Task scheduling method, task scheduling device and task scheduling system

Abstract

The invention provides a task scheduling method, a task scheduling device and a task scheduling system, and relates to the field of intelligent storage. The method comprises the following steps: by taking a roadway as a dimension, acquiring information of tasks which are not executed yet and temporary storage position information, sorting the tasks which are not executed yet in the roadway according to a sequence of horizontal coordinates of storage positions associated with the tasks from small to large so as to obtain a target task sequence, and allocating a temporary storage position for each newly-added task from the unallocated temporary storage positions so as to obtain a target task sequence; re-matching the unexecuted tasks of the roadway with the currently allocated temporary storage positions so as to enable the horizontal coordinates of the temporary storage positions to be consistent with the target task sequence from small to large, and finally, according to the target task sequence, combining the types of the unexecuted tasks of the roadway, the associated storage positions and the re-matched temporary storage positions. And determining an execution sequence and an execution route of tasks which are not executed on the roadway by the access device of the roadway. Therefore, through task sorting and task and temporary storage position re-matching, the reciprocating motion distance of the access device is shortened, and the working efficiency of the access device is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent warehousing, and in particular to a task scheduling method, a task scheduling device, and a task scheduling system. Background Art

[0002] In some smart warehousing scenarios, a storage and retrieval device (also called a large cart) and a transfer vehicle (also called a small cart) work together to implement a "goods-to-person" picking model. The storage and retrieval device is installed on the shelf and serves a single aisle. The bottom shelf level is a temporary storage area for containers entering or leaving the warehouse. The other levels above the shelf are standard storage areas for containers loaded with goods. The storage and retrieval device moves the container from the shelf storage area to the temporary storage area on the bottom level. The transfer vehicle then moves the container from the temporary storage area to the workstation for picking. The transfer vehicle holds the container throughout the picking process. After the workstation is finished picking, the transfer vehicle returns the container to the temporary storage area on the bottom shelf level. The storage and retrieval device then moves the container from the temporary storage area to the storage area.

[0003] Storage and retrieval systems need to handle a large number of outbound and inbound tasks, frequently moving between storage and temporary storage locations. Improving the efficiency of storage and retrieval systems is crucial for improving overall warehouse picking efficiency. Summary of the Invention

[0004] The disclosed embodiment uses lanes as a dimension to obtain information on unexecuted tasks and temporary storage locations. The unexecuted tasks in the lanes are sorted in ascending order of the horizontal coordinates of the storage locations associated with the tasks to obtain a target task sequence. After allocating a temporary storage location for each newly added task from an unallocated temporary storage location, the unexecuted tasks in the lanes are re-matched with the currently allocated temporary storage locations so that the ascending order of the horizontal coordinates of the currently allocated temporary storage locations is consistent with the target task sequence. Finally, based on the target task sequence and in combination with the type of unexecuted tasks in the lanes, the associated storage locations, and the re-matched temporary storage locations, the execution order and execution route of the lane access device for the unexecuted tasks in the lanes are determined. Thus, by sorting tasks and re-matching tasks with temporary storage locations, the reciprocating distance of the access device during task execution is shortened, the working efficiency of the access device is improved, and the overall picking efficiency of the warehouse is thereby improved.

[0005] Some embodiments of the present disclosure provide a task scheduling method, including:

[0006] Obtaining information about unexecuted tasks in any lane and corresponding temporary storage location information for the lane, the unexecuted task information including the type of existing tasks, associated storage locations, and allocated temporary storage locations, as well as the type of newly added tasks and associated storage locations, the temporary storage location information including the location of allocated temporary storage locations and corresponding tasks, and the location of unallocated temporary storage locations;

[0007] Sort the unexecuted tasks in the lanes according to the ascending order of the horizontal coordinates of the storage locations associated with the tasks to obtain a first task sequence;

[0008] Task scheduling is performed for the target task sequence, where the target task sequence is the first task sequence, including: allocating a temporary storage location for each newly added task from an unallocated temporary storage location according to the target task sequence; rematching the unexecuted tasks of the lane with the currently allocated temporary storage locations so that the horizontal coordinates of the currently allocated temporary storage locations are in ascending order consistent with the target task sequence; determining the execution order and execution route of the unexecuted tasks of the lane by the access device of the lane according to the target task sequence, in combination with the type of the unexecuted tasks of the lane, the associated storage locations and the rematched temporary storage locations.

[0009] In some embodiments, the task scheduling method further includes: for multiple tasks with the same horizontal coordinates of the storage locations associated with the tasks that have not yet been executed in the lane, the first task order is reordered in a manner of pairing the outbound task with the inbound task or the transfer task to obtain a second task order; the target task order is the second task order.

[0010] In some embodiments, performing task scheduling for a target task sequence includes:

[0011] First, the first task order is used as the target task order, and according to the target task order, a temporary storage location is allocated to each newly added task from an unallocated temporary storage location;

[0012] For multiple tasks with the same horizontal coordinates of storage locations associated with unexecuted tasks in the lane, reorder the first task order by pairing outbound tasks with inbound tasks or transfer tasks to obtain a second task order, and then use the second task order as the target task order;

[0013] Re-matching the unexecuted tasks of the lane with the currently allocated temporary storage locations so that the order of the horizontal coordinates of the currently allocated temporary storage locations from small to large is consistent with the order of the target tasks;

[0014] According to the target task sequence, combined with the type of the lane's unexecuted tasks, the associated storage location and the re-matched temporary storage location, the execution sequence and execution route of the lane's access device for the lane's unexecuted tasks are determined.

[0015] In some embodiments, the first task sequence is reordered in a manner of pairing the outbound task with the inbound task or the transfer task to obtain the second task sequence, including:

[0016] For multiple tasks with the same horizontal coordinate of the storage location associated with the unexecuted tasks in the lane, the outbound tasks in the multiple tasks are reordered according to the vertical coordinates of the associated storage locations from small to large to obtain a first queue, and the inbound tasks and transfer tasks in the multiple tasks are reordered according to the vertical coordinates of the associated storage locations from small to large to obtain a second queue;

[0017] According to the order of tasks in the first queue and the second queue, pair the outbound tasks in the first queue with the inbound tasks or transfer tasks in the second queue to obtain a new order of the multiple tasks;

[0018] According to the new order of the multiple tasks, the order of the multiple tasks in the first task order is reordered to obtain a second task order.

[0019] In some embodiments, allocating a temporary storage location for each newly added task from an unallocated temporary storage location according to the target task order includes:

[0020] Sorting the coordinates of the locations in the lane where tasks have not yet been executed according to the target task sequence to obtain a first location point coordinate sequence, wherein the horizontal coordinate of the temporary storage location of each newly added task is to be determined, and the other coordinates are known;

[0021] According to the abscissa allocation range in which each pending abscissa in the first position point coordinate sequence is greater than the preceding nearest known abscissa and smaller than the following nearest known abscissa, a temporary storage location is allocated for the newly added task corresponding to each pending abscissa from an unallocated temporary storage location.

[0022] In some embodiments, according to a horizontal coordinate allocation range in which each pending horizontal coordinate in the first position point coordinate sequence is greater than the preceding nearest known horizontal coordinate and smaller than the following nearest known horizontal coordinate, allocating a temporary storage location for a newly added task corresponding to each pending horizontal coordinate from an unallocated temporary storage location includes:

[0023] For the newly added task corresponding to the pending horizontal coordinate at the head of the first position point coordinate sequence, allocate a temporary location from the unallocated temporary locations according to the horizontal coordinate allocation range where the pending horizontal coordinate at the head is smaller than the nearest known horizontal coordinate and closest to the second horizontal coordinate in the first position point coordinate sequence; and / or,

[0024] For the newly added tasks corresponding to the pending horizontal coordinates at the end of the first position point coordinate sequence, a temporary storage position is allocated from the unallocated temporary storage positions according to the horizontal coordinate allocation range in which the tail pending horizontal coordinate is greater than the previous nearest known horizontal coordinate and closest to the second to last horizontal coordinate in the first position point coordinate sequence.

[0025] In some embodiments, allocating a temporary storage location for each newly added task from an unallocated temporary storage location according to the target task sequence further includes: for the newly added task with an unselected temporary storage location, allocating a temporary storage location from the unallocated temporary storage location that is closest to the storage location associated with the newly added task with the unselected temporary storage location.

[0026] In some embodiments, sorting the coordinates of the position points of the lanes where tasks have not yet been executed includes: each task in the lanes where tasks have not yet been executed includes a starting position point and an ending position point, and in the first position point coordinate sequence, the starting position point coordinates of each task are in front and the ending position point coordinates are in the back, wherein the starting position point of the outbound task is the storage location and the ending position point is the temporary storage location, the starting position point of the inbound task is the temporary storage location and the ending position point is the storage location, the starting position point of the transfer task is the storage location corresponding to the retrieval operation and the ending position point is the storage location corresponding to the storage operation.

[0027] In some embodiments, allocating a temporary storage location for each newly added task from an unallocated temporary storage location according to the target task order includes: allocating a temporary storage location that is closest to a storage location associated with the newly added task from an unallocated temporary storage location according to the target task order to each newly added task.

[0028] In some embodiments, re-matching the unexecuted tasks in the lane with the currently allocated temporary storage locations includes: for the tasks that need to be allocated storage locations among the unexecuted tasks in the lane, reallocating the temporary storage locations with a forward horizontal coordinate position from the temporary storage locations allocated for the tasks that need to be allocated storage locations to the tasks that need to be allocated storage locations with a forward task order in the target task sequence, wherein the tasks that need to be allocated storage locations include outbound tasks and inbound tasks.

[0029] In some embodiments, determining the execution order and execution route of the lane's access device for tasks that have not yet been executed includes:

[0030] Determining the execution order of the lane's access device for the unexecuted tasks according to the target task sequence;

[0031] According to the type of tasks that have not been executed in the lane, the associated storage location and the re-matched temporary storage location, the execution route of the lane's access device for the tasks that have not been executed in the lane is determined, wherein the execution route of the outbound task is from the storage location to the temporary storage location, the execution route of the inbound task is from the temporary storage location to the storage location, and the execution route of the transfer task is from the storage location corresponding to the retrieval operation to the storage location corresponding to the storage operation.

[0032] Some embodiments of the present disclosure provide a task scheduling device, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute a task scheduling method based on instructions stored in the memory.

[0033] Some embodiments of the present disclosure provide a task scheduling device, including: a module for executing a task scheduling method.

[0034] Some embodiments of the present disclosure provide a task scheduling system, including:

[0035] The task scheduling device is configured to execute the task scheduling method and issue a task scheduling instruction to the access device corresponding to the lane with the lane as the scheduling dimension;

[0036] The access device provided on the shelf is configured to execute the unexecuted tasks in the lane according to the execution order and execution route indicated by the task scheduling instruction.

[0037] Some embodiments of the present disclosure provide a computer-readable storage medium having computer instructions stored thereon. When the computer instructions are executed by a processor, a task scheduling method is implemented.

[0038] Some embodiments of the present disclosure provide a computer program product including computer instructions, which implement a task scheduling method when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The following briefly introduces the drawings required for describing the embodiments or related technologies. The present disclosure can be more clearly understood based on the following detailed description with reference to the drawings.

[0040] Obviously, the drawings described below are only some embodiments of the present disclosure. A person skilled in the art can obtain other drawings based on these drawings without creative work.

[0041] Figure 1 A schematic diagram illustrating a warehousing system according to some embodiments of the present disclosure.

[0042] Figure 2 Schematic diagram illustrating a shelf according to some embodiments of the present disclosure.

[0043] Figure 3 A schematic diagram of the installation structure of the access device according to some embodiments of the present disclosure is shown.

[0044] Figure 4 A schematic structural diagram of an access device according to some embodiments of the present disclosure is shown.

[0045] Figure 5 A flowchart illustrating a task scheduling method according to some embodiments of the present disclosure is shown.

[0046] Figure 6 A flowchart illustrating a task scheduling method according to some embodiments of the present disclosure is shown.

[0047] Figure 7 A flowchart illustrating a task scheduling method according to some embodiments of the present disclosure is shown.

[0048] Figure 8 A schematic structural diagram of a task scheduling device according to some embodiments of the present disclosure is shown.

[0049] Figure 9 A schematic structural diagram of a task scheduling device according to some embodiments of the present disclosure is shown.

[0050] Figure 10 A schematic diagram showing a task scheduling system according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0051] It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0052] Those skilled in the art will understand that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, and do not represent any specific technical meanings, nor do they indicate a necessary logical order between them.

[0053] It should also be understood that in the embodiments of the present disclosure, “a plurality of” may refer to two or more than two, and “at least one” may refer to one, two, or more than two.

[0054] It should also be understood that any component, data or structure mentioned in the embodiments of the present disclosure can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0055] In addition, the term "and / or" in this disclosure is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this disclosure generally indicates that the related objects are in an "or" relationship.

[0056] It should also be understood that the description of the various embodiments in this disclosure focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced with each other. For the sake of brevity, they will not be described one by one.

[0057] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0058] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0059] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0060] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0061] In addition, in order to avoid obscuring the present disclosure with unnecessary details, only the processing steps and / or device structures that are closely related to at least the solution according to the present disclosure are shown in the drawings, while other details that are not closely related to the present disclosure are omitted. It should also be noted that similar reference numerals and letters in the drawings indicate similar items, and therefore once an item is defined in one drawing, it does not need to be discussed again for subsequent drawings.

[0062] Figure 1 Schematic diagram of a storage system according to some embodiments of the present disclosure is shown. Figure 1 As shown, the storage system includes a shelf SR, a storage and retrieval device ST, a transfer vehicle TV, a workstation WS, etc. Wherein, a transition area TR can be set between the shelf SR and the workstation WS as needed.

[0063] Shelves SR are storage media for storage containers (containers used to load goods) GS. Figure 2 As shown, the rack SR has multiple layers of storage space above and a temporary storage space below as needed. The racks SR are arranged parallel to each other to form an aisle, which allows the storage and retrieval device ST to move and the transfer vehicle TV to travel.

[0064] The access device ST (also called a "trolley") is used to store and retrieve goods, transferring them between storage and temporary storage locations. The access device ST is mounted on the racks SR and suspended above the aisles between the racks SR. It can move horizontally along the aisles. Its fork mechanism (also called the fork) is raised and lowered along the height of the racks via a lifting mechanism, allowing it to travel along the surface of the racks SR to any access location corresponding to a storage or temporary storage location. For example, the access device can be a stacker crane.

[0065] In each embodiment of the present disclosure, the extension direction along the aisle is called the transverse or horizontal direction, which is set as the x-axis, and the corresponding coordinate is the horizontal coordinate; the height direction along the shelf is called the longitudinal or vertical direction, which is set as the y-axis, and the corresponding coordinate is the vertical coordinate.

[0066] The transfer vehicle (TV), also known as a small vehicle, can freely navigate the warehouse floor and can be operated automatically between the temporary storage area and the workstation (WS). The TV is equipped with a loading mechanism with a lifting function, which can be used to lift and lower goods, allowing them to be stored and retrieved from the temporary storage area.

[0067] Workstation WS is the working position for picking goods, which generally includes a distribution rack or distribution slot. Workers or robotic arms can wait at this position for the transfer vehicle TV to move the container over and pick the corresponding goods in the corresponding container.

[0068] The following introduces the outbound, inbound (return to warehouse) and transfer processes. The outbound / inbound process involves the transfer of containers GS loaded with goods between the shelves SR, the transition area TR and the workstation WS. The storage and retrieval device ST moves the outbound container from the storage position to the temporary storage position, and the transfer vehicle TV moves to the driving area corresponding to the temporary storage position, takes out the outbound container, leaves the shelf area, passes through the transition area TR, and transports the outbound container to the workstation WS for goods picking, completing the outbound. During picking, the transfer vehicle holds the container and does not leave. After the workstation picking is completed, the transfer vehicle TV passes through the transition area TR from the workstation WS to transport the incoming container and store it in the temporary storage position at the bottom of the shelf SR. Then the storage and retrieval device ST transfers the incoming container from the temporary storage position to the storage position, completing the return to the warehouse. In the inbound process, the transfer vehicle TV transports the incoming container from the cargo entrance and stores it in the temporary storage position at the bottom of the shelf SR. Then the storage and retrieval device ST transfers the incoming container from the temporary storage position to the storage position. Both returning to the warehouse and entering the warehouse require the allocation of temporary storage locations, and the access device ST will transfer the container from the temporary storage location to the storage location. There is no difference in determining the task execution strategy of the access device ST. Therefore, when determining the execution order and execution route of the tasks by the access device, the embodiments of the present disclosure do not distinguish between return tasks and entry tasks, and they are all referred to as entry tasks. In addition, there are a small number of transfer tasks, in which the access device moves the container from one storage location on the shelf to another to complete the transfer. Transfer tasks do not require the allocation of temporary storage locations and can be regarded as entry tasks with a known starting point. Entry tasks and outbound tasks require the allocation of temporary storage locations. As the connection point between the access device and the transfer vehicle operation, the temporary storage location plays a vital role in improving the overall picking efficiency of the warehouse. The embodiments of the present disclosure fully consider the selection and optimization of temporary storage locations in the task scheduling of the access device, which will be described in detail later.

[0069] Figure 3 A schematic diagram of the installation structure of the access device according to some embodiments of the present disclosure is shown. Figure 4 Schematic diagram showing the structure of the access device of some embodiments of the present disclosure. Figure 3 In the embodiment of the warehousing system disclosed herein, the access device ST can be set on the shelf SR. Figure 3 and Figure 4The embodiment of the present disclosure provides a storage and retrieval device ST, including a fork mechanism FM, and may also include at least two transverse rails TR1 and at least two vertical rails TR2. The at least two transverse rails TR1 are arranged at intervals in at least one direction, and the at least two vertical rails TR2 are movably arranged along the at least two transverse rails TR1 through a traveling mechanism TM. The fork mechanism FM is movably arranged along the at least two vertical rails TR2. Figure 3 and Figure 4 In the storage and retrieval device ST, two transverse rails TR1 extending transversely and two vertical rails TR2 extending vertically are provided. The two transverse rails TR1 are arranged at intervals in the vertical direction. The transverse rails TR1 can be mounted on the frame of the shelf SR or formed by the frame of the shelf SR. For example, Figure 3 In this example, the frame beams of the highest level of the rack SR and the frame beams of the level adjacent to the rack SR can serve as the two transverse rails TR1. Two vertical rails TR2 are spaced laterally apart. The fork mechanism FM can have ends that are movably connected to the two rails TR2 and located on the side of the operating plane formed by the two vertical rails TR away from the rack SR. Furthermore, the fork mechanism FM can be located between the two vertical rails TR2 to facilitate the passage of the container GS through the gap between the two vertical rails TR2. The storage and retrieval device ST can perform both transverse and vertical movements.

[0070] The following describes in detail a method for scheduling tasks of an access device corresponding to any lane using the lane as a dimension.

[0071] Figure 5 A flow chart of a task scheduling method according to some embodiments of the present disclosure is shown. The task scheduling method may be executed by a task scheduling device, for example. Figure 5 As shown, the task scheduling method of this embodiment includes the following steps.

[0072] In step 510, information about any lane's unexecuted tasks and the corresponding temporary storage location information of the lane are obtained.

[0073] Information about unexecuted tasks includes the type of existing tasks, associated storage locations, and allocated temporary storage locations, as well as the type of newly added tasks and associated storage locations. Unexecuted tasks include both existing and newly added tasks. Existing tasks are tasks that have not been executed since the last scheduling. They already have temporary storage locations allocated to them and only require re-matching of the temporary storage locations (step 540), without the need for reallocation of temporary storage locations. New tasks require allocation of temporary storage locations and re-matching of temporary storage locations. The types of existing and newly added tasks include inbound tasks, outbound tasks, and transfer tasks. If the aforementioned are true, return tasks are considered inbound tasks. Each task includes a starting location and an ending location. The starting location of an outbound task is a storage location, and the ending location is a temporary storage location. The starting location of an inbound task is a temporary storage location, and the ending location is a storage location. The starting location of a transfer task is the storage location corresponding to the retrieval operation (storage location 1), and the ending location is the storage location corresponding to the deposit operation (storage location 2). The storage location associated with the outbound task is the storage location that serves as the starting point, the storage location associated with the inbound task is the storage location that serves as the ending point, and the storage locations associated with the transfer task include the storage location corresponding to the retrieval operation (storage location 1) and the storage location corresponding to the deposit operation (storage location 2).

[0074] The temporary storage location corresponding to the lane is the temporary storage location on the corresponding shelf in the lane. Temporary storage location information includes the location and corresponding tasks of the assigned temporary storage location, as well as the location of the unassigned temporary storage location. Temporary storage locations are located on the bottom shelf. The vertical coordinates of each temporary storage location on the shelf are the same, but the horizontal coordinates are different.

[0075] In step 520 , the unexecuted tasks in the lane are sorted in ascending order of the horizontal coordinates of the storage locations associated with the tasks to obtain a first task sequence.

[0076] Among them, for the warehouse transfer task, the storage location of its end point participates in the sorting of the first task sequence, and the storage location of its starting point does not participate in the sorting of the first task sequence.

[0077] The target task sequence is the first task sequence. Task scheduling is performed based on the target task sequence, as follows.

[0078] In step 530 , a temporary storage location is allocated to each newly added task from unallocated temporary storage locations according to the target task sequence.

[0079] According to the target task sequence, the coordinates of the locations in the lane where tasks have not yet been executed are sorted to obtain a first location coordinate sequence, which can be expressed as [(x1, y1), (x2, y2), …, (xn, yn)]. In this first location coordinate sequence, the horizontal coordinate of the temporary storage location of each newly added task is yet to be determined, while the other coordinates are known (the coordinates of the storage location associated with each task are known, and the vertical coordinates of the temporary storage locations corresponding to each task are the same and known). Each task in the lane where tasks have not yet been executed includes a starting location and an ending location. In the first location coordinate sequence, the starting location coordinates of each task are placed first, and the ending location coordinates are placed last. Specifically, the starting location of an outbound task is a storage location, and the ending location is a temporary storage location. The starting location of an inbound task is a temporary storage location, and the ending location is a storage location. The starting location of a transfer task is the storage location corresponding to the retrieval operation, and the ending location is the storage location corresponding to the deposit operation. In the first position point coordinate sequence, pending values ​​may appear singly or consecutively (in practice, up to two pending values ​​may appear consecutively, for example, if the first task is an outbound task and the second is an inbound task). Pending values ​​may appear in the middle or at the edge of the first position point coordinate sequence (e.g., x1, xn).

[0080] The temporary storage location corresponding to each newly added task should be selected from the unallocated temporary storage locations. Since the movement of the access device in the x and y directions is independent and can be performed simultaneously, it is simplified here to minimize the movement length in the x direction, that is, minimize .in, The value of must be selected from a fixed set, where the storage coordinates of all tasks are known, and the temporary storage location of the newly added task must be selected from the unassigned temporary storage locations. If the order from small to large can be strictly maintained, the total length depends on x1 and xn. Therefore, in the process of assigning values ​​to each undetermined xi, the following conditions must be taken into account: (1) the difference between x1 and xn is as small as possible, (2) Try to keep the order from small to large, (3) in the local area where order cannot be guaranteed, the gap should be as small as possible. If exhaustive search is adopted, there are a total of m temporary locations. Choices, where n' is to be determined The number of

[0081] Based on the above requirements, for each pending An exemplary method for assigning values ​​is as follows. According to the horizontal coordinate allocation range in which each pending horizontal coordinate in the first position point coordinate sequence is greater than the preceding nearest known horizontal coordinate and less than the following nearest known horizontal coordinate, a temporary storage position is allocated from the unallocated temporary storage position for the new task corresponding to each pending horizontal coordinate. For the new task corresponding to the pending horizontal coordinate at the head of the first position point coordinate sequence, a temporary storage position is allocated from the unallocated temporary storage position according to the horizontal coordinate allocation range in which the pending horizontal coordinate at the head is less than the following nearest known horizontal coordinate and closest to the second horizontal coordinate in the first position point coordinate sequence. For the new task corresponding to the pending horizontal coordinate at the tail of the first position point coordinate sequence, a temporary storage position is allocated from the unallocated temporary storage position according to the horizontal coordinate allocation range in which the pending horizontal coordinate at the tail is greater than the preceding nearest known horizontal coordinate and closest to the second to last horizontal coordinate in the first position point coordinate sequence. For the new task for which a temporary storage position is not selected, a temporary position with the closest storage position associated with the new task for which the temporary storage position is not selected is allocated from the unallocated temporary storage position.

[0082] That is, pending To be greater than Less than Therefore, for each pending A range of values ​​can be determined. If there are two consecutive pending , then two consecutive pending For each pending , randomly select an optional value within its value range. If x1 and xn are not determined, the selected value is as close to x2 and But not every pending Therefore, for a newly added task with an unselected temporary storage location, a temporary storage location closest to the storage location associated with the newly added task with the unselected temporary storage location is selected from the unassigned temporary storage locations.

[0083] For each pending Another exemplary method of assigning values ​​is to allocate, according to the target task sequence, a temporary storage location closest to the storage location associated with the newly added task from the unallocated temporary storage locations to each newly added task.

[0084] In step 540 , the unexecuted tasks in the lane are re-matched with the currently allocated temporary storage locations so that the ascending order of the horizontal coordinates of the currently allocated temporary storage locations is consistent with the target task order.

[0085] One method for re-matching tasks with temporary storage locations is to reallocate the temporary storage locations with earlier abscissas from the assigned temporary storage locations to tasks with earlier abscissas in the target task sequence, for tasks that have not yet been executed in the lane and require storage locations. This ensures that the abscissas of the currently allocated temporary storage locations align with the target task sequence. Tasks requiring storage location allocation include both outbound and inbound tasks.

[0086] In step 550, based on the target task sequence, combined with the type of the lane's unexecuted tasks, the associated storage location, and the re-matched temporary storage location, the execution sequence and execution route of the lane's unexecuted tasks by the lane's access device are determined.

[0087] Based on the target task sequence, the order in which the lane's access device executes the lane's unexecuted tasks is determined. Based on the lane's unexecuted task type, associated storage location, and re-matched temporary storage location, the lane's access device executes the lane's unexecuted tasks in a route. The route for outbound tasks is from the storage location to the temporary storage location, the route for inbound tasks is from the temporary storage location to the storage location, and the route for transfer tasks is from the storage location corresponding to the retrieval operation to the storage location corresponding to the deposit operation.

[0088] By sorting tasks based on the horizontal coordinates of the storage locations and re-matching tasks with temporary storage locations based on the horizontal coordinates of the temporary storage locations, the reciprocating distance of the storage and retrieval device in the horizontal direction during task execution is shortened, the working efficiency of the storage and retrieval device is improved, and the overall picking efficiency of the warehouse is improved.

[0089] Figure 6 A flow chart of a task scheduling method according to some embodiments of the present disclosure is shown. The task scheduling method may be executed by a task scheduling device, for example. Figure 6 As shown, the task scheduling method of this embodiment includes the following steps.

[0090] In step 610, information about any unexecuted tasks in any lane and the corresponding temporary storage location information for that lane is obtained. The unexecuted task information includes the type of existing tasks, associated storage locations, and allocated temporary storage locations, as well as the type of newly added tasks and associated storage locations. The temporary storage location information includes the location of allocated temporary storage locations and corresponding tasks, as well as the location of unallocated temporary storage locations. For details, see the description of step 510.

[0091] In step 620 , the unexecuted tasks in the lane are sorted in ascending order of the horizontal coordinates of the storage locations associated with the tasks to obtain a first task sequence.

[0092] Among them, for the warehouse transfer task, the storage location of its end point participates in the sorting of the first task sequence, and the storage location of its starting point does not participate in the sorting of the first task sequence.

[0093] In step 630, for multiple tasks with the same horizontal coordinates of storage locations associated with unexecuted tasks in the lane, the first task sequence is reordered by pairing outbound tasks with inbound tasks or transfer tasks to obtain a second task sequence.

[0094] Thus, the longitudinal movement of the access device during task execution is optimized, the reciprocating distance of the access device in the longitudinal direction is shortened, the working efficiency of the access device is improved, and the overall picking efficiency of the warehouse is improved.

[0095] An exemplary method for reordering the order of tasks based on task pairing is as follows: for multiple tasks with the same horizontal coordinate of the associated storage location in the tasks that have not yet been executed in the lane, the outbound tasks in the multiple tasks are reordered according to the vertical coordinate of the associated storage location from small to large to obtain a first queue, and the inbound tasks and transfer tasks in the multiple tasks are reordered according to the vertical coordinate of the associated storage location from small to large to obtain a second queue; according to the task order in the first queue and the second queue, the outbound tasks in the first queue are paired with the inbound tasks or transfer tasks in the second queue to obtain a new order of the multiple tasks, for example, one outbound task, one inbound or transfer task, another outbound task, another inbound or transfer task, and so on; according to the new order of the multiple tasks, the order of the multiple tasks in the first task order is reordered to obtain a second task order.

[0096] The target task sequence is the second task sequence. Task scheduling is performed based on the target task sequence, as follows.

[0097] In step 640 , a temporary storage location is allocated to each newly added task from the unallocated temporary storage location according to the target task sequence. The specific allocation method can be found in the description of step 530 and will not be repeated here.

[0098] In step 650, the unexecuted tasks of the lane are re-matched with the currently allocated temporary storage locations so that the order of the horizontal coordinates of the currently allocated temporary storage locations from small to large is consistent with the order of the target tasks. The specific re-matching method can be referred to the description of step 540 and will not be repeated here.

[0099] In step 660, based on the target task sequence, combined with the type of tasks that have not yet been executed in the lane, the associated storage location and the re-matched temporary storage location, the execution sequence and execution route of the access device of the lane for the tasks that have not yet been executed in the lane are determined. The specific determination method can be referred to the description of step 550 and will not be repeated here.

[0100] By sorting tasks based on the horizontal coordinates of the storage locations and re-matching tasks with temporary storage locations based on the horizontal coordinates of the temporary storage locations, the reciprocating distance of the storage and retrieval device in the horizontal direction during task execution is shortened. By re-sorting tasks in the same column based on task pairing, the movement of the storage and retrieval device in the longitudinal direction during task execution is optimized, shortening the reciprocating distance of the storage and retrieval device in the longitudinal direction, thereby improving the overall picking efficiency of the warehouse.

[0101] Figure 7 A flow chart of a task scheduling method according to some embodiments of the present disclosure is shown. The task scheduling method may be executed by a task scheduling device, for example. Figure 7 As shown, the task scheduling method of this embodiment includes the following steps.

[0102] In step 710, information about any unexecuted tasks in any lane and the corresponding temporary storage location information for that lane is obtained. The unexecuted task information includes the type of existing tasks, associated storage locations, and allocated temporary storage locations, as well as the type of newly added tasks and associated storage locations. The temporary storage location information includes the location of allocated temporary storage locations and corresponding tasks, as well as the location of unallocated temporary storage locations. For details, see the description of step 510.

[0103] In step 720 , the unexecuted tasks in the lane are sorted in ascending order of the horizontal coordinates of the storage locations associated with the tasks to obtain a first task sequence.

[0104] Among them, for the warehouse transfer task, the storage location of its end point participates in the sorting of the first task sequence, and the storage location of its starting point does not participate in the sorting of the first task sequence.

[0105] In step 730, the first task sequence is first used as the target task sequence. According to the target task sequence, a temporary storage location is allocated to each new task from the unallocated temporary storage location. The specific allocation method can be referred to the description of step 530 and will not be repeated here.

[0106] In step 740, for the multiple tasks with the same horizontal coordinates for the storage locations associated with the unexecuted tasks in the lane, the first task sequence is reordered by pairing outbound tasks with inbound tasks or transfer tasks to obtain a second task sequence. The specific reordering method can be found in the description of step 630 and will not be repeated here. This second task sequence is then used as the target task sequence.

[0107] In step 750, the unexecuted tasks of the lane are re-matched with the currently allocated temporary storage locations so that the order of the horizontal coordinates of the currently allocated temporary storage locations from small to large is consistent with the order of the target tasks. The specific re-matching method can be referred to the description of step 540 and will not be repeated here.

[0108] In step 760, based on the target task sequence, combined with the type of tasks that have not yet been executed in the lane, the associated storage location and the re-matched temporary storage location, the execution sequence and execution route of the access device of the lane for the tasks that have not yet been executed in the lane are determined. The specific determination method can be referred to the description of step 550 and will not be repeated here.

[0109] By sorting tasks based on the horizontal coordinates of storage locations, reordering tasks in the same column based on task pairing, and rematching tasks with temporary storage locations based on the horizontal coordinates of temporary storage locations, the reciprocating movement distance of the storage and retrieval device in the horizontal and vertical directions during task execution is shortened, the working efficiency of the storage and retrieval device is improved, and the overall picking efficiency of the warehouse is thereby improved.

[0110] Figure 8 FIG. 1 is a schematic diagram showing the structure of a task scheduling device according to some embodiments of the present disclosure. Figure 8 As shown, the task scheduling device 800 of this embodiment includes: a memory 810 and a processor 820 coupled to the memory 810 , and the processor 820 is configured to execute the task scheduling method of each embodiment based on the instructions stored in the memory 810 .

[0111] The task scheduling device 800 may further include an input / output interface 830 , a network interface 840 , a storage interface 850 , etc. These interfaces 830 , 840 , 850 , the memory 810 , and the processor 820 may be connected via a bus 860 , for example.

[0112] The memory 810 may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs.

[0113] The processor 820 may be implemented using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, or discrete hardware components such as discrete gates or transistors.

[0114] The input / output interface 830 provides connection interfaces for input / output devices such as a display, mouse, keyboard, and touch screen. The network interface 840 provides connection interfaces for various networked devices. The storage interface 850 provides connection interfaces for external storage devices such as SD cards and USB flash drives. The bus 860 can use any of a variety of bus architectures. For example, bus architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MCA) bus, and the Peripheral Component Interconnect (PCI) bus.

[0115] Figure 9 FIG. 1 is a schematic diagram showing the structure of a task scheduling device according to some embodiments of the present disclosure. Figure 9 As shown, the task scheduling device 900 of this embodiment includes: a module for executing the task scheduling method of each embodiment.

[0116] The acquisition module 910 is configured to obtain information about tasks that have not yet been executed in any lane and the corresponding temporary storage location information of the lane. The information about tasks that have not yet been executed includes the type of existing tasks, associated storage locations and allocated temporary storage locations, as well as the type of new tasks and associated storage locations. The temporary storage location information includes the location of the allocated temporary storage location and the corresponding task, as well as the location of the unallocated temporary storage location.

[0117] The first sorting module 921 is configured to sort the unexecuted tasks in the lane according to the ascending order of the horizontal coordinates of the storage locations associated with the tasks to obtain a first task sequence. The target task sequence is the first task sequence, and the task scheduling module 930 is then executed.

[0118] The task scheduling module 930 is configured to perform task scheduling based on the target task sequence, including: allocating a temporary storage location for each newly added task from the unallocated temporary storage location according to the target task sequence; re-matching the unexecuted tasks of the lane with the currently allocated temporary storage locations so that the horizontal coordinates of the currently allocated temporary storage locations are in ascending order consistent with the target task sequence; and determining the execution order and execution route of the unexecuted tasks of the lane by the access device of the lane according to the target task sequence, in combination with the type of the unexecuted tasks of the lane, the associated storage locations and the re-matched temporary storage locations.

[0119] In some embodiments, the task scheduling apparatus 900 further includes a second sorting module 922 configured to re-sort the first task sequence, for multiple tasks associated with storage locations with the same horizontal coordinates among the unexecuted tasks in the lane, by pairing outbound tasks with inbound tasks or transfer tasks, to obtain a second task sequence. The target task sequence is the second task sequence, and the task scheduling module 930 is then executed.

[0120] The second sorting module 922 is configured to, for a plurality of tasks with the same horizontal coordinates of the associated storage locations in the tasks that have not yet been executed in the lane, re-sort the outbound tasks in the plurality of tasks according to the vertical coordinates of the associated storage locations from small to large to obtain a first queue, and re-sort the inbound tasks and transfer tasks in the plurality of tasks according to the vertical coordinates of the associated storage locations from small to large to obtain a second queue; according to the order of tasks in the first queue and the second queue, pair the outbound tasks in the first queue with the inbound tasks or transfer tasks in the second queue to obtain a new order of the plurality of tasks; according to the new order of the plurality of tasks, re-sort the order of the plurality of tasks in the first task order to obtain a second task order.

[0121] In some embodiments, the task scheduling module 930 is configured to: first use the first task sequence as the target task sequence, and according to the target task sequence, allocate a temporary storage location for each newly added task from the unallocated temporary storage location; for multiple tasks with the same horizontal coordinates of the associated storage locations in the lane's unexecuted tasks, re-sort the first task sequence in a manner of pairing outbound tasks with inbound tasks or transfer tasks to obtain a second task sequence, and then use the second task sequence as the target task sequence; re-match the lane's unexecuted tasks with the currently allocated temporary storage locations so that the order of the horizontal coordinates of the currently allocated temporary storage locations from small to large is consistent with the target task sequence; according to the target task sequence, combined with the type of the lane's unexecuted tasks, the associated storage locations and the re-matched temporary storage locations, determine the execution order and execution route of the lane's access device for the lane's unexecuted tasks.

[0122] In some embodiments, the task scheduling module 930 is configured to: allocate a temporary storage location for each newly added task from an unallocated temporary storage location according to the target task order, including:

[0123] Sorting the coordinates of the locations in the lane where tasks have not yet been executed according to the target task sequence to obtain a first location point coordinate sequence, wherein the horizontal coordinate of the temporary storage location of each newly added task is to be determined, and the other coordinates are known;

[0124] Allocate a temporary storage location for a newly added task corresponding to each pending horizontal coordinate from an unallocated temporary storage location according to a horizontal coordinate allocation range in which each pending horizontal coordinate in the first position point coordinate sequence is greater than the preceding nearest known horizontal coordinate and smaller than the following nearest known horizontal coordinate;

[0125] For the newly added task corresponding to the pending abscissa at the head of the first position point coordinate sequence, allocate temporary storage locations from the unallocated temporary storage locations according to the abscissa allocation range where the pending abscissa at the head is smaller than the nearest known abscissa and closest to the second abscissa in the first position point coordinate sequence;

[0126] For the newly added tasks corresponding to the pending abscissa at the end of the first position point coordinate sequence, a temporary storage location is allocated from the unallocated temporary storage locations according to the abscissa allocation range where the pending abscissa at the end is larger than the nearest known abscissa and closest to the second to last abscissa in the first position point coordinate sequence;

[0127] For a newly added task with no temporary storage location selected, a temporary storage location closest to the storage location associated with the newly added task with no temporary storage location selected is allocated from unallocated temporary storage locations.

[0128] In some embodiments, the task scheduling module 930 is configured to: allocate a temporary storage location for each new task from an unallocated temporary storage location according to the target task order, including: allocate a temporary storage location that is closest to the storage location associated with the new task from an unallocated temporary storage location for each new task according to the target task order.

[0129] In some embodiments, the task scheduling module 930 is configured to: re-match the tasks that have not yet been executed in the lane with the currently allocated temporary storage locations, including: for the tasks that need to be allocated storage locations among the tasks that have not yet been executed in the lane, the temporary storage locations with a forward horizontal coordinate position are re-allocated from the temporary storage locations allocated for the tasks that need to be allocated storage locations to the tasks that need to be allocated storage locations with a forward task order in the target task sequence, wherein the tasks that need to be allocated storage locations include outbound tasks and inbound tasks.

[0130] In some embodiments, the task scheduling module 930 is configured to: determine the execution order and execution route of the access device of the lane for the tasks that have not been executed in the lane, including: determining the execution order of the access device of the lane for the tasks that have not been executed in the lane according to the target task sequence; determining the execution route of the access device of the lane for the tasks that have not been executed in the lane according to the type, associated storage location and re-matched temporary storage location of the tasks that have not been executed in the lane, wherein the execution route of the outbound task is from the storage location to the temporary storage location, the execution route of the inbound task is from the temporary storage location to the storage location, and the execution route of the transfer task is from the storage location corresponding to the retrieval operation to the storage location corresponding to the storage operation.

[0131] Figure 10 Schematic diagram of a task scheduling system according to some embodiments of the present disclosure is shown. Figure 10 As shown, the task scheduling system 1000 of this embodiment includes: a task scheduling device 1010, configured to execute a task scheduling method and, using lanes as the scheduling dimension, issue task scheduling instructions to the access devices corresponding to the lanes; and an access device 1020, located on a shelf, configured to execute unexecuted tasks in the lanes according to the execution order and execution route indicated by the task scheduling instructions. As previously mentioned, each lane has a corresponding access device. The task scheduling device schedules tasks for the access devices corresponding to each lane.

[0132] The embodiments of the present disclosure provide a computer-readable storage medium having computer instructions stored thereon. When the computer instructions are executed by a processor, the task scheduling method in each embodiment is implemented.

[0133] The embodiments of the present disclosure provide a computer program product, including computer instructions, which implement the task scheduling method in each embodiment when executed by a processor.

[0134] Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as methods, systems, or computer program products. Thus, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more (non-transitory) computer-readable storage media (including but not limited to disk storage, CD-ROMs, optical storage, cloud storage, etc.) containing computer program code. A computer program product should be understood as a software product that primarily implements its solution through a computer program.

[0135] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0136] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0137] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

Claims

1. A task scheduling method, comprising: Obtaining information about unexecuted tasks in any lane and corresponding temporary storage location information for the lane, the unexecuted task information including the type of existing tasks, associated storage locations, and allocated temporary storage locations, as well as the type of newly added tasks and associated storage locations, the temporary storage location information including the location of allocated temporary storage locations and corresponding tasks, and the location of unallocated temporary storage locations; Sort the unexecuted tasks in the lanes according to the ascending order of the horizontal coordinates of the storage locations associated with the tasks to obtain a first task sequence; Performing task scheduling for a target task sequence, the target task sequence being the first task sequence, including: allocating a temporary storage location from an unallocated temporary storage location for each newly added task according to the target task sequence; Rematch the unexecuted tasks of the lane with the currently allocated temporary storage locations so that the order of the horizontal coordinates of the currently allocated temporary storage locations in ascending order is consistent with the target task sequence; based on the target task sequence, combined with the type of the unexecuted tasks of the lane, the associated storage locations and the rematched temporary storage locations, determine the execution order and execution route of the unexecuted tasks of the lane by the access device of the lane.

2. The task scheduling method according to claim 1, further comprising: For multiple tasks with the same horizontal coordinates of the storage locations associated with the unexecuted tasks in the lane, the first task order is reordered in a manner of pairing the outbound task with the inbound task or the transfer task to obtain a second task order; the target task order is the second task order.

3. The task scheduling method according to claim 1, wherein: According to the target task sequence, the execution task scheduling includes: First, the first task order is used as the target task order, and according to the target task order, a temporary storage location is allocated to each newly added task from an unallocated temporary storage location; For multiple tasks with the same horizontal coordinates of storage locations associated with unexecuted tasks in the lane, reorder the first task order by pairing outbound tasks with inbound tasks or transfer tasks to obtain a second task order, and then use the second task order as the target task order; Re-matching the unexecuted tasks of the lane with the currently allocated temporary storage locations so that the order of the horizontal coordinates of the currently allocated temporary storage locations from small to large is consistent with the order of the target tasks; According to the target task sequence, combined with the type of the lane's unexecuted tasks, the associated storage location and the re-matched temporary storage location, the execution sequence and execution route of the lane's access device for the lane's unexecuted tasks are determined.

4. The task scheduling method according to claim 2 or 3, wherein: The first task sequence is reordered in a manner of pairing the outbound task with the inbound task or the transfer task to obtain a second task sequence including: For multiple tasks with the same horizontal coordinate of the storage location associated with the unexecuted tasks in the lane, the outbound tasks in the multiple tasks are reordered according to the vertical coordinates of the associated storage locations from small to large to obtain a first queue, and the inbound tasks and transfer tasks in the multiple tasks are reordered according to the vertical coordinates of the associated storage locations from small to large to obtain a second queue; According to the order of tasks in the first queue and the second queue, pair the outbound tasks in the first queue with the inbound tasks or transfer tasks in the second queue to obtain a new order of the multiple tasks; According to the new order of the multiple tasks, the order of the multiple tasks in the first task order is reordered to obtain a second task order.

5. The task scheduling method according to any one of claims 1 to 3, wherein: Allocating a temporary storage location for each newly added task from an unallocated temporary storage location according to the target task sequence includes: Sorting the coordinates of the locations in the lane where tasks have not yet been executed according to the target task sequence to obtain a first location point coordinate sequence, wherein the horizontal coordinate of the temporary storage location of each newly added task is to be determined, and the other coordinates are known; According to the abscissa allocation range in which each pending abscissa in the first position point coordinate sequence is greater than the preceding nearest known abscissa and smaller than the following nearest known abscissa, a temporary storage location is allocated for the newly added task corresponding to each pending abscissa from an unallocated temporary storage location.

6. The task scheduling method according to claim 5, wherein: According to the abscissa allocation range in which each pending abscissa in the first position point coordinate sequence is greater than the preceding nearest known abscissa and less than the following nearest known abscissa, allocating a temporary storage location for a newly added task corresponding to each pending abscissa from an unallocated temporary storage location includes: For the newly added task corresponding to the pending horizontal coordinate at the head of the first position point coordinate sequence, allocate a temporary location from the unallocated temporary locations according to the horizontal coordinate allocation range where the pending horizontal coordinate at the head is smaller than the nearest known horizontal coordinate and closest to the second horizontal coordinate in the first position point coordinate sequence; and / or, For the newly added tasks corresponding to the pending horizontal coordinates at the end of the first position point coordinate sequence, a temporary storage position is allocated from the unallocated temporary storage positions according to the horizontal coordinate allocation range in which the tail pending horizontal coordinate is greater than the previous nearest known horizontal coordinate and closest to the second to last horizontal coordinate in the first position point coordinate sequence.

7. The task scheduling method according to claim 5, wherein: Allocating a temporary storage location for each newly added task from an unallocated temporary storage location according to the target task sequence further includes: For a newly added task with no temporary storage location selected, a temporary storage location closest to the storage location associated with the newly added task with no temporary storage location selected is allocated from unallocated temporary storage locations.

8. The task scheduling method according to claim 5, wherein: Sorting the coordinates of the locations of the lanes where no tasks have been performed includes: Each task in the lane that has not yet been executed includes a starting position point and an ending position point. In the first position point coordinate sequence, the starting position point coordinate of each task is in front and the ending position point coordinate is in the back. Among them, the starting position point of the outbound task is the storage location and the ending position point is the temporary storage location. The starting position point of the inbound task is the temporary storage location and the ending position point is the storage location. The starting position point of the transfer task is the storage location corresponding to the retrieval operation and the ending position point is the storage location corresponding to the storage operation.

9. The task scheduling method according to any one of claims 1 to 3, wherein: Allocating a temporary storage location for each newly added task from an unallocated temporary storage location according to the target task sequence includes: According to the target task sequence, a temporary storage location closest to the storage location associated with the new task is allocated to each new task from the unallocated temporary storage locations.

10. The task scheduling method according to any one of claims 1 to 3, wherein: Re-matching the unexecuted tasks in the lane with the currently allocated temporary storage location includes: For tasks that need to be allocated storage locations among the tasks that have not yet been executed in the lane, the temporary storage locations with a forward horizontal coordinate position are reallocated to tasks that need to be allocated storage locations that are forward in the target task sequence, where the tasks that need to be allocated storage locations include outbound tasks and inbound tasks.

11. The task scheduling method according to any one of claims 1 to 3, wherein: Determining the execution order and execution route of the access device of the lane for the tasks that have not yet been executed in the lane includes: Determining the execution order of the lane's access device for the unexecuted tasks according to the target task sequence; According to the type of tasks that have not been executed in the lane, the associated storage location and the re-matched temporary storage location, the execution route of the lane's access device for the tasks that have not been executed in the lane is determined, wherein the execution route of the outbound task is from the storage location to the temporary storage location, the execution route of the inbound task is from the temporary storage location to the storage location, and the execution route of the transfer task is from the storage location corresponding to the retrieval operation to the storage location corresponding to the storage operation.

12. A task scheduling device, comprising: Memory; and a processor coupled to the memory, wherein the processor is configured to execute the task scheduling method according to any one of claims 1 to 11 based on instructions stored in the memory.

13. A task scheduling device, comprising: A module for executing the task scheduling method according to any one of claims 1 to 11.

14. A task scheduling system comprising: A task scheduling device, configured to execute the task scheduling method according to any one of claims 1 to 11, and issue task scheduling instructions to access devices corresponding to the lanes using the lanes as a scheduling dimension; The access device provided on the shelf is configured to execute the unexecuted tasks in the lane according to the execution order and execution route indicated by the task scheduling instruction.

15. A computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions, when executed by a processor, implement the task scheduling method according to any one of claims 1 to 11.

16. A computer program product comprising computer instructions, wherein when the computer instructions are executed by a processor, the task scheduling method according to any one of claims 1 to 11 is implemented.

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