Outbound methods and equipment

Abstract

The present application provides a method and equipment for outbound delivery, and relates to the technical field of cargo handling equipment. The method may include: determining at least one outbound delivery sequence, each outbound delivery sequence includes at least one outbound delivery group, and each outbound delivery group includes at least one material box to be outbound; assigning a handling task of the material box to be outbound to a robot according to at least one outbound delivery sequence; and outbounding at least one material box to be outbound according to the task execution status of the handling task and at least one outbound delivery sequence. The embodiment of the present application can divide the outbound delivery requirements of complex service scenarios into outbound delivery sequences and outbound delivery groups, each outbound delivery sequence includes at least one outbound delivery group, and each outbound delivery group includes at least one material box to be outbound. Therefore, the material boxes to be outbound can be outbound through the outbound delivery sequence and the outbound delivery group, which can meet the outbound delivery requirements of complex service scenarios.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of cargo handling equipment, and in particular, to a method and equipment for outbound delivery. Background Art

[0002] Smart warehousing is an important part of the logistics process. Robots can replace manual handling of boxes and play an important role in smart warehousing. Robots can pick up and put boxes, including: taking boxes from shelves and putting boxes on shelves. Among them, taking boxes from shelves can be called outbound, and putting boxes on shelves can be called inbound.

[0003] As service scenarios become increasingly complex, how to meet the outbound delivery needs of complex service scenarios is an urgent problem to be solved. Summary of the invention

[0004] The embodiments of the present application provide a method and device for outbound delivery to meet the outbound delivery needs of complex service scenarios.

[0005] In a first aspect, an embodiment of the present application provides a method for outbound delivery, including:

[0006] Determine at least one outbound sequence, each of the outbound sequences includes at least one outbound group, and each of the outbound groups includes at least one material box to be outbound;

[0007] Allocate the task of handling the to-be-outbound material box to the robot according to the at least one outbound sequence;

[0008] The at least one material box to be shipped out is shipped out according to the task execution status of the transport task and the at least one shipping sequence.

[0009] Optionally, when there are at least two outbound sequences, allocating the task of handling the to-be-outbound material box to the robot according to the at least one outbound sequence includes:

[0010] The handling tasks of at least two of the outbound sequences are assigned to the robot in parallel, and, according to the target outbound strategy corresponding to each of the outbound sequences, the handling tasks of at least one to-be-outbound material box in each of the outbound sequences are assigned to the robot, wherein the target outbound strategy is used to specify a first outbound sequence between at least one of the outbound groups included in the outbound sequence, and / or a second outbound sequence between at least one to-be-outbound material box included in each of the outbound groups.

[0011] Optionally, allocating to the robot a task of handling at least one to-be-outbound material box in each outbound sequence according to a target outbound strategy corresponding to each outbound sequence includes:

[0012] According to the first outbound order and the second outbound order, the robot is assigned a task of handling at least one to-be-outbound material box in the outbound sequence; or,

[0013] According to the first outbound order and the default strategy within the group, the robot is assigned a handling task of at least one of the outbound material boxes in the outbound sequence, wherein the default strategy within the group is used to determine the outbound order between at least one of the outbound material boxes according to the information of each of the outbound material boxes included in the outbound group; or,

[0014] According to the inter-group default strategy and the second outbound order, the robot is assigned a handling task of at least one of the outbound material boxes in the outbound sequence, wherein the inter-group default strategy is used to determine the outbound order between at least one of the outbound groups according to the information of each of the outbound groups included in the outbound sequence; or,

[0015] According to the inter-group default strategy and the intra-group default strategy, a task of transporting at least one of the to-be-outbound material boxes in the outbound sequence is allocated to the robot.

[0016] Optionally, the information of the outbound delivery group includes at least one of the following: the number of the to-be-delivered material boxes included in the outbound delivery group, and the number of lanes where the to-be-delivered material boxes included in the outbound delivery group are located.

[0017] Optionally, the information of the material box to be shipped out includes at least one of the following: a transportation distance of the material box to be shipped out, a weight of the material box to be shipped out, and a size of the material box to be shipped out.

[0018] Optionally, allocating the task of handling at least one to-be-outbound material box in the outbound sequence to the robot according to the first outbound sequence and the second outbound sequence includes:

[0019] In the process of allocating the handling tasks of each of the boxes to be outsourced in the outbound sequence to the robot according to the first outbound sequence and the second outbound sequence, if the allocation of the handling tasks of any of the boxes to be outsourced in the outbound sequence fails, then the allocation of the handling tasks of each of the boxes to be outsourced in the outbound sequence to the robot is stopped.

[0020] Optionally, allocating to the robot a task of handling at least one of the to-be-outbound material boxes in the outbound sequence according to the inter-group default strategy and the second outbound sequence includes:

[0021] In the process of allocating the handling tasks of each of the boxes to be outsourced in the outbound sequence to the robot, if the allocation of the handling tasks of the first box to be outsourced in the outbound sequence fails, stop allocating the handling tasks of the remaining boxes to be outsourced in the first outbound group where the first box to be outsourced is located to the robot, and allocate the handling tasks of each box to be outsourced in the second outbound group to the robot, where the second outbound group is the outbound group in the outbound sequence except the first outbound group.

[0022] Optionally, allocating to the robot a task of handling at least one of the to-be-outbound material boxes in the outbound sequence according to the first outbound sequence and a default strategy within the group includes:

[0023] In the process of assigning the handling tasks of each of the boxes to be outsourced in the outbound sequence to the robot, if the assignment of the handling tasks of the first box to be outsourced in the outbound sequence fails, stop assigning the handling tasks of the boxes to be outsourced in the outbound groups other than the first outbound group to the robot, and assign the handling tasks of the boxes to be outsourced in the first outbound group other than the first box to be outsourced to the robot, the first outbound group being the outbound group where the first box to be outsourced is located.

[0024] Optionally, the step of unloading the at least one to-be-unloaded material box according to the task execution status of the transport task and the at least one unloading sequence includes:

[0025] When the task execution status of a second handling task corresponding to a second material box to be out of the warehouse is that the second material box to be out of the warehouse has been taken out, the task execution status of at least one third handling task is obtained, the third handling task is a handling task for a third material box to be out of the warehouse, and the third material box to be out of the warehouse includes: a material box to be out of the warehouse included in a third outgoing group that is located before the second outgoing group in the first outgoing sequence, and / or a material box to be out of the warehouse that is located before the second material box to be out of the warehouse in the second outgoing sequence corresponding to the second outgoing group, and the second outgoing group is the outgoing group where the second material box to be out of the warehouse is located;

[0026] If the task execution status of each of the third handling tasks is that it has arrived at the operating station, the second handling task continues to be executed to dispatch the second and third boxes to be dispatched according to the first dispatching sequence and / or the second dispatching sequence.

[0027] Optionally, the method further comprises:

[0028] If the task execution status of at least one of the third handling tasks is any execution status before reaching the operating station, controlling the robot that transports the second to-be-outbound material box to wait;

[0029] When the task execution status of the third handling task is updated to having arrived at the operating station, the second handling task continues to be executed to dispatch the second and third material boxes to be dispatched according to the first dispatching sequence and / or the second dispatching sequence.

[0030] In a second aspect, an embodiment of the present application provides a warehouse-out device, comprising:

[0031] A dispatch sequence determination module, used to determine at least one dispatch sequence, each dispatch sequence includes at least one dispatch group, each dispatch group includes at least one material box to be dispatched;

[0032] A task allocation module, used for allocating the handling task of the to-be-outbound material box to the robot according to the at least one outbound sequence;

[0033] The material box outbound module is used to outbound the at least one material box to be outbound according to the task execution status of the handling task and the at least one outbound sequence.

[0034] Optionally, when there are at least two outbound sequences, the task allocation module is further used to:

[0035] The handling tasks of at least two of the outbound sequences are assigned to the robot in parallel, and, according to the target outbound strategy corresponding to each of the outbound sequences, the handling tasks of at least one to-be-outbound material box in each of the outbound sequences are assigned to the robot, wherein the target outbound strategy is used to specify a first outbound sequence between at least one of the outbound groups included in the outbound sequence, and / or a second outbound sequence between at least one to-be-outbound material box included in each of the outbound groups.

[0036] Optionally, the task allocation module is further used to:

[0037] When the task of handling at least one material box to be dispatched in each of the dispatch sequences is assigned to the robot according to the target dispatch strategy corresponding to each of the dispatch sequences, the task of handling at least one material box to be dispatched in the dispatch sequence is assigned to the robot according to the first dispatch sequence and the second dispatch sequence; or,

[0038] According to the first outbound order and the default strategy within the group, the robot is assigned a handling task of at least one of the outbound material boxes in the outbound sequence, wherein the default strategy within the group is used to determine the outbound order between at least one of the outbound material boxes according to the information of each of the outbound material boxes included in the outbound group; or,

[0039] According to the inter-group default strategy and the second outbound order, the robot is assigned a handling task of at least one of the outbound material boxes in the outbound sequence, wherein the inter-group default strategy is used to determine the outbound order between at least one of the outbound groups according to the information of each of the outbound groups included in the outbound sequence; or,

[0040] According to the inter-group default strategy and the intra-group default strategy, a task of transporting at least one of the to-be-outbound material boxes in the outbound sequence is allocated to the robot.

[0041] Optionally, the information of the outbound delivery group includes at least one of the following: the number of the to-be-delivered material boxes included in the outbound delivery group, and the number of lanes where the to-be-delivered material boxes included in the outbound delivery group are located.

[0042] Optionally, the information of the material box to be shipped out includes at least one of the following: a transportation distance of the material box to be shipped out, a weight of the material box to be shipped out, and a size of the material box to be shipped out.

[0043] Optionally, the task allocation module is further used to:

[0044] When the handling task of at least one box to be outsourced in the outbound sequence is assigned to the robot according to the first outbound sequence and the second outbound sequence, if the assignment of the handling task of any box to be outsourced in the outbound sequence fails, the assignment of the handling tasks of each box to be outsourced in the outbound sequence to the robot is stopped.

[0045] Optionally, the task allocation module is further used to:

[0046] When allocating the handling task of at least one of the boxes to be outsourced in the outbound sequence to the robot according to the default strategy between groups and the second outbound order, if the allocation of the handling task of the first box to be outsourced in the outbound sequence fails, stop allocating the handling tasks of the remaining boxes to be outsourced in the first outbound group where the first box to be outsourced is located to the robot, and allocate the handling tasks of each box to be outsourced in the second outbound group to the robot, the second outbound group being the outbound group other than the first outbound group in the outbound sequence.

[0047] Optionally, the task allocation module is further used to:

[0048] When allocating the handling task of at least one of the boxes to be outsourced in the outbound sequence to the robot according to the first outbound order and the default strategy within the group, if the allocation of the handling task of the first box to be outsourced in the outbound sequence fails, stop allocating the handling task of the boxes to be outsourced in the outbound groups other than the first outbound group to the robot, and allocate the handling task of the boxes to be outsourced in the first outbound group other than the first box to be outsourced to the robot, the first outbound group being the outbound group where the first box to be outsourced is located.

[0049] Optionally, the material box outbound module is also used for:

[0050] When the task execution status of the second handling task corresponding to a second box to be outsourced is that the second box to be outsourced has been taken out, the task execution status of at least one third handling task is obtained, the third handling task is a handling task for the third box to be outsourced, and the third box to be outsourced includes: the boxes to be outsourced included in the third outbound group that is before the second outbound group in the first outbound sequence, and / or the boxes to be outsourced that are before the second box to be outsourced in the second outbound sequence corresponding to the second outbound group, the second outbound group being the outbound group where the second box to be outsourced is located; if the task execution status of each of the third handling tasks is that it has arrived at the operating station, the second handling task continues to be executed to outbound the second box to be outsourced and the third box to be outsourced according to the first outbound sequence and / or the second outbound sequence.

[0051] Optionally, the material box outbound module is also used for:

[0052] If the task execution status of at least one of the third handling tasks is any execution status before arriving at the operating station, the robot transporting the second box to be shipped out is controlled to wait; when the task execution status of the third handling task is updated to arriving at the operating station, the second handling task continues to be executed to ship out the second box to be shipped out and the third box to be shipped out according to the first shipping order and / or the second shipping order.

[0053] In a third aspect, an embodiment of the present application provides an electronic device, including: at least one processor and a memory;

[0054] The memory stores computer-executable instructions;

[0055] The at least one processor executes the computer-executable instructions stored in the memory, so that the electronic device implements the method of the first aspect as described above.

[0056] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions. When a processor executes the computer-executable instructions, a computing device implements the method of the first aspect described above.

[0057] In a fifth aspect, an embodiment of the present application provides a computer program, which is used to implement the method as described in the first aspect.

[0058] The outbound method and device provided in the embodiment of the present application can determine at least one outbound sequence, each outbound sequence includes at least one outbound group, and each outbound group includes at least one material box to be outbound; according to at least one outbound sequence, the handling task of the material box to be outbound is assigned to the robot; according to the task execution status of the handling task and at least one outbound sequence, at least one material box to be outbound is outbound. The embodiment of the present application can divide the outbound demand of complex service scenarios into outbound sequences and outbound groups, each outbound sequence includes at least one outbound group, and each outbound group includes at least one material box to be outbound. Therefore, the material boxes to be outbound can be outbound through the outbound sequence and the outbound group, which can meet the outbound demand of complex service scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0060] Figure 1 This is a top view of a warehouse applicable to the embodiment of the present application;

[0061] Figure 2 is a side view of a shelf to which the embodiment of the present application is applicable;

[0062] Figure 3 It is a structural schematic diagram of a robot provided by the present application;

[0063] Figure 4 It is a flowchart of the specific steps of the outbound method provided in the embodiment of the present application;

[0064] Figure 5 It is a structural block diagram of a warehouse-out device provided in an embodiment of the present application;

[0065] Figure 6 It is a structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0067] The embodiments of the present application can be used in the field of intelligent warehousing technology. In the field of intelligent warehousing technology, materials can be stored on shelves in a warehouse, and the materials can be individual goods or material boxes containing goods. Figure 1 This is a top view of a warehouse applicable to the embodiment of the present application. Figure 1 As shown, six shelves 102 are arranged in the warehouse 101, wherein every two shelves 102 are arranged in parallel in a row, and a total of three rows of shelves 102 are arranged in the warehouse 101. Materials 103 can be placed on the shelves 102.

[0068] Of course, multiple storage layers can be set on the shelf 102, and each storage layer can be provided with multiple storage locations, and each storage location can be placed in the material 103. In this way, the multiple storage layers and multiple storage locations improve the storage capacity of the shelf 102 for the material 103. Figure 1 It can be seen that each material 103 occupies one storage location. Figure 2 1 is a side view of a shelf applicable to the embodiment of the present application. Figure 2 As shown, the shelf 102 includes three storage layers 105, each storage layer 105 includes five storage locations, and one material 103 can be placed on each storage location.

[0069] In order to improve the efficiency of material handling, materials can usually be handled by robots. The robot can take materials from the storage layer in the shelf to the storage layer of the robot, and can also put materials from the storage layer of the robot to the storage layer on the shelf.

[0070] Above Figure 1 There needs to be a vacant area between the shelves 102 in the image, which can be called an aisle, so that the robot can pass through the aisle to approach the shelves. Figure 1 There are four lanes 104 in the rack 102. When the robot needs to put materials into the rack 102, the robot can move to the corresponding lane 104 to put the materials on the robot's storage layer into the rack 102. When the robot needs to take materials from the rack 102, the robot can also move to the corresponding lane 104 to take materials from the storage layer of the rack 102 and put them on the robot's storage layer.

[0071] Figure 3Schematic diagram of the structure of a robot provided in an embodiment of the present application. Figure 3 As shown, the robot includes a support assembly 210, a mobile chassis 220, a pick-up and placement device 230 and a storage shelf 240, wherein the support assembly 210 is mounted on the mobile chassis 220, the storage shelf 240 and the pick-up and placement device 230 are mounted on the support assembly 210, and the pick-up and placement device 230 can move in the vertical direction along the support assembly 210. Several storage layers can be set on the storage shelf 240 to place one or more materials to be transported. A lifting assembly is provided on the support assembly 210 to drive the pick-up and placement device 230 to lift and move, so that the pick-up and placement device 230 is aligned with any storage unit on the storage shelf 240, or aligned with the shelves and / or materials in the warehouse. The pick-up and placement device 230 can rotate with the vertical direction as the axis to adjust the direction to align with the storage unit, or align with the shelves and / or materials. The pick-up and placement device 230 is used to perform loading or unloading of materials to carry out material handling between the shelves and the storage units.

[0072] The above materials are usually stored in a material box, so that the robot carries the materials and also carries the material box. When the material box is unloaded, the robot carries the material box from the shelf of the warehouse to the operating table to unload the material box on the operating table.

[0073] In the prior art, when unloading, multiple boxes can be unloaded continuously. Specifically, robots can be assigned to the multiple boxes in sequence so that the robots unload the boxes in sequence.

[0074] However, the above-mentioned outbound delivery solution is relatively simple and cannot meet the outbound delivery needs of complex service scenarios.

[0075] In order to solve the above problems, the embodiment of the present application can divide the outbound demand of complex service scenarios into outbound sequences and outbound groups, each outbound sequence includes at least one outbound group, and each outbound group includes at least one material box to be outbound. Therefore, the outbound material box to be outbound can be outbound through the outbound sequence and outbound group, which can meet the outbound demand of complex service scenarios.

[0076] The above-mentioned complex service scenario may be a scenario in which materials are divided according to at least two dimensions. For example, the material may be clothing, and clothing may be divided according to two dimensions: color and size. Thus, one size may correspond to one outbound group, and the group includes clothing of that size sorted by color. Furthermore, outbound groups corresponding to multiple sizes may form an outbound sequence, for example, an outbound sequence may be obtained in the order of smallest size, medium size, and large size. In this way, it is convenient for users to directly store clothing according to the outbound sequence without having to sort and store them according to color and size, thereby reducing the complexity of user operations. The user may usually be a clothing seller.

[0077] The following specific embodiments are used to describe in detail the technical solutions of the embodiments of the present application and how the technical solutions of the present application solve the above-mentioned technical problems. 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 application will be described below in conjunction with the accompanying drawings.

[0078] Figure 4 It is a flowchart of the specific steps of the method for outbound delivery provided by the embodiment of the present application. Figure 4 As shown, the method may include:

[0079] S201: Determine at least one outbound sequence, each outbound sequence includes at least one outbound group, and each outbound group includes at least one material box to be outbound.

[0080] Among them, the outbound sequence and outbound group can be determined according to the outbound demand.

[0081] S202: Allocate the task of transporting the material boxes to be shipped out to the robot according to at least one shipping sequence.

[0082] Specifically, for an outbound delivery group, the task of handling the first outbound material box L1 can be first assigned to a robot A, and then, based on the amount of material boxes that the robot can handle, the tasks of handling several outbound material boxes after L1 in the outbound delivery group can be assigned to the robot A.

[0083] Of course, when the number of boxes assigned to this robot A reaches the number of boxes that can be transported, a robot B is assigned to the transport task of the next box L2 to be shipped out of the group, and the transport tasks of several boxes to be shipped out after L2 in the outbound group are assigned to the robot B. This continues until the transport tasks of the boxes to be shipped out of the outbound group are all assigned.

[0084] Among them, the handling task refers to the task of moving the material box to be shipped from the warehouse shelf to the operation table, which is used to ship the material box to be shipped. One material box to be shipped corresponds to one handling task, and one handling task is performed by one robot. One robot can perform one or more handling tasks.

[0085] When there are at least two outbound sequences, the handling tasks between the different outbound sequences may be allocated serially or in parallel. Parallel allocation may reduce the time consumed in allocating the handling tasks, thereby reducing the outbound time.

[0086] For example, for two outbound sequences Q1 and Q2, Q1 includes two outbound groups G1 and G2, Q2 includes three outbound groups G3, G4 and G5, G1 includes two boxes to be outbound B1 and B2, G2 includes three boxes to be outbound B3, B4 and B5, G3 includes one box to be outbound B6, G4 includes two boxes to be outbound B7 and B8, and G5 includes four boxes to be outbound B9 to B12.

[0087] For the above-mentioned B1 to B12 to-be-shipped material boxes, since B1 to B5 are material boxes in the outbound sequence Q1, and B6 to B12 are material boxes in the outbound sequence Q2, B1 to B5 and B6 to B12 can be assigned handling tasks in parallel. That is, while assigning handling tasks to B1 to B5, B6 to B12 can also be assigned handling tasks.

[0088] In addition, each of the above-mentioned outbound sequences may correspond to a target outbound strategy, which may specify that the outbound order between the various outbound material boxes in the outbound sequence is an arbitrary order. The target outbound strategy may also specify the outbound order between the various outbound groups in the outbound sequence, and / or the outbound order between the various outbound material boxes in each outbound group.

[0089] In order to ensure the above-mentioned outbound order, the handling tasks of each outbound material box in an outbound sequence are also assigned one by one according to the outbound order, and the handling tasks are assigned to the outbound material boxes that are outbound first. In other words, according to the target outbound strategy corresponding to each outbound sequence, the robot is assigned the handling task of at least one outbound material box in each outbound sequence.

[0090] For the convenience of explanation, the outbound order between the outbound groups specified by the target outbound strategy is called the first outbound order, and the outbound order between the material boxes to be outbound within the outbound group specified by the target outbound strategy is called the second outbound order.

[0091] The following is a detailed description of the process of allocating handling tasks based on the target outbound strategy.

[0092] When the target outbound delivery strategy specifies a first outbound delivery sequence and a second outbound delivery sequence, the robot may be assigned a task of transporting at least one to-be-outbound material box in the outbound delivery sequence according to the first outbound delivery sequence and the second outbound delivery sequence.

[0093] When allocating handling tasks for the above-mentioned outbound sequence according to the first outbound sequence and the second outbound sequence, first, determine the order of each outbound group in the outbound sequence according to the first outbound sequence; then, for each outbound group, determine the order of each to-be-outbound material box in the outbound group according to the second outbound sequence of the outbound group; then, determine the order of at least one to-be-outbound material box in the outbound sequence according to the order of each outbound group and the order of each to-be-outbound material box in each outbound group; finally, allocate handling tasks to the robots one by one according to the order of at least one to-be-outbound material box in the outbound sequence.

[0094] Under normal circumstances, a handling task can be successfully assigned to each unloaded material box in the unloaded sequence according to the first unloaded sequence and the second unloaded sequence. However, due to various factors, there may be a situation where the handling task assignment fails. For example, the lane where a unloaded material box is located is occupied by robots that are performing handling tasks, so that the unloaded material box can no longer be assigned a handling task, and the handling task assignment fails. For another example, all robots have been assigned or are abnormal, so there is no robot that can be assigned, and the handling task assignment fails.

[0095] When the target outbound strategy specifies the first outbound sequence and the second outbound sequence, that is, the outbound demand specifies the outbound sequence between outbound groups and the outbound sequence between each to-be-outbound material box in the outbound group, so that in the process of allocating the handling tasks of each to-be-outbound material box in the outbound sequence to the robot according to the first outbound sequence and the second outbound sequence, if the handling task allocation of any to-be-outbound material box in the outbound sequence fails, the handling tasks of each to-be-outbound material box in the outbound sequence will be stopped from being allocated to the robot. In this way, when the allocation fails, it is possible to avoid continuing to allocate the handling tasks of the remaining to-be-outbound material boxes, thereby avoiding the actual outbound sequence from being inconsistent with the outbound sequence specified by the target outbound strategy.

[0096] Among them, the unloaded material boxes whose allocation is stopped include: the unloaded material boxes in the first load-out group where the unloaded material boxes are located, and the unloaded material boxes in the unallocated load-out group. For example, for the load-out sequence Q1, the first load-out sequence is G1, G2, the second load-out sequence of G1 is B1, B2, and the second load-out sequence of G2 is B3, B4, B5. If the handling task for B2 fails to be assigned, the handling tasks of B3, B4 and B5 will be stopped from being assigned to the robot.

[0097] When the target outbound strategy specifies the first outbound sequence but does not specify the second outbound sequence, the outbound groups in the outbound sequence are assigned handling tasks according to the first outbound sequence, and the handling tasks can be assigned to the to-be-outbound boxes in each outbound group in any order. In order to avoid missing out the to-be-outbound boxes in the outbound group, a default sorting can be determined for each to-be-outbound box in the outbound group. In other words, the handling task of at least one to-be-outbound box in the outbound sequence can be assigned to the robot according to the first outbound sequence and the default strategy within the group. The default strategy within the group is used to determine the outbound sequence between at least one to-be-outbound box based on the information of each to-be-outbound box included in the outbound group.

[0098] The information of the material box to be shipped out includes at least one of the following: the transportation distance of the material box to be shipped out, the weight of the material box to be shipped out, and the size of the material box to be shipped out.

[0099] The above-mentioned transport distance refers to the distance between the position of the material box to be shipped out on the shelf and the operating table. That is to say, the robot needs to transport the material box to be shipped out from the shelf to the operating table before it can be shipped out.

[0100] In the disclosed embodiment, the handling tasks may be preferentially assigned to the to-be-outbound material boxes with a shorter handling distance, or the to-be-outbound material boxes with a longer handling distance may be assigned the handling tasks.

[0101] With respect to the weight of the above-mentioned material boxes to be shipped out, the handling tasks may be preferentially assigned to the material boxes to be shipped out with a smaller weight, or the handling tasks may be assigned to the material boxes to be shipped out with a larger weight.

[0102] For the sizes of the above-mentioned material boxes to be shipped out, the handling tasks may be assigned to the material boxes with smaller sizes to be shipped out first, or the handling tasks may be assigned to the material boxes with larger sizes to be shipped out.

[0103] Of course, the order of assigning the handling tasks of the boxes to be shipped out in each shipping group can also be determined by combining at least two of the above factors: the handling distance, weight, and size. Specifically, a score can be determined for each box to be shipped out according to at least two of the above factors: the handling distance, weight, and size, so as to obtain the order of assigning the handling tasks according to the score. For example, the score can be calculated by the following formula:

[0104] SCR2=p 21 ·D+p 22 ·H+p 23 ·S (1)

[0105] Among them, SCR2 is the score of each of the above-mentioned material boxes to be shipped out, D, H, and S are the transportation distance, weight, and size respectively, and p 21 、p 22 and p 23They are the weighting coefficients for transport distance, weight and size respectively.

[0106] In practical applications, the weighting coefficients in the above formula can be adjusted to adjust the relationship between the corresponding factors and the allocation order. 21 、p 22 and p 23 Set to a positive number, and assign handling tasks to the outbound boxes in ascending order of SCR2. In this way, it is possible to prioritize the assignment of handling tasks to the outbound boxes with smaller handling distance, weight, and size.

[0107] When allocating handling tasks for the above-mentioned outbound sequence according to the first outbound sequence and the default strategy within the group, first, determine the order of each outbound group in the outbound sequence according to the first outbound sequence; then, for each outbound group, determine the order of each to-be-outbound material box in the outbound group according to the default strategy within the group; then, determine the order of at least one to-be-outbound material box in the outbound sequence according to the order of each outbound group and the order of each to-be-outbound material box in each outbound group; finally, allocate handling tasks to robots one by one according to the order of at least one to-be-outbound material box in the outbound sequence.

[0108] Under normal circumstances, a handling task can be successfully assigned to each to-be-delivered material box in the delivery sequence according to the first delivery order and the default strategy within the group. However, due to various factors, there may be a situation where the handling task assignment fails.

[0109] When the target outbound strategy specifies the first outbound sequence but does not specify the second outbound sequence, that is, the outbound demand does not specify the outbound sequence between the boxes to be outbound in the outbound group, and thus in the process of allocating the handling task of at least one box to be outbound in the outbound sequence to the robot according to the first outbound sequence and the default strategy within the group, if the allocation of the handling task of the first box to be outbound in the outbound sequence fails, outbound can be carried out through the following two strategies.

[0110] The first strategy is to stop allocating all the boxes to be shipped in the outbound sequence to the robot. For example, this strategy is used when the boxes to be shipped in an outbound group are required to be shipped together.

[0111] The second strategy is to stop assigning the robot the task of handling the boxes to be shipped in the outbound groups other than the first outbound group, and assign the robot the task of handling the boxes to be shipped in the first outbound group other than the first box to be shipped. The first outbound group is the outbound group where the first box to be shipped is located. For example, this strategy is used when the boxes to be shipped in an outbound group are not required to be shipped together.

[0112] Among them, stopping allocating to the robot the boxes to be shipped in the outbound groups other than the first outbound group can avoid the inconsistency between the actual outbound order between the outbound groups and the outbound order specified by the target outbound strategy, while allocating to the robot the boxes to be shipped in the first outbound group other than the first box to be shipped to improve the success rate of the allocation of handling tasks.

[0113] For example, for the outbound sequence Q1, the first outbound order is G1 and G2. According to the default strategy within the group, the second outbound order of G1 is determined to be B2 and B1. According to the default strategy within the group, the second outbound order of G2 is determined to be B4, B3 and B5. If the assignment of the handling task to B2 fails, stop assigning the handling tasks of B4, B3 and B5 in G2 to the robot, and continue to assign the handling task of B1 in G1.

[0114] When the target outbound strategy specifies the second outbound sequence but does not specify the first outbound sequence, the handling tasks can be allocated using two strategies.

[0115] In the first strategy, the handling tasks can be assigned to the outbound groups in the outbound sequence in any order, and the handling tasks can be assigned to the to-be-outbound material boxes in each outbound group in the second outbound order. In order to avoid missing out the outbound groups, a default order can be determined between the outbound groups. In other words, the handling task of at least one to-be-outbound material box in the outbound sequence can be assigned to the robot according to the inter-group default strategy and the second outbound order. The inter-group default strategy is used to determine the outbound order between at least one outbound group based on the information of each outbound group included in the outbound sequence.

[0116] The information of the outbound group includes at least one of the following: the number of the to-be-outbound material boxes included in the outbound group, and the number of lanes where the to-be-outbound material boxes included in the outbound group are located.

[0117] For the number of material boxes to be shipped out, the handling tasks may be allocated to the shipping group with a smaller number first, or the handling tasks may be allocated to the shipping group with a larger number.

[0118] With respect to the number of lanes where the above-mentioned material boxes to be shipped are located, the handling tasks may be preferentially assigned to the shipping group with a smaller number of lanes, or the handling tasks may be assigned to the shipping group with a larger number of lanes.

[0119] Of course, the order of assigning the handling tasks of the outbound group can also be determined in combination with the number of boxes to be shipped and the number of lanes. Specifically, a score can be determined for each outbound group according to the number of boxes to be shipped and the number of lanes, and the order of assigning the handling tasks can be obtained by sorting according to the score. For example, the score can be calculated by the following formula:

[0120] SCR1=p 11 NUM1+p 12·NUM2 (2)

[0121] Among them, SCR1 is the score of each outbound group, NUM1 and NUM2 are the number of bins to be outbound and the number of lanes, respectively. 11 、p 12 They are the weighted coefficients of the number of bins to be shipped out and the number of lanes respectively.

[0122] In practical applications, the weighting coefficients in the above formula can be adjusted to adjust the relationship between the corresponding factors and the allocation order. 11 、p 12 Set to a positive number, and assign handling tasks to the outbound groups in ascending order of SCR1. In this way, it is possible to prioritize the assignment of handling tasks to the outbound groups with a smaller number of bins to be outbound and aisle numbers.

[0123] When allocating handling tasks for the above-mentioned outbound sequence according to the second outbound order and the default strategy between groups, first, determine the order of each outbound group in the outbound sequence according to the default strategy between groups; then, for each outbound group, determine the order of each to-be-outbound material box in the outbound group according to the second outbound order of the outbound group; then, determine the order of at least one to-be-outbound material box in the outbound sequence according to the order of each outbound group and the order of each to-be-outbound material box in each outbound group; finally, allocate handling tasks one by one according to the order of at least one to-be-outbound material box in the outbound sequence.

[0124] Under normal circumstances, a handling task can be successfully assigned to each to-be-delivered material box in the delivery sequence according to the second delivery order and the default strategy between groups. However, due to various factors, there may be a situation where the delivery task assignment fails.

[0125] In the second strategy, the outbound material boxes of multiple outbound groups can be allocated alternately under the premise of ensuring the second outbound order. For example, the outbound sequence Q1 includes two outbound groups G1 and G2, G1 includes two outbound material boxes B1 and B2, and G2 includes three outbound material boxes B3, B4 and B5. Then the handling tasks can be allocated in the following order: B1, B3, B4, B2 and B5.

[0126] The above-mentioned interleaved allocation can be understood as inserting the to-be-shipped material box in one outbound group G1 into another to-be-shipped material box in front of or behind the to-be-shipped material box associated with the to-be-shipped material box, so as to allocate the handling task. The two associated to-be-shipped material boxes may include at least one of the following: two to-be-shipped material boxes with close storage locations on the shelf, and two to-be-shipped material boxes of the same category.

[0127] When the target outbound strategy specifies the second outbound sequence but does not specify the first outbound sequence, that is, the outbound demand does not specify the outbound sequence between outbound groups, and thus in the process of allocating the handling task of at least one to-be-outbound material box in the outbound sequence to the robot according to the default strategy between groups and the second outbound sequence, if the allocation of the handling task of the first to-be-outbound material box in the outbound sequence fails, then stop allocating the handling tasks of the remaining to-be-outbound material boxes in the first outbound group where the first to-be-outbound material box is located to the robot, and allocate the handling tasks of each to-be-outbound material box in the second outbound group to the robot, the second outbound group being the outbound group other than the first outbound group in the outbound sequence.

[0128] Among them, stopping allocating the handling tasks of the remaining boxes to be shipped in the first outbound group where the first box to be shipped is located to the robot can avoid the inconsistency between the actual outbound order of the boxes to be shipped in the outbound group and the order specified by the target outbound strategy. Allocating the handling tasks of the boxes to be shipped in the second outbound group to the robot can improve the success rate of the handling task allocation.

[0129] For example, for the outbound sequence Q1, the outbound order determined according to the default strategy between groups is G2, G1, the second outbound order of G1 is B1, B2, and the second outbound order of G2 is B3, B4, B5. If the assignment of the handling task to B1 fails, stop assigning the handling task of B2 in G1 to the robot, and instead assign the handling tasks of B3, B4, B5 in G2 to the robot.

[0130] When the target outbound delivery strategy does not specify the first outbound delivery sequence and the second outbound delivery sequence, the handling tasks can be allocated through two strategies.

[0131] In the first strategy, for all the boxes to be shipped in the outbound sequence, the order of assigning the handling tasks of all the boxes to be shipped in the outbound sequence can be determined according to the distance between two boxes to be shipped, the priority of each box to be shipped, and the lane where each box to be shipped is located, so as to assign the handling tasks. For example, the handling tasks are continuously assigned to the boxes to be shipped that are close in distance, or the handling tasks are assigned to the boxes to be shipped one by one in the order of priority, or the handling tasks are continuously assigned to the boxes to be shipped on the shelves of the same lane.

[0132] In the second strategy, at least one of the boxes to be shipped out in the outbound sequence can be assigned a handling task in any order. In the disclosed embodiment, in order to avoid missing a box to be shipped out when assigning a handling task, the robot can be assigned a handling task of at least one box to be shipped out in the outbound sequence according to the above-mentioned inter-group default strategy and the above-mentioned intra-group default strategy.

[0133] It can be understood that the above-mentioned inter-group default strategy and intra-group default strategy determine a default outbound order for at least one material box to be outbound, so as to allocate a handling task to at least one material box to be outbound according to the default outbound order.

[0134] In addition, when the target outbound strategy does not specify the first outbound sequence and the second outbound sequence, that is, the outbound demand does not specify the outbound sequence between the outbound groups and the outbound sequence between the individual boxes to be outbound in the outbound group, in the process of allocating the handling task of at least one box to be outbound in the outbound sequence to the robot according to the above-mentioned inter-group default strategy and the above-mentioned intra-group default strategy, if the allocation of the handling task of a box to be outbound fails, the outbound can be carried out through the following two strategies.

[0135] The first strategy is to stop assigning the robot the task of handling the remaining boxes to be shipped in the first shipping group, and assign the robot the task of handling the boxes to be shipped in the remaining shipping groups, where the first shipping group is the shipping group to which the boxes to be shipped that failed to be assigned are located.

[0136] The second strategy is to continue to assign the handling tasks of the remaining unassigned boxes in the outbound sequence, including the handling tasks of the remaining boxes in the first outbound group and the boxes in the remaining outbound groups. In this way, the success rate of assigning handling tasks can be improved.

[0137] For example, for the outbound sequence Q1, it includes outbound groups G1 and G2, G1 includes the outbound boxes B1 and B2, and G2 includes the outbound boxes B3, B4, and B5. Since there is no first outbound sequence and second outbound sequence, the outbound sequence can be determined according to the inter-group default strategy and the intra-group default strategy, and the result is: B5, B4, B3, B1, B2. If the handling task for B4 fails, the handling tasks of B3, B1, and B2 will continue to be assigned to the robot.

[0138] In addition, in order to further improve the success rate of the assignment of handling tasks, each time a handling task is assigned to an outbound sequence, the outbound material boxes that failed to be assigned previously can be reallocated.

[0139] S203: According to the task execution status of the transport task and at least one outbound sequence, outbound at least one material box to be outbound is outbound.

[0140] Among them, the task execution status may include multiple states, for example, the robot walking state, the robot taking out the material box to be shipped out of the warehouse state, and the robot has reached the operating table state. Among them, the robot walking state may include the walking state when the material box has not been taken out, and the walking state when the material box is taken out. The arrived operation means that the robot has moved the material box to be shipped out of the warehouse to the preset range around the operating table.

[0141] In the embodiment of the present disclosure, any material box to be shipped out is referred to as the second material box to be shipped out. The shipping group to which the second material box to be shipped out belongs is referred to as the second shipping group, and the material boxes to be shipped out included in the third shipping group that is located before the second shipping group in the first shipping sequence, and / or the material boxes to be shipped out that are located before the second material box to be shipped out in the second shipping sequence corresponding to the second shipping group are referred to as the third material box to be shipped out.

[0142] Therefore, when the task execution status of the handling task of the second box to be out of the warehouse is that the second box to be out of the warehouse has been taken out, it is necessary to determine whether the robot of the second box to be out of the warehouse waits for or continues to execute the handling task of the second box to be out of the warehouse according to the task execution status of the handling task of the third box to be out of the warehouse, so as to ensure that the second box to be out of the warehouse is shipped after the third box to be out of the warehouse.

[0143] Optionally, when the robot takes out the second material box to be shipped, the task execution status of the handling task of the third material box to be shipped can be obtained to determine whether the robot of the second material box to be shipped is waiting for or continuing to perform the handling task of the second material box to be shipped. The state of taking out the second material box to be shipped can include the time range from taking out the second material box to arriving at the operating station.

[0144] Specifically, the process of outsourcing the second material box to be outsourced may include: first, obtaining the task execution status of at least one third handling task, the third handling task is the handling task of the third material box to be outsourced; then, if the task execution status of each third handling task is that it has arrived at the operating station, continue to execute the second handling task to outsource the second material box to be outsourced and the third material box to be outsourced according to the first outsourcing order and / or the second outsourcing order.

[0145] Of course, if the task execution status of at least one third handling task is any execution status before arriving at the operating station, the robot transporting the second box to be shipped out is controlled to wait; when the task execution status of the third handling task is updated to arriving at the operating station, the second handling task continues to be executed to ship out the second box to be shipped out and the third box to be shipped out according to the first shipping order and / or the second shipping order.

[0146] It is understandable that the outbound order determined according to the first outbound order and / or the second outbound order is that the third outbound material box is located before the second outbound material box, so that the third outbound material box is outbound first, and then the second outbound material box is outbound.

[0147] Corresponding to the method for removing goods from storage in the above embodiment, Figure 5 1 is a structural block diagram of a storage device provided in an embodiment of the present application. For the sake of convenience, only the parts related to the embodiment of the present application are shown. Figure 5The above-mentioned outbound device 300 includes: an outbound sequence determination module 301, a task allocation module 302 and a material box outbound module 303.

[0148] The outbound sequence determination module 301 is used to determine at least one outbound sequence, each of which includes at least one outbound group, and each of which includes at least one material box to be outbound.

[0149] The task allocation module 302 is used to allocate the task of handling the to-be-outbound material box to the robot according to the at least one outbound sequence.

[0150] The material box outbound module 303 is used to outbound the at least one material box to be outbound according to the task execution status of the transport task and the at least one outbound sequence.

[0151] Optionally, when there are at least two outbound sequences, the task allocation module 302 is further configured to:

[0152] The handling tasks of at least two of the outbound sequences are assigned to the robot in parallel, and, according to the target outbound strategy corresponding to each of the outbound sequences, the handling tasks of at least one to-be-outbound material box in each of the outbound sequences are assigned to the robot, wherein the target outbound strategy is used to specify a first outbound sequence between at least one of the outbound groups included in the outbound sequence, and / or a second outbound sequence between at least one to-be-outbound material box included in each of the outbound groups.

[0153] Optionally, the task assignment module 302 is further used to:

[0154] When the task of handling at least one material box to be dispatched in each of the dispatch sequences is assigned to the robot according to the target dispatch strategy corresponding to each of the dispatch sequences, the task of handling at least one material box to be dispatched in the dispatch sequence is assigned to the robot according to the first dispatch sequence and the second dispatch sequence; or,

[0155] According to the first outbound order and the default strategy within the group, the robot is assigned a handling task of at least one of the outbound material boxes in the outbound sequence, wherein the default strategy within the group is used to determine the outbound order between at least one of the outbound material boxes according to the information of each of the outbound material boxes included in the outbound group; or,

[0156] According to the inter-group default strategy and the second outbound order, the robot is assigned a handling task of at least one of the outbound material boxes in the outbound sequence, wherein the inter-group default strategy is used to determine the outbound order between at least one of the outbound groups according to the information of each of the outbound groups included in the outbound sequence; or,

[0157] According to the inter-group default strategy and the intra-group default strategy, a task of transporting at least one of the to-be-outbound material boxes in the outbound sequence is allocated to the robot.

[0158] Optionally, the information of the outbound delivery group includes at least one of the following: the number of the to-be-delivered material boxes included in the outbound delivery group, and the number of lanes where the to-be-delivered material boxes included in the outbound delivery group are located.

[0159] Optionally, the information of the material box to be shipped out includes at least one of the following: a transportation distance of the material box to be shipped out, a weight of the material box to be shipped out, and a size of the material box to be shipped out.

[0160] Optionally, the task assignment module 302 is further used to:

[0161] When the handling task of at least one box to be outsourced in the outbound sequence is assigned to the robot according to the first outbound sequence and the second outbound sequence, if the assignment of the handling task of any box to be outsourced in the outbound sequence fails, the assignment of the handling tasks of each box to be outsourced in the outbound sequence to the robot is stopped.

[0162] Optionally, the task assignment module 302 is further used to:

[0163] When allocating the handling task of at least one of the boxes to be outsourced in the outbound sequence to the robot according to the default strategy between groups and the second outbound order, if the allocation of the handling task of the first box to be outsourced in the outbound sequence fails, stop allocating the handling tasks of the remaining boxes to be outsourced in the first outbound group where the first box to be outsourced is located to the robot, and allocate the handling tasks of each box to be outsourced in the second outbound group to the robot, the second outbound group being the outbound group other than the first outbound group in the outbound sequence.

[0164] Optionally, the task assignment module 302 is further used to:

[0165] When allocating the handling task of at least one of the boxes to be outsourced in the outbound sequence to the robot according to the first outbound order and the default strategy within the group, if the allocation of the handling task of the first box to be outsourced in the outbound sequence fails, stop allocating the handling task of the boxes to be outsourced in the outbound groups other than the first outbound group to the robot, and allocate the handling task of the boxes to be outsourced in the first outbound group other than the first box to be outsourced to the robot, the first outbound group being the outbound group where the first box to be outsourced is located.

[0166] Optionally, the material box outbound module 303 is further used for:

[0167] When the task execution status of the second handling task corresponding to a second box to be outsourced is that the second box to be outsourced has been taken out, the task execution status of at least one third handling task is obtained, the third handling task is a handling task for the third box to be outsourced, and the third box to be outsourced includes: the boxes to be outsourced included in the third outbound group that is before the second outbound group in the first outbound sequence, and / or the boxes to be outsourced that are before the second box to be outsourced in the second outbound sequence corresponding to the second outbound group, the second outbound group being the outbound group where the second box to be outsourced is located; if the task execution status of each of the third handling tasks is that it has arrived at the operating station, the second handling task continues to be executed to outbound the second box to be outsourced and the third box to be outsourced according to the first outbound sequence and / or the second outbound sequence.

[0168] Optionally, the material box outbound module 303 is further used for:

[0169] If the task execution status of at least one of the third handling tasks is any execution status before arriving at the operating station, the robot transporting the second box to be shipped out is controlled to wait; when the task execution status of the third handling task is updated to arriving at the operating station, the second handling task continues to be executed to ship out the second box to be shipped out and the third box to be shipped out according to the first shipping order and / or the second shipping order.

[0170] The outbound device provided in this embodiment can be used to execute the above Figure 4 The technical solution of the method embodiment shown has similar implementation principles and technical effects, and will not be repeated here in this embodiment.

[0171] Figure 6 600 is a block diagram of an electronic device provided in an embodiment of the present application. The electronic device 600 includes a memory 602 and at least one processor 601;

[0172] The memory 602 stores computer-executable instructions;

[0173] At least one processor 601 executes the computer execution instructions stored in the memory 602, so that the electronic device 601 implements the aforementioned Figure 4 The method in .

[0174] In addition, the electronic device may further include a receiver 603 and a transmitter 604, wherein the receiver 603 is used to receive information from other devices or equipment and forward it to the processor 601, and the transmitter 604 is used to send the information to other devices or equipment.

[0175] The present application also provides a computer-readable storage medium in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, a computing device is enabled to implement Figure 4 The method in .

[0176] The present application also provides a computer program for implementing Figure 4 The method in .

[0177] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application 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 with 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 application.

Claims

1. A method for removing goods from a warehouse, characterized in that: include: Determine at least one outbound sequence, each of the outbound sequences includes at least one outbound group, and each of the outbound groups includes at least one material box to be outbound; According to the first outbound order and the second outbound order, the robot is assigned a task of handling at least one to-be-outbound material box in the outbound sequence; The first outbound order is used to specify the outbound order between at least one of the outbound groups included in the outbound sequence, and the second outbound order is used to specify the outbound order between at least one to-be-outbound material box included in each of the outbound groups; or, According to the first outbound order and the default strategy within the group, the robot is assigned a handling task of at least one of the outbound material boxes in the outbound sequence, wherein the default strategy within the group is used to determine the outbound order between at least one of the outbound material boxes according to the information of each of the outbound material boxes included in the outbound group; or, According to the inter-group default strategy and the second outbound order, the robot is assigned a handling task of at least one of the to-be-outbound material boxes in the outbound sequence, wherein the inter-group default strategy is used to determine the outbound order between at least one of the outbound groups according to the information of each of the outbound groups included in the outbound sequence; or, According to the inter-group default strategy and the intra-group default strategy, assigning to the robot a task of handling at least one of the to-be-outbound material boxes in the outbound sequence; The at least one material box to be shipped out is shipped out according to the task execution status of the transport task and the at least one shipping sequence.

2. The method according to claim 1, characterized in that When there are at least two outbound sequences, the method further includes: The handling tasks of at least two of the outbound sequences are assigned to the robot in parallel.

3. The method according to claim 1, characterized in that The information of the outbound delivery group includes at least one of the following: the number of the to-be-delivered material boxes included in the outbound delivery group, and the number of lanes where the to-be-delivered material boxes included in the outbound delivery group are located.

4. The method according to claim 1, characterized in that: The information of the material box to be shipped out includes at least one of the following: a transportation distance of the material box to be shipped out, a weight of the material box to be shipped out, and a size of the material box to be shipped out.

5. The method according to claim 1, characterized in that The step of allocating to the robot a task of handling at least one to-be-outbound material box in the outbound sequence according to the first outbound sequence and the second outbound sequence comprises: In the process of allocating the handling tasks of each of the boxes to be outsourced in the outbound sequence to the robot according to the first outbound sequence and the second outbound sequence, if the allocation of the handling tasks of any of the boxes to be outsourced in the outbound sequence fails, then the allocation of the handling tasks of each of the boxes to be outsourced in the outbound sequence to the robot is stopped.

6. The method according to claim 1, characterized in that The step of allocating to the robot a task of handling at least one of the to-be-outbound material boxes in the outbound sequence according to the inter-group default strategy and the second outbound sequence includes: In the process of allocating the handling tasks of each of the boxes to be outsourced in the outbound sequence to the robot, if the allocation of the handling tasks of the first box to be outsourced in the outbound sequence fails, stop allocating the handling tasks of the remaining boxes to be outsourced in the first outbound group where the first box to be outsourced is located to the robot, and allocate the handling tasks of each box to be outsourced in the second outbound group to the robot, where the second outbound group is the outbound group in the outbound sequence except the first outbound group.

7. The method according to claim 1, characterized in that The step of allocating to the robot a task of handling at least one of the to-be-outbound material boxes in the outbound sequence according to the first outbound sequence and the default strategy within the group includes: In the process of assigning the handling tasks of each of the boxes to be outsourced in the outbound sequence to the robot, if the assignment of the handling tasks of the first box to be outsourced in the outbound sequence fails, stop assigning the handling tasks of the boxes to be outsourced in the outbound groups other than the first outbound group to the robot, and assign the handling tasks of the boxes to be outsourced in the first outbound group other than the first box to be outsourced to the robot, the first outbound group being the outbound group where the first box to be outsourced is located.

8. The method according to claim 2, characterized in that: The step of unloading the at least one to-be-unloaded material box according to the task execution status of the transport task and the at least one unloading sequence comprises: When the task execution status of a second handling task corresponding to a second material box to be out of the warehouse is that the second material box to be out of the warehouse has been taken out, the task execution status of at least one third handling task is obtained, the third handling task is a handling task for a third material box to be out of the warehouse, and the third material box to be out of the warehouse includes: a material box to be out of the warehouse included in a third outgoing group that is located before the second outgoing group in the first outgoing sequence, and / or a material box to be out of the warehouse that is located before the second material box to be out of the warehouse in the second outgoing sequence corresponding to the second outgoing group, and the second outgoing group is the outgoing group where the second material box to be out of the warehouse is located; If the task execution status of each of the third handling tasks is that it has arrived at the operating station, the second handling task continues to be executed to dispatch the second and third boxes to be dispatched according to the first dispatching sequence and / or the second dispatching sequence.

9. The method according to claim 8, characterized in that The method further comprises: If the task execution status of at least one of the third handling tasks is any execution status before reaching the operating station, controlling the robot that transports the second to-be-outbound material box to wait; When the task execution status of the third handling task is updated to having arrived at the operating station, the second handling task continues to be executed to dispatch the second and third material boxes to be dispatched according to the first dispatching sequence and / or the second dispatching sequence.

10. A warehouse-out device, characterized in that: include: A dispatch sequence determination module, used to determine at least one dispatch sequence, each dispatch sequence includes at least one dispatch group, each dispatch group includes at least one material box to be dispatched; A task allocation module is used to allocate the handling task of at least one to-be-outbound material box in the outbound sequence to the robot according to a first outbound sequence and a second outbound sequence; the first outbound sequence is used to specify the outbound sequence between at least one of the outbound groups included in the outbound sequence, and the second outbound sequence is used to specify the outbound sequence between at least one to-be-outbound material box included in each of the outbound groups; or, According to the first outbound order and the default strategy within the group, the robot is assigned a handling task of at least one of the outbound material boxes in the outbound sequence, wherein the default strategy within the group is used to determine the outbound order between at least one of the outbound material boxes according to the information of each of the outbound material boxes included in the outbound group; or, According to the inter-group default strategy and the second outbound order, the robot is assigned a handling task of at least one of the outbound material boxes in the outbound sequence, wherein the inter-group default strategy is used to determine the outbound order between at least one of the outbound groups according to the information of each of the outbound groups included in the outbound sequence; or, According to the inter-group default strategy and the intra-group default strategy, assigning to the robot a task of handling at least one of the to-be-outbound material boxes in the outbound sequence; The material box outbound module is used to outbound the at least one material box to be outbound according to the task execution status of the handling task and the at least one outbound sequence.

11. An electronic device, characterized in that: The electronic device comprises: at least one processor and a memory; The memory stores computer-executable instructions; The at least one processor executes the computer-executable instructions stored in the memory, so that the electronic device implements the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when a processor executes the computer-executable instructions, a computing device implements the method according to any one of claims 1 to 9.

13. A computer program, characterized in that The computer program is used to implement the method according to any one of claims 1 to 9.

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