A cargo warehouse entry and exit method, device and electronic equipment

Abstract

Embodiments of the present application provide a warehouse-in and warehouse-out method, device and electronic equipment. The method comprises: determining a demarcation position in a target aisle comprising an entrance and exit; dividing the target aisle into a plurality of sub-aisles with the entrance and exit and the demarcation position as endpoints, wherein different sub-aisles have different entrances and exits as endpoints; determining the operation sequence of each storage location in each sub-aisle; and controlling the robot to perform warehouse-in and warehouse-out operations in each sub-aisle according to the operation sequence. The efficiency of warehouse-in and warehouse-out can be improved.

Description

Technical Field

[0001] This application relates to the field of automated logistics technology, and in particular to a method, apparatus and electronic equipment for goods entering and leaving a warehouse. Background Technology

[0002] Aisles are spaces for storing goods. An aisle contains multiple shelves, which are storage locations for goods. Goods with similar characteristics are usually stored in the same aisle; for example, they can be placed on shelves or on the floor within the same aisle. In related technologies, aisles typically have one fixed opening for outbound goods and another for inbound goods. In this case, when performing inbound or outbound operations, goods stored earlier in the aisle must be removed first. Alternatively, an aisle may also have only one opening used for both outbound and inbound operations simultaneously. In this case, goods stored earlier in the aisle must be removed last. Regardless of the method, only one opening is used for inbound or outbound operations at a time, resulting in low inbound and outbound efficiency for the aisle. Summary of the Invention

[0003] The purpose of this application is to provide a method for handling goods entering and leaving a warehouse, so as to improve the efficiency of goods entering and leaving a warehouse. The specific technical solution is as follows:

[0004] In a first aspect of this application, a method for goods entering and leaving a warehouse is provided, the method comprising:

[0005] Determine the boundary location in the target alleyway, including entrances and exits;

[0006] The target lane is divided into multiple sub-lanes with the entrance / exit and the boundary position as endpoints, wherein different sub-lanes have different entrance / exit as endpoints;

[0007] Determine the operation sequence of each storage location in each of the aforementioned sub-tunnels;

[0008] The robots are controlled to perform inbound and outbound operations in each of the sub-lanes according to the described operation sequence.

[0009] In one possible embodiment, the step of separately controlling the robot to perform inbound and outbound operations in each of the sub-lanes includes:

[0010] Control the robot to perform outbound operations in the sub-lane where it is in the outbound state; and / or,

[0011] The robot is controlled to perform a storage operation in the sub-lane where it is in the storage state.

[0012] In one possible embodiment, the sub-lane includes two sub-lanes.

[0013] Both sub-lanes are in a storage state; or,

[0014] Both sub-lanes are in an outbound state; or,

[0015] The two sub-lanes are in different states: one is in the outbound state, and the other is in the inbound state.

[0016] In one possible embodiment, determining the operational sequence of each storage location in each of the sub-lanes includes:

[0017] For each sub-lane, the operation sequence of each storage location in the sub-lane is determined according to the distance between the storage location and the entrance / exit. Specifically, if the sub-lane is in the outbound state, the storage location with the smaller distance from the entrance / exit of the sub-lane is operated earlier. If the sub-lane is in the inbound state, the storage location with the smaller distance from the entrance / exit of the sub-lane is operated later.

[0018] In one possible embodiment, the method further includes:

[0019] If all storage locations in the first sub-lane, which is in the outbound state, are empty, then the first sub-lane will be switched from the outbound state to the inbound state.

[0020] If there are no available storage locations in the second sub-lane that is in the warehousing state, then the second sub-lane will be switched from the warehousing state to the outbound state.

[0021] In one possible embodiment, the step of separately controlling the robot to perform inbound and outbound operations in each of the sub-lanes includes:

[0022] Determine the target material characteristics of the materials transported by each robot;

[0023] Based on the correspondence between material characteristics and sub-lanes, the sub-lane corresponding to the target material characteristic is determined as the sub-lane corresponding to the robot, wherein each sub-lane in the correspondence corresponds to at least one material characteristic;

[0024] Each robot is controlled to perform inbound and outbound operations in the sub-lane corresponding to its respective robot.

[0025] In a second aspect of this application, a goods in / out storage device is provided, the device comprising:

[0026] The boundary module is used to determine the boundary location in the target alleyway, including entrances and exits;

[0027] The sub-lane division module is used to divide the target lane into multiple sub-lanes with the entrance / exit and the boundary position as endpoints, wherein different sub-lanes have different entrance / exit as endpoints;

[0028] The operation sequence determination module is used to determine the operation sequence of each storage location in each of the sub-lanes;

[0029] The scheduling module is used to control the robot to perform inbound and outbound operations in each of the sub-lanes according to the operation sequence.

[0030] In one possible embodiment, the scheduling module controls the robot to perform inbound and outbound operations in each of the sub-lanes, including:

[0031] Control the robot to perform outbound operations in the sub-lane where it is in the outbound state; and / or,

[0032] The robot is controlled to perform a storage operation in the sub-lane where it is in the storage state.

[0033] In one possible embodiment, the sub-lane includes two sub-lanes.

[0034] Both of the sub-lanes are in the storage state;

[0035] Both of the sub-lanes are in the outbound state;

[0036] The two sub-lanes are in different states: one is in the outbound state and the other is in the inbound state.

[0037] In one possible embodiment, the operation sequence determination module determines the operation sequence of each storage location in each of the sub-lanes, including:

[0038] For each sub-lane, the operation sequence of each storage location in the sub-lane is determined according to the distance between the storage location and the entrance / exit. Specifically, if the sub-lane is in the outbound state, the storage location with the smaller distance from the entrance / exit of the sub-lane is operated earlier. If the sub-lane is in the inbound state, the storage location with the smaller distance from the entrance / exit of the sub-lane is operated later.

[0039] In one possible embodiment, the device further includes a state switching module for...

[0040] If all storage locations in the first sub-lane, which is in the outbound state, are empty, then the first sub-lane will be switched from the outbound state to the inbound state; or

[0041] If there are no available storage locations in the second sub-lane that is in the warehousing state, the warehousing state of the first sub-lane and the second sub-lane will be switched from the warehousing state to the outbound state.

[0042] In one possible embodiment, the scheduling module controls the robot to perform inbound and outbound operations in each of the sub-lanes, including:

[0043] Determine the target material characteristics of the materials transported by each robot;

[0044] Based on the correspondence between material characteristics and sub-lanes, the sub-lane corresponding to the target material characteristic is determined as the sub-lane corresponding to the robot, wherein each sub-lane in the correspondence corresponds to at least one material characteristic;

[0045] Each robot is controlled to perform inbound and outbound operations in the sub-lane corresponding to its respective robot.

[0046] In one possible embodiment, the scheduling module determines the sub-lane corresponding to each robot, including:

[0047] Determine the target material characteristics of the materials transported by each robot;

[0048] Based on the correspondence between material characteristics and sub-lanes, the sub-lane corresponding to the target material characteristic is determined as the sub-lane corresponding to the robot, wherein each sub-lane in the correspondence corresponds to at least one material characteristic;

[0049] The material characteristics include at least one of the following: material type, material batch, material owner, inbound characteristics, and outbound characteristics.

[0050] In a third aspect of this application, an electronic device is provided, comprising:

[0051] Memory, used to store computer programs;

[0052] When a processor executes a program stored in memory, it implements any of the methods described in the first aspect above.

[0053] In a fourth aspect of this application, a computer-readable storage medium is provided, wherein a computer program is stored therein, and the computer program, when executed by a processor, implements any of the methods described in the first aspect above.

[0054] Beneficial effects of the embodiments in this application:

[0055] The warehousing method, apparatus, and electronic equipment provided in this application can determine the boundary position of a target aisle and divide it into multiple sub-aisles based on the boundary position. Each sub-aisle has a corresponding entrance and exit, and the operation sequence of all storage locations in each sub-aisle is determined. The robot is then controlled to perform warehousing operations in each sub-aisle according to the operation sequence. Since each sub-aisle has its own corresponding entrance and exit, the warehousing operations of each sub-aisle are isolated from each other, allowing each sub-aisle to perform warehousing or warehousing operations simultaneously, thus improving the warehousing efficiency of the target aisle.

[0056] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0058] Figure 1 A flowchart illustrating the method for goods entering and leaving a warehouse provided in this application;

[0059] Figure 2a A first schematic diagram of the sub-lane division provided in this application;

[0060] Figure 2b A second schematic diagram of the sub-lane division provided in this application;

[0061] Figure 2c A third schematic diagram of the sub-lane division provided in this application;

[0062] Figure 3a The diagram provided for this application shows each sub-lane in its current storage state;

[0063] Figure 3b The diagram provided for this application shows each sub-lane in the outbound state;

[0064] Figure 3c A schematic diagram showing one sub-lane in the warehousing state and another sub-lane in the warehousing out state provided in this application;

[0065] Figure 4 A schematic diagram of a cargo inbound / outbound device provided in this application;

[0066] Figure 5 A schematic diagram of the structure of the electronic device provided in this application. Detailed Implementation

[0067] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0068] As mentioned earlier, the inbound and outbound efficiency of aisles in related technologies is low. Therefore, this application provides a goods storage method that can be applied to any electronic device or system with goods storage capabilities. For example, it can be applied to a task scheduling system. The task scheduling system, under the control of an upper-level system, schedules intelligent mobile robots (hereinafter referred to as robots) to move shelves to designated storage locations, or to remove shelves from designated storage locations. In this application, "shelf" does not specifically refer to a particular shelf, but rather to any carrier that can hold materials or goods; for example, pallets, pallets, etc. The upper-level system is typically a warehousing system used to manage inventory, materials, and other information. Warehouses usually have multiple aisles. When the warehouse needs to perform inbound or outbound operations, the upper-level system sends an operation instruction to the task scheduling system. The task scheduling system then determines the goods information to be operated based on the relevant information carried in the operation instruction, and identifies the target aisle in the warehouse based on the goods information. For example, if the cargo information shows that there are a large number of goods that need to be put into storage, the task scheduling system should identify the aisles with more available storage spaces in the warehouse as target aisles so that all the goods can be put into storage in the target aisles.

[0069] Methods such as Figure 1 The method includes:

[0070] S101, determine the boundary location in the target alleyway, including entrances and exits.

[0071] S102 divides the target lane into multiple sub-lanes with entrances / exits and boundary positions as endpoints.

[0072] S103, determine the operation sequence of each storage location in each sub-roadway.

[0073] S104, control the robot to perform inbound and outbound operations in each sub-lane according to the operation sequence.

[0074] In S101, the target tunnel can be as follows: Figure 2a The diagram shows a tunnel containing multiple storage locations. This target tunnel has six storage locations. The boundary positions can be set within the target tunnel according to actual needs or the experience of those skilled in the art. This application does not limit the boundary positions; as long as the sub-tunnels obtained after dividing according to the boundary positions all have corresponding storage locations and entrances / exits, it is acceptable.

[0075] In one possible embodiment, the boundary position of this application can be determined based on the storage location information of each storage location in the target aisle. The storage location information refers to the information about the goods stored in each storage location within the target aisle. Based on the storage location information, it can be determined whether each storage location in the target aisle stores goods. Specifically, if the target aisle needs to receive goods, and the storage location information determines whether goods are stored in each storage location within the target aisle... Figure 2aIf storage locations 1, 2, 3, 4, 5, and 6 are not storing any goods, the dividing point can be set anywhere between storage locations 2 and 5. This ensures that all sub-aisles have available storage locations for goods to be stored simultaneously, improving warehousing efficiency. In this embodiment, the dividing point is predetermined and can be adjusted later based on storage location information or inbound / outbound data, depending on the actual application scenario. For example, let's consider... Figure 2a For example, assuming goods are stored in lanes 3 and 4, to ensure that the inbound and outbound volumes at entrances 1 and 2 are as similar as possible, the decomposition point can be set between lanes 3 and 4. Assuming goods are stored in lanes 2 and 3, to ensure that the storage volume of goods in the two sub-lanes is equal, the boundary point can be set between lanes 4 and 5. If the boundary point is initially determined to be between lanes 3 and 4, and the inbound and outbound speed at entrance 2 is subsequently greater than that at entrance 1, then to improve inbound and outbound efficiency, the boundary point is adjusted to be between lanes 2 and 3.

[0076] In S102, different sub-lanes are connected by different entrances / exits. It can be understood that the target lane can be divided into multiple sub-lanes by dividing points, where different sub-lanes are connected by different entrances / exits. For example,... Figure 2a As shown, the target tunnel is divided into a first sub-tunnel and a second sub-tunnel. The first sub-tunnel is terminated at entrance / exit 1 and the boundary position, while the second sub-tunnel is terminated at entrance / exit 2 and the boundary position. This is understandable. Figure 2a The example shown is merely one possible illustration provided in this application. In other possible application scenarios, the target tunnel can also be divided into three or more tunnels. Figure 2b As shown, this is an application scenario where the target tunnel is divided into three tunnels. Figure 2c The image shows an application scenario where the target tunnel is divided into four tunnels.

[0077] In step S103, as mentioned earlier, different sub-lanes have different entrances and exits; therefore, different sub-lanes use different entrances and exits for storage. Based on this, the operational sequence of each storage location in each sub-lane can be determined. The method for determining the operational sequence of each storage location can vary depending on the application scenario. For example, in one possible embodiment, it is... Figure 2a In the example shown, the operation sequence of each storage location in the first sub-lane during warehousing is 3→2→1, while the operation sequence of each storage location in the first sub-lane during warehousing is 1→2→3.

[0078] In another possible embodiment, the operational sequence of each storage location in each sub-lane is determined separately, including:

[0079] For each sub-lane, the operation sequence of each storage location in the sub-lane is determined according to the distance between the storage location and the entrance / exit. Specifically, if the sub-lane is in the outgoing state, the storage location with the smaller distance from the entrance / exit of the sub-lane is operated earlier. If the sub-lane is in the incoming state, the storage location with the smaller distance from the entrance / exit of the sub-lane is operated later.

[0080] The entrance and exit of a sub-aisle are the endpoints of that sub-aisle, serving as the entry and exit points for goods entering and leaving the sub-aisle. The distance between each storage location within the sub-aisle and the entrance / exit determines the operational sequence of that location. For example, if the sub-aisle is in an exiting state, the principle of last-in, first-out (LIFO) should be followed, ensuring that goods in storage locations closer to the entrance / exit are exited first, i.e., their operational sequence is earlier. If the sub-aisle is in an entering state, goods should be stored in storage locations farther from the entrance / exit. It's understandable that storing goods in storage locations closer to the entrance / exit during the entering state would block the routes to storage locations farther away, preventing goods from entering those farther locations.

[0081] In one possible embodiment, the sub-lane includes two sub-lanes.

[0082] Both sub-lanes are in the storage state; or,

[0083] Both sub-lanes are in the outbound state; or,

[0084] The two sub-lanes are in different states: one is in the outbound state, and the other is in the inbound state.

[0085] Specifically, such as Figure 3a As shown, at this point, all sub-aisles are in the warehousing state. The entrance / exit of the sub-aisle to the left of the boundary is near storage location 1. The closer the storage location is to the entrance / exit of the sub-aisle, the later the operation sequence. Therefore, the operation sequence of the storage locations in the left sub-aisle should be 3→2→1. That is, when the robot moves the shelf to the storage location in this sub-aisle, it will first move the shelf to storage location 3. If storage location 3 is occupied, then the shelf will be moved to storage location 2. If both storage locations 3 and 2 are occupied, then the shelf will be moved to storage location 1. The entrance / exit of the sub-aisle to the right of the boundary is near storage location 6. The closer the storage location is to the entrance / exit of the sub-aisle, the later the operation sequence. Therefore, the operation sequence of the storage locations in the right sub-aisle should be 4→5→6.

[0086] like Figure 3bAs shown, the shaded storage locations indicate that goods are stored there. At this time, all sub-aisles are in an outbound state. The entrance / exit of the sub-aisle to the left of the boundary is near storage location 1. Storage locations closer to the entrance / exit of the sub-aisle have a higher operational sequence. Therefore, the operational sequence for the storage locations in the left sub-aisle should be 1→2→3. That is, when the robot removes a shelf from a storage location in this sub-aisle, it will prioritize removing the shelf from storage location 1. If storage location 1 does not have a shelf, then the shelf from storage location 2 will be removed. If neither storage location 1 nor 2 has a shelf, then the shelf from storage location 3 will be removed. Similarly, the entrance / exit of the sub-aisle to the right of the boundary is near storage location 6. Storage locations closer to the entrance / exit of the sub-aisle have a higher operational sequence. Therefore, the operational sequence for the storage locations in the right sub-aisle should be 6→5→4.

[0087] like Figure 3c As shown, the shaded storage locations indicate that goods are stored in those locations. At this point, the sub-aisle to the left of the boundary is in an outbound state, while the sub-aisle to the right of the boundary is in an inbound state. The entrance / exit of the sub-aisle to the left of the boundary is near storage location 1. In the inbound state, the storage location closer to the entrance / exit of the sub-aisle operates later in the order of operations. Therefore, the operation order for the storage locations in the left sub-aisle should be 3→2→1. Conversely, the entrance / exit of the sub-aisle to the right of the boundary is near storage location 6. In the outbound state, the storage location closer to the entrance / exit of the sub-aisle operates earlier in the order of operations. Therefore, the operation order for the storage locations in the right sub-aisle should be 6→5→4.

[0088] By selecting this embodiment, the most reasonable and efficient operation sequence is determined for each storage location in each sub-lane based on the distance between each storage location and the entrance / exit and the entry / exit status of each sub-lane, so as to improve the efficiency of goods entering and leaving the warehouse.

[0089] In one possible embodiment, if the sub-lanes in the target lane cannot continue to carry out outbound or inbound operations, such as all storage locations in a sub-lane that was originally in the outbound state being completely empty with no goods available for outbound, or all storage locations in a sub-lane that was originally in the inbound state being completely full with no storage locations available for inbound, then the operation of the target lane may encounter problems. Based on this, this application also provides a method for goods inbound and outbound, which, based on S101 to S104, further includes:

[0090] If all storage locations in the first sub-lane, which is in the outbound state, are empty, then the first sub-lane will be switched from the outbound state to the inbound state; or

[0091] If there are no available storage locations in the second sub-lane that is in the warehousing state, the warehousing state of the first sub-lane and the second sub-lane will be switched from the warehousing state to the outbound state.

[0092] In this context, the first and second sub-lanes are different sub-lanes within the target lane. If all storage spaces in the first sub-lane, which is in the outbound state, are empty, it indicates that no other goods are being shipped out of the first sub-lane. Conversely, if all storage spaces in the second sub-lane, which is in the inbound state, are full, it means that all storage spaces in the second sub-lane are already occupied and cannot support further inbound shipments. In this situation, the outbound / inbound states of the first and second sub-lanes can be switched. For example, if all storage spaces in the first sub-lane, which is in the outbound state, are empty, then… The system switches the inbound / outbound status of the first sub-aisle to inbound while keeping the inbound / outbound status of the second sub-aisle unchanged, or switches the inbound / outbound status of the first sub-aisle to inbound while switching the inbound / outbound status of the second sub-aisle to outbound. If there are no available storage locations in the second sub-aisle currently in the inbound state, the system switches the inbound / outbound status of the second sub-aisle to outbound while keeping the inbound / outbound status of the first sub-aisle unchanged, or switches the inbound / outbound status of the second sub-aisle to outbound while switching the inbound / outbound status of the first sub-aisle to inbound. This ensures the target aisle continues to operate, improving its storage efficiency.

[0093] In S104, the robot is an intelligent mobile robot capable of transporting goods to designated storage locations. As mentioned earlier, the task scheduling system selects target aisles in the warehouse based on material information from the upper-level system's operation instructions and sends the operation tasks to the robot control system. The robot control system can control the movement of robots on the warehouse map. After receiving the operation tasks from the task scheduling system, the robot control system assigns the tasks to the robots and plans paths according to the operation sequence of each sub-aisle to control the robots to complete the inbound and outbound operations.

[0094] This embodiment defines the boundary positions for the target aisle and divides it into multiple sub-aisles, each with its own entrance and exit. The operational sequence for all storage locations within each sub-aisle is also determined, and the robot is controlled to perform inbound and outbound operations in each sub-aisle according to this sequence. Since each sub-aisle has its own corresponding entrance and exit, the inbound and outbound operations of each sub-aisle are isolated, allowing for simultaneous inbound or outbound operations in each sub-aisle, thus improving the overall efficiency of the target aisle's inbound and outbound processes.

[0095] Furthermore, in the goods entry and exit method provided in this application, each sub-lane can simultaneously receive or exit goods, and some parts of each sub-lane can be receiving goods while others are exiting goods, making the entry and exit of the target lane more flexible.

[0096] In one possible embodiment, the robot is controlled to perform inbound and outbound operations in each sub-lane, including: controlling the robot to perform outbound operations in a sub-lane that is in an outbound state; and / or controlling the robot to perform inbound operations in a sub-lane that is in an inbound state.

[0097] Understandably, when a sub-aisle is in an outbound state, the robot needs to be controlled to move the goods from each storage location in the sub-aisle out of the sub-aisle according to the operation sequence to complete the outbound operation. When a sub-aisle is in an inbound state, the robot needs to be controlled to enter the sub-aisle from the sub-aisle entrance and place the goods on each storage location according to the operation sequence to complete the inbound operation.

[0098] By using this embodiment, the robot can be controlled to accurately perform corresponding inbound and outbound operations in each sub-lane under different conditions, further improving the efficiency of goods inbound and outbound operations.

[0099] It is understandable that if there are multiple sub-lanes, controlling multiple robots to simultaneously perform inbound and outbound operations on multiple sub-lanes can improve the inbound and outbound efficiency of each sub-lane. Based on this, this application also provides a method for controlling robots to perform inbound and outbound operations, including:

[0100] S1041, determine the sub-lane corresponding to each robot.

[0101] S1042 controls each robot to perform inbound and outbound operations in its corresponding sub-lane.

[0102] In step S1041, a corresponding robot is set up for each sub-aisle, so that the robot can perform corresponding inbound and outbound operations according to the inbound and outbound status of each sub-aisle. Furthermore, assigning sub-aisles to each robot facilitates unified management of the goods stored in the sub-aisles. As an example, the robot can also select the corresponding sub-aisles according to certain rules. For example, the robot's selection rule could be to choose the sub-aisle with more storage spaces to improve the efficiency of inbound and outbound operations in that sub-aisle; or the robot could choose the sub-aisle closest to itself to improve its working efficiency. This application is not limited to this.

[0103] Specifically, this application also provides a method for determining the sub-lane corresponding to the robot, including:

[0104] S1041a, determine the target material characteristics of the materials transported by each robot.

[0105] S1041b: Based on the correspondence between material characteristics and sub-lanes, determine the sub-lane corresponding to the target material characteristics, and use it as the sub-lane corresponding to the robot.

[0106] In S1041a, different robots may be able to transport different types of materials due to their size and design. As mentioned earlier, the materials stored in the same lane have the same characteristics. For example, assuming that the materials stored in a sub-lane are of the same type, when determining the sub-lane corresponding to each robot, it is necessary to determine the target material type of the material that the robot can transport so that the sub-lane can be determined for the robot in the future.

[0107] In S1041b, each sub-lane in the correspondence relationship corresponds to at least one material characteristic, which includes at least one of the following: material type, material batch, material owner, inbound characteristic, and outbound characteristic.

[0108] Understandably, each sub-aisle stores only materials with the same characteristics. For example, materials of the same type, from the same batch, from the same owner, from the same batch of incoming materials, and from the same batch of outgoing materials can all be placed in the same aisle. Therefore, each sub-aisle corresponds to at least one material characteristic. When determining the corresponding sub-aisle for the robot, the sub-aisle that matches the robot's target material characteristics can be identified based on the correspondence between the robot's target material characteristics and the aisle, and this sub-aisle will be used as the robot's corresponding sub-aisle.

[0109] By using this embodiment, suitable sub-lanes can be determined for each robot, so that the robots can efficiently perform inbound and outbound operations on goods in the sub-lanes.

[0110] In step S1042, after determining the sub-lane corresponding to each robot, the robot is controlled to enter the corresponding sub-lane to perform inbound and outbound operations.

[0111] This embodiment assigns a corresponding sub-lane to each robot, enabling each robot to simultaneously operate the inbound and outbound processes of each sub-lane, thus improving inbound and outbound efficiency. Furthermore, since the same sub-lanes store the same materials, using the corresponding robot for inbound and outbound operations in each sub-lane facilitates the unified management of different materials.

[0112] Corresponding to the goods entry and exit method provided in this application, this application also provides a goods entry and exit device, such as... Figure 4 As shown, the device includes:

[0113] Boundary module 401 is used to determine the boundary position in a target alleyway including entrances and exits;

[0114] The sub-lane division module 402 is used to divide the target lane into multiple sub-lanes with the entrance / exit and the boundary position as endpoints, wherein different sub-lanes have different entrance / exit as endpoints;

[0115] The operation sequence determination module 403 is used to determine the operation sequence of each storage location in each of the sub-lanes;

[0116] The scheduling module 404 is used to control the robot to perform inbound and outbound operations in each of the sub-lanes according to the operation sequence.

[0117] In one possible embodiment, the scheduling module controls the robot to perform inbound and outbound operations in each of the sub-lanes, including:

[0118] Control the robot to perform outbound operations in the sub-lane where it is in the outbound state; and / or,

[0119] The robot is controlled to perform a storage operation in the sub-lane where it is in the storage state.

[0120] In one possible embodiment, the sub-lane includes two sub-lanes.

[0121] Both sub-lanes are in a storage state; or,

[0122] Both sub-lanes are in an outbound state; or,

[0123] The two sub-lanes are in different states: one is in the outbound state and the other is in the inbound state.

[0124] In one possible embodiment, the operation sequence determination module determines the operation sequence of each storage location in each of the sub-lanes, including:

[0125] For each sub-lane, the operation sequence of each storage location in the sub-lane is determined according to the distance between the storage location and the entrance / exit. Specifically, if the sub-lane is in the outbound state, the storage location with the smaller distance from the entrance / exit of the sub-lane is operated earlier. If the sub-lane is in the inbound state, the storage location with the smaller distance from the entrance / exit of the sub-lane is operated later.

[0126] In one possible embodiment, the device further includes a state switching module for...

[0127] If all storage locations in the first sub-lane, which is in the outbound state, are empty, then the first sub-lane will be switched from the outbound state to the inbound state; or

[0128] If there are no available storage locations in the second sub-lane that is in the warehousing state, the warehousing state of the first sub-lane and the second sub-lane will be switched from the warehousing state to the outbound state.

[0129] In one possible embodiment, the scheduling module controls the robot to perform inbound and outbound operations in each of the sub-lanes, including:

[0130] The sub-lane corresponding to each robot is determined separately;

[0131] Each robot is controlled to perform inbound and outbound operations in the sub-lane corresponding to its respective robot.

[0132] In one possible embodiment, the scheduling module determines the sub-lane corresponding to each robot, including:

[0133] Determine the target material characteristics of the materials transported by each robot;

[0134] Based on the correspondence between material characteristics and sub-lanes, the sub-lane corresponding to the target material characteristic is determined as the sub-lane corresponding to the robot, wherein each sub-lane in the correspondence corresponds to at least one material characteristic; the material characteristics include at least one of: material type, material batch, material owner, inbound characteristics, and outbound characteristics.

[0135] Furthermore, corresponding to the goods entry and exit method provided in this application, embodiments of this application also provide an electronic device, such as... Figure 5 As shown, it includes:

[0136] Memory 501 is used to store computer programs;

[0137] When processor 502 executes the program stored in memory 501, it performs the following steps:

[0138] Determine the boundary location in the target alleyway, including entrances and exits;

[0139] The target lane is divided into multiple sub-lanes with the entrance / exit and the boundary position as endpoints, wherein different sub-lanes have different entrance / exit as endpoints;

[0140] Determine the operation sequence of each storage location in each of the aforementioned sub-tunnels;

[0141] The robots are controlled to perform inbound and outbound operations in each of the sub-lanes according to the described operation sequence.

[0142] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 502, communication interface, and memory 501 communicating with each other via the communication bus.

[0143] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0144] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0145] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0146] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0147] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described methods for the entry and exit of goods.

[0148] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the goods entry / exit methods described in the above embodiments.

[0149] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), etc.

[0150] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0151] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, embodiments of devices, electronic devices, computer-readable storage media, and computer program products are basically similar to the method embodiments, and therefore the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0152] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A method for goods entering and leaving a warehouse, characterized in that, The method includes: Determine the boundary position in the target lane, including entrances and exits; the boundary position is used to dynamically divide the target lane into multiple different sub-lanes; the boundary position is dynamically adjusted according to the entry and exit speed. The target lane is divided into multiple sub-lanes with the entrance / exit and the boundary position as endpoints, wherein different sub-lanes have different entrance / exit as endpoints; the entry and exit operations of each sub-lane are isolated from each other; Determine the operation sequence of each storage location in each sub-lane, including: determining the operation sequence of each storage location in each sub-lane based on the distance between each storage location and the entrance / exit and the entry / exit status of each sub-lane; The robots are controlled to perform inbound and outbound operations in each of the sub-lanes according to the described operation sequence.

2. The method according to claim 1, characterized in that, The control of the robots to perform inbound and outbound operations in each of the sub-lanes includes: Control the robot to perform outbound operations in the sub-lane where it is in the outbound state; and / or, The robot is controlled to perform a storage operation in the sub-lane where it is in the storage state.

3. The method according to claim 2, characterized in that, The sub-lane includes two sub-lanes. Both sub-lanes are in a storage state; or, Both of the aforementioned sub-lanes are in an outbound state; or, The two sub-lanes are in different states: one is in the outbound state, and the other is in the inbound state.

4. The method according to claim 1, characterized in that, The entry and exit status includes: exit status and entry status; determining the operation sequence of each storage location in each of the sub-lanes includes: For each sub-lane, the operation sequence of each storage location in the sub-lane is determined according to the distance between the storage location and the entrance / exit. Specifically, if the sub-lane is in the outbound state, the storage location with the smaller distance from the entrance / exit of the sub-lane is operated earlier. If the sub-lane is in the inbound state, the storage location with the smaller distance from the entrance / exit of the sub-lane is operated later.

5. The method according to claim 1, characterized in that, The method further includes: If all storage locations in the first sub-lane, which is in the outbound state, are empty, then the first sub-lane will be switched from the outbound state to the inbound state. If there are no available storage locations in the second sub-lane that is in the warehousing state, then the second sub-lane will be switched from the warehousing state to the outbound state.

6. The method according to claim 1, characterized in that, The control of the robots to perform inbound and outbound operations in each of the sub-lanes includes: Determine the target material characteristics of the materials transported by each robot; Based on the correspondence between material characteristics and sub-lanes, the sub-lane corresponding to the target material characteristic is determined as the sub-lane corresponding to the robot, wherein each sub-lane in the correspondence corresponds to at least one material characteristic; Each robot is controlled to perform inbound and outbound operations in the sub-lane corresponding to its respective robot.

7. The method according to claim 6, characterized in that, The material characteristics include at least one of the following: material type, material batch, material owner, inbound characteristics, and outbound characteristics.

8. A goods entry and exit device, characterized in that, The device includes: The boundary module is used to determine the boundary position in the target lane, including entrances and exits; the boundary position is used to dynamically divide the target lane into multiple different sub-lanes; the boundary position is dynamically adjusted according to the entry and exit speed. The sub-lane division module is used to divide the target lane into multiple sub-lanes with the entrance / exit and the boundary position as endpoints, wherein different sub-lanes have different entrance / exit as endpoints; the entry / exit operations of each sub-lane are isolated from each other; The operation sequence determination module is used to determine the operation sequence of each storage location in each of the sub-lanes; The scheduling module is used to control the robot to perform inbound and outbound operations in each of the sub-lanes according to the operation sequence. The operation sequence determination module determines the operation sequence of each storage location in each sub-lane, including: determining the operation sequence of each storage location in each sub-lane based on the distance between each storage location and the entrance / exit and the entry / exit status of each sub-lane.

9. The apparatus according to claim 8, characterized in that, The scheduling module controls the robot to perform inbound and outbound operations in each of the sub-lanes, including: Control the robot to perform outbound operations in the sub-lane where it is in the outbound state; and / or, The robot is controlled to perform a storage operation in the sub-lane where it is in the storage state; The sub-lane includes two sub-lanes. Both sub-lanes are in a storage state; or, Both of the aforementioned sub-lanes are in an outbound state; or, The two sub-lanes are in different states: one is in the outbound state and the other is in the inbound state. The operation sequence determination module determines the operation sequence of each storage location in each of the sub-lanes, including: For each of the sub-lanes, the operation sequence of each storage location in the sub-lane is determined according to the distance between the storage location and the entrance / exit. Specifically, if the sub-lane is in the outbound state, the storage location with the smaller distance from the entrance / exit of the sub-lane is operated earlier. If the sub-lane is in the inbound state, the storage location with the smaller distance from the entrance / exit of the sub-lane is operated later. The device also includes a state switching module for... If all storage locations in the first sub-lane, which is in the outbound state, are empty, then the first sub-lane will be switched from the outbound state to the inbound state; or If there are no available storage locations in the second sub-lane that is in the warehousing state, the warehousing state of the first sub-lane and the second sub-lane will be switched from the warehousing state to the outgoing state. The scheduling module controls the robot to perform inbound and outbound operations in each of the sub-lanes, including: Determine the target material characteristics of the materials transported by each robot; Based on the correspondence between material characteristics and sub-lanes, the sub-lane corresponding to the target material characteristic is determined as the sub-lane corresponding to the robot, wherein each sub-lane in the correspondence corresponds to at least one material characteristic; Each robot is controlled to perform inbound and outbound operations in the sub-lane corresponding to its respective robot. The material characteristics include at least one of the following: material type, material batch, material owner, inbound characteristics, and outbound characteristics.

10. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method described in any one of claims 1-7.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1-7.

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