Cargo box carrying task allocation method, device, equipment, system and storage medium

Abstract

Embodiments of the present application relate to the technical field of intelligent warehousing, and disclose a cargo box carrying task allocation method, device, equipment, system and storage medium. A candidate cargo box is obtained, and the candidate cargo box is a cargo box to be allocated to a carrying robot. A number of processed cargo boxes corresponding to a plurality of operation tables on a conveying line is obtained. The number of processed cargo boxes includes an in-transit cargo box number and an allocated cargo box number, the in-transit cargo box number includes a number of cargo boxes that have occupied the carrying robot and a number of cargo boxes that have not completed picking on the conveying line, and the allocated cargo box number includes a number of cargo boxes that have been allocated but have not occupied the carrying robot. When the number of processed cargo boxes corresponding to the plurality of operation tables satisfies a preset balancing condition, the candidate cargo box is allocated to the carrying robot, so that the number of processed cargo boxes corresponding to each operation table can be kept balanced, the cargo box supply of the plurality of operation tables is balanced, thereby having a high picking efficiency and being capable of improving the overall picking and warehouse-out efficiency.

Description

Technical Field

[0001] This application relates to the field of intelligent warehousing technology, and in particular to a method, apparatus, equipment, system and storage medium for allocating cargo handling tasks. Background Technology

[0002] With the continuous strengthening and development of social commerce and trade, the importance and attention given to logistics and warehousing management are also constantly increasing. How to provide fast and efficient logistics and warehousing management services is a current hot topic.

[0003] Leveraging the development of electronic information technology, such as industrial robots and other automation industries, many existing warehouses utilize robots or other automated equipment in conjunction with each other for efficient goods or warehouse management. For example, multiple workstations and multiple handling robots can assist in handling various types of goods, improving handling efficiency and reducing costs. Specifically, handling robots are used to move boxes between the warehouse and the workstations. The workstations are equipped with multiple slots, each capable of holding the goods corresponding to one order or a combination order. Pickers at the workstations retrieve one or more goods from the boxes according to the order requirements and place them in the corresponding slots. Once the goods for the corresponding order in a slot are gathered, they are packaged.

[0004] However, with multiple workstations and multiple handling robots operating simultaneously, the limited number of handling robots means that how to allocate handling robots to the boxes required by each workstation directly affects the picking and outbound efficiency. Summary of the Invention

[0005] This application provides a method, apparatus, equipment, system, and storage medium for distributing and handling cargo boxes, which addresses the technical problem of low picking and outbound efficiency.

[0006] To address the aforementioned technical problems, in a first aspect, embodiments of this application provide a method for allocating cargo container handling tasks, comprising:

[0007] Obtain candidate cargo containers;

[0008] Get the number of processed boxes corresponding to multiple operating stations on the conveyor line; the number of processed boxes includes the number of boxes in transit and the number of assigned boxes. The number of boxes in transit includes the number of boxes that have been occupied by the handling robot and the number of boxes that have not been picked on the conveyor line. The number of assigned boxes includes the number of boxes that have been assigned but have not yet been occupied by the handling robot.

[0009] If the number of processed boxes corresponding to multiple workstations meets the preset balance condition, then a handling robot is assigned to the candidate box so that the handling robot can move the candidate box to the conveyor line and transfer it to the corresponding target workstation.

[0010] In some embodiments, if the number of processed boxes corresponding to multiple operating stations meets a preset balancing condition, then a handling robot is assigned to the candidate boxes, including:

[0011] Determine the priority set of operating stations based on the number of processed cartons corresponding to multiple operating stations;

[0012] If the priority control panel set is empty, assign a handling robot to the candidate cargo box.

[0013] In some embodiments, the method further includes:

[0014] If the priority workstation set is not empty, and the target workstation is in the priority workstation set, then a handling robot is assigned to the candidate cargo box.

[0015] In some embodiments, determining the priority set of operating stations based on the number of processed cartons corresponding to multiple operating stations includes:

[0016] Get the maximum number of processed boxes among multiple control stations;

[0017] Iterate through multiple operating stations. If the difference between the number of processed boxes and the maximum value of the current operating station is greater than or equal to the first threshold, then the current operating station is added to the priority operating station set. After iterating through multiple operating stations, the priority operating station set is obtained.

[0018] In some embodiments, before determining the priority set of operating stations based on the number of processed cartons corresponding to the multiple operating stations, the method further includes:

[0019] If the number of in-transit boxes corresponding to multiple control stations is greater than or equal to the second threshold, then a handling robot is assigned to the candidate box.

[0020] If there are multiple operating stations with a number of in-transit containers less than the second threshold, then the step of determining the priority set of operating stations based on the number of processed containers corresponding to the multiple operating stations is executed.

[0021] In some embodiments, the method further includes:

[0022] If, after assigning a handling robot to a candidate cargo box, the number of processed cargo boxes corresponding to the target control station is less than or equal to the third threshold, then a handling robot is assigned to the candidate cargo box.

[0023] In some embodiments, if the number of processed cartons corresponding to the target workstation is less than or equal to a third threshold after assigning a handling robot to the candidate cartons, the assignment of a handling robot to the candidate cartons includes:

[0024] Obtain the allocated quota, which is the third threshold minus the number of in-transit containers corresponding to the target operating station;

[0025] If the number of allocated boxes corresponding to the target control station is increased by 1 and still does not exceed the allocation quota, then a handling robot will be assigned to the candidate box.

[0026] In some embodiments, the method further includes:

[0027] After assigning a handling robot to a candidate cargo box, update the number of assigned cargo boxes corresponding to the target workstation.

[0028] To address the aforementioned technical problems, in a second aspect, embodiments of this application provide a cargo container handling task allocation device, comprising:

[0029] The first acquisition module is used to acquire candidate cargo boxes;

[0030] The second acquisition module is used to acquire the number of processed boxes corresponding to multiple operating stations on the conveyor line. The number of processed boxes includes the number of boxes in transit and the number of allocated boxes. The number of boxes in transit includes the number of boxes occupied by the handling robot and the number of boxes on the conveyor line that have not been picked. The number of allocated boxes includes the number of boxes that have been allocated but have not yet been occupied by the handling robot.

[0031] The first allocation module is used to allocate a handling robot to the candidate cargo box if the number of processed cargo boxes corresponding to multiple operating stations meets the preset balance condition, so that the handling robot can move the candidate cargo box to the conveyor line and transmit it to the corresponding target operating station.

[0032] To address the aforementioned technical problems, in a third aspect, this application provides a control device, comprising:

[0033] At least one processor; and

[0034] Memory that is communicatively connected to at least one processor;

[0035] The memory stores instructions that can be executed by at least one processor to cause the control device to perform the method as described in the first aspect.

[0036] To address the aforementioned technical problems, in a fourth aspect, this application provides a warehousing system, including multiple handling robots, multiple workstations connected by conveyor lines, and control equipment as described in the third aspect.

[0037] Multiple handling robots are used to acquire candidate boxes assigned by the control equipment and transport them to the conveyor line, which is used to transfer the candidate boxes to the corresponding target workstation.

[0038] To address the aforementioned technical problems, in a fifth aspect, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method described in the first aspect.

[0039] The beneficial effects of this application's embodiments are as follows: Unlike the prior art, the cargo handling task allocation method, apparatus, equipment, system, and storage medium provided in this application's embodiments obtain candidate cargo boxes, which are cargo boxes to be allocated to handling robots. Furthermore, it obtains the number of processed cargo boxes corresponding to multiple operating stations on the conveyor line. Based on the number of processed cargo boxes, which includes the number of cargo boxes in transit and the number of allocated cargo boxes, where the number of cargo boxes in transit is the number of cargo boxes that have occupied handling robots but have not yet completed picking, and the number of allocated cargo boxes is the number of cargo boxes that have been allocated but have not yet occupied handling robots, both the number of allocated cargo boxes and the number of cargo boxes in transit are cargo boxes that will flow into the operating stations for picking. Under the condition that the number of processed cargo boxes corresponding to multiple operating stations meets a preset balance, a handling robot is allocated to the candidate cargo box, so that the number of processed cargo boxes corresponding to each operating station can remain balanced, that is, the number of cargo boxes that will subsequently flow into each operating station can remain balanced. In this embodiment, by taking into account the overall situation of the distribution and handling of boxes corresponding to multiple operating stations, the boxes to be handled by the handling robot are scheduled. This can reduce the probability of an imbalance in the supply efficiency of boxes required by the robot to each operating station, maintain a balance in the supply of boxes to multiple operating stations, and achieve high picking efficiency. Thus, it can improve the overall picking and outbound efficiency. Attached Figure Description

[0040] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0041] Figure 1 This is a schematic diagram illustrating an application scenario of the warehousing system according to an embodiment of this application;

[0042] Figure 2 A flowchart illustrating the cargo handling task allocation method provided in this application embodiment;

[0043] Figure 3 A schematic diagram of the order allocation slots provided in the embodiments of this application;

[0044] Figure 4 A schematic diagram illustrating the allocation and processing of cargo boxes corresponding to multiple operating stations provided in this application embodiment;

[0045] Figure 5 for Figure 3A schematic diagram of a sub-process of step S30 in the method shown;

[0046] Figure 6 A schematic diagram of the priority acquisition console set provided in the embodiments of this application;

[0047] Figure 7 This is another schematic diagram of a sub-process of step S30 provided in an embodiment of this application;

[0048] Figure 8 A flowchart illustrating another method for allocating cargo handling tasks according to an embodiment of this application;

[0049] Figure 9 A flowchart illustrating another method for allocating cargo handling tasks according to an embodiment of this application;

[0050] Figure 10 This is a functional block diagram of the cargo handling task allocation device provided in the embodiments of this application;

[0051] Figure 11 A schematic diagram of the structure of the control device provided in the embodiment of this application. Detailed Implementation

[0052] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all fall within the protection scope of the present application.

[0053] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0054] It should be noted that, unless there is a conflict, the various features in the embodiments of this application can be combined with each other, all of which are within the protection scope of this application. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. In addition, the terms "first," "second," and "third" used herein do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0055] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0056] Furthermore, the technical features involved in the various embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0057] Figure 1 This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. For example... Figure 1 As shown, in the warehousing system 100, multiple shelves 10 can be set up in the warehouse. The shelves 10 can be used to place cartons 20, and the cartons 20 store goods. For example, carton 1# stores 20 exercise books, and carton 2# stores 10 pencil cases, etc. The cartons 20 can be marked by external features (such as QR codes or barcodes). The system stores the mapping relationship between cartons and specific goods.

[0058] In some embodiments, multiple boxes 20 on the same shelf 10 can store goods from the same category. For example, multiple boxes on shelf A may store goods from the stationery category, while multiple boxes on shelf B may store goods from the toy category. It is understood that in some embodiments, multiple boxes on the same shelf may also store goods from multiple categories, and this is not limited to these embodiments.

[0059] The warehousing system 100 also includes multiple workstations 30 and multiple handling robots 40, wherein the multiple workstations 30 are connected to a conveyor line 50. In some embodiments, the conveyor line 50 may be a tracked transport platform or a circular conveyor line. Each workstation 30 may include a picking station and multiple slots (not shown). The slots may be single-item slots or multi-item slots. Single-item slots are used to place a single type of goods, and multi-item slots are used to place multiple types of goods. The picking station is used to place the boxes containing the goods to be picked. The handling robots 40 may be equipped with baskets or the like, enabling them to carry boxes.

[0060] Both the handling robot 40 and the control station 50 can communicate with the control device 60, which can be a server, terminal device, etc. After receiving an order from a user, the control device 60 can assign a slot on the corresponding control station 30 and dispatch the handling robot 40 to move the corresponding cargo box 20 from the shelf 10 to the conveyor line 50. The conveyor line 50 then transports the cargo box 20 to the picking position on the corresponding control station 30. A picker standing near the control station 30 then retrieves the required quantity of goods from the cargo box 20 and places it into the corresponding slot. Finally, the handling robot 40 returns the cargo box 30 to the shelf 10; the cargo box 30 contains any goods that were not picked.

[0061] Once all the goods for an order corresponding to a slot have been collected, the collected goods can be sent for packing. When a slot becomes available, the control device 60 can assign another order to that slot. This cycle continues until all orders have been dispatched and picking is complete.

[0062] Understandably, multiple workstations 30 and multiple transport robots 40 operate simultaneously, with the transport robots 40 supplying cartons to the multiple workstations 30. If the efficiency of the transport robots 40 in supplying cartons to each workstation 30 is unbalanced, workstations with insufficient cartons will be idle, while workstations with excessive cartons will be congested, ultimately affecting the outbound picking efficiency of the entire warehousing system. For example, if 20 cartons from 8 orders are being picked from the 8 slots of workstation #1, and these cartons need to be transported to workstation #1 by robots for picking, while other workstations also have orders requiring corresponding cartons, and the number of transport robots is limited (e.g., if the warehousing system includes 3 transport robots), and all 3 are assigned to transport cartons from workstation #1, other workstations will lack cartons and become idle. When 20 cartons flood into workstation #1, the rapid supply of cartons exceeds the limited picking speed, causing cartons to fail to reach their designated picking positions. This results in congestion near the picking positions on workstation #1 or on the conveyor line. Therefore, how to allocate handling robots to the cartons needed by each workstation directly impacts picking and outbound efficiency.

[0063] In related technologies, cartons are supplied sequentially according to orders. For example, after supplying cartons for order #1, cartons for order #2 are supplied next, and so on. Understandably, due to the limited number of handling robots, it's impossible to simultaneously fulfill all orders allocated to each workstation. When handling robots concentrate on supplying cartons to a few workstations, those workstations become overloaded, while cartons for orders at other workstations cannot be moved and supplied, resulting in long waiting times and impacting overall picking and outbound efficiency.

[0064] To address the aforementioned issues, some embodiments of this application provide a method, apparatus, device, system, and storage medium for allocating cargo handling tasks. This method breaks down the cargo boxes required by each workstation, and the cargo boxes required by each workstation are evenly distributed to the handling robots for handling. This enables a balanced supply of cargo boxes across multiple workstations, allowing the cargo boxes to circulate rapidly on the conveyor line, thereby improving the overall picking efficiency of the entire warehousing system and enhancing the overall picking and outbound efficiency.

[0065] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Where the embodiments do not conflict, the following embodiments and features thereof can be combined with each other.

[0066] Figure 2 This is a flowchart illustrating a method for allocating cargo handling tasks according to an embodiment of this application. In this embodiment, the executing entity of the method can be the aforementioned control device. For example... Figure 2 As shown, the method S100 may include the following steps:

[0067] S10: Obtain candidate cargo containers.

[0068] Here, "candidate cargo boxes" refers to cargo boxes in orders that have already occupied workstation slots and are awaiting processing. "Orders that have already occupied workstation slots" refers to orders that have been sent to the workstation and have occupied slots. "Cargo boxes awaiting processing" refers to cargo boxes that have not yet been processed. It can be understood that "cargo boxes being processed" refers to cargo boxes that have been assigned to handling robots, including: cargo boxes that have been assigned and occupied by handling robots, and cargo boxes that have been assigned but have not yet occupied by handling robots.

[0069] The control device continuously receives a number of orders and distributes them to multiple workstations according to certain rules. Each workstation receives a number of orders. The workstations then assign corresponding slots to these orders. In some embodiments, the number of orders distributed to a workstation is typically equal to the number of slots it has. For example, please refer to... Figure 3 The workbench has four slots. At this point, four orders are assigned to the workbench, and these four orders occupying the slots are considered full. It's understood that since these four orders have been assigned to slots and are awaiting the supply of the corresponding cargo boxes for the goods included in these orders, the handling robot needs to supply cargo boxes for these four orders. Once the goods for an order are complete and the picking is finished, the corresponding slot becomes available, and a new order can be assigned to that available slot.

[0070] In this embodiment, please refer to Figure 4The control equipment will break down the cartons needed for orders that have already occupied slots in each workstation and assign them to handling robots. Due to limitations in the number of handling robots, it is impossible to assign robots to all cartons simultaneously. Therefore, the control equipment will assign robots to these cartons sequentially in a certain order. Figure 4 As shown, cargo boxes that have been allocated and processed by the controlled equipment can be referred to as processed cargo boxes; cargo boxes that have not been allocated and processed by the controlled equipment and are waiting to be processed can be referred to as cargo boxes waiting to be processed. It can be understood that candidate cargo boxes can be one or more cargo boxes waiting to be processed in orders that have occupied operating table slots.

[0071] In some embodiments, the control device scores each waiting box, and the box with the highest score is given priority for processing. In this embodiment, the candidate box can be the box with the highest score. The control device can score each waiting box based on multiple factors such as the outbound deadline, the picking efficiency of the corresponding workstation, and the outbound efficiency. For example, the closer the outbound deadline, the higher the score can be. The specific calculation method for the score is not described in detail here.

[0072] S20: Obtain the number of processed boxes corresponding to multiple operating stations on the conveyor line.

[0073] Multiple control stations on the conveyor line are connected to the conveyor line; for example, four control stations are connected to the conveyor line, and all four control stations are in operation, thereby obtaining the number of processed cartons corresponding to these four control stations. It is understood that a conveyor line is a device that provides a channel for transporting cartons; for example, a conveyor line can be a tracked transport platform. In this embodiment, no restrictions are placed on the specific structure of the conveyor line.

[0074] The number of processed cartons includes both cartons in transit and cartons allocated. Cartons in transit include those already occupied by handling robots and those not yet picked on the conveyor line. The number of allocated cartons refers to those allocated but not yet occupied by handling robots.

[0075] Understandably, the control device assigns a handling robot to each cargo box and records the robot ID and the corresponding cargo box ID. The control device can assign multiple cargo box handling tasks to a single handling robot; that is, multiple cargo boxes need to be handled by that robot, and these cargo boxes constitute the robot's task list. In some embodiments, the handling robot can move the cargo boxes in the task list one by one from the shelf to the conveyor line. In some embodiments, the handling robot can also move two or three cargo boxes that are close together in the task list to the conveyor line simultaneously, based on proximity.

[0076] Once the box is released onto the conveyor line, it is transported to the picking station at the corresponding workstation. The picker at the workstation retrieves the required quantity of goods from the box according to the order. After the picker has retrieved the goods, the control system can dispatch a handling robot to remove the box from the conveyor line and move it to the corresponding shelf. It is understandable that until the box leaves the picking station, it remains on the conveyor line as an unpicked box.

[0077] "Cargo boxes in transit" include cargo boxes already occupied by handling robots and cargo boxes on the conveyor line that have not yet been picked. Cargo boxes already occupied by handling robots refer to cargo boxes currently being handled by handling robots. Cargo boxes on the conveyor line that have not yet been picked may be transported on the conveyor line or be available for picking by pickers at the picking station.

[0078] Understandably, a transport robot may have multiple cartons in its task list. The robot processes these cartons sequentially. As transport progresses, when a carton in the task list is moved by a robot, that carton occupies the robot's space, and the carton that has occupied the robot is removed from the task list. Cartons in the task list that have been assigned to a transport robot but have not yet been moved are called assigned cartons. Therefore, "assigned cartons that have not yet occupied a transport robot" refers to cartons that have been assigned to a transport robot but have not yet been moved by it.

[0079] It is understandable that, based on the fact that the number of processed containers includes the number of containers in transit and the number of containers allocated, and that both containers in transit and allocated are containers that are about to be transported to the operating station, it can be seen that the number of processed containers at each operating station can reflect the container supply situation.

[0080] In order to balance the supply of cargo boxes across multiple workstations, in subsequent steps, when assigning handling robots to candidate cargo boxes, the balance between the number of cargo boxes already processed across multiple workstations is taken into account.

[0081] S30: If the number of processed boxes corresponding to multiple operating stations meets the preset balance condition, then a handling robot is assigned to the candidate box so that the handling robot can move the candidate box to the conveyor line and transfer it to the corresponding target operating station.

[0082] Here, the preset equilibrium condition is a rule used to constrain the balance among the number of processed boxes corresponding to multiple operating stations. For example, the preset equilibrium condition may include that the number of processed boxes corresponding to each operating station is within a certain range, so that the difference in the number of processed boxes corresponding to each operating station is not large, that is, the supply of boxes is not significantly different.

[0083] The target workstation is the workstation corresponding to the candidate box. This means the goods in the candidate box are the goods needed to complete the order corresponding to the slot on the target workstation. After assigning a handling robot to the candidate box, the robot will move the candidate box to the conveyor line. The candidate box is then transported to the picking position on the target workstation, where the picker can select the corresponding quantity of goods from the candidate box according to the order requirements and place them in the corresponding slot.

[0084] Under the condition that the number of processed boxes corresponding to multiple workstations meets the preset balance, a handling robot is assigned to the candidate boxes, so that the number of processed boxes corresponding to each workstation can remain balanced, that is, the number of boxes that will flow into each workstation in the future can remain balanced. In this embodiment, considering the overall situation of the boxes assigned to multiple workstations, the boxes to be handled by the handling robots are scheduled, which can reduce the probability of unbalanced box supply efficiency of the robots to each workstation, maintain the box supply balance of multiple workstations, and have high picking efficiency, thereby improving the overall picking and outbound efficiency.

[0085] In some embodiments, please refer to Figure 5 The aforementioned step S30 specifically includes:

[0086] S31: Determine the priority set of operating stations based on the number of processed cartons corresponding to multiple operating stations.

[0087] The priority operating station set refers to the set of operating stations that require priority supply of boxes due to a relatively small supply of boxes. This priority operating station set can be empty, or it may include at least one operating station. Since the number of processed boxes reflects the number of boxes about to be transported to the operating stations, operating stations with a relatively small supply of boxes that require priority supply can be selected based on the number of processed boxes corresponding to multiple operating stations. In some embodiments, a quantity threshold is set; if the number of processed boxes corresponding to an operating station is less than this threshold, it is included in the priority operating station set.

[0088] In some embodiments, the aforementioned step S31 specifically includes:

[0089] S311: Get the maximum number of processed boxes among multiple control stations.

[0090] S312: Traverse multiple operating stations. If the difference between the number of processed boxes and the maximum value of the current operating station is greater than or equal to the first threshold, then the current operating station is included in the priority operating station set. After traversing multiple operating stations, the priority operating station set is obtained.

[0091] In this embodiment, please refer to Figure 6Based on the number of cartons in transit and the number of cartons already assigned at multiple operating stations on the conveyor line, the number of cartons processed at these multiple operating stations is calculated. Then, the maximum value (max) among the number of cartons processed at these multiple operating stations is obtained.

[0092] Then, the process iterates through these multiple workstations, calculating the difference between the number of boxes processed at the current workstation and the maximum value. If the difference is greater than or equal to a first threshold, the current workstation is added to the priority workstation set; otherwise, it is not added. The process continues by comparing the difference between the number of boxes processed and the maximum value at the next workstation with the first threshold. After iterating through all these workstations, the priority workstation set is obtained.

[0093] The first threshold is an empirical value set by those skilled in the art based on actual circumstances, and is not limited here.

[0094] In this embodiment, the maximum number of processed boxes among multiple operating stations on the conveyor line is used as the anchor point. Then, based on the difference between the number of processed boxes on other operating stations and the maximum value, a first threshold is used to accurately filter out the operating stations that need to be given priority in supplying boxes due to the relatively small supply of boxes, so as to form a priority operating station set.

[0095] S32: When the priority control panel set is empty, assign a handling robot to the candidate cargo box.

[0096] The fact that the priority workstation set is empty indicates that the supply of cartons to each workstation on the conveyor line is relatively even, with no workstation having a relatively low supply of cartons. When the priority workstation set is empty, assigning handling robots to candidate cartons will not disrupt the supply balance. The number of cartons that will subsequently flow into each workstation will remain balanced, thus maintaining a balanced supply of cartons across multiple workstations and improving overall picking and outbound efficiency.

[0097] In some embodiments, the method further includes:

[0098] S33: If the priority operation station set is not empty, and the target operation station is in the priority operation station set, then a handling robot is assigned to the candidate cargo box.

[0099] The fact that the priority set of workstations is non-empty indicates that there are workstations with relatively low container supply. To maintain supply balance, priority should be given to workstations with relatively low container supply, that is, priority should be given to providing container supply to workstations in the priority set.

[0100] If the priority workstation set is not empty, and the target workstation corresponding to the candidate cargo box is in the priority workstation set, then a handling robot is assigned to the candidate cargo box. This can provide cargo box supply to a relatively small number of target workstations, which is beneficial to balancing the cargo box supply quantity.

[0101] Understandably, if the target workstation corresponding to the candidate cargo box is not in the priority workstation set, the candidate cargo box will be skipped, no handling robot will be assigned to the candidate cargo box, and the next cargo box will be processed.

[0102] In this embodiment, by prioritizing the supply of boxes to workstations belonging to the priority workstation set, the priority workstation set is emptied as much as possible, so that the number of processed boxes on each workstation is close to the maximum value, thereby enabling the conveyor line to have high picking and outbound efficiency.

[0103] In some embodiments, please refer to Figure 7 Prior to the aforementioned step S31, the method further includes

[0104] S34: If the number of in-transit containers corresponding to multiple control stations is greater than or equal to the second threshold, then a handling robot is assigned to the candidate container.

[0105] S35: If there is an operating station among multiple operating stations with a number of in-transit containers less than the second threshold, then return to execute the above step S31.

[0106] As shown above, the number of cartons in transit includes both cartons already occupied by handling robots and cartons on the conveyor line that have not yet been picked. Cargoons already occupied by handling robots are those being handled by robots. Cargoons on the conveyor line that have not yet been picked may be transported on the conveyor line or be available for picking by pickers at the picking station.

[0107] Understandably, the number of cartons in transit directly affects the picking workload of each workstation in a short period of time. A larger number of cartons in transit results in a larger picking workload for each workstation, and vice versa. If the number of cartons in transit for multiple workstations is greater than or equal to the second threshold, it indicates that the picking workload at each workstation is relatively saturated, maintaining high picking and outbound efficiency, and preventing situations where some workstations are congested while others are idle. Therefore, when the number of cartons in transit for multiple workstations is greater than or equal to the second threshold, handling robots can be assigned to candidate cartons without considering the issue of carton supply balance, ensuring high picking and outbound efficiency for each workstation on the conveyor line.

[0108] If any of the multiple workstations has fewer boxes in transit than the second threshold, it indicates that there are workstations with relatively low picking workloads. The insufficient supply of boxes at these workstations affects picking efficiency. Therefore, when multiple workstations have fewer boxes in transit than the second threshold, considering the issue of box supply balance, we return to step S31 above and execute steps S31 and S32, or execute steps S31 to S33. This allows us to prioritize supplying boxes to workstations with fewer boxes, helping to maintain a balance in box supply across multiple workstations and improving overall picking and outbound efficiency.

[0109] The second threshold is an empirical value set by those skilled in the art based on actual circumstances, and is not limited here.

[0110] In this embodiment, based on the characteristic that the number of cartons in transit directly affects the picking workload of the workstation in a short period of time, a second threshold is set to distinguish whether there is a workstation with a relatively small picking workload (relatively idle workstation). If there is no such workstation, there is no need to consider the carton supply balance problem. If there is such workstation, the control device is triggered to consider the carton supply balance problem, so that the carton supply balance is more rigorous and effective.

[0111] Figure 8 This is a flowchart illustrating another method for allocating cargo container handling tasks, provided in an embodiment of this application. Figure 8 As shown, the method S200 includes:

[0112] S201: Obtain candidate cargo containers.

[0113] S202: Obtain the number of processed boxes corresponding to multiple operating stations on the conveyor line.

[0114] The number of processed cartons includes both cartons in transit and cartons allocated. Cartons in transit include those already occupied by handling robots and those not yet picked on the conveyor line. Allocated cartons are those allocated but not yet occupied by handling robots.

[0115] In this embodiment, the specific implementation principles and processes of steps S201 and S202 can be found in the foregoing embodiments, and will not be repeated here.

[0116] S203: If the number of in-transit containers corresponding to multiple control stations is greater than or equal to the second threshold, then a handling robot is assigned to the candidate containers.

[0117] If the number of in-transit boxes corresponding to multiple workstations is greater than or equal to the second threshold, it indicates that the picking workload of each workstation is relatively saturated, maintaining high picking and outbound efficiency, and preventing situations where some workstations are crowded while others are idle. Therefore, when the number of in-transit boxes corresponding to multiple workstations is greater than or equal to the second threshold, handling robots are assigned to candidate boxes without needing to consider the issue of box supply balance, thus ensuring high picking and outbound efficiency for each workstation on the conveyor line.

[0118] S204: If there are multiple operating stations with a number of in-transit containers less than the second threshold, then determine the priority set of operating stations based on the number of processed containers corresponding to the multiple operating stations.

[0119] If any of the multiple workstations has fewer boxes in transit than the second threshold, it indicates that there are workstations with relatively low picking workloads. The insufficient supply of boxes at these workstations affects picking efficiency. Therefore, when multiple workstations have fewer boxes in transit than the second threshold, the issue of box supply equilibrium needs to be considered. Specifically, based on the number of boxes processed at each workstation, a priority workstation set is determined. This priority workstation set refers to the set of workstations that require priority in receiving boxes due to their relatively low supply.

[0120] It is understandable that the specific implementation principle and process of "determining the priority set of operating stations based on the number of processed boxes corresponding to multiple operating stations" can be found in the aforementioned embodiments, and will not be repeated here.

[0121] S205: When the priority control panel set is empty, assign a handling robot to the candidate cargo box.

[0122] The fact that the priority workstation set is empty indicates that the supply of cartons at each workstation on the conveyor line is relatively even, with no workstation experiencing a shortage of cartons. When the priority workstation set is empty, assigning handling robots to candidate cartons will not disrupt the supply balance and will maintain high picking and outbound efficiency.

[0123] S206: If the priority operating station set is not empty, and the target operating station is in the priority operating station set, then a handling robot is assigned to the candidate cargo box.

[0124] The fact that the priority workstation set is non-empty indicates that there are workstations with a relatively low supply of cargo boxes. To maintain supply balance, priority should be given to workstations with relatively low cargo box supply, meaning that cargo box supply should be prioritized for workstations in the priority workstation set. If the target workstation corresponding to a candidate cargo box is in the priority workstation set, then a handling robot should be assigned to the candidate cargo box. This allows the target workstation with a relatively low cargo box supply to receive cargo boxes, which helps to balance the quantity of cargo boxes supplied.

[0125] In this embodiment, based on the characteristic that the number of cartons in transit directly affects the picking workload of the workstation in a short period of time, a second threshold is set to identify whether there are workstations with a relatively small picking workload. If not, there is no need to consider the issue of carton supply balance. If so, cartons are supplied to workstations belonging to the priority workstation set first, so as to clear the priority workstation set as much as possible and make the number of processed cartons of each workstation balanced. Thus, the conveyor line has a high picking and outbound efficiency and the carton supply balance is more rigorous and effective.

[0126] In some embodiments, please refer to Figure 9 The above method S100 or S200 further includes:

[0127] S40: If, after assigning a handling robot to a candidate cargo box, the number of processed cargo boxes corresponding to the target operating station is less than or equal to the third threshold, then a handling robot is assigned to the candidate cargo box.

[0128] The third threshold represents the upper limit of the number of processed cartons corresponding to the workstation. Based on the definition of the number of processed cartons, the number of processed cartons at the workstation reflects the carton supply situation. Therefore, the third threshold can be understood as the maximum carton supply or picking volume that the workstation can handle within a certain period of time.

[0129] In this embodiment, when assigning a handling robot to a candidate box, it is determined whether the number of processed boxes corresponding to the target workstation exceeds the upper limit (third threshold) after the candidate box is assigned a handling robot. If the number of processed boxes corresponding to the target workstation does not exceed the upper limit, it means that the box supply of the target workstation has not yet reached its maximum capacity. Therefore, a handling robot can be assigned to the candidate box. By constraining the box supply balance of each workstation through the upper limit of box supply (third threshold), the overall picking and outbound efficiency can be improved.

[0130] In some embodiments, the aforementioned step S40 specifically includes:

[0131] S41: Obtain the allocation quota, which is the third threshold minus the number of in-transit containers corresponding to the target operating station;

[0132] S42: If the number of allocated boxes corresponding to the target operating station is increased by 1 and does not exceed the allocation quota, then a handling robot is allocated to the candidate box.

[0133] The allocation quota is calculated by subtracting the number of cargo boxes in transit corresponding to the target workstation from the third threshold (maximum supply of cargo boxes). This quota reflects the upper limit of the number of cargo boxes already allocated to the target workstation. In other words, after allocating a handling robot to a candidate cargo box, the number of cargo boxes already allocated to the target workstation cannot exceed this allocation quota.

[0134] Specifically, if the number of allocated boxes corresponding to the target operating station plus 1 does not exceed the allocation quota, then a handling robot is allocated to the candidate box.

[0135] In this embodiment, by limiting the number of allocated boxes corresponding to each workstation using the allocation quota, the supply balance of boxes to each workstation can be constrained, thereby improving the overall picking and outbound efficiency.

[0136] In some embodiments, please refer to Figure 9 The aforementioned method S100 or S200 further includes:

[0137] S50: After assigning a handling robot to a candidate cargo box, update the number of assigned cargo boxes corresponding to the target workstation.

[0138] In this embodiment, after allocating a handling robot to a candidate cargo box, the number of allocated cargo boxes corresponding to the target operating station is updated. Specifically, the updated number of allocated cargo boxes is the number of allocated cargo boxes before the update plus 1.

[0139] Understandably, as the warehousing system operates, variables such as the number of allocated boxes, the number of boxes in transit, and the number of boxes processed for each workstation are constantly changing. By updating these variables, the smooth online operation of the warehousing system can be ensured.

[0140] Based on the cargo handling task allocation method provided in the above embodiments, this application also provides a cargo handling task allocation device. This allocation device can be implemented by a control device to execute one or more steps of the above cargo handling task allocation method. Figure 10 This application provides a cargo container handling task allocation device as an embodiment. Figure 10 As shown, the distribution device 400 includes: a first acquisition module 410, a second cargo box module 420, and a first distribution module 430.

[0141] The first acquisition module 410 is used to acquire candidate boxes. The second acquisition module 420 is used to acquire the number of processed boxes corresponding to multiple workstations on the conveyor line. The number of processed boxes includes the number of boxes in transit and the number of allocated boxes. The number of boxes in transit includes the number of boxes occupied by handling robots and the number of boxes on the conveyor line that have not yet been picked. The number of allocated boxes includes the number of boxes allocated but not yet occupied by handling robots. The first allocation module 430 is used to allocate handling robots to candidate boxes if the number of processed boxes corresponding to multiple workstations meets a preset balance condition, so that the handling robots can move the candidate boxes to the conveyor line and transfer them to the corresponding target workstation.

[0142] In some embodiments, the first allocation module 430 is specifically used to determine a priority set of operating stations based on the number of processed boxes corresponding to multiple operating stations; and to allocate a handling robot to the candidate boxes when the priority set of operating stations is empty.

[0143] In some embodiments, the first allocation module 430 is further configured to allocate a handling robot to the candidate cargo box if the target workstation is in the priority workstation set when the priority workstation set is not empty.

[0144] In some embodiments, the first allocation module 430 is further specifically used to obtain the maximum value among the number of processed boxes of multiple operating stations; traverse multiple operating stations, and if the difference between the number of processed boxes of the current operating station and the maximum value is greater than or equal to a first threshold, then the current operating station is included in the priority operating station set, and after the multiple operating stations are traversed, the priority operating station set is obtained.

[0145] In some embodiments, the allocation device 400 further includes a trigger module 440, which is configured to allocate a handling robot to a candidate cargo box if the number of in-transit cargo boxes corresponding to multiple workstations is greater than or equal to a second threshold. If there is a workstation among the multiple workstations with a number of in-transit cargo boxes less than the second threshold, the aforementioned step of determining a priority workstation set based on the number of processed cargo boxes corresponding to the multiple workstations is performed.

[0146] In some embodiments, the allocation device 400 further includes a second allocation module 450, which is specifically used to allocate a handling robot to the candidate cargo box if the number of processed cargo boxes corresponding to the target operating table is less than or equal to a third threshold after the candidate cargo box is allocated to the handling robot.

[0147] In some embodiments, the second allocation module 450 is specifically used to obtain allocation quotas, which are a third threshold minus the number of in-transit cargo boxes corresponding to the target workstation. If the number of allocated cargo boxes corresponding to the target workstation plus 1 does not exceed the allocation quota, then a handling robot is allocated to the candidate cargo box.

[0148] In some embodiments, the allocation device 400 further includes an update module 460, which is used to update the number of allocated boxes corresponding to the target workstation after allocating a handling robot to a candidate box.

[0149] Those skilled in the art will readily understand that, for the sake of convenience and brevity, the specific working processes of the devices and modules described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this invention.

[0150] Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention. The computer software can be stored in a computer-readable storage medium, and when executed, the program can include the processes described in the embodiments of the methods above. The storage medium can be a magnetic disk, optical disk, read-only memory, or random access memory, etc.

[0151] Figure 11 This is a schematic diagram of the structure of a control device provided in an embodiment of this application. Figure 11 As shown, the control device 400 in this embodiment may include at least one processor 401 and a memory 402. The processor 401 is connected to the memory 402, for example, the processor 401 can be connected to the memory 402 via a bus.

[0152] Processor 401 is configured to support the control device 400 in performing corresponding functions in the cargo handling task allocation method. Processor 401 may be a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The aforementioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0153] The memory 402, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the cargo container handling task allocation method in the embodiments of this application. The processor 401 can implement the cargo container handling task allocation method in any of the above method embodiments by running the non-transitory software programs, instructions, and modules stored in the memory 402.

[0154] Memory 402 may include volatile memory (VM), such as random access memory (RAM); memory 1002 may also include non-volatile memory (NVM), such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); memory 402 may also include combinations of the above types of memory.

[0155] The implementation principle and technical effects of the control device provided in this embodiment can be found in the foregoing embodiments, and will not be repeated here.

[0156] This application also provides a warehousing system, including multiple handling robots, multiple operating stations connected by conveyor lines, and control equipment in any of the foregoing embodiments.

[0157] Multiple handling robots are used to acquire candidate boxes assigned by the control equipment and transport them to the conveyor line. The conveyor line is used to transfer the candidate boxes to the corresponding target workstation for pickers to pick.

[0158] The specific working principles, processes, and beneficial effects of the control equipment, multiple operating stations connected by conveyor lines, and multiple robots in the warehousing system provided in this application embodiment can be found in the foregoing embodiments, and will not be repeated here.

[0159] This application also provides a computer-readable storage medium storing computer-executable instructions. These instructions are used to cause a computer device to execute the cargo handling task allocation method provided in this application, for example... Figures 2-9 The method for assigning cargo handling tasks is shown.

[0160] In some embodiments, the storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or it may be a variety of devices including one or any combination of the above-mentioned memories.

[0161] In some embodiments, executable instructions may take the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0162] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0163] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software and a general-purpose hardware platform, or of course, using hardware. Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0164] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above, which are not provided in detail for the sake of brevity; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method of assigning a cargo box handling task, characterized by, The method comprises the following steps: obtaining a candidate bin; obtaining the number of processed bins corresponding to a plurality of operation stations on a conveying line; the number of processed bins comprises the number of in-transit bins and the number of allocated bins, wherein the number of in-transit bins comprises the number of bins occupied by a carrying robot and the number of bins on the conveying line that have not been picked, and the number of allocated bins comprises the number of bins that have been allocated but have not been occupied by a carrying robot; if the number of processed bins corresponding to the plurality of operation stations meets a preset balancing condition, assigning a carrying robot to the candidate bin, so that the carrying robot carries the candidate bin to the conveying line and transfers it to a corresponding target operation station; the step of assigning a carrying robot to the candidate bin if the number of processed bins corresponding to the plurality of operation stations meets a preset balancing condition comprises the following steps: determining a set of priority operation stations according to the number of processed bins corresponding to the plurality of operation stations; assigning a carrying robot to the candidate bin according to the set of priority operation stations; the step of determining a set of priority operation stations according to the number of processed bins corresponding to the plurality of operation stations comprises the following steps: obtaining the maximum value of the number of processed bins of the plurality of operation stations; iterating through the plurality of operation stations, if the difference between the number of processed bins of a current operation station and the maximum value is greater than or equal to a first threshold value, the current operation station is included in the set of priority operation stations, and after the iteration through the plurality of operation stations is completed, the set of priority operation stations is obtained; before the step of determining a set of priority operation stations according to the number of processed bins corresponding to the plurality of operation stations, the method further comprises the following steps: if the number of in-transit bins corresponding to the plurality of operation stations is all greater than or equal to a second threshold value, assigning a carrying robot to the candidate bin; if there is an operation station in the plurality of operation stations whose number of in-transit bins is less than the second threshold value, performing the step of determining a set of priority operation stations according to the number of processed bins corresponding to the plurality of operation stations.

2. The method of claim 1, wherein, the step of assigning a carrying robot to the candidate bin according to the set of priority operation stations comprises the following step: if the set of priority operation stations is empty, assigning a carrying robot to the candidate bin.

3. The method of claim 2, wherein, The method further comprises the following steps: if the target operation station is in the set of priority operation stations, assigning a carrying robot to the candidate bin when the set of priority operation stations is a non-empty set.

4. The method of claim 3, wherein, The method further comprises the following steps: if the number of processed bins corresponding to the target operation station is less than or equal to a third threshold value after the candidate bin is assigned a carrying robot, assigning a carrying robot to the candidate bin.

5. The method of claim 4, wherein, the step of assigning a carrying robot to the candidate bin if the number of processed bins corresponding to the target operation station is less than or equal to a third threshold value after the candidate bin is assigned a carrying robot comprises the following steps: obtaining an allocation quota, which is the third threshold value minus the number of in-transit bins corresponding to the target operation station; if the number of allocated bins corresponding to the target operation station plus 1 does not exceed the allocation quota, assigning a carrying robot to the candidate bin.

6. The method of claim 5, wherein, The method further comprises the following step: updating the number of allocated bins corresponding to the target operation station after the candidate bin is assigned a carrying robot.

7. A container handling task allocation apparatus, characterised in that, The method comprises the following steps: A first obtaining module is configured to obtain a candidate bin; A second obtaining module is configured to obtain a number of processed bins corresponding to a plurality of operation stations on a conveying line; the number of processed bins comprises a number of in-transit bins and a number of allocated bins, wherein the number of in-transit bins comprises a number of bins occupied by a carrying robot and a number of bins on the conveying line that have not been picked, and the number of allocated bins comprises a number of bins that have been allocated but not yet occupied by a carrying robot; A first allocating module is configured to allocate a carrying robot to the candidate bin if the number of processed bins corresponding to the plurality of operation stations meets a preset balancing condition, so that the carrying robot carries the candidate bin to the conveying line and transfers it to a corresponding target operation station; The step of allocating a carrying robot to the candidate bin if the number of processed bins corresponding to the plurality of operation stations meets a preset balancing condition comprises the following steps: Determine a set of priority operation stations according to the number of processed bins corresponding to the plurality of operation stations; Allocate a carrying robot to the candidate bin according to the set of priority operation stations; The step of determining a set of priority operation stations according to the number of processed bins corresponding to the plurality of operation stations comprises the following steps: Obtain a maximum value in the number of processed bins of the plurality of operation stations; Iterate through the plurality of operation stations, and if the difference between the number of processed bins of a current operation station and the maximum value is greater than or equal to a first threshold value, then include the current operation station in the set of priority operation stations; after the iteration through the plurality of operation stations is completed, the set of priority operation stations is obtained; Before the step of determining a set of priority operation stations according to the number of processed bins corresponding to the plurality of operation stations, the method further comprises the following steps: If the number of in-transit bins corresponding to the plurality of operation stations are all greater than or equal to a second threshold value, then allocate a carrying robot to the candidate bin; If there is an operation station in the plurality of operation stations whose number of in-transit bins is less than the second threshold value, then execute the step of determining a set of priority operation stations according to the number of processed bins corresponding to the plurality of operation stations.

8. A control device characterized by comprising: The control device comprises at least one processor and a memory connected in communication with the at least one processor; The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to cause the control device to perform the method of any one of claims 1-6. The system comprises a plurality of carrying robots, a plurality of operation stations connected by a conveying line, and a control device as claimed in claim 8; The plurality of carrying robots are configured to obtain a candidate bin allocated by the control device and carry the candidate bin to the conveying line, and the conveying line is configured to transfer the candidate bin to a corresponding target operation station. The computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the method of any one of claims 1-6 is implemented.

9. A warehousing system characterized by, ​ ​ 10. A computer-readable storage medium, characterized in that, ​

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