Outbound control method, electronic device, readable storage medium and outbound system

Abstract

The present application provides a method for controlling outbound shipment, an electronic device, a readable storage medium and an outbound shipment system, wherein the method comprises: obtaining dependency data corresponding to each container group to be shipped out that is currently required to be shipped out of the warehouse, each container group to be shipped out comprises one or more containers to be shipped out; wherein the dependency data is determined based on other containers that the containers to be shipped out in the container group to be shipped out need to rely on when being shipped out; determining whether each container group to be shipped out can be shipped out according to the dependency data; and executing the outbound shipment operation of the container group that can be shipped out.

Description

Technical Field

[0001] The present application relates to the technical field of warehouse management, and in particular to a warehouse delivery control method, an electronic device, a readable storage medium and a warehouse delivery system. Background Art

[0002] When storing items in the warehouse, the order in which the subsequent items will be taken out of the warehouse is unknown. Therefore, when storing items, the items that need to be taken out first are not placed in a convenient location, and the items that need to be taken out later are not placed in a deeper location. When taking out of the warehouse, some items may inevitably be blocked by other items. It is necessary to move the blocking objects to other locations before taking out the required items; this way of taking out of the warehouse will greatly affect the efficiency of taking out of the warehouse. Summary of the invention

[0003] The purpose of the present application is to provide a warehouse dispatch control method, an electronic device, a readable storage medium and a warehouse dispatch system to improve the problem of low warehouse dispatch efficiency.

[0004] In a first aspect, an embodiment of the present application provides a method for controlling a warehouse out, comprising: obtaining dependency data corresponding to each container group to be shipped that is currently required to be shipped out of a warehouse, each container group to be shipped out includes one or more containers to be shipped out; wherein the dependency data is determined based on other containers that the containers to be shipped out in the container group to be shipped out need to rely on when shipping out; determining whether each container group to be shipped out can be shipped out according to the dependency data; wherein the container group that can be shipped out includes a first container group and / or a second container group, the first container groups have a dependency relationship with each other, and the containers to be shipped out in each of the first container groups do not rely on other containers in the warehouse except the first container groups when shipping out; the containers to be shipped out in the second container group do not need to rely on any other containers except the second container group when shipping out; and performing a shipping out operation for the container group that can be shipped out.

[0005] In an optional implementation, the dependency data of the container groups to be shipped out are represented by a dependency chain; and determining whether each container group to be shipped out can be shipped out according to the dependency data includes: determining, according to the dependency data, a container group to be shipped out that does not need to depend on any other container except its own container group as a container group that can be shipped out; and for any current container group except the container group that can be shipped out, determining whether the current container group can be shipped out based on the dependency data of each container group to be shipped out on the dependency chain corresponding to the current container group or the container group to be shipped out to which each container to be shipped out on the dependency chain corresponding to the container group to be shipped belongs.

[0006] In an optional embodiment, the dependency chain corresponding to the current container group consists of container groups to be shipped out; accordingly, for any current container group except the container group that can be shipped out, based on each container group to be shipped out on the dependency chain corresponding to the current container group, determining whether the current container group can be shipped out includes: for any current container group, identifying the i-th dependency chain of the current container group, i is a positive integer greater than or equal to 1 and less than or equal to the total number of dependency chains of the current container group; if the j-th container group to be shipped out on the i-th dependency chain does not depend on other containers except itself when being shipped out, determining that the current container group cannot be shipped out, wherein j is a positive integer greater than or equal to 1 and less than or equal to the total number of container groups on the i-th dependency chain; if the j-th container group to be shipped out on the i-th dependency chain depends on other containers when being shipped out, determining whether the current container group can be shipped out according to each container group to be shipped out on the dependency chain corresponding to the j-th container group to be shipped out.

[0007] In an optional implementation, the determining whether the current container group can be shipped out according to each container group to be shipped out on the dependency chain corresponding to the j-th container group to be shipped out comprises: if any container group to be shipped out on the dependency chain corresponding to the j-th container group to be shipped out is in a determined state, or if any container group on the dependency chain corresponding to the j-th container group to be shipped out belongs to a circular dependency, and the current container group does not belong to the circular dependency, determining that the current container group cannot be shipped out; the determined state is used to indicate whether the container group to be shipped out can be shipped out; otherwise, updating the dependency chain corresponding to the j-th container group to be shipped out, and determining whether the j-th container to be shipped out can be shipped out according to the updated dependency chain.

[0008] In an optional embodiment, the updating of the dependency chain corresponding to the j-th container group to be shipped out, and determining whether the j-th container to be shipped out can be shipped out according to the updated dependency chain, comprises: if any container group to be shipped out on the dependency chain corresponding to the j-th container group to be shipped out belongs to a container group in a temporary circular dependency of the current record, then adding all container groups to be shipped out on the i-th dependency chain to the temporary circular dependency of the current record; the circular dependency indicates that the container groups forming the circular dependency chain are mutually dependent, and the container groups forming the circular dependency do not depend on other container groups except the container groups forming the circular dependency, and the initial state of the temporary circular dependency only includes the current container group; otherwise, adding the container groups to be shipped out on the dependency chain corresponding to the j-th container group to be shipped out to the i-th dependency chain; after completing the identification of all dependency chains of the current container group, determining that all container groups to be shipped out in the temporary circular dependency can be shipped out.

[0009] In an optional embodiment, the dependency chain corresponding to the current container group is composed of containers to be shipped; for any current container group other than the container group that can be shipped, based on the dependency relationship data of the container group to be shipped to which each container to be shipped on the dependency chain corresponding to the container group to be shipped belongs, determining whether the current container group can be shipped includes: for any current container group, identifying the i-th dependency chain of the current container group, where i is a positive integer greater than or equal to 1 and less than or equal to the total number of dependency chains of the current container group; if the j-th dependency chain on the i-th dependency chain is If each container to be shipped in the container group to be shipped in which the jth container to be shipped on the i-th dependency chain is located does not depend on other containers except the container group to which the container to be shipped belongs, it is determined that the current container group cannot be shipped, wherein j is a positive integer greater than or equal to -1 and less than or equal to the total number of container groups on the i-th dependency chain; if at least one container to be shipped in the container group to be shipped in which the jth container to be shipped on the i-th dependency chain is located depends on other containers, the qualitative label of the current container group is determined according to each container to be shipped on the dependency chain corresponding to the container group to be shipped in which the jth container to be shipped belongs.

[0010] In an optional embodiment, each of the container groups to be shipped corresponds to at least one dependency chain, and each of the dependency chains includes at least one container to be shipped or a container group to be shipped; the identifying, for any of the current container groups, the i-th dependency chain of the current container group includes: identifying the i-th dependency chain of the current container group in order from small to large in number of the container groups to be shipped or the containers to be shipped on which each of the current container groups depends; and / or, for any of the current container groups, identifying the i-th dependency chain in order from the tail end to the head end of the i-th dependency chain.

[0011] In an optional embodiment, the execution of the outbound operation of the container group that can be shipped out includes: sorting the multiple groups of container groups that can be shipped out according to the transportation cost required for the outbound operation of the container group that can be shipped out, and obtaining a sorting result, wherein the transportation cost required for the container group that can be shipped out represents the time required to transport the containers in the container group that can be shipped out or the number of tasks required to be performed; and according to the sorting result, controlling the outbound operation of the multiple groups of container groups that can be shipped out in order from small to large according to the transportation cost required for each container group that can be shipped out.

[0012] In an optional embodiment, according to the sorting result, the multiple groups of container groups that can be shipped out are controlled to be shipped out in order from small to large according to the transportation cost required for each container group that can be shipped out, including: controlling the transport vehicle to transport each container to be shipped out in the container group that can be shipped out from its current storage location to the corresponding buffer storage location; if the current container to be shipped out is the container to be shipped out in the container group that can be shipped out that is sorted in the first place, then controlling the current container to be shipped out to be shipped out.

[0013] In an optional embodiment, the method of controlling the multiple groups of container groups that can be shipped out to be shipped out in sequence according to the order of the handling cost required for each of the container groups that can be shipped out from small to large according to the sorting result also includes: if the current container to be shipped out is not the container to be shipped out in the container group that can be shipped out that is sorted in the first place, determining whether there is a container to be shipped out that has been shipped out in the container group that can be shipped out that is currently sorted in the first place; if there is no container to be shipped out that has been shipped out in the container group that can be shipped out that is currently sorted in the first place, determining whether all the containers to be shipped out in the container group that can be shipped out where the current container to be shipped out is located are transported to corresponding buffer storage locations; if all the containers to be shipped out in the container group that can be shipped out where the current container to be shipped out is located are transported to corresponding buffer storage locations, controlling all the containers to be shipped out in the container group that can be shipped out where the current container to be shipped out is located to be shipped out.

[0014] In an optional embodiment, the execution of the outbound operation of the container group that can be outbound includes: controlling the transport vehicle to move the container to be outbound in the container group that can be outbound from its storage location to the target buffer storage location corresponding to the target elevator for outbounding the container to be outbound; controlling the target elevator to move the container to be outbound from the target buffer storage location to the exit layer of the warehouse, so as to perform the outbound operation on the container to be outbound.

[0015] In an optional embodiment, the target elevator for the outbound container is determined by the following process: based on the location information of the storage location of the outbound container in the container group that can be outbound and the location information of the currently available elevators, the distance cost required for each outbound container to reach each available elevator is calculated; based on the distance cost and the number of available elevators, an elevator is configured for each outbound container in the container group that can be outbound.

[0016] In an optional embodiment, the method further includes: if the number of containers to be shipped out that currently needs to be transported is less than a first threshold, re-obtaining dependency data of each container group in the warehouse to update the container groups that need to be shipped out, and the first threshold is determined according to the transportation capacity of the transport vehicles in the warehouse.

[0017] In a second aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the above method.

[0018] In a third aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program or computer instructions are stored, and the computer program or computer instructions implement the above method when executed by a processor.

[0019] In a fourth aspect, an embodiment of the present application provides a computer program product, including a computer program or computer instructions, which implement the above method when executed by a processor.

[0020] In a fifth aspect, an embodiment of the present application provides a warehouse-out system, comprising: a transport vehicle, an elevator, and a warehouse control system; the warehouse control system is used to control the transport vehicle and the elevator to perform a warehouse-out operation of a container group to be out of the warehouse according to the above-mentioned warehouse-out control method;

[0021] The transport vehicle is used to transport each container to be shipped out of the container group to be shipped out from the storage location to the buffer storage location corresponding to the elevator under the control of the warehouse control system;

[0022] The elevator is used to move each container to be shipped out of the container group to be shipped out from the buffer storage to the warehouse exit layer under the control of the warehouse control system.

[0023] The beneficial effects of the embodiments of the present application are as follows: before the container group needs to be shipped out, one or more container groups that can be shipped out can be determined based on the dependency data between the container groups, and the containers that can be shipped out determined based on the dependency data are mutually dependent and do not depend on the multiple first container groups other than the first container groups. When controlling the first container groups to be shipped out, the containers moved each time are containers in any first container group, and each moving action can be achieved by moving containers that can be shipped out, and the first container group can be shipped out without moving other containers other than the first container groups. The number of containers that need to be moved for the overall shipping of each first container group can be reduced, and the shipping efficiency of the first container group can be improved. On the other hand, the containers that can be shipped out determined based on the dependency data are second container groups that are not dependent on other container groups. When controlling the shipping out of this type of second container group, the container group can be removed without moving other container groups, which can make the removal of this type of second container group more efficient and improve the shipping efficiency of the container group. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of the structure of a warehouse provided in an embodiment of the present application;

[0026] Figure 2 A schematic diagram of the operating environment of the outbound delivery system provided in the embodiment of the present application;

[0027] Figure 3 A block diagram of an electronic device provided in an embodiment of the present application;

[0028] Figure 4 A flowchart of a method for controlling the outbound movement of a product provided in an embodiment of the present application;

[0029] Figure 5a A schematic diagram of the container arrangement of a storage layer provided in an embodiment of the present application;

[0030] Figure 5b Another schematic diagram of the arrangement of containers at a storage layer provided in an embodiment of the present application;

[0031] Figure 6 A schematic flow chart of step 320 of the outbound control method provided in an embodiment of the present application;

[0032] Figure 7 A schematic flow chart of step 322 of the outbound control method provided in an embodiment of the present application;

[0033] Figure 8 A schematic flow chart of step 330 of the outbound control method provided in an embodiment of the present application;

[0034] Fig. 9 Another schematic diagram of the arrangement of containers of a storage layer provided in an embodiment of the present application;

[0035] Fig.10 A schematic flow chart of the outbound dispatch logic of the outbound dispatch control method provided in an embodiment of the present application;

[0036] Fig.11 A schematic flow chart of step 330 of the outbound control method provided in an embodiment of the present application;

[0037] Fig.12 A schematic diagram of the functional modules of the outbound control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application.

[0039] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0040] In order to reduce the area requirements and improve the space utilization, the existing warehousing technology will also consider using less area to store more goods, so as to achieve greater efficiency in a limited space. Furthermore, the automation rate in warehousing technology can be improved to improve the efficiency of replacing items in the warehouse, which can also improve the utilization rate of the warehouse.

[0041] Based on the above-mentioned needs, a kind of intensive storage warehouse has emerged, such as a shuttle warehouse (specifically, a four-way shuttle, a two-way shuttle, etc.). On the one hand, the shuttle warehouse can save aisles and increase storage density, and its aisles can have multiple depths. On the other hand, the shuttle warehouse can develop in the height direction and include multiple storage layers, which greatly increases the storage volume, thereby achieving the purpose of saving space resources.

[0042] However, if the intensive storage warehouse is used as an independent automated warehouse for outbound picking operations, it will also bring certain difficulties. When the whole pallet is outbound, it is required to be outbound in a certain group order. Here, the group order refers to the container order group in which there are no other container groups between any two containers. That is, after one container group is outbound, the next container group can be outbound. This completely serial operation has a relatively low outbound efficiency and cannot meet the requirements of high throughput efficiency.

[0043] The inventors of this application have found that it is difficult to achieve high throughput efficiency in dense storage warehouses. The main reasons are: (1) Due to dense storage inside the warehouse, the obstruction relationship between containers will lead to obstruction between container groups; (2) There is no cache device inside the warehouse to help sorting operations or store obstructed containers; (3) General four-way shuttle warehouses also have multiple floors, making scheduling more complicated; (4) In some more complex scenarios, the warehouse exit is not connected to the elevator and needs to be connected by a four-way shuttle.

[0044] Based on the above-mentioned problem of insufficient throughput efficiency, the present application provides a method for controlling the outbound delivery of containers, which can enable multiple groups of containers to be delivered in parallel, thereby improving the efficiency of the outbound delivery. The method for controlling the outbound delivery provided by the present application is described below through some embodiments.

[0045] To facilitate understanding of this embodiment, the operating environment of the outbound control method disclosed in the embodiment of the present application is first introduced.

[0046] like Figure 1 As shown, Figure 11 shows a schematic diagram of a dense storage warehouse. The warehouse 100 may include a plurality of lanes 110, wherein the lanes 110 may be storage spaces formed by storage locations. Each lane 110 may have a certain depth, and the depth of the lane 110 may represent the number of consecutive storage locations in the lane 110. Each lane may include one or two lane openings. In one example, Figure 1 As shown, the lane 110 selected by the dotted box includes three storage locations 111, so the depth of the lane 110 is 3. The storage locations 111 can be used to place items or containers for loading items, for example, the container can be a container such as a pallet, a material box, etc. that can load goods.

[0047] In addition to the lane 110, the warehouse 100 may also include aisles 130, conveyor belts (not shown), exits ( Figure 1 One or more other configurations are shown, such as a first outlet 121 and a second outlet 122 .

[0048] The warehouse 100 may include one or more storage location layers. Figure 1 2 is a top view of the warehouse 100, showing one storage location layer. When the warehouse 100 includes multiple storage location layers, the container can be moved between different layers by the elevator 220.

[0049] like Figure 1 As shown, the elevator 220 can be located at the docking port 140 of different storage layers. The elevator 220 can also be connected to the first outlet 121. The elevator 220 can take the taken container out of the storage from the first outlet 121.

[0050] Figure 1 In the example shown, a second exit 122 may also be included. The second exit 122 may not be directly connected to the elevator 220. If the container needs to be taken out from the second exit 122, the transport vehicle 210 is required to move the container from other locations to the second exit 122. Based on different needs, the warehouse 100 may also include more exits, for example, the warehouse 100 may also include more exits. The embodiment of the present application is not limited to the number of exits of the warehouse 100.

[0051] Containers in the warehouse 100 can be removed from the warehouse through the outbound system 200, and external containers can also be stored in the warehouse 100 through the outbound system 200. Figure 2 As shown, the outbound system 200 may include a transport vehicle 210, an elevator 220 and a warehouse control system.

[0052] The warehouse control system may be used in the outbound control method provided in the subsequent embodiments to control the transport vehicle and the elevator to perform outbound operations on the container group to be outbound.

[0053] Exemplarily, the warehouse control system may be a logic system running on the electronic device 230 , and the logic system may be implemented by a computer program.

[0054] When executing the warehouse control system, the electronic device 230 can control the transport vehicle 210 and the elevator 220. For example, the transport vehicle 210 can perform corresponding actions based on the instructions received from the electronic device 230. The elevator 220 can also perform corresponding actions based on the instructions received from the electronic device 230.

[0055] The transport vehicle 210 is used to transport each container to be shipped out of the container group from the storage location to the buffer storage location corresponding to the elevator under the control of the warehouse control system. Figure 1 Not shown, see Figure 2 The transport vehicle 210 can shuttle through the lane 110 to obtain containers on each storage location 111 in the lane 110. The transport vehicle 210 can store containers entering from the entrance of the warehouse 100 in the storage location 111 in the lane 110. The transport vehicle 210 can also remove containers from the storage location 111 and transfer them to the buffer storage location of the elevator 220, which can be the docking port of the elevator 220 or the waiting location of the elevator 220.

[0056] The transport vehicle 210 can enter the lane from the lane entrance to take containers from each storage location in the lane.

[0057] In this embodiment, the transport vehicle 210 takes the container closest to the lane entrance in the lane 110. For example, if the depth of a lane 110 is five and containers are stored in all five storage locations, the transport vehicle 210 can only take the container in the first storage location at the lane entrance of the lane 110. For example, if it is necessary to take the container in the third storage location inside the lane entrance, it is necessary to first move out the containers in the first two storage locations of the lane entrance before taking the container in the third storage location.

[0058] Exemplarily, the transport vehicle 210 may be a four-way shuttle vehicle, and the warehouse 100 may be a four-way shuttle vehicle warehouse.

[0059] The elevator 220 is used to move each container to be shipped out of the container group to be shipped out from the buffer storage to the warehouse exit layer under the control of the warehouse control system. The elevator 220 can move the obtained containers between different storage layers. In one example, the elevator 220 can also be connected to the exit of one of the warehouses 100, and the elevator 220 can also move containers of different layers to the exit. In one example, the elevator 220 can also be connected to the entrance of one of the warehouses 100, and the elevator 220 can also move the containers at the entrance to different storage layers.

[0060] Exemplarily, the electronic device 230 may be a programmable logic controller (PLC for short).

[0061] The electronic device 230 may include a memory 231 and a processor 232. A person skilled in the art may understand that Figure 3 The structure shown is only for illustration and does not limit the structure of the electronic device 230. For example, the electronic device 230 may also include Figure 3 More or fewer components as shown, or with Figure 3 Different configurations shown.

[0062] The memory 231 and the processor 232 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The processor 232 is used to execute the executable module stored in the memory.

[0063] The memory 231 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory 231 is used to store programs, and the processor 232 executes the program after receiving the execution instruction. The method executed by the electronic device 230 defined by the process disclosed in any embodiment of the present application can be applied to the processor 232, or implemented by the processor 232.

[0064] The processor 232 may be an integrated circuit chip with signal processing capabilities. The processor 232 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 gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0065] The electronic device 230 in this embodiment can be used to execute each step in each method provided in the embodiments of the present application. The implementation process of the outbound control method is described in detail below through several embodiments.

[0066] See also Figure 4 , is a flow chart of the outbound control method provided in the embodiment of the present application. The outbound control method can be applied to Figure 3 The electronic device 230 shown. The outbound control method provided in this embodiment may include the following steps:

[0067] Step 310, obtaining dependency data corresponding to each container group to be shipped out of the warehouse;

[0068] Step 320, determining whether each container group to be shipped out can be shipped out according to the dependency data;

[0069] Step 330: Execute the outbound operation of the container group that can be outbound.

[0070] In some optional implementations, step 310 may be implemented in the following manner:

[0071] Each of the container groups to be shipped out includes one or more containers to be shipped out; wherein the dependency data is determined based on other containers that each container to be shipped out in the container group to be shipped out depends on when being shipped out.

[0072] For a lane in a warehouse, a lane can store multiple containers. If the lane has only one lane entrance, the transport vehicle can only take containers from the closest to the lane entrance to the farthest. That is, if you need to take a container far from the lane entrance, you need to take all other containers closer to the lane entrance out of the lane before you can take the container. Therefore, the dependency relationship of the containers in the lane is: the container far from the lane entrance depends on all containers closer to the lane entrance.

[0073] Each container group includes one or more containers, and each container can contain items. In one example, if a stock keeping unit (SKU) includes multiple items and is placed in multiple containers, the multiple containers can be divided into one container. In another example, if multiple items in multiple containers can be placed in one container, and therefore the multiple containers need to be shipped out together for subsequent merging processing, the multiple containers can also be divided into one container group.

[0074] Of course, multiple containers may also be divided into a container group based on other requirements. For example, multiple items can form a sales package, and the containers loaded with the multiple items may be divided into a container group.

[0075] Before removing a container group, other containers that block containers in the container group must be removed first. The dependency data is used to indicate other container groups that a container group depends on.

[0076] If all containers in any container group are placed in the storage location closest to the lane entrance, or there are no other items stored between the storage location where the container is stored and the lane entrance, then all containers in the container group do not depend on other containers, and the dependency data of the container group is empty.

[0077] In one example, if Figure 5a As shown, the Figure 5a It shows the display situation in the first floor storage location. Figure 5a Four container groups A, B, C, and D are shown, which respectively include the following containers: A1, A2, A3, A4, A5; B1, B2, B3, B4; C1, C2, C3, C4, C5; D1, D2.

[0078] In the first container group A, container A1 has no dependent containers, and the dependent containers of container A2 include: B1; the dependent containers of container A3 include: C3; the dependent containers of container A4 include: D1 and D2; the dependent containers of container A5 include: D1, D2 and A4. In some implementations, the dependency chain of the container group can be composed of containers, and the first container group includes four dependency chains, namely: B1; C3; D1-D2; D1-D2-A4. However, since container A4 and container A5 are in the same container group, container A4 and container A5 will be shipped out together when leaving the warehouse, so container A4 will not cause substantial obstacles to container A5, and therefore, the dependency chain of container A5 can also be: D1-D2. The first group of containers can also be understood as including only three dependency chains, namely: B1; C3; D1-D2. In some implementations, the dependency chain of a container group may be composed of container groups. The first container group includes three dependency chains, each of which includes only one container group, namely: B; C; D A. However, since container A4 and container A5 are in the same container group, container A4 and container A5 will be shipped together when shipped out of the warehouse. Therefore, container A4 will not cause substantial obstacles to container A5. Therefore, the dependency chain of container A5 may also include only one container group D. The first container group may also be understood to include only three dependency chains, namely: B; C; D.

[0079] In the second container group B, container B1 has no dependent containers; container B2's dependent containers include: A1; container B3's dependent containers include: A1 and B2; container B4's dependent containers include: A1, B2 and B3. Considering that B2, B3, and B4 belong to the same container group, the second container group includes a dependency chain: A1. If the dependency chain is composed of container groups, the second container group includes a dependency chain and may also include container group A.

[0080] In the third container group C, the dependent containers of container C1 include: B1 and A2; the dependent containers of container C2 include: C3 and A3; container C3 has no dependent containers; the dependent containers of container C4 include: B1, A2 and C1; the dependent containers of container C5 include: C3, A3 and C2. Without considering the obstruction of the containers in this group, the third container group includes two dependency chains, namely: B1-A2; A3. If the dependency chain is composed of container groups, the two dependency chains included in the third container group are: BA; A.

[0081] In the fourth container group D, container D1 has no dependent container, and the dependent container of container D2 only includes: D1. Therefore, the fourth container group has no dependency chain.

[0082] In actual warehouses, the depth of the aisles can be Figure 5aThe depth of the lanes shown is deep, and the layout of each container group may be more complicated, so the dependency chain contained in each container group may be larger than Figure 5a The dependency chains of the container groups shown in the figure are more complex. Of course, in an actual warehouse, a lane can have two lane entrances, and the paths to get the containers on the storage location may be different. Therefore, the dependency chains contained in each container group may be more complex than Figure 5a The dependency chain for each container group shown in is simpler.

[0083] Optionally, the dependency relationship data may also only include container groups other than the container group in which the dependency relationship data belongs.

[0084] In some optional implementations, step 320 may be implemented in the following manner:

[0085] The container groups that can be shipped out include the first container group and / or the second container group. The first container groups are dependent on each other, and the containers to be shipped out in each of the first container groups do not depend on other containers in the warehouse except the first container groups when shipping out; the containers to be shipped out in the second container group do not need to depend on any other containers except the second container group when shipping out.

[0086] Optionally, the container group that can be shipped out may not have one or more container groups in the dependency chain. Figure 5a For example, the dependency relationship data of the fourth container group does not include a dependency chain. Then the fourth container group can be selected as a container group that can be shipped out of the warehouse.

[0087] Optionally, the container group that can be shipped out may also be a container that only includes containers in the container group to which it belongs in the dependency chain.

[0088] Optionally, the container group that can be shipped out can also be multiple groups of mutually dependent circularly dependent container groups that can be shipped out. Figure 5b For example, Figure 5b In the example shown, all containers in the fourth container group have been shipped out, and the storage locations where containers C4 and C5 were originally displayed have been changed to empty. The fourth container group is not included in the dependency chain of the first container group, and the first container group, the second container group and the third container group are interdependent. The first container group, the second container group and the third container group can be determined as a circular dependency, and the first container group, the second container group and the third container group can be used as container groups that can be shipped out.

[0089] Of course, depending on the complexity of the warehouse environment, the number of container groups in a circular dependency may be more or less.

[0090] In some optional implementations, step 330 may be implemented in the following manner:

[0091] Optionally, if the warehouse storing the containers includes only one storage space on one floor, the containers on the storage space may be transported to the exit of the warehouse, or to a buffer storage space of the warehouse, by a transport vehicle.

[0092] Optionally, if the warehouse for storing containers only includes multiple storage locations, the containers on the storage locations can be transported to the docking port of the elevator by a transport vehicle, and then the container is transported to the exit of the warehouse by the elevator; or, the containers on the storage locations can be transported to the docking port of the elevator by a transport vehicle, and then the container is transported to the docking port of the exit layer of the warehouse by the elevator, and then transported to the exit of the warehouse by a transport vehicle; or, the containers on the storage locations can be transported to the docking port of the elevator or the waiting position of the elevator by a transport vehicle, waiting for the elevator to transport the containers to other places.

[0093] In this embodiment, when there are multiple groups of container groups in parallel outbound processes, a outbound order can be maintained, that is, the process of taking out containers from the storage location can be carried out in parallel, and outbound from the exit needs to be outbound in the agreed order. For example, before one group of container groups is completely outbound from the exit, other container groups can be taken out from the storage location, but cannot be outbound from the exit.

[0094] For example, the current maintenance order is that after the container group ranked first is completed, other container groups are controlled to be shipped out from the exit. If the currently transported container is a container in the container group ranked first, the current container can be transported to the exit of the warehouse so that the container can be shipped out from the exit. If the currently transported container is not a container in the container group ranked first, the current container can be transported to a buffer storage location and wait for the container in the container group ranked first to be completed before other container groups are controlled to be shipped out from the exit.

[0095] Through the above process, before the container groups need to be shipped out, one or more container groups can be determined based on the relationship between the container groups, so that the required number of container groups can be shipped out, so that it is no longer limited to a single container group shipping out, and multiple container groups can be shipped out in parallel, which can improve the shipping efficiency of container groups. Furthermore, since the order of shipping out from the exit can also be limited, it can avoid that multiple container groups are shipped out alternately from the exit, which can better maintain the group order and avoid confusion of the container groups.

[0096] The container groups selected as the container groups that can be shipped out can be divided into two types, for example, multiple first container groups that are mutually dependent and do not depend on other container groups, and relatively independent second container groups that do not depend on other container groups. The relatively independent second container groups that do not depend on other container groups can be screened out first, and then the first container groups can be screened out from the containers that may have relatively complex dependencies. Therefore, Figure 6As shown, step 320 may include step 321 and step 322 .

[0097] Step 321: According to the dependency data, determine the container group to be shipped that does not depend on any other container except its own container group as the container group that can be shipped.

[0098] The container group that can be shipped out determined in step 321 is the second container group mentioned above, and each container in the second container group is independent of other containers except the second container group.

[0099] Step 322: for any current container group other than the container group that can be shipped out, based on the dependency relationship data of each container group to be shipped out on the dependency chain corresponding to the current container group or the container group to be shipped out to which each container to be shipped out on the dependency chain corresponding to the container group to be shipped belongs, determine whether the current container group can be shipped out.

[0100] The container groups that can be shipped out of the warehouse determined based on step 322 are the above-mentioned first container groups. The first container groups are interdependent, and the first container groups are independent of other container groups stored in the warehouse except the first container groups.

[0101] The dependency chain corresponding to the current container group can be composed of the container group to be shipped, such as Figure 7 As shown, step 322 may include: step 3221 to step 3223.

[0102] Step 3221: Identify the i-th dependency chain of the current container group.

[0103] Step 3222: If the j-th container group to be shipped out on the i-th dependency chain does not depend on other containers except itself when shipping out, it is determined that the current container group cannot be shipped out.

[0104] Step 3223: If the j-th container group to be shipped on the i-th dependency chain depends on other containers when being shipped, determine whether the current container group can be shipped according to each container group to be shipped on the dependency chain corresponding to the j-th container group to be shipped.

[0105] In some possible implementations, the above step 3221 may be implemented in the following manner:

[0106] Where i is a positive integer greater than or equal to 1 and less than or equal to the total number of dependency chains of the current container group. Figure 5a The first container group shown is the current container group. The first container group includes three dependency chains: B, C, and D. In this example, the value of i can be 1, 2, or 3. Figure 5aTaking the first container group shown as the current container group as an example, the second container group includes two dependency chains: A. In this example, the value of i can only be 1.

[0107] When the current container group is identified using steps 3221 to 3223, the container groups or containers that each container group to be shipped out depends on may be selected for identification from small to large quantities.

[0108] For example, if the dependency chain of a container group is composed of container groups, the container groups to be identified using steps 3221 to 3223 include container group M and container group N. If the number of container groups on which container group M depends is 7, and the number of container groups on which container group N depends is 5, container group N can be used as the current container group first, and steps 3221 to 3223 can be used to identify the dependency chains in container group N.

[0109] For another example, if the dependency chain of a container group is composed of containers, the container groups to be identified using steps 3221 to 3223 include container group P and container group Q. If the number of containers that container group P depends on is 10, and the number of containers that container group Q depends on is 8, container group Q can be used as the current container group, and steps 3221 to 3223 can be used to identify the dependency chains in container group Q.

[0110] Optionally, the identification may be performed from small to large according to the number of dependency chains contained in each container group.

[0111] For example, Figure 5a Taking the four container groups shown as an example, the fourth container group has no dependency chain, the second container group contains only one dependency chain, the third container group contains two dependency chains, and the first container group contains three dependency chains. The sorting result of the four container groups can be: the fourth container group, the second container group, the third container group, and the first container group.

[0112] The container groups may be identified in the order of the fourth container group, the second container group, the third container group, and the first container group.

[0113] By first identifying container groups with fewer dependency chains, fewer dependent container groups to be shipped, or fewer containers to be shipped, such container groups will face relatively fewer obstacles, and therefore the difficulty of moving them out of the warehouse will be relatively smaller. Container groups with fewer dependency chains or shorter dependency chains can be prioritized as container groups that can be shipped out, which can reduce the time required for shipping. In addition, after such container groups are removed, the obstacles to other subsequent container groups can also be reduced, thereby reducing the length of the dependency chain of subsequent container groups. For example, Figure 5aAs shown, if the fourth container group is selected as the container group that can be shipped out first, since the dependency data of the fourth container group is empty and there is no dependency chain, the time required to remove the fourth container group is less than that of the other three container groups; in addition, after the fourth container group is removed, the dependency chain of the first container group will also be shortened.

[0114] In order to conveniently record the identification process of each container group, multiple variables can be set before identification to record the identification process of the dependency chain of each container group. Exemplarily, the first variable stack is used to record the dependency chain that needs to be identified in the current container group; the second variable circle is used to record the circular dependency to be formed including the current container group; and the third variable traced is used to record the container group that has been visited during the traversal process. Before traversing the current container group, all dependency chains of the current container group are written to the first variable stack, and the initial value of the second variable circle only includes the current container group.

[0115] Optionally, when traversing each container group on the i-th dependency chain, the top container group may be traversed first and then the bottom container group. The bottom container group depends on the top container group. In an example, if the i-th dependency chain is: GHJK, container group K, container group J, container group H, and container group G may be traversed in sequence.

[0116] In some possible implementations, the above step 3222 may be implemented in the following manner:

[0117] Optionally, in order to facilitate the identification of the container group to be shipped out and avoid repeated identification, it can be determined that a qualitative label is set for the container group that can be shipped out, and the qualitative label includes the first label and the second label. The first label is used to identify that the container group cannot be shipped out, and the second label is used to identify that the container group can be shipped out. For example, in the process of step 3221 to step 3223, when it is determined that some container groups can be shipped out, the second label can be set for the container group.

[0118] Wherein, j is a positive integer greater than or equal to 1 and less than or equal to the total number of container groups on the i-th dependency chain.

[0119] like Figure 5a From the arrangement relationship shown, it can be understood that when the current container group is the first container group, when the current value of i is 3, since the fourth container group D has no dependency chain, the first container group cannot be used as a container group that can be shipped out. A qualitative label can also be set for the first container group, and the qualitative label is determined to be the first label.

[0120] For the identification process of the i-th dependency chain of the current container group, the i-th dependency chain may be identified in a sequence from the tail end to the head end of the i-th dependency chain.

[0121] by Figure 5a Taking the example shown as an example, if the current container group is the third container group C, the end of the first dependency chain in the third container group is A, and the current value of i is 1, container group A can be identified first, and then container group B can be identified.

[0122] In some possible implementations, the above step 3223 may be implemented in the following manner:

[0123] Optionally, if any container group in the dependency chain of the jth container group to be shipped out is in a determined state, it means that the container group is not qualitatively related to the current container group and cannot form a circular dependency with the current container group, and it is determined that the current container group cannot be shipped out.

[0124] For example, if the qualitative label of a container group in the dependency chain of the j-th container group to be shipped out is the first label, it means that the container group cannot be shipped out. Since the current container group indirectly depends on any container group in the dependency chain of the j-th container group to be shipped out, the current container group cannot be shipped out either.

[0125] For example, if the qualitative label of one of the container groups on the dependency chain of the j-th container group to be shipped out is the second label, it means that the container group can be shipped out, but the current container group is not characterized as being able to be shipped out, which means that the current container group and one of the container groups on the dependency chain of the j-th container group to be shipped out are not on the same circular dependency, and the current container group cannot be shipped out either.

[0126] Optionally, if any container group in the dependency chain of the j-th container group to be shipped out belongs to a circular dependency, and the current container group does not belong to the circular dependency, it means that the container group cannot form a circular dependency with the current container group, and it is determined that the current container group cannot be shipped out.

[0127] The following describes step 3223 through a process of identifying the j-th container group to be shipped out to determine whether the current container group can be shipped out. Step 3223 may include the following process:

[0128] Step a: identifying each container group on the dependency chain of the jth container group to be shipped out.

[0129] The dependency chains contained in the dependency relationship data of the j-th container group to be shipped out can be read in sequence.

[0130] Step b: If any container group in the dependency chain of the j-th container group to be shipped out is in a determined state, it is determined that the current container group cannot be shipped out.

[0131] Optionally, for the convenience of recording, a qualitative label may be set for the current container group, and the qualitative expression may be the first label.

[0132] Optionally, the determined state may include that the container group is provided with a qualitative label, and the qualitative label may be a first label or a second label.

[0133] Optionally, the determined state may also be that the container group does not belong to the container groups to be shipped out that currently need to be shipped out.

[0134] Step c: if any container group in the dependency chain of the j-th container group to be shipped out is a container group in a circular dependency, and the current container group does not belong to a container group in its circular dependency, it is determined that the current container group cannot be shipped out.

[0135] If the current container group has been determined to not belong to the same circular dependency as any container group in the dependency chain of the jth container group to be shipped, the current container group can be determined to be unable to be shipped. For the convenience of recording, a qualitative label can be set for the current container group, and the qualitative label is the first label.

[0136] Step d: if any container group to be shipped on the dependency chain corresponding to the j-th container group to be shipped belongs to a container group in the temporary circular dependency of the current record, then all container groups to be shipped on the i-th dependency chain are added to the temporary circular dependency of the current record.

[0137] A circular dependency means that the container groups forming the circular dependency chain are dependent on each other, and the container groups forming the circular dependency do not depend on other container groups except the container groups forming the circular dependency.

[0138] The initial state of the temporary ring dependency includes only the current container group.

[0139] The temporary circular dependency is recorded by the second variable circle. If the second variable circle currently records any container group on the dependency chain of the j-th container group to be shipped, it means that all container groups on the i-th dependency chain may form a circular dependency with the current container group, and all container groups to be shipped on the i-th dependency chain can be recorded in the second variable circle.

[0140] Step e: otherwise, the container groups on the dependency chain of the j-th container group to be shipped out are added to the i-th dependency chain to form a new dependency chain of the current container group.

[0141] If a container group on the dependency chain of the j-th container group to be shipped does not satisfy any of the conditions in step b, step c, and step d, the container group on the dependency chain of the j-th container group to be shipped may be added to the i-th dependency chain to form a new dependency chain of the current container group, and the dependency chain is recorded in the first variable stack.

[0142] Through step ae, the dependency data of the container group on the i-th dependency chain of the current container group can be identified. Through the process from step 3221 to step 3223, all dependency chains in the current container group can be identified. After all dependency data of the current container group are identified, the container group recorded in the second variable circle is determined as a container group that can be shipped out, and the container group recorded in the second variable circle is determined as the first container group.

[0143] In which, when the current container group is determined as a container group that cannot be shipped out in step ae or any one of steps 3221 to 3223, the identification of the dependency chain in the current container group and the dependency data of the container groups on the dependency chain can be ended, and the content recorded in the temporary circular dependency can be cleared.

[0144] Through the above process of identifying the dependency chain in the current container group, it is possible to determine multiple container groups that need to be shipped out of the container groups that are circularly dependent based on the dependency data of each container group. Synchronizing multiple container groups with circular dependencies into the shipping process can reduce the waiting time required for shipping out of each container group and improve the shipping efficiency of container groups.

[0145] The dependency chain corresponding to the current container group may be composed of containers to be shipped out. Step 322 may include: for any current container group, identifying the i-th dependency chain of the current container group, where i is a positive integer greater than or equal to 1 and less than or equal to the total number of dependency chains of the current container group; if each container to be shipped out in the container group to be shipped out where the j-th container to be shipped out on the i-th dependency chain is located does not depend on other containers except the container group to which the container group belongs, determining that the current container group cannot be shipped out, where j is a positive integer greater than 1 and less than or equal to the total number of container groups on the i-th dependency chain; if at least one container to be shipped out in the container group to be shipped out where the j-th container to be shipped out on the i-th dependency chain is located depends on other containers, determining a qualitative label of the current container group according to each container to be shipped out in the dependency chain corresponding to the container group to be shipped out where the j-th container to be shipped out is located.

[0146] The process of step 322 may refer to the descriptions of steps 3221 to 3223 above, which will not be repeated here.

[0147] Since each group of containers is presented in groups, if the order is disrupted during shipment, it may cause the containers of each group to be mixed, increasing the work of subsequent staff. Therefore, after the container groups that can be shipped are determined based on the above step 320, the containers to be shipped of each container group that can be shipped can be taken from the warehouse in parallel by a transport vehicle, and then the taken containers to be shipped can be shipped out based on the group order. Based on this requirement, each group can be sorted before controlling the shipment of each container group that can be shipped. Therefore, if Figure 8 As shown, step 330 may include: step 331 and step 332.

[0148] Step 331 , sorting the plurality of groups of container groups that can be shipped out according to the transportation costs required for the group of container groups that can be shipped out to obtain a sorting result.

[0149] Step 332, according to the sorting result, control the multiple groups of container groups that can be shipped out in order of the transportation cost required by each container group that can be shipped out from the warehouse from small to large.

[0150] In some optional implementations, the above step 331 may be implemented in the following manner:

[0151] The transportation cost required for the container group that can be shipped out of the warehouse refers to the time required to transport the containers in the container group that can be shipped out of the warehouse or the number of tasks required to be performed.

[0152] Exemplarily, the required transportation cost may be expressed as the number of times the container group that can be shipped out is required to be transported, and the transportation cost may also be expressed as the time required to transport the container group that can be shipped out.

[0153] Optionally, the number of tasks to be performed may represent the number of times the container group that can be shipped out is required to move containers, and the required number of times the container is moved may represent the number of times the container is moved required to move the containers in the container group that can be shipped out and the containers on which the containers in the container group that can be shipped out depend.

[0154] The time required for transporting the container group that can be shipped out of the warehouse may include the sum of the time required for transporting each container in the container group that can be shipped out of the warehouse to the buffer storage location and the time required for transporting the containers that each container in the container group that can be shipped out of the warehouse depends on to the buffer storage location.

[0155] Optionally, a greedy algorithm is used to sort the multiple groups of container groups that can be shipped out of the warehouse to obtain a sorting result.

[0156] The greedy algorithm can first select an initial first-order container group that can be shipped out according to a set standard, and then add subsequent order container groups that can be shipped out according to the set standard.

[0157] Optionally, the setting standard may be that the number of times the containers need to be moved for the container group that can be shipped out of the warehouse is the minimum.

[0158] by Figure 5b Taking the example shown as an example, if the first to third container groups have been selected as container groups that can be shipped out, the number of times required to transport containers for the first container group can be five containers to be shipped out plus two dependent containers; the number of times required to transport containers for the second container group can be four containers to be shipped out plus one dependent container; and the number of times required to transport containers for the third container group can be five containers to be shipped out plus three dependent containers. Figure 5b In the example shown, the second container group requires the least number of container transfers, so the second container group can be used as the initial first container group that can be shipped out of the warehouse.

[0159] Optionally, a group of container groups that can be shipped out of the warehouse and requires the least number of container handling times to remove each group can be used as the initial first group of container groups that can be shipped out of the warehouse; then, from the remaining groups of container groups that can be shipped out of the warehouse, the group with the least number of containers to be removed is ranked second; and so on, multiple groups of container groups that can be shipped out of the warehouse are ranked to obtain a first ranking.

[0160] If the containers to be shipped in the container group in the previous order no longer hinder the subsequent container group that can be shipped, the dependent containers in the container group in the previous order are no longer counted as the required number of container handling times required by the subsequent container group.

[0161] In Figure 5b In the example shown, the second group of containers requires the least number of container handling times, so the second group of containers can be used as the first container group that can be shipped out of the warehouse. Fig. 9 As shown, since the second container group is in the first place, the containers in the second container group and the dependent containers of the second container group are no longer counted as the required number of container handling times required by the subsequent container group. The required number of container handling times for the first container group is four containers to be shipped out and one dependent container, and the required number of container handling times for the third container group is five containers to be shipped out and two dependent containers. The first container group is ranked second, and the third container group is ranked third.

[0162] Optionally, the set standard may also be that the time required for transporting the container group that can be shipped out of the warehouse is the shortest.

[0163] Optionally, multiple groups of containers that can be shipped out of the warehouse may be sorted according to multiple set standards to obtain multiple initial sorting results.

[0164] Then, based on the multiple initial sorting results, the total time required for each container group that can be shipped to complete the shipment and the waiting time required for each container group to complete the shipment are calculated under each sorting result. Based on the total time required for shipment and the waiting time required for each container group that can be shipped to complete the shipment, the final sorting result is determined.

[0165] The waiting time required for the container group that can be shipped out to complete the shipping can represent the interval time between the first shipping location of the container to be shipped out and the last shipping location of the container to be shipped out of the container group that can be shipped out.

[0166] Optionally, multiple groups of container groups that can be shipped out can be arranged and combined to obtain multiple initial sorting results; then, based on the multiple initial sorting results, the total time required for each container group that can be shipped out to complete the shipment and the waiting time required for each container group to complete are calculated under each sorting result. The final sorting result is determined based on the total time required for the shipment and the waiting time required for each container group to complete.

[0167] Optionally, the sorting result in which the waiting time required for each group of container groups that can be shipped out is the shortest and the total time required for shipping out is relatively shorter may be selected as the final sorting result.

[0168] By sorting each group of containers that can be shipped out, it is possible to complete the shipping of each group of containers that can be shipped out with relatively fewer actions. Furthermore, since the waiting time required for each group of containers is taken into consideration, it is possible to spend less time to ship out each group of containers that can be shipped out, thereby improving the shipping efficiency of the container groups that can be shipped out. Furthermore, by sorting each group of containers to be shipped out, the transportation volume of the elevator or transport vehicle is reduced, and a dynamic balance of the workload of each storage layer can be achieved.

[0169] In some implementations, the above step 332 may be implemented in the following manner:

[0170] Optionally, after all the containers to be shipped out of the first-ordered container group that can be shipped out have been shipped out, the containers to be shipped out of other container groups that can be shipped out can be controlled to be shipped out. Before the first-ordered container group that can be shipped out is shipped out, the containers of other container groups that can be shipped out can be first moved to the corresponding buffer storage locations to wait.

[0171] Exemplarily, the transport vehicle can be controlled to take the current container to be shipped from the storage locations of the various containers to be shipped in the container group that can be shipped out, and move the container to be shipped to the corresponding buffer storage location; if the current container to be shipped is the container to be shipped in the container group that can be shipped out that is ranked first, the current container to be shipped is controlled to be shipped out.

[0172] In an optional implementation, if the current container to be shipped out is not a container to be shipped out in the first-ordered container group that can be shipped out, it can wait at the buffer storage location until all containers in the first-ordered container group that can be shipped out have been shipped out.

[0173] Through the above steps 331 and 332, the outbound delivery can be carried out based on the container group with the lower transportation cost. After the previous container group is moved out, the obstruction to the subsequent container group that can be shipped out can be reduced, thereby increasing the overall outbound delivery cost of the container group that can be shipped out and improving the outbound delivery efficiency of the container group that can be shipped out.

[0174] In another optional implementation, the sorting results for controlling the outbound delivery can also be adaptively adjusted. Fig.10 As shown, the control process outbound process can be as follows:

[0175] Step J1, determine whether the current container to be shipped is a container to be shipped in the first-ordered container group that can be shipped. If the current container to be shipped is a container to be shipped in the first-ordered container group that can be shipped, execute step J5. If the current container to be shipped is not a container to be shipped in the first-ordered container group that can be shipped, execute step J2. Step J2, determine whether there is a container to be shipped that has been shipped in the first-ordered container group that can be shipped. If there is no container to be shipped that has been shipped in the first-ordered container group that can be shipped, execute step J3. If there is a container to be shipped that has been shipped in the first-ordered container group that can be shipped, the current container to be shipped waits in the buffer storage position. Step J3, determine whether all containers to be shipped in the container group that can be shipped where the current container to be shipped is located are transported to the corresponding buffer storage position. If all containers to be shipped in the container group that can be shipped where the current container to be shipped is located are transported to the corresponding buffer storage position, execute step J4. If there is a corresponding buffer storage location of a container to be shipped that has not been transported in the container group that the previous container to be shipped is located in, the current container to be shipped waits in the corresponding buffer storage location. Step J4, control all containers to be shipped in the container group that the current container to be shipped is located to be shipped out. Step J5, control the current container to be shipped out.

[0176] If the current container to be shipped is a container to be shipped at the exit layer of the warehouse, it can be directly transferred to the exit by the transport vehicle. If the current container to be shipped is a container to be shipped at other layers of the warehouse, it can be first transported to the exit layer by the elevator, and then subsequently transported to the exit for shipment.

[0177] In order to prevent the sorting situation from affecting the subsequent outbound process, when all containers in any outbound container group have completed outbound, the sorting result is updated.

[0178] Optionally, when all containers of the first-ordered container group that can be shipped out have completed shipping, the container groups that can be shipped out that are ordered later can be advanced by one position, and the order of the first-ordered container group that can be shipped out is deleted.

[0179] Optionally, when all containers of other order-based container groups have completed delivery, the order of the order-based container groups that are subsequent to the order-based container group that has completed delivery can be advanced by one order, and the order of the order-based container group that has completed delivery is deleted.

[0180] Through the above-mentioned implementation means, the order within the outbound delivery group of each outbound container group can be maintained. When all outbound container groups have reached the cache storage position, one outbound container group can be delivered in advance without affecting the delivery of other outbound container groups, thereby improving the efficiency of container delivery.

[0181] When the warehouse for storing containers can include multiple storage levels, the container transportation between different storage levels can be achieved by elevators. Fig.11 As shown, step 330 may include step 333 and step 334 .

[0182] Step 333, controlling the transport vehicle to transport the container to be shipped out of the container group that can be shipped out from the storage location where the container is located to the target buffer storage location corresponding to the target elevator for shipping the container to be shipped out.

[0183] Step 334, controlling the target elevator to move the container to be shipped out from the target buffer storage unit to the exit layer of the warehouse, so as to perform a shipping operation on the container to be shipped out.

[0184] The elevator can transport the containers to be shipped out of the target buffer storage location to the exit layer of the warehouse, so that the transport vehicles at the exit layer can carry the containers to be shipped out of the warehouse.

[0185] In some optional implementation manners, the above step 333 may be implemented in the following manner:

[0186] The target buffer storage position may be the target docking port of the target elevator or the target waiting position of the target elevator. At the target docking port of the target elevator, the transport vehicle may directly place the container to be shipped on the target elevator. The number of currently available elevators is less than the number of containers to be shipped that need to be removed. Therefore, when the target elevator cannot directly transport all the containers to be shipped, the transport vehicle may first transport the containers to be shipped to the target waiting position of the target elevator.

[0187] In this embodiment, each warehouse may include multiple elevators, each elevator may have a corresponding docking port and a waiting position. The elevator can transport the containers to be shipped out of the corresponding docking port and waiting position.

[0188] If a corresponding elevator has been configured for each container to be shipped out, the transport vehicle can be controlled to transport the container to be shipped out of the container group that can be shipped out from its location to the corresponding elevator buffer location.

[0189] Through the above implementation, the containers to be shipped out can be transported in combination with the transport vehicle and the elevator, so that the transportation of the containers in the warehouse can be more orderly.

[0190] In order to make the work of each transport vehicle and the elevator more balanced, before transporting the container to be shipped, an elevator can be configured for each container to be shipped. Before step 333, the shipping control method can also include: configuring an elevator for the container to be shipped in the container group that can be shipped according to the storage location information of the container to be shipped in the container group that can be shipped and the available elevator buffer locations.

[0191] If the number of available elevators is greater than the number of containers to be shipped, an available elevator can be configured for each container to be shipped according to the storage location information of each container to be shipped and the distance between the buffer locations of each available elevator. For example, an elevator can be configured for each container to be shipped according to the principle of the shortest movement distance of the transport vehicle.

[0192] If the number of available elevators is not greater than the number of containers to be shipped out, there may be a situation where one elevator needs to transport multiple containers to be shipped out. In this case, in addition to considering the shortest movement distance of the transport vehicle, it is also necessary to balance the transportation capacity of each elevator.

[0193] Exemplarily, based on the location information of the storage locations of the containers to be shipped out in the container group that can be shipped out and the location information of the currently available elevators, the distance cost required for each container to be shipped out to each available elevator is calculated; based on the distance cost and the number of available elevators, an elevator is configured for each container to be shipped out in the container group that can be shipped out.

[0194] If the number of containers to be shipped is an integer multiple of the number of available elevators, the containers to be shipped can be evenly allocated to each elevator, that is, each available elevator can serve the same number of containers to be shipped, and the required transportation distance of the transport vehicle is minimal.

[0195] If the number of containers to be shipped out is not an integer multiple of the number of available elevators, the difference in the number of containers to be shipped out that can be transported by any two available elevators is no more than one, and the required transport vehicle has the minimum distance to transport.

[0196] By configuring the elevators according to the number of containers to be shipped out and the number of elevators, each elevator can be used in a balanced manner, avoiding excessive consumption of one elevator and improving the shipping efficiency.

[0197] In order to improve the efficiency of outbound delivery, after the containers to be delivered that need to be transported by the transport vehicles on each layer are lowered, more outbound container groups can be continuously screened out according to the container groups that need to be delivered in the current warehouse. Therefore, the outbound delivery control method can also include: if the number of outbound containers that need to be transported is less than the first threshold, re-acquiring the dependency data of each container group in the warehouse to update the outbound container groups that need to be delivered.

[0198] Optionally, the process in steps 310 to 330 can be used to reacquire the dependency data of each container group in the warehouse to update the container group that needs to be shipped out. The process for updating the container group that needs to be shipped out can be screened and the process can participate in the relevant introduction in steps 310 to 330, which will not be repeated here.

[0199] The first threshold is determined according to the transport capacity of the transport vehicle in the warehouse. The transport capacity can be represented by the number of transport vehicles in the warehouse. For example, the more the number of transport vehicles in the warehouse, the greater the transport capacity of the transport vehicles in the warehouse.

[0200] By dynamically adjusting and screening the container groups that can be shipped out, the container group that is currently most suitable for shipping out can be dynamically selected to improve the shipping efficiency of the container group.

[0201] Based on the same application concept, an outbound control device corresponding to the outbound control method is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to that in the aforementioned outbound control method embodiment, the implementation of the device in this embodiment can refer to the description in the embodiment of the above method, and the repeated parts will not be repeated.

[0202] See also Fig.12 , is a functional module diagram of the outbound control device provided in the embodiment of the present application. Each module in the outbound control device in this embodiment is used to execute each step in the above method embodiment. The outbound control device includes: a first acquisition module 410, a first determination module 420 and an outbound module 430; each module thereof is as follows:

[0203] The first acquisition module 410 is used to acquire dependency data corresponding to each container group to be shipped out that is currently required to be shipped out of the warehouse, each container group to be shipped out includes one or more containers to be shipped out; wherein the dependency data is determined based on other containers that the container to be shipped out of the container group to be shipped out depends on when being shipped out;

[0204] The first determination module 420 is used to determine whether each of the container groups to be shipped out can be shipped out according to the dependency data; wherein the container groups that can be shipped out include the first container group and / or the second container group, the first container groups are mutually dependent, and the containers to be shipped out in each of the first container groups do not depend on other containers in the warehouse except the first container group when being shipped out; and the containers to be shipped out in the second container group do not need to depend on any other container except the second container group when being shipped out;

[0205] The outbound module 430 is used to execute the outbound operation of the container group that can be outbound.

[0206] In a possible implementation manner, the dependency data of the container group to be shipped out is represented by a dependency chain; the first determination module includes: a first determination unit and a second determination unit:

[0207] A first determining unit is used to determine, according to the dependency data, a container group to be shipped that does not need to depend on any other container except its own container group, as a container group that can be shipped;

[0208] The second determining unit is configured to determine, for any current container group other than the container group that can be shipped, whether the current container group can be shipped based on dependency data of each container group to be shipped on a dependency chain corresponding to the current container group or the container group to be shipped to which each container to be shipped on the dependency chain corresponding to the container group to be shipped belongs.

[0209] In a possible implementation manner, the dependency chain corresponding to the current container group consists of container groups to be shipped out; accordingly, the second determining unit is used to identify the i-th dependency chain of the current container group for any of the current container groups, where i is a positive integer greater than or equal to 1 and less than or equal to the total number of dependency chains of the current container group; if the j-th container group to be shipped out on the i-th dependency chain does not depend on other containers except itself when shipping out, it is determined that the current container group cannot be shipped out, where j is a positive integer greater than or equal to 1 and less than or equal to the total number of container groups on the i-th dependency chain; if the j-th container group to be shipped out on the i-th dependency chain depends on other containers when shipping out, it is determined whether the current container group can be shipped out according to each container group to be shipped out on the dependency chain corresponding to the j-th container group to be shipped out.

[0210] In a possible implementation manner, the second determining unit is further configured to determine that the current container group cannot be shipped if any one of the container groups to be shipped on the dependency chain corresponding to the j-th container group to be shipped is in a determined state, or if any one of the container groups on the dependency chain corresponding to the j-th container group to be shipped belongs to a circular dependency and the current container group does not belong to the circular dependency; the determined state is used to indicate whether the container group to be shipped can be shipped; otherwise, the dependency chain corresponding to the j-th container group to be shipped is updated, and whether the j-th container to be shipped can be shipped is determined according to the updated dependency chain.

[0211] In a possible implementation manner, the second determining unit is further configured to add all container groups to be shipped on the i-th dependency chain to the temporary circular dependency of the current record if any one of the container groups to be shipped on the dependency chain corresponding to the j-th container group to be shipped belongs to a container group in the temporary circular dependency of the current record; the circular dependency indicates that the container groups forming the circular dependency chain are mutually dependent, and the container groups forming the circular dependency do not depend on other container groups except the container groups forming the circular dependency, and the initial state of the temporary circular dependency only includes the current container group; otherwise, the container groups to be shipped on the dependency chain corresponding to the j-th container group to be shipped are added to the i-th dependency chain; after completing the identification of all dependency chains of the current container group, it is determined that all container groups to be shipped in the temporary circular dependency can be shipped.

[0212] In a possible implementation manner, the dependency chain corresponding to the current container group is composed of containers to be shipped out; the second determining unit is further used to identify the i-th dependency chain of the current container group for any of the current container groups, where i is a positive integer greater than or equal to 1 and less than or equal to the total number of dependency chains of the current container group; if each container to be shipped out in the container group to be shipped out where the j-th container to be shipped out on the i-th dependency chain is located does not depend on other containers except the container group to which the container group belongs, it is determined that the current container group cannot be shipped out, where j is a positive integer greater than or equal to -1 and less than or equal to the total number of container groups on the i-th dependency chain; if at least one container to be shipped out in the container group to be shipped out where the j-th container to be shipped out on the i-th dependency chain is located depends on other containers, determine the qualitative label of the current container group according to each container to be shipped out on the dependency chain corresponding to the container group to be shipped out where the j-th container to be shipped out is located.

[0213] In a possible implementation manner, each of the container groups to be shipped corresponds to at least one dependency chain, and each of the dependency chains includes at least one container to be shipped or container group to be shipped; the second determining unit is further configured to identify the i-th dependency chain of the current container group in the order of the number of container groups to be shipped or containers to be shipped on which each of the current container groups depends from small to large; and / or, for any of the current container groups, identify the i-th dependency chain in the order from the tail end to the head end of the i-th dependency chain.

[0214] In a possible implementation, the outbound module 430 is used to sort the multiple groups of container groups that can be shipped out according to the transportation costs required for the outbound container groups to obtain a sorting result, where the transportation costs required for the container groups that can be shipped out represent the time required to transport the containers in the container groups that can be shipped out or the number of tasks required to be performed; based on the sorting result, the outbound of the multiple groups of container groups that can be shipped out is controlled in sequence according to the transportation costs required for each of the container groups that can be shipped out from small to large.

[0215] In a possible implementation, the outbound module 430 is further used to control the transport vehicle to move each container to be outbound in the container group that can be outbound from its current storage location to the corresponding buffer storage location; if the current container to be outbound is the container to be outbound in the container group that can be outbound ranked first, the current container to be outbound is controlled to be outbound.

[0216] In a possible implementation manner, the outbound module 430 is further configured to, if the current container to be outbound is not a container to be outbound in the outbound container group that is ranked first, determine whether there is an outbound container in the outbound container group that is currently ranked first; if the current container to be outbound does not have an outbound container to be outbound, determine whether all the outbound containers in the outbound container group where the current container to be outbound is located are transported to corresponding buffer locations; if all the outbound containers in the outbound container group where the current container to be outbound is located are transported to corresponding buffer locations, control all the outbound containers in the outbound container group where the current container to be outbound is located to be outbound.

[0217] In a possible implementation, the outbound module 430 is used to control the transport vehicle to move the container to be outbound in the group of containers that can be outbound from its storage location to the target buffer storage location corresponding to the target elevator for outbounding the container to be outbound; and control the target elevator to move the container to be outbound from the target buffer storage location to the exit layer of the warehouse to perform outbound operations on the container to be outbound.

[0218] In a possible implementation, the outbound control device may further include: a second determination module, used to calculate the distance cost required for each container to be outbound to each available elevator based on the location information of the storage location of the container to be outbound in the container group that can be outbound and the location information of the currently available elevators; and configure an elevator for each container to be outbound in the container group that can be outbound based on the distance cost and the number of available elevators.

[0219] In a possible implementation, the outbound control device may further include: a second acquisition module, which is used to re-acquire the dependency data of each container group in the warehouse to update the container group that needs to be shipped out if the number of containers to be shipped out that currently needs to be transported is less than a first threshold, wherein the first threshold is determined based on the transportation capacity of the transport vehicle in the warehouse.

[0220] In addition, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the outbound control method described in the above method embodiment are executed.

[0221] The computer program product of the outbound control method provided in the embodiment of the present application includes a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the steps of the outbound control method described in the above method embodiment. Please refer to the above method embodiment for details, which will not be repeated here.

[0222] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0223] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0224] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially 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, which is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. 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, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk. It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variation thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus. In the absence of more restrictions, the elements defined by the sentence "includes..." do not exclude the presence of other identical elements in the process, method, article or apparatus that includes the elements.

[0225] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0226] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling outbound delivery, characterized in that: include: Obtain dependency data corresponding to each container group to be shipped that is currently required to be shipped from the warehouse, each container group to be shipped includes one or more containers to be shipped; wherein the dependency data is determined based on other containers that the containers to be shipped in the container group to be shipped need to rely on when being shipped; According to the dependency data, determine whether each of the container groups to be shipped out can be shipped out; wherein the container groups that can be shipped out include the first container group and / or the second container group, the first container groups are mutually dependent, and the containers to be shipped out in each of the first container groups do not depend on other containers in the warehouse except the first container groups when being shipped out; the containers to be shipped out in the second container group do not need to depend on any other containers except the second container group when being shipped out; The outbound operation of the container group that can be outbound is performed.

2. The method according to claim 1, characterized in that The dependency data of the container groups to be shipped out are represented by a dependency chain; and determining whether each container group to be shipped out can be shipped out according to the dependency data includes: According to the dependency data, determine a container group to be shipped that does not depend on any other container except its own container group as a container group that can be shipped; For any current container group except the container group that can be shipped out, it is determined whether the current container group can be shipped out based on the dependency relationship data of each container group to be shipped out on the dependency chain corresponding to the current container group or the container group to be shipped out to which each container to be shipped out on the dependency chain corresponding to the container group to be shipped belongs.

3. The method according to claim 2, characterized in that The dependency chain corresponding to the current container group is composed of the container group to be shipped out; Accordingly, for any current container group other than the container group that can be shipped out, determining whether the current container group can be shipped out based on each container group to be shipped out on the dependency chain corresponding to the current container group includes: For any of the current container groups, identify the i-th dependency chain of the current container group, where i is a positive integer greater than or equal to 1 and less than or equal to the total number of dependency chains of the current container group; If the jth container group to be shipped out on the i-th dependency chain does not depend on other containers except itself when shipping out, it is determined that the current container group cannot be shipped out, where j is a positive integer greater than or equal to 1 and less than or equal to the total number of container groups on the i-th dependency chain; If the jth container group to be shipped on the i-th dependency chain depends on other containers when being shipped, it is determined whether the current container group can be shipped according to each container group to be shipped on the dependency chain corresponding to the jth container group to be shipped.

4. The method according to claim 3, characterized in that The determining whether the current container group can be shipped out according to each container group to be shipped out on the dependency chain corresponding to the jth container group to be shipped out comprises: If any container group to be shipped out on the dependency chain corresponding to the j-th container group to be shipped out is in a determined state, or if any container group on the dependency chain corresponding to the j-th container group to be shipped out belongs to a circular dependency, and the current container group does not belong to the circular dependency, it is determined that the current container group cannot be shipped out; the determined state is used to indicate whether the container group to be shipped out can be shipped out; Otherwise, the dependency chain corresponding to the j-th container group to be shipped out is updated, and whether the j-th container to be shipped out can be shipped out is determined according to the updated dependency chain.

5. The method according to claim 4, characterized in that The updating of the dependency chain corresponding to the j-th container group to be shipped out, and determining whether the j-th container to be shipped out can be shipped out according to the updated dependency chain, includes: If any container group to be shipped on the dependency chain corresponding to the j-th container group to be shipped belongs to a container group in the temporary circular dependency of the current record, then all container groups to be shipped on the i-th dependency chain are added to the temporary circular dependency of the current record; the circular dependency means that the container groups forming the circular dependency chain are dependent on each other, and the container groups forming the circular dependency do not depend on other container groups except the container groups forming the circular dependency, and the initial state of the temporary circular dependency only includes the current container group; Otherwise, the container group to be shipped on the dependency chain corresponding to the j-th container group to be shipped is added to the i-th dependency chain; After all dependency chains of the current container group are identified, it is determined that all container groups to be shipped out in the temporary circular dependency can be shipped out.

6. The method according to claim 2, characterized in that The dependency chain corresponding to the current container group is composed of containers to be shipped; for any current container group other than the container group that can be shipped, determining whether the current container group can be shipped based on dependency relationship data of the container group to be shipped to which each container to be shipped on the dependency chain corresponding to the container group to be shipped belongs, includes: For any of the current container groups, identify the i-th dependency chain of the current container group, where i is a positive integer greater than or equal to 1 and less than or equal to the total number of dependency chains of the current container group; If each container to be shipped in the container group to be shipped in which the j-th container to be shipped on the i-th dependency chain is located does not depend on other containers except the container group to which it is located, it is determined that the current container group cannot be shipped, where j is a positive integer greater than 1 and less than or equal to the total number of container groups on the i-th dependency chain; If at least one container to be shipped in the container group to be shipped to which the j-th container to be shipped on the i-th dependency chain belongs depends on other containers, a qualitative label of the current container group is determined according to each container to be shipped on the dependency chain corresponding to the container group to be shipped to which the j-th container to be shipped belongs.

7. The method according to any one of claims 3 to 6, characterized in that: Each of the container groups to be shipped corresponds to at least one dependency chain, and each of the dependency chains includes at least one container to be shipped or a container group to be shipped; for any of the current container groups, identifying the i-th dependency chain of the current container group includes: Identify the i-th dependency chain of the current container group according to the order of the number of container groups to be shipped or containers to be shipped that each current container group depends on, from small to large; and / or, For any of the current container groups, the i-th dependency chain is identified in order from the tail end to the head end of the i-th dependency chain.

8. The method according to any one of claims 1 to 6, characterized in that: The step of executing the outbound operation of the container group that can be outbound includes: Sorting multiple groups of container groups that can be shipped out according to the transportation costs required for the shipping of the container groups that can be shipped out to obtain a sorting result, wherein the transportation costs required for the container groups that can be shipped out represent the time required to transport the containers in the container groups that can be shipped out or the number of tasks required to be performed; According to the sorting result, the plurality of groups of container groups that can be shipped out are controlled to be shipped out in sequence according to the order of the transportation cost required for each of the container groups that can be shipped out from small to large.

9. The method according to claim 8, characterized in that According to the sorting result, the plurality of groups of container groups that can be shipped out are controlled to be shipped out in order of the transportation cost required by each of the container groups that can be shipped out from small to large, including: Controlling the transport vehicle to transport each container to be shipped out of the container group that can be shipped out from its current storage location to a corresponding buffer storage location; If the current container to be shipped out is a container to be shipped out of the container group that is ranked first, the current container to be shipped out is controlled to be shipped out.

10. The method according to claim 9, characterized in that According to the sorting result, the plurality of groups of container groups that can be shipped out are controlled to be shipped out in order of the required transportation cost of each container group that can be shipped out from small to large, and further includes: If the current container to be shipped is not a container to be shipped in the first-order container group that can be shipped, determine whether there is a container to be shipped that has been shipped in the first-order container group that can be shipped; If the container group that is currently ranked first does not have any container to be shipped that has been shipped, then determine whether all containers to be shipped in the container group that is currently ranked first are moved to the corresponding buffer storage location; If all the containers to be shipped out of the container group that can be shipped out where the current container to be shipped out is located are transported to the corresponding buffer storage locations, all the containers to be shipped out of the container group that can be shipped out where the current container to be shipped out is located are controlled to be shipped out.

11. The method according to claim 1, characterized in that: The step of executing the outbound operation of the container group that can be outbound includes: Controlling the transport vehicle to transport the container to be shipped out of the container group that can be shipped out from the storage location where the container is located to the target buffer storage location corresponding to the target elevator for shipping the container to be shipped out; The target elevator is controlled to move the container to be shipped out from the target buffer storage unit to the exit layer of the warehouse, so as to perform a shipping operation on the container to be shipped out.

12. The method according to claim 11, characterized in that The target elevator for the container to be shipped out is determined by the following process: According to the location information of the storage location of the containers to be shipped in the container group that can be shipped, and the location information of the currently available elevators, the distance cost required for each container to be shipped to each available elevator is calculated; According to the distance cost and the number of available elevators, an elevator is configured for each container to be shipped out of the group of containers that can be shipped out.

13. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the method according to any one of claims 1 to 12.

14. A computer-readable storage medium having a computer program or a computer instruction stored thereon, characterized in that: When the computer program or computer instruction is executed by a processor, the method according to any one of claims 1 to 12 is implemented.

15. A computer program product comprising a computer program or computer instructions, characterized in that When the computer program or computer instruction is executed by a processor, the method according to any one of claims 1 to 12 is implemented.

16. A warehouse-out system, characterized in that: include: A transport vehicle, an elevator and a warehouse control system; the warehouse control system is used to control the transport vehicle and the elevator to perform the outbound operation of the container group to be outbound according to the outbound control method according to any one of claims 1 to 12; The transport vehicle is used to transport each container to be shipped out of the container group to be shipped out from the storage location to the buffer storage location corresponding to the elevator under the control of the warehouse control system; The elevator is used to move each container to be shipped out of the container group to be shipped out from the buffer storage to the warehouse exit layer under the control of the warehouse control system.

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