Goods Scheduling Method, Device, Equipment, Warehousing System and Storage Medium

Abstract

An embodiment of the present disclosure provides a goods scheduling method, device, equipment, warehousing system, and storage medium. The method includes: determining each to-be-scheduled good at the goods entrance of a target conveyor line, where the target conveyor line includes at least two picking positions, and the picking rates of at least two picking positions are different; determining the picking position and placement order corresponding to each to-be-scheduled good according to the picking positions corresponding to each first good being transported on the target conveyor line and the picking rates of each picking position, so as to place each to-be-scheduled good on the target conveyor line based on the placement order, and perform picking of each to-be-scheduled good by the corresponding picking position, achieving automatic allocation of picking positions and determination of the placement order for each to-be-scheduled good based on the picking rates and picking situations of each picking position on the conveyor line, thereby reducing the time for all to-be-scheduled goods to be completely picked and improving the goods picking efficiency.

Description

[0001] This application is a divisional application of the invention patent application with the application number 202110945552.X, the application date of August 18, 2021, and the invention creation name of "Goods Scheduling Method, Device, Equipment, Warehousing System and Storage Medium", which was submitted to the China National Patent Office. Technical Field

[0002] The present disclosure relates to the technical field of intelligent warehousing, and in particular, to a goods scheduling method, device, equipment, warehousing system and storage medium. Background Art

[0003] The robot-based warehousing system adopts an intelligent operating system, realizes the automatic picking and storing of goods through system instructions, and can operate continuously for 24 hours, replacing manual management and operation, improving the warehousing efficiency, and being widely applied and favored.

[0004] When the warehousing system receives orders such as sorting, packing and outbound, it is necessary to use robots to transport the respective goods corresponding to the orders to the conveyor line, and then transport the goods to each sorting position through the conveyor line, and sort or pack the goods by the operators or robotic arms corresponding to the sorting positions, so as to complete the corresponding orders. In the prior art, the respective goods placed on the robot are often placed on the conveyor line in a set order, such as from top to bottom or from bottom to top, and each good is transported to the corresponding sorting position for sorting. By adopting the above method, it is easy to cause congestion of goods on the conveyor line, and the efficiency of goods transportation and processing is low, which cannot meet the requirements. Summary of the Invention

[0005] The present disclosure provides a goods scheduling method, device, equipment, warehousing system and storage medium, which determine the placement order of each good on the conveyor line based on the conveying condition of the conveyor line and the characteristics of the sorting positions, and improve the efficiency of goods transportation and processing.

[0006] In a first aspect, an embodiment of the present disclosure provides a goods scheduling method, the method includes: determining each to-be-scheduled good at the goods entrance of the target conveyor line, where the target conveyor line includes at least two picking positions, and at least two picking positions among all the picking positions have different picking rates; determining the picking position and the placement order corresponding to each to-be-scheduled good according to the picking positions corresponding to each first good being transported on the target conveyor line and the picking rates of each of the picking positions, so as to place each to-be-scheduled good on the target conveyor line based on the placement order, and perform picking of each to-be-scheduled good by the corresponding picking position.

[0007] Optionally, determining the picking positions and the placement order corresponding to each to-be-scheduled cargo according to the picking positions corresponding to each first cargo being transported on the target conveyor line and the picking rates of each of the picking positions, includes: determining the picking positions corresponding to each to-be-scheduled cargo according to the picking positions corresponding to each first cargo being transported on the target conveyor line and the picking rates of each of the picking positions; determining the placement order of each to-be-scheduled cargo according to the picking positions corresponding to each to-be-scheduled cargo.

[0008] Optionally, determining the picking positions corresponding to each to-be-scheduled cargo according to the picking positions corresponding to each first cargo being transported on the target conveyor line and the picking rates of each of the picking positions, includes: determining the scheduling quantity of the to-be-scheduled cargo corresponding to each of the picking positions to minimize the difference between a first ratio and a second ratio, where the first ratio is the ratio of the picking quantities corresponding to each of the picking positions, the second ratio is the ratio of the picking rates of each of the picking positions, and the picking quantity is the sum of the scheduling quantity corresponding to the picking position and the quantity of the first cargo; determining the picking positions corresponding to each to-be-scheduled cargo according to the scheduling quantity corresponding to each of the picking positions.

[0009] Optionally, determining the placement order of each to-be-scheduled cargo according to the picking positions corresponding to each to-be-scheduled cargo, includes: determining the placement order of each to-be-scheduled cargo according to the picking positions corresponding to each to-be-scheduled cargo, the picking rates of each of the picking positions, and the quantity of the first cargo corresponding to each of the picking positions.

[0010] Optionally, determining the placement order of each to-be-scheduled cargo according to the picking positions corresponding to each to-be-scheduled cargo, the picking rates of each of the picking positions, and the quantity of the first cargo corresponding to each of the picking positions, includes: determining the first picking time of each of the picking positions according to the quantity of the first cargo corresponding to each of the picking positions and the picking rates of each of the picking positions; determining the placement order of each to-be-scheduled cargo according to the first picking time of each of the picking positions, the picking positions corresponding to each to-be-scheduled cargo, and the positions of each of the picking positions.

[0011] Optionally, the target conveyor line includes at least two sub-conveyor lines, each sub-conveyor line includes at least one manual picking position and at least one robotic arm picking position, the picking rate of the manual picking position is less than that of the robotic arm picking position, the manual picking position is picked by an operator, the robotic arm picking position is picked by a robotic arm, and the robotic arm picking positions of each sub-conveyor line of the target conveyor line all correspond to the same robotic arm; determining the scheduling quantity of the goods to be scheduled corresponding to each picking position according to the picking positions corresponding to each first good being transported on the target conveyor line and the picking rates of each picking position, includes: determining a first ratio according to the quantity of the manual picking positions on the target conveyor line, the picking rate of the manual picking positions and the picking rate of the robotic arm picking positions; determining a first total quantity of the first goods corresponding to the manual picking positions of the target conveyor line and a second total quantity of the first goods corresponding to the robotic arm picking positions according to the quantity of the first goods corresponding to each picking position of each sub-conveyor line; determining the scheduling quantity of the goods to be scheduled corresponding to each picking position according to the first ratio, the first total quantity and the second total quantity, so that the ratio of the total quantity of the goods to be picked by each robotic arm picking position of the target conveyor line to the total quantity of the goods to be picked by each manual picking position is close to the first ratio, and / or, making the ratio of the total quantity of the goods to be picked by the robotic arm picking position and the manual picking position of each sub-conveyor line close to a second ratio, and / or, making the total quantity of the goods to be picked by the manual picking positions of each sub-conveyor line close, where the second ratio corresponding to each sub-conveyor line is the ratio of the picking rate of the robotic arm picking position to the first product, and the first product is the product of the quantity of the manual picking positions corresponding to the sub-conveyor line and the picking rate of the manual picking position, and the goods to be picked include the corresponding first goods and the corresponding goods to be scheduled.

[0012] Optionally, the target conveyor line includes a first sub-conveyor line and at least one second sub-conveyor line. When all the goods to be scheduled correspond to the first sub-conveyor line, the first sub-conveyor line is any one of the sub-conveyor lines of the target conveyor line. Determining the scheduling quantity of the goods to be scheduled corresponding to each picking position according to the first ratio, the first total quantity, and the second total quantity includes: determining a first scheduling quantity of the goods to be scheduled corresponding to the manual picking position of the first sub-conveyor line according to the first ratio, the first total quantity, and the second total quantity; determining a second scheduling quantity of the goods to be scheduled corresponding to each picking position of the first sub-conveyor line according to the first scheduling quantity, the quantity of the first goods at the manual picking position of the first sub-conveyor line, the quantity of the first goods at the robotic arm picking position of the first sub-conveyor line, and the second ratio, so as to minimize the difference between the ratio of the second picking quantity to the first picking quantity and the second ratio, where the first picking quantity is the sum of the second scheduling quantity corresponding to the robotic arm picking position of the first sub-conveyor line and the quantity of the corresponding first goods, and the second picking quantity is the sum of the first scheduling quantity, the second scheduling quantity, and the quantity of the corresponding first goods at the manual picking position of the first sub-conveyor line.

[0013] Optionally, the target conveyor line includes a first sub-conveyor line and a second sub-conveyor line. The quantity of goods to be scheduled corresponding to the first sub-conveyor line is the first quantity, and the quantity of goods to be scheduled corresponding to the second sub-conveyor line is the second quantity. Each sub-conveyor line includes at least one manual picking position and at least one robotic arm picking position. The picking rate of the manual picking position is less than that of the robotic arm picking position. The manual picking position is picked by an operator, and the robotic arm picking position is picked by a robotic arm. Moreover, the robotic arm picking positions of each sub-conveyor line of the target conveyor line all correspond to the same robotic arm. According to the picking positions corresponding to each first good being transported on the target conveyor line and the picking rates of each picking position, determining the scheduling quantity of the goods to be scheduled corresponding to each picking position includes: establishing a binary linear equation for the scheduling quantity of the goods to be scheduled corresponding to each picking position according to the first ratio and the quantity of the first goods corresponding to each picking position. Among them, the constraint conditions of the binary linear equation include that the picking quantity corresponding to the manual picking position of the first sub-conveyor line is equal to the picking quantity corresponding to the manual picking position of the second sub-conveyor line, and the ratio of the sum of the picking quantities corresponding to each robotic arm picking position to the sum of the picking quantities corresponding to each manual picking position is equal to the third ratio. Among them, the third ratio is the ratio of the picking rate of the robotic arm picking position to the second product, and the second product is the product of the quantity of the manual picking positions corresponding to the target conveyor line and the picking rate of the manual picking position. The picking quantity is the sum of the quantity of the first goods corresponding to the picking position and the scheduling quantity; solving the binary linear equation to obtain the scheduling quantity of the goods to be scheduled corresponding to each picking position; when the scheduling quantity corresponding to any one picking position is not an integer, rounding the scheduling quantity so that the sum of the scheduling quantities corresponding to each picking position is equal to the sum of the first quantity and the second quantity.

[0014] Optionally, according to the picking positions corresponding to each first good being transported on the target conveyor line and the picking rates of each picking position, determining the picking position corresponding to each goods to be scheduled includes: determining the first picking time of each picking position according to the picking positions corresponding to each first good being transported on the target conveyor line, the picking tasks of each first good, and the picking rates of each picking position; determining the picking position corresponding to each goods to be scheduled according to the first picking time of each picking position.

[0015] Optionally, determining the first picking time of each picking position according to the picking positions corresponding to each first cargo being transported on the target conveyor line and the picking rates of each of the picking positions includes: for each picking position, determining the picking tasks of each of the first cargos corresponding to the picking position being transported on the target conveyor line; and determining the first picking time of the picking position according to the picking tasks of each of the first cargos corresponding to the picking position and the picking rate of the picking position.

[0016] Optionally, determining the picking position corresponding to each cargo to be scheduled according to the first picking time of each picking position includes:

[0017] Determining the picking position corresponding to each cargo to be scheduled according to the first picking time of each picking position, the picking rate of each picking position, and the picking task of each cargo to be scheduled.

[0018] Optionally, the picking positions of the target conveyor line include at least two sub-conveyor lines, each sub-conveyor line includes at least one manual picking position and at least one robotic arm picking position, the picking rate of the manual picking position is less than that of the robotic arm picking position, the manual picking position is picked by an operator, the robotic arm picking position is picked by a robotic arm, and the robotic arm picking positions of each sub-conveyor line of the target conveyor line correspond to the same robotic arm; determining the picking position corresponding to each cargo to be scheduled according to the first picking time of each picking position, the picking rate of each picking position, and the picking task of each cargo to be scheduled includes: determining the picking position corresponding to each cargo to be scheduled according to the first picking time of each manual picking position, the maximum value of the first picking times of each of the robotic arm picking positions, the picking task of each cargo to be scheduled, and the picking rate of each picking position.

[0019] Optionally, determining the placement order of each cargo to be scheduled according to the picking position corresponding to each cargo to be scheduled includes:

[0020] Determining the placement order of each cargo to be scheduled according to the first picking time of each picking position and the picking position corresponding to each cargo to be scheduled.

[0021] Optionally, the target conveyor line includes at least two sub-conveyor lines, each sub-conveyor line includes at least two picking positions, and determining the placement order of each cargo to be scheduled according to the first picking time of each picking position and the picking position corresponding to each cargo to be scheduled includes: determining the placement order of each of the cargos to be scheduled according to the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, and the picking position corresponding to each cargo to be scheduled.

[0022] Optionally, determining the placement order of the goods to be scheduled according to the sub-conveyor lines to which each picking position belongs, the first picking time of each picking position, and the picking positions corresponding to each piece of goods to be scheduled includes:

[0023] For each sub-conveyor line, if the first picking time of the picking position upstream of the sub-conveyor line is less than the first picking time of the picking position downstream, then according to the difference between the first picking time of the upstream picking position and the first picking time of the downstream picking position, the picking positions corresponding to each piece of goods to be scheduled on the sub-conveyor line, and the picking tasks of each piece of goods to be scheduled on the sub-conveyor line, determine the placement order of each piece of goods to be scheduled on the sub-conveyor line, where the conveying direction of the goods on the sub-conveyor line is from the upstream picking position to the downstream picking position.

[0024] Optionally, determining the placement order of the goods to be scheduled according to the sub-conveyor lines to which each picking position belongs, the first picking time of each picking position, and the picking positions corresponding to each piece of goods to be scheduled includes: for each piece of goods to be scheduled, determining the operation time of the goods to be scheduled according to the picking rate of the picking position corresponding to the goods to be scheduled and the picking task of the goods to be scheduled; determining the placement order of each piece of goods to be scheduled according to the sub-conveyor lines to which each picking position belongs, the first picking time of each picking position, the operation time of each piece of goods to be scheduled, and the picking positions corresponding to each piece of goods to be scheduled.

[0025] Optionally, determining the placement order of each piece of goods to be scheduled according to the first picking time of each picking position and the picking positions corresponding to each piece of goods to be scheduled includes: determining each alternative order of the goods to be scheduled; for each alternative order, determining the second picking time of the target conveyor line according to the first picking time of each picking position on the target conveyor line, the picking positions corresponding to each piece of goods to be scheduled, and the order corresponding to each piece of goods to be scheduled in the alternative order; determining the alternative order with the shortest second picking time as the placement order.

[0026] In a second aspect, an embodiment of the present disclosure further provides a goods scheduling device, where the device includes: a goods determination module, configured to determine each piece of goods to be scheduled at the goods entrance of the target conveyor line, where the target conveyor line includes at least two picking positions, and the picking rates of at least two picking positions among all picking positions are different; a goods scheduling module, configured to determine the picking positions and placement order corresponding to each piece of goods to be scheduled according to the picking positions corresponding to each first piece of goods being transported on the target conveyor line and the picking rates of each picking position, so as to place each piece of goods to be scheduled on the target conveyor line based on the placement order, and perform picking of each piece of goods to be scheduled by the corresponding picking position.

[0027] In a third aspect, an embodiment of the present disclosure further provides a goods scheduling device, including: a memory and at least one processor; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the goods scheduling method provided in any embodiment corresponding to the first aspect of the present disclosure.

[0028] In a fourth aspect, an embodiment of the present disclosure further provides a warehousing system, including a target conveyor line, a robot, and the goods scheduling device provided in the embodiment corresponding to the third aspect of the present disclosure. The target conveyor line includes at least two sub-conveyor lines, each sub-conveyor line includes at least two picking positions, and at least two picking positions among all the picking positions have different picking rates.

[0029] In a fifth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the goods scheduling method provided in any embodiment corresponding to the first aspect of the present disclosure is implemented.

[0030] In a sixth aspect, an embodiment of the present disclosure further provides a computer program product, including a computer program. When the computer program is executed by a processor, the goods scheduling method provided in any embodiment corresponding to the first aspect of the present disclosure is implemented.

[0031] For the warehousing system provided with a target conveyor line in the embodiment of the present disclosure, the target conveyor line includes at least two picking positions, and at least two picking positions have different picking rates. In order to improve the efficiency of goods picking, a goods scheduling method is provided. In this goods scheduling method, based on the picking positions corresponding to each first good being transported on the target conveyor line and the picking rates of each picking position, picking positions are allocated to each to-be-scheduled good and the placement order of each to-be-scheduled good is determined, thereby reducing the time when all the to-be-scheduled goods are picked up and improving the goods picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0033] Figure 1 It is an application scenario diagram of the goods scheduling method provided in the embodiment of the present disclosure;

[0034] Figure 2 It is a flowchart of the goods scheduling method provided in an embodiment of the present disclosure;

[0035] Figure 3Schematic diagram of the target conveyor line provided by an embodiment of the present disclosure;

[0036] Figure 4 Schematic diagram of the target conveyor line provided by another embodiment of the present disclosure;

[0037] Figure 5 For the present disclosure Figure 2 Flowchart of step S202 in the illustrated embodiment;

[0038] Figure 6 Schematic diagram of the target conveyor line provided by another embodiment of the present disclosure;

[0039] Figure 7 Flowchart of the goods scheduling method provided by another embodiment of the present disclosure;

[0040] Figure 8 Flowchart of the goods scheduling method provided by another embodiment of the present disclosure;

[0041] Figure 9 For the present disclosure Figure 8 Flowchart of step S804 in the illustrated embodiment;

[0042] Figure 10 For the present disclosure Figure 8 Flowchart of step S804 in the illustrated embodiment;

[0043] Figure 11 For the present disclosure Figure 8 Flowchart of step S806 in the illustrated embodiment;

[0044] Figure 12 Schematic diagram of the goods scheduling device provided by an embodiment of the present disclosure;

[0045] Figure 13 Schematic diagram of the goods scheduling equipment provided by an embodiment of the present disclosure;

[0046] Figure 14 Schematic diagram of the warehousing system provided by an embodiment of the present disclosure.

[0047] Through the above-mentioned drawings, the clear embodiments of the present disclosure have been shown, and there will be more detailed descriptions hereinafter. These drawings and text descriptions are not intended to limit the scope of the concept of the present disclosure in any way, but to illustrate the concept of the present disclosure to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0048] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0049] The technical solutions of the present disclosure and how the technical solutions of the present disclosure solve the above technical problems will be described in detail below with specific embodiments. The following several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present disclosure will be described below with reference to the accompanying drawings.

[0050] The application scenarios of the embodiments of the present disclosure will be explained below:

[0051] Figure 1 FIG. is an application scenario diagram of the goods scheduling method provided by the embodiment of the present disclosure. As Figure 1 shown, the goods scheduling method provided by the embodiment of the present disclosure can be executed by a goods scheduling device, and the goods scheduling device can be a scheduling device of a warehousing system, and its form can be a computer or a server. When the order receiving device 110 of the warehousing system receives a goods picking or outbound order, it generates task information and sends it to the robot 120, such as any idle robot. Via the robot 120, each corresponding good 130 in the order, Figure 1 Taking 2 goods 130 as an example, is transported to the goods inlet I of the conveyor line 140, and the good 130 is placed on the conveyor line 140 and transported to the corresponding picking position through the conveyor line 140, such as a manual picking position or a robotic arm picking position. The picking or packing and outbound of the good 130 are completed at the corresponding picking position. If the good 130 after picking needs to be returned to the warehouse, the good 130 can be transported to the goods outbound E through the conveyor line 140, and then by any robot, such as the robot 120, the good 130 is transported to the warehouse and the warehousing of the good 130 is completed, such as storing the good 130 in the original storage location or a reallocated storage location.

[0052] In some embodiments, the conveyor line 140 can be in the shape of a U, a ring, a strip, a rectangle, etc., or can also be an irregular shape, such as a stepped shape, which can be specifically determined according to the actual environment of the warehousing system.

[0053] In some embodiments, the conveying direction of the conveyor line 140 can be one-way or two-way.

[0054] In order to improve efficiency, multiple picking positions are often set on one conveyor line 140. Figure 1Take two picking positions as an example. In the prior art, when there are multiple goods 130 at the goods inlet I of the conveyor line 140, the goods 130 on each layer of the temporary storage shelf 121 of the robot 120 are usually placed on the conveyor line 140 in a default order, such as from high to low or from low to high, and are alternately transported to each picking position for sorting of the goods 130. For example, the first good placed on the conveyor line 140 is transported to a picking position farther from the goods inlet I for picking, while the second good placed on the conveyor line 140 is transported to a picking position closer to the goods inlet I for picking.

[0055] In the prior art, in the goods scheduling method of alternately allocating goods 130 to each picking position, since the situation of the picking tasks currently being processed at each picking position of the conveyor line 140 is not considered, there will be a situation where one picking position has a long idle time, while multiple goods 130 wait for picking at another picking position for a long time, resulting in low goods picking efficiency.

[0056] To improve the efficiency of goods transportation and picking, an embodiment of the present disclosure provides a goods scheduling method. The main idea of this method is: based on the picking situation of each picking position of the target conveyor line and the picking rate of each picking position, determine the picking position corresponding to each goods to be scheduled and the placement order of each goods to be scheduled, so as to reduce the time required for all goods to be scheduled to be picked and improve the goods picking efficiency.

[0057] Figure 2 The flowchart of the goods scheduling method provided by an embodiment of the present disclosure is as Figure 2 shown. This goods scheduling method is applicable to a warehousing system and can be executed by a goods scheduling device. The goods scheduling method provided in this embodiment includes the following steps:

[0058] Step S201, determine each goods to be scheduled at the goods inlet of the target conveyor line.

[0059] Among them, the goods inlet is the position where goods are placed on the target conveyor line. The target conveyor line includes at least two picking positions, and at least two picking positions among all picking positions have different picking rates. A picking position is configured as an area on a conveyor line for picking, packing, etc. of goods transported to the working area of the picking position. The goods to be scheduled can be goods in a warehouse of a warehousing system that need to be operated by a picking position.

[0060] In some embodiments, the target conveyor line may only include one conveyor line, and multiple picking positions are provided on this conveyor line to transport the goods to be scheduled through the conveying mechanism of the conveyor line and pick the goods to be scheduled through each picking position.

[0061] In some embodiments, the target conveyor line may include two, three, four or other numbers of sub-conveyor lines. Each sub-conveyor line can convey and pick the goods to be scheduled accordingly, and each sub-conveyor line can correspond to a set of goods inlets and goods outlets.

[0062] In some embodiments, one or more picking positions may be provided on each sub-conveyor line. The number of picking positions on each sub-conveyor line may be the same or different, and the sub-conveyor line may include 2, 3, 4 or other numbers of picking positions.

[0063] In some embodiments, the picking positions on the sub-conveyor line may include two types: manual picking positions and robotic arm picking positions. The manual picking positions can be used by operators to pick goods, while the robotic arm picking positions use robotic arms to pick goods.

[0064] In some embodiments, the robotic arm picking positions on each sub-conveyor line of the same target conveyor line can be picked by the same robotic arm.

[0065] Exemplarily, Figure 3 is a schematic structural diagram of a target conveyor line provided by an embodiment of the present disclosure. As Figure 3 shown, the target conveyor line 300 includes two U-shaped sub-conveyor lines 310. Each sub-conveyor line 310 includes two picking positions, a manual picking position 311 and a robotic arm picking position 312, which are respectively arranged on the two straight sides of the U-shaped sub-conveyor line. And the robotic arm picking positions 312 of the two sub-conveyor lines 310 are picked by the same robotic arm 313. The robotic arm 313 can rotate, such as rotating along the Figure 3 directions corresponding to the two arcs with arrows in. The maximum rotation angle can be 90°, 180°, 360° or other angles, and the present disclosure does not limit this. The working range of the robotic arm 313 is a circular area with the center of the robotic arm 313 as the center and the arm length of the robotic arm 313 as the radius, such as the area corresponding to the dotted circle in Figure 3 .

[0066] Exemplarily, Figure 4 is a schematic structural diagram of a target conveyor line provided by another embodiment of the present disclosure. As Figure 4 shown, the target conveyor line 400 includes 4 sub-conveyor lines, namely sub-conveyor line 401 to sub-conveyor line 404. Two picking positions are provided on each sub-conveyor line.

[0067] Specifically, the goods identifiers of each goods to be scheduled can be identified at the goods inlet of the target conveyor line, and then each goods to be scheduled can be determined based on the goods identifier.

[0068] In some embodiments, a robot can transport each cargo to be scheduled to the cargo inlet of the target conveyor line, and the robot can send the cargo identifier of each cargo to be scheduled to the cargo scheduling device.

[0069] Specifically, after receiving an order, such as receiving the order by an order receiving device, and then sending the order information of the order to the cargo scheduling device, the order information may include information such as an order number and order requirements. The cargo scheduling device determines the target operating table corresponding to the order, assigns the order to the target operating table, determines the conveyor line corresponding to the target operating table as the target conveyor line, and determines each cargo to be scheduled corresponding to the target conveyor line based on the order requirements of the order.

[0070] Step S202: Determine the picking positions and placement order corresponding to each cargo to be scheduled according to the picking positions corresponding to each first cargo being transported on the target conveyor line and the picking rates of each picking position, so as to place each cargo to be scheduled on the target conveyor line based on the placement order, and perform picking of each cargo to be scheduled by the corresponding picking positions.

[0071] Among them, the cargo to be scheduled is the cargo that has been transported to the cargo inlet of the target conveyor line and needs to be sorted by the target conveyor line. The cargo to be scheduled has not been placed on the target conveyor line yet. The first cargo is the cargo that has been placed on the target conveyor line and the target conveyor line is transporting it, or can be understood as the cargo that has been assigned to each picking position and placed on the target conveyor line, etc. After determining the picking position corresponding to the cargo to be scheduled and placing the cargo to be scheduled on the target conveyor line, the cargo to be scheduled is converted into the above-mentioned first cargo.

[0072] When the cargo to be scheduled is transported to the cargo inlet of the target conveyor line, there may be one or more first cargos being transported on the target conveyor line. Then, the picking positions and the placement order corresponding to each cargo to be scheduled can be determined based on the picking positions corresponding to each first cargo and the picking rates of each picking position. Specifically, the picking position corresponding to the first cargo to be scheduled in the placement order should preferably select the picking position with the fewest corresponding first cargos and the highest picking rate.

[0073] Specifically, each picking position can be sorted according to the corresponding first cargos and picking rates, and the picking positions and placement order corresponding to each cargo to be scheduled are determined based on the sorting result.

[0074] Furthermore, for each picking position, the first score of the picking position can be determined according to the quantity of each first cargo corresponding to the picking position and the picking rate of the picking position, and each picking position is sorted from high to low according to the first score to obtain the sorting result.

[0075] Further, for each picking position, the first score of the picking position can be determined according to the sum of the picking tasks of each first good corresponding to the picking position, that is, the total picking task of the first good, and the picking rate of the picking position. Then, the picking positions are sorted from high to low according to the first score to obtain a sorting result. Among them, the first score of the picking position is positively correlated with the picking rate of the picking position and inversely correlated with the task volume of the total picking task of the picking position. The first score can be used to describe the time required for the picking position to complete all the first goods. The higher the first score, the shorter the required time.

[0076] Exemplarily, the first score S of the i-th picking position i The relational expression can be: Or, Where, v i is the picking rate of the i-th picking position; m i is the sum of the picking tasks of each first good corresponding to the i-th picking position, or the quantity of each first good corresponding to the i-th picking position; w 1 , w 2 and w 3 are the first weight value, the second weight value and the third weight value respectively.

[0077] In some embodiments, when there is a first good being picked or waiting to be picked at the picking position, the goods to be scheduled downstream of the picking position can still be conveyed to the downstream picking position through this picking position, and the placement order can be consistent with the sorting result of the first scores of the picking positions corresponding to the goods to be scheduled.

[0078] In some embodiments, if the quantity of each first good corresponding to each picking position is 0, or the ratio of the picking rates of each picking position is consistent with the ratio of the quantities of the corresponding first goods, the goods to be scheduled corresponding to each picking position can be determined based on the picking rates of each picking position, and then the placement order of each goods to be scheduled can be determined based on the positions of each picking position, that is, the distance from the goods inlet. Specifically, the placement order of the goods to be scheduled corresponding to the picking position farther from the goods inlet is more forward.

[0079] Exemplarily, assume that there are 5 picking positions on the target conveyor line. The picking positions from the nearest to the farthest from the goods entrance are picking position 1 to picking position 5. The ratio of the picking rates of picking position 1 to picking position 5 is 1:1:1:3:2, and there is no first good being transported on the target conveyor line, that is, its quantity is 0. The quantity of goods to be scheduled is 16, and the picking task for each good to be scheduled is to pick 100 items A1. Then, the quantities of goods to be scheduled corresponding to picking position 1 to picking position 5 can be determined as: 2, 2, 2, 6, 4. The placement order of the goods to be scheduled is: 4 goods to be scheduled corresponding to picking position 5, 6 goods to be scheduled corresponding to picking position 4, 2 goods to be scheduled corresponding to picking position 3, 2 goods to be scheduled corresponding to picking position 2, and 2 goods to be scheduled corresponding to picking position 1.

[0080] Further, after determining the placement order, based on this placement order, the robot can be controlled to place each good to be scheduled on the target conveyor line.

[0081] The goods scheduling method provided by the embodiments of the present disclosure is directed to a warehousing system provided with a target conveyor line. The target conveyor line includes at least two picking positions, and the picking rates of the at least two picking positions are different. In order to improve the efficiency of goods picking, a goods scheduling method is provided. In this goods scheduling method, based on the picking positions corresponding to each first good being transported on the target conveyor line and the picking rates of each picking position, picking positions are allocated to each good to be scheduled and the placement order of each good to be scheduled is determined, thereby reducing the time when all the goods to be scheduled are picked up and improving the goods picking efficiency.

[0082] Optionally, Figure 5 For the present disclosure Figure 2 The flowchart of step S202 in the illustrated embodiment is as Figure 5 shown. Step S202 may include the following steps:

[0083] Step S2021, determine the picking positions corresponding to each good to be scheduled according to the picking positions corresponding to each first good being transported on the target conveyor line and the picking rates of each picking position.

[0084] Specifically, according to the picking positions corresponding to the first goods, the quantities of the first goods corresponding to each picking position can be counted. Furthermore, based on the quantities of the first goods corresponding to each picking position and the picking rates of each picking position, the picking positions corresponding to each good to be scheduled are determined.

[0085] In some embodiments, the picking tasks for each goods to be scheduled may be the same. Determining the picking positions corresponding to each goods to be scheduled according to the picking positions corresponding to each first good being transported on the target conveyor line and the picking rates of each of the picking positions includes: determining the scheduling quantities of the goods to be scheduled corresponding to each of the picking positions according to the picking positions corresponding to each first good being transported on the target conveyor line and the picking rates of each of the picking positions, so as to minimize the difference between the first ratio and the second ratio, and determining the picking positions corresponding to each goods to be scheduled according to the scheduling quantities corresponding to each of the picking positions. The picking task of the goods to be scheduled includes picking a corresponding quantity of target items from the goods to be scheduled. The goods to be scheduled may store only one type of item, i.e., the target item, or may store multiple types of items. The goods to be scheduled may be a bin.

[0086] Wherein, the first ratio is the ratio of the picking quantities corresponding to each of the picking positions, the second ratio is the ratio of the picking rates of each of the picking positions, and the picking quantity is the sum of the scheduling quantity corresponding to the picking position and the quantity of the first goods.

[0087] Specifically, after determining the scheduling quantities of the goods to be scheduled corresponding to each picking position, since the picking tasks of each goods to be scheduled are the same, it is only necessary to allocate each goods to be scheduled corresponding to its scheduling quantity to each picking position according to the determined scheduling quantity.

[0088] Exemplarily, assume that the target conveyor line includes 2 picking positions, picking position 6 and picking position 7. Picking position 6 corresponds to 2 first goods, picking position 7 corresponds to 5 first goods. The ratio of the picking rates of picking position 6 and picking position 7 is 1:2. The quantity of the goods to be scheduled is 11, and the picking tasks of each goods to be scheduled are the same. Then it can be determined that the scheduling quantity of the goods to be scheduled corresponding to picking position 6 is 4, and the scheduling quantity of the goods to be scheduled corresponding to picking position 7 is 7, so that the picking quantity corresponding to picking position 6 is 6, while the picking quantity corresponding to picking position 7 is 12, which is consistent with the ratio of their picking rates. After determining the scheduling quantities of the picking positions, any 4 goods to be scheduled can be corresponded to picking position 6, and the remaining 7 goods to be scheduled can be corresponded to picking position 7.

[0089] Step S2022, determining the placement order of each goods to be scheduled according to the picking position corresponding to each goods to be scheduled.

[0090] Specifically, after determining the picking positions corresponding to each goods to be scheduled, in order to reduce the time required to pick all the goods to be scheduled, the placement order of the first batch of goods to be scheduled can be determined first, and the placement orders of the subsequent goods to be scheduled are alternately placed in the order of the ratio of the picking rates and from far to near from the goods entrance.

[0091] Specifically, according to the first goods corresponding to each picking position and the picking rate of each picking position, the placement order of the first batch of goods to be scheduled can be determined. For example, the fewer the quantity of the first goods corresponding to the picking position, or the smaller the sum of the picking tasks of the corresponding first goods, or the shorter the first picking time corresponding to the picking position, the more forward the placement order of the goods to be scheduled corresponding to the picking position. Thus, after the first batch of goods to be scheduled are placed on the target conveyor line in the determined order, the total picking task corresponding to each picking position is consistent with its picking rate, thereby offsetting the differences in the first picking times of each picking position and making the final times for each picking position to complete the corresponding first goods and the goods to be scheduled corresponding to the first batch of goods to be scheduled as consistent or close as possible.

[0092] Optionally, according to the picking positions corresponding to each goods to be scheduled, the placement order of each goods to be scheduled is determined, including: according to the picking positions corresponding to each goods to be scheduled, the quantity of the first goods corresponding to each picking position, and the picking rate of each picking position, the placement order of each goods to be scheduled is determined.

[0093] Specifically, when determining the placement order, in order to enable the goods to be scheduled placed first on the target conveyor line to be picked as early as possible, it is necessary to determine the picking position corresponding to the goods placed first on the target conveyor line based on the quantity of the first goods corresponding to each picking position and the picking rate of each picking position, and so on, thereby determining the placement order of each goods to be scheduled.

[0094] Specifically, the ratio of the quantity of the first goods corresponding to the picking position where the goods to be scheduled placed first on the target conveyor line is located to its picking rate is the smallest, that is, the smaller the ratio of the quantity of the first goods corresponding to the picking position to its picking rate, the more forward the placement order of the goods to be scheduled corresponding to the picking position.

[0095] In some embodiments, Figure 6 is a schematic structural diagram of the target conveyor line provided by another embodiment of the present disclosure, as Figure 6As shown, the width of the target conveyor line only supports the passage of one cargo, that is, two cargos cannot be transported in parallel. The cargo is transported along the direction corresponding to the arrow on the target conveyor line. Each picking position on the target conveyor line corresponds to one or more buffer storage positions for storing the first cargo to be picked by this picking position. The number of buffer storage positions can be determined according to the distance between two adjacent picking positions. When there is a first cargo at a picking position, the to-be-scheduled cargo corresponding to the picking position downstream of this picking position can only be transported to the downstream picking position after all the first cargos at this picking position have been picked. Thus, when determining the placement order, the placement order of each to-be-scheduled cargo can be determined according to the picking position corresponding to each to-be-scheduled cargo and the positions of each picking position. Among them, the position of the picking position can be represented by the length of the path from the cargo entrance to the path corresponding to this picking position.

[0096] Optionally, determining the placement order of each to-be-scheduled cargo according to the picking position corresponding to each to-be-scheduled cargo, the quantity of the first cargo corresponding to each picking position, and the picking rate of each picking position includes: determining the first picking time of each picking position according to the quantity of the first cargo corresponding to each picking position and the picking rate of each picking position; determining the placement order of each to-be-scheduled cargo according to the first picking time of each picking position, the picking position corresponding to each to-be-scheduled cargo, and the positions of each picking position.

[0097] Among them, the first picking time can be used to evaluate the time required for each picking position to pick all the first cargos.

[0098] Specifically, the first picking time corresponding to the picking position can be determined by the ratio of the quantity of the first cargo corresponding to this picking position to the picking rate of this picking position.

[0099] Specifically, it can be determined that the picking position corresponding to the to-be-scheduled cargo placed first on the target conveyor line is the picking position with the shortest first picking time.

[0100] Specifically, when there are multiple picking positions with the same first picking time, along the conveying direction, the placement order of the to-be-scheduled cargo corresponding to the picking position farther from the cargo entrance is more forward.

[0101] Specifically, when determining the placement order, the less the quantity of the first cargo corresponding to the picking position corresponding to the to-be-scheduled cargo, the higher the picking rate, and the farther the position of the picking position is from the cargo entrance, the more forward the placement order of this to-be-scheduled cargo.

[0102] In the present disclosure, the distance between the position of the picking position and the cargo entrance can be determined by the distance traveled from the cargo entrance along the conveying direction of the target conveyor line to the picking position.

[0103] Exemplarily, assume that the target conveyor line includes 2 picking positions, picking position P1 and picking position P2. Relative to picking position P1, picking position P2 is farther from the goods inlet. Picking position P1 corresponds to 1 first good, and picking position P2 corresponds to 3 first goods. The ratio of the picking rates of picking position P1 and picking position P2 is 1:2. The number of goods to be scheduled is 5, namely goods H1 to goods H5. The picking tasks of each good to be scheduled are the same. Then it can be determined that the picking positions corresponding to H1, H2, and H3 are P2, and the picking positions corresponding to H4 and H5 are P1. The corresponding placement order is: H5, H1, H2, H3, H4, or H4, H1, H2, H3, H5.

[0104] In some embodiments, the picking tasks of different first goods may be different. Therefore, when calculating the first picking time, the picking tasks of each first good should also be considered.

[0105] Figure 7 The flowchart of the goods scheduling method provided by another embodiment of the present disclosure. The goods scheduling method provided by this embodiment is a further refinement of step S2021 and step S202 on the basis of Figure 3 the embodiment shown. As Figure 7 shown, the goods scheduling method provided by this embodiment includes the following steps:

[0106] Step S701, determine each good to be scheduled at the goods inlet of the target conveyor line.

[0107] Step S702, determine the first picking time of each picking position according to the picking positions corresponding to each first good being transported on the target conveyor line, the picking tasks of each first good, and the picking rates of each picking position.

[0108] Specifically, according to the picking positions corresponding to the first goods and the picking tasks of each first good, the sum of the picking tasks corresponding to the first goods corresponding to each picking position can be counted to obtain the total first picking tasks corresponding to each picking position. Then, based on the ratio of the total first picking tasks corresponding to each picking position and the picking rates of each picking position, the first picking time of each picking position is determined.

[0109] Step S703, determine the picking positions corresponding to each good to be scheduled according to the first picking time of each picking position.

[0110] Specifically, according to the first picking time of each picking position, determine the picking positions corresponding to each good to be scheduled, so that the time for each picking position to complete the corresponding good to be scheduled is as close as possible, thereby improving the overall picking efficiency of the goods to be scheduled.

[0111] In some embodiments, if the picking tasks of the goods to be scheduled are the same, the quantity of the goods to be scheduled corresponding to each picking position can be determined based on the first picking time of each picking position and the picking rate of each picking position, so as to determine the goods to be scheduled with a quantity match as the goods to be scheduled corresponding to this picking position.

[0112] In some embodiments, if the picking tasks of at least two goods to be scheduled are different, determining the picking position corresponding to each good to be scheduled according to the first picking time of each picking position may specifically include: determining the picking position corresponding to each good to be scheduled according to the first picking time of each picking position, the picking rate of each picking position, and the picking task of each good to be scheduled, so as to equalize all the goods to be picked at each picking position, including the first goods and the goods to be scheduled, according to the picking rate.

[0113] Since there are goods to be scheduled with different picking tasks, when allocating picking positions for each good to be scheduled, the picking tasks of each good to be scheduled also need to be considered. Specifically, the picking position corresponding to the first batch of goods to be scheduled can be determined first based on the first picking time of each picking position, the picking task of each good to be scheduled, and the picking rate of each picking position, so that after allocating the first batch of goods to be scheduled to the corresponding picking positions, the difference in the first picking time of each picking position is offset, and the final time for each picking position to complete the corresponding first goods and the goods to be scheduled in the first batch of goods to be scheduled is as consistent or close as possible. Then, according to the picking rate of each picking position and the picking task of each good to be scheduled, the picking position corresponding to each of the remaining goods to be scheduled except the first batch of goods to be scheduled is determined, so that the ratio of the sum of the picking tasks of the goods to be scheduled allocated to each picking position is as close as possible to the ratio of the picking rates of each picking position.

[0114] Exemplarily, assume that the target conveyor line includes 2 picking positions, namely picking position P3 and picking position P4. The corresponding first picking times of picking position P3 and picking position P4 are 10s and 28s respectively. The ratio of the picking rates of picking position P3 and picking position P4 is 1:3. The number of goods to be scheduled is 5, namely goods H6 to goods H10. The picking tasks of goods H6 to H9 are the same, and the picking task of goods H10 is twice that of goods H6. The time required for picking position P4 to complete the task volume corresponding to the picking task of goods H6 is 2s. Then the first batch of goods to be scheduled can be any one of goods H6 to H9, such as goods H6, and its corresponding picking position is P4. Thus, the time required for the picking tasks of each remaining goods to be picked by picking position P4 is 30s (the time required for picking position P3 is 10s), so as to be equal to the ratio of the picking rates of picking position P3 and picking position P4, both being 1:3. For the remaining goods to be scheduled, namely goods H7 to H10, they can be divided first based on the picking rate and picking task, that is, first determine that the picking position corresponding to goods H7 is picking position P3, and determine that the picking positions corresponding to goods H8 and H10 are picking position P4 (the total task volume ratio is equal to the picking rate ratio). Since the picking rate of picking position P4 is higher, the picking position corresponding to the remaining one good H9 can be picking position P4, so as to improve the overall picking rate, that is, the picking positions corresponding to goods H8 to H10 are picking position P4, and the picking position corresponding to goods H7 is picking position P3.

[0115] Optionally, the picking positions of the target conveyor line include at least two sub-conveyor lines. Each sub-conveyor line includes at least one manual picking position and at least one robotic arm picking position. The picking rate of the manual picking position is less than that of the robotic arm picking position. The manual picking position is picked by an operator, and the robotic arm picking position is picked by a robotic arm. Moreover, the robotic arm picking positions of each sub-conveyor line of the target conveyor line correspond to the same robotic arm.

[0116] Correspondingly, determining the picking position corresponding to each goods to be scheduled according to the first picking time of each picking position, the picking rate of each picking position, and the picking task of each goods to be scheduled includes: determining the picking position corresponding to each goods to be scheduled according to the maximum value among the first picking times of each manual picking position and the first picking times of each robotic arm picking position, the picking task of each goods to be scheduled, and the picking rate of each picking position.

[0117] When the target conveyor line consists of multiple sub-conveyor lines, since the picking positions of all robotic arms are picked by the same robotic arm, when determining the picking positions of the goods to be scheduled, it is necessary to consider the maximum value of the first picking time corresponding to the picking positions of the robotic arms on each sub-conveyor line, as well as the first picking time of each manual picking position, the picking tasks of each goods to be scheduled, and the picking rates of each picking position, so as to determine the picking positions corresponding to each goods to be scheduled.

[0118] Specifically, taking an example where each sub-conveyor line includes a manual picking position and a robotic arm picking position, when the maximum value of the first picking time corresponding to the picking positions of the robotic arms on the target conveyor line is greater than the first picking time of each manual picking position, for each sub-conveyor line, based on the difference between the maximum value and the first picking time of the manual picking position on this sub-conveyor line, the picking tasks of each goods to be scheduled corresponding to this sub-conveyor line, and the picking rates of each picking position on this sub-conveyor line, including the manual picking position and the robotic arm picking position, the picking positions corresponding to each goods to be scheduled on this sub-conveyor line can be determined.

[0119] Furthermore, for each sub-conveyor line, the goods to be scheduled can be sorted in ascending order according to the task volume of the picking tasks. After obtaining the difference between the maximum value of the first picking time of the robotic arm picking position and the first picking time of the manual picking position on this sub-conveyor line, based on the product of the picking rate of the manual picking position and this difference, one or more goods to be scheduled corresponding to the manual picking position in the first batch can be determined, so that the picking time for the manual picking position to complete the first batch of goods to be scheduled is equal to or close to this difference. Then, based on the ratio of the picking rate of the manual picking position to the picking rate of the robotic arm picking position, and the picking tasks of the remaining goods to be scheduled, the picking positions corresponding to the remaining goods to be scheduled can be determined, so that the ratio of the total task volume of the goods to be scheduled subsequently allocated to the manual picking position and the robotic arm picking position is equal to or as close as possible to the ratio of their picking rates, thereby improving the picking rate.

[0120] Exemplarily, assume that the target conveyor line includes two sub-conveyor lines, the first sub-conveyor line L1 and the second sub-conveyor line L2. Each sub-conveyor line includes two picking positions, one manual picking position and one robotic arm picking position. And the robotic arm picking positions of the two sub-conveyor lines are picked by the same robotic arm. The first picking times of the manual picking position and the robotic arm picking position of L1 are 10s and 5s respectively. The first picking times of the manual picking position and the robotic arm picking position of L2 are 9s and 16s respectively. The picking rate ratio of the manual picking position to the robotic arm picking position is 1:3. L1 corresponds to 4 goods to be scheduled, namely goods H11 - H14. If all are picked by the manual picking position, the picking times required for H11 - H14 are 2s, 4s, 2s, and 3s in sequence. L2 corresponds to 5 goods to be scheduled, namely goods H21 - H25. If all are picked by the manual picking position, the picking times required for H21 - H25 are 2s, 3s, 4s, 2s, and 2s in sequence. Then the first batch of goods to be scheduled corresponding to the manual picking position of L1 can be H11 and H12. The first batch of goods to be scheduled corresponding to the manual picking position of L2 can be H22 and H23. H13 corresponds to the manual picking position of L1, and H14 corresponds to the robotic arm picking position of L1. H21 corresponds to the manual picking position of L2, and H24 and H25 correspond to the robotic arm picking position.

[0121] Step S704, determine the placement order of each goods to be scheduled according to the first picking time of each picking position and the picking position corresponding to each goods to be scheduled.

[0122] Specifically, after determining the picking position corresponding to each goods to be scheduled to equalize the picking tasks of each picking position based on the picking rate, in order to further improve the picking efficiency, it is also necessary to determine the placement order of each goods to be scheduled, so as to reduce the idle time of each picking position.

[0123] Furthermore, the above placement order can be determined according to the first picking time of each picking position, the picking rate of each picking position, the picking position corresponding to each goods to be scheduled, and the picking task of each goods to be scheduled. Specifically, according to the first picking time of each picking position, the picking position with the least first picking time can be obtained, and it is determined that the picking position corresponding to the first goods to be placed on the target conveyor line is the picking position with the least first picking time. Then, in combination with the picking rate of this picking position and the picking task of the first goods to be placed, estimate the time required for this picking position to complete the first goods to be placed, so as to update the first picking time of this picking position, obtain the new picking position with the least first picking time, and then determine that the picking position corresponding to the second goods to be placed on the target conveyor line is the new picking position with the least first picking time, and so on, to determine the placement order of each goods to be scheduled.

[0124] In this embodiment, based on the picking positions corresponding to each first good being transported on the target conveyor line, the picking positions of each first good, and the picking rates of each picking position, the first picking time required for each picking position to complete the picking task of the corresponding first good is determined. Then, based on this first picking time, picking positions are allocated to each to-be-scheduled good at the goods inlet of the target conveyor line, so as to equalize the picking tasks of each picking position based on the picking rate. Furthermore, based on the first picking time of each picking position, the picking rate of each picking position, and the picking positions corresponding to each to-be-scheduled good, the placement order of each to-be-scheduled good is determined, so as to reduce the idle time of each picking position, shorten the time required to complete the picking tasks of all to-be-scheduled goods, and improve the picking efficiency.

[0125] Figure 8 The flowchart of the goods scheduling method provided in another embodiment of the present disclosure. This embodiment is directed to the case where the target conveyor line includes at least two sub-conveyor lines. Each sub-conveyor line includes at least one manual picking position and at least one robotic arm picking position. The picking rate of the manual picking position is less than that of the robotic arm picking position. The manual picking position is picked by an operator, and the robotic arm picking position is picked by a robotic arm. And the robotic arm picking positions of each sub-conveyor line of the target conveyor line correspond to the same robotic arm. The goods scheduling method provided in this embodiment is a further refinement of steps S2021 and S2022 based on the Figure 3 embodiment shown. As Figure 8 shown, the goods scheduling method provided in this embodiment includes the following steps:

[0126] Step S801, determine each to-be-scheduled good at the goods inlet of the target conveyor line.

[0127] Specifically, when the target conveyor line includes multiple sub-conveyor lines, each sub-conveyor line corresponds to a goods inlet. Each to-be-scheduled good at the goods inlets of each sub-conveyor line can be determined to obtain each to-be-scheduled good corresponding to each sub-conveyor line.

[0128] Step S802, determine a first ratio according to the number of manual picking positions on the target conveyor line, the picking rate of the manual picking positions, and the picking rate of the robotic arm picking positions.

[0129] Specifically, the relational expression of this first ratio r 1 can be:

[0130]

[0131] where v r is the picking rate of the robotic arm picking position; v p is the picking rate of the manual picking position; n p is the number of manual picking positions on the target conveyor line.

[0132] In some embodiments, the target conveyor line includes a plurality of sub-conveyor lines, and the picking rates of the manual picking positions on each sub-conveyor line are the same, and the picking rates of the robotic arms on each sub-conveyor line are also the same.

[0133] Exemplarily, taking the target conveyor line including two sub-conveyor lines as an example, each sub-conveyor line includes a manual picking position and a robotic arm picking position, that is, the number of manual picking positions is 2, and the ratio of the picking rate of the manual picking position to the picking rate of the robotic arm picking position is 1:3, then the first ratio is 3:2.

[0134] Step S803: Determine the first total quantity of the first goods corresponding to the manual picking positions of the target conveyor line and the second total quantity of the first goods corresponding to the robotic arm picking positions according to the quantities of the first goods corresponding to each picking position of each sub-conveyor line.

[0135] Wherein, the first total quantity is the total quantity of the first goods being transported corresponding to all the manual picking positions on the target conveyor line; the second total quantity is the total quantity of the first goods corresponding to all the robotic arm picking positions or the robotic arms on the target conveyor line.

[0136] Specifically, the first total quantity is the sum of the quantities of the first goods corresponding to each manual picking position of each sub-conveyor line; the second total quantity is the sum of the quantities of the first goods corresponding to each robotic arm picking position of each sub-conveyor line.

[0137] Step S804: Determine the scheduling quantity of the goods to be scheduled corresponding to each picking position according to the first ratio, the first total quantity, and the second total quantity.

[0138] Wherein, the scheduling quantity is the quantity of the goods to be scheduled corresponding to each picking position.

[0139] Through the allocation of the scheduling quantity, the ratio of the total quantity of the goods to be picked by each robotic arm picking position of the target conveyor line to the total quantity of the goods to be picked by each manual picking position is close to the first ratio, and / or the ratio of the total quantity of the goods to be picked by the robotic arm picking position and the manual picking position of each sub-conveyor line is close to the second ratio, and / or the total quantities of the goods to be picked by each manual picking position of each sub-conveyor line are close. Wherein, the second ratio corresponding to each sub-conveyor line is the ratio of the picking rate of the robotic arm picking position to the first product, and the first product is the product of the number of the manual picking positions corresponding to the sub-conveyor line and the picking rate of the manual picking position. The goods to be picked include the corresponding first goods and the corresponding goods to be scheduled.

[0140] Specifically, the ratio of the sum of the second total quantity and the scheduling quantities corresponding to each robotic arm picking position to the sum of the first total quantity and the scheduling quantities corresponding to each manual picking position should be as close as possible to or equal to the above-mentioned first ratio. At the same time, through the scheduling quantities, the sum of the quantities of the first goods and the goods to be scheduled corresponding to each manual picking position on each sub-conveyor line should be as close as possible or equal.

[0141] Exemplarily, the target conveyor line includes two sub-conveyor lines. Each sub-conveyor line includes a manual picking position and a robotic arm picking position. The ratio of the picking rate of the robotic arm picking position to the picking rate of the manual picking position is 3:1. Then the first ratio is 3:2. The quantities of the first goods corresponding to the manual picking position and the robotic arm picking position on the first sub-conveyor line are 2 and 4 respectively, and the quantities of the first goods corresponding to the manual picking position and the robotic arm picking position on the second sub-conveyor line are 3 and 5 respectively. Then the first total quantity is 5, and the second total quantity is 9. The quantities of the goods to be scheduled at the entrances of the first sub-conveyor line and the second sub-conveyor line are 6 and 5 respectively. Then the scheduling quantities of the goods to be scheduled corresponding to the manual picking position and the robotic arm picking position on the first sub-conveyor line are 3 and 3 respectively, and the scheduling quantities of the goods to be scheduled corresponding to the manual picking position and the robotic arm picking position on the second sub-conveyor line are 2 and 3 respectively. Thus, the goods that each manual picking position needs to pick are 10, and the goods that each robotic arm picking position needs to pick are 15. The ratio of 15:10 is equal to the first ratio (3:2); and the total quantity of the goods that each manual picking position on each sub-conveyor line needs to pick is 5.

[0142] Optionally, Figure 9 For the present disclosure Figure 8 The flowchart of step S804 in the illustrated embodiment is as Figure 9 shown. When all the goods to be scheduled correspond to the first sub-conveyor line, the first sub-conveyor line is any one of the sub-conveyor lines of the target conveyor line, that is, there are goods to be scheduled only at the entrance of the first sub-conveyor line, and there are no goods to be scheduled at the entrances of other sub-conveyor lines. Step S804 may include the following steps:

[0143] Step S8041, determine the first scheduling quantity of the goods to be scheduled corresponding to the manual picking position of the first sub-conveyor line according to the first ratio, the first total quantity, and the second total quantity.

[0144] Specifically, the ratio of the second total quantity to the sum of the first scheduling quantity and the first total quantity should be as equal as possible to the first ratio.

[0145] Exemplarily, taking the first ratio as 3:2, the first total quantity as 5, and the second total quantity as 9, the first scheduling quantity can be 1.

[0146] Step S8042: Determine the second scheduling quantity of the goods to be scheduled corresponding to each picking position of the first sub-conveyor line according to the first scheduling quantity, the quantity of the first goods at the manual picking position of the first sub-conveyor line, the quantity of the first goods at the robotic arm picking position of the first sub-conveyor line, and the second ratio, so as to minimize the difference between the ratio of the second picking quantity to the first picking quantity and the second ratio.

[0147] Among them, the first picking quantity is the sum of the second scheduling quantity corresponding to the robotic arm picking position of the first sub-conveyor line and the quantity of the corresponding first goods, and the second picking quantity is the sum of the first scheduling quantity, the second scheduling quantity, and the quantity of the corresponding first goods at the manual picking position of the first sub-conveyor line. The first picking quantity is the sum of the quantities of each goods that need to be picked at the robotic arm picking position of the first sub-conveyor line, including the first goods and the goods to be scheduled, and the second picking quantity is the sum of the quantities of each goods that need to be picked at the manual picking position of the first sub-conveyor line.

[0148] Specifically, the second scheduling quantity should make the following ratio as close as possible to the second ratio:

[0149] (N r1 +n r2 ):(N p1 +n p1 +n p2 )

[0150] Among them, N r1 is the quantity of the first goods at the robotic arm picking position of the first sub-conveyor line; n r2 is the second scheduling quantity at the robotic arm picking position of the first sub-conveyor line; N p1 is the quantity of the first goods at the manual picking position of the first sub-conveyor line; n r1 is the second scheduling quantity at the manual picking position of the first sub-conveyor line; n r2 is the first scheduling quantity at the manual picking position of the first sub-conveyor line.

[0151] Exemplarily, assume that the goods to be scheduled corresponding to the first sub-conveyor line are K. Let the first scheduling quantity at the manual picking position of the first sub-conveyor line be X1. Then, based on the above first ratio, first total quantity, and second total quantity, the solution of X1 can be obtained. When X1 is not a positive integer, rounding should be performed; furthermore, let the second scheduling quantity at the manual picking position of the first sub-conveyor line be X2, and the second scheduling quantity at the robotic arm picking position of the first sub-conveyor line is K - X1 - X2. Based on the quantity of the first goods at each picking position of the first sub-conveyor line and the above second ratio, the solution of X2 can be obtained. When X2 is not a positive integer, rounding should be performed, so as to obtain the second scheduling quantity of each picking position of the first sub-conveyor line.

[0152] Optionally, Figure 10 for the embodiment disclosed in the present disclosure Figure 8 is a flowchart of step S804 in the embodiment shown in the figure. As Figure 10 shown, the target conveyor line includes a first sub-conveyor line and a second sub-conveyor line. The number of goods to be scheduled corresponding to the first sub-conveyor line is the first quantity, and the number of goods to be scheduled corresponding to the second sub-conveyor line is the second quantity. Each sub-conveyor line includes at least one manual picking position and at least one robotic arm picking position. The picking rate of the manual picking position is less than that of the robotic arm picking position. The manual picking position is picked by an operator, and the robotic arm picking position is picked by a robotic arm. Moreover, the robotic arm picking positions of each sub-conveyor line of the target conveyor line correspond to the same robotic arm. Step S804 may include the following steps:

[0153] Step S8043: Establish a binary linear equation for the scheduling quantity of the goods to be scheduled corresponding to each picking position according to the first ratio and the quantity of the first goods corresponding to each picking position.

[0154] Among them, the limiting conditions of the binary linear equation include that the picking quantity corresponding to the manual picking position of the first sub-conveyor line is equal to the picking quantity corresponding to the manual picking position of the second sub-conveyor line, and the ratio of the sum of the picking quantities corresponding to each robotic arm picking position to the sum of the picking quantities corresponding to each manual picking position is equal to the third ratio. The third ratio is the ratio of the picking rate of the robotic arm picking position to the second product, and the second product is the product of the number of manual picking positions corresponding to the target conveyor line and the picking rate of the manual picking position.

[0155] Specifically, a binary linear equation for the scheduling quantity of the goods to be scheduled corresponding to each picking position can be established based on the quantity of the first goods corresponding to each manual picking position, the quantity of the first goods corresponding to each robotic arm, and the above-mentioned first ratio.

[0156] Exemplarily, the first quantity is K 1 , the second quantity is K 2 , the quantities of the first goods corresponding to the manual picking position and the robotic arm picking position of the first sub-conveyor line are N p1 and N r1 respectively, the quantities of the first goods corresponding to the manual picking position and the robotic arm picking position of the second sub-conveyor line are N p2 and N r2 respectively, the first total quantity N 1 is N p1 + N p2 , the second total quantity N 2 is N r1 + N r2 Let the scheduling quantity of the manual picking position of the first sub-conveyor line be x1 , the scheduling quantity of the manual picking position on the second sub-conveyor line is x 2 , then the sum of the scheduling quantities corresponding to the robotic arm picking positions is K 1 -x 1 +K 2 -x 2 , the above binary linear equation can be:

[0157]

[0158] Among them, r 2 is the ratio of the picking rate of the robotic arm picking position to the picking rate of the manual picking position, and can be 3:1.

[0159] The above binary linear equation can also be:

[0160]

[0161] Among them, r 1 is the above first ratio, and can be 3:2.

[0162] Step S8044, solve the binary linear equation to obtain the scheduling quantity of the goods to be scheduled corresponding to each picking position.

[0163] Step S8045, when the scheduling quantity corresponding to any picking position is not an integer, round the scheduling quantity so that the sum of the scheduling quantities corresponding to each picking position is equal to the sum of the first quantity and the second quantity.

[0164] Step S805, determine the picking position corresponding to each goods to be scheduled according to the scheduling quantity corresponding to each picking position.

[0165] When the picking tasks of each goods to be scheduled are the same, for each picking position, each goods to be scheduled with a matching scheduling quantity can be assigned to this picking position.

[0166] Step S806, determine the placement order of each goods to be scheduled according to the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, and the picking position corresponding to each goods to be scheduled.

[0167] Specifically, after determining the picking position corresponding to each goods to be scheduled, for each sub-conveyor line, based on the first picking time of each picking position on this sub-conveyor line and the picking position corresponding to the goods to be scheduled corresponding to this sub-conveyor line, determine the placement order of each goods to be scheduled corresponding to this sub-conveyor line.

[0168] In some embodiments, the robotic arm picking position of each sub-conveyor line is set downstream of the manual picking position. In this case, it is also necessary to determine the placement order based on the positions of the picking positions. That is, for each sub-conveyor line, based on the first picking time of each picking position on the sub-conveyor line, the positions of each picking position, and the picking position corresponding to the goods to be scheduled on the sub-conveyor line, determine the placement order of each goods to be scheduled on the sub-conveyor line.

[0169] In this embodiment, for a target conveyor line including multiple sub-conveyor lines, each sub-conveyor line includes a manual picking position and a robotic arm picking position, and the robotic arm picking positions of each sub-conveyor line are picked by the same robotic arm. During goods scheduling, to improve the picking efficiency, it is necessary to determine the scheduling quantity of the goods to be scheduled corresponding to each picking position based on the first ratio and the quantity of the first goods corresponding to each picking position, or determine the picking position corresponding to each goods to be scheduled, so as to balance the task volume of the manual picking positions of each sub-conveyor line. At the same time, make the ratio of the sum of the task volumes (or the total quantity of goods to be picked) of the manual picking positions of each sub-conveyor line to the sum of the task volumes (or the total quantity of goods to be picked) of the robotic arm picking positions as close as possible to the ratio of the picking rates of the manual picking position and the robotic arm picking position, that is, the second ratio, so that the task allocation conforms to the characteristics of the picking positions of the target conveyor line and improves the picking efficiency. Furthermore, based on the remaining first picking time of each picking position, the picking rate of each picking position, and the picking position corresponding to each goods to be scheduled, determine the placement order to reduce the idle time of each picking position and further improve the picking efficiency.

[0170] Optionally, determining the placement order of the goods to be scheduled according to the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, and the picking position corresponding to each goods to be scheduled includes: for each sub-conveyor line, if the first picking time of the picking position upstream of the sub-conveyor line is less than the first picking time of the picking position downstream of the sub-conveyor line, then according to the difference between the first picking time of the upstream picking position and the first picking time of the downstream picking position, the picking positions corresponding to each goods to be scheduled on the sub-conveyor line, and the picking tasks of each goods to be scheduled on the sub-conveyor line, determine the placement order of each goods to be scheduled on the sub-conveyor line.

[0171] Wherein, the conveying direction of the goods on the sub-conveyor line points from the upstream picking position to the downstream picking position.

[0172] In some embodiments, two picking positions are provided on each sub-conveyor line. The upstream picking position can be a manual picking position, and the downstream picking position can be a robotic arm picking position; or, the upstream picking position can be a robotic arm picking position, and the downstream picking position is a manual picking position.

[0173] The first picking time of the picking position upstream is less than the first picking time of the picking position downstream, that is, the picking position upstream finishes picking the corresponding first goods earlier than the picking position downstream. Then, based on the difference between the first picking times of the picking positions upstream and downstream of the same sub-conveyor line, as well as the picking positions and picking tasks corresponding to each to-be-scheduled good on this sub-conveyor line, the placement order of each to-be-scheduled good on this sub-conveyor line can be determined.

[0174] Specifically, when the difference between the first picking times is small, such as less than the first difference value, e.g., 3 s, it is determined that the good to be placed first on this sub-conveyor line is the to-be-scheduled good corresponding to the picking position downstream. Then, one or more to-be-scheduled goods are determined from the to-be-scheduled goods corresponding to the picking position downstream as the first or the first batch of to-be-scheduled goods to be placed on this sub-conveyor line. The to-be-scheduled goods placed on this sub-conveyor line are regarded as the first goods on this sub-conveyor line. Then, by analogy, the placement order of each subsequent to-be-scheduled good is determined; while when the difference between the first picking times is large, such as greater than the second difference value, e.g., 10 s, it is determined that the good to be placed first on this sub-conveyor line is the to-be-scheduled good corresponding to the picking position upstream. Then, one or more to-be-scheduled goods are determined from the to-be-scheduled goods corresponding to the picking position upstream as the first or the first batch of to-be-scheduled goods to be placed on this sub-conveyor line. The to-be-scheduled goods placed on this sub-conveyor line are regarded as the first goods on this sub-conveyor line. Then, by analogy, the placement order of each subsequent to-be-scheduled good is determined.

[0175] Furthermore, since the types of the picking positions upstream and downstream are different, there may also be differences in their picking rates. For example, the picking rate of the robotic arm picking position is higher than that of the manual picking position. Therefore, when determining the placement order, the picking rate can also be combined, that is, based on the picking rates of the picking positions upstream and downstream of the same sub-conveyor line, the difference between the first picking times, as well as the picking positions and picking tasks corresponding to each to-be-scheduled good on this sub-conveyor line, the placement order of each to-be-scheduled good on this sub-conveyor line is determined.

[0176] In some embodiments, when the first picking time of the picking position upstream of the sub-conveyor line is greater than or equal to the first picking time of the picking position downstream, the placement order of each to-be-scheduled good can be determined according to the picking positions corresponding to each to-be-scheduled good and the picking tasks of each to-be-scheduled good, and the picking position corresponding to the to-be-scheduled good placed first on this sub-conveyor line is the picking position downstream, so as to avoid the situation that the to-be-scheduled goods at the picking position downstream cannot be conveyed to the picking position downstream when the picking position upstream is picking.

[0177] Optionally, in the case where the first picking time of the picking position upstream of the sub-conveyor line is less than the first picking time of the picking position downstream, according to the difference between the first picking time of the picking position upstream and the first picking time of the picking position downstream, the picking positions corresponding to each to-be-scheduled cargo on the sub-conveyor line, and the picking tasks of each to-be-scheduled cargo on the sub-conveyor line, determining the placement order of each to-be-scheduled cargo on the sub-conveyor line includes:

[0178] For each sub-conveyor line, determine the first time for the cargo to be transported from the picking position upstream to the picking position downstream according to the distance between the picking position upstream and the picking position downstream on the sub-conveyor line; calculate the first difference obtained by subtracting the first picking time of the picking position upstream from the first picking time of the picking position downstream; according to the maximum value of the first difference and the first time, the picking positions corresponding to each to-be-scheduled cargo on the sub-conveyor line, and the picking tasks of each to-be-scheduled cargo on the sub-conveyor line, determine the placement order of each to-be-scheduled cargo on the sub-conveyor line.

[0179] Since the conveying direction of the sub-conveyor line is one-way transmission along the direction of the cargo inlet, the picking position upstream, the picking position downstream, and the cargo outlet, and there is a certain distance between the picking position upstream and the picking position downstream, in order to further improve the picking efficiency, it is necessary to consider the time required for the cargo to be transported from the picking position upstream to the picking position downstream, that is, the above-mentioned first time.

[0180] The first time is specifically the ratio of the distance between the picking position upstream and the picking position downstream on the sub-conveyor line to the conveying speed of the sub-conveyor line.

[0181] When the first picking time of the picking position upstream of the sub-conveyor line is less than the first picking time of the picking position downstream, that is, the picking position upstream finishes picking the corresponding first cargo earlier than the picking position downstream. Then, for the same to-be-scheduled cargo, assuming it is picked by the picking position upstream, the moment when the picking position upstream starts to pick the to-be-scheduled cargo is t1, and assuming it is picked by the picking position downstream, the moment when the picking position downstream starts to pick the to-be-scheduled cargo is t2, and t2 = t1 + t3, where t3 is the maximum value of the first difference and the first time. This parameter, that is, t3, can be used to evaluate the difference in the start picking moments of the picking position upstream and the picking position downstream for the same to-be-scheduled cargo, so as to facilitate determining a more efficient picking position allocation method for the to-be-scheduled cargo, so that the first to-be-scheduled cargo placed on the target conveyor line can be picked as early as possible.

[0182] Specifically, in order to improve the utilization rate of each picking position and reduce the idle time of the picking position, the target picking position to which the first to-be-scheduled goods placed on the sub-conveyor line belong can be determined according to the sum value of the first difference and the first time, that is, the upstream picking position or the downstream picking position. Then, according to the target picking position, the picking positions corresponding to each to-be-scheduled goods, and the picking tasks of each to-be-scheduled goods, the first to-be-scheduled goods placed on the sub-conveyor line, that is, the first to-be-scheduled goods, can be determined. The picking position corresponding to the first to-be-scheduled goods is the target picking position. And when the target picking position is the upstream picking position, the time required for the upstream picking position to process the picking task of the first to-be-scheduled goods should be as close as possible to the sum value of the first difference and the first time. When the target picking position is the downstream picking position, the first to-be-scheduled goods can be the to-be-scheduled goods with the smallest picking task corresponding to the downstream picking position.

[0183] Optionally, determining the placement order of each to-be-scheduled goods corresponding to the sub-conveyor line according to the sum value of the first difference and the first time, the picking positions corresponding to each to-be-scheduled goods corresponding to the sub-conveyor line, and the picking tasks of each to-be-scheduled goods corresponding to the sub-conveyor line includes: when the sum value of the first difference and the first time is less than the preset time, determining the target goods to be placed on the sub-conveyor line first from each to-be-scheduled goods with the corresponding picking position being the downstream picking position; and / or when the sum value of the first difference and the first time is greater than or equal to the preset time, determining the target goods to be placed on the sub-conveyor line first from each to-be-scheduled goods with the corresponding picking position being the upstream picking position; and determining the placement order of each other to-be-scheduled goods according to the picking task of the target goods, the picking positions corresponding to each other to-be-scheduled goods, the picking tasks of each other to-be-scheduled goods, and the picking rate of each picking position.

[0184] Among them, the preset time can be a default smaller time, such as 3s or 5s. The preset time can also be the minimum time corresponding to the downstream picking position to complete the picking task of a to-be-scheduled goods in the historical time.

[0185] Specifically, when the sum value of the first difference and the first time is small, i.e., less than the preset time, it indicates that the time difference for starting the picking of allocating a goods to be scheduled to the upstream picking position or the downstream picking position is small. Since the downstream picking position usually has a higher picking rate, the first target goods placed on the sub-conveyor line can be determined as the goods to be scheduled corresponding to the downstream picking position. When the sum value of the first difference and the first time is large, i.e., greater than the preset time, it indicates that when allocating a goods to be scheduled to the upstream picking position or the downstream picking position, the starting time of the upstream picking position is much earlier than that of the downstream picking position. Then, the first target goods placed on the sub-conveyor line is determined as the goods to be scheduled corresponding to the upstream picking position, so as to avoid too long idle time of the upstream picking position.

[0186] After determining the first target goods placed on the sub-conveyor line, the placement order of each other goods to be scheduled can be determined based on the picking task of the target goods, the picking positions corresponding to each other goods to be scheduled, the picking tasks of each other goods to be scheduled, and the picking rates of the upstream and downstream picking positions. The specific method is similar to the method for determining the target goods and will not be elaborated here.

[0187] Optionally, according to the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, and the picking position corresponding to each goods to be scheduled, determining the placement order of the goods to be scheduled includes: for each goods to be scheduled, determining the operation time of the goods to be scheduled according to the picking rate of the picking position corresponding to the goods to be scheduled and the picking task of the goods to be scheduled; and determining the placement order of each goods to be scheduled according to the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, the operation time of each goods to be scheduled, and the picking position corresponding to each goods to be scheduled.

[0188] Optionally, Figure 11 For the present disclosure Figure 8 The flowchart of step S806 in the illustrated embodiment is as Figure 11 shown. Step S806 may include the following steps:

[0189] Step S8061, determining each alternative order of the goods to be scheduled.

[0190] Among them, the alternative order may be the placement order of each goods to be scheduled determined based on permutation and combination.

[0191] Exemplarily, taking 3 goods to be scheduled, namely goods H61, goods H62, and goods H63, as an example, the alternative sequences are 6 (3!) kinds, namely goods H61, goods H62, goods H63; goods H61, goods H63, goods H62; goods H62, goods H61, goods H63; goods H62, goods H63, goods H61; goods H63, goods H61, goods H62; and goods H63, goods H62, goods H61, these six alternative sequences.

[0192] Step S8062, for each alternative sequence, determine the second picking time of the target conveyor line according to the first picking time of each picking position on the target conveyor line, the picking positions corresponding to each good to be scheduled, and the sequence of each good to be scheduled in the alternative sequence.

[0193] Among them, the second picking time is the time required for the target conveyor line to complete the picking tasks of each good to be scheduled under the corresponding alternative sequence, which can be the time from when each good to be scheduled arrives at the goods inlet of the target conveyor line until the last good to be scheduled in the alternative sequence is picked up by the corresponding picking position, or it can be the time from when each good to be scheduled starts to arrive at the goods inlet of the target conveyor line until the last good to be scheduled arrives at the goods outlet of the target conveyor line.

[0194] Specifically, the time required for each picking position to pick up the corresponding first good, that is, the above-mentioned first picking time, can be determined according to the picking tasks of each first good, the picking positions corresponding to each first good, and the picking rates of each picking position.

[0195] Furthermore, for each alternative sequence, determine the time required for each picking position on the target conveyor line to pick up each good to be scheduled under the alternative sequence, that is, the second picking time, according to the first picking time corresponding to each picking position, the sequence of each good to be scheduled in the alternative sequence, and the picking positions and picking tasks corresponding to each good to be scheduled.

[0196] Specifically, the second picking time corresponding to each alternative sequence can be determined by simulating the operation process of the target conveyor line. For example, build a simulation operation module, initialize the simulation operation module according to the current working condition of the target conveyor line, the alternative sequence, the picking positions corresponding to each good to be scheduled, and the picking position tasks, and then the simulation operation module outputs the second picking time corresponding to the alternative sequence. The current working condition of the target conveyor line includes the first goods corresponding to each picking position on the target conveyor line, such as including the picking tasks of the first goods, the current positions, etc.

[0197] In some embodiments, the quantity of the first goods corresponding to each picking position may be 0, and then the second picking time of the target conveyor line under this alternative order is directly determined based on the picking positions corresponding to each to-be-scheduled good and the order corresponding to each to-be-scheduled good in the alternative order.

[0198] Step S8063: Determine the alternative order with the shortest second picking time as the placement order.

[0199] When there are at least two equal second picking times, it is also possible to determine, among each alternative order, the moment when the last to-be-scheduled good is placed on the corresponding sub-conveyor line, and determine the alternative order with the earliest such moment as the placement order, so that the robot can drive out of the goods entrance of the target conveyor line as early as possible to perform subsequent operation tasks.

[0200] Furthermore, for each alternative order, it is also possible to determine the scheduling start time of each sub-conveyor line of the target conveyor line under this alternative order, and then determine the placement order from each alternative order according to the scheduling start time corresponding to each sub-conveyor line and the second picking time corresponding to each alternative order.

[0201] Among them, the scheduling start time is the start time when the picking position corresponding to this sub-conveyor line starts to process the to-be-scheduled good, such as the moment when the first to-be-scheduled good is placed on the corresponding sub-conveyor line.

[0202] In this embodiment, after the previous good in the placement area corresponding to the goods entrance of the sub-conveyor line is transported away, the subsequent good can be placed on the placement area corresponding to the goods entrance of this sub-conveyor line.

[0203] Specifically, the scheduling start time of this sub-conveyor line can be determined according to the moment when the last first good corresponding to this sub-conveyor line leaves the placement area corresponding to the goods entrance of this sub-conveyor line.

[0204] Specifically, the moment when the last first good leaves the placement area corresponding to the goods entrance of this sub-conveyor line can be determined according to the picking positions and picking tasks corresponding to each first good except the last first good.

[0205] In some embodiments, if there is no first good at the goods entrance of this sub-conveyor line, the scheduling start time can be determined according to the moment when the robot loaded with the to-be-scheduled good arrives at the goods entrance of this sub-conveyor line.

[0206] Exemplarily, the alternative order with the minimum sum of the scheduling start times corresponding to each sub-conveyor line and the shortest second picking time can be determined as the placement order.

[0207] Specifically, the second score of each alternative order may be determined according to the scheduling start time corresponding to each sub-conveyor line corresponding to each alternative order and the second picking time, and the alternative order with the highest second score is determined as the placement order. Among them, the second score is inversely proportional to the second picking time and inversely proportional to the sum of the scheduling start times corresponding to each sub-conveyor line.

[0208] Figure 12 is a schematic structural diagram of a cargo scheduling device provided by an embodiment of the present disclosure, as Figure 12 shown, the device includes: a cargo determination module 1310 and a cargo scheduling module 1320.

[0209] Among them, the cargo determination module 1310 is used to determine each cargo to be scheduled at the cargo entrance of the target conveyor line, where the target conveyor line includes at least two picking positions, and at least two picking positions among all the picking positions have different picking rates; the cargo scheduling module 1320 is used to determine the picking position and placement order corresponding to each cargo to be scheduled according to the picking positions corresponding to each first cargo being transported on the target conveyor line and the picking rates of each picking position, so as to place each cargo to be scheduled on the target conveyor line based on the placement order, so that each cargo to be scheduled can be picked by the corresponding picking position.

[0210] Optionally, the cargo scheduling module 1320 includes: a picking position determination unit, which is used to determine the picking position corresponding to each cargo to be scheduled according to the picking positions corresponding to each first cargo being transported on the target conveyor line and the picking rates of each picking position; a placement order determination unit, which is used to determine the placement order of each cargo to be scheduled according to the picking positions corresponding to each cargo to be scheduled.

[0211] Optionally, the picking position determination unit includes: a scheduling quantity determination subunit, which is used to determine the scheduling quantity of the cargo to be scheduled corresponding to each picking position according to the picking positions corresponding to each first cargo being transported on the target conveyor line and the picking rates of each picking position, so as to minimize the difference between the first ratio and the second ratio, where the first ratio is the ratio of the picking quantities corresponding to each picking position, and the second ratio is the ratio of the picking rates of each picking position, and the picking quantity is the sum of the scheduling quantity corresponding to the picking position and the quantity of the first cargo; a first picking position determination subunit, which is used to determine the picking position corresponding to each cargo to be scheduled according to the scheduling quantity corresponding to each picking position.

[0212] Optionally, the placement order determination unit is specifically used to: determine the placement order of each cargo to be scheduled according to the picking positions corresponding to each cargo to be scheduled, the picking rates of each picking position, and the quantity of the first cargo corresponding to each picking position.

[0213] Optionally, the placement order determination unit includes: a first picking time determination subunit, configured to determine the first picking time of each picking position according to the quantity of the first goods corresponding to each picking position and the picking rate of each picking position; a first placement order determination subunit, configured to determine the placement order of each to-be-scheduled good according to the first picking time of each picking position, the picking position corresponding to each to-be-scheduled good, and the position of each picking position.

[0214] Optionally, the target conveyor line includes at least two sub-conveyor lines, each sub-conveyor line includes at least one manual picking position and at least one robotic arm picking position, the picking rate of the manual picking position is less than that of the robotic arm picking position, the manual picking position is picked by an operator, the robotic arm picking position is picked by a robotic arm, and the robotic arm picking positions of each sub-conveyor line of the target conveyor line correspond to the same robotic arm.

[0215] Correspondingly, the scheduling quantity determination unit includes: a first ratio determination part, configured to determine a first ratio according to the quantity of the manual picking positions on the target conveyor line, the picking rate of the manual picking positions, and the picking rate of the robotic arm picking positions; a first goods quantity determination part, configured to determine the first total quantity of the first goods corresponding to the manual picking positions of the target conveyor line and the second total quantity of the first goods corresponding to the robotic arm picking positions according to the quantity of the first goods corresponding to each picking position of each sub-conveyor line; a scheduling quantity determination part, configured to determine the scheduling quantity of the to-be-scheduled goods corresponding to each picking position according to the first ratio, the first total quantity, and the second total quantity, so that the ratio of the total quantity of the goods to be picked by each robotic arm picking position of the target conveyor line to the total quantity of the goods to be picked by each manual picking position is close to the first ratio, and / or, so that the ratio of the total quantity of the goods to be picked by the robotic arm picking positions of each sub-conveyor line to the total quantity of the goods to be picked by the manual picking positions is close to a second ratio, and / or, so that the total quantity of the goods to be picked by the manual picking positions of each sub-conveyor line is close, where the second ratio corresponding to each sub-conveyor line is the ratio of the picking rate of the robotic arm picking position to the first product, and the first product is the product of the quantity of the manual picking positions corresponding to the sub-conveyor line and the picking rate of the manual picking position, and the goods to be picked include the corresponding first goods and the corresponding to-be-scheduled goods.

[0216] Optionally, the target conveyor line includes a first sub-conveyor line and at least one second sub-conveyor line. When all the goods to be scheduled correspond to the first sub-conveyor line, the first sub-conveyor line is any one of the sub-conveyor lines of the target conveyor line. The scheduling quantity determination unit is specifically configured to: determine a first scheduling quantity of the goods to be scheduled corresponding to the manual picking position of the first sub-conveyor line according to the first ratio, the first total quantity, and the second total quantity; determine a second scheduling quantity of the goods to be scheduled corresponding to each picking position of the first sub-conveyor line according to the first scheduling quantity, the quantity of the first goods at the manual picking position of the first sub-conveyor line, the quantity of the first goods at the robotic arm picking position of the first sub-conveyor line, and the second ratio, so as to minimize the difference between the ratio of the second picking quantity to the first picking quantity and the second ratio, where the first picking quantity is the sum of the second scheduling quantity corresponding to the robotic arm picking position of the first sub-conveyor line and the quantity of the corresponding first goods, and the second picking quantity is the sum of the first scheduling quantity, the second scheduling quantity, and the quantity of the corresponding first goods at the manual picking position of the first sub-conveyor line.

[0217] Optionally, the target conveyor line includes a first sub-conveyor line and a second sub-conveyor line. The quantity of the goods to be scheduled corresponding to the first sub-conveyor line is a first quantity, and the quantity of the goods to be scheduled corresponding to the second sub-conveyor line is a second quantity. Each sub-conveyor line includes at least one manual picking position and at least one robotic arm picking position. The picking rate of the manual picking position is less than that of the robotic arm picking position. The manual picking position is picked by an operator, and the robotic arm picking position is picked by a robotic arm. Moreover, the robotic arm picking positions of each sub-conveyor line of the target conveyor line all correspond to the same robotic arm. The scheduling quantity determination sub-unit is specifically configured to: establish a binary linear equation of the scheduling quantity of the goods to be scheduled corresponding to each picking position according to the first ratio and the quantity of the first goods corresponding to each picking position, where the limiting conditions of the binary linear equation include that the picking quantity corresponding to the manual picking position of the first sub-conveyor line is equal to the picking quantity corresponding to the manual picking position of the second sub-conveyor line, and the ratio of the sum of the picking quantities corresponding to each robotic arm picking position to the sum of the picking quantities corresponding to each manual picking position is equal to a third ratio, where the third ratio is the ratio of the picking rate of the robotic arm picking position to the second product, and the second product is the product of the quantity of the manual picking positions corresponding to the target conveyor line and the picking rate of the manual picking position. The picking quantity is the sum of the quantity of the first goods corresponding to the picking position and the scheduling quantity; solve the binary linear equation to obtain the scheduling quantity of the goods to be scheduled corresponding to each picking position; when the scheduling quantity corresponding to any one of the picking positions is not an integer, round the scheduling quantity so that the sum of the scheduling quantities corresponding to each picking position is equal to the sum of the first quantity and the second quantity.

[0218] Optionally, the picking position determination unit includes: a picking time determination subunit, configured to determine the first picking time of each picking position according to the picking positions corresponding to each first item being transported on the target conveyor line, the picking tasks of each first item, and the picking rates of each picking position; a second picking position determination subunit, configured to determine the picking position corresponding to each item to be scheduled according to the first picking time of each picking position.

[0219] Optionally, the picking time determination subunit is specifically configured to: for each picking position, determine the picking tasks of each first item corresponding to the picking position being transported on the target conveyor line; and determine the first picking time of the picking position according to the picking tasks of each first item corresponding to the picking position and the picking rate of the picking position.

[0220] Optionally, the second picking position determination subunit is specifically configured to: determine the picking position corresponding to each item to be scheduled according to the first picking time of each picking position, the picking rate of each picking position, and the picking tasks of each item to be scheduled.

[0221] Optionally, the picking positions of the target conveyor line include at least two sub-conveyor lines, each sub-conveyor line includes at least one manual picking position and at least one robotic arm picking position, the picking rate of the manual picking position is less than that of the robotic arm picking position, the manual picking position is picked by an operator, the robotic arm picking position is picked by a robotic arm, and the robotic arm picking positions of each sub-conveyor line of the target conveyor line correspond to the same robotic arm; the second picking position determination subunit is specifically configured to: determine the picking position corresponding to each item to be scheduled according to the first picking time of each manual picking position, the maximum value of the first picking times of each robotic arm picking position, the picking tasks of each item to be scheduled, and the picking rates of each picking position.

[0222] Optionally, the placement order determination unit is specifically configured to: determine the placement order of each item to be scheduled according to the first picking time of each picking position and the picking position corresponding to each item to be scheduled.

[0223] Optionally, the target conveyor line includes at least two sub-conveyor lines, each sub-conveyor line includes at least two picking positions, and the placement order determination unit is specifically configured to: determine the placement order of each item to be scheduled according to the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, and the picking position corresponding to each item to be scheduled.

[0224] Optionally, the placement order determination unit is specifically configured to: for each sub-conveyor line, if the first picking time of the picking position upstream of the sub-conveyor line is less than the first picking time of the picking position downstream of the sub-conveyor line, then according to the difference between the first picking time of the picking position upstream and the first picking time of the picking position downstream, the picking positions corresponding to each to-be-scheduled cargo on the sub-conveyor line, and the picking tasks of each to-be-scheduled cargo on the sub-conveyor line, determine the placement order of each to-be-scheduled cargo corresponding to the sub-conveyor line, where the conveying direction of the cargo on the sub-conveyor line points from the picking position upstream to the picking position downstream.

[0225] Optionally, the placement order determination unit is specifically configured to: for each to-be-scheduled cargo, determine the operation time of the to-be-scheduled cargo according to the picking rate of the picking position corresponding to the to-be-scheduled cargo and the picking task of the to-be-scheduled cargo; determine the placement order of each to-be-scheduled cargo according to the sub-conveyor line to which each picking position belongs, the first picking time of each picking position, the operation time of each to-be-scheduled cargo, and the picking position corresponding to each to-be-scheduled cargo.

[0226] Optionally, the placement order determination unit includes: an alternative order determination subunit, configured to determine each alternative order of the to-be-scheduled cargo; a second time determination subunit, configured to, for each alternative order, determine the second picking time of the target conveyor line according to the first picking time of each picking position on the target conveyor line, the picking position corresponding to each to-be-scheduled cargo, and the order corresponding to each to-be-scheduled cargo in the alternative order; a second placement order determination subunit, configured to determine the alternative order with the shortest second picking time as the placement order.

[0227] The cargo scheduling device provided by the embodiments of the present disclosure can execute the cargo scheduling method provided by any embodiment of the present disclosure, and has corresponding functional modules and beneficial effects for executing the method.

[0228] Figure 13 The structure diagram of the cargo scheduling device provided by an embodiment of the present disclosure is as Figure 13 shown. The cargo scheduling device includes: a memory 1410, a processor 1420, and a computer program.

[0229] Among them, the computer program is stored in the memory 1410 and is configured to be executed by the processor 1420 to implement the cargo scheduling method provided by any one of the embodiments corresponding to the present disclosure Figure 2 、 Figure 5 and Figures 7 to 11 the cargo scheduling method provided by any embodiment.

[0230] Among them, the memory 1410 and the processor 1420 are connected through a bus 1430.

[0231] For relevant descriptions, reference can be made to Figure 2 , Figure 5 and Figures 7 to 11 for the relevant descriptions and effects corresponding to the steps. No further elaboration will be provided here.

[0232] Figure 14 FIG. is a schematic structural diagram of a warehousing system provided by an embodiment of the present disclosure. As Figure 14 shown, the warehousing system includes: a target conveyor line 1510, a robot 1520, and a goods scheduling device 1530.

[0233] Among them, the goods scheduling device 1530 is the goods scheduling device provided by the embodiment shown in the present disclosure; the target conveyor line 1510 includes at least two picking positions, and the picking rates of at least two picking positions among all the picking positions are different. Figure 13 Two picking positions are taken as an example in Figure 14 .

[0234] In some embodiments, the warehousing system further includes devices such as an operation table, a discharging machine, a lifter, and a transportation line.

[0235] An embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored. The computer program is executed by a processor to implement the goods scheduling method provided by any one of the embodiments corresponding to the present disclosure Figure 2 , Figure 5 and Figures 7 to 11 .

[0236] Among them, the computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0237] The present disclosure further provides a program product, which includes an executable computer program. The executable computer program is stored in a readable storage medium. At least one processor of the goods scheduling device or the warehousing system can read the computer program from the readable storage medium, and at least one processor executes the computer program to enable the goods scheduling device to implement the goods scheduling methods provided by the above various embodiments.

[0238] In several embodiments provided by the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of devices or modules can be in electrical, mechanical or other forms.

[0239] The modules described as separate components may or may not be physically separated. The components shown as modules may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0240] In addition, in each embodiment of the present disclosure, the functional modules can be integrated in a processing unit, or each module can exist physically alone, or two or more modules can be integrated in one unit. The units formed by the above modules can be implemented in the form of hardware or in the form of a combination of hardware and software functional units.

[0241] The integrated modules implemented in the form of software functional modules can be stored in a computer-readable storage medium. The above software functional modules are stored in a storage medium, including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute some steps of the methods described in each embodiment of the present disclosure.

[0242] It should be understood that the above processor can be a central processing unit (Central Processing Unit, abbreviated as CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, abbreviated as DSP), application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in combination with the present disclosure can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0243] The memory may include high-speed RAM memory and may also include non-volatile storage NVM, such as at least one disk memory, and may also be a USB flash drive, a portable hard drive, a read-only memory, a magnetic disk, or an optical disc, etc.

[0244] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the buses in the accompanying drawings of the present disclosure are not limited to only one bus or one type of bus.

[0245] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disc. The storage medium can be any available medium accessible by a general-purpose or special-purpose computer.

[0246] An exemplary storage medium is coupled to the processor, enabling the processor to read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a master control device.

[0247] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including the above method embodiments; and the foregoing storage medium includes: ROM, RAM, magnetic disks, or optical discs and other media that can store program codes.

[0248] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A goods scheduling method, characterized in that, the method includes: Determine each goods to be scheduled at the goods entrance of the target conveyor line, where the target conveyor line includes at least two sub-conveyor lines, each sub-conveyor line includes at least one manual picking position and at least one robotic arm picking position, and the picking rate of the manual picking position is less than that of the robotic arm picking position; According to the picking positions corresponding to each first goods being transported on the target conveyor line and the picking rates of each of the picking positions, determine the picking positions corresponding to each goods to be scheduled; According to the number of manual picking positions on the target conveyor line, the picking rate of the manual picking positions, and the picking rate of the robotic arm picking positions, determine a first ratio; According to the number of first goods corresponding to each picking position of each sub-conveyor line, determine the first total number of first goods corresponding to the manual picking positions of the target conveyor line and the second total number of first goods corresponding to the robotic arm picking positions; According to the first ratio, the first total number, and the second total number, determine the scheduling quantity of the goods to be scheduled corresponding to each of the picking positions, so that the ratio of the total quantity of goods to be picked by each robotic arm picking position on the target conveyor line to the total quantity of goods to be picked by each manual picking position is close to the first ratio, and / or, so that the ratio of the total quantity of goods to be picked by the robotic arm picking positions and the manual picking positions of each sub-conveyor line is close to a second ratio, and / or, so that the total quantity of goods to be picked by the manual picking positions of each of the sub-conveyor lines is close, where the second ratio corresponding to each sub-conveyor line is the ratio of the picking rate of the robotic arm picking position to the first product, and the first product is the product of the number of manual picking positions corresponding to the sub-conveyor line and the picking rate of the manual picking position, and the goods to be picked include the corresponding first goods and the corresponding goods to be scheduled.

2. The method according to claim 1, characterized in that, Determining the picking positions corresponding to each goods to be scheduled according to the picking positions corresponding to each first goods being transported on the target conveyor line and the picking rates of each of the picking positions includes: According to the picking positions corresponding to each first goods being transported on the target conveyor line and the picking rates of each of the picking positions, determine the scheduling quantity of the goods to be scheduled corresponding to each of the picking positions to minimize the difference between a first ratio and a second ratio, where the first ratio is the ratio of the picking quantities corresponding to each of the picking positions, the second ratio is the ratio of the picking rates of each of the picking positions, and the picking quantity is the sum of the scheduling quantity corresponding to the picking position and the number of first goods; According to the scheduling quantity corresponding to each of the picking positions, determine the picking positions corresponding to each goods to be scheduled.

3. The method according to claim 1, characterized in that, The manual picking positions are picked by operators, the robotic arm picking positions are picked by robotic arms, and the robotic arm picking positions of each sub-conveyor line of the target conveyor line all correspond to the same robotic arm.

4. The method according to claim 3, characterized in that, The target conveyor line includes a first sub-conveyor line and at least one second sub-conveyor line. When all the goods to be scheduled correspond to the first sub-conveyor line, the first sub-conveyor line is any one of the sub-conveyor lines of the target conveyor line. Determining the scheduling quantity of the goods to be scheduled corresponding to each picking position according to the first ratio, the first total quantity, and the second total quantity includes: Determining a first scheduling quantity of the goods to be scheduled corresponding to the manual picking positions of the first sub-conveyor line according to the first ratio, the first total quantity, and the second total quantity; Determining a second scheduling quantity of the goods to be scheduled corresponding to each picking position of the first sub-conveyor line according to the first scheduling quantity, the quantity of the first goods at the manual picking positions of the first sub-conveyor line, the quantity of the first goods at the robotic arm picking positions of the first sub-conveyor line, and the second ratio, so as to minimize the difference between the ratio of the second picking quantity to the first picking quantity and the second ratio. Here, the first picking quantity is the sum of the second scheduling quantity corresponding to the robotic arm picking positions of the first sub-conveyor line and the corresponding quantity of the first goods, and the second picking quantity is the sum of the first scheduling quantity, the second scheduling quantity, and the corresponding quantity of the first goods at the manual picking positions of the first sub-conveyor line.

5. The method according to claim 1, wherein, Determining the picking position corresponding to each goods to be scheduled according to the picking positions corresponding to each first good being transported on the target conveyor line and the picking rate of each picking position includes: Determining the first picking time of each picking position according to the picking positions corresponding to each first good being transported on the target conveyor line, the picking tasks of each first good, and the picking rate of each picking position; Determining the picking position corresponding to each goods to be scheduled according to the first picking time of each picking position.

6. The method according to claim 5, wherein, Determining the picking position corresponding to each goods to be scheduled according to the first picking time of each picking position includes: Determining the picking position corresponding to each goods to be scheduled according to the first picking time of each picking position, the picking rate of each picking position, and the picking task of each goods to be scheduled.

7. The method according to claim 6, wherein, The picking positions of the target conveyor line include at least two sub-conveyor lines. Each sub-conveyor line includes at least one manual picking position and at least one robotic arm picking position. The picking rate of the manual picking position is less than that of the robotic arm picking position. The manual picking position is picked by an operator, and the robotic arm picking position is picked by a robotic arm. Moreover, the robotic arm picking positions of each sub-conveyor line of the target conveyor line all correspond to the same robotic arm; Determining the picking position corresponding to each goods to be scheduled according to the first picking time of each picking position, the picking rate of each picking position, and the picking task of each goods to be scheduled includes: Determining the picking position corresponding to each goods to be scheduled according to the maximum value of the first picking time of each manual picking position and the first picking time of each robotic arm picking position, the picking task of each goods to be scheduled, and the picking rate of each picking position.

8. A goods scheduling device, characterized in that, the device includes: A goods determination module, configured to determine each to-be-scheduled good at the goods entrance of the target conveying line, where the target conveying line includes at least two sub-conveying lines, each sub-conveying line includes at least one manual picking position and at least one robotic arm picking position, and the picking rate of the manual picking position is less than that of the robotic arm picking position; A picking position determination unit, configured to determine the picking position corresponding to each to-be-scheduled good according to the picking positions corresponding to each first good being transported on the target conveying line and the picking rates of each picking position; A first ratio determination unit, configured to determine a first ratio according to the number of manual picking positions on the target conveying line, the picking rate of the manual picking positions, and the picking rate of the robotic arm picking positions; A first goods quantity determination unit, configured to determine the first total quantity of the first goods corresponding to the manual picking positions of the target conveying line and the second total quantity of the first goods corresponding to the robotic arm picking positions according to the quantity of the first goods corresponding to each picking position of each sub-conveying line; A scheduling quantity determination unit, configured to determine the scheduling quantity of the to-be-scheduled goods corresponding to each picking position according to the first ratio, the first total quantity, and the second total quantity, so that the ratio of the total quantity of the goods to be picked by each robotic arm picking position on the target conveying line to the total quantity of the goods to be picked by each manual picking position is close to the first ratio, and / or, so that the ratio of the total quantity of the goods to be picked by the robotic arm picking positions of each sub-conveying line to the total quantity of the goods to be picked by the manual picking positions is close to a second ratio, and / or, so that the total quantity of the goods to be picked by the manual picking positions of each sub-conveying line is close, where the second ratio corresponding to each sub-conveying line is the ratio of the picking rate of the robotic picking position to the first product, and the first product is the product of the number of the manual picking positions corresponding to the sub-conveying line and the picking rate of the manual picking position, and the goods to be picked include the corresponding first goods and the corresponding to-be-scheduled goods.

9. A goods scheduling device, characterized in that, it includes: A memory and at least one processor; The memory stores computer execution instructions; The at least one processor executes the computer execution instructions stored in the memory, so that the at least one processor executes the goods scheduling method according to any one of claims 1-8.

10. A warehousing system, characterized in that, it includes: A target conveying line, a robot, and the goods scheduling device according to claim 9, where the target conveying line includes at least two picking positions, and at least two of all the picking positions have different picking rates.

11. A computer-readable storage medium, characterized in that, the computer-readable storage medium stores computer execution instructions, and when the processor executes the computer execution instructions, the goods scheduling method according to any one of claims 1-8 is implemented.

12. A computer program product, including a computer program, characterized in that, When the computer program is executed by a processor, it implements the goods scheduling method according to any one of claims 1-8.

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