How to pay Freight Carriers(Registered as Suppliers) linked to Sales Orders Shipments

Hello All

We have a very common scenario - Where we have several Freight Carriers/Transporters who takes care of our Shipments from our warehouse to the customer address.

We need to automate the way in which these Transporters are paid. We have already configured these transporters as Freight Carriers but how to create a payables invoices against them automatically as soon as the Order is Ship Confirmed.

I do see an option to assign Supplier and Supplier against the Freight Carrier but not sure how to utilize it to automatically create AP Invoices against the Sales Order using this Freight Carrier.