Warehouse picking method, device, electronic device and computer-readable storage medium

Abstract

This application provides a warehouse picking method, device, electronic device, and computer-readable storage medium, relating to the field of warehouse picking. The method includes obtaining an order for goods to be picked; the order for goods to be picked includes at least one type of goods to be picked; performing a bidirectional search based on the warehouse location information of the goods to be picked to generate a picking plan path; the picking plan path is a shortest path that passes through all the goods to be picked in the order for goods to be picked; and picking the goods to be picked in the order for goods to be picked according to the picking plan path. This application can significantly shorten the picking path and improve picking efficiency.

Description

Technical Field

[0001] The present invention relates to the field of warehouse picking, and in particular to a warehouse picking method, device, electronic equipment and computer-readable storage medium. Background Art

[0002] Existing warehouse picking technology solutions can already improve picking efficiency by combining multiple orders into wave picking orders, completing multiple orders in a single wave. This improves picking efficiency compared to the traditional practice of repeatedly entering and leaving the warehouse to pick individual orders. Furthermore, intelligent recommendations can be made to improve picking efficiency by meeting inventory requirements.

[0003] However, efficiency issues persist when it comes to recommending specific locations and optimizing picking paths across multiple locations. For example, if a product is available at multiple locations, the existing solution is to sort by location code size, selecting the smallest or largest location to target. This approach then uses the identified locations as picking path points for recommended picking paths. This method, which directly prioritizes location codes, can result in longer picking paths in some scenarios, leading to low efficiency. Summary of the Invention

[0004] The object of the present invention is to provide a warehouse picking method, device, electronic device and computer-readable storage medium, which can significantly shorten the picking path and improve the picking efficiency.

[0005] In a first aspect, the present invention provides a warehouse picking method, comprising: obtaining an order for goods to be picked; the order for goods to be picked includes at least one type of goods to be picked; performing a two-way search based on the goods location information of the goods to be picked in the warehouse to generate a picking planning path; the picking planning path is a path that passes through all the goods to be picked in the order for goods to be picked and has the shortest distance; and picking the goods to be picked in the order for goods to be picked according to the picking planning path.

[0006] In an optional embodiment, a two-way search is performed based on the cargo location information of the goods to be picked in the warehouse to generate a picking planning path, including: determining a set of goods to be picked based on the goods to be picked in the order of goods to be picked; determining the initial goods to be picked in the set of goods to be picked, and performing a two-way search based on the first cargo location information of the initial goods to be picked and the second cargo location information corresponding to the other goods to be picked in the set of goods to be picked except the initial goods to be picked, to generate a picking planning path.

[0007] In an optional embodiment, a two-way search is performed based on the first cargo location information of the initial cargo to be picked and the second cargo location information corresponding to the other cargo to be picked in the cargo set to be picked except the initial cargo to be picked, to generate a picking planning path, including: determining the first cargo location information of the initial cargo to be picked as the starting point of the two-way search, and determining the second cargo location information corresponding to the other cargo to be picked in the cargo set to be picked except the initial cargo to be picked as the ending point of the two-way search, determining the picking route points based on the starting point and the ending point; and generating a picking planning path based on the picking route points.

[0008] In an optional embodiment, determining the picking waypoints based on the starting point and the ending point includes: performing a two-way search based on the starting point determined by the first cargo location information of the initial cargo to be picked, and the ending point determined by the second cargo location information corresponding to the other cargo to be picked in the set of cargo to be picked except the initial cargo to be picked, to determine the first waypoint; determining the first waypoint as the starting point, and determining the second cargo location information corresponding to the other cargo to be picked in the set of cargo to be picked except the initial cargo to be picked and the first waypoint as the ending point to perform a two-way search to determine the second waypoint; and so on, until all the cargo to be picked in the set of cargo to be picked is searched, and the picking waypoints are determined; wherein, the picking waypoints and the waypoints corresponding to the second cargo location information include at least the first waypoint and the second waypoint.

[0009] In an optional embodiment, a bidirectional search is performed based on a starting point determined by the first cargo location information of the initial cargo to be picked and an ending point determined by the second cargo location information corresponding to cargoes to be picked other than the initial cargo to be picked in the cargo set to be picked, to determine the first waypoint, including: calculating picking distances between the starting point determined by the first cargo location information of the initial cargo to be picked and an ending point determined by at least one second cargo location information corresponding to cargoes to be picked other than the initial cargo to be picked in the cargo set to be picked; wherein the picking distances include minimum spanning tree distances; determining the picking distance closest to the initial cargo to be picked from the at least one picking distance, and determining the cargo to be picked corresponding to the closest picking distance as the first waypoint;

[0010] Accordingly, the first waypoint is determined as the starting point, and the second cargo storage location information corresponding to the other cargo to be picked in the set of cargo to be picked except the initial cargo to be picked and the first waypoint is determined as the end point for a two-way search to determine the second waypoint, including: respectively calculating the picking distances between the first waypoint and the end point determined by at least one second cargo storage location information corresponding to the other cargo to be picked in the set of cargo to be picked except the initial cargo to be picked and the first waypoint; determining the picking distance closest to the first waypoint from the at least one picking distance, and determining the cargo to be picked corresponding to the closest picking distance as the second waypoint.

[0011] In an optional embodiment, the warehouse includes multiple storage location grids, and the same storage location grid is used to represent the goods storage location information of the same type of goods or the same type of goods in the same batch in the warehouse.

[0012] In an optional embodiment, the method further includes: if a new order for goods to be picked is obtained, parsing the new order for goods to be picked, and adding the new goods to be picked obtained by parsing to the set of goods to be picked, so as to perform a bidirectional search strategy on the goods to be picked in the newly determined set of goods to be picked.

[0013] In a second aspect, the present invention provides a warehouse picking device, comprising: an acquisition module for acquiring an order for goods to be picked; the order for goods to be picked includes at least two pieces of goods to be picked; wherein the types of goods to be picked include at least one; a path generation module for performing a bidirectional search based on the goods location information of the goods to be picked in the warehouse to generate a picking planning path; the picking planning path is a path that passes through all the goods to be picked in the order for goods to be picked and has the shortest distance; a picking module for picking the goods to be picked in the order for goods to be picked according to the picking planning path.

[0014] In a third aspect, the present invention provides an electronic device comprising a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the warehouse picking method of any one of the aforementioned embodiments.

[0015] In a fourth aspect, the present invention provides a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the warehouse picking method of any one of the aforementioned embodiments.

[0016] The warehouse picking method, device, electronic device, and computer-readable storage medium provided by embodiments of the present invention obtain a to-be-picked goods order that includes at least one type of to-be-picked goods, and perform a bidirectional search based on the warehouse's goods location information for the to-be-picked goods. This method generates a path that passes through all the to-be-picked goods in the to-be-picked goods order and has the shortest distance. The to-be-picked goods in the to-be-picked goods order are then picked according to the planned picking path. This method selects the shortest picking path for the to-be-picked goods in the to-be-picked goods order, provided that the path passes through the warehouse's corresponding location, thereby improving picking efficiency.

[0017] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purposes and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A flowchart of a warehouse picking method provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of a picking path determined by two different starting points provided by an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of a storage location provided by an embodiment of the present invention;

[0023] Figure 4 A structural diagram of a warehousing and picking device provided by an embodiment of the present invention;

[0024] Figure 5 A structural diagram of an electronic device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work shall fall within the scope of protection of the present invention.

[0026] The current existing technical solution is to sort the locations by location code size, taking the smallest or largest one to lock the location to be picked, and then use the locked locations as picking path points to recommend picking paths. This method of directly sorting by location code size can result in longer picking paths in some scenarios, resulting in low efficiency. Based on this, the embodiments of the present invention provide a warehouse picking method, device, electronic device, and computer-readable storage medium that can significantly shorten the picking distance and improve picking efficiency.

[0027] Example 1

[0028] To facilitate understanding of this embodiment, first, a warehouse picking method disclosed in an embodiment of the present invention is described. Figure 1 As shown, the warehouse picking method includes the following steps:

[0029] Step S110: obtaining an order of goods to be picked; the order of goods to be picked includes at least one type of goods to be picked.

[0030] If the order to be picked contains only one item to be picked, you can directly locate the warehouse information of the item to be picked, and directly determine the picking path and pick the item based on the warehouse information of the item to be picked; if the types of items to be picked include two or more, it is necessary to determine the picking planning path in two or more warehouse locations. The picking planning path is the picking path that includes all the items to be picked and is the closest.

[0031] Step S120 : A bidirectional search is performed based on the warehouse location information of the pending goods to be picked, generating a planned picking path. The planned picking path is the shortest path that passes through all pending goods in the pending order. The warehouse includes multiple location grids, each of which represents the warehouse location information for the same type of goods or the same batch of goods.

[0032] Step S130 : picking the goods to be picked in the order for goods to be picked according to the picking planning path.

[0033] In an optional embodiment, when performing a bidirectional search based on the goods storage location information of the goods to be picked in the warehouse to generate a picking plan path, the following steps 1 and S2 may be included:

[0034] Step 1: Determine a set of goods to be picked based on the goods to be picked in the order for goods to be picked. The set of goods to be picked may include at least the name of the goods to be picked, the quantity of the goods to be picked, and the warehouse location information of the goods to be picked.

[0035] Step 2: determine the initial goods to be picked in the set of goods to be picked, and perform a bidirectional search based on the first goods storage location information of the initial goods to be picked and the second goods storage location information corresponding to other goods to be picked in the set of goods to be picked except the initial goods to be picked, to generate a picking planning path.

[0036] Optionally, the initial goods to be picked can be randomly selected from the set of goods to be picked, and a bidirectional search can be performed based on the selected initial goods to be picked to determine the picking planning path corresponding to the initial goods to be picked. For each of the goods to be picked in the set of goods to be picked, a different goods to be picked in the set of goods to be picked can be determined as the initial goods to be picked each time for a bidirectional search to determine the picking planning path corresponding to the initial goods to be picked, and then the distances of the picking planning paths corresponding to each initial goods to be picked are compared, and the path with the shortest distance is selected as the final picking planning path. For example, the goods to be picked in the set of goods to be picked include goods A, goods B, and goods C. Goods A, goods B, and goods C are selected as the initial goods to be picked for a bidirectional search, and three picking planning paths are calculated for the picking robot to pass through goods A, goods B, or goods C for the first time from the picking starting position (such as the position where the picking robot is parked) and return to the picking target position (such as the goods packaging position), and the path with the shortest path is determined as the final picking planning path.

[0037] Furthermore, to facilitate understanding of the bidirectional search, when performing step 2 above, a bidirectional search is performed based on the first cargo location information of the initial cargo to be picked and the second cargo location information corresponding to other cargo to be picked in the cargo set other than the initial cargo to be picked, and the step of generating a picking plan path may include:

[0038] In step 2.1, the first storage location information of the initial goods to be picked is determined as the starting point of a bidirectional search, and the second storage location information corresponding to the other goods to be picked in the set of goods to be picked, excluding the initial goods to be picked, is determined as the ending point of the bidirectional search. The bidirectional search is performed using the second storage location information corresponding to the other goods to be picked in the set of goods to be picked, excluding the initial goods to be picked, as the ending point.

[0039] Step 2.2: Generate a picking plan path based on the picking waypoints. In one embodiment, each determined picking waypoint is numbered with a picking sequence, and the picking waypoints can be linked together according to the picking sequence numbers to generate a picking plan path.

[0040] Regarding step 2.1 above, when determining the picking waypoints based on the starting point and the ending point, the following steps may be included:

[0041] Step 2.1.1: Perform a bidirectional search based on the starting point determined by the first cargo location information of the initial cargo to be picked and the ending point determined by the second cargo location information corresponding to the other cargo to be picked in the cargo set except the initial cargo to be picked, to determine the first waypoint.

[0042] In one embodiment, when this step is executed, the picking distances between the starting point determined by the first cargo location information of the initial cargo to be picked and the ending point determined by at least one second cargo location information corresponding to other cargo to be picked in the cargo set to be picked except the initial cargo to be picked are calculated respectively; wherein the picking distance includes the minimum spanning tree distance, which is the optimal path distance required for picking; the picking distance closest to the initial cargo to be picked is determined from the at least one picking distance, and the cargo to be picked corresponding to the closest picking distance is determined as the first waypoint.

[0043] Step 2.1.2: Determine the first waypoint as the starting point, and determine the second cargo location information corresponding to the other cargo to be picked in the cargo set except the initial cargo to be picked and the first waypoint as the end point to perform a two-way search to determine the second waypoint.

[0044] In one embodiment, the picking distances between the first waypoint and the end point determined by at least one second cargo storage location information corresponding to other cargo to be picked in the set of cargo to be picked excluding the initial cargo to be picked and the first waypoint are calculated respectively; the picking distance closest to the first waypoint is determined from the at least one picking distance, and the cargo to be picked corresponding to the closest picking distance is determined as the second waypoint.

[0045] Step 2.1.3, and so on, until all the goods to be picked in the set of goods to be picked are searched and the picking waypoints are determined; wherein the picking waypoints and the waypoints corresponding to the second goods storage location information include at least the first waypoint and the second waypoint.

[0046] Figure 2 Shows two ways of determining the picking path with different starting points. Figure 2 The distance between storage locations can be seen in the figure. By determining different initial items to be picked, and then determining the passing points and end points, the final picking planning path is obtained. Figure 2 The total length of the picking planning path on the left is 191 meters, and the total length of the picking planning path on the right is 160.5 meters. Therefore, the picking planning path corresponding to the right is selected as the final path for picking, achieving the effect of shorter picking distance, higher picking efficiency and shorter picking time.

[0047] Figure 3 A specific example is shown, in which all the areas constituted by each are simulated warehouses. In the schematic diagram of the simulated warehouse, there is a warehouse area in the middle of the blue dotted line. There are a total of 5 warehouse areas, coded as KQ01, KQ02, KQ03, KQ04, and KQ05. There are multiple storage locations in each warehouse area, and the storage location codes are KW01, KW02, KW03, etc. Figure 2Each of the eight storage locations in the system is a shelf. The shelf openings are used for storing and retrieving merchandise, and the center of each shelf is a picking aisle. Each location that meets inventory requirements and can be picked is considered a location point, with both the starting and ending points being the packing area. For example, if one item each of A, B, and C needs to be picked, the storage locations that meet the picking inventory requirements are KQ04KW03, KQ04KW05, KQ02KW10, KQ04KW09, KQ03KW12, and KQ04KW11. By determining the picking path using the above method, an optimal picking path can be determined from the above storage locations, and items A, B, and C can be picked and transported to the packing area.

[0048] Furthermore, when mixed picking of goods from multiple orders is used, in order to improve picking efficiency, the above method further includes:

[0049] If a new order of goods to be picked is obtained, the new order of goods to be picked is parsed, and the new goods to be picked obtained by parsing are added to the set of goods to be picked, so as to perform a bidirectional search strategy on the goods to be picked in the newly determined set of goods to be picked.

[0050] Example 2

[0051] The embodiment of the present invention provides a storage picking device, see Figure 4 As shown, the device includes:

[0052] The acquisition module 41 is used to acquire an order of goods to be picked; the order of goods to be picked includes at least two items to be picked; wherein the types of goods to be picked include at least one;

[0053] The path generation module 42 is used to perform a bidirectional search based on the cargo location information of the goods to be picked in the warehouse to generate a picking plan path; the picking plan path is a path that passes through all the goods to be picked in the order of goods to be picked and has the shortest distance;

[0054] The picking module 43 is used to pick the goods to be picked in the order for picking goods according to the picking planning path.

[0055] In some implementations, the path generation module 42 is further configured to:

[0056] Determine a set of goods to be picked based on the goods to be picked in the order for goods to be picked; determine the initial goods to be picked in the set of goods to be picked, and perform a two-way search based on the first goods storage location information of the initial goods to be picked and the second goods storage location information corresponding to other goods to be picked in the set of goods to be picked except the initial goods to be picked, to generate a picking planning path.

[0057] In some implementations, the path generation module 42 is further configured to:

[0058] The first cargo location information of the initial cargo to be picked is determined as the starting point of the two-way search, and the second cargo location information corresponding to the other cargo to be picked in the cargo set to be picked except the initial cargo to be picked is determined as the ending point of the two-way search. The picking path points are determined based on the starting point and the ending point; and the picking planning path is generated based on the picking path points.

[0059] In some implementations, the path generation module 42 is further configured to:

[0060] A two-way search is performed based on a starting point determined by the first cargo location information of the initial cargo to be picked and an ending point determined by the second cargo location information corresponding to the other cargo to be picked in the cargo set excluding the initial cargo to be picked to determine a first waypoint; the first waypoint is determined as the starting point, and the second cargo location information corresponding to the other cargo to be picked in the cargo set excluding the initial cargo to be picked and the first waypoint is determined as the ending point to perform a two-way search to determine a second waypoint; and so on, until all the cargo to be picked in the cargo set is searched, and the picking waypoints are determined; wherein, the picking waypoints and the waypoints corresponding in number to the second cargo location information include at least the first waypoint and the second point.

[0061] In some implementations, the path generation module 42 is further configured to:

[0062] Calculating the picking distances between a starting point determined by the first cargo location information of an initial cargo to be picked and an ending point determined by at least one second cargo location information corresponding to another cargo to be picked in the cargo set other than the initial cargo to be picked; wherein the picking distances include minimum spanning tree distances; determining the picking distance closest to the initial cargo to be picked from the at least one picking distance, and determining the cargo to be picked corresponding to the closest picking distance as the first waypoint;

[0063] Accordingly,

[0064] Calculate the picking distances between the first waypoint and an end point determined by at least one second cargo storage location information corresponding to other cargo to be picked in the set of cargo to be picked excluding the initial cargo to be picked and the first waypoint; determine the picking distance closest to the first waypoint from the at least one picking distance, and determine the cargo to be picked corresponding to the closest picking distance as the second waypoint.

[0065] In some embodiments, the warehouse includes multiple storage location grids, and the same storage location grid is used to represent the cargo location information of the same type of goods or the same type of goods in the same batch in the warehouse.

[0066] In some embodiments, the above-mentioned device further includes: an adding module, which is used to parse the new order of goods to be picked if a new order of goods to be picked is obtained, and add the new goods to be picked obtained by parsing to the set of goods to be picked, so as to perform a bidirectional search strategy on the goods to be picked in the newly determined set of goods to be picked.

[0067] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those in the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference can be made to the corresponding content in the aforementioned method embodiment.

[0068] Example 3

[0069] An embodiment of the present invention provides an electronic device. Specifically, the electronic device may include a picking device, such as a picking robot or a picking vehicle, for performing picking. The electronic device includes a processor and a storage device; the storage device stores a computer program that, when executed by the processor, performs any of the methods described in the above embodiments.

[0070] Figure 5 This is a structural diagram of an electronic device provided in an embodiment of the present invention. The electronic device 100 includes: a processor 50, a memory 51, a bus 52 and a communication interface 53. The processor 50, the communication interface 53 and the memory 51 are connected via the bus 52; the processor 50 is used to execute an executable module stored in the memory 51, such as a computer program.

[0071] The memory 51 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage. The system network element communicates with at least one other network element via at least one communication interface 53 (which may be wired or wireless), and may utilize the Internet, a wide area network, a local area network, a metropolitan area network, or the like.

[0072] The bus 52 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, Figure 5 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0073] Among them, the memory 51 is used to store programs, and the processor 50 executes the program after receiving the execution instruction. The method executed by the device for flow process definition disclosed in any embodiment of the above-mentioned embodiment of the present invention can be applied to the processor 50 or implemented by the processor 50.

[0074] The processor 50 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method may be completed by hardware integrated logic circuits or software instructions in the processor 50. The processor 50 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It may implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present invention may be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or the like. The storage medium is located in the memory 51 , and the processor 50 reads the information in the memory 51 and completes the steps of the above method in combination with its hardware.

[0075] The computer program product of the warehouse picking method, device, electronic device and computer-readable storage medium provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the previous method embodiments. For specific implementation, please refer to the method embodiments and will not be repeated here.

[0076] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems and devices can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0077] In addition, in the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0078] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0079] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0080] Finally, it should be noted that the above embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A warehouse picking method, characterized in that: include: Obtaining an order for goods to be picked; the order for goods to be picked includes at least one type of goods to be picked; A bidirectional search is performed based on the cargo location information of the goods to be picked in the warehouse to generate a picking plan path; the picking plan path is a path that passes through all the goods to be picked in the order of goods to be picked and has the shortest distance; the warehouse includes multiple storage location grids, and the same storage location grid is used to represent the cargo location information of the same type of goods or the same batch of goods in the warehouse; Picking the goods to be picked in the order of goods to be picked according to the picking planning path; A bidirectional search is performed based on the cargo location information of the cargo to be picked in the warehouse to generate a picking planning path, including: determining a set of goods to be picked based on the goods to be picked in the order for goods to be picked; Determining initial goods to be picked from the set of goods to be picked; Determine the first cargo location information of the initial cargo to be picked as the starting point of the bidirectional search, and determine the second cargo location information corresponding to the other cargo to be picked in the cargo set except the initial cargo to be picked as the ending point of the bidirectional search; Perform a bidirectional search based on a starting point determined by the first cargo location information of the initial cargo to be picked and an ending point determined by the second cargo location information corresponding to other cargo to be picked in the cargo set excluding the initial cargo to be picked, to determine a first waypoint; Determine the first waypoint as the starting point, and determine the second cargo storage location information corresponding to the other cargoes to be picked in the cargo set except the initial cargoes to be picked and the first waypoint as the ending point to perform a bidirectional search to determine a second waypoint; This process is repeated in this way until all the goods to be picked in the set of goods to be picked are searched and the picking waypoints are determined; wherein the picking waypoints and the number of waypoints corresponding to the second goods storage location information include at least the first waypoint and the second waypoint; Generate a picking plan path based on the picking waypoints; A bidirectional search is performed based on a starting point determined by the first cargo location information of the initial cargo to be picked and an ending point determined by the second cargo location information corresponding to other cargo to be picked in the cargo set except the initial cargo to be picked, to determine a first waypoint, including: respectively calculating a picking distance between the starting point determined by the first cargo location information of the initial cargo to be picked and an ending point determined by at least one second cargo location information corresponding to other cargo to be picked in the cargo set except the initial cargo to be picked; wherein the picking distance includes a minimum spanning tree distance, which is an optimal path distance required for picking; determining a picking distance closest to the initial cargo to be picked from at least one of the picking distances, and determining the cargo to be picked corresponding to the picking distance closest to the starting point as the first waypoint; The first waypoint is determined as the starting point, and the second cargo storage location information corresponding to the other cargo to be picked in the set of cargo to be picked excluding the initial cargo to be picked and the first waypoint is determined as the end point for performing a bidirectional search to determine the second waypoint, including: respectively calculating the picking distances between the first waypoint and the end point determined by at least one second cargo storage location information corresponding to the other cargo to be picked in the set of cargo to be picked excluding the initial cargo to be picked and the first waypoint; determining the picking distance closest to the first waypoint from at least one of the picking distances, and determining the cargo to be picked corresponding to the closest picking distance as the second waypoint.

2. The method according to claim 1, characterized in that The method further comprises: If a new order of goods to be picked is obtained, the new order of goods to be picked is parsed, and the new goods to be picked obtained by parsing are added to the set of goods to be picked, so as to perform a bidirectional search strategy on the goods to be picked in the newly determined set of goods to be picked.

3. A warehousing and picking device, characterized in that: include: An acquisition module is used to acquire an order of goods to be picked; the order of goods to be picked includes at least two items to be picked; wherein the types of goods to be picked include at least one; A path generation module is configured to perform a bidirectional search based on the warehouse location information of the goods to be picked and generate a planned picking path; the planned picking path is a path that passes through all the goods to be picked in the order of goods to be picked and has the shortest distance; the warehouse includes multiple location grids, and the same location grid is used to represent the location information of the same type of goods or the same batch of goods in the warehouse; A picking module, configured to pick the goods to be picked in the order of goods to be picked according to the picking planning path; The path generation module is further configured to: determine a set of goods to be picked based on the goods to be picked in the order for goods to be picked; determine an initial set of goods to be picked in the set of goods to be picked; determine the first goods storage location information of the initial goods to be picked as a starting point for a two-way search, and determine the second goods storage location information corresponding to the goods to be picked other than the initial goods to be picked in the set of goods to be picked as an ending point for the two-way search; determine the starting point determined based on the first goods storage location information of the initial goods to be picked and the ending point determined based on the second goods storage location information corresponding to the goods to be picked other than the initial goods to be picked in the set of goods to be picked The first waypoint is determined as the starting point, and the second cargo storage location information corresponding to the other cargoes to be picked in the cargo set excluding the initial cargoes to be picked and the first waypoint is determined as the ending point for a two-way search to determine the second waypoint; and the same process is repeated until all cargoes to be picked in the cargo set are searched and the picking waypoints are determined; wherein the number of waypoints corresponding to the second cargo storage location information includes at least the first waypoint and the second waypoint; and a picking planning path is generated based on the picking waypoints. A bidirectional search is performed based on a starting point determined by the first cargo location information of the initial cargo to be picked and an ending point determined by the second cargo location information corresponding to other cargo to be picked in the cargo set except the initial cargo to be picked, to determine a first waypoint, including: respectively calculating a picking distance between the starting point determined by the first cargo location information of the initial cargo to be picked and an ending point determined by at least one second cargo location information corresponding to other cargo to be picked in the cargo set except the initial cargo to be picked; wherein the picking distance includes a minimum spanning tree distance, which is an optimal path distance required for picking; determining a picking distance closest to the initial cargo to be picked from at least one of the picking distances, and determining the cargo to be picked corresponding to the picking distance closest to the starting point as the first waypoint; The first waypoint is determined as the starting point, and the second cargo storage location information corresponding to the other cargo to be picked in the set of cargo to be picked excluding the initial cargo to be picked and the first waypoint is determined as the end point for performing a bidirectional search to determine the second waypoint, including: respectively calculating the picking distances between the first waypoint and the end point determined by at least one second cargo storage location information corresponding to the other cargo to be picked in the set of cargo to be picked excluding the initial cargo to be picked and the first waypoint; determining the picking distance closest to the first waypoint from at least one of the picking distances, and determining the cargo to be picked corresponding to the closest picking distance as the second waypoint.

4. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the warehouse picking method according to claim 1 or 2.

5. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions prompt the processor to implement the warehouse picking method according to claim 1 or 2.

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