WO2020156149A1 - 拣货方法、设备及存储介质 - Google Patents

拣货方法、设备及存储介质 Download PDF

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Publication number
WO2020156149A1
WO2020156149A1 PCT/CN2020/072025 CN2020072025W WO2020156149A1 WO 2020156149 A1 WO2020156149 A1 WO 2020156149A1 CN 2020072025 W CN2020072025 W CN 2020072025W WO 2020156149 A1 WO2020156149 A1 WO 2020156149A1
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WO
WIPO (PCT)
Prior art keywords
information
picking
commodity
warehouse
product
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/072025
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English (en)
French (fr)
Inventor
杨志钦
万琪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Syrius Robotics Co Ltd
Original Assignee
Syrius Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Syrius Robotics Co Ltd filed Critical Syrius Robotics Co Ltd
Priority to SG11202108244PA priority Critical patent/SG11202108244PA/en
Priority to JP2020525928A priority patent/JP7055472B2/ja
Priority to EP20749622.5A priority patent/EP3920116B1/en
Priority to US17/425,957 priority patent/US20220106119A1/en
Priority to CA3128101A priority patent/CA3128101C/en
Publication of WO2020156149A1 publication Critical patent/WO2020156149A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06316—Sequencing of tasks or work
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders

Definitions

  • the embodiment of the present invention relates to the field of intelligent picking, and in particular to a picking method, equipment and storage medium.
  • the warehouse management system usually merges multiple orders into a large-piece picking task according to certain rules, and hands this task to the picker; after a single picker receives a large-piece picking task, The task is completed in a single round trip and handed over to the back-end sorter; the sorter needs to divide a large piece of picking task into multiple orders before merging according to the warehouse management system, and then the packer packs and ships them.
  • the embodiments of the present invention provide a picking method, equipment and storage medium.
  • an embodiment of the present invention provides a picking method, including:
  • each of the order information includes at least one piece of commodity information
  • an embodiment of the present invention provides a picking device, including: a processor and a memory, and the processor is configured to execute a picking program stored in the memory, so as to implement any one of the foregoing aspects of the first aspect. Picking method.
  • an embodiment of the present invention provides a computer storage medium, the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors, so as to implement the above-mentioned first aspect Any one of the picking methods.
  • the order information is associated with the position information one by one.
  • Each position can be used to hold all the commodities corresponding to each order, reducing This saves manpower and improves efficiency by combining multiple orders and sorting after picking is completed.
  • the picking path is determined, and robots are used instead of manual picking, and the pickers only need to wait beside the goods rack
  • the robot arrives with the turnover box, and then picks up the products according to the displayed product information and location information of the products to be picked up, and puts them into the corresponding turnover box positions to complete the product picking, which further saves time and manpower and improves efficiency.
  • FIG. 1 is a schematic flowchart of a picking method provided by an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a turnover box related to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of location information of a target commodity in a commodity warehouse involved in an embodiment of the present invention
  • FIG. 4 is a schematic flowchart of a method for picking up commodities according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of display information of a display interface according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of display information of another display interface according to an embodiment of the present invention.
  • Figure 7 is a schematic structural diagram of a picking device provided by an embodiment of the present invention.
  • Fig. 8 is a schematic diagram of the hardware structure of a picking device provided by an embodiment of the present invention.
  • Fig. 1 is a schematic flowchart of a picking method provided by an embodiment of the present invention. As shown in Fig. 1, the method specifically includes:
  • the picking scheme provided by the embodiment of the present invention can be applied to the field of logistics (such as picking and delivering goods from a warehouse according to an order), and can also be applied to fields such as taking medicines and dispensing medicines according to prescriptions in pharmacies; the picking scheme can be executed by robots It is also possible to use other devices with processor functions to replace the robot for execution. In this embodiment, the robot is used as the execution subject for introduction.
  • the robot obtains multiple order information from the warehouse management system.
  • Each order information includes at least one item of product information. For example, it has obtained 4 order information (A, B, C, D).
  • the order A includes product e and f.
  • Order B includes product e
  • order C includes products e and h
  • order D includes products f, g, and h.
  • the turnover box can be, but is not limited to: a matrix container.
  • the matrix container is divided into multiple positions.
  • the position information set on each position can be, but not limited to: QR code identification, number identification, color identification or graphic identification.
  • FIG 2 there is shown a schematic structural diagram of a turnover box involved in an embodiment of the present invention.
  • the turnover box is evenly divided into 4 areas, and each separate area forms a position.
  • Position information is set at the bottom, or position information is set on the side of each position.
  • the size of the turnover box and the number of positions can be set according to actual needs, such as setting 8 or 16 positions, which are not specifically limited in this embodiment.
  • the position information can use one or more of the above four types of identifiers, such as setting a two-dimensional code identifier and a number identifier to form the position information.
  • composition position information which can be specifically set according to actual needs, which is not specifically limited in this embodiment.
  • the turnover box identification of the turnover box can also be set on the turnover box, and all the position information and turnover box identification in each turnover box are stored. When any one of the information is obtained When, you can get the information of the entire turnover box.
  • the robot involved in this embodiment may be provided with a code scanner to obtain the position information of the turnover box by scanning the code.
  • This step can also be understood as: the robot mounts the turnover box and binds the turnover box with the robot.
  • the robot scans any one of the multiple position information in the turnover box through the scanner to obtain all the information of the turnover box.
  • the turnover box includes several positions and the corresponding position information of each position.
  • the robot associates the order information with the position information. For example, if there are 4 order information (A, B, C, D), you can select a turnover box containing four positions as shown in Figure 2.
  • the specific steps for association can be :
  • association In addition to the above-mentioned association relationship, other methods may also be used for association, such as random association, associating order information A with position 4, etc. This embodiment does not specifically limit this.
  • the order information and the position information that are consistent with the number of positions are selected from a plurality of order information in a preset order Association, where the preset order can be: time order, user priority order, etc.
  • the turnover box has a maximum of 8 positions. Therefore, the 10 orders can be sorted in the order of the order generation time, and the 8 orders with the earliest generation time and the 8 turnover boxes are selected Positions are associated.
  • a variety of turnover boxes with different numbers of positions can also be set, such as a turnover box with 4 positions, a turnover box with 8 positions, a turnover box with 10 positions, and a turnover box with 16 positions.
  • the purpose of setting up turnover boxes in different positions is to select suitable turnover boxes according to the number of orders and improve the efficiency of order distribution.
  • the robot uses the warehouse management system to query the position information of all commodities in the commodity warehouse corresponding to multiple order information. Before this step is executed, the robot can determine the type of commodities in the associated order.
  • the 4 order information (A, B, C, D) there are 4 kinds of products e, f, g, and h, and in the four orders, a total of 3 pieces of product e are required, and a total of 2 pieces of product f are required. A total of 1 piece of commodity g is required, and a total of 2 pieces of commodity h are required.
  • the robot queries the location information of the commodities e, f, g, and h through the warehouse management system.
  • the location information includes at least one of the following: the name of the product, the storage location of the product, or the quantity of the product.
  • the product name: e located in the first row of shelf 001 in the J area
  • the remaining volume of the product is 50 pieces.
  • the robot searches the warehouse coordinates corresponding to each product identifier corresponding to multiple order information through the warehouse management system; connects the warehouse coordinates corresponding to each product identifier in series according to a preset path to obtain the picking path.
  • the picking path can be planned according to the distance relationship of the product.
  • the picking path of products e, f, g and h can be: fegh, that is, the robot first reaches the picking area of product f, and then reaches the product e The picking area, then arrives at the picking area of commodity g, finally reaches the picking area of commodity h, and reaches the packing area through the exit.
  • the robot carries the turnover box to the designated position of the product to be picked according to the picking path.
  • the relationship between the robot and the turnover box can exist in many situations, such as the robot is equipped with a part for placing the turnover box and fixing the turnover box, through this part
  • the turnover box is mounted on the robot, or wheels are arranged at the bottom of the turnover box, the robot and the turnover box are connected by cables, and the movement of the turnover box is dragged by the robot, which is not specifically limited in this embodiment.
  • the picking of the target product is completed by the picker in cooperation with the robot, or by the robot alone, referring to Figure 4, which specifically includes:
  • the designated position of the target product to be picked up may be the position of the shelf where the target product is located, or the position of the target product.
  • the prompt information can be in various forms, such as the form of buzzer buzzer, voice broadcast, or light flashing.
  • the target product information and location information corresponding to the order information are displayed on the display interface of the robot.
  • the display interface can be a display panel inherent to the robot or a display panel of a terminal device (the terminal device establishes a communication connection with the robot to realize the terminal device Interaction with the robot).
  • the displayed information can be: commodity identification, commodity quantity, shelf coordinates, etc.
  • S1064 displays the correspondence between the commodity identifier and the position information in the turnover box, so that the picker can place the commodity in the corresponding position according to the position information.
  • the display interface of the robot can not only display the name, location, and quantity of the product, but also display the product picture (the product picture can be displayed on the display interface in the form of background display) and prompts The information that the picker puts the goods into the warehouse.
  • the picture showing the target product and the information that prompts the picker to put the product into the warehouse can be used by the picker to place the product identification (such as barcode) of the picked product in front of the robot’s barcode scanner to scan the code.
  • the position information shown in Figure 5 shows the quantity of commodities that need to be placed in each position.
  • the current robot moves to the picking position of product e.
  • three orders in the four order information contain product e, and the quantity of product e is 3 pieces.
  • product e can be displayed on the display interface of the robot.
  • the name of the product is: Android phone
  • the location of the product is J-1-001 (indicating the shelf information to which the product belongs)
  • the quantity of product e is 3 pieces, which need to be placed in position one: 1 piece, position two: 1 piece, and position three : 1 piece (corresponding to the order information A, B and C each include 1 item e).
  • S1065. Receive the operation completed by the picker for picking the target product, move to the next place, and execute the picking of the next target product.
  • the picker places the target product in the corresponding position, he can trigger the completion button on the display interface to notify the robot that the picking operation of the current target product has been completed.
  • the robot queries the path information of the location of the next target product to be picked. Move to the next place and perform the picking of the next target product.
  • the robot in addition to the picker assisting the robot to perform the picking operation, can also perform the picking operation separately, which specifically includes: according to the target product information, location information and storage location information, the target product Placed in the corresponding position.
  • the picker can trigger the out-of-stock button on the display interface, and the target product can be in the out-of-stock state, and the robot determines that it contains the target The order information of the product, and cancel the picking of the above order information, and send the order information to the warehouse management system, so that the delivery person is notified to deliver the target product that is out of stock. After the delivery is completed, the above order is executed Task of picking.
  • the order information is associated with the position information one by one.
  • Each position can be used to hold all the commodities corresponding to each order, reducing This saves manpower and improves efficiency by combining multiple orders and sorting after picking is completed.
  • Fig. 7 is a schematic structural diagram of a picking device provided by an embodiment of the present invention. As shown in Fig. 7, the device specifically includes:
  • the obtaining module 701 is configured to obtain multiple order information, each of the order information includes at least one piece of product information;
  • the acquiring module 701 is also used to acquire position information in a turnover box, where multiple positions are set;
  • the association module 702 is configured to associate the order information with the position information, and the order information corresponds to the position information one-to-one;
  • the obtaining module 701 is also used to obtain the position information of all commodities corresponding to multiple order information in the commodity warehouse;
  • the determining module 703 is configured to determine the picking route according to the product information and location information;
  • the control module 704 is configured to move the turnover box in the commodity warehouse according to the picking path to pick up commodities.
  • the product information includes: a product identifier
  • the location information includes: warehouse coordinates
  • the determining module 703 is specifically configured to find the warehouse coordinates corresponding to each product identifier corresponding to multiple order information
  • the warehouse coordinates corresponding to each product identifier are connected in series according to a preset path mode to obtain the picking path.
  • the commodity information includes: the quantity of commodities, and the location information further includes: shelf coordinates;
  • the control module 704 is specifically configured to control the turnover box to move between different warehouse coordinates in the picking path;
  • the device further includes a display module 705, which is used to display the product identifier, product quantity and shelf coordinates consistent with the warehouse coordinates when the turnover box is moved to any warehouse coordinates; to obtain the received products Identification; showing the correspondence between the commodity identification and the position information in the turnover box, so that the picker can place the commodity in the corresponding position according to the position information.
  • a display module 705 which is used to display the product identifier, product quantity and shelf coordinates consistent with the warehouse coordinates when the turnover box is moved to any warehouse coordinates; to obtain the received products Identification; showing the correspondence between the commodity identification and the position information in the turnover box, so that the picker can place the commodity in the corresponding position according to the position information.
  • the control module is also used to place the received commodities in a position corresponding to the commodity identifier in the turnover box.
  • the determining module 703 is configured to determine the order information corresponding to the out-of-stock target item when the target item is out of stock;
  • the device further includes: a sending module 706 for sending out-of-stock order information to the warehouse management system.
  • the associating module 702 is specifically configured to select the order information consistent with the number of positions from a plurality of order information in a preset sequence when the number of orders is greater than the number of positions of the turnover box. Position information association.
  • the position information includes at least one of the following: a two-dimensional code identification, a number identification, a color identification or a graphic identification.
  • the picking equipment provided in this embodiment may be a picking device as shown in Fig. 7, which can perform all the steps in the picking method shown in Fig. 1, and then achieve the technical effect of the picking method shown in Fig. 1.
  • Fig. 7 a picking device as shown in Fig. 7, which can perform all the steps in the picking method shown in Fig. 1, and then achieve the technical effect of the picking method shown in Fig. 1.
  • Fig. 8 is a schematic diagram of the hardware structure of a picking device provided by an embodiment of the present invention. As shown in Fig. 8, the picking device specifically includes:
  • the processor 810 the memory 820, the transceiver 830, and the display panel 840.
  • the processor 810 may be a central processing unit (central processing unit) Processing unit, CPU), or a combination of CPU and hardware chip.
  • the above hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (programmable logic device) logic device, PLD) or a combination thereof.
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • the above-mentioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (field-programmable gate array) gate array, FPGA), generic array logic (GAL) or any combination thereof.
  • CPLD complex programmable logic device
  • FPGA field-programmable gate array
  • GAL generic array logic
  • the memory 820 is used to store various applications, operating systems and data.
  • the memory 820 may transmit the stored data to the processor 810.
  • the memory 820 may include volatile memory, nonvolatile random access memory (NVRAM), phase change RAM (PRAM), magnetoresistive random access memory (magetoresistive RAM, MRAM), etc., such as at least one disk storage device, electrically erasable programmable read-only memory (electrically erasable programmable read-only memory) read-only memory (EEPROM), flash memory devices, such as reverse or flash memory (NOR) or reverse flash memory (flash memory, NAND), semiconductor devices, such as solid state disks (SSD), etc.
  • the memory 820 may also include a combination of the aforementioned types of memories.
  • the transceiver 830 is used to send and/or receive data, and the transceiver 830 may be an antenna or the like.
  • the display panel 840 is used to display and/receive data.
  • the display panel 840 may be a display screen or the like.
  • the processor 810 is configured to obtain multiple order information, each of the order information includes at least one piece of product information;
  • the processor 810 is further configured to obtain position information in the turnover box, where multiple positions are set;
  • the processor 810 is further configured to associate the order information with the position information, and the order information corresponds to the position information one to one;
  • the processor 810 is further configured to obtain location information of all commodities corresponding to multiple order information in the commodity warehouse;
  • the processor 810 is further configured to determine a picking route according to the product information and location information;
  • the processor 810 is further configured to move the turnover box in the merchandise warehouse according to the picking path to pick up merchandise.
  • the product information includes: a product identifier
  • the location information includes: warehouse coordinates
  • the processor 810 is specifically configured to find the warehouse coordinates corresponding to each product identifier corresponding to multiple order information
  • the warehouse coordinates corresponding to the identifiers are connected in series according to a preset path mode to obtain the picking path.
  • the commodity information includes: the quantity of commodities, and the location information further includes: shelf coordinates; the processor 810 is specifically configured to control the movement of the turnover box between different warehouse coordinates in the picking path;
  • the display panel 840 is used to display the commodity identification, commodity quantity and shelf coordinates consistent with the warehouse coordinates when the turnover box moves to any warehouse coordinates; obtain the commodity identification of the received commodity; and display the commodity Identify the corresponding relationship with the position information in the turnover box, so that the picker can place the commodity in the corresponding position according to the position information.
  • the processor 810 is further configured to place the received commodity in a position corresponding to the commodity identifier in the turnover box.
  • the processor 810 is configured to determine the order information corresponding to the out-of-stock target item when the target item is out of stock;
  • the transceiver 830 is used to send out-of-stock order information to the warehouse management system.
  • the processor 810 is specifically configured to select, in a preset order, the order information and the position information that are consistent with the position quantity from a plurality of order information when the number of orders is greater than the position quantity of the turnover box Associated.
  • the processor 810 is further configured to configure the position information to include at least one of the following:
  • Two-dimensional code identification Two-dimensional code identification, number identification, color identification or graphic identification.
  • the robot provided in this embodiment may be a picking device as shown in Figure 8, which can perform all the steps in the picking method shown in Figure 1, and then achieve the technical effect of the picking method shown in Figure 1. Please refer to the figure for details. 1 Relevant descriptions are concise descriptions and will not be repeated here.
  • the steps of the method or algorithm described in the embodiments disclosed in this document can be implemented by hardware, a software module executed by a processor, or a combination of the two.
  • the software module can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or all in the technical field Any other known storage media.
  • the picking method, equipment and storage medium provided by the embodiments of the present invention obtain multiple order information and obtain turnover box position information, and associate the order information with the position information one by one, and each position can be used to hold each order corresponding All products of, reduce the trouble of combining multiple orders and sorting after the picking is completed, saving manpower and improving efficiency.
  • the picking path is determined, and robots are used instead of manual picking, and the pickers only need to wait beside the goods rack
  • the robot arrives with the turnover box, and then picks up the products according to the displayed product information and location information of the products to be picked up, and puts them into the corresponding turnover box positions to complete the product picking, which further saves time and manpower and improves efficiency. Therefore, it has industrial applicability.

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Abstract

本发明实施例涉及一种拣货方法、设备及存储介质，所述方法包括：获取至少一个订单信息（S101）；获取周转箱中的仓位信息，周转箱中设置有多个仓位(S102)；关联订单信息与仓位信息，订单信息与仓位信息一一对应（S103）；获取商品仓库中与多个订单信息对应的所有商品的位置信息(S104)；根据商品信息和位置信息，确定拣货路径(S105)；按照拣货路径在商品仓库中移动所述周转箱，完成商品捡取(S106)。采用机器人代替人工拣货，拣货员只需在货物架旁边等待机器人携带周转箱到来，再根据显示的待捡商品的商品信息和位置信息捡取商品，并放入对应的周转箱的仓位以完成商品捡取，相对于现有拣货方案，节省时间和人力，提升效率。

Description

拣货方法、设备及存储介质 技术领域
本发明实施例涉及智能拣货领域，尤其涉及一种拣货方法、设备及存储介质。
 背景技术
随着互联网和移动终端的极大普及，消费者更加习惯随时随地高频率的消费方式。由此对于传统电商来说，仓储的高效运转对于满足消费者日益增长的需求以及激烈竞争下良好的用户体验至关重要。电商仓储需要面对的挑战是每个订单的商品种类更少且订单数量暴增，在订单数量暴增的同时，多个订单之间往往存在相同的商品，高效地处理数量暴增的订单成为亟需解决的问题。
现有方案中，通常由仓库管理系统将多件订单按照一定规则合并为一大件拣选任务，并将此任务交给拣货员；单个拣货员在收到一大件拣选任务后，在单次往返中完成任务并交给后端的分货员；分货员需要将一大件拣选任务按照仓库管理系统分为合并前的多件订单，之后由打包员打包发货。
然而，现有方案中，存在拣货员往复拣货，且订单的合并和拆分，降低了拣选效率，整个流程任务加重，增加人力成本，效率低下。
 技术问题
鉴于此，为解决上述技术问题或部分技术问题，本发明实施例提供了一种拣货方法、设备及存储介质。
 技术解决方案
第一方面，本发明实施例提供一种拣货方法，包括：
获取至少订单信息，每个所述订单信息包括至少一件商品信息；
获取周转箱中的仓位信息，所述周转箱中设置有多个仓位；
关联所述订单信息与所述仓位信息，所述订单信息与仓位信息一一对应；
获取商品仓库中与多个订单信息对应的所有商品的位置信息；
根据所述商品信息和位置信息，确定拣货路径；
按照所述拣货路径在所述商品仓库中移动所述周转箱，进行商品捡取。
第二方面，本发明实施例提供一种拣货设备，包括：处理器和存储器，所述处理器用于执行所述存储器中存储的拣货程序，以实现上述第一方面任一项所述的拣货方法。
第三方面，本发明实施例提供一种计算机存储介质，所述存储介质存储有一个或者多个程序，所述一个或者多个程序可被一个或者多个处理器执行，以实现上述第一方面任一项所述的拣货方法。
 有益效果
本发明实施例提供的拣货方案，通过获取多个订单信息以及获取周转箱仓位信息，将订单信息于仓位信息进行一一关联，每个仓位可用于盛放每个订单对应的所有商品，减少了将多个订单组合、拣货完成后再分拣的麻烦，节省人力，提升效率。
此外，通过获取商品仓库中与多个订单信息对应的所有商品的位置信息，根据目标商品信息和位置信息，确定拣货路径，采用机器人代替人工拣货，拣货员只需在货物架旁边等待机器人携带周转箱到来，再根据显示的待捡商品的商品信息和位置信息捡取商品，并放入对应的周转箱的仓位以完成商品捡取，进一步节省时间和人力，提升效率。
 附图说明
图1为本发明实施例提供的一种拣货方法的流程示意图；
图2为本发明实施例涉及的一种周转箱的结构示意图；
图3为本发明实施例涉及的目标商品位于商品仓库的位置信息示意图；
图4为本发明实施例提供的一种进行商品捡取方法的流程示意图；
图5为本发明实施例涉及的一种显示界面的显示信息示意图；
图6为本发明实施例涉及的另一种显示界面的显示信息示意图；
图7为本发明实施例提供的一种拣货装置的结构示意图；
图8为本发明实施例提供的一种拣货设备的硬件结构示意图。
 本发明的实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
为便于对本发明实施例的理解，下面将结合附图以具体实施例做进一步的解释说明，实施例并不构成对本发明实施例的限定。
图1为本发明实施例提供的一种拣货方法的流程示意图，如图1所示，该方法具体包括：
S101、获取多个订单信息。
本发明实施例提供的拣货方案，可应用于物流领域（如根据订单从仓库中拣货发货），还可以应用于药房按照处方取药发药等领域；拣货方案可采用机器人执行，还可以采用其它具有处理器功能的设备代替机器人执行，本实施例中，以机器人为执行主体来进行介绍。
机器人从仓库管理系统中获取多个订单信息，每个订单信息包括至少一件商品信息，如现获取到4个订单信息（A、B、C、D），其中，订单A中包括商品e和f，订单B中包括商品e，订单C中包括商品e和h，订单D中包括商品f、g和h。
S102、获取周转箱中的仓位信息。
在本实施例中，周转箱内设置有多个仓位，每个仓位上可以设置仓位信息，周转箱可以是，但不限于：矩阵式容器，该矩阵器容器内被分割为多个仓位，每个仓位上设置的仓位信息可以是，但不限于：二维码标识、编号标识、颜色标识或图形标识。
参照图2，示出了本发明实施例涉及的一种周转箱的结构示意图，如图2所示，该周转箱被均匀分割为4个区域，每个单独的区域形成仓位，在每个仓位底部设置有仓位信息，或者在每个仓位的侧边面设置仓位信息。
需要说明的，周转箱的尺寸大小和仓位的数量，可根据实际需求进行设定，如设置8个、16个仓位等，对此，本实施例不作具体限定。
在本发明实施的一可选方案中，仓位信息可以采用上述四种标识中的一种或多种，如设置二维码标识和编号标识共同组成仓位信息。
如在图2形成的仓位中，将四个仓位进行标号，仓位一、仓位二、仓位三和仓位四，将二维码1和数字“一”组合成仓位1的仓位信息、将二维码2和数字“二”组合成仓位2的仓位信息、将二维码3和数字“三”组合成仓位3的仓位信息，以及将二维码4和数字“四”组合成仓位1的仓位信息。
除上述组合外，还可以采用其它形式的组合生成组成仓位信息，具体可根据实际需求进行设定，对此，本实施例不作具体限定。
在本实施例中，除仓位信息外，还可以在周转箱上设置周转箱的周转箱标识，并将每个周转箱内的所有仓位信息和周转箱标识进行存储，当获取到其中任意一个信息时，即可获取整个周转箱的信息。
在本实施例涉及的机器人上可以设置有扫码器，采用扫码的方式获取周转箱的仓位信息，此步骤也可以理解为：机器人挂载周转箱，将周转箱与机器人绑定，具体可采用如下步骤：
机器人通过扫码器扫取周转箱内多个仓位信息中的任意一个，即可获取周转箱的所有信息，如周转箱包括几个仓位、每个仓位对应的仓位信息等。
S103、关联所述订单信息与所述仓位信息。
机器人将订单信息与仓位信息进行关联，如，现有4个订单信息（A、B、C、D），可选取如图2所示的含有四个仓位的周转箱，具体关联的步骤可以是：
将订单信息A与仓位一关联（即扫取仓位一的仓位信息可获得订单信息A），将订单信息B与仓位二关联（即扫取仓位二的仓位信息可获得订单信息B），将订单信息C与仓位三关联（即扫取仓位三的仓位信息可获得订单信息C），将订单信息D与仓位四关联（即扫取仓位四的仓位信息可获得订单信息D）。
除上述关联关系外，还可以采用其它方式进行关联，如随机关联，将订单信息A与仓位四关联等，对此，本实施例不作具体限定。
在本发明实施的一可选方案中，当订单的数量大于所述周转箱的仓位数量时，按照预设顺序从多个订单信息中选取与所述仓位数量一致的订单信息与所述仓位信息关联，其中，预设顺序可以是：时间顺序、用户优先级顺序等。
如，现在有10订单需要拣货，但周转箱的仓位最多为8个，因此，可以按照订单的生成时间的顺序对10订单进行排序，选取生成时间最早的8个订单与周转箱的8个仓位进行关联。
在本发明实施的一可选方案中，还可以设置多种不同仓位数量的周转箱，如4个仓位的周转箱、8个仓位的周转箱、10个仓位的周转箱和16个仓位的周转箱等，设置不同仓位周转箱的目的在于可根据订单的数量选取合适的周转箱，提高订单分配的效率。
S104、获取商品仓库中与多个订单信息对应的所有商品的位置信息。
机器人通过仓库管理系统查询商品仓库中与多个订单信息对应的所有商品的位置信息，在此步骤执行前，机器人可将已关联的订单中商品的种类进行确定。
如，4个订单信息（A、B、C、D）中，共包含4种商品e、f、g和h，以及四个订单中，商品e共需求3件、商品f共需求2件、商品g共需求1件，以及商品h共需求2件。
机器人通过仓库管理系统查询商品e、f、g和h的位置信息。
其中，位置信息至少包括以下之一：商品名称、商品的存储位置或商品的数量。
如，商品名称：e，位于J区1排货架001，商品剩余量50件。
S105、根据所述商品信息和位置信息，确定拣货路径。
机器人通过仓库管理系统查找与多个订单信息对应的每个商品标识对应的仓库坐标；将每个商品标识对应的仓库坐标按照预设路径方式进行串联，得到所述拣货路径。
如图3所示，可以根据商品的远近关系规划拣货路径，商品e、f、g和h的拣货路径可以是：f-e-g-h，即机器人先到达商品f的拣货区域，再到达商品e的拣货区域，再到达商品g的拣货区域，最后到达商品h的拣货区域，通过出口到达打包区域。
S106、按照所述拣货路径在所述商品仓库中移动所述周转箱，完成商品捡取。
机器人携带周转箱根据拣货路径，到达待捡商品的指定位置，其中，机器人与周转箱的关系可以存在多种情况，如机器人上设置用于放置周转箱以及固定周转箱的部件，通过该部件可实现周转箱挂载于机器人上，或者在周转箱的底部设置车轮，机器人与周转箱采用缆绳连接，由机器人拖动周转箱的移动等，对此，本实施例不作具体限定。
在本本实施例中，完成目标商品捡取的由拣货员配合机器人完成，或者由机器人单独完成，参照图4，具体包括：
S1061、控制所述周转箱在所述拣货路径中不同仓库坐标之间移动。在本发明实施的一可选方案中，待机器人移动至待捡取目标商品指定位置时，可向拣货员发出提示信息，该提示信息可以用于提示拣货员，来该位置拣货。
其中，待捡取目标商品的指定位置可以是目标商品所在货架的位置，也可以是目标商品的位置等。提示信息可以是多种形式，如采用蜂鸣器鸣笛、语音播报或者灯光闪烁的形式。
S1062、在所述周转箱移动至任意一个仓库坐标时，显示与所述仓库坐标相一致的商品标识、商品数量和货架坐标。
在机器人的显示界面对订单信息对应的目标商品信息和位置信息进行显示，其中，显示界面可以是机器人固有的显示面板或者终端设备的显示面板（该终端设备与机器人建立通信连接，以实现终端设备与机器人的交互）。
其中，显示的信息可以是：商品标识、商品数量和货架坐标等。
S1063、获取接收到的商品的商品标识。
S1064展示所述商品标识与所述周转箱中仓位信息的对应关系，以使拣货员根据所述仓位信息将所述商品放置于对应仓位。
进一步地，如图5所示，机器人的显示界面除可以显示：商品的名称、位置、数量外，还可以显示商品的图片（商品的图片可以采用背景显示的形式显示于显示界面上）以及提示拣货员将商品放入仓位的信息。显示目标商品的图片以及提示拣货员将商品放入仓位的信息可以通过拣货员将拣取商品的商品标识（如，条形码）放置于机器人的扫码器前进行扫码操作，进而在如图5所示的仓位信息处显示每个仓位需放入该仓位商品的数量。
例如，现机器人移动至商品e的拣货位置，此时，四个订单信息中有三个订单包含有商品e，且商品e的数量为3件，这时，可以在机器人的显示界面显示商品e的名称为：安卓手机，商品的位置为J-1-001（表示商品所属的货架信息），商品e的数量为3件，需要放入仓位一：1件、仓位二：1件、仓位三：1件（对应为订单信息A、B和C均包括1件商品e）。
S1065、接收拣货员对目标商品捡取完成的操作，移动至下一处，执行下一目标商品的捡取。
在拣货员将目标商品放置于对应仓位后，可通过显示界面上的触发完成按钮，以通知机器人已完成当前目标商品的捡取操作，机器人查询下一待捡目标商品的位置的路径信息，移动至下一处，执行下一目标商品的捡取。
在本发明实施的一可选方案中，除拣货员辅助机器人进行拣货操作外，机器人还可以单独执行拣货操作，具体包括：根据目标商品信息、位置信息和仓位信息将所述目标商品放置于对应仓位。
S107、当所述目标商品处于无货状态时，确定无货的目标商品对应的订单信息。
S108、将无货的订单信息发送给仓库管理系统。
如图6所示，当商品仓库中的目标商品出现无货状态时，拣货员通过显示界面上的触发无货按钮，即可将该件目标商品属于无货状态，机器人确定包含该件目标商品的订单信息，并取消上述订单信息的拣货，并将订单信息发送给仓库管理系统，以使通知送货员对缺货的目标商品进行送货，在送货完成后，在执行上述订单的拣货任务。
本发明实施例提供的拣货方案，通过获取多个订单信息以及获取周转箱仓位信息，将订单信息于仓位信息进行一一关联，每个仓位可用于盛放每个订单对应的所有商品，减少了将多个订单组合、拣货完成后再分拣的麻烦，节省人力，提升效率。
获取商品仓库中与多个订单信息对应的所有商品的位置信息，根据目标商品信息和位置信息，确定拣货路径，采用机器人代替人工拣货，拣货员只需在货物架旁边等待机器人携带周转箱到来，再根据显示的待捡商品的商品信息和位置信息捡取商品，并放入对应的周转箱的仓位以完成商品捡取，相对于现有拣货方案，节省时间和人力，提升效率。
图7为本发明实施例提供的一种拣货装置的结构示意图，如图7所示，该装置具体包括：
获取模块701，用于获取多个订单信息，每个所述订单信息包括至少一件商品信息；
所述获取模块701，还用于于获取周转箱中的仓位信息，所述周转箱中设置有多个仓位；
关联模块702，用于关联所述订单信息与所述仓位信息，所述订单信息与仓位信息一一对应；
所述获取模块701，还用于获取商品仓库中与多个订单信息对应的所有商品的位置信息；
确定模块703，用于根据所述商品信息和位置信息，确定拣货路径；
控制模块704，用于按照所述拣货路径在所述商品仓库中移动所述周转箱，进行商品捡取。
可选地，所述商品信息包括：商品标识，所述位置信息包括：仓库坐标；所述确定模块703，具体用于查找与多个订单信息对应的每个商品标识对应的仓库坐标；将每个商品标识对应的仓库坐标按照预设路径方式进行串联，得到所述拣货路径。
可选地，所述商品信息包括：商品数量，所述位置信息还包括：货架坐标；
所述控制模块704，具体用于控制所述周转箱在所述拣货路径中不同仓库坐标之间移动；
所述装置还包括，显示模块705，用于在所述周转箱移动至任意一个仓库坐标时，显示与所述仓库坐标相一致的商品标识、商品数量和货架坐标；获取接收到的商品的商品标识；展示所述商品标识与所述周转箱中仓位信息的对应关系，以使拣货员根据所述仓位信息将所述商品放置于对应仓位。
所述控制模块，还用于将接收到的商品放置于周转箱中与所述商品标识对应的仓位中。
可选地，所述确定模块703，用于当所述目标商品处于无货状态时，确定无货的目标商品对应的订单信息；
所述装置，还包括：发送模块706，用于将缺货的订单信息发送给仓库管理系统。
可选地，所述关联模块702，具体用于当订单的数量大于所述周转箱的仓位数量时，按照预设顺序从多个订单信息中选取与所述仓位数量一致的订单信息与所述仓位信息关联。
可选地，所述仓位信息至少包括以下之一：二维码标识、编号标识、颜色标识或图形标识。
本实施例提供的拣货设备可以是如图7中所示的拣货装置，可执行如图1中拣货方法中的所有步骤，进而实现图1所示拣货方法的技术效果，具体请参照图1相关描述，为简洁描述，在此不作赘述。
图8本发明实施例提供的一种拣货设备的硬件结构示意图，如图8所示，该拣货设备具体包括：
处理器810、存储器820、收发器830和显示面板840。
处理器810可以是中央处理器（central processing unit， CPU），或者CPU和硬件芯片的组合。上述硬件芯片可以是专用集成电路（application-specific integrated circuit，ASIC），可编程逻辑器件（programmable logic device，PLD）或其组合。上述PLD可以是复杂可编程逻辑器件（complex programmable logic device，CPLD），现场可编程门阵列（field-programmable gate array，FPGA），通用阵列逻辑（generic array logic, GAL）或其任意组合。
存储器820用于存储各种应用，操作系统和数据。存储器820可以将存储的数据传输给处理器810。存储器820可以包括易失性存储器，非易失性动态随机存取内存（nonvolatile random access memory，NVRAM）、相变化随机存取内存（phase change RAM，PRAM）、磁阻式随机存取内存（magetoresistive RAM，MRAM）等，例如至少一个磁盘存储器件、电子可擦除可编程只读存储器（electrically erasable programmable read-only memory，EEPROM）、闪存器件，例如反或闪存（flash memory， NOR)或是反及闪存(flash memory， NAND)、半导体器件，例如固态硬盘（solid state disk，SSD）等。存储器820还可以包括上述种类的存储器的组合。
收发器830，用于发送和/或接收数据，收发器830可以是天线等。
显示面板840，用于显示和/接收数据，显示面板840可以是显示屏等。
所述各器件的工作过程如下：
处理器810，用于获取多个订单信息，每个所述订单信息包括至少一件商品信息；
处理器810，还用于获取周转箱中的仓位信息，所述周转箱中设置有多个仓位；
处理器810，还用于关联所述订单信息与所述仓位信息，所述订单信息与仓位信息一一对应；
处理器810，还用于获取商品仓库中与多个订单信息对应的所有商品的位置信息；
处理器810，还用于根据所述商品信息和位置信息，确定拣货路径；
处理器810，还用于按照所述拣货路径在所述商品仓库中移动所述周转箱，进行商品捡取。
可选地，所述商品信息包括：商品标识，所述位置信息包括：仓库坐标；处理器810，具体用于查找与多个订单信息对应的每个商品标识对应的仓库坐标；将每个商品标识对应的仓库坐标按照预设路径方式进行串联，得到所述拣货路径。
可选地，所述商品信息包括：商品数量，所述位置信息还包括：货架坐标；处理器810，具体用于控制所述周转箱在所述拣货路径中不同仓库坐标之间移动；
显示面板840，用于在所述周转箱移动至任意一个仓库坐标时，显示与所述仓库坐标相一致的商品标识、商品数量和货架坐标；获取接收到的商品的商品标识；展示所述商品标识与所述周转箱中仓位信息的对应关系，以使拣货员根据所述仓位信息将所述商品放置于对应仓位。
可选地，处理器810，还用于将接收到的商品放置于周转箱中与所述商品标识对应的仓位中。
可选地，处理器810，用于当所述目标商品处于无货状态时，确定无货的目标商品对应的订单信息；
收发器830，用于将缺货的订单信息发送给仓库管理系统。
可选地，处理器810，具体用于当订单的数量大于所述周转箱的仓位数量时，按照预设顺序从多个订单信息中选取与所述仓位数量一致的订单信息与所述仓位信息关联。
可选地，处理器810，还用于配置 所述仓位信息至少包括以下之一：
二维码标识、编号标识、颜色标识或图形标识。
本实施例提供的机器人可以是如图8中所示的拣货设备，可执行如图1中拣货方法中的所有步骤，进而实现图1所示拣货方法的技术效果，具体请参照图1相关描述，为简洁描述，在此不作赘述。
结合本文中所公开的实施例描述的方法或算法的步骤可以用硬件、处理器执行的软件模块，或者二者的结合来实施。软件模块可以置于随机存储器（RAM）、内存、只读存储器（ROM）、电可编程ROM、电可擦除可编程ROM、寄存器、硬盘、可移动磁盘、CD-ROM、或技术领域内所公知的任意其它形式的存储介质中。
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限定本发明的保护范围，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
 工业实用性
本发明实施例提供的拣货方法、设备和存储介质，通过获取多个订单信息以及获取周转箱仓位信息，将订单信息于仓位信息进行一一关联，每个仓位可用于盛放每个订单对应的所有商品，减少了将多个订单组合、拣货完成后再分拣的麻烦，节省人力，提升效率。此外，通过获取商品仓库中与多个订单信息对应的所有商品的位置信息，根据目标商品信息和位置信息，确定拣货路径，采用机器人代替人工拣货，拣货员只需在货物架旁边等待机器人携带周转箱到来，再根据显示的待捡商品的商品信息和位置信息捡取商品，并放入对应的周转箱的仓位以完成商品捡取，进一步节省时间和人力，提升效率。因此，具有工业实用性。

Claims (10)

  1. 一种拣货方法，所述方法包括：
    获取至少一个订单信息，每个所述订单信息包括至少一件商品信息；
    获取周转箱中的仓位信息，所述周转箱中设置有多个仓位；
    关联所述订单信息与所述仓位信息，所述订单信息与仓位信息一一对应；
    获取商品仓库中与所述订单信息对应的所有商品的位置信息；
    根据所述商品信息和位置信息确定拣货路径；
    按照所述拣货路径在所述商品仓库中移动所述周转箱，进行商品捡取。
  2. 根据权利要求1所述的方法，其中，所述商品信息包括商品标识，所述位置信息包括仓库坐标；所述根据所述商品信息和位置信息确定拣货路径，包括：
    查找与所述订单信息对应的每个商品标识对应的仓库坐标；
    将每个商品标识对应的仓库坐标按照预设路径方式进行串联，得到所述拣货路径。
  3. 根据权利要求2所述的方法，其中，所述商品信息还包括商品数量，所述位置信息还包括货架坐标；
    所述按照所述拣货路径在所述商品仓库中移动所述周转箱，进行商品捡取，包括：
    控制所述周转箱在所述拣货路径中不同仓库坐标之间移动；
    在所述周转箱移动至任意一个仓库坐标时，显示与所述仓库坐标相一致的商品标识、商品数量和货架坐标；
    获取接收到的商品的商品标识；
    展示所述商品标识与所述周转箱中仓位信息的对应关系，以使拣货员根据所述仓位信息将所述商品放置于对应仓位。
  4. 根据权利要求3所述的方法，其中，所述方法，还包括：
    在所述周转箱移动至任意一个仓库坐标时，发出提示信息。
  5. 根据权利要求2或4所述的方法，其中，所述按照所述拣货路径在所述商品仓库中移动所述周转箱，进行商品捡取，还包括：
    将接收到的商品放置于周转箱中与所述商品标识对应的仓位中。
  6. 根据权利要求1所述的方法，其中，所述方法，还包括：
    当所述目标商品处于无货状态时，确定无货的目标商品对应的订单信息；
    将无货的订单信息发送给仓库管理系统。
  7. 根据权利要求1所述的方法，其中，所述方法，还包括：
    当订单的数量大于所述周转箱的仓位数量时，按照预设顺序从多个订单信息中选取与所述仓位数量一致的订单信息与所述仓位信息关联。
  8. 根据权利要求1所述的方法，其中，所述仓位信息至少包括以下之一：
    二维码标识、编号标识、颜色标识或图形标识。
  9. 一种拣货设备，包括：处理器和存储器，所述处理器用于执行所述存储器中存储的拣货程序，以实现权利要求1~8中任一项所述的拣货方法。
  10. 一种计算机存储介质，所述存储介质存储有一个或者多个程序，所述一个或者多个程序可被一个或者多个处理器执行，以实现权利要求1~8中任一项所述的拣货方法。
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