A task allocation and processing method and device

Abstract

The present invention discloses a task allocation and processing method and device, which relate to the field of warehousing and logistics. A specific implementation of the method includes: obtaining a set of handling tasks to be processed, determining a set of handling lanes corresponding to each handling task in a lane set, and constructing a handling lane vector corresponding to each handling task; determining the number of devices currently operating in each lane in the lane set, and constructing a current lane equipment vector, and calculating the similarity between each handling lane vector and the current lane equipment vector; obtaining a set of handling equipment that is currently in an idle state, and sequentially dispatching the handling tasks to the handling equipment for processing in order of similarity from small to large. This implementation calculates the priority of each handling task, and dispatches them one by one to the handling robots for processing in order of priority, thereby achieving staggered dispatch.

Description

Technical Field

[0001] The present invention relates to the field of warehousing and logistics, and in particular to a task allocation and processing method and device. Background Art

[0002] The transport robot is an AMR (Automatic Mobile Robot) based on SLAM (Simultaneous Localization And Mapping) technology. It can independently build maps and locate and navigate based on environmental information, and can autonomously drive to the destination.

[0003] In the process of realizing the present invention, the inventors found that the existing technology has at least the following problems: the handling tasks are issued in the order of the task order creation time, and there is no mechanism for staggered issuance and spatially dispersed issuance. The handling tasks may be concentrated in certain picking storage locations within a period of time, resulting in a large number of handling robots concentrated in a certain area to perform tasks, increasing the probability of congestion. Summary of the Invention

[0004] In view of this, an embodiment of the present invention provides a task allocation and processing method and device, which can at least solve the problem in the prior art that tasks are not issued in a staggered manner, causing congestion of transport robots in certain areas.

[0005] To achieve the above object, according to one aspect of an embodiment of the present invention, a task allocation method is provided, comprising:

[0006] Obtaining a set of handling tasks to be processed, determining a set of handling lanes corresponding to each handling task in the lane set, and constructing a handling lane vector corresponding to each handling task;

[0007] Determine the number of devices currently operating in each lane in the lane set to construct a current lane equipment vector, and calculate the similarity between each transport lane vector and the current lane equipment vector;

[0008] Get the set of currently idle handling equipment, and send the handling tasks to the handling equipment in order of similarity from small to large for processing.

[0009] Optionally, constructing a transport lane vector corresponding to each transport task includes:

[0010] The transport lane is marked with a first value, the non-transport lane is marked with a second value, and the values marked on each lane are arranged in order of lane numbers to obtain a transport lane vector corresponding to each transport task.

[0011] Optionally, determining the number of devices currently operating in each lane in the lane set to construct a current lane device vector includes:

[0012] Query all tasks of the current job and obtain the task information of each task; the task information includes the picking location number, and one task corresponds to only one device;

[0013] Determine the lane number corresponding to each picking location number, and calculate the number of devices currently operating corresponding to each picking location number to obtain the number of devices currently operating corresponding to each lane number.

[0014] Arrange the number of devices in the current operation corresponding to each lane number in the order of the lane numbers to construct the current lane equipment vector.

[0015] Optionally, after calculating the similarity between each transport lane vector and the current lane equipment vector, the method further includes:

[0016] Determining, from the transport task sets, a first transport task set having a similarity greater than a preset similarity threshold;

[0017] Obtaining the preset latest delivery time of each transport task in the first transport task set, and calculating the difference between each preset latest delivery time and the current time;

[0018] A second transport task set having a difference greater than a preset task minimum buffer time threshold is determined from the first transport task set, so as to remove the second transport task set from the first transport task set.

[0019] Optionally, the method further includes: in response to the difference between the preset latest delivery time of one or more transport tasks and the current time being less than the preset task minimum buffer time threshold, giving priority to issuing the one or more transport tasks.

[0020] Optionally, the sequentially dispatching the transport tasks to the transport equipment for processing includes:

[0021] Determining a first number of transport tasks in the transport task set and a second number of transport equipment in the transport equipment set;

[0022] In response to the first number being less than or equal to the second number, determining the first number of transport devices from the set of transport devices, and assigning each transport task to each of the determined transport devices; or

[0023] In response to the first number being greater than the second number, the second number of transport tasks are determined from the transport task set in ascending order of similarity, so as to send each determined transport task to each transport device.

[0024] Optionally, the sequentially dispatching the transport tasks to the transport equipment for processing includes:

[0025] A current set of blocking points is obtained, and each transport task is sent to a transport device for processing, so that the transport device performs path planning based on the current set of blocking points and the transport task.

[0026] Optionally, obtaining the current blocking point set includes:

[0027] Query the task information of each device's current operation; the task information includes the picking location number;

[0028] Based on the location information corresponding to each picking location number, determine the coordinate point information of each device mapped to the handling equipment map, and plan the influence range for each device in combination with the influence length pre-configured for each device;

[0029] The pre-planned driving paths on the transport equipment map are obtained, and in response to at least one driving path intersecting with the influence range, coordinate points on the at least one driving path that fall within the influence range are determined as blocking points to generate a current blocking point set.

[0030] To achieve the above object, according to one aspect of an embodiment of the present invention, a task processing method is provided, comprising:

[0031] The transport device receives the transport task, generates a first transport sequence based on one or more picking location numbers corresponding to the transport task, and determines a first picking location number that is ranked first in the first transport sequence;

[0032] Obtain a real-time set of blocking points, and perform path planning based on the current location information of the handling equipment and the location information corresponding to the first picking location number;

[0033] In response to the path planning result being yes, driving according to the planned path to the location information corresponding to the first picking storage location number to perform a transport operation;

[0034] After receiving the transport completion information, determine the second picking storage location number ranked second in the first transport sequence, and repeat the above path planning operation until the transport is completed at the position information corresponding to each picking storage location number.

[0035] Optionally, also include:

[0036] In response to a path planning result indicating that the path does not exist, performing path planning based on the current location information of the transport device and the location information corresponding to the first picking location number;

[0037] In response to the path planning result being yes, driving according to the planned path to the location information corresponding to the first picking storage location number to perform a transport operation;

[0038] In response to detecting an obstacle ahead during driving, or in response to the path planning result that no obstacle exists, a second transport sequence is re-generated based on the one or more picking storage location numbers, and the above-mentioned path planning operation is repeated until the transport is completed at the location information corresponding to each picking storage location number.

[0039] To achieve the above object, according to another aspect of an embodiment of the present invention, a task allocation device is provided, comprising:

[0040] An acquisition module is used to acquire a set of handling tasks to be processed, determine a set of handling lanes corresponding to each handling task in the lane set, and construct a handling lane vector corresponding to each handling task;

[0041] a calculation module, configured to determine the number of devices currently operating in each lane in the lane set to construct a current lane device vector, and calculate the similarity between each transport lane vector and the current lane device vector;

[0042] The allocation module is used to obtain a set of handling equipment that is currently in an idle state, and to dispatch the handling tasks to the handling equipment in order of similarity from small to large for processing.

[0043] Optionally, the acquisition module is used to:

[0044] The transport lane is marked with a first value, the non-transport lane is marked with a second value, and the values marked on each lane are arranged in order of lane numbers to obtain a transport lane vector corresponding to each transport task.

[0045] Optionally, the computing module is configured to:

[0046] Query all tasks of the current job and obtain the task information of each task; the task information includes the picking location number, and one task corresponds to only one device;

[0047] Determine the lane number corresponding to each picking location number, and calculate the number of devices currently operating corresponding to each picking location number to obtain the number of devices currently operating corresponding to each lane number.

[0048] Arrange the number of devices in the current operation corresponding to each lane number in the order of the lane numbers to construct the current lane equipment vector.

[0049] Optionally, a filtering module is also included to:

[0050] Determining, from the transport task sets, a first transport task set having a similarity greater than a preset similarity threshold;

[0051] Obtaining the preset latest delivery time of each transport task in the first transport task set, and calculating the difference between each preset latest delivery time and the current time;

[0052] A second transport task set having a difference greater than a preset task minimum buffer time threshold is determined from the first transport task set, so as to remove the second transport task set from the first transport task set.

[0053] Optionally, a priority allocation module is also included to:

[0054] In response to the difference between the preset latest delivery time of one or more transport tasks and the current time being less than the preset task minimum buffer time threshold, the one or more transport tasks are issued with priority.

[0055] Optionally, the allocation module is used to:

[0056] Determining a first number of transport tasks in the transport task set and a second number of transport equipment in the transport equipment set;

[0057] In response to the first number being less than or equal to the second number, determining the first number of transport devices from the set of transport devices, and assigning each transport task to each of the determined transport devices; or

[0058] In response to the first number being greater than the second number, the second number of transport tasks are determined from the transport task set in ascending order of similarity, so as to send each determined transport task to each transport device.

[0059] Optionally, the allocation module is used to:

[0060] A current set of blocking points is obtained, and each transport task is sent to a transport device for processing, so that the transport device performs path planning based on the current set of blocking points and the transport task.

[0061] Optionally, the allocation module is used to:

[0062] Query the task information of each device's current operation; the task information includes the picking location number;

[0063] Based on the location information corresponding to each picking location number, determine the coordinate point information of each device mapped to the handling equipment map, and plan the influence range for each device in combination with the influence length pre-configured for each device;

[0064] The pre-planned driving paths on the transport equipment map are obtained, and in response to at least one driving path intersecting with the influence range, coordinate points on the at least one driving path that fall within the influence range are determined as blocking points to generate a current blocking point set.

[0065] To achieve the above object, according to another aspect of an embodiment of the present invention, there is provided a task processing device, comprising:

[0066] A generating module, configured for a transport device to receive a transport task, generate a first transport sequence based on one or more picking location numbers corresponding to the transport task, and determine a first picking location number that is ranked first in the first transport sequence;

[0067] A planning module, configured to obtain a real-time set of blocking points and perform path planning based on the current location information of the handling equipment and the location information corresponding to the first picking location number;

[0068] a transport module, configured to, in response to a path planning result being present, drive along the planned path to the location information corresponding to the first picking storage location number to perform a transport operation;

[0069] The repetition module is used to determine the second picking storage location number ranked second in the first transportation sequence after receiving the transportation completion information, and repeat the above-mentioned path planning operation until the transportation is completed at the position information corresponding to each picking storage location number.

[0070] Optionally, a sequence adjustment module is also included for:

[0071] In response to a path planning result indicating that the path does not exist, performing path planning based on the current location information of the transport device and the location information corresponding to the first picking location number;

[0072] In response to the path planning result being yes, driving according to the planned path to the location information corresponding to the first picking storage location number to perform a transport operation;

[0073] In response to detecting an obstacle ahead during driving, or in response to the path planning result that no obstacle exists, a second transport sequence is re-generated based on the one or more picking storage location numbers, and the above-mentioned path planning operation is repeated until the transport is completed at the location information corresponding to each picking storage location number.

[0074] To achieve the above objectives, according to another aspect of an embodiment of the present invention, a task allocation and processing electronic device is provided.

[0075] The electronic device of an embodiment of the present invention includes: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement any of the task allocation and processing methods described above.

[0076] To achieve the above objectives, according to another aspect of an embodiment of the present invention, a computer-readable medium is provided, on which a computer program is stored. When the program is executed by a processor, any of the above-mentioned task allocation and processing methods is implemented.

[0077] According to the solution provided by the present invention, one embodiment of the above invention has the following advantages or beneficial effects: calculating the overlap between each handling task and the congested aisle, and issuing tasks in a staggered manner according to the overlap, to avoid congestion caused by multiple handling robots operating in a certain area; by collecting task information of each device in the warehouse in real time to generate a set of blockage points, the handling robot can plan a detour path based on the blockage point set, shortening the handling distance and time. Even if obstacles are encountered during driving or there is no new path, the destination picking storage location can be changed to give priority to the picking storage location with a path, thereby improving the handling efficiency.

[0078] The further effects of the above-mentioned non-conventional optional manner will be described below in conjunction with specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The accompanying drawings are provided for a better understanding of the present invention and are not intended to limit the present invention.

[0080] Figure 1 It is a schematic diagram of the transport path of the existing transport robot;

[0081] Figure 2 This is a schematic diagram of existing obstacles blocking the way without predicting the detour;

[0082] Figure 3 A flowchart of a task allocation method according to an embodiment of the present invention;

[0083] Figure 4 This is a schematic diagram of staggered task distribution;

[0084] Figure 5 is a flowchart of a specific task allocation method according to an embodiment of the present invention;

[0085] Figure 6 is a flowchart of a task processing method according to an embodiment of the present invention;

[0086] Figure 7 It is a schematic diagram of obstacles and predicting detours in advance;

[0087] Figure 8 2 is a schematic diagram of main modules of a task allocation device according to an embodiment of the present invention;

[0088] Figure 9 is a schematic diagram of main modules of a task processing device according to an embodiment of the present invention;

[0089] Figure 10 is an exemplary system architecture diagram in which embodiments of the present invention may be applied;

[0090] Figure 11 It is a schematic diagram of the structure of a computer system of a mobile device or server suitable for implementing the embodiments of the present invention. DETAILED DESCRIPTION

[0091] The following description of exemplary embodiments of the present invention is made in conjunction with the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding. These details should be considered as merely exemplary. Therefore, it should be appreciated by those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0092] It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other unless they conflict. The acquisition, storage, use, and processing of data (such as user personal information) in the technical solution of this application comply with the relevant provisions of national laws and regulations and do not violate public order and good morals.

[0093] This solution is primarily applicable to warehouse logistics or similar work scenarios, such as line-side handling within factories. It will be explained using a warehouse logistics scenario, such as a human-robot collaborative warehouse. Within the warehouse, multiple devices, including handling robots (or handling equipment), manual carts, and forklifts, operate simultaneously. Both manual carts and forklifts are manually operated, relying entirely on human judgment and operation. The warehouse shelves are multi-layered, with the first floor serving as picking locations and the second and higher floors serving as storage locations. Handling robots and manual carts are used for moving items out of the warehouse, while forklifts are used for receiving items, replenishing stock, and sorting.

[0094] See also Figure 1 The figure below shows the transport robot's path for a transport task. A transport task consists of several picking locations. After receiving a transport task, the transport robot automatically drives to each picking location. The picker then places the items into the robot's container. After picking the items at the current location, the transport robot automatically drives to the next picking location, and so on, until all the picking locations have been picked, completing the transport task.

[0095] Although handling robots can learn about their environment, build maps, and autonomously locate and navigate, they rely more on relatively unchanging static map data. The working environment of a human-robot collaborative warehouse is relatively complex, and the on-site environment changes randomly. Handling robots cannot understand the changing factors of manual operation and therefore cannot make predictions in advance, which has a certain interference and impact on their path planning. Figure 2 As shown in the figure, a forklift is parked on the transport path, blocking the driving route of the transport robot. When the transport robot exceeds the monitoring range of its own lidar, it cannot detect the forklift as an obstacle, and thus cannot predict whether it needs to detour. Only when it drives near the forklift can it detect the forklift as an obstacle. At this time, it is necessary to replan the path for detour, which wastes time, increases the driving distance, and reduces the transport efficiency.

[0096] Take the human-machine collaboration warehouse as an example: 1. The existing warehouse control system (Warehouse Control System, abbreviated as WCS) issues handling tasks to the handling robot in the order of task order creation time. 2. The handling robot drives to each picking storage location in the handling task in turn to carry out the handling. The execution process is: 1) Determine whether all picking storage locations in the handling task have been completed. If so, end the process, otherwise execute step 2). 2) The handling robot drives to the next picking storage location. If there is an obstacle blocking the driving path and it cannot pass, execute step 3), otherwise execute step 4). 3) The handling robot re-plans the path. If there is a new path, execute step 2) according to the planned new path, otherwise wait for the obstacle to be removed. 4) The picker puts the item into the container of the handling robot and executes step 1).

[0097] See also Figure 3 , which shows a main flow chart of a task allocation method provided by an embodiment of the present invention, including the following steps:

[0098] S301: Acquire a set of transport tasks to be processed, determine a transport lane set corresponding to each transport task in the lane set, and construct a transport lane vector corresponding to each transport task;

[0099] S302: Determine the number of devices currently operating in each lane in the lane set to construct a current lane equipment vector, and calculate the similarity between each transport lane vector and the current lane equipment vector;

[0100] S303: Acquire a set of transport equipment that is currently in an idle state, and send the transport tasks to the transport equipment in ascending order of similarity for processing.

[0101] In the above embodiment, for step S101, the warehouse control system pre-sets a task pool, and the handling tasks issued by the upstream task generation system are first placed in the task pool. The warehouse control system periodically queries all handling tasks from the task pool (e.g., every 5 seconds), which are recorded as set T.

[0102] The set of transport lanes (lane: the channel between two shelves) for the i-th transport task in the set T is recorded as vector W i Since different transport tasks correspond to different sets of transport lanes, all lanes must be considered to facilitate subsequent congestion similarity calculations. As shown in Table 1, lanes that require picking (the transport robot transports the picker, who then picks the goods) are marked as 1 (the first value, which can be adjusted), and lanes that do not require picking are marked as 0 (the second value, which can be adjusted and must be different from the first value):

[0103] Table 1. Aisle vector information for picking required for handling tasks

[0104]

[0105]

[0106] For each transport task, the tag value of each lane is arranged in order from small to large according to the lane number to generate a transport lane vector. For example, the vector obtained according to Table 1 is {0,1,0,1,0,0}, which means that only lanes B and D need to be picked.

[0107] In step S102, the number of devices currently operating in each lane is determined, namely the number of manual carts, forklifts, transport robots, and other devices currently operating in each lane, to provide data support for staggered task dispatching. A key-value pair set (key:value) is initialized, denoted as set M, to store the real-time number of lane devices. The key is the lane number, and the value is the number of devices currently operating in the lane. The initial value is 0, and the set size is the number of lanes. The results are shown in Table 2:

[0108] Table 2 Example of real-time lane equipment quantity

[0109] Lane number Number of devices A 0 B 1 C 0 D 2 E 1 F 0 …… ……

[0110] The warehouse control system periodically queries the warehouse management system for currently running tasks (e.g., every 5 seconds) and extracts information such as the task type and picking location number for each task. Task types vary across different business scenarios. This solution primarily addresses shelving tasks (forklift operations), replenishment tasks (forklift operations), and outbound tasks (manual carts and transport robots). Other tasks that may impact robotic equipment in the future are not specifically defined here and can be set as system parameters and configured based on the business scenario.

[0111] The corresponding lane number is obtained through the picking location number, and the number of tasks currently operating in each lane, that is, the number of equipment, is counted based on the lane number. Assume that picking location 1, picking location 2, and picking location 3 are set in lane A. Task a is currently operating at picking location 1 by a forklift, task b is currently operating at picking location 1 by a manual cart, task c is currently operating at picking location 2 by a forklift, and task d is currently operating at picking location 3 by a transport robot. Therefore, the number of tasks corresponding to lane A is 4. In this solution, each task corresponds to only one equipment, so the number of tasks obtained is the number of equipment. For example, the number of equipment corresponding to lane A is 4. The warehouse control system regularly collects the number of lane equipment in the above manner and assigns it to the key-value pair set M, overwriting the old data.

[0112] According to the order of lane numbers from small to large, the number of devices in each lane is arranged in order, so that the real-time lane device number set is recorded as vector W0, such as the vector W0 obtained according to Table 1: {0, 1, 0, 2, 1, 0}.

[0113] Calculate the vector W of each transport lane i The cosine similarity d with the current lane equipment vector W0 represents the congestion overlap between each transport task and the congested lane. Based on the cosine similarity d of each transport task, the transport task set T is sorted in positive order. That is, the transport task with the smaller transport path congestion similarity is less congested and needs to be issued first. The calculation formula of cosine similarity d is:

[0114]

[0115] Assume there are 5 transport tasks, namely Task 1, Task 2, Task 3, Task 4, and Task 5. Set the number of lane equipment W0 to {0, 1, 0, 2, 1, 0}, and assume that:

[0116] The transport lane vector W1 of task 1 is {1, 0, 1, 0, 0, 1}, which shows that it does not overlap with the current working lane of W0. The cosine similarity between W1 and W0 is calculated as d1 = 0;

[0117] The transport lane vector W2 of task 2 is {0, 1, 0, 1, 1, 0}, which is completely overlapped with the current working lane of W0. The cosine similarity between W2 and W0 is calculated as d2 = 0.94;

[0118] The transport lane vector W3 of task 3 is {1,1,1,0,0,0}, which is consistent with the current working lane B of W0. The cosine similarity between W3 and W0 is calculated as d3 = 0.24;

[0119] The transport lane vector W4 for task 4 is {1, 1, 0, 1, 0, 0}. This overlaps with lanes B and D, where W0 is currently operating. Furthermore, there are currently two devices operating in lane D. The cosine similarity between W4 and W0 is calculated as d4 = 0.70.

[0120] The transport lane vector W5 of task 5 is {1,1,0,0,1,0}, which coincides with the current working lanes B and E of W0. The cosine similarity between W5 and W0 is calculated as d5 = 0.47.

[0121] Sort the tasks in ascending order of cosine similarity to obtain the task sequence: {Task 1, Task 3, Task 5, Task 4, Task 2}.

[0122] For step S103, the warehouse control system pre-sets two configuration parameters: 1) the congestion overlap threshold (or preset similarity threshold), denoted as P1. If the configuration value is 0.5, for handling tasks with a cosine similarity (i.e., congestion overlap) greater than 0.5, they can be processed in the next cycle or issued when the aisle is not congested; 2) the task minimum buffer time threshold, denoted as P2, in minutes. If the configuration value is 60, if the latest delivery time required by a certain handling task is 12:00, and the current time exceeds 11:00, that is, less than 60 minutes away from the latest delivery time, there is a risk of timeout processing, and the task must be issued immediately.

[0123] First, the cosine similarity of each transport task in the transport task set T is checked to see if it is greater than P1. If at least one transport task has a cosine similarity greater than P1, a first transport task set T1 is generated based on the at least one transport task. The preset latest delivery time of each transport task in the first transport task set T1 is obtained, and the time difference in minutes m between each preset latest delivery time and the current time is calculated. A second transport task set T2 is generated based on the transport tasks for which the difference m is greater than P2, and the second transport task set T2 is removed from the transport task set T.

[0124] For the removed handling tasks, it is stated that the handling path of the task is relatively congested and there is no risk of timeout. It can be processed when it is less congested or when time is urgent. Only the less congested and time-urgent handling tasks are retained in the handling task set T. For example, the cosine similarities of the aforementioned Task 2 and Task 4 are both greater than P1, but the latest outbound time of Task 4 is 2022.07.13.12 pm, and the difference from the current time of 2022.07.12.10 am is greater than 60 minutes, while the latest outbound time of Task 2 is 2022.07.12.10:55 am, and the difference from the current time of 2022.07.12.10 am is less than 60 minutes. Therefore, Task 4 needs to be removed from the handling task set T, and this issued task does not include Task 4.

[0125] Obtain all currently idle handling robots, denoted as set N, and the number is denoted as j. The number of handling tasks in the handling task set T (or the updated handling task set T) is denoted as k. If j ≥ k, then determine k handling robots from the handling robot set N (which can be randomly selected or selected in the order of robot numbers), and distribute the k handling tasks in the handling task set T to the k handling robots respectively. However, if j < k, then determine j handling tasks from the handling task set T, and distribute the j handling tasks to the j handling robots respectively.

[0126] It should be noted that each handling task has a limit on the outbound time. If a task has a high congestion overlap at the current time point and is far from its outbound time, it can be not processed first and judged again at the next time point. If the same result still occurs, it will be judged again at the next time point. Generally, the polling in the previous few time points can complete the processing, and it will be distributed when the congestion overlap is low at a certain time point. Unless in extreme cases (a small probability event), when the remaining time until the outbound time of the task is less than 60 minutes and it is still congested, the task needs to be immediately issued. Although the handling may be slow due to congestion, it can still ensure that the task can be normally and timely out of the warehouse.

[0127] See Figure 4 As shown, it is a schematic diagram of off-peak task issuance. For the handling lanes of Task 1 and Task 2, there are no other devices, such as manual trolleys, forklifts, and handling robots. Therefore, the calculated similarity is relatively small (such as 0). For Task 3, the handling lane it passes through just avoids forklifts and manual trolleys, that is, there are no obstacles blocking in the handling lane it passes through. Among the above-mentioned Task 1, Task 2, and Task 3, there are no obstacles blocking in the handling lanes passed by the handling robots, and the handling paths of these three tasks also have no intersections. Therefore, they can be preferentially issued.

[0128] Assume that there are currently 3 idle handling robots, and the picking points for multiple consecutive issued tasks are:

[0129] Task 1: 1 2 3 4

[0130] Task 2: 1 2 3 4

[0131] Task 3: 1 2 3 4

[0132] Task 4: 5 6 7 8

[0133] Task 5: 5 6 7 8

[0134] Task 6: 9 10 11 12

[0135] Task 7: 9 10 11 12

[0136] Task 8: 9 10 11 12

[0137] Under the existing solution, Tasks 1, 2, and 3 are assigned to three idle transport robots, resulting in a high degree of overlap in the transport paths of these three robots, which can easily cause congestion. Under this solution, tasks are assigned based on priority, so Tasks 1, 4, and 6 are assigned to these three robots separately. This allows them to work in a dispersed manner, reducing the probability of lane congestion.

[0138] The method provided in the above embodiment analyzes the equipment operation status of each aisle in the warehouse, calculates the overlap of each handling task with the congested aisle, and adjusts the task issuance priority for staggered issuance. For example, priority is given to handling tasks whose aisles are not congested and have an urgent time to leave the warehouse, so that the handling robots can operate as dispersed as possible in the warehouse at the same time, thereby improving the handling efficiency.

[0139] See also Figure 5 , shows a flowchart of a specific task allocation method according to an embodiment of the present invention, including the following steps:

[0140] S501: Obtain a set of handling tasks to be processed, determine a set of handling lanes corresponding to each handling task in the lane set, mark the handling lanes with a first value, mark the non-handling lanes with a second value, arrange the marked values of each lane in lane number order, and obtain a handling lane vector corresponding to each handling task;

[0141] S502: Determine the number of equipment currently operating in each lane in the lane set to construct a current lane equipment vector, and calculate the similarity between each transport lane vector and the current lane equipment vector;

[0142] S503: Determine, from the transport task sets, a first transport task set having a similarity greater than a preset similarity threshold;

[0143] S504: Obtaining the preset latest delivery time of each transport task in the first transport task set, and calculating the difference between each preset latest delivery time and the current time;

[0144] S505: Determine, from the first transport task set, a second transport task set whose difference is greater than a preset task minimum buffer time threshold, and remove the second transport task set from the first transport task set;

[0145] S506: Obtain a set of transport devices that are currently in an idle state, and send the transport tasks to the transport devices in ascending order of similarity for processing, so that the transport devices perform path planning based on the current set of blocking points and the transport tasks.

[0146] See also Figure 6 , shows a flowchart of a task processing method according to an embodiment of the present invention, including the following steps:

[0147] S601: A transport device receives a transport task, generates a first transport sequence based on one or more picking location numbers corresponding to the transport task, and determines a first picking location number that is ranked first in the first transport sequence;

[0148] S602: Obtain a real-time set of blocking points, and perform path planning based on the current location information of the transport equipment and the location information corresponding to the first picking location number;

[0149] S603: In response to the path planning result being valid, driving according to the planned path to the location information corresponding to the first picking storage location number to perform a transport operation;

[0150] S604: After receiving the transport completion information, determine the second picking storage location number ranked second in the first transport sequence, and repeat the above path planning operation until the transport is completed at the position information corresponding to each picking storage location number.

[0151] In the above-mentioned implementation, existing transport robots, manual carts, forklifts, and other equipment each perform their own tasks, without sharing task information. Consequently, the transport robot cannot obtain the operating status and location information of the manual carts, forklifts, and other equipment, making it unable to predict obstacles along the transport path. The robot can only detect obstacles when it approaches them, requiring it to replan its route or wait for them to be removed, increasing travel distance and transport time. Furthermore, if the transport robot encounters an impassable obstacle while en route to its destination, and no new route can be planned, it must wait for the obstacle to be removed, unable to change its destination, thus reducing transport efficiency.

[0152] To solve the above problems, this solution first constructs a real-time blockage point set, that is, a set of coordinate points on the robot map that map obstacles (manual carts, forklifts, transport robots, etc.) that currently affect the transport robot's driving path, to provide data support for the transport robot's path planning.

[0153] The warehouse control system initializes a set, denoted as B, to store real-time information about congestion points. Initially, it is empty. Set B can be considered a global parameter in the warehouse control system. The control system sets a timer to periodically update and maintain set B based on collected congestion points (e.g., every 5 seconds). New congestion points can be added, but if a congestion point is resolved (e.g., by removing a forklift), it must also be removed from set B. Therefore, each update and maintenance overwrites the old data with the new data.

[0154] The warehouse control system queries the warehouse management system for all currently operating tasks for all devices, extracting information such as the task type and the picking location number. Each picking location number is unique and pre-set with location information, so the coordinates of all obstacles on the robot map can be obtained through the picking location number. The mapping relationship between picking points and locations is actually maintained in the robot's map data. For example, if the picking location numbers AA201, AA202, AA201, and AA204 are all mapped to the coordinates of the picking point 00210058 on the robot map, then all devices operating in these locations will be mapped to the coordinate point 00210058, so it can be considered that the coordinate point of the device is 00210058.

[0155] The impact range is pre-configured for each device. This range can be set as a system configuration parameter and can be configured based on device size, impact accuracy, and other factors. For example, a manual cart is approximately 1 meter long, so the impact range can be defined as a circle with a diameter of 1.5 meters. A forklift with forks is approximately 3 meters long, so the impact range can be defined as a circle with a diameter of 3.5 meters. This parameter can be set and maintained based on actual conditions, and different calculation strategies can be set. In the future, it can be changed based on actual needs, such as the range being rectangular or irregular. Currently, a circular shape is preferred. All equipment in the warehouse may change models at any time, as new equipment is added or old equipment is retired. Therefore, information about each device can also be configured as a parameter.

[0156] Determine all pre-planned paths on the robot map that can be used by the transport robot. If the influence range of an obstacle intersects with a point on a path, the point within the influence range is determined as a blocking point. The newly calculated blocking point is assigned to Set B, overwriting the old data. For example, if there is a forklift currently operating on Path Y, the forklift's influence range is a circle planned with the forklift's current position as the center and the forklift's influence diameter as the radius. The forklift is affecting the passage of equipment on Path Y. Therefore, the point on Path Y that falls within the forklift's influence range can be used as a blocking point to provide a reference for all other equipment passing through Path Y and to plan detours in advance, rather than just for a single device.

[0157] Table 3. Example of real-time choke point set

[0158] P10 P11 P97 P115 P201 P202 ……

[0159] In steps S601-S604, the aforementioned operations enable the pre-acquisition and real-time update of the blockage point set B. This identifies the coordinate points where equipment is currently operating, providing a reference for the transport robot's path planning. Upon receiving a transport task, the transport robot can use the real-time blockage point set as a reference for path planning to the destination picking location, anticipating the need for a detour.

[0160] A transport task includes one or more picking points, such as picking location number 01, picking location number 02, picking location number 03, and picking location number 04. You just need to traverse these four points to complete the picking of items. Based on these four picking points, multiple transport sequences can be generated. Common algorithms for solving the TSP (Traveling Salesman Problem), such as greedy algorithms, integer programming algorithms, and other related algorithms, such as 1234, 4321, 1243, 1324, etc., are used. Randomly select one of them or default to the order from small to large to determine the first picking location number in the selected transport sequence. For example, if the selected transport sequence is 1234, the first picking location number that is ranked first is 01.

[0161] 1. Use the real-time blocking point set as a condition, combined with the current location information of the transport robot and the location information of the first picking storage location number 01, to perform path planning. If there is a planned path, execute step 2; otherwise, execute step 3.

[0162] 2. If a route is planned, follow the planned route to the location corresponding to the first picking location number 01 for transport. 1) If no obstacles are encountered during the route, the vehicle can directly drive to the location corresponding to the first picking location number 01. After the transport is completed, the second picking location number in the second order of the transport sequence 1234 can be re-determined as 02, and the above route planning operation can be repeated by executing step 1. 2) If an obstacle is encountered during the route, execute step 4.

[0163] 3. If there is no planned path, do not use the real-time blocking point set as a condition for path planning. If there is a planned path, execute step 2, although there may be congestion (see Figure 2 (as shown) but at least there is a path to travel, and when encountering congestion, make a decision based on the actual situation; otherwise, execute step 4.

[0164] 4. In addition to the current first picking storage location number 01, determine whether there are other picking storage location numbers in the transportation sequence 1234. If so, execute step 5; otherwise, execute step 1 until a new path is found or the obstacle is removed.

[0165] 5. Recalculate the handling sequence, change the destination picking location number, and execute step 1 to replan the path.

[0166] For example, when the transport robot detects an obstacle ahead on the way to the first picking storage location number 01 and no new path can be planned, it needs to wait on the spot according to the existing solution. This solution solves this problem by changing the transport order. For example, if the original transport order is 1234, the transport order is readjusted to give priority to transporting items in other storage locations, such as 3241, 4321, 3421, etc. You can also choose a point that is not congested and has the shortest path, and wait until the first picking storage location number 01 is uncongested before transporting.

[0167] According to the original Figure 2 As shown in Figure 3, when the transport robot encounters an obstacle, a forklift, on its path, it needs to replan a new path to reach picking point 3. After using this solution, since a set of real-time blocking points is pre-built, the transport robot will obtain a detour path that can avoid the forklift when planning its path. Figure 7 As shown, relative to the original Figure 2 Reduce driving distance.

[0168] The method provided in the above embodiment constructs a set of blockage points, which provides a basis for the transport robot to plan whether to detour the path. When encountering obstacles or no new path during driving, the destination picking storage location can be re-determined by adjusting the transport order, thereby achieving the purpose of optimizing the planned path and avoiding congestion, thereby improving the transport efficiency.

[0169] The embodiment of the present invention is mainly applied to human-machine collaborative warehouse handling robots, and provides an optimization strategy method to avoid congestion. By collecting task information of various equipment in the warehouse (handling robots, manual carts, forklifts, etc.) in real time and using it as shared data, it provides data support for the handling robots to plan paths:

[0170] 1. Vectorized management of the real-time number of lane equipment and the lanes for each transport task is performed. The overlap between each transport task and the congested lane is calculated using cosine similarity. The higher the overlap, the more congested the transport path for that transport task. The priority of each transport task is determined based on this, and the dispatch order is determined. Transport tasks in idle lanes are dispatched first, thus achieving staggered dispatch and reducing the probability of lane congestion.

[0171] 2. When planning a route, the transport robot prioritizes avoiding congested routes based on the real-time congestion point set to reduce transport distance and time. However, if it determines that it cannot avoid the congestion, it will not consider the real-time congestion point set when planning the route. If congestion is encountered during driving, it will be resolved according to the actual situation to improve transport efficiency.

[0172] 3. If the transport robot encounters an obstacle and has no path during driving, the transport order can be adjusted to give priority to the picking storage location with a path and feasible.

[0173] See also Figure 8 , which shows a schematic diagram of the main modules of a task allocation device 800 provided by an embodiment of the present invention, including:

[0174] The acquisition module 801 is used to obtain a set of transport tasks to be processed, determine the transport lane set corresponding to each transport task in the lane set, and construct a transport lane vector corresponding to each transport task; including: marking a first value for the transport lane, marking a second value for the non-transport lane, arranging the values marked for each lane in the order of lane numbers, and obtaining the transport lane vector corresponding to each transport task.

[0175] A calculation module 802 is configured to determine the number of devices currently operating in each lane in the lane set to construct a current lane device vector, and calculate the similarity between each transport lane vector and the current lane device vector;

[0176] The allocation module 803 is used to obtain a set of transport equipment that is currently in an idle state, and sequentially assign the transport tasks to the transport equipment in ascending order of similarity for processing.

[0177] Specifically: determining a first number of transport tasks in the transport task set and a second number of transport equipment in the transport equipment set;

[0178] In response to the first number being less than or equal to the second number, determining the first number of transport devices from the set of transport devices, and assigning each transport task to each of the determined transport devices; or

[0179] In response to the first number being greater than the second number, the second number of transport tasks are determined from the transport task set in ascending order of similarity, so as to send each determined transport task to each transport device.

[0180] In the apparatus of the embodiment of the present invention, the calculation module 802 is configured to:

[0181] Query all tasks of the current job and obtain the task information of each task; the task information includes the picking location number, and one task corresponds to only one device;

[0182] Determine the lane number corresponding to each picking location number, and calculate the number of devices currently operating corresponding to each picking location number to obtain the number of devices currently operating corresponding to each lane number.

[0183] Arrange the number of devices in the current operation corresponding to each lane number in the order of the lane numbers to construct the current lane equipment vector.

[0184] The device according to the embodiment of the present invention further includes a filtering module, which is used to:

[0185] Determining, from the transport task sets, a first transport task set having a similarity greater than a preset similarity threshold;

[0186] Obtaining the preset latest delivery time of each transport task in the first transport task set, and calculating the difference between each preset latest delivery time and the current time;

[0187] A second transport task set having a difference greater than a preset task minimum buffer time threshold is determined from the first transport task set, so as to remove the second transport task set from the first transport task set.

[0188] The apparatus according to the embodiment of the present invention further includes a priority allocation module, configured to:

[0189] In response to the difference between the preset latest delivery time of one or more transport tasks and the current time being less than the preset task minimum buffer time threshold, the one or more transport tasks are issued with priority.

[0190] In the apparatus of the embodiment of the present invention, the allocation module 803 is configured to:

[0191] Obtaining a current set of blocking points, and sending each transport task to a transport device for processing, so that the transport device performs path planning based on the current set of blocking points and the transport task;

[0192] as well as

[0193] Query the task information of each device's current operation; the task information includes the picking location number;

[0194] Based on the location information corresponding to each picking location number, determine the coordinate point information of each device mapped to the handling equipment map, and plan the influence range for each device in combination with the influence length pre-configured for each device;

[0195] The pre-planned driving paths on the transport equipment map are obtained, and in response to at least one driving path intersecting with the influence range, coordinate points on the at least one driving path that fall within the influence range are determined as blocking points to generate a current blocking point set.

[0196] See also Figure 9 , which shows a schematic diagram of the main modules of a task processing device 900 provided by an embodiment of the present invention, including:

[0197] A generating module 901 is configured to receive a transport task by a transport device, generate a first transport sequence based on one or more picking location numbers corresponding to the transport task, and determine a first picking location number that is ranked first in the first transport sequence;

[0198] Planning module 902, configured to obtain a real-time set of blocking points and perform path planning based on the current location information of the transport equipment and the location information corresponding to the first picking location number;

[0199] A transport module 903 is configured to, in response to a path planning result indicating existence, drive along the planned path to the location information corresponding to the first picking location number to perform a transport operation;

[0200] The repetition module 904 is used to determine the second picking storage location number ranked second in the first transportation sequence after receiving the transportation completion information, and repeat the above path planning operation until the transportation is completed at the position information corresponding to each picking storage location number.

[0201] The apparatus according to the embodiment of the present invention further includes a sequence adjustment module, which is configured to:

[0202] In response to a path planning result indicating that the path does not exist, performing path planning based on the current location information of the transport device and the location information corresponding to the first picking location number;

[0203] In response to the path planning result being yes, driving according to the planned path to the location information corresponding to the first picking storage location number to perform a transport operation;

[0204] In response to detecting an obstacle ahead during driving, or in response to the path planning result that no obstacle exists, a second transport sequence is re-generated based on the one or more picking storage location numbers, and the above-mentioned path planning operation is repeated until the transport is completed at the location information corresponding to each picking storage location number.

[0205] In addition, the specific implementation content of the device in the embodiment of the present invention has been described in detail in the above method, so the repeated content will not be described again here.

[0206] Figure 10 An exemplary system architecture 1000 to which embodiments of the present invention may be applied is shown, including terminal devices 1001 , 1002 , 1003 , a network 1004 and a server 1005 (only an example).

[0207] Terminal devices 1001, 1002, and 1003 can be various electronic devices with display screens and support web browsing, and are installed with various communication client applications. Users can use terminal devices 1001, 1002, and 1003 to interact with server 1005 through network 1004 to receive or send messages, etc.

[0208] The network 1004 is used to provide a medium for communication links between the terminal devices 1001, 1002, 1003 and the server 1005. The network 1004 may include various connection types, such as wired or wireless communication links or fiber optic cables.

[0209] The server 1005 may be a server that provides various services. It should be noted that the method provided in the embodiment of the present invention is generally executed by the server 1005 , and accordingly, the device is generally set in the server 1005 .

[0210] It should be understood that Figure 10 The number of terminal devices, networks and servers in the embodiment is merely illustrative. Any number of terminal devices, networks and servers may be provided as required.

[0211] Reference below Figure 11 , which shows a schematic structural diagram of a computer system 1100 of a terminal device suitable for implementing an embodiment of the present invention. Figure 11 The terminal device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0212] like Figure 11As shown, the computer system 1100 includes a central processing unit (CPU) 1101, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1102 or a program loaded from a storage unit 1108 into a random access memory (RAM) 1103. Various programs and data required for the operation of the system 1100 are also stored in the RAM 1103. The CPU 1101, the ROM 1102, and the RAM 1103 are connected to each other via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0213] The following components are connected to the I / O interface 1105: an input section 1106 including a keyboard, a mouse, and the like; an output section 1107 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 1108 including a hard disk; and a communication section 1109 including a network interface card such as a LAN card or a modem. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to the I / O interface 1105 as needed. Removable media 1111, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 1110 as needed, so that computer programs read therefrom can be installed into the storage section 1108 as needed.

[0214] In particular, according to the embodiments disclosed in the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 1109, and / or installed from a removable medium 1111. When the computer program is executed by the central processing unit (CPU) 1101, the above-mentioned functions defined in the system of the present invention are performed.

[0215] It should be noted that the computer-readable medium described in the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, or any suitable combination thereof.

[0216] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0217] The modules described in the embodiments of the present invention may be implemented in software or hardware. The modules described may also be located within a processor. For example, a processor may be described as comprising an acquisition module, a calculation module, and an allocation module. The names of these modules do not, in some cases, limit the modules themselves. For example, the acquisition module may also be described as a "picking lane set acquisition module."

[0218] As another aspect, the present invention further provides a computer-readable medium, which may be included in the device described in the above embodiments, or may exist independently and not incorporated into the device. The computer-readable medium carries one or more programs, and when executed by the device, the device performs any of the above-described task allocation and processing methods.

[0219] The computer program product of the present invention includes a computer program, and when the computer program is executed by a processor, the computer program implements the task allocation and processing method in the embodiment of the present invention.

[0220] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A task allocation method, characterized in that: include: Obtaining a set of handling tasks to be processed, determining a set of handling lanes corresponding to each handling task in the lane set, and constructing a handling lane vector corresponding to each handling task; Determining the number of devices currently operating in each lane in the lane set to construct a current lane device vector includes: querying all tasks of the current operation to obtain task information for each task; wherein the task information includes a picking location number, and one task corresponds to only one device; determining the lane number corresponding to each picking location number, and summing the number of devices currently operating corresponding to each picking location number to obtain the number of devices currently operating corresponding to each lane number; and arranging the number of devices currently operating corresponding to each lane number in order of lane numbers to construct the current lane device vector; Calculating the similarity between each transport lane vector and the current lane equipment vector; Obtain a set of handling equipment that is currently in an idle state, and send the handling tasks to the handling equipment for processing in order of similarity from small to large, including: obtaining a current blockage point set, and sending each handling task to the handling equipment for processing, so that the handling equipment performs path planning based on the current blockage point set and the handling tasks; wherein, obtaining the current blockage point set includes: querying the task information of the current operation of each device; determining the coordinate point information of each device mapped to the handling equipment map based on the position information corresponding to each picking storage location number, and planning the influence range for each device in combination with the influence length pre-configured for each device; obtaining the pre-planned driving path on the handling equipment map, and in response to the intersection of at least one driving path and the influence range, determining the coordinate point on the at least one driving path that falls within the influence range as a blockage point to generate the current blockage point set.

2. The method according to claim 1, characterized in that The constructing of the transport lane vector corresponding to each transport task includes: The transport lane is marked with a first value, the non-transport lane is marked with a second value, and the values marked on each lane are arranged in order of lane numbers to obtain a transport lane vector corresponding to each transport task.

3. The method according to claim 1, characterized in that After calculating the similarity between each transport lane vector and the current lane equipment vector, the method further includes: Determining, from the transport task sets, a first transport task set having a similarity greater than a preset similarity threshold; Obtaining the preset latest delivery time of each transport task in the first transport task set, and calculating the difference between each preset latest delivery time and the current time; A second transport task set having a difference greater than a preset task minimum buffer time threshold is determined from the first transport task set, so as to remove the second transport task set from the first transport task set.

4. The method according to claim 1 or 3, characterized in that Also includes: In response to the difference between the preset latest delivery time of one or more transport tasks and the current time being less than the preset task minimum buffer time threshold, the one or more transport tasks are issued with priority.

5. The method according to claim 1, wherein The step of sequentially sending the transport tasks to the transport equipment for processing includes: Determining a first number of transport tasks in the transport task set and a second number of transport equipment in the transport equipment set; In response to the first number being less than or equal to the second number, determining the first number of transport devices from the set of transport devices, and assigning each transport task to each of the determined transport devices; or In response to the first number being greater than the second number, the second number of transport tasks are determined from the transport task set in ascending order of similarity, so as to send each determined transport task to each transport device.

6. A task processing method, characterized in that: include: The handling equipment receives the handling task, generates a first handling sequence based on one or more picking storage location numbers corresponding to the handling task, and determines the first picking storage location number ranked first in the first handling sequence; wherein, according to the similarity between the handling lane vector corresponding to the handling task and the current lane equipment vector, the order of issuing the handling tasks is determined in ascending order of similarity; the process of determining the current lane equipment vector includes: querying all tasks of the current operation and obtaining task information of each task; wherein the task information includes the picking storage location number, and one task corresponds to only one device; determining the lane number corresponding to each picking storage location number, and calculating the number of devices of the current operation corresponding to each picking storage location number to accumulate and obtain the number of devices of the current operation corresponding to each lane number; arranging the number of devices of the current operation corresponding to each lane number in the order of lane numbers to construct the current lane equipment vector; Obtain a real-time blockage point set, and perform path planning in combination with the current location information of the handling equipment and the location information corresponding to the first picking storage location number; wherein the generation process of the blockage point set includes: querying the task information of the current operation of each device; determining the coordinate point information of each device mapped to the handling equipment map based on the location information corresponding to each picking storage location number, and planning the influence range for each device in combination with the influence length pre-configured for each device; obtaining the pre-planned driving path on the handling equipment map, and in response to the intersection of at least one driving path and the influence range, determining the coordinate point on the at least one driving path that falls within the influence range as a blockage point, so as to generate a blockage point set; In response to the path planning result being yes, driving according to the planned path to the location information corresponding to the first picking storage location number to perform a transport operation; After receiving the transport completion information, determine the second picking storage location number ranked second in the first transport sequence, and repeat the above path planning operation until the transport is completed at the position information corresponding to each picking storage location number.

7. The method according to claim 6, characterized in that Also includes: In response to a path planning result indicating that the path does not exist, performing path planning based on the current location information of the transport device and the location information corresponding to the first picking location number; In response to the path planning result being yes, driving according to the planned path to the location information corresponding to the first picking storage location number to perform a transport operation; In response to detecting an obstacle ahead during driving, or in response to the path planning result that no obstacle exists, a second transport sequence is re-generated based on the one or more picking storage location numbers, and the above-mentioned path planning operation is repeated until the transport is completed at the location information corresponding to each picking storage location number.

8. A task allocation device, characterized in that: include: An acquisition module is used to acquire a set of handling tasks to be processed, determine a set of handling lanes corresponding to each handling task in the lane set, and construct a handling lane vector corresponding to each handling task; a calculation module for determining the number of devices currently operating in each lane in the lane set to construct a current lane equipment vector, comprising: querying all tasks of the current operation to obtain task information for each task; wherein the task information includes a picking location number, and one task corresponds to only one device; determining the lane number corresponding to each picking location number, and summing the number of devices currently operating corresponding to each picking location number to obtain the number of devices currently operating corresponding to each lane number; and arranging the number of devices currently operating corresponding to each lane number in order of lane numbers to construct the current lane equipment vector; Calculating the similarity between each transport lane vector and the current lane equipment vector; An allocation module is used to obtain a set of handling equipment that is currently in an idle state, and to send the handling tasks to the handling equipment for processing in order of similarity from small to large, including: obtaining a current blockage point set, and sending each handling task to the handling equipment for processing, so that the handling equipment performs path planning based on the current blockage point set and the handling tasks; wherein, obtaining the current blockage point set includes: querying the task information of the current operation of each device; determining the coordinate point information of each device mapped to the handling equipment map based on the position information corresponding to each picking storage location number, and planning the influence range for each device in combination with the influence length pre-configured for each device; obtaining the pre-planned driving path on the handling equipment map, and in response to the intersection of at least one driving path and the influence range, determining the coordinate point on the at least one driving path that falls within the influence range as a blockage point to generate the current blockage point set.

9. A task processing device, characterized in that: include: A generation module is configured to receive a transport task from a transport device, generate a first transport sequence based on one or more picking location numbers corresponding to the transport task, and determine a first picking location number ranked first in the first transport sequence; wherein, based on the similarity between the transport lane vector corresponding to the transport task and the current lane equipment vector, the order of issuing the transport tasks is determined in ascending order of similarity; the process of determining the current lane equipment vector includes: querying all tasks of the current operation to obtain task information of each task; wherein the task information includes the picking location number, and one task corresponds to only one device; determining the lane number corresponding to each picking location number, and calculating the number of devices of the current operation corresponding to each picking location number to accumulate and obtain the number of devices of the current operation corresponding to each lane number; arranging the number of devices of the current operation corresponding to each lane number in the order of lane numbers to construct the current lane equipment vector; A planning module is configured to obtain a real-time blockage point set and perform path planning in combination with the current location information of the handling equipment and the location information corresponding to the first picking storage location number; wherein the generation process of the blockage point set includes: querying the task information of the current operation of each device; determining the coordinate point information of each device mapped to the handling equipment map based on the location information corresponding to each picking storage location number, and planning the influence range for each device in combination with the influence length pre-configured for each device; obtaining the pre-planned driving path on the handling equipment map, and in response to at least one driving path intersecting with the influence range, determining the coordinate points on the at least one driving path that fall within the influence range as blockage points, so as to generate a blockage point set; a transport module, configured to, in response to a path planning result being yes, drive along the planned path to the location information corresponding to the first picking storage location number to perform a transport operation; The repetition module is used to determine the second picking storage location number ranked second in the first transportation sequence after receiving the transportation completion information, and repeat the above-mentioned path planning operation until the transportation is completed at the position information corresponding to each picking storage location number.

10. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

11. A computer-readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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