Container handling method, device, electronic device, computer medium and program product

Abstract

Embodiments of the present disclosure disclose container handling methods, devices, electronic devices, computer media and program products. A specific embodiment of the method comprises: in response to determining that a handling device travels to a target container in a delivery storage location, determining whether a delivery task corresponding to the target container is a derivative delivery task according to storage information of the target container; in response to determining that the delivery task is a derivative delivery task, determining target empty storage information according to at least one empty storage information corresponding to the target container, wherein the empty storage information in the at least one empty storage information represents an empty storage; and controlling the handling device to carry a derivative container corresponding to the derivative delivery task to the empty storage represented by the target empty storage information. This embodiment is related to intelligent logistics and avoids the occupation of the buffer position of the handling device by the derivative container.

Description

Technical Field

[0001] Embodiments of this disclosure relate to the field of logistics, and more specifically to container handling methods, apparatus, electronic devices, computer media, and program products. Background Technology

[0002] Currently, in the logistics field, double-depth container racks are commonly used to improve storage capacity. Double-depth container racks typically include front and rear storage positions. The front storage positions are located near the aisles, while the rear storage positions are located inside the front positions. When the container to be moved by the handling equipment is in the rear storage position, and the corresponding front storage position contains other containers, the typical handling method is as follows: First, container B (which blocks the outbound route of container A; container A is the container the handling equipment needs to move, so container B can be referred to as a derivative container when moving container A) located in the front storage position is automatically moved to the handling equipment's buffer position. Then, container A is automatically moved to the handling equipment's buffer position. Afterward, an empty storage position is selected from the global pool of available storage positions. Finally, derivative container B is moved to the selected empty storage position.

[0003] However, the above method usually has the following technical problems: during the process of the handling equipment moving the derived container to the empty storage space, the buffer space of the handling equipment will be occupied, which will reduce the transportation efficiency of the handling equipment.

[0004] The information disclosed in this background section is only intended to enhance the understanding of the background of the inventive concept, and therefore may contain information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The summary portion of this disclosure is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description portion. This summary portion is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0006] Some embodiments of this disclosure provide container handling methods, apparatus, electronic devices, computer-readable media, and program products to address one or more of the technical problems mentioned in the background section above.

[0007] In a first aspect, some embodiments of this disclosure provide a container handling method, the method comprising: in response to determining that a handling device has traveled to the outbound storage location of a target container, determining whether the outbound task corresponding to the target container is a derivative outbound task based on the storage location information of the target container; in response to determining that the outbound task is a derivative outbound task, determining target empty storage location information based on at least one empty storage location information corresponding to the target container, wherein the empty storage location information in the at least one empty storage location information represents an empty storage location; and controlling the handling device to handle the derivative container corresponding to the derivative outbound task to the empty storage location represented by the target empty storage location information.

[0008] Optionally, the above method further includes: in response to determining that the transfer of the derived container is complete, controlling the transfer device to transfer the target container to the buffer position of the transfer device.

[0009] Optionally, the aforementioned storage location information includes the storage location; and determining whether the outbound task corresponding to the target container is a derivative outbound task based on the storage location information of the target container includes: in response to the storage location included in the aforementioned storage location information representing a first storage location, determining that the outbound task corresponding to the target container is a non-derived outbound task; in response to the storage location included in the aforementioned storage location information representing a second storage location, and the first storage location corresponding to the aforementioned storage location storing a container, determining that the outbound task corresponding to the target container is a derivative outbound task.

[0010] Optionally, the above-mentioned storage location information includes a container shelf column number, wherein the container shelf column number represents a container shelf; and before determining the target empty storage location information based on at least one empty storage location information corresponding to the target container, the above method further includes: determining the empty storage location information of each empty storage location in the container shelf corresponding to the container shelf column number.

[0011] Optionally, determining the target empty storage information based on at least one empty storage space information corresponding to the target container includes: in response to determining that the number of empty storage space information included in the at least one empty storage space information is 1, determining the empty storage space information corresponding to the target container as the target empty storage information.

[0012] Optionally, the empty storage information in the at least one empty storage space information includes a storage layer number and an empty storage space location; and determining the target empty storage space information based on the at least one empty storage space information corresponding to the target container includes: in response to determining that the number of empty storage space information included in the at least one empty storage space information is greater than 1, determining whether the at least one empty storage space information satisfies a first condition, wherein the first condition is: the storage layer numbers included in the at least one empty storage space information are the same; in response to determining that the at least one empty storage space information satisfies the first condition, determining the empty storage space information representing the second storage space among the empty storage space locations included in the at least one empty storage space information as the target empty storage space information.

[0013] Optionally, determining the target empty storage information based on at least one empty storage space information corresponding to the target container further includes: in response to determining that the at least one empty storage space information does not meet the first condition, selecting empty storage space information that meets the second condition from the at least one empty storage space information as candidate empty storage space information to obtain a candidate empty storage space information group, wherein the second condition is: the storage layer number included in the at least one empty storage space information is the largest; in response to the number of candidate empty storage space information included in the candidate empty storage space information group being 1, determining the empty storage space information that meets the second condition from the at least one empty storage space information as the target empty storage space information.

[0014] Optionally, determining the target empty storage information based on at least one empty storage location information corresponding to the target container further includes: in response to the fact that the number of candidate empty storage locations included in the candidate empty storage location information group is greater than 1, determining the candidate empty storage location information representing the second storage location among the empty storage locations included in the candidate empty storage location information group as the target empty storage location information.

[0015] Optionally, the method further includes: in response to determining that the handling equipment has completed the handling of each outbound container, controlling the handling equipment to perform a transportation task.

[0016] Secondly, some embodiments of this disclosure provide a container handling device, the device comprising: a first determining unit configured to, in response to determining that the handling equipment has traveled to the outbound storage location of a target container, determine whether the outbound task corresponding to the target container is a derivative outbound task based on the storage location information of the target container; a second determining unit configured to, in response to determining that the outbound task is a derivative outbound task, determine target empty storage location information based on at least one empty storage location information corresponding to the target container, wherein the empty storage location information in the at least one empty storage location information represents an empty storage location; and a control unit configured to control the handling equipment to move the derivative container corresponding to the derivative outbound task to the empty storage location represented by the target empty storage location information.

[0017] Optionally, the apparatus further includes a transport unit configured to, in response to determining that the transport of the derived container is complete, control the transport device to transport the target container to the buffer position of the transport device.

[0018] Optionally, the above storage location information includes the storage location.

[0019] Optionally, the first determining unit is further configured to: in response to the storage location information including the storage location representing a first storage location, determine that the outbound task corresponding to the target container is a non-derived outbound task; in response to the storage location information including the storage location representing a second storage location, and the first storage location corresponding to the storage location storing a container, determine that the outbound task corresponding to the target container is a derived outbound task.

[0020] Optionally, the above storage location information includes container rack column number, which represents the container rack.

[0021] Optionally, prior to the second determining unit, the apparatus further includes: an empty space determining unit configured to determine the empty space information of each empty storage space in the container shelf corresponding to the above-mentioned container shelf column number.

[0022] Optionally, the second determining unit is further configured to: in response to determining that the number of empty storage information included in the at least one empty storage information is 1, determine the empty storage information corresponding to the target container as the target empty storage information.

[0023] Optionally, the vacant storage information in the above-mentioned at least one vacant storage space information includes the storage layer number and the location of the vacant storage space.

[0024] Optionally, the second determining unit is further configured to: in response to determining that the number of vacant storage locations included in the at least one vacant storage location information is greater than 1, determine whether the at least one vacant storage location information satisfies a first condition, wherein the first condition is: the storage layer numbers included in the at least one vacant storage location information are the same; in response to determining that the at least one vacant storage location information satisfies the first condition, determine the vacant storage location information representing the second storage location among the vacant storage location information included in the at least one vacant storage location information as the target vacant storage location information.

[0025] Optionally, the second determining unit is further configured to: in response to determining that the at least one vacant storage space information does not meet the first condition, select vacant storage space information that meets the second condition from the at least one vacant storage space information as candidate vacant storage space information to obtain a candidate vacant storage space information group, wherein the second condition is: the storage layer number included in the at least one vacant storage space information is the largest; in response to the number of candidate vacant storage space information included in the candidate vacant storage space information group being 1, determine the vacant storage space information that meets the second condition from the at least one vacant storage space information as the target vacant storage space information.

[0026] Optionally, the second determining unit is further configured to: in response to the fact that the number of candidate vacant storage locations included in the candidate vacant storage location information group is greater than 1, determine the candidate vacant storage location information representing the second storage location among the vacant storage locations included in the candidate vacant storage location information group as the target vacant storage location information.

[0027] Optionally, the apparatus further includes a task execution unit configured to control the handling equipment to perform a transportation task in response to determining that the handling of each outbound container corresponding to the handling equipment has been completed.

[0028] Thirdly, some embodiments of this disclosure provide an electronic device, including: one or more processors; and a storage device having one or more programs stored thereon, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any implementation of the first aspect above.

[0029] Fourthly, some embodiments of this disclosure provide a computer-readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect above.

[0030] Fifthly, some embodiments of this disclosure provide a computer program product, including a computer program that, when executed by a processor, implements the method described in any of the implementations of the first aspect above.

[0031] The above-described embodiments of this disclosure have the following beneficial effects: The container handling methods of some embodiments of this disclosure avoid the use of buffer spaces by derivative containers, thereby improving the transportation efficiency of the handling equipment. Specifically, the reason for the reduced transportation efficiency of the handling equipment is that during the process of the handling equipment moving derivative containers to empty storage locations, it occupies buffer spaces, thus reducing the transportation efficiency of the handling equipment. Based on this, the container handling method of some embodiments of this disclosure firstly, in response to determining that the handling equipment has traveled to the outbound storage location of the target container, it determines whether the outbound task corresponding to the target container is a derivative outbound task based on the storage location information of the target container. This facilitates moving the container corresponding to the derivative outbound task to other storage locations. Then, in response to determining that the outbound task is a derivative outbound task, it determines the target empty storage location information based on at least one empty storage location information corresponding to the target container. Wherein, the empty storage location information in the at least one empty storage location information represents an empty storage location. Therefore, a suitable empty storage location can be selected from the various empty storage locations corresponding to the target container to store the derivative container. Finally, the aforementioned handling equipment is controlled to move the derivative container corresponding to the derived outbound task to the empty storage location indicated by the target empty storage location information. This allows the derivative container corresponding to the derived outbound task to be directly moved to the empty storage location corresponding to the target container. This avoids the derivative container occupying the buffer space of the handling equipment and allows the derivative container to be moved directly to the empty storage location without moving the handling equipment. Therefore, the transportation efficiency of the handling equipment is improved. Attached Figure Description

[0032] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and elements are not necessarily drawn to scale.

[0033] Figure 1 This is a schematic diagram illustrating an application scenario of a container handling method according to some embodiments of this disclosure;

[0034] Figure 2 This is a flowchart of some embodiments of the container handling method according to the present disclosure;

[0035] Figure 3 This is a schematic diagram illustrating an application scenario of controlling the aforementioned handling equipment to handle derivative containers in a container handling method according to some embodiments of this disclosure;

[0036] Figure 4 These are flowcharts of other embodiments of the container handling method according to this disclosure;

[0037] Figure 5This is a side view of a container rack in a container handling method according to some embodiments of this disclosure;

[0038] Figure 6 These are schematic diagrams illustrating the structure of some embodiments of the container handling apparatus according to this disclosure;

[0039] Figure 7 This is a schematic diagram of the structure of an electronic device suitable for implementing some embodiments of the present disclosure. Detailed Implementation

[0040] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0041] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

[0042] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0043] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0044] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0045] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0046] Figure 1 This is a schematic diagram illustrating an application scenario of a container handling method according to some embodiments of the present disclosure.

[0047] exist Figure 1 The application scenarios include a handling device 101, a target container 102, an empty storage space 103, an empty storage space 104, a robotic arm 105 of the handling device 101, and a derivative container 106.

[0048] In practice, firstly, in response to determining that the handling equipment 101 has traveled to the outbound storage location of the target container 102, based on the storage location information of the target container 102, it is determined whether the outbound task corresponding to the target container 102 is a derivative outbound task. For example, the storage location information can indicate the position of the target container 102 on the container shelf. When the target container 102 is placed in a back storage location (e.g., Figure 1 As shown, a derivative container 106 exists to the left of the target container 102, meaning the target container 102 is placed in a back storage location and the derivative container 106 is placed in a front storage location. When there is a container in the front storage location corresponding to the target container 102, the outbound task corresponding to the target container 102 is a derivative outbound task. Then, in response to determining that the outbound task is a derivative outbound task, target empty storage location information is determined based on at least one empty storage location information corresponding to the target container 102. Here, the empty storage location information in the at least one empty storage location information represents an empty storage location. For example, the empty storage location represented by at least one empty storage location information could be empty storage location 103 and empty storage location 104. Finally, the robotic arm 105 controlling the handling device 101 moves the derivative container 106 corresponding to the derivative outbound task to the empty storage location represented by the target empty storage location information. For example, the empty storage space represented by the target empty storage space information can be an empty storage space 103, and the robotic arm 105 of the aforementioned handling equipment 101 can be controlled to move the derivative container 106 to the empty storage space 103.

[0049] It should be noted that the executing entity of the container handling method can be the controller of the handling device 101 or the computing device controlling the handling device 101. When the executing entity of the container handling method is a computing device, the computing device can be hardware or software. When the computing device is hardware, it can be implemented as a distributed cluster composed of multiple servers or terminal devices, or as a single server or a single terminal device. When the computing device is software, it can be installed in the hardware devices listed above. It can be implemented as, for example, multiple software or software modules used to provide distributed services, or as a single software or software module. No specific limitations are made here.

[0050] Continue to refer to Figure 2 The diagram illustrates a flow 200 of some embodiments of a container handling method according to the present disclosure. This container handling method includes the following steps:

[0051] Step 201: In response to determining that the handling equipment has traveled to the outbound storage location of the target container, determine whether the outbound task corresponding to the target container is a derivative outbound task based on the storage location information of the target container.

[0052] In some embodiments, the entity executing the container handling method (e.g., Figure 1The controller of the handling equipment 101 shown can, in response to determining that the handling equipment has traveled to the outbound storage location of the target container, determine whether the outbound task corresponding to the target container is a derivative outbound task based on the storage location information of the target container. The handling equipment can be a transport device used to handle and transport containers. For example, the handling equipment can be an AGV (Automated Guided Vehicle). The target container can refer to a unit container to be outbound. A unit container can refer to a container used to store items. For example, a unit container can be a plastic crate. The storage location information can refer to the placement information of the target container on the container shelf. For example, the storage location information can be storage location 2 on the 5th shelf of column 1 of container A. A derivative outbound task can indicate that the outbound location of the target container is blocked by other unit containers. Optionally, the storage location information includes the storage location. The storage location can refer to the location of the storage container shelf.

[0053] In practice, the aforementioned executing entity may, in response to determining that adjacent storage locations of the storage location represented by the aforementioned storage location information store unit containers, and that the unit containers on the adjacent storage locations block the outbound shipment of the target container, determine that the outbound task corresponding to the target container is a derived outbound task. For example... Figure 1 As shown, the adjacent storage location of the target container 102 stores a unit container (derived container) 106. Here, a derived container can refer to a unit container that obstructs the outbound operation route of the target container during the handling process. That is, during the handling process of the target container, the handling equipment needs to first remove the unit container that is obstructing the outbound operation route of the target container before handling the target container.

[0054] In some optional implementations of certain embodiments, based on the storage location information of the target container, the execution entity may further determine whether the outbound task corresponding to the target container is a derived outbound task through the following steps:

[0055] The first step involves determining that the retrieval task corresponding to the target container is a non-derived retrieval task, in response to the storage location characterizing the first storage location included in the aforementioned storage location information. Here, the first storage location can mean that there are no other storage locations at the retrieval location of the storage location included in the storage location information (i.e., the retrieval location of the storage location is not blocked by other storage locations). The retrieval location can refer to the retrieval port location used to retrieve the unit container at the storage location.

[0056] The second step involves determining that the storage location included in the above storage location information represents a second storage location, and that the first storage location corresponding to the above storage location stores a container, thus identifying the outbound task corresponding to the target container as a derived outbound task. The second storage location can indicate that the outbound location of the storage location included in the storage location information is blocked by other storage locations (i.e., the outbound location of the storage location is blocked by other storage locations).

[0057] Step 202: In response to determining that the above-mentioned outbound task is a derived outbound task, the target empty storage space information is determined based on at least one empty storage space information corresponding to the target container.

[0058] In some embodiments, the executing entity may, in response to determining that the outbound task is a derived outbound task, determine target empty storage location information based on at least one empty storage location information corresponding to the target container. Herein, the empty storage location information in the at least one empty storage location information represents an empty storage location. The at least one empty storage location information corresponding to the target container may refer to the information of various empty storage locations on the same container shelf as the storage location of the target container. An empty storage location may be a storage location that does not contain a unit container.

[0059] In practice, the aforementioned executing entity can select the empty storage location that represents the highest distance from the ground from the at least one empty storage location information to determine as the target empty storage location information. Alternatively, the executing entity can determine the empty storage location that represents the closest empty storage location to the target container from the at least one empty storage location information to the target empty storage location information as the target empty storage location information.

[0060] In some optional implementations of certain embodiments, the execution entity may, in response to determining that the number of empty storage spaces included in the at least one empty storage space information is 1, determine the empty storage space information corresponding to the target container as the target empty storage space information. That is, when there is only one empty storage space information, that empty storage space information is determined as the target empty storage space information.

[0061] Optionally, before determining the target empty storage information based on at least one empty storage location information corresponding to the target container, the method further includes: determining the empty storage information of each empty storage location in the container shelf corresponding to the container shelf column number.

[0062] In some embodiments, the aforementioned executing entity can obtain the empty storage location information of each empty storage location in the container shelf corresponding to the container shelf column number from the warehouse management terminal via a wired or wireless connection. The storage location information includes the container shelf column number, which represents the container shelf.

[0063] Step 203: Control the aforementioned handling equipment to move the derivative container corresponding to the aforementioned derivative outbound task to the empty storage location represented by the aforementioned target empty storage location information.

[0064] In some embodiments, the executing entity can control the robotic arm of the handling equipment to move the derivative container corresponding to the derivative outbound task to the empty storage location represented by the target empty storage location information. Here, the derivative container can refer to a unit container that blocks the outbound operation route of the target container during the handling equipment's handling of the target container. That is, during the handling equipment's handling of the target container, it is necessary to first remove the unit container that blocks the outbound operation route of the target container before handling the target container.

[0065] As an application scenario illustration of step 203, such as Figure 3 The example, Figure 3 Examples include a handling device 301, a pallet 302 of the handling device 301, a robotic arm 303 of the handling device 301, a lifting device 304 of the handling device 301, and a derivative container 305.

[0066] In actual operation, firstly, the handling equipment 301 controls the robotic arm 303 to move the derived container 305 onto the pick-and-place tray 302. Then, the handling equipment 301 controls the lifting device 304 to raise and lower it to the same height as the empty storage location indicated by the aforementioned target empty storage location information. Finally, the handling equipment 301 controls the robotic arm 303 to move the derived container 305 onto the empty storage location indicated by the aforementioned target empty storage location information.

[0067] The above-described embodiments of this disclosure have the following beneficial effects: The container handling methods of some embodiments of this disclosure avoid the use of buffer spaces by derivative containers, thereby improving the transportation efficiency of the handling equipment. Specifically, the reason for the reduced transportation efficiency of the handling equipment is that during the process of the handling equipment moving derivative containers to empty storage locations, it occupies buffer spaces, thus reducing the transportation efficiency of the handling equipment. Based on this, the container handling method of some embodiments of this disclosure firstly, in response to determining that the handling equipment has traveled to the outbound storage location of the target container, it determines whether the outbound task corresponding to the target container is a derivative outbound task based on the storage location information of the target container. This facilitates moving the container corresponding to the derivative outbound task to other storage locations. Then, in response to determining that the outbound task is a derivative outbound task, it determines the target empty storage location information based on at least one empty storage location information corresponding to the target container. Wherein, the empty storage location information in the at least one empty storage location information represents an empty storage location. Therefore, a suitable empty storage location can be selected from the various empty storage locations corresponding to the target container to store the derivative container. Finally, the aforementioned handling equipment is controlled to move the derivative container corresponding to the derived outbound task to the empty storage location indicated by the target empty storage location information. This allows the derivative container corresponding to the derived outbound task to be directly moved to the empty storage location corresponding to the target container. This avoids the derivative container occupying the buffer space of the handling equipment and allows the derivative container to be moved directly to the empty storage location without moving the handling equipment. Therefore, the transportation efficiency of the handling equipment is improved.

[0068] Further reference Figure 4 This illustration shows some other embodiments of a container handling method according to the present disclosure. The container handling method includes the following steps:

[0069] Step 401: In response to determining that the handling equipment has traveled to the outbound storage location of the target container, determine whether the outbound task corresponding to the target container is a derived outbound task based on the storage location information of the target container.

[0070] In some embodiments, the specific implementation of step 401 and its resulting technical effects can be found in [reference needed]. Figure 2 Step 201 in the corresponding embodiments will not be repeated here.

[0071] Step 402: In response to determining that the above outbound task is a derived outbound task, determine the target empty storage location information based on at least one empty storage location information corresponding to the target container.

[0072] In some embodiments, the entity executing the container handling method (e.g., Figure 1The controller of the handling equipment 101 shown can, in response to determining that the aforementioned outbound task is a derived outbound task, determine target empty storage location information based on at least one empty storage location information corresponding to the target container. The empty storage location information includes a storage layer number and an empty storage location location. The storage layer number may indicate the layer number of the storage location on the container shelf. For example, the storage layer number may be layer 5. The empty storage location location may indicate the position of the empty storage location on the container shelf. At least one empty storage location information is located in the same column of the container shelf.

[0073] In practice, based on at least one empty storage location corresponding to the target container, the execution entity can determine the target empty storage location information through the following steps:

[0074] The first step, in response to determining that the number of vacant storage locations included in the at least one vacant storage location information is greater than 1, is to determine whether the at least one vacant storage location information satisfies a first condition. The first condition is that the at least one vacant storage location information includes storage layer numbers that are the same.

[0075] The second step is to determine, in response to the determination that at least one empty storage space information satisfies the first condition, the empty storage space information representing the second storage space among the empty storage space locations included in the at least one empty storage space information is determined as the target empty storage space information.

[0076] In some optional implementations of certain embodiments, the aforementioned execution entity may further determine the target vacant storage location information through the following steps:

[0077] The first step involves, in response to the determination that at least one available storage space does not meet the first condition, selecting from the at least one available storage space that meets the second condition as candidate available storage spaces, thus obtaining a candidate available storage space information group. The second condition is that the storage layer number included in the at least one available storage space is the largest.

[0078] The second step involves determining the target empty storage location from among the at least one empty storage location that satisfies the second condition, in response to the fact that the number of candidate empty storage location information in the aforementioned candidate empty storage location information group is 1. That is, the unique candidate empty storage location information in the aforementioned candidate empty storage location information group is determined as the target empty storage location information.

[0079] In some optional implementations of some embodiments, the execution entity may also, in response to the fact that the number of candidate empty storage locations included in the candidate empty storage location information group is greater than 1, determine the candidate empty storage location information representing the second storage location among the empty storage locations included in the candidate empty storage location information group as the target empty storage location information.

[0080] In practice, the candidate vacant storage location information representing the second storage location among the various vacant storage locations included in the above-mentioned candidate vacant storage location information group can be determined as the target vacant storage location information.

[0081] As an application scenario illustration of step 402, such as Figure 5 The example image shows a side view of the container rack. Figure 5 Examples are provided for container racks 501, 502, 503, and 504. Figure 5 505 in the text represents the storage shelf number of the container rack, the target container 506, and the empty storage spaces 507 and 508 in the container rack 501. Figure 5 The image also shows aisles (lanes) between the shelves. These aisles are used for moving equipment. It should be noted that... Figure 5 In the container rack, the storage location closest to the aisle is the first storage location (front row storage location), and the storage location not close to the aisle is the second storage location (back row storage location).

[0082] In a practical application scenario for determining target empty storage space information, taking container rack 501 as an example, it can be determined that container rack 501, where the target container 506 is located, contains empty storage spaces 507 and 508. When empty storage spaces 507 and 508 are at different storage layer numbers, the empty storage space information of the storage space with the largest storage layer number is selected as the target empty storage space information. That is, the empty storage space information of empty storage space 507 is selected as the target empty storage space information.

[0083] Step 403: Control the above-mentioned handling equipment to move the derivative container corresponding to the above-mentioned derivative outbound task to the empty storage location represented by the above-mentioned target empty storage location information.

[0084] In some embodiments, the specific implementation of step 403 and its resulting technical effects can be found in [reference needed]. Figure 2 Step 203 in the corresponding embodiments will not be repeated here.

[0085] Step 404: In response to determining that the above-mentioned derivative container transportation is completed, control the above-mentioned transportation equipment to transport the above-mentioned target container to the buffer position of the above-mentioned transportation equipment.

[0086] In some embodiments, the execution entity may, in response to determining that the transfer of the derived container is complete, control the robotic arm of the transfer device to transfer the target container to the buffer position of the transfer device. The buffer position may refer to a storage location on the transfer device designated for placing outgoing unit containers. In practice, the execution entity may, in response to determining that the derived container has been transferred to an empty storage position indicated by target empty storage information, control the robotic arm of the transfer device to transfer the target container to the buffer position of the transfer device.

[0087] Step 405: In response to determining that the handling of each outbound container corresponding to the aforementioned handling equipment has been completed, control the aforementioned handling equipment to execute the transportation task.

[0088] In some embodiments, the executing entity may, in response to determining that the handling equipment has completed the handling of each outbound container, control the handling equipment to perform a transportation task. Here, each outbound container corresponding to the handling equipment may refer to each unit container that the handling equipment needs to handle in a single outbound task. For example, the target container is a unit container among the unit containers that the handling equipment needs to handle in a single outbound task. The transportation task may refer to moving the outbound containers stored by the handling equipment to a target location. For example, the target location may be an outbound workstation or a warehouse outbound exit. An outbound workstation may refer to a platform used to store unit containers to be outbound.

[0089] In practice, the aforementioned executing entity can, in response to determining that the handling equipment has completed the handling of each outbound container, control the handling equipment to move each outbound container to the outbound workstation in the warehouse. The outbound workstation can refer to a platform used to store unit containers awaiting outbound shipment.

[0090] from Figure 4 It can be seen that, with Figure 2 Compared to the description of some corresponding embodiments, Figure 4 In some corresponding embodiments, process 400 illustrates the step of selecting a suitable empty storage location within the same shelf. This allows derivative containers to be moved to appropriate empty storage locations, reducing their impact on subsequent handling. Furthermore, because the derivative containers are moved only to empty storage locations on different levels of the same column of container shelves, the handling equipment does not need to move horizontally when handling the derivative containers. This reduces unnecessary movement of the handling equipment.

[0091] Further reference Figure 6 As an implementation of the methods shown in the above figures, this disclosure provides some embodiments of a container handling device, which are similar to... Figure 2 Corresponding to the method embodiments shown, the device can be specifically applied to various electronic devices.

[0092] like Figure 6As shown, a container handling device 600 in some embodiments includes: a first determining unit 601, a second determining unit 602, and a control unit 603. The first determining unit 601 is configured to, in response to determining that the handling equipment has traveled to the outbound storage location of the target container, determine whether the outbound task corresponding to the target container is a derivative outbound task based on the storage location information of the target container. The second determining unit 602 is configured to, in response to determining that the outbound task is a derivative outbound task, determine target empty storage location information based on at least one empty storage location information corresponding to the target container, wherein the empty storage location information in the at least one empty storage location information represents an empty storage location. The control unit 603 is configured to control the handling equipment to move the derivative container corresponding to the derivative outbound task to the empty storage location represented by the target empty storage location information.

[0093] Optionally, the apparatus 600 further includes a transport unit configured to, in response to determining that the transport of the derived container is complete, control the transport device to transport the target container to the buffer position of the transport device.

[0094] Optionally, the above storage location information includes the storage location.

[0095] Optionally, the first determining unit 601 is further configured to: in response to the storage location information including the storage location representing the first storage location, determine the outbound task corresponding to the target container as a non-derived outbound task; in response to the storage location information including the storage location representing the second storage location, and the first storage location corresponding to the storage location storing the container, determine the outbound task corresponding to the target container as a derived outbound task.

[0096] Optionally, the above storage location information includes container rack column number, which represents the container rack.

[0097] Optionally, prior to the second determining unit 602, the device 600 further includes: an empty space determining unit, configured to determine the empty space information of each empty storage space in the container shelf corresponding to the above-mentioned container shelf column number.

[0098] Optionally, the second determining unit 602 is further configured to: in response to determining that the number of empty storage information included in the at least one empty storage information is 1, determine the empty storage information corresponding to the target container as the target empty storage information.

[0099] Optionally, the vacant storage information in the above-mentioned at least one vacant storage space information includes the storage layer number and the location of the vacant storage space.

[0100] Optionally, the second determining unit 602 is further configured to: in response to determining that the number of vacant storage space information included in the at least one vacant storage space information is greater than 1, determine whether the at least one vacant storage space information satisfies a first condition, wherein the first condition is: the storage layer number included in the at least one vacant storage space information is the same; in response to determining that the at least one vacant storage space information satisfies the first condition, determine the vacant storage space information representing the second storage space among the vacant storage space locations included in the at least one vacant storage space information as the target vacant storage space information.

[0101] Optionally, the second determining unit 602 is further configured to: in response to determining that the at least one vacant storage space information does not meet the first condition, select vacant storage space information that meets the second condition from the at least one vacant storage space information as candidate vacant storage space information to obtain a candidate vacant storage space information group, wherein the second condition is: the storage layer number included in the at least one vacant storage space information is the largest; in response to the number of candidate vacant storage space information included in the candidate vacant storage space information group being 1, determine the vacant storage space information that meets the second condition from the at least one vacant storage space information as the target vacant storage space information.

[0102] Optionally, the second determining unit 602 is further configured to: in response to the fact that the number of candidate vacant storage locations included in the candidate vacant storage location information group is greater than 1, determine the candidate vacant storage location information representing the second storage location among the vacant storage locations included in the candidate vacant storage location information group as the target vacant storage location information.

[0103] Optionally, the device 600 further includes a task execution unit configured to control the handling equipment to perform a transportation task in response to determining that the handling of each outbound container corresponding to the handling equipment has been completed.

[0104] It is understandable that the units described in the device 600 are related to the reference. Figure 2 The steps in the described method correspond accordingly. Therefore, the operations, features, and beneficial effects described above for the method also apply to the device 600 and the units contained therein, and will not be repeated here.

[0105] The following is for reference. Figure 7 It illustrates electronic devices suitable for implementing some embodiments of this disclosure (e.g., Figure 1 A schematic diagram of the structure of the controller 700 of the conveying device 101. Electronic devices in some embodiments of this disclosure may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle terminals (e.g., vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 7 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of this disclosure.

[0106] like Figure 7 As shown, the electronic device 700 may include a processing unit (e.g., a central processing unit, a graphics processor, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage device 708 into a random access memory (RAM) 703. The RAM 703 also stores various programs and data required for the operation of the electronic device 700. The processing unit 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0107] Typically, the following devices can be connected to I / O interface 705: input devices 706 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 707 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 708 including, for example, magnetic tapes, hard disks, etc.; and communication devices 709. Communication device 709 allows electronic device 700 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 7 An electronic device 700 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively. Figure 7 Each box shown can represent a device or multiple devices as needed.

[0108] In particular, according to some embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, some embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 709, or installed from storage device 708, or installed from ROM 702. When the computer program is executed by processing device 701, it performs the functions defined above in the methods of some embodiments of this disclosure.

[0109] It should be noted that, in some embodiments of this disclosure, the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In some embodiments of this disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In some embodiments of this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0110] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0111] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device. The aforementioned computer-readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: in response to determining that the transport equipment has traveled to the outbound storage location of the target container, determine whether the outbound task corresponding to the target container is a derivative outbound task based on the storage location information of the target container; in response to determining that the outbound task is a derivative outbound task, determine target empty storage location information based on at least one empty storage location information corresponding to the target container, wherein the empty storage location information in the at least one empty storage location information represents an empty storage location; and control the transport equipment to transport the derivative container corresponding to the derivative outbound task to the empty storage location represented by the target empty storage location information.

[0112] Computer program code for performing operations of some embodiments of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0113] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0114] The units described in some embodiments of this disclosure can be implemented in software or hardware. The described units can also be housed in a processor; for example, a processor may be described as including a first determining unit, a second determining unit, and a control unit. The names of these units do not necessarily limit the specific unit; for example, a control unit may also be described as "a unit that controls the aforementioned handling equipment to move the derived container corresponding to the aforementioned derived outbound task to the empty storage location represented by the aforementioned target empty storage location information."

[0115] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0116] Some embodiments of this disclosure also provide a computer program product, including a computer program that, when executed by a processor, implements any of the container handling methods described above.

[0117] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A method for handling containers, comprising: In response to determining that the handling equipment has traveled to the outbound storage location of the target container, the system determines whether the outbound task corresponding to the target container is a derived outbound task based on the storage location information of the target container. In response to determining that the outbound task is a derivative outbound task, target empty storage information is determined based on at least one empty storage space information corresponding to the target container, wherein the empty storage space information in the at least one empty storage space information represents an empty storage space, wherein the at least one empty storage space information is in the same column of the container shelf to control the derivative container corresponding to the derivative outbound task to move only in the same column of the container shelf. Control the handling equipment to move the derivative container corresponding to the derivative outbound task to the empty storage location represented by the target empty storage location information; The step of determining the target empty storage information based on at least one empty storage space information corresponding to the target container includes: in response to determining that the storage layer numbers included in the at least one empty storage space information are the same, determining the empty storage space information representing the second storage space among the at least one empty storage space information as the target empty storage space information; in response to determining that the storage layer numbers included in the at least one empty storage space information are different, selecting the empty storage space information with the largest storage layer number from the at least one empty storage space information.

2. The method according to claim 1, wherein, The method further includes: In response to determining that the transfer of the derived container is complete, the transfer device is controlled to transfer the target container to the buffer position of the transfer device.

3. The method according to claim 1, wherein, The storage location information includes the storage location; and The step of determining whether the outbound task corresponding to the target container is a derived outbound task based on the storage location information of the target container includes: In response to the storage location information including the storage location characterizing the first storage location, the outbound task corresponding to the target container is determined to be a non-derived outbound task; In response to the storage location information including the storage location representing the second storage location, and the first storage location corresponding to the storage location storing a container, the outbound task corresponding to the target container is determined to be a derived outbound task.

4. The method according to claim 1, wherein, The storage location information includes container shelf column number, which represents the container shelf; and Before determining the target empty storage space information based on at least one empty storage space information corresponding to the target container, the method further includes: Determine the empty storage space information for each empty storage space in the container shelf corresponding to the column number of the container shelf.

5. The method according to claim 1, wherein, The step of determining the target empty storage space information based on at least one empty storage space information corresponding to the target container includes: In response to determining that the number of empty storage locations included in the at least one empty storage location information is 1, the empty storage location information corresponding to the target container is determined as the target empty storage location information.

6. The method according to claim 1, wherein, The step of determining the target empty storage space information based on at least one empty storage space information corresponding to the target container further includes: In response to the number of selected vacant storage locations being 1, the selected vacant storage location is determined as the target vacant storage location.

7. The method according to claim 6, wherein, The step of determining the target empty storage space information based on at least one empty storage space information corresponding to the target container further includes: In response to the fact that the number of selected vacant storage locations is greater than 1, the vacant storage location information representing the second storage location among the selected vacant storage location information is determined as the target vacant storage location information.

8. The method according to claim 2, wherein, The method further includes: In response to determining that the handling equipment has completed the handling of each outbound container, the handling equipment is controlled to perform the transportation task.

9. A container handling device, comprising: The first determining unit is configured to, in response to determining that the handling equipment has traveled to the outbound storage location of the target container, determine whether the outbound task corresponding to the target container is a derived outbound task based on the storage location information of the target container; The second determining unit is configured to, in response to determining that the outbound task is a derived outbound task, determine target empty storage information based on at least one empty storage information corresponding to the target container, wherein the empty storage information in the at least one empty storage information represents an empty storage space, and wherein the at least one empty storage information is in the same column of the container shelf to control the derived container corresponding to the derived outbound task to move only in the same column of the container shelf. The control unit is configured to control the handling equipment to move the derivative container corresponding to the derivative outbound task to the empty storage location represented by the target empty storage location information. The second determining unit is further configured to: in response to determining that the at least one empty storage space information includes the same storage layer number, determine the empty storage space information representing the second storage space among the at least one empty storage space information as the target empty storage space information; in response to determining that the at least one empty storage space information includes different storage layer numbers, select the empty storage space information with the largest storage layer number from the at least one empty storage space information.

10. An electronic device, comprising: One or more processors; A storage device on which one or more programs are stored; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-8.

11. A computer-readable medium having a computer program stored thereon, wherein, When the program is executed by the processor, it implements the method as described in any one of claims 1-8.

12. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1-8.

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