Cargo sorting method, device, equipment, storage system and storage medium

Abstract

The disclosed embodiments provide a cargo sorting method, device, equipment, warehousing system and storage medium. The cargo sorting method is applied to a warehousing system, and the method comprises: determining cargo to be shipped corresponding to a target order, wherein the target order is an order for a preset time period in the future; determining a target storage location of the cargo to be shipped according to a target operating console corresponding to the target order; when the target storage location of the cargo to be shipped and the storage location of the cargo to be shipped meet the warehouse transfer conditions, the cargo to be shipped is moved to the corresponding target storage location, wherein the storage location is the storage location where the cargo to be shipped is currently stored, thereby realizing warehouse sorting based on orders in the future, with high warehouse sorting accuracy, and improving the efficiency of order processing.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent warehousing technology, and in particular to a cargo sorting method, device, equipment, warehousing system and storage medium. Background Art

[0002] The robot-based warehousing system adopts an intelligent operating system, which realizes the automatic retrieval and storage of goods through system instructions. It can run uninterruptedly 24 hours a day, replacing manual management and operation, improving warehousing efficiency, and has been widely used and favored.

[0003] In the field of robot-based intelligent warehousing, it is often necessary to organize the warehouse according to a certain period or proactively, that is, to organize the warehouse in advance, so as to improve the efficiency of goods out of the warehouse. In the existing technology, the warehouse organization strategy is often determined based on the popularity of the goods, so that the goods with higher popularity are organized to the warehouse location with higher outbound efficiency, such as the warehouse location close to the operating table, so as to improve the outbound efficiency.

[0004] However, when the outbound order includes a large number of low-heat goods, the above method cannot improve the outbound efficiency of the order. Summary of the invention

[0005] The present invention provides a cargo sorting method, device, equipment, warehousing system and storage medium, which realizes a cargo sorting strategy based on orders and improves order processing efficiency.

[0006] In a first aspect, an embodiment of the present disclosure provides a method for sorting goods, the method comprising: determining goods to be shipped corresponding to a target order, wherein the target order is an order for a preset time period in the future; determining a target storage location for the goods to be shipped according to a target operating console corresponding to the target order; when the target storage location for the goods to be shipped and the storage location for the goods to be shipped meet the conditions for transferring, the goods to be shipped are moved to the corresponding target storage location, wherein the storage location is the storage location where the goods to be shipped are currently stored.

[0007] Optionally, the target storage location of the goods to be shipped out is determined according to the target operation console corresponding to the target order, including: determining the storage location score of each storage location in the warehousing system according to the target operation console; and determining the target storage location of each of the goods to be shipped out according to the storage location score.

[0008] Optionally, determining the storage location score of each storage location of the storage system according to the target operation station includes: calculating a first distance between each storage location of the storage system and the target operation station; and determining the storage location score of each storage location according to the first distance.

[0009] Optionally, determining a storage location score of each storage location based on the first distance includes: determining a storage location score of each storage location based on the first distance and a storage location height of each storage location.

[0010] Optionally, the location score of each storage location of the storage system is determined according to the target operating station, including: calculating the second distance between the lane exit of each lane of the storage system and the target operating station, wherein the lane is a passage between two adjacent storage shelves for robots to walk, and the storage shelves include one or more storage locations for storing goods; obtaining a first number of target storage locations corresponding to each of the lanes; determining the lane score of each of the lanes according to the second distance and the first number; for each storage location, determining the location score of the storage location according to the lane score of the lane corresponding to the storage location and the distance between the storage location and the lane exit of the corresponding lane.

[0011] Optionally, the target storage locations of the goods to be shipped out are determined according to the target operation table corresponding to the target order, including: calculating the second distance between the lane exit of each lane and the target operation table; for each lane, determining the first score of each storage location corresponding to the lane according to the third distance between each storage location corresponding to the lane and the lane exit of the lane; looping through the following steps until the target storage locations of all the goods to be shipped out corresponding to the target order are determined: obtaining the first number of target storage locations corresponding to each lane; determining the lane score of each lane according to the second distance and the first number; for the target lane with the highest current lane score, determining a preset number of storage locations as the target storage locations for a preset number of goods to be shipped out from each storage location that has not been determined as the target storage location in the target lane according to the first scores from high to low, and updating the first number of the target lane according to the preset number, wherein the preset number is the number of layers of the robot's temporary storage shelf.

[0012] Optionally, the target storage location of the goods to be shipped out corresponding to the target order is determined according to the target operation console corresponding to the target order, including: calculating the second distance between the lane exit of each lane and the target operation console; determining the congestion coefficient of each lane; determining the lane score of each lane according to the second distance and the congestion coefficient corresponding to each lane; for each lane, determining the first score of each storage location corresponding to the lane according to the third distance between each storage location corresponding to the lane and the lane exit of the lane; determining the target storage location of each of the goods to be shipped out corresponding to the target order according to the first score of each storage location and the lane score of the lane corresponding to each storage location.

[0013] Optionally, the target storage location of each of the goods to be shipped out corresponding to the target order is determined based on the first score of each storage location and the lane score of the lane corresponding to each storage location, including: determining the first storage location of each lane as the target storage location of each of the goods to be shipped out corresponding to the target order in order of lane scores from high to low, wherein the first storage location is a storage location having a first score greater than a preset score.

[0014] Optionally, the first storage location of each lane is determined in sequence from high to low according to the lane scores as the target storage location for each to-be-shipped goods corresponding to the target order, including: in sequence from high to low according to the lane scores and from high to low according to the first scores in the lanes, the corresponding number of the first storage locations are determined as the target storage locations for the goods to be shipped in the target order, and the lanes with a first storage location quantity of 0 are deleted.

[0015] Optionally, after determining the first storage location of each lane as the target storage location of each to-be-shipped goods corresponding to the target order in order from high to low lane scores, the method further includes: obtaining the goods to be shipped corresponding to the next target order; updating the congestion coefficient of each first lane according to the number of target storage locations corresponding to each first lane, wherein the first lane is a lane in which at least one storage location in each lane is determined as the target storage location; updating the lane score of each first lane according to the second distance corresponding to each first lane and the updated congestion coefficient; determining the first storage location of each lane as the target storage location of each to-be-shipped goods corresponding to the next target order in order from high to low lane scores.

[0016] Optionally, the method further includes: determining the storage location type corresponding to each of the goods to be shipped out.

[0017] Correspondingly, the target storage location of the goods to be shipped out is determined according to the target operation console corresponding to the target order, including: determining each target storage location that matches the storage location type corresponding to each of the goods to be shipped out according to the target operation console corresponding to the target order and the storage location type of each of the goods to be shipped out.

[0018] Optionally, according to the target operation console corresponding to the target order and the storage location type of each goods to be shipped, each target storage location that matches the storage location type corresponding to each of the goods to be shipped is determined, including: for each of the goods to be shipped of the same storage location type, each alternative storage location that matches the storage location type is determined; according to the target operation console, the storage location score of each of the alternative storage locations is determined; and in descending order of the storage location score, each alternative storage location is determined as the target storage location for each of the goods to be shipped.

[0019] Optionally, the method further includes: determining an allocation sequence of each of the goods to be shipped corresponding to the target order, so as to sequentially allocate target storage locations for each of the goods to be shipped corresponding to the target order based on the allocation sequence.

[0020] Optionally, the target storage location of the goods to be shipped out and the storage location of the goods to be shipped out meet the transfer conditions, including: the target storage location of the goods to be shipped out and the storage location of the goods to be shipped out are not in the same aisle; or, the target storage location of the goods to be shipped out exceeds a preset range of the storage location of the goods to be shipped out, or, the target storage location of the goods to be shipped out is inconsistent with the storage location of the goods to be shipped out.

[0021] Optionally, determining the goods to be shipped corresponding to the target order includes: determining the goods to be shipped corresponding to the target order according to the order requirements of the target order and the target operation console corresponding to the target order.

[0022] Optionally, the method further includes: determining a target operating station for the target order based on a production line corresponding to the target order.

[0023] Optionally, if there are occupied goods on the target storage location, the method further includes: controlling the robot to take out the occupied goods from the target storage location.

[0024] Correspondingly, the goods to be shipped out are transported to the corresponding target storage location, including: after the occupied goods are taken out, controlling the robot to store the goods to be shipped out in the target storage location.

[0025] Optionally, after storing the goods to be shipped out in the target storage location, the method further includes: allocating a new storage location for the occupied goods to store the occupied goods in the new storage location.

[0026] In the second aspect, the embodiment of the present disclosure also provides a cargo sorting device, which includes: a cargo determination module, used to determine the cargo to be shipped corresponding to the target order, wherein the target order is an order for a preset time period in the future; a storage location determination module, used to determine the target storage location of the cargo to be shipped according to the target operating console corresponding to the target order; and a cargo handling module, used to transport the cargo to be shipped to the corresponding target storage location when the target storage location of the cargo to be shipped is inconsistent with the storage location of the cargo to be shipped.

[0027] In the third aspect, an embodiment of the present disclosure further provides a cargo sorting device, comprising: 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 cargo sorting 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, comprising: storage shelves, an operating table, a robot, and the cargo sorting equipment provided by the embodiment corresponding to the third aspect of the present disclosure.

[0029] In a fifth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, in which computer execution instructions are stored. When a processor executes the computer execution instructions, a cargo sorting 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, which, when executed by a processor, implements a cargo sorting method as provided in any embodiment corresponding to the first aspect of the present disclosure.

[0031] The goods sorting method, device, equipment, warehousing system and storage medium provided by the embodiments of the present disclosure determine the target storage location of each to-be-shipped goods corresponding to the target order within a preset time period in the future according to the target operation console corresponding to the target order, so that when the target storage location and the original storage location of the to-be-shipped goods meet the warehouse transfer conditions, the to-be-shipped goods are moved to the corresponding target storage location in advance, thereby realizing advance warehouse sorting based on orders. Since warehouse sorting is performed based on future orders, the accuracy of warehouse sorting is improved. Through advance warehouse sorting, the to-be-shipped goods corresponding to the order can be shipped out faster, thereby reducing the order processing time and improving the processing efficiency of future orders. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0033] Figure 1 A diagram of an application scenario of the cargo sorting method provided in an embodiment of the present disclosure;

[0034] Figure 2 A flow chart of a cargo arrangement method provided by one embodiment of the present disclosure;

[0035] Figure 3 A flow chart of a cargo arrangement method provided by another embodiment of the present disclosure;

[0036] Figure 4 For this disclosure Figure 3 The flowchart of step S303 in the illustrated embodiment;

[0037] Figure 5 A flow chart of a cargo arrangement method provided by another embodiment of the present disclosure;

[0038] Figure 6 For this disclosure Figure 5 The flowchart of step S503 in the illustrated embodiment;

[0039] Figure 7 A flow chart of a cargo arrangement method provided by another embodiment of the present disclosure;

[0040] Figure 8 A flow chart of a cargo arrangement method provided by another embodiment of the present disclosure;

[0041] Fig. 9 A flow chart of a cargo arrangement method provided by another embodiment of the present disclosure;

[0042] Fig.10 A structural schematic diagram of a cargo sorting device provided by an embodiment of the present disclosure;

[0043] Fig.11 A schematic diagram of the structure of a cargo sorting device provided by one embodiment of the present disclosure;

[0044] Fig.12 A schematic diagram of the structure of a warehousing system provided in accordance with an embodiment of the present disclosure.

[0045] The above drawings show clear embodiments of the present disclosure, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present disclosure in any way, but to illustrate the concepts of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0046] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure.

[0047] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. The following 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 invention will be described below in conjunction with the accompanying drawings.

[0048] The application scenarios of the embodiments of the present disclosure are explained below:

[0049] Figure 1 This is an application scenario diagram of the cargo sorting method provided by the embodiment of the present disclosure, such as Figure 1As shown, the cargo sorting method provided in the embodiment of the present disclosure can be performed by a cargo sorting device, which can be a scheduling device of a warehousing system, and can be in the form of a computer or a server. In a warehousing system, in order to improve the efficiency of the goods 120 leaving the warehouse, it is often necessary to sort the goods 120 stored on the shelves 110 of the warehousing system, that is, to adjust the positions of the goods 120.

[0050] In the prior art, the warehouse is often sorted based on the temperature of the goods 120. Temperature is a parameter used to describe the frequency of goods leaving the warehouse. The higher the temperature, the higher the frequency of goods leaving the warehouse. Specifically, the goods 120 with higher temperature can be placed in a warehouse with a better location, such as a warehouse that is closer to the operating table 130 and the lane exit, such as warehouse 111. Figure 1 The direction corresponding to the middle dotted arrow is transferred to the storage location 111, thereby improving the efficiency of outbound delivery of hotter goods, so that the goods 120 can be transported to the operating table 130 more efficiently.

[0051] However, the method of sorting the goods based solely on the popularity of the goods can often only improve the efficiency of the outbound delivery of goods with higher popularity. When the goods to be shipped corresponding to the order are all goods with lower popularity, the warehouse sorting method based on popularity in the prior art often causes the goods corresponding to the order to not be sorted, that is, their storage locations have not changed, or they may even be moved to storage locations with worse locations. As a result, the outbound delivery efficiency of the goods corresponding to the order cannot be improved, resulting in low order processing efficiency and failure to meet demand.

[0052] In order to improve the efficiency of goods outbound and order processing, the embodiment of the present disclosure provides a goods sorting method, the main concept of the method is: when a future order is known, based on the target operation corresponding to the future order, the target storage location of each goods to be outbound of the future order is determined; when the target storage location and the original storage location of the goods to be outbound meet the transfer conditions, the goods to be outbound are moved to the target storage location, and the warehouse sorting strategy based on the future order is implemented, thereby improving the accuracy of warehouse sorting, so that each goods to be outbound corresponding to the future order are sorted to a better location, thereby improving the outbound efficiency of the goods to be outbound, thereby improving the processing efficiency of future orders.

[0053] Figure 2 A flowchart of a cargo sorting method provided by an embodiment of the present disclosure, such as Figure 2 As shown, the cargo sorting method is applicable to a warehousing system, and the cargo sorting method can be performed by a cargo sorting device. The cargo sorting method provided in this embodiment includes the following steps:

[0054] Step S201, determining the goods to be shipped corresponding to the target order.

[0055] The target order is an order for a preset time period in the future, that is, the target order is not an order currently being processed, but an order that needs to be processed within a preset time period in the future. The goods to be shipped are the goods that need to be shipped in the target order. The preset time period in the future can be the next 24 hours, the next 12 hours, etc.

[0056] Specifically, one or more orders within a preset time period in the future can be determined based on the order information of the warehousing system, such as the order information sent by the order receiving device, that is, one or more target orders can be determined, and then for each target order, one or more goods to be shipped corresponding to the target order can be determined according to the order requirements of the target order.

[0057] Specifically, the order requirements of the target order may indicate the various goods that need to be shipped out, such as including the goods identification of each of the goods to be shipped out, and then based on the corresponding goods identifications in the order requirements of the target order, the various goods to be shipped out corresponding to the target order are determined.

[0058] Furthermore, the order requirements of the target order may indicate the items and quantities of the items that need to be shipped out, and the items are usually stored in goods or cargo boxes. Then, according to the items and quantities that need to be shipped out in the order requirements of the target order, the goods to be shipped out corresponding to the target order are determined to meet the order requirements of the target order.

[0059] Among them, a cargo box or cargo in the storage system can store one kind of item or multiple kinds of items.

[0060] For example, suppose the target order is to ship out 100 pairs of socks W1 and 50 pieces of clothes C1, and the storage conditions of the boxes containing socks W1 or clothes C1 on the shelves of the storage system are as follows: 30 pairs of socks W1 and 26 pieces of clothes C1 are stored in box H01; 87 pairs of socks W1 are stored in box H05; 20 pairs of socks W1 and 60 pieces of clothes C1 are stored in box H16. Then it can be determined that the goods to be shipped corresponding to the target order are boxes H05 and H16.

[0061] Specifically, after the orders of the day are processed, or at a specific time every day, the warehouse sorting task can be triggered to obtain the target orders to be processed the next day. Then, for each target order, the corresponding goods to be shipped are determined, or the target orders to be processed the next day are regarded as one target order, thereby obtaining the goods to be shipped of the target order.

[0062] The warehouse sorting or warehouse sorting task mentioned in the present disclosure refers to the process of reallocating storage locations for corresponding goods, such as goods to be shipped out, and moving them to the reallocated storage locations.

[0063] Step S202, determining the target storage location of the goods to be shipped out according to the target operation console corresponding to the target order.

[0064] The target operation platform is one or more operation platforms that process or are expected to process each of the goods to be shipped of the target order. The target storage location is the new storage location of the goods to be shipped, which may be different from the original storage location where the goods are stored.

[0065] In some embodiments, each time an order is generated, one or more corresponding operation stations may be determined for the order so that the goods corresponding to the order can be processed by the corresponding operation stations.

[0066] Specifically, the target storage location of each cargo to be shipped out can be determined from the storage locations whose distance from the target operation platform is less than or equal to the preset distance. The distance between the storage location and the target operation platform can be the shortest distance that the robot travels from the target operation platform to the storage location, or the distance that the robot travels from the storage location to the target operation platform.

[0067] Furthermore, the target storage location for the goods to be shipped out can be determined from each storage location based on the distance between each storage location and the target operating table and the lane to which each storage location belongs, so that the target storage location of each goods to be shipped out of the target order is closer to the target operating table, and the number of corresponding target storage locations on each lane that is close to the target operating table is as uniform as possible.

[0068] In some embodiments, the target storage location of each cargo to be shipped out can be determined from each idle storage location whose distance from the target operation platform is less than or equal to the preset distance. If the number of each idle storage location whose distance from the target operation platform is less than or equal to the preset distance is less than the number of cargo to be shipped out, the target storage location of each remaining cargo to be shipped out is determined from each occupied storage location whose distance from the target operation platform is less than or equal to the preset distance. This reduces the number of cargoes that need to be transported during warehouse sorting, reduces the workload of the robot, and improves warehouse sorting efficiency.

[0069] Optionally, when there are multiple goods to be shipped out, the method further includes:

[0070] The allocation sequence of each to-be-shipped cargo corresponding to the target order is determined, so as to sequentially allocate target storage locations for each to-be-shipped cargo corresponding to the target order based on the allocation sequence.

[0071] In some embodiments, the allocation order of each cargo to be shipped out can be determined randomly.

[0072] In some embodiments, the allocation order of each of the goods to be shipped out can be determined according to the goods priority of each of the goods to be shipped out. The higher the goods priority, the higher the allocation order of the goods to be shipped out.

[0073] Among them, the cargo priority can be determined based on parameters such as the items stored in the cargo to be shipped, the number of items, and the cargo size. The cargo size may include one or more of the height, width, length, volume, etc. of the cargo to be shipped.

[0074] Specifically, the cargo priority of the goods to be shipped out may be positively correlated with the priority of the items stored in the goods to be shipped out, the number of items and the cargo size, that is, the higher the priority of the items stored in the goods to be shipped out, the higher the cargo priority of the goods to be shipped out, the more the number of items stored in the goods to be shipped out, the higher the cargo priority of the goods to be shipped out, and the larger the cargo size, the higher the cargo priority of the goods to be shipped out.

[0075] Furthermore, weights may be set for parameters such as items stored in the goods to be shipped, the number of items, and the size of the goods, and then the cargo priority of the goods to be shipped may be determined based on the weighted average of the parameters such as items stored in the goods to be shipped, the number of items, and the size of the goods, and so on.

[0076] Specifically, after determining the allocation sequence of each of the goods to be shipped out, the target storage location can be allocated to each of the goods to be shipped out in sequence based on the allocation sequence, that is, the target storage location of each of the goods to be shipped out can be determined in sequence.

[0077] Step S203: When the target storage location of the goods to be shipped out and the storage location of the goods to be shipped out meet the warehouse transfer conditions, the goods to be shipped out are moved to the corresponding target storage location.

[0078] The storage location is the location where the goods to be shipped are currently stored, and the storage location is the original location of the goods to be shipped. The warehouse transfer condition can be a pre-set condition for determining whether to move the goods to be shipped.

[0079] Specifically, after determining the target storage location of each to-be-shipped goods corresponding to the target order, for each to-be-shipped goods, it can be determined whether the target storage location corresponding to the to-be-shipped goods and the storage location of the to-be-shipped goods meet the transfer conditions; if not, the storage location of the to-be-shipped goods is determined as its target storage location, so there is no need to move the to-be-shipped goods; if so, the robot is controlled to move the to-be-shipped goods to the corresponding target storage location.

[0080] Optionally, the target storage location of the goods to be shipped out and the storage location of the goods to be shipped out meet the warehouse transfer conditions, including:

[0081] The target storage location of the goods to be shipped is not in the same lane as the storage location of the goods to be shipped; or, the target storage location of the goods to be shipped exceeds the preset range of the storage location of the goods to be shipped, or, the target storage location of the goods to be shipped is inconsistent with the storage location of the goods to be shipped.

[0082] Specifically, when the target storage location of the goods to be shipped out is inconsistent with the storage location thereof, the robot can be controlled to move the goods to be shipped out to the corresponding target storage location.

[0083] Specifically, when the distance between the target storage location of the goods to be shipped and the storage location thereof exceeds a preset range, the robot can be controlled to move the goods to be shipped to the corresponding target storage location.

[0084] The preset range may refer to a range that is in the same lane as the storage location and whose distance from the storage location is less than a first threshold.

[0085] Further, when the target storage location of the goods to be shipped out and the storage location of the goods to be shipped out do not meet the warehouse transfer condition, the storage location of the goods to be shipped out is determined as the target storage location of the goods to be shipped out.

[0086] Exemplarily, the first threshold may be the distance corresponding to two storage locations. If the target storage location of the goods to be shipped out is its storage location or a storage location next to the original storage location, the movement condition is not met, and the goods to be shipped out do not need to be moved, but can be kept in its storage location, and its storage location is determined as its target storage location.

[0087] The goods sorting method provided by the disclosed embodiment determines the target storage location of each to-be-shipped goods corresponding to the target order within a preset time period in the future according to the target operation console corresponding to the target order, so that when the target storage location and the original storage location of the to-be-shipped goods meet the warehouse transfer conditions, the to-be-shipped goods are moved to the corresponding target storage location in advance, thereby realizing advance storage sorting based on orders. Since the storage is sorted based on future orders, the accuracy of storage sorting is improved. Through advance storage sorting, the to-be-shipped goods corresponding to the order can be shipped out faster, which reduces the order processing time and improves the processing efficiency of future orders.

[0088] Optional, Figure 3 A flowchart of a cargo sorting method provided by another embodiment of the present disclosure. Figure 2 Based on the embodiment shown, step S201 and step S202 are further defined by adding a step of determining the target operation station before step S201, such as Figure 3 As shown, the cargo sorting method provided in this embodiment may include the following steps:

[0089] Step S301, determining the target operation station of the target order according to the production line corresponding to the target order.

[0090] In some embodiments, after the goods corresponding to some orders are sorted or packaged at the operation table, they need to be transported to the production line for further processing, such as adding outer packaging, instructions, etc.

[0091] Specifically, a production line usually corresponds to one or more operating stations, and one or more operating stations corresponding to the production line corresponding to the target order can be determined as target operating stations.

[0092] Furthermore, the operating stations corresponding to the production line corresponding to the target order in the historical time can be counted, so as to determine the usage frequency of each operating station corresponding to the production line corresponding to the target order. Then, the operating station corresponding to the production line corresponding to the target order with the highest usage frequency can be determined as the target operating station for the target order. Alternatively, the operating stations corresponding to the production lines corresponding to the target orders with usage frequencies greater than the preset frequency can be determined as the target operating stations for the target order.

[0093] Furthermore, the target operation station of the target order can be estimated based on the operation stations corresponding to the historical orders of the production line corresponding to the target order, the processing time of the historical orders, and a pre-established neural network model.

[0094] Step S302, determining the goods to be shipped corresponding to the target order according to the order requirements of the target order and the target operation platform corresponding to the target order.

[0095] Specifically, after determining the target operating station, the goods to be shipped corresponding to the target order can be determined according to the storage situation of the warehousing system, the order requirements of the target order and the target operating station corresponding to the target order, so as to minimize the number of goods to be shipped and at the same time, make the distance between the storage location of each goods to be shipped and the target operating station as small as possible.

[0096] Specifically, various alternative goods sets that meet the order requirements can be determined according to the order requirements of the target order and the storage conditions of the warehousing system, wherein each alternative goods set may include one or more goods stored on the shelves; for each alternative goods set, the fourth distance between the storage location of each goods in the alternative goods set and the target operating table is calculated, and each of the goods in the alternative goods set whose sum of the fourth distances corresponding to each of the goods corresponding to the alternative goods set is the smallest is determined as each of the goods to be shipped out.

[0097] Step S303: determining the storage location score of each storage location of the storage system according to the target operation console.

[0098] Among them, the storage location score is used to describe the outbound efficiency of each storage location. The higher the storage location score, the higher the outbound efficiency.

[0099] Specifically, the storage location score of each storage location may be determined according to the location of each storage location and the location of the target operating table.

[0100] Optionally, determining the storage location score of each storage location of the storage system according to the target operation console includes:

[0101] Calculate a first distance between each storage location of the storage system and the target operation platform; and determine a storage location score of each storage location based on the first distance.

[0102] The first distance may be the shortest distance required for the robot to walk from the target operating station to the storage location. The storage location score may be inversely correlated with the first distance. That is, the smaller the first distance corresponding to the storage location, the higher the storage location score of the storage location.

[0103] Specifically, the first distance between each storage location and the target operating table may be calculated according to the location of each storage location and the location of the target operating table.

[0104] Specifically, a first corresponding relationship between the first distance and the storage location score may be established in advance, and then the calculated first distance of each storage location may be substituted into the first corresponding relationship, thereby determining the storage location score of each storage location.

[0105] Optionally, determining a storage location score of each storage location according to the first distance includes:

[0106] The storage location score of each storage location is determined according to the first distance and the storage location height of each storage location.

[0107] Among them, the storage location height can be expressed by the number of layers of the shelf where the storage location is located.

[0108] Specifically, a second correspondence between the first distance, the storage location height and the storage location score may be established, and then the storage location score of each storage location may be determined based on the second correspondence, the first distance corresponding to each storage location and the storage location height of each storage location.

[0109] Exemplarily, the second corresponding relationship may be:

[0110]

[0111] in, For the The location score of each location; For the The first distance corresponding to each storage location; For the The number of shelves where each storage location is located; , and To set a constant; The preset height can be determined according to the number of layers of the robot's temporary storage shelf The value of .

[0112] Optional, Figure 4 For this disclosure Figure 3The flowchart of step S303 in the embodiment shown is as follows: Figure 4 As shown, step S303 may include the following steps:

[0113] Step S3031, calculating the second distance between the lane exit of each lane of the storage system and the target operating platform.

[0114] The lane is a passage between two adjacent storage shelves for the robot to walk, and the storage shelves include one or more storage locations for storing goods. The lane exit is an exit of each lane, and the robot drives out of the lane from the lane exit after picking up or putting goods from the lane. The second distance is used to describe the shortest walking distance of the robot from the lane exit to the target operating station.

[0115] Specifically, the second distance between the lane exit of each lane of the storage system and each operating platform, and the first distance between each storage location and each operating platform can be calculated in advance, and the warehouse map of the storage system is generated based on the second distance between each lane and each operating platform and the first distance between each storage location and each operating platform. After the target operating platform is determined, the warehouse map is initialized based on the target operating platform, thereby obtaining the second distance between the lane exit of each lane and the target operating platform, and the first distance between each storage location and the target operating platform.

[0116] Step S3032, obtaining the first quantity of the target storage locations corresponding to each of the lanes.

[0117] The first quantity is used to describe the number of storage locations that have been determined as target storage locations in the lane at the current moment.

[0118] Step S3033: determining a lane score of each lane according to the second distance and the first number.

[0119] Specifically, the lane score may be inversely correlated with the second distance, that is, the shorter the second distance corresponding to the lane is, the higher the lane score of the lane is.

[0120] Specifically, the lane score may be in an inverse correlation with the first number, that is, the smaller the first number corresponding to the lane is, the higher the lane score of the lane is.

[0121] Furthermore, a third corresponding relationship among the second distance, the first number and the lane score may be pre-established, and then the lane score of each lane may be determined based on the third corresponding relationship, the second distance corresponding to each lane, and the first number.

[0122] Step S3034: for each storage location, determine the storage location score of the storage location according to the lane score of the lane corresponding to the storage location and the distance between the storage location and the lane exit of the corresponding lane.

[0123] The distance between the storage location and the lane exit of the corresponding lane can be represented by the horizontal distance between the two, or the shortest distance traveled by the robot from the position corresponding to the storage location to the lane exit.

[0124] Specifically, for each storage location, the storage location score can be calculated according to the lane score of the lane to which the storage location belongs and the distance between the storage location and the lane exit of the lane to which it belongs. That is, the storage location score is affected by two factors, the lane score of the lane to which it belongs and the distance between the storage location and the lane exit of the lane to which it belongs.

[0125] Furthermore, a fourth corresponding relationship between the storage location score, the lane score, and the distance between the storage location and the lane exit of the lane to which it belongs can be established in advance, and then the storage location score of the current storage location is determined based on the fourth corresponding relationship, the lane score of the lane to which the current storage location belongs, and the distance between the current storage location and the lane exit of the lane to which it belongs. The storage location score can be positively correlated with the lane score and negatively correlated with the distance between the storage location and the lane exit of the lane to which it belongs.

[0126] Step S304: determining the target storage location of each of the goods to be shipped out according to the storage location score.

[0127] Specifically, each storage location may be determined as a target storage location for the goods to be shipped out in descending order of the storage location score.

[0128] After determining the allocation order of the goods to be shipped, the storage location with the highest storage location score can be determined as the target storage location for the first goods to be shipped in the allocation order, and the storage location with the second highest storage location score can be determined as the target storage location for the second goods to be shipped in the allocation order, and so on, thereby determining the target storage locations for each goods to be shipped of the target order.

[0129] Specifically, each storage location can be sorted from high to low according to the storage location score to obtain a storage location sorting result, and the first to Nth storage locations in the storage location sorting result are successively determined as the first to Nth target storage locations for the goods to be shipped out in the allocation order, where N is the number of goods to be shipped out.

[0130] Furthermore, the target storage location for each of the goods to be shipped out can be determined according to the storage conditions and storage location scores of each storage location, so that free storage locations with high storage location scores are preferentially determined as the target storage locations for the goods to be shipped out.

[0131] Among them, the storage status of the storage location includes free and occupied. Free means that no items are stored in the storage location, which is an empty storage location. Occupied means that there are occupied items stored in the storage location, such as other goods.

[0132] Step S305: When the target storage location of the goods to be shipped out and the storage location of the goods to be shipped out meet the transfer conditions, and there are occupied objects on the target storage location, control the robot to take out the occupied goods from the target storage location. After the occupied goods are taken out, control the robot to store the goods to be shipped out to the target storage location.

[0133] Among them, the objects occupying the target storage location are usually other goods, such as other cargo boxes.

[0134] When the target storage location of the goods to be shipped out and its storage location meet the transfer conditions, it can be determined whether there is an occupied object on the target storage location; if not, after determining the target storage location of each goods to be shipped out, the goods to be shipped out are moved to the corresponding target storage location; if so, after determining the target storage location of each goods to be shipped out, the robot is controlled to take out the occupied objects on the target storage location, and then the robot, such as another robot, is controlled to place the goods to be shipped out at the target storage location.

[0135] Specifically, after determining the target storage locations for each of the goods to be shipped corresponding to each of the target orders, the storage conditions of each of the target storage locations can be determined, and for each of the target storage locations with occupied objects, the first task of the robot is generated, so that the robot can take out the occupied objects from each of the target storage locations according to the first task. For each of the target storage locations, when the target storage location is an empty storage location, or after the occupied objects from the target storage location are taken out, the robot is controlled to move the goods to be shipped corresponding to the target storage location to the target storage location, thereby realizing the sorting of the goods to be shipped corresponding to each of the target orders in the future preset time period, and realizing the warehouse management of the warehousing system.

[0136] Step S306, allocating a new storage location for the occupied goods, so as to store the occupied goods in the new storage location.

[0137] For the occupied objects of each target storage location that has been removed, a new storage location needs to be reallocated for it. Specifically, the new storage location of each occupied object can be determined from various free storage locations in the storage system.

[0138] Specifically, the new storage location of each occupied object can be determined based on the target storage location corresponding to each occupied object, that is, the storage location where the occupied object was stored before it was removed, and the location of each idle storage location in the storage system, so as to reduce the walking distance of the robot to store all occupied goods in the corresponding new storage location.

[0139] In this embodiment, after determining the target operation station corresponding to the target order, based on the target operation station and the order requirements of the target order, each to-be-shipped cargo that meets the order requirements of the target order is determined, and the distance between each to-be-shipped cargo and the target operation station is as close as possible, thereby reducing the corresponding task volume of warehouse sorting and improving warehouse sorting efficiency; then, according to the position of the target operation station, the score of each storage location is calculated, and the target storage location of each to-be-shipped cargo is determined in order from high to low based on the storage location score, and when the warehouse transfer conditions are met, the to-be-shipped cargo is transferred from the original storage location to the corresponding target storage location, so that after warehouse sorting, each to-be-shipped cargo is placed in a storage location with higher shipping efficiency, so as to improve the order processing efficiency when the target order is processed; when there is an occupied object on the target storage location, it is necessary to place the corresponding to-be-shipped cargo on the target storage location after the occupied object is taken out, and the storage location without the occupied object is reallocated so that the occupied object is properly placed.

[0140] Figure 5 A flowchart of a cargo sorting method provided by another embodiment of the present disclosure. Figure 2 Based on the embodiment shown, step S202 is further limited, and a step of determining the storage location type of the goods to be shipped is added after step S201, such as Figure 5 As shown, the cargo sorting method provided in this embodiment may include the following steps:

[0141] Step S501, determining the goods to be shipped corresponding to the target order.

[0142] Step S502, determining the storage location type corresponding to each of the goods to be shipped out.

[0143] Specifically, the storage location types can be divided according to the storage location size, such as large storage locations and small storage locations; the storage location types can also be divided according to the storage temperature, such as constant temperature storage locations and normal temperature storage locations, and the constant temperature storage locations can be further divided according to the set temperature to obtain the types corresponding to each set temperature. Of course, the storage location types can also be divided according to other factors, which is not limited in this disclosure.

[0144] After determining each of the goods to be shipped of the target order, the storage location type of each of the goods to be shipped can be counted. Each of the goods to be shipped corresponding to the target order may correspond to the same storage location type or may correspond to different storage location types.

[0145] Specifically, the storage location type corresponding to the goods to be shipped can be determined according to the goods identification of the goods to be shipped.

[0146] Furthermore, when each good is first put into storage, a fifth corresponding relationship can be established according to the goods identification of the goods and the storage location type corresponding to the goods, so that after each good to be shipped out is determined, the storage location type corresponding to each good to be shipped out is determined based on the goods identification of each good to be shipped out and the fifth corresponding relationship.

[0147] Furthermore, it can be determined that the storage location type of the storage location of the goods to be shipped out is the storage location type corresponding to the goods to be shipped out.

[0148] Step S503, according to the target operation console corresponding to the target order and the storage location type of each of the goods to be shipped out, determine each of the target storage locations that matches the storage location type corresponding to each of the goods to be shipped out.

[0149] Specifically, when allocating target storage locations for each piece of goods to be shipped out, it is necessary to determine the storage locations that match the storage location types corresponding to each piece of goods to be shipped out and are closer to the target operating table based on the storage location types corresponding to each piece of goods to be shipped out and the positions of the target operating tables corresponding to the target orders, as the target storage locations for each piece of goods to be shipped out.

[0150] Optional, Figure 6 For this disclosure Figure 5 The flowchart of step S503 in the embodiment shown is as follows: Figure 6 As shown, step S503 may include the following steps:

[0151] Step S5031: for each to-be-shipped cargo of the same storage location type, determine each candidate storage location that matches the storage location type.

[0152] Among them, the storage location type matches that the storage location type of the alternative storage location is the same as the storage location type corresponding to the goods to be shipped out.

[0153] Specifically, each to-be-shipped goods corresponding to the target order may correspond to multiple storage location types. Then, for each storage location type corresponding to the target order, each candidate storage location matching the storage location type is determined.

[0154] Step S5032: Determine the storage location score of each candidate storage location according to the target operation console.

[0155] The specific method of determining the storage location score of the candidate storage location is similar to the process of determining the storage location score of the storage location in the above embodiment. The specific determination process can refer to the content corresponding to step S303, which will not be repeated here.

[0156] Step S5033: in descending order of the storage location scores, determine the candidate storage locations as the target storage locations for the goods to be shipped out.

[0157] Specifically, after determining the target storage location of each cargo to be shipped out, the target storage location may be locked to prevent the target storage location from being allocated to other cargo to be shipped out.

[0158] After determining the allocation order of the goods to be shipped, the target storage location for each of the goods to be shipped corresponding to the storage location type can be determined from each of the candidate storage locations in turn according to the allocation order and the order of the storage location scores from high to low.

[0159] Step S504: when the target storage location of the goods to be shipped out and the storage location of the goods to be shipped out meet the warehouse transfer conditions, the goods to be shipped out are moved to the corresponding target storage location.

[0160] In this embodiment, the target storage location of each cargo to be shipped out is determined based on the storage location type corresponding to each cargo to be shipped out corresponding to the target order and the target operation console corresponding to the target order. When sorting the warehouse, the cargo to be shipped out is moved to a suitable storage location to avoid affecting the quality of the cargo due to inappropriate storage location type. At the same time, the storage location with higher shipping efficiency is determined based on the target operation console as the target storage location for the cargo to be shipped out, thereby improving the processing efficiency of the target order.

[0161] Figure 7 This is a flow chart of a cargo sorting method provided by another embodiment of the present disclosure. The cargo sorting method provided by this embodiment is Figure 2 Based on the embodiment shown, step S202 is further refined as follows: Figure 7 As shown, the cargo sorting method provided in this embodiment may include the following steps:

[0162] Step S701, determining the goods to be shipped corresponding to the target order.

[0163] Step S702, calculating the second distance between the lane exit of each lane and the target operating platform.

[0164] Step S703: for each lane, determine a first score for each storage location corresponding to the lane according to a third distance between each storage location corresponding to the lane and the lane exit of the lane.

[0165] The third distance may include the shortest distance that the robot travels from the storage location to the corresponding lane exit, and may also include the height of the storage location. The higher the first score, the smaller the third distance corresponding to the storage location, and the higher the storage efficiency of the storage location.

[0166] Specifically, after obtaining the first scores of the storage locations corresponding to the lanes, the storage locations may be sorted from high to low based on the first scores.

[0167] Step S704, executing the following steps in a loop until the target storage locations of all the goods to be shipped out corresponding to the target order are determined.

[0168] Step S705, obtaining a first quantity of target storage locations corresponding to each of the lanes.

[0169] The initial value of the first quantity corresponding to each lane is 0.

[0170] Step S706: determining a lane score of each lane according to the second distance and the first number.

[0171] Specifically, the congestion coefficient of each lane can be determined according to the first quantity, and then the lane score of each lane can be determined according to the second distance and the congestion coefficient. The smaller the congestion coefficient, the higher the lane score.

[0172] Specifically, the congestion coefficient may be determined by the number of robots walking on the lane when the target order is processed. The congestion coefficient may be determined according to the ratio of the first number to the preset number.

[0173] Step S707, for the target lane with the highest current lane score, determine a preset number of storage locations as target storage locations for a preset number of the goods to be shipped from various storage locations that have not been determined as target storage locations in the target lane according to the first scores from high to low, and update the first quantity of the target lane according to the preset quantity.

[0174] Among them, the preset number is the number of layers of the robot's temporary storage shelf.

[0175] Specifically, each of the goods to be shipped of the target order can be divided according to the preset quantity to obtain each group of goods to be shipped, wherein the quantity of the goods in the last group of goods to be shipped is less than or equal to the preset quantity, and the quantity of the goods in the other groups of goods to be shipped is the preset quantity. Then, in a certain order, the target storage location is allocated to each group of goods to be shipped.

[0176] Specifically, from among the storage locations in the target lane with the highest current lane score that have not been determined as the target storage location, storage locations with first scores in front of a preset number are determined as target storage locations for a preset number of goods to be shipped corresponding to the current group of goods to be shipped.

[0177] Then, the first quantity of the target lane is updated according to the preset quantity, that is, the first quantity of the target lane is updated to the sum of the original first quantity and the preset quantity. Based on the updated first quantity and the second distance, the lane score of the target lane is updated, so as to obtain the target lane with the highest lane score. In the new target lane, each storage location with a first score in front of the preset quantity is determined as the target storage location of the preset quantity of goods to be shipped corresponding to the next group of goods to be shipped.

[0178] When the quantity of the last group of goods to be shipped out is less than the preset quantity, such as the second quantity, each storage location with a first score before the second quantity in the target lane with the highest score in the current lane is determined as the target storage location for the second quantity of goods to be shipped out corresponding to the last group of goods to be shipped out.

[0179] Specifically, when allocating target storage locations for each to-be-shipped goods of the target order, priority is given to allocating the lanes with the highest lane scores. Each time, the first storage location with the highest score from the lane with the highest current lane score is determined as the target storage location for the current goods to be shipped, and the target storage location is locked until the target storage locations for all the goods to be shipped corresponding to the target order are determined.

[0180] For example, assume that the warehousing system corresponds to 3 lanes, Lane R1, Lane R2 and Lane R3, and the first quantity corresponding to each lane is currently 0, then the lane score is determined by the second distance, and the current lane scores of Lane R1, Lane R2 and Lane R3 are: 60, 75, 82, and the goods to be shipped corresponding to the target order are 10 goods h10, and the preset quantity is 5. Then, in Lane R3, the top 5 storage locations ranked by the first score are determined as the target storage locations for the 5 goods h10, then the first quantity corresponding to Lane R3 is 5, and the lane score of Lane R3 is updated to 72, then the lane with the highest lane score at present is Lane R2, then in Lane R2, the top 5 storage locations ranked by the first score are determined as the target storage locations for the remaining 5 goods h10, and the target storage locations of the 10 goods h10 can be determined.

[0181] Step S708: When the target storage location of the goods to be shipped out and the storage location of the goods to be shipped out meet the warehouse transfer conditions, the goods to be shipped out are moved to the corresponding target storage location.

[0182] In this embodiment, the lane score of the lane is determined based on the second distance between the lane exit and the target operating table and the first number of target storage locations in the lane, and in the target lane with the highest lane score, a preset number of storage locations ranked before the first score are determined as target storage locations for a preset number of goods to be shipped out, and the first score of the target lane is updated based on the preset number, thereby obtaining a new target lane with the highest lane score, and then a preset number of storage locations ranked before the first score are determined in the target lane as target storage locations for a preset number of goods to be shipped out, and so on, to obtain the target storage locations of all the goods to be shipped out, so that when allocating target storage locations, the allocation strategy will not be too cumbersome due to too frequent switching of lanes, thereby reducing the consumption of storage location allocation; at the same time, ensure that the storage location with the highest current shipping efficiency is used as the target storage location for the goods to be shipped out, thereby improving the shipping efficiency of the goods to be shipped out and the processing efficiency of the target orders.

[0183] Optional, Figure 8This is a flow chart of a cargo sorting method provided by another embodiment of the present disclosure. The cargo sorting method provided by this embodiment is Figure 2 Based on the embodiment shown, step S202 is further refined as follows: Figure 8 As shown, the cargo sorting method provided in this embodiment may include the following steps:

[0184] Step S801, determining the goods to be shipped corresponding to the target order.

[0185] Step S802, calculating the second distance between the lane exit of each lane and the target operating platform.

[0186] Step S803, determining the congestion coefficient of each lane.

[0187] The congestion coefficient is used to describe the congestion of the lane when each target order is processed, and can be expressed by the number of robots walking simultaneously on the lane when each target order is processed.

[0188] Specifically, the congestion coefficient of the lane may be determined according to the first number of storage locations determined as target storage locations on the lane.

[0189] Furthermore, the robot of the warehousing system includes a temporary storage shelf, which is used to temporarily store the goods carried by the robot. The temporary storage shelf can be multi-layer, such as 5 layers, 6 layers or other layers. The congestion coefficient of the aisle can be evaluated based on the ratio of the first number corresponding to the aisle to the preset number. The larger the ratio, the greater the congestion coefficient of the aisle.

[0190] Step S804: determining a lane score of each lane according to the second distance and congestion coefficient corresponding to each lane.

[0191] Specifically, the lane score may be inversely correlated with the second distance and also inversely correlated with the congestion coefficient, that is, the smaller the second distance and the congestion coefficient are, the larger the lane score is.

[0192] Step S805: for each lane, determine a first score for each storage location corresponding to the lane according to a third distance between each storage location corresponding to the lane and a lane exit of the lane.

[0193] Step S806, determining the target storage location of each of the to-be-shipped goods corresponding to the target order according to the first score of each storage location and the lane score of the lane corresponding to each storage location.

[0194] Specifically, the outbound efficiency of each storage location can be calculated according to the first score of each storage location and the lane score of the lane to which the storage location belongs, and the target storage location of each to-be-outbound goods corresponding to the target order can be determined according to the outbound efficiency of each storage location.

[0195] Furthermore, according to the outbound efficiency from high to low, each storage location is determined in turn as the target storage location for each to-be-outbound goods corresponding to the target order.

[0196] Optionally, determining the target storage location of each of the to-be-shipped goods corresponding to the target order according to the first score of each storage location and the lane score of the lane corresponding to each storage location includes:

[0197] According to the lane scores from high to low, the first storage location of each lane is determined in sequence as the target storage location of each to-be-shipped goods corresponding to the target order.

[0198] The first storage location is a storage location whose first score is greater than a preset score.

[0199] Specifically, the lanes may be sorted from high to low according to the lane scores, and based on the preset scores, the first storage locations in each lane whose first scores are greater than the preset scores are screened out. First, the first storage locations on the lanes with the highest lane scores are determined as the target storage locations for the goods to be shipped corresponding to the target order. If there are goods to be shipped, the first storage locations on the lanes with the second highest lane scores are determined as the target storage locations for the goods to be shipped corresponding to the target order, and so on, until the target storage locations for all the goods to be shipped are determined.

[0200] Furthermore, the first storage locations of the lanes may be determined as target storage locations for the goods to be shipped out in descending order of the first scores, with storage locations with higher first scores being given priority as target storage locations.

[0201] Optionally, determining the first storage location of each lane as the target storage location of each to-be-shipped goods corresponding to the target order in order from high to low lane scores includes:

[0202] According to the order of the lane scores from high to low and the first scores in the lanes from high to low, the first storage locations with corresponding quantities are determined as the target storage locations for the goods to be shipped out of the target order, and the lanes with the first storage location quantity of 0 are deleted.

[0203] Specifically, the first storage location in each lane can be determined as the target storage location for the goods to be shipped out in order of the lane scores from high to low, that is, each first storage location in the lane is determined as the target storage location for the corresponding number of goods to be shipped out. If the number of the first storage locations in the lane is 0, the lane is deleted, and the first storage location in the next lane is determined as the target storage location for the goods to be shipped out.

[0204] For example, taking the preset score of 60 points as an example, assuming that the warehousing system corresponds to 3 lanes, Lane R4, Lane R5 and Lane R6, the lane scores of Lane R4, Lane R5 and Lane R6 are 45, 70, and 60 respectively, and the number of first storage locations corresponding to Lane R4, Lane R5 and Lane R6, that is, the storage locations with first scores greater than 60, are 2, 5, and 8 respectively. The number of goods to be shipped corresponding to the target order is 12. The target storage location is first determined from the lane with the highest lane score, that is, the 5 first storage locations corresponding to Lane R5 are determined as the target storage locations for 5 of the goods to be shipped, and then Lane R5 is deleted, and then the target storage location is determined from the lane with the second highest lane score, that is, the first storage locations with the top 7 first scores in Lane R6 are determined as the target storage locations for the remaining 7 goods to be shipped.

[0205] Furthermore, when there are multiple target orders, the order sequence of each target order can be determined, such as determining the order sequence of each target order based on order priority, and allocating target storage locations for each to-be-shipped goods corresponding to each target order in turn according to the order sequence. After determining the target storage locations of all to-be-shipped goods of the previous target order in the order sequence, obtain each to-be-shipped goods of the next target order in the order sequence, and then determine the target storage locations of each to-be-shipped goods of the next target order in the order sequence in the same manner as the previous target order, and so on, until the target storage locations of the to-be-shipped goods corresponding to all target orders are determined.

[0206] Step S807: When the target storage location of the goods to be shipped out and the storage location of the goods to be shipped out meet the warehouse transfer conditions, the goods to be shipped out are moved to the corresponding target storage location.

[0207] Optional, Fig. 9 This is a flow chart of a cargo sorting method provided by another embodiment of the present disclosure. This embodiment is for the case of multiple target orders, such as Fig. 9 As shown, this embodiment is in Figure 8 Based on the embodiment shown, the following steps are added after step S806:

[0208] Step S901, obtaining the goods to be shipped corresponding to the next target order.

[0209] Among them, the next target order is also an order that needs to be processed within a preset time period in the future, such as an order to be processed after 12 hours.

[0210] Specifically, when there are multiple target orders, target storage locations can be allocated to the goods to be shipped of each target order in order of the orders. After the target storage locations of all the goods to be shipped of the previous target order are determined, the goods to be shipped corresponding to the next target order are obtained.

[0211] Step S902: updating the congestion coefficient of each first lane according to the number of target storage locations corresponding to each first lane.

[0212] The first lane is a lane in which at least one storage location among the lanes is determined as a target storage location. The first lane is the lane used by each target order before the next target order.

[0213] Step S903: updating the lane score of each first lane according to the second distance corresponding to each first lane and the updated congestion coefficient.

[0214] When allocating the target storage location for the goods to be shipped out of the next target order, it is necessary to update the congestion coefficient of the previously used lanes, that is, the congestion coefficient of each first lane. Then, based on the updated congestion coefficient, recalculate the lane score of each first lane, and sort the lanes from high to low based on the lane score to obtain a new sorting result.

[0215] Step S904, determining the first storage location of each lane in order from high to low according to the lane score as the target storage location of each to-be-shipped goods corresponding to the next target order.

[0216] Specifically, the method of determining the target storage location of each to-be-shipped cargo of the next target order is the same as the specific process of the aforementioned step S806, with only the corresponding lane scores being different, which will not be described in detail here.

[0217] Specifically, the specific process of the cargo sorting method provided in the above embodiment may be:

[0218] The first step is to obtain the goods to be shipped of the target order corresponding to the current order according to the order sequence. If there is no goods to be shipped, that is, all the goods to be shipped are assigned to the target storage location, then the process ends; otherwise, the next step is continued; the second step is to calculate the lane score of each lane based on the second distance and the lane congestion coefficient, and sort the lanes from high to low based on the lane score; for each lane, sort the storage locations in the lane from high to low according to the first score; the third step is to take out the next lane in the sorting; the fourth step is to match each of the goods to be shipped of the target order in the current order with each storage location in the lane one by one according to the principle of sequential matching, and ignore the goods to be shipped and storage locations that have been allocated during matching. When the storage locations in the lane are used up, return to the third step; if each of the goods to be shipped of the target order in the current order is assigned to the target storage location, then return to the first step to allocate the target storage location for each of the goods to be shipped of the next target order.

[0219] In this embodiment, when allocating target storage locations for goods to be shipped out of future target orders, the lane score of the lane is calculated based on the second distance of the lane and the congestion coefficient. At the same time, for each lane, the first score of each storage location in the lane is calculated based on the third distance between the storage location and the lane exit. Then, the lane score and the first score of the storage location are comprehensively considered to allocate target storage locations for the goods to be shipped out. In specific allocation, the lane with the highest lane score can be given priority, and each storage location with a first score greater than a preset score is determined as the target storage location for the goods to be shipped out. If there are still goods to be shipped out, the lane with the second highest lane score is considered, and so on, so as to determine the target storage locations for all the goods to be shipped out. Therefore, when allocating target storage locations, the allocation strategy will not be too complicated due to too frequent switching of lanes, thereby reducing the consumption of storage location allocation; at the same time, it is ensured that the storage location with the highest current shipping efficiency is used as the target storage location for the goods to be shipped out, thereby improving the shipping efficiency of the goods to be shipped out and the processing efficiency of the target order.

[0220] Fig.10 A structural diagram of a cargo sorting device provided by an embodiment of the present disclosure, such as Fig.10 The device is applied to a warehousing system, and includes: a cargo determination module 1010 , a storage location determination module 1020 and a cargo handling module 1030 .

[0221] Among them, the goods determination module 1010 is used to determine the goods to be shipped corresponding to the target order, wherein the target order is an order for a preset time period in the future; the storage location determination module 1020 is used to determine the target storage location of the goods to be shipped according to the target operating console corresponding to the target order; the goods handling module 1030 is used to transport the goods to be shipped to the corresponding target storage location when the target storage location of the goods to be shipped is inconsistent with the storage location of the goods to be shipped.

[0222] Optionally, the storage location determination module 1020 includes:

[0223] The storage location score determination unit is used to determine the storage location score of each storage location in the warehousing system according to the target operation console; the storage location determination unit is used to determine the target storage location of each of the goods to be shipped out according to the storage location score.

[0224] Optional, location score determination unit, including:

[0225] The first distance calculation subunit is used to calculate the first distance between each storage location of the storage system and the target operation table; the storage location score determination subunit is used to determine the storage location score of each storage location according to the first distance.

[0226] Optional, location score determination subunit, specifically used for:

[0227] The storage location score of each storage location is determined according to the first distance and the storage location height of each storage location.

[0228] Optional, location score determination unit, specifically used for:

[0229] Calculate the second distance between the lane exit of each lane of the warehousing system and the target operating station, wherein the lane is a passage between two adjacent storage shelves for robots to walk, and the storage shelves include one or more storage locations for storing goods; obtain a first number of target storage locations corresponding to each of the lanes; determine the lane score of each of the lanes based on the second distance and the first number; for each storage location, determine the location score of the storage location based on the lane score of the lane corresponding to the storage location and the distance between the storage location and the lane exit of the corresponding lane.

[0230] Optionally, the storage location determination module 1020 is specifically used for:

[0231] Calculate the second distance between the lane exit of each lane and the target operation platform; for each lane, determine the first score of each storage location corresponding to the lane according to the third distance between each storage location corresponding to the lane and the lane exit of the lane; loop through the following steps until the target storage locations of all the goods to be shipped out corresponding to the target order are determined: obtain the first number of target storage locations corresponding to each lane; determine the lane score of each lane according to the second distance and the first number; for the target lane with the highest current lane score, determine a preset number of storage locations as the target storage locations for the preset number of goods to be shipped out from each storage location in the target lane that has not been determined as the target storage location according to the first score from high to low, and update the first number of the target lane according to the preset number, wherein the preset number is the number of layers of the robot's temporary storage shelf.

[0232] Optionally, the storage location determination module 1020 includes:

[0233] A second distance calculation unit is used to calculate the second distance between the lane exit of each lane and the target operating console; a congestion coefficient determination unit is used to determine the congestion coefficient of each lane; a lane score determination unit is used to determine the lane score of each lane according to the second distance and the congestion coefficient corresponding to each lane; a first score determination unit is used to determine, for each lane, the first score of each storage location corresponding to the lane according to the third distance between each storage location corresponding to the lane and the lane exit of the lane; a target storage location determination unit is used to determine the target storage location of each of the goods to be shipped out corresponding to the target order according to the first score of each storage location and the lane score of the lane corresponding to each storage location.

[0234] Optional, target location determination unit, specifically used for:

[0235] According to the lane scores from high to low, the first storage location of each lane is determined in turn as the target storage location of each to-be-shipped goods corresponding to the target order, wherein the first storage location is a storage location with a first score greater than a preset score.

[0236] Optional, target location determination unit, specifically used for:

[0237] According to the order of the lane scores from high to low and the first scores in the lanes from high to low, the first storage locations with corresponding quantities are determined as the target storage locations for the goods to be shipped out of the target order, and the lanes with the first storage location quantity of 0 are deleted.

[0238] Optionally, the device further comprises:

[0239] The next order processing module is used to obtain the goods to be shipped corresponding to the next target order after determining the first storage location of each lane as the target storage location of each goods to be shipped corresponding to the target order in order according to the lane scores from high to low; update the congestion coefficient of each first lane according to the number of target storage locations corresponding to each first lane, wherein the first lane is a lane in which at least one storage location in each lane is determined as the target storage location; update the lane score of each first lane according to the second distance corresponding to each first lane and the updated congestion coefficient; determine the first storage location of each lane as the target storage location of each goods to be shipped corresponding to the next target order in order according to the lane scores from high to low.

[0240] Optionally, the device further comprises:

[0241] The type determination module is used to determine the storage location type corresponding to each item to be shipped out.

[0242] Accordingly, the storage location determination module 1020 is specifically used for:

[0243] According to the target operation console corresponding to the target order and the storage location type of each of the goods to be shipped out, each of the target storage locations matching the storage location type corresponding to each of the goods to be shipped out is determined.

[0244] Optionally, the storage location determination module 1020 is specifically used for:

[0245] For each to-be-shipped cargo of the same storage location type, determine each candidate storage location that matches the storage location type; determine the storage location score of each candidate storage location according to the target operation console; and determine each candidate storage location as the target storage location for each to-be-shipped cargo in descending order of the storage location score.

[0246] Optionally, the device further comprises:

[0247] The allocation sequence determination module is used to determine the allocation sequence of each to-be-shipped cargo corresponding to the target order, so as to sequentially allocate target storage locations for each to-be-shipped cargo corresponding to the target order based on the allocation sequence.

[0248] Optionally, the cargo determination module 1010 is specifically configured to:

[0249] According to the order requirements of the target order and the target operation platform corresponding to the target order, the goods to be shipped corresponding to the target order are determined.

[0250] Optionally, the device further comprises:

[0251] The operating station determination module is used to determine the target operating station of the target order according to the production line corresponding to the target order.

[0252] Optionally, the device further comprises:

[0253] The occupied object removal module is used to control the robot to remove the occupied goods from the target storage location if there are occupied goods on the target storage location.

[0254] Accordingly, the cargo handling module 1030 is specifically used for:

[0255] When the target storage location of the goods to be shipped out is inconsistent with the storage location of the goods to be shipped out, after the occupied goods are taken out, the robot is controlled to store the goods to be shipped out to the target storage location.

[0256] Optionally, the device further comprises:

[0257] The occupied goods storage location allocation module is used to allocate a new storage location for the occupied goods after the goods to be shipped are stored in the target storage location, so as to store the occupied goods in the new storage location.

[0258] The cargo sorting device provided in the embodiments of the present disclosure can execute the cargo sorting method provided in any embodiment of the present disclosure, and has the functional modules and beneficial effects corresponding to the execution method.

[0259] Fig.11 A structural diagram of a cargo sorting device provided by an embodiment of the present disclosure, such as Fig.11 As shown, the cargo sorting device includes: a memory 1110, a processor 1120 and a computer program.

[0260] The computer program is stored in the memory 1110 and is configured to be executed by the processor 1120 to implement the present disclosure. Figures 2 to 9 The cargo sorting method provided by any one of the corresponding embodiments.

[0261] The memory 1110 and the processor 1120 are connected via a bus 1130 .

[0262] For related instructions, please refer to Figures 2 to 9 The relevant descriptions and effects corresponding to the steps are understood, and no further elaboration is given here.

[0263] Fig.12 A schematic diagram of a storage system according to an embodiment of the present disclosure is shown in FIG. Fig.12 As shown, the warehousing system includes: a storage shelf 1210 , an operating table 1220 , a robot 1230 and a cargo sorting device 1240 .

[0264] Among them, the cargo sorting equipment 1240 is disclosed in the present invention Fig.11 The illustrated embodiment provides cargo arranging equipment.

[0265] In some embodiments, the storage system also includes unloaders, elevators, transport lines and other devices.

[0266] An embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the present disclosure. Figures 2 to 9 The cargo sorting method provided by any one of the corresponding embodiments.

[0267] 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, and the like.

[0268] The present disclosure also provides a program product, which includes an executable computer program stored in a readable storage medium. At least one processor of a cargo sorting device or a storage system can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the cargo sorting device implements the cargo sorting method provided in the above various embodiments.

[0269] In the several embodiments provided in 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 only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0270] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0271] In addition, each functional module in each embodiment of the present disclosure may be integrated into one processing unit, each module may exist physically separately, or two or more modules may be integrated into one unit. The above modules may be implemented in the form of hardware or hardware plus software functional units.

[0272] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to perform some steps of the method described in each embodiment of the present disclosure.

[0273] It should be understood that the above processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in the present disclosure may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0274] The memory may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, etc.

[0275] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present disclosure is not limited to only one bus or one type of bus.

[0276] 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, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0277] An exemplary storage medium is coupled to a processor so that the processor can 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 circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0278] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0279] 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, 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 cargo sorting method, characterized in that: The method comprises: Determine the goods to be shipped corresponding to the target order, wherein the target order is an order for a preset time period in the future; Determine the target storage location of the goods to be shipped out according to the target operation platform corresponding to the target order; When the target storage location of the goods to be shipped and the storage location of the goods to be shipped meet the warehouse transfer conditions, the goods to be shipped are moved to the corresponding target storage location, wherein the storage location is the storage location where the goods to be shipped are currently stored; Determining the target storage location of the goods to be shipped out according to the target operation console corresponding to the target order includes: Calculating a second distance between the lane exit of each lane and the target operating platform; Determine the congestion coefficient of each lane; Determine a lane score for each lane according to the second distance and congestion coefficient corresponding to each lane; For each lane, determining a first score for each storage location corresponding to the lane according to a third distance between each storage location corresponding to the lane and a lane exit of the lane; The target storage location of each of the to-be-shipped goods corresponding to the target order is determined according to the first score of each storage location and the lane score of the lane corresponding to each storage location.

2. The method according to claim 1, characterized in that Determining the target storage location of each of the to-be-shipped goods corresponding to the target order according to the first score of each storage location and the lane score of the lane corresponding to each storage location includes: According to the lane scores from high to low, the first storage location of each lane is determined in turn as the target storage location of each to-be-shipped goods corresponding to the target order, wherein the first storage location is a storage location with a first score greater than a preset score.

3. The method according to claim 2, characterized in that According to the lane scores from high to low, the first storage location of each lane is determined in sequence as the target storage location of each to-be-shipped goods corresponding to the target order, including: According to the order of the lane scores from high to low and the first scores in the lanes from high to low, the first storage locations with corresponding quantities are determined as the target storage locations for the goods to be shipped out of the target order, and the lanes with the first storage location quantity of 0 are deleted.

4. The method according to claim 2, characterized in that: After determining the first storage location of each lane as the target storage location of each to-be-shipped goods corresponding to the target order in order from high to low lane scores, the method further includes: Get the goods to be shipped corresponding to the next target order; According to the number of target storage locations corresponding to each first lane, the congestion coefficient of each first lane is updated, wherein the first lane is a lane in which at least one storage location in each lane is determined as a target storage location; updating the lane score of each first lane according to the second distance corresponding to each first lane and the updated congestion coefficient; According to the lane scores from high to low, the first storage location of each lane is determined in sequence as the target storage location of each to-be-shipped goods corresponding to the next target order.

5. The method according to claim 1, characterized in that The method further comprises: Determine the storage location type corresponding to each item to be shipped out; Accordingly, according to the target operation platform corresponding to the target order, determining the target storage location of the goods to be shipped includes: According to the target operation console corresponding to the target order and the storage location type of each of the goods to be shipped out, each of the target storage locations matching the storage location type corresponding to each of the goods to be shipped out is determined.

6. The method according to claim 5, characterized in that According to the target operation platform corresponding to the target order and the storage location type of each of the goods to be shipped, each of the target storage locations matching the storage location type corresponding to each of the goods to be shipped is determined, including: For each to-be-shipped cargo of the same storage location type, determine each candidate storage location that matches the storage location type; Determining the storage location score of each of the candidate storage locations according to the target operation console; In order of the storage location score from high to low, each candidate storage location is determined as the target storage location for each cargo to be shipped out.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: The allocation sequence of each to-be-shipped cargo corresponding to the target order is determined, so as to sequentially allocate target storage locations for each to-be-shipped cargo corresponding to the target order based on the allocation sequence.

8. The method according to any one of claims 1 to 6, characterized in that: The target storage location of the goods to be shipped out and the storage location of the goods to be shipped out meet the transfer conditions, including: The target storage location of the goods to be shipped out and the storage location of the goods to be shipped out are not in the same lane; or The target storage location of the goods to be shipped exceeds the preset range of the storage locations of the goods to be shipped, or, The target storage location of the goods to be shipped out is inconsistent with the storage location of the goods to be shipped out.

9. The method according to any one of claims 1 to 6, characterized in that: Determine the goods to be shipped corresponding to the target order, including: According to the order requirements of the target order and the target operation platform corresponding to the target order, the goods to be shipped corresponding to the target order are determined.

10. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: According to the production line corresponding to the target order, a target operating station of the target order is determined.

11. The method according to any one of claims 1 to 6, characterized in that: If there are occupied goods in the target storage location, the method further includes: Controlling the robot to take out the occupied goods from the target storage location; Accordingly, the goods to be shipped out are moved to the corresponding target storage location, including: After the occupied goods are taken out, the robot is controlled to store the goods to be shipped out to the target storage location.

12. The method according to claim 11, characterized in that After storing the goods to be shipped out at the target storage location, the method further includes: A new storage location is allocated for the occupied goods, so as to store the occupied goods in the new storage location.

13. A cargo sorting device, characterized in that: The device comprises: A goods determination module is used to determine the goods to be shipped corresponding to the target order, wherein the target order is an order for a preset time period in the future; A storage location determination module, used to determine the target storage location of the goods to be shipped out according to the target operation platform corresponding to the target order; A cargo handling module, used for handling the cargo to be shipped to the corresponding target storage location when the target storage location of the cargo to be shipped is inconsistent with the storage location of the cargo to be shipped; The storage location determination module includes: A second distance calculation unit, used for calculating a second distance between the lane exit of each lane and the target operating platform; A congestion coefficient determination unit, used to determine the congestion coefficient of each lane; A lane score determination unit, configured to determine a lane score for each lane according to the second distance and congestion coefficient corresponding to each lane; A first score determination unit is used to determine, for each lane, a first score of each storage location corresponding to the lane according to a third distance between each storage location corresponding to the lane and a lane exit of the lane; The target storage location determining unit is used to determine the target storage location of each of the to-be-shipped goods corresponding to the target order according to the first score of each storage location and the lane score of the lane corresponding to each storage location.

14. A cargo sorting device, characterized in that: include: 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 performs the cargo sorting method according to any one of claims 1 to 12.

15. A storage system, characterized in that: include: Storage shelves, operating tables, robots and the cargo sorting equipment described in claim 14.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the cargo sorting method according to any one of claims 1 to 12 is implemented.

17. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the cargo sorting method according to any one of claims 1 to 12 is implemented.

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