pre-sorted materials.
8. 8. The cross-station picking method of claim 5, wherein the sending indication information to the sorting robot based on the current operating states of the pre-picking workstation and the slot comprises: when only one slot is in the idle state, sending indication information to the sorting robot based on the slot in the idle state; and when at least two slots are in the idle state, sending indication information to the sorting robot based on the distance from the slots in the idle state to the workstation where the bin is located.
9. 9. The cross-site picking method as claimed in any one of claims 1 to 4, further comprising, after said sending indication information to said sorting robot: When the sorting robot is in the carrying process, if the intelligent warehousing system receives notification information that the corresponding notch of the sorting robot is in a non-idle state, temporary indication information is sent to the sorting robot, the temporary indication information is used for indicating the sorting robot to stop executing tasks corresponding to the indication information, pre-picking materials are carried to a pre-picking workstation which is closest to the notch in the non-idle state and is not distributed with the sorting robot, and the pre-picking materials are put into the notch of the pre-picking workstation.
10. 10. A cross-station picking method, applied to a sorting robot, comprising: The method comprises the steps of receiving indication information from an intelligent warehousing system, moving to a work station corresponding to the indication information and receiving pre-picked materials, wherein the indication information is used for indicating a sorting robot to carry the pre-picked materials to the pre-picked work station from the work station where a bin is located and throwing the pre-picked materials, the intelligent warehousing system is used for determining the pre-picked materials and the pre-picked work station based on the work bin hit by an outgoing order to be processed and the corresponding work station, the pre-picked materials are used for indicating materials needing to be picked by a cross station in the work bin, the pre-picked work station is used for indicating the work station for receiving the materials corresponding to the work bin needing to be picked by the cross station, determining a sorting robot for carrying the pre-picked materials based on the pre-picked work station and the pre-picked materials, sending the pre-picked information to the work station where the bin is located, and placing the pre-picked information to the sorting robot after the work station where the bin is located is indicated to take the pre-picked materials from the work bin, and sending the indication information to the sorting robot; and carrying the pre-picked material to the pre-picking workstation, and throwing the pre-picked material.
11. 11. The method of cross-station picking of claim 10, wherein after transporting the pre-picked material to the pre-picking workstation and depositing the pre-picked material, further comprising: Sending feedback information to a server, wherein the feedback information is used for indicating that the sorting robot is in an idle state; and moving to a set waiting area.
12. 12. The cross-site picking method as recited in claim 10, further comprising: In response to receiving temporary indication information, moving to a notch corresponding to the temporary indication information, wherein the temporary indication information is used for indicating the sorting robot to stop executing tasks corresponding to the indication information, conveying pre-sorted materials to a pre-sorting work station which is closest to the notch in a non-idle state and is not allocated with the sorting robot, and throwing the pre-sorted materials to the notch of the pre-sorting work station; and putting the pre-selected material into the notch.
13. 13. The cross-site picking method as recited in claim 10, further comprising: Receiving the pre-picked material from a workstation at which the bin is located in response to receiving first indication information, the first indication information being used to instruct the sorting robot to carry the pre-picked material from the workstation at which the bin is located to a slot and to deposit the pre-picked material; And carrying the pre-selected materials to the notch and throwing in.
14. 14. The cross-site picking method as recited in claim 10, further comprising: Receiving the pre-picked material from a workstation where the bin is located in response to the received second indication information, wherein the second indication information is used for indicating the sorting robot to move to a waiting area after receiving the pre-picked material from the workstation where the bin is located; Moving to a waiting area; Responding to the received third indication information, wherein the third indication information is used for indicating the sorting robot to convey the received pre-picked material to a notch and throwing the pre-picked material; And moving to the notch and throwing the pre-selected material.
15. 15. A cross-site picking device for use in an intelligent warehousing system, the cross-site picking device comprising: the first determining module is used for determining pre-picking materials and pre-picking workstations based on the bin hit by the to-be-processed outgoing order and the corresponding workstations, wherein the pre-picking materials are used for representing materials needing to be picked in a cross-station mode in the bin, and the pre-picking workstations are used for representing workstations for receiving the corresponding materials of the bin needing to be picked in the cross-station mode; a second determination module for determining a sorting robot for handling the pre-picked material based on the pre-picking workstation and the pre-picked material; the sorting system comprises a sorting robot, a material box, a sending module and a sorting robot, wherein the material box is used for storing pre-sorted materials, the sending module is used for sending pre-sorted information to a workstation where the material box is located, the pre-sorted information is used for indicating the workstation where the material box is located to take out the pre-sorted materials from the material box and then put the pre-sorted materials on the sorting robot, and the indication information is sent to the sorting robot and is used for indicating the sorting robot to carry the pre-sorted materials from the workstation where the material box is located to the pre-sorted workstation and put the pre-sorted materials.
16. 16. A cross-station picking device for use with a sorting robot, the cross-station picking device comprising: The receiving module is used for responding to the indication information received from the intelligent warehousing system, moving to a workstation corresponding to the indication information and receiving the pre-picked material, wherein the indication information is used for indicating the sorting robot to carry the pre-picked material from the workstation where the material box is located to the pre-picking workstation and throwing the pre-picked material; the intelligent warehousing system is used for determining pre-picking materials and pre-picking workstations based on a bin and a corresponding workstation, which are hit by an outgoing order to be processed, wherein the pre-picking materials are used for representing materials needing to be picked in a cross-station manner in the bin, the pre-picking workstations are used for representing workstations for receiving the materials corresponding to the bin needing to be picked in the cross-station manner; and the throwing module is used for conveying the pre-picked material to the pre-picking workstation and throwing the pre-picked material.
17. 17. A control apparatus, characterized by comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the control device to perform the cross-site picking method of any of claims 1-9 and/or to cause the control device to perform the cross-site picking method of any of claims 10-14.
18. 18. A cross-station sorting system is characterized by comprising a sorting robot, a moving platform, a notch, a workstation, a conveying line, a unloader and a feeder; The sorting robot moves on the moving platform; the sorting robot is used for responding to the indication information received from the intelligent storage system, moving to a workstation corresponding to the indication information and receiving the pre-picked material, and the indication information is used for indicating the sorting robot to convey the pre-picked material from the workstation where the material box is located to the pre-picking workstation and throwing the pre-picked material; carrying the pre-picked material to the pre-picking workstation and throwing the pre-picked material; the intelligent warehousing system is used for determining pre-picking materials and pre-picking workstations based on a bin and a corresponding workstation, which are hit by an outgoing order to be processed, wherein the pre-picking materials are used for representing materials needing to be picked in a cross-station manner in the bin, the pre-picking workstations are used for representing workstations for receiving the materials corresponding to the bin needing to be picked in the cross-station manner; The two sides of the mobile platform are respectively provided with a workstation and a unloader; the feeding machine is arranged at the adjacent position of the unloading machine and is connected with the feeding machine through a conveying line; the conveying line is opposite to the workstation and is used for conveying the feed box; at least one notch is respectively arranged on two sides of the workstation.
19. 19. The cross-site picking system of claim 18 further comprising a seeding wall and an order box; the sowing wall is adjacent to the notch; At least one order box is placed on the sowing wall, and the order box corresponds to the notch.
20. 20. The cross-site picking system as claimed in claim 18 wherein the mobile platform has at least two levels, the conveyor line being disposed on a lowermost level and the sorting robot being disposed on the other level.

Description

Cross-station picking method, device, equipment and storage medium Technical Field The disclosure relates to the technical field of intelligent warehousing, and in particular relates to a cross-station picking method, device, equipment and storage medium. Background The warehousing system based on the warehousing robot adopts an intelligent operating system, realizes automatic delivery of goods through system instructions, can continuously run for 24 hours, replaces manual management and operation, improves the efficiency of warehousing, and is widely applied and favored. In the prior warehouse system, when the materials are processed, the U-shaped conveying line in the workstation is generally combined with the annular conveying line crossing the workstation, and after the work bin is conveyed by the workstation together, the work bin is picked by each workstation, but the problem of invalid circulation of the work bin on the conveying line can occur in the mode, so that the actual material picking efficiency is insufficient. Disclosure of Invention The embodiment of the disclosure provides a cross-station picking method, a device, equipment and a storage medium, so as to improve the picking efficiency when a bin is picked across working stations. In a first aspect, an embodiment of the present disclosure provides a cross-station picking method, where the cross-station picking method is applied to an intelligent warehousing system, and the cross-station picking method includes: Determining pre-picking materials and pre-picking work stations based on the bin hit by the to-be-processed outgoing order and the corresponding work stations, wherein the pre-picking materials are used for representing materials needing to be picked in a bin in a cross-station manner, and the pre-picking work stations are used for representing work stations for receiving the corresponding materials of the bin needing to be picked in a cross-station manner; Determining a sorting robot for handling the pre-picked material based on the pre-pick workstation and the pre-picked material; sending pre-picking information to a workstation where the bin is located, wherein the pre-picking information is used for indicating the workstation where the bin is located to take out pre-picked materials from the bin and then placing the pre-picked materials on a sorting robot; and sending indication information to the sorting robot, wherein the indication information is used for indicating the sorting robot to convey the pre-sorted materials to the pre-sorting workstation from the workstation where the material box is located and throwing the pre-sorted materials. Optionally, based on the bin and corresponding work stations hit by the to-be-processed outgoing order, determining pre-picking materials and pre-picking work stations, wherein the method comprises the steps of determining the outgoing order hitting the materials in the bin, determining work stations except work stations where the bin needing to be picked across stations is located in the work stations corresponding to the outgoing order as pre-picking work stations, and determining the materials needed by the pre-picking work stations corresponding to the outgoing order in the bin as pre-picking materials. Optionally, the sorting robots for carrying the pre-picked materials are determined based on the pre-picking workstation and the pre-picked materials, and the sorting robots comprise any one of determining the number of the sorting robots for carrying the pre-picked materials by pieces based on the number of the pre-picked materials required by the corresponding ex-warehouse orders of the pre-picking workstation, and determining the number of the sorting robots for carrying the pre-picked materials by the ex-warehouse orders based on the number of the ex-warehouse orders of the pre-picking workstation. Optionally, determining sorting robots for handling the pre-picked material based on the pre-picking stations and the pre-picked material includes determining the number of sorting robots and the sorting robots corresponding to each pre-picking station based on the number of pre-picking stations. Optionally, the pre-picking workstation comprises at least one notch for delivering pre-picked material to a corresponding order box, and sending the indication information to the sorting robot comprises sending the indication information to the sorting robot based on the current working states of the pre-picking workstation and the notch. Optionally, the indication information is sent to the sorting robot based on the current working states of the pre-sorting work station and the notch, wherein the indication information comprises a first indication information sent to the sorting robot when the notch is in an idle state, the first indication information is used for indicating the sorting robot to convey pre-sorted materials to the notch from the work station where the bin is located and throw i