Picking method, picking system, device and readable storage medium

Abstract

The present invention discloses a picking method, a picking system, a device and a readable storage medium, and relates to the field of intelligent warehousing. The method is applied to a picking system, and the picking system includes a push picking module and a pull picking module; the picking method includes: firstly obtaining a plurality of pending orders through the push picking module, and based on the allocation information of each pending order, performing at least one vehicle hit processing and at least one workstation dispatch processing on each pending order, and then, determining a target order from a plurality of pending orders through the pull picking module based on the warehouse inventory environment information, and the pending picking vehicles and target workstations corresponding to each pending order, and picking the target order; in this way, the iterative processing of the pending orders by the push picking module can provide data support for the pull picking module, improve the planning of the pull picking module when performing pull picking, and improve the hit rate of the push picking module when performing push picking.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing, and in particular to a picking method, a picking system, a device and a readable storage medium. Background Art

[0002] In warehousing scenarios, goods can be picked by pull picking and push picking. In pull picking, orders are first stored in the order pool after being scheduled, and then grouped and hit when the orders are posted on the wall. In other words, pull picking can respond immediately according to order requirements. In push picking, orders are automatically pre-hit and grouped after being scheduled, and then stored in the order pool, and are posted and hit when the workstation starts picking. In other words, push picking can reduce picking time and speed up order turnover by planning and preparing inventory in advance, and can process orders in batches.

[0003] However, push picking responds slowly to changes in demand and has low flexibility, while pull picking depends on the level of warehouse storage distribution. If the warehouse storage distribution is poor, pull picking efficiency will be low. Summary of the invention

[0004] The present invention provides a picking method, a picking system, a device and a readable storage medium, which can improve the flexibility during picking, ensure the picking efficiency and improve the continuity of the picking process.

[0005] The embodiments of the present application disclose the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a picking method, which is applied to a picking system, wherein the picking system includes a push picking module and a pull picking module; the picking method includes:

[0007] A plurality of pending orders are acquired through a push picking module, and based on the allocation information of each pending order, at least one vehicle hit processing and at least one workstation dispatch processing are performed on each pending order to obtain a vehicle to be picked and a target workstation corresponding to each pending order; wherein the allocation information is used to indicate a hit relationship between a pending order and a plurality of candidate vehicles in a warehousing system, and a dispatch relationship between a pending order and a plurality of picking workstations in a warehousing system; a target order is determined from a plurality of pending orders through a pull picking module based on warehousing inventory environment information, and the vehicle to be picked and the target workstation corresponding to each pending order; a to-be-picked task is generated through the pull picking module based on the vehicle to be picked corresponding to the target order, and the target workstation is controlled to execute the to-be-picked task corresponding to the target order.

[0008] In some embodiments, based on the allocation information of each pending order, at least one carrier hit processing and at least one workstation dispatch processing are performed on each pending order to obtain the to-be-picked carrier and the target workstation corresponding to each pending order, including:

[0009] If the allocation information of the pending order indicates that the pending order has been allocated a pre-hit vehicle and a pre-dispatching workstation, then when it is determined that the pre-hit vehicle corresponding to the pending order meets the re-hit trigger condition, the push picking module performs at least one vehicle hit processing on the pending order, and determines the to-be-picked vehicle corresponding to the pending order from multiple candidate vehicles; when it is determined that the pre-dispatching workstation meets the re-dispatching trigger condition, the push picking module performs at least one workstation dispatch processing on the pending order, and determines the target workstation corresponding to the pending order from multiple picking workstations.

[0010] In some embodiments, determining that the pre-order dispatching workstation corresponding to the pending order meets the re-hit triggering condition includes:

[0011] The first distance between the pre-hit vehicle corresponding to the pending order and the pre-dispatch workstation is determined through the push picking module; the first contention degree corresponding to the pre-hit vehicle corresponding to the pending order is determined through the push picking module; the first contention degree indicates the degree of contention for the pre-hit vehicle among multiple picking workstations in the warehousing system; if the first distance is greater than a preset distance threshold, and / or the first contention degree is greater than a preset contention degree threshold, it is determined that the pre-hit vehicle meets the re-hit trigger condition.

[0012] In some embodiments, when it is determined that the pre-hit carrier corresponding to the pending order meets the re-hit trigger condition, the push picking module performs at least one carrier hit processing on the pending order, and determines the to-be-picked carrier corresponding to the pending order from multiple candidate carriers, including:

[0013] The second distance between the pre-dispatch workstation corresponding to the pending order and each candidate vehicle in the warehousing system is determined through the push picking module; the candidate vehicle contention degree corresponding to each candidate vehicle in the warehousing system is determined through the push picking module; the candidate vehicle contention degree indicates the degree of contention among multiple picking workstations for each candidate vehicle; based on each second distance and each candidate vehicle contention degree, the to-be-picked vehicle corresponding to the pending order is determined from multiple candidate vehicles; the closer the second distance is, the higher the probability that the candidate vehicle corresponding to the second distance is re-hit as the to-be-picked vehicle, and the lower the candidate vehicle contention degree is, the higher the probability that the candidate vehicle corresponding to the candidate vehicle contention degree is re-hit as the to-be-picked vehicle.

[0014] In some embodiments, determining that the pre-dispatch workstation corresponding to the pending order meets the re-dispatch triggering condition includes:

[0015] The first matching value between the carrier to be picked corresponding to the pending order and the pre-dispatch workstation is determined through the push picking module; the second matching value between the carrier to be picked and each picking workstation in the warehousing system except the pre-dispatch workstation is determined through the push picking module; if there is a third matching value among the multiple second matching values, it is determined that the pre-dispatch workstation meets the re-dispatch trigger condition; the matching value difference between the third matching value and the first matching value is greater than the preset matching value threshold.

[0016] In some embodiments, determining a first matching value between a to-be-picked carrier corresponding to a to-be-processed order and a pre-order workstation includes:

[0017] The push picking module determines the hit rate of the pre-dispatching workstation corresponding to the pre-dispatching workstation based on the overlap between the vehicle to be picked and the vehicle pool corresponding to the pre-dispatching workstation; the push picking module determines the second contention degree corresponding to the vehicle to be picked; the second contention degree indicates the degree of contention among multiple picking workstations in the warehousing system for the vehicle to be picked; the push picking module determines the third distance between the vehicle to be picked and the pre-dispatching workstation; the push picking module determines the total number of tasks to be picked corresponding to the pre-dispatching workstation after the vehicle to be picked is allocated to the pre-dispatching workstation; the push picking module determines multiple indicator scores corresponding to the hit rate of the pre-dispatching workstation, the second contention degree, the third distance and the total number of tasks to be picked corresponding to the pre-dispatching workstation, and weighted addition of the multiple indicator scores is performed to obtain the first matching value between the vehicle to be picked and the pre-dispatching workstation.

[0018] In some embodiments, when it is determined that the pre-dispatching workstation meets the re-dispatching triggering condition, the push-picking module performs at least one workstation dispatching process on the pending order, and determines the target workstation corresponding to the pending order from multiple picking workstations, including:

[0019] The picking workstation with the second highest matching value among the multiple picking workstations except the pre-order dispatching workstation in the warehousing system is determined as the target workstation.

[0020] In some embodiments, the method further comprises:

[0021] If the allocation information of the pending order indicates that the pending order has not been assigned a pre-hit carrier and a pre-dispatch workstation, the push picking module performs the first carrier hit processing on the pending order to determine the pre-hit carrier corresponding to the pending order from multiple candidate carriers.

[0022] In some embodiments, performing the first carrier hit processing on the pending order through the push picking module, and determining the pre-hit carrier corresponding to the pending order from multiple candidate carriers, includes:

[0023] The push picking module is used to determine the number of pending orders hit by each candidate carrier, and the candidate carrier with the largest number of pending orders hit by multiple candidate carriers in the warehousing system is determined as the pre-hit carrier.

[0024] In some embodiments, the method further comprises:

[0025] If the allocation information of the pending order indicates that the pending order has been assigned a pre-hit vehicle but not a pre-dispatching workstation, the push picking module will perform the first workstation dispatch processing on the pending order based on the preset dispatch constraints and the pre-hit vehicle, and determine the pre-dispatching workstation corresponding to the pending order from multiple picking workstations.

[0026] In some embodiments, the push picking module performs the first workstation dispatch processing on the pending order based on the preset dispatch constraint conditions and the pre-hit carrier, and determines the pre-dispatching workstation corresponding to the pending order from multiple picking workstations, including:

[0027] Based on the preset dispatching constraints, the push picking module determines the candidate workstation corresponding to the pending order from multiple picking workstations; the push picking module determines the fourth matching value between the pre-hit carrier corresponding to each pending order and each candidate workstation; and the candidate workstation with the highest fourth matching value among the multiple candidate workstations is determined as the pre-dispatching workstation corresponding to the pending order.

[0028] In some embodiments, the method further comprises:

[0029] The push picking module generates picking tasks based on the picking carriers corresponding to each order to be processed, and controls the target workstation to execute the picking tasks corresponding to each order to be processed.

[0030] In some embodiments, the picking system further comprises a warehouse preparation module; and the method further comprises:

[0031] The warehouse preparation module is used to obtain the vehicles to be picked and the target workstations corresponding to each pending order; the warehouse preparation module generates corresponding handling tasks and / or tallying tasks based on the vehicles to be picked and the target workstations corresponding to each pending order; the handling tasks are used to instruct the handling equipment to pre-transport the vehicles to be picked corresponding to each pending order to the vehicle docking area corresponding to the target workstation; the tallying tasks are used to instruct the tallying workstations in the warehousing system to tally the vehicles to be picked corresponding to each pending order.

[0032] In a second aspect, an embodiment of the present application provides a picking system, comprising:

[0033] A push picking module is used to obtain multiple pending orders, and based on the allocation information of each pending order, perform at least one vehicle hit processing and at least one workstation dispatch processing on each pending order, so as to obtain the pending picking vehicle and target workstation corresponding to each pending order; wherein the allocation information is used to indicate the hit relationship between the pending order and multiple candidate vehicles in the warehousing system, and the dispatch relationship between the pending order and multiple picking workstations in the warehousing system;

[0034] The pull picking module is used to determine the target order from multiple pending orders based on the warehouse inventory environment information, as well as the pending picking vehicles and target workstations corresponding to each pending order; generate pending picking tasks based on the pending picking vehicles corresponding to the target order, and control the target workstation to execute the pending picking tasks corresponding to the target order.

[0035] In some embodiments, the picking system further comprises:

[0036] The warehouse preparation module is used to obtain the vehicles to be picked and the target workstations corresponding to each pending order, and generate corresponding handling tasks and / or tallying tasks based on the vehicles to be picked and the target workstations corresponding to each pending order through the warehouse preparation module; the handling tasks are used to instruct the handling equipment to pre-transport the vehicles to be picked corresponding to each pending order to the vehicle docking area corresponding to the target workstation; the tallying tasks are used to instruct the tallying workstations in the warehousing system to tally the vehicles to be picked corresponding to each pending order.

[0037] In some embodiments, the push picking module is further used to generate picking tasks based on the picking carriers corresponding to each order to be processed, and control the target workstation to execute the picking tasks corresponding to each order to be processed.

[0038] In a third aspect, an embodiment of the present application further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method in any implementation manner of the first aspect is implemented.

[0039] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, in which computer instructions are stored, and the computer instructions are used to enable the computer to execute the method in any implementation manner of the aforementioned first aspect.

[0040] In a fifth aspect, an embodiment of the present application further provides a computer program product, including a computer program, which, when executed by a processor, implements the method in any implementation manner of the aforementioned first aspect.

[0041] In a sixth aspect, an embodiment of the present application further provides a computer program, which, when executed by a processor, implements the method in any implementation manner of the aforementioned first aspect.

[0042] A picking method provided by the present embodiment is applied to a picking system, wherein the picking system includes a push picking module and a pull picking module; the method includes: firstly obtaining a plurality of pending orders through the push picking module, and based on the allocation information of each pending order, performing at least one carrier hit processing and at least one workstation dispatch processing on each pending order, so as to obtain a pending picking carrier and a target workstation corresponding to each pending order; wherein the allocation information is used to indicate a hit relationship between the pending order and a plurality of candidate carriers in a warehousing system, and a dispatch relationship between the pending order and a plurality of picking workstations in the warehousing system; then, the pull picking module is used to perform a hit processing based on the warehousing inventory environment information. The information, as well as the to-be-picked carriers and target workstations corresponding to each to-be-processed order, is used to determine the target order from multiple to-be-processed orders; finally, the pull-picking module generates to-be-picked tasks based on the to-be-picked carriers corresponding to the target order, and controls the target workstation to execute the to-be-picked tasks corresponding to the target order; in this way, the iterative processing of the to-be-processed orders by the push-picking module can provide data support for the pull-picking module, improve the planning of the pull-picking module when performing pull picking, and improve the hit rate of the push-picking module when performing push picking, which not only improves the flexibility of picking, but also ensures the picking efficiency, improves the continuity of the picking process, and prevents falling into the local optimum. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1A A schematic diagram of an application scenario of a picking method provided in an embodiment of the present application;

[0045] Figure 1B A schematic diagram of the structure of a workstation provided in an embodiment of the present application;

[0046] Figure 1C A schematic diagram of the structure of another workstation provided in an embodiment of the present application;

[0047] Figure 1D A schematic diagram of the structure of a picking system provided in an embodiment of the present application;

[0048] Figure 2A A flowchart of a picking method provided in an embodiment of the present application;

[0049] Figure 2B A schematic diagram of another picking method provided in an embodiment of the present application;

[0050] Figure 3 A flowchart of another picking method provided in an embodiment of the present application;

[0051] Figure 4 A flowchart of another picking method provided in an embodiment of the present application;

[0052] Figure 5 A flowchart of another picking method provided in an embodiment of the present application;

[0053] Figure 6 A flowchart of another picking method provided in an embodiment of the present application;

[0054] Figure 7 A flowchart of another picking method provided in an embodiment of the present application;

[0055] Figure 8 A schematic diagram of the structure of another picking system provided in an embodiment of the present application;

[0056] Fig. 9 A flowchart of another picking method provided in an embodiment of the present application;

[0057] Fig.10 A structural schematic diagram of another picking system provided in an embodiment of the present application;

[0058] Fig.11 A flowchart of another picking method provided in an embodiment of the present application;

[0059] Fig.12 A schematic diagram of the structure of a picking device provided in an embodiment of the present application;

[0060] Fig.13 A schematic diagram of the internal structure of a robot provided in an embodiment of the present application;

[0061] Fig.14 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application and to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application are further described in detail below in conjunction with the accompanying drawings.

[0063] In the warehousing system, after the control device assigns the order to the corresponding picking workstation, it can determine the hit container according to the order and control the handling equipment to transport the to-be-picked carrier where the hit container is located to the picking workstation for picking. Among them, the goods can be picked by pull picking and push picking.

[0064] In some embodiments, pull picking drives the order picking work according to the actual needs of customers, wherein, in pull picking, after being scheduled, the order will be first stored in the order pool, and then the order will be grouped and hit according to the actual needs of customers when it is posted on the wall, that is, pull picking can make an immediate response according to the order needs. However, since pull picking needs to group and hit according to the order needs when the order is posted on the wall, the picking efficiency of pull picking depends on the processing capacity of the warehouse system, that is, the stronger the processing capacity of the warehouse system, the faster the speed of hitting the order while the order is posted on the wall during the pull picking process, and the higher the efficiency of pull picking; and the picking efficiency of pull picking also depends on the warehouse storage distribution level, that is, if the warehouse storage distribution is poor (for example, the hit goods in the warehouse are more dispersed), it may result in a small number of hit goods on each hit carrier during the pull picking process, resulting in a low hit rate, which leads to the need for multiple hits, thus resulting in low pull picking efficiency.

[0065] In some embodiments, push picking is an order fulfillment solution that pushes inventory to the picking area and client based on predicted demand. Push picking processes orders in batches by planning and preparing inventory in advance. That is, in push picking, orders are automatically pre-hit and grouped after being scheduled, and are stored in the order pool after pre-hit and grouping. They are then posted and hit when the workstation starts picking, which can reduce picking time and speed up order turnover. However, because the warehouse inventory environment changes as picking proceeds, the pre-hit results corresponding to the orders that have been posted may no longer be the current optimal results as push picking proceeds. At this time, if hits are continued based on the pre-hit results corresponding to the orders that have been posted, the picking hit rate of push picking will be reduced, that is, push picking is slow to respond to changes in demand, has low flexibility, and cannot guarantee picking efficiency.

[0066] At present, picking efficiency can be improved by tallying, but during the tallying process, the container predicted by the tallying workstation may not be the same as the container predicted by the picking workstation. In this way, the carrier that has completed the tallying may be transported to the picking workstation corresponding to other orders for picking. Among them, the longer the time difference between the tallying completion time and the picking time of the carrier that has completed the tallying, the higher the probability that the carrier that has completed the tallying will be picked by other picking workstations, and the higher the degree of tallying inaccuracy, which limits the effect of improving the picking efficiency.

[0067] Based on this, the present application provides a picking method, which can provide data support for the pull picking module through the iterative processing of the orders to be processed by the push picking module, thereby improving the planning of the pull picking module when performing pull picking, and improving the hit rate of the push picking module when performing push picking. This not only improves the flexibility of picking, but also ensures the picking efficiency, improves the continuity of the picking process, and prevents falling into local optimality.

[0068] Before describing the technical solution of the embodiments of the present application, the application scenarios of the embodiments of the present application are first described with reference to the accompanying drawings. Figure 1A Schematic diagram of the application scenario of the picking method provided in the embodiment of the present application. Figure 1A As shown, the application scenario includes a plurality of carriers 10 , a plurality of handling devices 20 , at least one workstation 30 and a control device 40 .

[0069] Exemplarily, the carrier 10 can directly place goods. In some application scenarios (such as the cargo box to person scenario), after the handling equipment 20 transports the carrier 10 to the corresponding workstation 30, the staff of the workstation 30 picks the goods in the carrier 10. The carrier 10 may also include multiple cargo spaces. Among them, the cargo spaces are used to place containers, and goods can also be placed directly. The embodiments of the present application are not limited to this. In some application scenarios (such as the shelf to person scenario), after the handling equipment 20 transports the carrier 10 to the corresponding workstation 30, the workstation 30 will use a robotic arm to pick and place the objects (such as containers, goods) in each cargo space on the carrier 10. Therefore, in order to facilitate the robotic arm of the workstation 30 to grab the placed objects, the objects placed in each cargo space of the carrier 10 can be containers.

[0070] For example, the cargo space may be a rectangular shaped storage space, and the multiple cargo spaces on the carrier 10 may be neatly arranged along the length direction, width direction, and height direction of the carrier 10 .

[0071] In some embodiments, the container is used to place the goods, and the container can be a cargo box or a pallet. The embodiments of the present application do not limit this. In order to facilitate the robot arm to grab the container, the cargo box is usually placed as a container in each cargo position of the carrier 10. The cargo box can be a matching cargo box specially designed for the carrier 10, or it can be an ordinary cargo box, and the embodiments of the present application do not limit this.

[0072] In some embodiments, the carrier 10 may be a cargo box, in which at least one cargo is placed. The carrier 10 may also be a shelf. In order to facilitate the handling equipment 20 to carry the carrier 10, the carrier 10 may be a movable shelf. The movable shelf includes at least one layer of partitions, which divides the carrier 10 into at least two layers. The partition of the carrier 10 is provided with at least one cargo position, and each cargo position can accommodate at least one container, which is not limited in the embodiment of the present application. It should be noted that when the carrier 10 is a shelf, the carrier 10 includes but is not limited to partition shelves, container shelves, picking shelves, movable shelves, etc. The carrier 10 provided in the embodiment of the present application may refer to any carrier for placing containers.

[0073] In some embodiments, the number of workstations 30 may be one or more. Each workstation 30 may be provided with a corresponding vehicle docking area, and the vehicle docking area includes one or more docking positions, which are used to dock the vehicle 10. The vehicle docking area may include an operation area and a queuing area. Both the operation area and the queuing area are used to dock the vehicle 10. The operation area 3 is used to dock the vehicle that is being operated (e.g., tallying, picking) at the docking workstation 30, and the queuing area is used to dock at least one vehicle that has been pre-hit by the workstation 30 but has not yet been operated.

[0074] Exemplarily, the workstation 30 includes a picking workstation and a tallying workstation. Among them, the picking workstation is used to pick the goods on the carrier. When the picking workstation picks the goods on the carrier, the staff of the picking workstation can take out the pre-selected cargo box on the carrier parked in the operation area and place it on the operating table and pick the goods; the robotic arm of the picking workstation can also take out the pre-selected cargo box on the carrier parked in the operation area and place it on the operating table, and the staff of the picking workstation can pick the goods. During the picking process of the picking workstation, the carrier parked in the queuing area corresponding to the picking workstation will wait for the picking workstation to pick up the goods. The tallying workstation is used to tally the goods on the carrier. When the tallying workstation tallies the goods on the carrier, the staff of the tallying workstation can tally the carrier parked in the operation area; the robotic arm of the tallying workstation can also perform pick-and-place operations on the carrier parked in the operation area for tallying. During the tallying process at the tallying workstation, vehicles parked in the queue area wait for the tallying workstation to perform the tallying.

[0075] Exemplarily, at least one carrier 10 can be docked in the operation area of ​​the workstation 30. For example, two carriers 10 can be docked side by side in the operation area of ​​the workstation 30. In the case where the workstation 30 is used for tallying, the workstation 30 can take out a container from one of the carriers 10 docked in the operation area through a robotic arm and place it in an empty cargo space on another carrier 10.

[0076] In some embodiments, the transport equipment 20 may also be referred to as automatic transport equipment or carrier transport equipment, and is used to transport the carrier 10 .

[0077] Exemplarily, the transport device 20 may be a transport robot, such as an automated guided vehicle (AGV). For example, the transport robot may run to the bottom of the carrier 10 and then lift the carrier 10 up off the ground, thereby carrying the carrier 10 to move.

[0078] It should be noted that the transporting equipment that transports the carrier 10 to the workstation 30 and the transporting equipment that transports the carrier 10 from the workstation 30 to the shelf area or other workstations may be the same transporting equipment or different transporting equipment.

[0079] Exemplarily, the control device 40 can be coupled to the transport device 20 and the workstation 30 respectively, and is used to control the operation of the transport device 20 and the workstation 30. For example, the control device 40 can control the transport device 20 to move and transport the carrier 10, and can also control the workstation 30 to perform a container pick-up and placement operation on the carrier 10 docked in the operation area.

[0080] Exemplarily, the control device 40 may be a server or a terminal device, or a device deployed with a warehouse management system (WMS) and a robot management system (RMS). The terminal device may include at least one of a personal computer, a laptop, a smart phone, a tablet computer, and a portable wearable device; the server may include an independent server or a server cluster composed of multiple servers, which is not limited in the present embodiment of the application.

[0081] In some examples, the control device 40 is connected to the handling device 20 and the workstation 30 for data communication. For example, the control device 40 can be connected to the handling device 20 and the workstation 30 through a local area network (LAN), a wireless local area network (WLAN), or other networks.

[0082] In some embodiments, the control device 40 is configured to determine the target container and the target cargo position corresponding to the target container on the target carrier according to the task to be performed (e.g., tally task); generate a handling instruction according to the target carrier, and generate a pick-and-place instruction according to the target cargo position. The handling equipment is configured to carry the target carrier to the workstation according to the handling instruction; the robot arm of the workstation is configured to move to the pick-and-place box position corresponding to the target cargo position before the target carrier arrives at the workstation according to the pick-and-place instruction; and when the target carrier arrives at the workstation, it moves from the pick-and-place box position to the target cargo position and takes out the target container from the target cargo position, or places the target container at the target cargo position.

[0083] The following is combined with Figure 1B The structure and working principle of the workstation provided in the embodiment of the present application are explained.

[0084] Figure 1B This is a schematic diagram of the structure of a workstation provided in an embodiment of the present application. Figure 1B As shown, the workstation 30 includes a support frame 31 , a guide mechanism 32 and a container picking and placing device 33 .

[0085] In some examples, the guide mechanism 32 is provided to the support frame 31. The guide mechanism 32 can move laterally and vertically relative to the support frame 31. The container pick-and-place device 33 is provided to the guide mechanism 32 so that the container pick-and-place device 33 can move laterally and / or vertically relative to the support frame 31.

[0086] In some examples, the container picking and placing device 33 is coupled to the control device. When the transport device 20 transports the carrier 10 to the operation area of ​​the workstation 30 under the control of the control device, the container picking and placing device 33 moves horizontally (such as in the L direction) and / or vertically (such as in the H direction) to reach a position corresponding to the cargo position 15 in the carrier 10, thereby picking up and placing the container in the cargo position 15.

[0087] Exemplarily, the guide mechanism 32 may include a lateral moving device 34, a moving rod 35, and a vertical moving device 36. The lateral moving device 34 is provided to the support frame 31. The lateral moving device 34 is coupled to the control device. The lateral moving device 34 can move laterally relative to the support frame 31. The moving rod 35 extends in the vertical direction, and the moving rod 35 is provided to the lateral moving device 34, so that the moving rod 35 can move laterally relative to the support frame 31. The vertical moving device 36 is provided to the moving rod 35. The vertical moving device 36 is coupled to the control device. The vertical moving device 36 can move vertically relative to the moving rod 35. The container picking and placing device 33 is provided to the vertical moving device 36, so that the container picking and placing device 33 can move vertically relative to the moving rod 35. Therefore, the container picking and placing device 33 can move laterally and / or vertically on the support frame 31.

[0088] In some examples, the workstation 30 may not be provided with the support frame 31 . When the workstation 30 is not provided with the support frame 31 , the container picking and placing device 33 may be moved laterally and / or vertically through the guide mechanism 32 .

[0089] Exemplarily, when the workstation 30 is not provided with the support frame 31, the workstation 30 may include at least one guide mechanism 32 and a container pick-up and placement device 33. The container pick-up and placement device 33 is provided to the guide mechanism 32, and the container pick-up and placement device 33 may move laterally and / or vertically through the guide mechanism 32.

[0090] In some embodiments, the lateral moving device 34 is coupled to the moving rod 35 and is configured to drive the moving rod 35 to move laterally; the moving rod 35 extends in the vertical direction, and the container picking and placing device 33 is set to the moving rod 35 so that the moving rod 35 drives the container picking and placing device 33 to move laterally; the vertical moving device 36 is coupled to the container picking and placing device 33 and is configured to drive the container picking and placing device 33 to move vertically relative to the moving rod 35.

[0091] In some examples, the lateral moving device 34 can be set to the moving rod 35, or can be set to the container picking and placing device 33; the vertical moving device 36 can be set to the moving rod 35. For example, the lateral moving device 34 and the vertical moving device 36 can be two driving motors. The embodiment of the present application does not limit the specific positions of the lateral moving device 34 and the vertical moving device 36, as long as the lateral moving device 34 can drive the moving rod 35 to move horizontally, and the vertical moving device 36 can drive the container picking and placing device 33 to move vertically relative to the moving rod 35.

[0092] In some examples, the guide mechanism 32 and the container pick-and-place device 33 can be combined to be referred to as a robot arm, the guide mechanism 32 can also be referred to as a robot arm alone, and the container pick-and-place device 33 is disposed on the robot arm and moves laterally and / or vertically through the robot arm (for example, the robot arm can move laterally and / or vertically with the container pick-and-place device 33); this is not limited in the embodiments of the present application. The robot arm can be fixed on the ground or a guide rail, such as the robot arm can be permanently fixed on the ground or a guide rail, or can be temporarily fixed on the ground or a guide rail, and this is not limited in the embodiments of the present application.

[0093] In some embodiments, the container picking and placing device 33 may include a picking and placing component, and the picking and placing component may be movable along the depth direction.

[0094] In some examples, when the container placing and picking device 33 reaches the position corresponding to the cargo position 15 by lateral movement and / or vertical movement, the placing and picking component can be controlled to extend to the cargo position 15 along the depth direction, that is, the placing and picking component can extend to the cargo position 15 along the direction toward the carrier, so as to place and pick up the container from the cargo position 15. Figure 1BAs shown, when the container placing and picking device 33 reaches the position corresponding to the cargo position, the placing and picking component ( Figure 1B The robot (not shown) can move along the depth direction (such as the Z direction) to the cargo position 15 to pick up the container placed on the cargo position 15.

[0095] Exemplarily, the pick-up and placement component may be a component such as a claw, a fork or a suction cup connected to the container pick-up and placement device 33. When the pick-up and placement component is a claw, the pick-up and placement component can pick up and place the container from the cargo position of the carrier 10 by grabbing; when the pick-up and placement component is a fork, the pick-up and placement component can pick up and place the container from the cargo position of the carrier 10 by holding; when the pick-up and placement component is a suction cup, the pick-up and placement component can pick up and place the container from the cargo position of the carrier 10 by sucking. The embodiment of the present application does not limit the specific structure of the container pick-up and placement device 33. It should be noted that the embodiment of the present application can be exemplified by taking the pick-up and placement component as a suction cup as an example.

[0096] Figure 1C This is a schematic diagram of the structure of another workstation provided in an embodiment of the present application. Figure 1C As shown, the workstation 30 includes an operating station 34 .

[0097] In some embodiments, after the transport equipment 20 transports the carrier 10 to the corresponding workstation 30 , the staff of the workstation 30 can pick the goods in the carrier 10 on the operating table 34 .

[0098] Exemplarily, each workstation 30 may include one or more operating tables 34, which is not limited in the embodiment of the present application. Figure 1C In the figure, a workstation 30 including an operating table 34 is taken as an example for illustration.

[0099] In some embodiments, a picking system is provided in the control device 40 . Figure 1D A structural diagram of a picking system is provided. Figure 1DAs shown, the picking system includes a push picking module and a pull picking module. The push picking module and the pull module are coupled. The push picking module is used to obtain multiple pending orders, and based on the allocation information of each pending order, perform at least one carrier hit processing and at least one workstation dispatch processing on each pending order to obtain the pending carrier and target workstation corresponding to each pending order; wherein the allocation information is used to indicate the hit relationship between the pending order and multiple candidate carriers in the warehouse system, and the dispatch relationship between the pending order and multiple picking workstations in the warehouse system. The pull picking module is used to obtain the pending carrier and target workstation corresponding to each pending order from the push picking module, and determine the target order from multiple pending orders based on the warehouse inventory environment information, and the pending carrier and target workstation corresponding to each pending order; after the pull picking module determines the target order, it generates a pending picking task based on the pending carrier corresponding to the target order, and controls the target workstation to execute the pending picking task corresponding to the target order.

[0100] based on Figure 1D The picking system shown, Figure 2A A flowchart of a picking method is provided, such as Figure 2A As shown, the picking method provided in the embodiment of the present application is applied to the picking system, that is, the picking method provided in the embodiment of the present application can be implemented by the control device in the above embodiment. Among them, the picking method provided in the embodiment of the present application includes S201-S203.

[0101] S201. Acquire multiple pending orders through a push picking module, and based on the allocation information of each pending order, perform at least one vehicle hit processing and at least one workstation dispatch processing on each pending order to obtain the to-be-picked vehicles and target workstations corresponding to each pending order.

[0102] The allocation information is used to indicate the hit relationship between the pending order and multiple candidate vehicles in the warehousing system, as well as the dispatch relationship between the pending order and multiple picking workstations in the warehousing system.

[0103] Exemplarily, the allocation information may include the pre-hit vehicle information corresponding to the pending order and the pre-dispatch workstation information corresponding to the pending order. If the pre-hit vehicle information corresponding to the pending order in the allocation information is empty, it means that the pending order has not been allocated a pre-hit vehicle; if the pre-dispatch workstation information corresponding to the pending order in the allocation information is empty, it means that the pending order has not been allocated a pre-dispatch workstation.

[0104] In some embodiments, the push picking module can obtain pending orders from an order pool corresponding to the warehousing system in the control device.

[0105] Exemplarily, the order pool corresponding to the warehousing system in the control device includes at least one of an actual order and a predicted order. The predicted order is an order generated based on the prediction result after predicting the orders that may be received within a preset time period in the future based on historical orders. In the case where there is a predicted order in the order pool but no actual order, picking operations can be performed according to the predicted order in the order pool, so that when subsequent actual orders enter the order pool, if the actual order is the same as the predicted order, the outbound processing can be directly performed, thereby improving the picking efficiency.

[0106] In some embodiments, the push picking module can periodically obtain multiple pending orders according to a preset timing task; it can also implement the acquisition of multiple pending orders; the embodiments of the present application are not limited to this. Among them, the timing task can be set according to actual needs, and the timing task can be one or more. For example, the timing task can be that the push picking module performs an acquisition operation once every hour to obtain multiple pending orders; it can also be that the push picking module performs a judgment task every hour to determine whether the pending order has been assigned a pre-hit carrier and / or a pre-dispatch workstation, and determine whether the pre-hit carrier corresponding to the pending order meets the re-hit trigger condition and / or determine whether the pre-dispatch workstation corresponding to the pending order meets the re-dispatch trigger condition. The embodiments of the present application are not limited to this.

[0107] In some embodiments, Figure 2B As shown, based on the allocation information of each pending order, each pending order is subjected to at least one carrier hit processing and at least one workstation dispatch processing to obtain the to-be-picked carrier and target workstation corresponding to each pending order, including: S2011-S2012.

[0108] S2011. If the allocation information of the pending order indicates that the pending order has been allocated a pre-hit vehicle and a pre-dispatch workstation, then when it is determined that the pre-hit vehicle corresponding to the pending order meets the re-hit trigger condition, the push picking module performs at least one vehicle hit processing on the pending order, and determines the to-be-picked vehicle corresponding to the pending order from multiple candidate vehicles.

[0109] In some embodiments, the pre-hit carrier is a temporarily hit carrier storing goods to be picked; the pre-dispatching workstation is a temporarily assigned picking workstation for picking orders to be processed. The orders to be processed may include multiple goods to be picked, and the push picking module may determine the carrier storing the goods to be picked from the storage system through the goods to be picked included in each order to be processed, and determine the carrier storing the goods to be picked as a candidate carrier.

[0110] In some embodiments, the re-hit trigger condition is used to indicate whether to perform vehicle hit processing on the pending order. As time goes by, the storage inventory environment corresponding to the warehousing system will change with the warehousing operations (such as picking, tallying, warehousing, outbound, etc.). Therefore, when the pending order is not determined to be picked (also known as not on the wall), the push picking module can periodically determine whether the pre-hit vehicle corresponding to the pending order meets the vehicle hit condition based on the preset timing task. If the pre-hit vehicle corresponding to the pending order meets the re-hit trigger condition at the current moment, the pending order is subjected to vehicle hit processing; if the pre-hit vehicle corresponding to the pending order does not meet the re-hit trigger condition at the current moment, the pending order is not subjected to vehicle hit processing, and at the next moment, it is judged again whether the pre-hit vehicle corresponding to the pending order meets the re-hit trigger condition until the pending order is determined to be picked (also known as on the wall), at which time, the latest pre-hit vehicle corresponding to the pending order is determined as the to-be-picked vehicle corresponding to the pending order.

[0111] Exemplarily, if at the current moment, the push-picking module determines that the pre-hit carrier corresponding to the pending order meets the re-hit trigger condition, then the vehicle hit processing is performed on the pending order to re-hit the carrier for the pending order from multiple candidate carriers in the warehousing system, and the re-hit carrier is determined as the new pre-hit carrier corresponding to the pending order. If at the next moment, the push-picking module determines that the new pre-hit carrier corresponding to the pending order meets the re-hit trigger condition, then the vehicle hit processing is performed on the pending order to re-determine the new pre-hit carrier corresponding to the pending order from multiple candidate carriers in the warehousing system. In this way, the above steps are repeated, and after the pending order has been posted on the wall, the latest pre-hit carrier corresponding to the pending order is determined as the to-be-picked carrier corresponding to the pending order.

[0112] S2012. When it is determined that the pre-dispatching workstation meets the re-dispatching triggering conditions, the push picking module performs at least one workstation dispatching process on the pending order, and determines the target workstation corresponding to the pending order from multiple picking workstations.

[0113] In some embodiments, the re-dispatch trigger condition is used to indicate whether to perform workstation dispatch processing on the pending order. Among them, similar to S2011, the push picking module can periodically determine whether the pre-dispatch workstation corresponding to the pending order meets the re-dispatch trigger condition based on the preset timing task. If at the current moment, the pre-dispatch workstation corresponding to the pending order meets the re-dispatch trigger condition, the pending order is dispatched to the workstation; if at the current moment, the pre-dispatch workstation corresponding to the pending order does not meet the re-dispatch trigger condition, the pending order is not dispatched to the workstation, and at the next moment, it is judged again whether the pre-dispatch workstation corresponding to the pending order meets the re-dispatch trigger condition until the pending order is determined to be picked (also called on the wall), at which time, the latest pre-dispatch workstation corresponding to the pending order is determined as the target workstation corresponding to the pending order.

[0114] Exemplarily, if at the current moment, the push-picking module determines that the pre-dispatch workstation corresponding to the pending order meets the re-dispatch trigger condition, then the workstation dispatch process is performed on the pending order to determine a new pre-dispatch workstation corresponding to the pending order from multiple picking workstations in the warehousing system. If at the next moment, the push-picking module determines that the new pre-dispatch workstation corresponding to the pending order meets the re-dispatch trigger condition, then the workstation dispatch process is performed on the pending order to determine a new pre-dispatch workstation corresponding to the pending order from multiple picking workstations in the warehousing system. In this way, the above steps are repeated, and after the pending order has been posted on the wall, the latest pre-dispatch workstation corresponding to the pending order is determined as the target workstation corresponding to the pending order.

[0115] It should be noted that, for ease of description, the following embodiments will be exemplified by taking the case where the push-picking module performs two vehicle hit processing and two workstation dispatch processing on the pending order, and then the pending order is posted on the wall. Among them, after the push-picking module performs the first vehicle hit processing and the first workstation dispatch processing on the pending order, the allocation information corresponding to the pending order will indicate that the pending order has been assigned a pre-hit vehicle and a pre-dispatch workstation. At this time, the push-picking module S2011-2012 performs a second vehicle hit processing and a second workstation dispatch processing on the pending order when the pre-hit vehicle corresponding to the pending order meets the re-hit trigger condition and the pre-dispatch workstation meets the re-dispatch trigger condition. Since the pending orders are posted on the wall after the push picking module performs two vehicle hit processing and two workstation dispatch processing on the pending orders, the new pre-hit vehicle obtained by the push picking module after the second vehicle hit processing on the pending orders is the pending vehicle to be picked corresponding to the pending orders; the pre-dispatched workstation obtained by the push picking module after the second workstation dispatch processing on the pending orders is the target workstation corresponding to the pending orders.

[0116] In some embodiments, the re-hit trigger condition can be set according to at least one of the distance between the carrier and the workstation, the degree of competition for the carrier among multiple workstations in the warehousing system, and the number of goods to be picked that are hit on the carrier, and can also be set according to actual needs. The embodiments of the present application are not limited to this. In the following embodiments, the re-hit trigger condition will be set according to the distance between the carrier and the workstation and the degree of competition for the carrier among multiple workstations in the warehousing system as an example for exemplary description.

[0117] like Figure 3 As shown, in some embodiments, determining whether the pre-dispatch workstation meets the re-hit trigger condition includes S301-S303.

[0118] S301. Determine a first distance between a pre-selected carrier corresponding to an order to be processed and a pre-assignment workstation through a push picking module.

[0119] In some embodiments, the first distance may be the straight-line distance between the pre-hit carrier and the pre-dispatch workstation, or may be the transportation distance of transporting the pre-hit carrier to the pre-dispatch workstation by a transport device. The present application embodiment is not limited to this. The position information of the carrier and the position information of the workstation may be obtained by the push picking module, and then the distance between the carrier and the workstation may be determined based on the position information of the carrier and the position information of the workstation.

[0120] For example, the position information of the pre-hit carrier and the position information of the pre-dispatch workstation can be obtained through the push picking module, and the first distance between the pre-hit carrier and the pre-dispatch workstation can be determined based on the position information of the pre-hit carrier and the position information of the pre-dispatch workstation. The position information of the carrier can be the coordinates of the carrier in the warehouse system, and the position information of the workstation can be the coordinates of the workstation in the warehouse system.

[0121] S302. Determine a first contention degree corresponding to a pre-selected carrier corresponding to the order to be processed through a push picking module.

[0122] In some embodiments, the first contention level indicates a contention level among multiple picking workstations in the warehouse system for the pre-hit carrier.

[0123] Exemplarily, the first contention degree of the pre-hit vehicle can be determined based on the number of workstations of the picking workstations waiting to pick the pre-hit vehicle. Among them, the more workstations of the picking workstations waiting to pick the pre-hit vehicle, the higher the first contention degree of the pre-hit vehicle; the fewer workstations of the picking workstations waiting to pick the pre-hit vehicle, the lower the first contention degree of the pre-hit vehicle. For example, picking workstations P1 and picking workstations P2 will pick vehicle A when performing their corresponding tasks to be picked, and picking workstations P3, picking workstations P4 and picking workstations P5 will pick vehicle B when performing their corresponding tasks to be picked, that is, the number of workstations of the picking workstations waiting to pick vehicle A is 2, and the number of workstations of the picking workstations waiting to pick vehicle B is 3; at this time, the first contention degree of vehicle B is greater than the first contention degree of vehicle A.

[0124] S303: If the first distance is greater than a preset distance threshold, and / or the first contention degree is greater than a preset contention degree threshold, it is determined that the pre-hit vehicle meets the re-hit trigger condition.

[0125] In some embodiments, the preset distance threshold and the preset contention threshold are both preset values, which can be determined according to actual needs, and the embodiments of the present application do not limit this. The re-hit trigger condition can include at least one of the first distance being greater than the preset distance threshold and the first contention degree being greater than the preset contention threshold.

[0126] For example, if the first distance is greater than the preset distance threshold, it means that the pre-hit vehicle currently corresponding to the pending order is far away from the pre-dispatch workstation. In order to improve the picking efficiency, the pending order can be processed by vehicle hit. If the first contention degree of the pre-hit vehicle is greater than the preset contention degree threshold, it means that after the pending picking task is generated based on the pre-hit vehicle currently corresponding to the pending order, the pre-dispatch workstation currently corresponding to the pending order executes the pending picking task to pick the pending order, which is easy to conflict with other picking workstations. In order to ensure the normal execution of the pending picking task, the pending order can be processed by vehicle hit.

[0127] In order to improve the hit rate during picking and reduce the competition for vehicles at picking workstations, when performing vehicle hit processing for pending orders, the candidate vehicles in the warehousing system that are closer to the pre-assignment workstation and have a lower degree of competition can be determined as the new pre-hit vehicles corresponding to the pending orders, thereby obtaining the vehicles to be picked corresponding to the pending orders.

[0128] like Figure 4As shown, in some embodiments, when it is determined that the pre-hit carrier corresponding to the pending order meets the re-hit trigger condition, the push picking module performs at least one carrier hit processing on the pending order, and determines the to-be-picked carrier corresponding to the pending order from multiple candidate carriers, including: S401-S403.

[0129] S401. Determine, through a push picking module, a second distance between a pre-assignment workstation corresponding to an order to be processed and each candidate carrier in a storage system.

[0130] In some embodiments, the second distance may be the straight-line distance between each candidate carrier in the storage system and the pre-dispatch workstation, or may be the transportation distance of each candidate carrier in the storage system to the pre-dispatch workstation by a transportation device. The second distance includes the first distance. Since the method for determining the second distance corresponding to each candidate carrier is the same as the method for determining the first distance corresponding to the pre-hit carrier, it will not be described here to avoid repetition.

[0131] S402. Determine the candidate carrier contention degree corresponding to each candidate carrier in the storage system through a push picking module.

[0132] In some embodiments, the candidate carrier contention level indicates the degree of contention among multiple picking workstations for each candidate carrier. The candidate carrier contention level includes a first contention level. Since the method for determining the contention level of each candidate carrier is the same as the method for determining the first contention level, it will not be described here to avoid repetition.

[0133] S403: Based on each second distance and each candidate carrier contention degree, determine a to-be-picked carrier corresponding to the to-be-processed order from a plurality of candidate carriers.

[0134] In some embodiments, the closer the second distance is, the higher the probability that the candidate vehicle corresponding to the second distance is re-selected as the vehicle to be picked, and the farther the second distance is, the lower the probability that the candidate vehicle corresponding to the second distance is re-selected as the vehicle to be picked; the lower the candidate vehicle contention degree corresponding to the candidate vehicle, the higher the probability that the candidate vehicle is re-selected as the vehicle to be picked. The higher the candidate vehicle contention degree corresponding to the candidate vehicle, the lower the probability that the candidate vehicle is re-selected as the vehicle to be picked.

[0135] In some embodiments, the push picking module can be used to determine the weighted sum of the second distance corresponding to each candidate vehicle and the candidate vehicle contention degree corresponding to each candidate vehicle to obtain the hit matching value corresponding to each candidate vehicle, and then the candidate vehicle with the highest hit matching value can be determined as the vehicle to be picked corresponding to the order to be processed.

[0136] Exemplarily, the push-picking module first converts the second distance corresponding to each candidate vehicle and the candidate vehicle contention degree corresponding to each candidate vehicle according to the preset conversion rules to obtain the distance score corresponding to each candidate vehicle and the contention degree score corresponding to each candidate vehicle; then, according to the preset distance weighted value and the preset contention degree weighted value, the distance score corresponding to each candidate vehicle is multiplied by the preset distance weighted value to obtain a first product, and the contention degree score corresponding to each candidate vehicle is multiplied by the preset contention degree weighted value to obtain a second product; finally, the first product and the second product corresponding to each candidate vehicle are added to obtain the weighted sum of the second distance corresponding to each candidate vehicle and the candidate vehicle contention degree, thereby obtaining the hit matching value corresponding to each candidate vehicle. It should be noted that the conversion rules, distance weighted values ​​and contention degree weighted values ​​can all be set according to actual needs, and the embodiments of the present application are not limited to this.

[0137] In some embodiments, the vehicle hit processing can also be performed on the pending order based on the distance between each candidate vehicle and the pre-dispatch workstation. For example, the second distance between each candidate vehicle in the storage system and the pre-dispatch workstation is determined by the push-picking module. If there is a candidate vehicle whose second distance is less than the first distance among multiple candidate vehicles, the push-picking module determines the vehicle with the smallest second distance in the storage system as the vehicle to be picked for the pending order. If there is no candidate vehicle whose second distance is less than the first distance among multiple candidate vehicles, the push-picking module determines the pre-hit vehicle as the vehicle to be picked.

[0138] For example, it is assumed that the storage system includes carrier A, carrier B, carrier C, carrier D and carrier E; wherein the pre-selected carrier assigned to the pending order is carrier A, and the first distance between carrier A and the pre-order dispatching workstation is 5. When the second distance between carrier B and the pre-selected workstation is 4, the second distance between carrier C and the pre-selected workstation is 6, the second distance between carrier D and the pre-selected workstation is 3, and the second distance between carrier E and the pre-selected workstation is 7, since the second distances between carrier B and carrier D and the pre-order dispatching workstation in the storage system are both smaller than the first distance between carrier A and the pre-order dispatching workstation, at this time, the carrier with the smallest second distance is determined as the carrier to be picked corresponding to the pending order, that is, carrier D is determined as the carrier to be picked corresponding to the pending order.

[0139] In some embodiments, vehicle hit processing can also be performed on pending orders based on the contention degree corresponding to each candidate vehicle. For example, the candidate vehicle contention degree corresponding to each candidate vehicle in the storage system is determined by a push picking module. If there is a candidate vehicle whose contention degree is lower than the first contention degree among multiple candidate vehicles, the push picking module determines the vehicle with the smallest candidate vehicle contention degree among multiple candidate vehicles in the storage system as the vehicle to be picked. If there is no candidate vehicle whose contention degree is lower than the first contention degree among multiple candidate vehicles, the push picking module determines the pre-hit vehicle as the vehicle to be picked.

[0140] For example, it is assumed that the storage system includes carrier A, carrier B, carrier C, carrier D, and carrier E; wherein the pre-hit carrier assigned to the pending order is carrier A, and the candidate carrier contention degree (also called the first contention degree) of carrier A is 5. When the candidate carrier contention degree of carrier B is 4, the candidate carrier contention degree of carrier C is 6, the candidate carrier contention degree of carrier D is 3, and the candidate carrier contention degree of carrier E is 7, since the candidate carrier contention degrees of carrier B and carrier D in the storage system are both less than the first contention degree of carrier A, at this time, the carrier with the smallest candidate carrier contention degree among the multiple candidate carriers is determined as the carrier to be picked, that is, carrier D is determined as the carrier to be picked corresponding to the pending order.

[0141] In some embodiments, the re-dispatch trigger condition can be set according to the dispatch match value between the vehicle and the workstation, and can also be set according to actual needs. The embodiments of the present application are not limited to this. In the following embodiments, the re-dispatch trigger condition will be set according to the dispatch match value between the vehicle and the workstation as an example for illustrative explanation. Among them, the dispatch match value between the vehicle and the workstation can be determined based on at least one of the overlap between the vehicle and the hit vehicle corresponding to the workstation, the contention degree corresponding to the vehicle, the distance between the vehicle and the workstation, and the number of tasks to be executed corresponding to the workstation after the vehicle is assigned to the workstation for picking.

[0142] like Figure 5 As shown, in some embodiments, determining whether the pre-dispatch workstation corresponding to the pending order meets the re-dispatch triggering condition includes S501-S503.

[0143] S501. Determine a first matching value between a to-be-picked carrier corresponding to an order to be processed and a pre-assignment workstation through a push picking module.

[0144] In some embodiments, the first matching value indicates the matching degree between the to-be-picked carrier corresponding to the to-be-processed order and the pre-dispatching workstation.

[0145] like Figure 6As shown, in some embodiments, determining a first matching value between a to-be-picked carrier corresponding to an order to be processed and a pre-dispatch workstation includes S601-S605.

[0146] S601. Determine the hit rate of the pre-dispatching workstation corresponding to the pre-dispatching workstation through the push picking module based on the overlap between the carrier to be picked and the carrier pool corresponding to the pre-dispatching workstation.

[0147] In some embodiments, the vehicle pool corresponding to the pre-dispatch workstation refers to a collection of vehicles to be picked corresponding to the tasks to be picked that are being executed and the tasks to be picked that are waiting to be executed corresponding to the pre-dispatch workstation. The vehicle pool corresponding to the pre-dispatch workstation includes vehicles being picked and vehicles waiting to be picked that are parked in the vehicle docking area corresponding to the pre-dispatch workstation, and also includes vehicles that have not been transported to the vehicle docking area corresponding to the pre-dispatch workstation and have been hit by the picking tasks to be executed corresponding to the pre-dispatch workstation. The overlap between the vehicles to be picked and the vehicle pool corresponding to the pre-dispatch workstation is used to indicate the number of vehicles to be picked corresponding to the pending orders that are already in the vehicle pool corresponding to the pre-dispatch workstation.

[0148] Exemplarily, the number of vehicles to be picked can be one or more. If the number of vehicles to be picked is 5, the number of vehicles in the vehicle pool corresponding to the pre-dispatch workstation is 20, and 4 of the 5 vehicles to be picked are already in the vehicle pool corresponding to the pre-dispatch workstation, then the overlap between the vehicles to be picked and the vehicle pool corresponding to the pre-dispatch workstation is 20%.

[0149] S602: Determine a second contention degree corresponding to the carrier to be picked by using a push picking module.

[0150] The second contention degree indicates the contention degree of multiple picking workstations in the storage system for the picking vehicle. The method for determining each second contention degree is the same as the method for determining the first contention degree, and will not be described again to avoid repetition.

[0151] S603. Determine the third distance between the carrier to be picked and the pre-dispatch workstation through the push picking module.

[0152] In some embodiments, the third distance can be the straight-line distance between the carrier to be picked and the pre-dispatch workstation in the warehousing system, or it can be the transportation distance of transporting the carrier to be picked to the pre-dispatch workstation by means of a transport device. This embodiment of the present application is not limited to this. Among them, the method for determining the third distance corresponding to each carrier to be picked is the same as the method for determining the first distance corresponding to the pre-hit carrier, and will not be repeated here to avoid repetition.

[0153] S604: After the push picking module determines that the carriers to be picked are allocated to the pre-assignment workstation, the total number of tasks to be picked corresponding to the pre-assignment workstation.

[0154] In some embodiments, the total number of tasks to be picked corresponding to the pre-dispatching workstation may include tasks to be picked being executed by the pre-dispatching workstation and tasks to be picked waiting to be executed.

[0155] Exemplarily, the push picking module can be used to predict the number of tasks to be generated when generating tasks to be picked based on the vehicles to be picked corresponding to the orders to be processed; the number of tasks to be picked generated is added to the number of tasks to be picked being executed at the pre-assignment workstation and the number of tasks to be picked waiting to be executed, to obtain the number of tasks to be executed in the pre-assignment workstation after the vehicles to be picked are assigned to the pre-assignment workstation.

[0156] S605. Determine the index scores corresponding to the hit rate of the pre-assignment workstation, the second contention degree, the third distance and the total number of tasks to be picked corresponding to the pre-assignment workstation through the push picking module, and perform weighted addition of multiple index scores to obtain the first matching value between the carrier to be picked and the pre-assignment workstation.

[0157] In some embodiments, the first matching value is used to indicate the matching degree between the carrier to be picked and the pre-dispatching workstation.

[0158] In some embodiments, the push picking module can first perform indicator conversion processing on the workstation hit rate, the second contention degree, the third distance and the total number of tasks to be picked corresponding to the pre-dispatching workstation according to the preset indicator conversion rules, so as to determine the indicator scores corresponding to the workstation hit rate, the second contention degree, the third distance and the total number of tasks to be picked corresponding to the pre-dispatching workstation; then, according to the preset pre-dispatching workstation hit rate weighted value, the preset second contention degree weighted value, the preset third distance weighted value and the preset total number of tasks to be picked weighted value, the indicator scores corresponding to the workstation hit rate, the second contention degree, the third distance and the total number of tasks to be picked corresponding to the pre-dispatching workstation are weightedly added to obtain the first matching value between the carrier to be picked and the pre-dispatching workstation.

[0159] Exemplarily, the preset weighted value of the pre-dispatch workstation hit rate is multiplied by the pre-dispatch workstation hit rate to obtain a third product, the preset second contention degree weighted value is multiplied by the second contention degree to obtain a fourth product, the preset third distance weighted value is multiplied by the third distance to obtain a fifth product, the preset total number of tasks to be picked is multiplied by the total number of tasks to be picked corresponding to the pre-dispatch workstation to obtain a sixth product, and the third product, the fourth product, the fifth product and the sixth product are added together to obtain a first matching value between the vehicle to be picked and the pre-dispatch workstation.

[0160] It should be noted that the indicator conversion rules, the weighted value of the hit rate of the pre-assignment workstation, the weighted value of the second contention degree, the weighted value of the third distance and the weighted value of the total number of tasks to be picked can all be set according to actual needs, and the embodiments of the present application are not limited to this.

[0161] S502: Determine, through the push picking module, a second matching value between the carrier to be picked and each picking workstation in the warehousing system except the pre-order workstation.

[0162] In some embodiments, the second matching value is used to indicate the matching degree between the carrier to be picked and each picking workstation in the warehousing system except the pre-ordering workstation.

[0163] It should be noted that the method for determining the second matching value is the same as the method for determining the first matching value, and to avoid repetition, it will not be repeated here. Among them, the first matching value and the second matching value are both dispatch matching values.

[0164] S503: If there is a third matching value among the multiple second matching values, it is determined that the pre-dispatch workstation meets the re-dispatch triggering condition.

[0165] The matching value difference between the third matching value and the first matching value is greater than a preset matching value threshold.

[0166] In some embodiments, the preset matching value threshold is a preset value, which can be determined according to actual needs, and the embodiments of the present application do not limit this. Among them, the matching value difference between the second matching value and the first matching value is obtained by subtracting the first matching value from the second matching value; if the matching value difference obtained by subtracting the first matching value from the second matching value is greater than the preset matching value threshold, it means that there is a third matching value among the multiple second matching values, and the second matching value is the third matching value, and the matching value difference obtained by subtracting the first matching value from the second matching value is the matching value difference between the third matching value and the first matching value.

[0167] In some embodiments, the re-dispatching trigger condition may include a second matching value among the plurality of second matching values, the difference between which and the first matching value is greater than a preset matching value threshold.

[0168] Exemplarily, if there is no third matching value among the multiple second matching values, that is, the matching value difference between each second matching value and the first matching value among the multiple second matching values ​​is less than or equal to the preset matching value, it is determined that the pre-dispatching workstation does not meet the re-dispatching trigger condition, and at this time, the pre-dispatching workstation is determined as the target workstation corresponding to the pending order. If there is a third matching value among the multiple second matching values, that is, there is a second matching value among the multiple second matching values ​​whose matching value difference with the first matching value is greater than the preset matching value threshold, it is determined that the pre-dispatching workstation meets the re-dispatching trigger condition, and at this time, the target workstation corresponding to the pending order is re-determined from the multiple picking workstations in the warehousing system.

[0169] In some embodiments, when it is determined that the pre-dispatching workstation meets the re-dispatching trigger condition, the push picking module performs at least one workstation dispatch processing on the pending order, and determines the target workstation corresponding to the pending order from multiple picking workstations in the warehousing system, including: determining the picking workstation with the highest second matching value among the multiple picking workstations in the warehousing system except the pre-dispatching workstation as the target workstation.

[0170] Exemplarily, the preset matching value threshold is 3, and the warehousing system includes picking stations P1, P2, P3, and P4; wherein the pre-dispatching station to which the pending order has been assigned is picking station P1, and the first matching value corresponding to picking station P1 is 4. When the second matching value corresponding to picking station P2 is 7.5, the second matching value corresponding to picking station P3 is 3, and the second matching value corresponding to picking station P4 is 8, since the matching value difference between the second matching value corresponding to picking station P2 and picking station P4 in the warehousing system and the first matching value corresponding to picking station P1 is greater than the preset matching value threshold, it means that there is a third matching value among the multiple second matching values, and the pre-dispatching station corresponding to the pending order meets the re-dispatching trigger condition. At this time, the picking station with the highest second matching value among picking station P2, picking station P3, and picking station P4 is determined as the target station, that is, picking station P4 is determined as the target station corresponding to the pending order.

[0171] In some embodiments, the push-picking module may first be used to perform carrier hit processing on the pending order, determine the carrier to be picked corresponding to the pending order from multiple candidate carriers in the warehousing system, and then perform workstation dispatch processing on the pending order through the push-picking module, and redetermine the target workstation corresponding to the pending order from multiple picking workstations in the warehousing system. It is also possible to first perform workstation dispatch processing on the pending order through the push-picking module, redetermine the target workstation corresponding to the pending order from multiple picking workstations in the warehousing system, and then perform carrier hit processing on the pending order through the push-picking module, and determine the carrier to be picked corresponding to the pending order from multiple candidate carriers in the warehousing system. The embodiments of the present application are not limited to this. In the above embodiment, an example is used to illustrate that a push-type picking module is first used to perform carrier hit processing on the pending order, and a to-be-picked carrier corresponding to the pending order is determined from multiple candidate carriers in the warehousing system. Then, a workstation dispatching process is performed on the pending order through the push-type picking module, and the target workstation corresponding to the pending order is re-determined from multiple picking workstations in the warehousing system.

[0172] Exemplarily, if a pending order has been assigned a pre-hit vehicle and a pre-dispatching workstation, then when it is determined that the pre-dispatching workstation meets the re-dispatching trigger condition, the push picking module can be used to perform workstation dispatch processing on the pending order based on the pre-hit vehicle, and the target workstation corresponding to the pending order is determined from multiple picking workstations in the warehousing system; thereafter, when it is determined that the pre-hit vehicle meets the re-hit trigger condition, the push picking module can be used to perform vehicle hit processing on the pending order based on the target workstation, and the pending order corresponding to the pending order is re-hit from multiple candidate vehicles in the warehousing system.

[0173] It can be understood that the method of performing workstation dispatch processing on the order to be processed based on the pre-hit carrier by the push-type picking module to determine the target workstation corresponding to the order to be processed from multiple picking workstations in the warehousing system is the same as S501-S503 in the above-mentioned embodiment, and it is only necessary to replace the carrier to be picked in S501-S503 with the pre-hit carrier. To avoid repetition, it will not be repeated here. The method of performing vehicle hit processing on the order to be processed based on the target workstation by the push-type picking module to determine the carrier to be picked corresponding to the order to be processed from multiple candidate carriers in the warehousing system is the same as S401-S403 in the above-mentioned embodiment, and it is only necessary to replace the pre-dispatching workstation in S401-S403 with the target workstation. To avoid repetition, it will not be repeated here.

[0174] When a pending order is first obtained by the push picking module, the pending order has not yet been assigned a pre-hit vehicle and a pre-dispatching workstation. At this time, the push picking module can perform the first vehicle hit processing and the first workstation dispatch processing on the pending order.

[0175] In some embodiments, the picking method provided by the embodiments of the present application also includes: if the allocation information of the pending order indicates that the pending order has not been assigned a pre-hit vehicle and has not been assigned a pre-order dispatch workstation, the push picking module is used to perform the first vehicle hit processing on the pending order, and the pre-hit vehicle corresponding to the pending order is determined from multiple candidate vehicles in the warehousing system.

[0176] Among them, the pre-hit vehicles corresponding to the pending orders can be one or more, and this embodiment of the present application does not limit this.

[0177] In some embodiments, the push picking module performs initial carrier hit processing on pending orders, and determines a pre-hit carrier corresponding to the pending order from multiple candidate carriers in the warehousing system, including: determining the number of pending orders hit by each candidate carrier through the push picking module, and determining the candidate carrier with the largest number of hits for pending orders among the multiple candidate carriers in the warehousing system as the pre-hit carrier.

[0178] Among them, at least one carrier hit processing is performed on the order to be processed through the push picking module, including the first carrier hit processing.

[0179] In some embodiments, the number of pending orders hit by a candidate carrier refers to the number of pending orders that determine the candidate carrier as a hit carrier among multiple pending orders in the warehousing system. The hit carrier can be a pre-hit carrier or a carrier to be picked. The embodiments of the present application are not limited to this. In the following embodiments, the hit carrier will be taken as an example for illustrative explanation, that is, in the following embodiments, the number of pending orders hit by a candidate carrier refers to the number of pending orders that determine the candidate carrier as a carrier to be picked among multiple pending orders in the warehousing system for illustrative explanation.

[0180] Exemplarily, when the push picking module performs the initial carrier hit processing on the pending orders, the number of pending orders hit by each candidate carrier can be determined first. Then, based on the number of pending orders hit by each candidate carrier, the candidate carrier with the largest number of pending orders hit among multiple candidate carriers in the warehousing system is determined as the pre-hit carrier.

[0181] For example, assume that the multiple candidate carriers corresponding to pending order 1 in the warehousing system include carrier A and carrier B. If among the multiple pending orders in the warehousing system, 20 pending orders determine carrier A as the carrier to be picked, and 10 pending orders determine carrier B as the carrier to be picked, then when the number of pending orders hit by each candidate carrier is determined by the push picking module, the number of pending orders hit by carrier A is 20, and the number of pending orders hit by carrier B is 10. If the number of pending orders hit by carrier A is the largest among the multiple candidate carriers, carrier A is determined as the pre-hit carrier for pending order 1.

[0182] It can be understood that determining the candidate vehicle with the largest number of pending orders hit in the warehousing system as the pre-hit vehicle can improve the hit rate.

[0183] In some embodiments, the picking method provided by the embodiments of the present application also includes: if the allocation information of the pending order indicates that the pending order has been allocated a pre-hit vehicle and has not been allocated a pre-dispatching workstation, the push picking module performs the first workstation dispatch processing on the pending order based on preset dispatch constraints and the pre-hit vehicle, and determines the pre-dispatching workstation corresponding to the pending order from multiple picking workstations in the warehousing system.

[0184] Among them, the push picking module performs at least one workstation dispatching process on the order to be processed, including the first workstation dispatching process.

[0185] In some embodiments, the preset dispatch constraint refers to the condition for dispatching pending orders to the picking station, that is, the preset dispatch constraint is used to constrain the matching of pending orders with the picking station. Among them, the preset dispatch constraint may include at least one of the dispatch strategy of the picking station and the order priority of the pending order. The dispatch strategy of the picking station may include at least one of the dispatch type of the picking station and the dispatch priority of the picking station. In the embodiment of the present application, the preset dispatch constraint and the dispatch strategy of the picking station can be set according to actual needs, and the embodiment of the present application is not limited to this. In the following embodiment, the preset dispatch constraint includes the dispatch strategy of the picking station and the order priority of the pending order, and the dispatch strategy of the picking station includes the dispatch type of the picking station and the dispatch priority of the picking station as an example for exemplary description.

[0186] Exemplarily, the dispatch type of a picking station may refer to the region (such as city, store, etc.) to which the pending orders picked by the picking station belong. For example, picking station P1 is used to pick pending orders corresponding to store A, and picking station P2 is used to pick pending orders corresponding to city B. Then the dispatch type of picking station P1 is store A, and the dispatch type of picking station P2 is city B. The dispatch type of a picking station may also refer to the type of goods in the pending orders picked by the picking station (such as daily necessities, beverages, etc.). For example, picking station P3 is used to pick pending orders corresponding to daily necessities, and picking station P4 is used to pick pending orders corresponding to beverages. Then the dispatch type of picking station P3 is daily necessities, and the dispatch type of picking station P4 is beverages.

[0187] As another example, the dispatching priority of the picking workstation can be used to indicate the working state of the picking workstation. For example, the dispatching priority of the picking workstation whose working state is idle is higher than the dispatching priority of the picking workstation whose working state is normal, and the dispatching priority of the picking workstation whose working state is normal is higher than the dispatching priority of the picking workstation whose working state is busy. The dispatching priority of the picking workstation can also be used to indicate the number of vehicles parked in the vehicle docking area corresponding to the picking workstation. For example, the more vehicles parked in the vehicle docking area corresponding to the picking workstation, the lower the dispatching priority of the picking workstation; the fewer vehicles parked in the vehicle docking area corresponding to the picking workstation, the higher the dispatching priority of the picking workstation. The dispatching priority of the picking workstation can also be used to indicate the remaining picking time of the picking workstation. For example, the longer the remaining picking time of the picking workstation, the lower the dispatching priority of the picking workstation; the shorter the remaining picking time of the picking workstation, the higher the dispatching priority of the picking workstation. Among them, the remaining picking time of the picking workstation refers to the time it takes for all vehicles docked in the vehicle docking area corresponding to the picking workstation to complete picking. The remaining picking time of the picking workstation can be determined by predicting the time required for each vehicle docked in the vehicle docking area corresponding to the picking workstation to complete picking.

[0188] It should be noted that the dispatch type and dispatch priority of the picking workstation in the embodiment of the present application can be set according to actual needs, and the embodiment of the present application does not limit this.

[0189] In some embodiments, the order priority of pending orders can be used to indicate the priority of the orders that the picking station uses for picking. For example, picking station P5 is used to pick pending orders with high order priority, and picking station P6 is used to pick pending orders with medium order priority. Among them, the order priority can be determined according to the goods heat of the goods included in the order. The heat of goods is used to indicate the picking frequency of goods; the higher the picking frequency of goods, the higher the heat of goods, and the higher the order priority of the pending orders including the goods; the lower the picking frequency of goods, the lower the heat of goods, and the lower the order priority of the pending orders including the goods. In the embodiment of the present application, the order priority of pending orders can be set according to actual needs, and the embodiment of the present application is not limited to this.

[0190] like Figure 7 As shown, in some embodiments, the push picking module performs the initial workstation dispatch processing on the pending order based on the preset dispatch constraints and pre-hit vehicles of each picking task, and determines the pre-dispatching workstation corresponding to the pending order from multiple picking workstations in the warehousing system, including S701-S703.

[0191] S701. Determine a candidate workstation corresponding to the order to be processed from multiple picking workstations based on preset dispatch constraints through a push picking module.

[0192] In some embodiments, a push picking module performs a first screening of multiple picking workstations in the warehousing system according to preset dispatch constraints, and determines the picking workstations in the warehousing system that can be used to pick pending orders as candidate workstations.

[0193] Exemplarily, the preset dispatch constraint may include one condition or multiple conditions. When the preset dispatch constraint includes one condition, the push-picking module determines the picking workstation in the warehousing system that meets the preset dispatch constraint as a candidate workstation. When the preset dispatch constraint includes multiple conditions, the push-picking module determines the picking workstation in the warehousing system that meets at least one of the multiple conditions included in the preset dispatch constraint as a candidate workstation.

[0194] For example, if the preset dispatching constraints may include the dispatching strategy of the picking workstation and the order priority of the pending orders, then the picking workstations in the warehousing system that meet at least one of the following conditions: an idle working status, a picking workstation whose dispatching type matches the pending orders, and a picking workstation whose order priority satisfies the order priority constraints of the pending orders.

[0195] S702. Determine a fourth matching value between the pre-selected carrier corresponding to each pending order and each candidate workstation through a push picking module.

[0196] In some embodiments, the fourth matching value is used to indicate the matching degree between the pre-hit carrier and each candidate workstation.

[0197] It should be noted that the method for determining the fourth matching value is the same as the method for determining the first matching value, and will not be described again here to avoid repetition.

[0198] S703: Determine the candidate workstation with the highest fourth matching value among the multiple candidate workstations as the pre-assignment workstation corresponding to the order to be processed.

[0199] In some embodiments, the push-picking module can first perform the first carrier hit processing on the pending order, and then perform the first workstation dispatch processing; the push-picking module can also first perform the first workstation dispatch processing on the pending order, and then perform the first carrier hit processing. The embodiment of the present application does not limit the allocation order of the pre-hit carrier and the pre-dispatching workstation.

[0200] Exemplarily, if a pending order is not assigned a pre-hit carrier and a pre-dispatching workstation, the pending order can be processed to perform the first carrier hit processing based on the preset dispatch constraints of each picking task through the push picking module to assign a pre-dispatching workstation to the pending order. At this time, the pending order has been assigned a pre-dispatching workstation and has not been assigned a pre-hit carrier, and the push picking module can be used to determine the number of pending orders hit by each candidate carrier, and the candidate carrier with the largest number of pending orders hit among multiple candidate carriers in the warehousing system is determined as the pre-hit carrier. In this way, the first workstation dispatch processing and the first carrier hit processing of the pending order will be completed, so that the pending order has been assigned a pre-hit carrier and a pre-dispatching workstation.

[0201] S202. Determine a target order from multiple pending orders through a pull picking module based on warehouse inventory environment information, as well as the pending picking carriers and target workstations corresponding to each pending order.

[0202] In some embodiments, the warehouse inventory environment information may include current location information of multiple carriers in the warehouse system, storage location information of multiple targets in the warehouse system, inventory quantities of multiple targets in the warehouse system, current location information of multiple handling equipment in the warehouse system, location information of multiple workstations in the warehouse system, working status of multiple workstations, etc. The warehouse inventory environment information may be used to indicate the current picking demand. The target order is an order that meets the current picking demand among multiple pending orders.

[0203] For example, if it is preset that the pending orders of store A need to be picked first during the period of 8-10 o'clock, then during the period of 8-10 o'clock, the pull-picking module determines the order corresponding to store A from multiple pending orders when the order type of picking workstation P1 is determined to be store A according to the warehouse inventory environment information, and then determines the order corresponding to store A whose target workstation is picking workstation P1 as the target order. If the warehouse inventory environment information indicates that picking workstation P3 is picking pending orders including goods A at the current moment, then the order with goods A stored on the to-be-picked carrier and whose corresponding target workstation is picking workstation P3 among the multiple pending orders can be determined as the target order.

[0204] S203, generating a to-be-picked task based on the to-be-picked carrier corresponding to the target order through the pull-picking module, and controlling the target workstation to execute the to-be-picked task corresponding to the target order.

[0205] In some embodiments, when the pull-type picking module generates to-be-picked tasks based on the to-be-picked carrier corresponding to the target order, the number of to-be-picked tasks generated may be one or more, which is not limited in the embodiments of the present application.

[0206] In some embodiments, the transport equipment can be controlled to transport the carrier to be picked corresponding to the task to be picked to the target workstation, and after the carrier to be picked moves to the operation area corresponding to the target workstation, the target workstation is controlled to execute the task to be picked. There can be one or more transport equipment. When there is one transport equipment, the transport equipment is controlled to transport each carrier to be picked to the target workstation in sequence. When there are multiple transport equipment, multiple transport equipments can be controlled to transport the carrier to be picked to the target workstation respectively. In order to improve the utilization rate of the transport equipment, the transport equipment can leave after transporting the carrier to be picked to the carrier docking area corresponding to the target workstation. Afterwards, if the carrier to be picked needs to be transported, the transport equipment is controlled to transport the carrier to be picked.

[0207] In some embodiments, after the pull picking module executes S202 to determine the target order, the pull picking module can obtain the location information of each carrier and the location information of each workstation in the current warehousing system, and based on the location information of each carrier and the location information of each workstation in the current warehousing system, inspect the carriers to be picked and the target workstations corresponding to the target order, and determine whether to update the carriers to be picked and the target workstations corresponding to the target order based on the inspection results.

[0208] Exemplarily, if the pull-picking module inspects the carriers to be picked and the target workstations corresponding to the target order according to the location information of each carrier and the location information of each workstation in the current storage system, if the inspection result indicates that the carrier to be picked corresponding to the target order meets the re-hit trigger condition, the pull-picking module performs carrier hit processing on the target order to obtain a new carrier to be picked; if the inspection result indicates that the target workstation corresponding to the target order meets the re-dispatch trigger condition, the pull-picking module performs workstation dispatch processing on the target order to obtain a new target workstation. Afterwards, when the pull-picking module executes S203, the pull-picking module generates a task to be picked based on the new carrier to be picked corresponding to the target order, and controls the new target workstation to execute the task to be picked corresponding to the target order. In this way, before the pull-picking module picks the target order, it can determine whether the carrier to be picked and the target workstation corresponding to the target order are the current optimal results by checking the carrier to be picked and the target workstation corresponding to the target order. If the carrier to be picked and the target workstation corresponding to the target order are not the current optimal results, the carrier to be picked and the target workstation corresponding to the target order are updated, which can further improve the picking efficiency of the pull-picking module during pull picking.

[0209] It should be noted that the method for the pull picking module to determine whether the to-be-picked vehicle corresponding to the target order meets the re-hit trigger condition is the same as the method for the push picking module to determine whether the pre-hit vehicle corresponding to the pending order meets the re-hit trigger condition. The method for the pull picking module to determine whether the target workstation corresponding to the target order meets the re-dispatch trigger condition is the same as the method for the push picking module to determine whether the pre-dispatch workstation corresponding to the pending order meets the re-dispatch trigger condition. The method for the pull picking module to perform vehicle hit processing on the target order to obtain a new to-be-picked vehicle is the same as the method for the push picking module to perform vehicle hit processing on the pending order to obtain a new pre-hit vehicle. The method for the pull picking module to perform workstation dispatch processing on the target order to obtain a new target workstation is the same as the method for the push picking module to perform workstation dispatch processing on the pending order to obtain a new pre-dispatch workstation. To avoid repetition, it will not be repeated here.

[0210] In some embodiments, the picking method provided by the embodiments of the present application also includes: generating corresponding picking tasks based on the picking carriers corresponding to each pending order through a push picking module, and controlling the target workstation to execute the picking tasks corresponding to each pending order.

[0211] In some embodiments, the method of generating corresponding tasks to be picked based on the carriers to be picked corresponding to each order to be processed through a push picking module and controlling the target workstation to execute the tasks to be picked corresponding to each order to be processed is the same as the method of generating tasks to be picked based on the carriers to be picked corresponding to the target order through a pull picking module and controlling the target workstation to execute the tasks to be picked corresponding to the target order. To avoid repetition, they will not be repeated here.

[0212] It can be understood that in the embodiment of the present application, since the pull-picking module determines the target order from multiple pending orders based on the vehicle hit processing results and workstation dispatch processing results corresponding to each pending order determined by the push-picking module during the pull-picking process, and then dispatches the target order. Therefore, in order to ensure the immediacy of the pull-picking module, the push-picking module iteratively processes the pending orders so that the pre-hit vehicles and pre-dispatched workstations corresponding to the pending orders can be continuously updated, so that the pull-picking module can determine the target order based on the latest vehicle hit processing results (also called the vehicles to be picked) and the latest workstation dispatch processing results (also called the target workstation) corresponding to each pending order and perform pull-picking on the target order. In this way, the flexibility and picking efficiency of the pull-picking module when performing pull-picking can be guaranteed; the picking hit rate of the push-picking module when performing push-picking can also be improved, the continuity of the picking process can be guaranteed, and the local optimum can be prevented.

[0213] based on Figure 1D , Figure 8 A structural diagram of another picking system is provided, such as Figure 8 As shown, in some embodiments, the picking system may further include a warehouse preparation module, which is coupled to the push picking module.

[0214] The warehouse preparation module is used to obtain the vehicles to be picked and the target workstations corresponding to each pending order, and generate corresponding handling tasks and / or tallying tasks based on the vehicles to be picked and the target workstations corresponding to each pending order through the warehouse preparation module; the handling tasks are used to instruct the handling equipment to pre-transport the vehicles to be picked corresponding to each pending order to the vehicle docking area corresponding to the target workstation; the tallying tasks are used to instruct the tallying workstations in the warehousing system to tally the vehicles to be picked corresponding to each pending order.

[0215] based on Figure 8 The picking system shown, Fig. 9 Provide a flow chart of another picking method, such as Fig. 9 As shown, in some embodiments, the picking method also includes S901-S902.

[0216] S901. Obtain the to-be-picked carrier and target workstation corresponding to each pending order through the warehouse preparation module.

[0217] S902. Generate corresponding handling tasks and / or tallying tasks through the warehouse preparation module based on the to-be-picked carriers and target workstations corresponding to each to-be-processed order.

[0218] In some embodiments, the transport task is used to instruct the transport equipment to pre-transport the vehicles to be picked corresponding to each pending order to the vehicle docking area corresponding to the target workstation; the tallying task is used to instruct the tallying workstation in the warehousing system to tally the vehicles to be picked corresponding to each pending order.

[0219] It is understandable that the warehouse preparation module is used to perform preparatory work. After the handling task is generated by the warehouse preparation module, the handling equipment is controlled to execute the handling task. The carrier to be picked can be pre-handled to transport the carrier to be picked to the carrier docking area corresponding to the target workstation, which can reduce the handling distance in the actual picking process. After the tallying task is generated by the warehouse preparation module, the handling equipment can be controlled to transport the carrier to be picked to the tallying workstation in the warehousing system, and the tallying workstation can be controlled to tally the carrier to be picked corresponding to each pending order, so as to concentrate the goods hit by the pending order on one or more carriers to be picked, which can improve the hit rate in the picking process and reduce the number of handling times. It should be noted that the method of controlling the tallying workstation to tally the carrier to be picked is a prior art and will not be repeated here.

[0220] Fig.10A structural diagram of another picking system is provided, such as Fig.10 As shown, in some embodiments, the picking system includes a push picking module, a pull picking module and a warehouse preparation module. The push picking module obtains pending orders from the order pool, and then pre-processes the pending orders in combination with the storage inventory environment information at the first moment, that is, performs vehicle hit processing and workstation dispatch processing on the pending orders to determine the pre-hit vehicles and pre-dispatched workstations corresponding to the pending orders at the first moment; then, the push picking module obtains the picking status of the pull picking module, and determines whether the pending orders will be subjected to vehicle hit processing and / or workstation dispatch processing again in combination with the storage inventory environment and the picking status of the pull picking module at the second moment. Among them, the first moment is earlier than the second moment. The warehouse preparation module performs preparation work according to the pre-processing results and / or adjustment results of the push picking module, and at this time, the storage inventory environment will be synchronously updated with the preparation work corresponding to the warehouse preparation module. The pre-processing results include the pre-hit vehicles and pre-dispatching workstations corresponding to the pending orders, and the adjustment results include the vehicles to be picked and the target workstations corresponding to the pending orders. The pull-picking module can select the target order from the order pool according to the warehouse inventory environment at the third moment, and obtain the processing results and / or adjustment results output by the push-picking module according to the target order to determine the vehicles to be picked and the target workstations corresponding to the target order. After the target workstation completes the picking of the vehicles to be picked, the target order is shipped out.

[0221] based on Fig.10 The picking system shown, Fig.11 Provides a flow chart of another picking method, which is applied to Fig.10 In the picking system shown, Fig.11As shown, in some embodiments, the picking method includes: the push picking module obtains the pending order, and if it is determined that the pending order is pre-hit processed for the first time (also known as vehicle hit processing), that is, the pending order is not assigned a pre-hit vehicle and a pre-dispatching order, the pending order is pre-hit processed to obtain a pre-hit result; if it is determined that the pending order is pre-dispatched for the first time (also known as workstation dispatch processing), the pending order is pre-dispatched according to the pre-hit result to obtain a pre-dispatching result. If it is determined that the pending order is not pre-hit processed for the first time, the pre-hit result corresponding to the pending order is evaluated to determine whether the pending order needs to be re-pre-hit processed; if it is determined that the pending order needs to be re-pre-hit processed, the pending order is re-pre-hit processed according to the pre-hit result corresponding to the pending order to obtain a new pre-hit result. If it is determined that this is not the first time that a pending order is pre-dispatched, determine whether the pending order needs to be pre-dispatched again based on the pre-hit result corresponding to the pending order; if it is determined that the pending order needs to be pre-dispatched again, pre-dispatched again for the pending order based on the pre-hit result currently corresponding to the pending order, and obtain a new pre-dispatched result. Among them, the pre-hit result is used to indicate the pre-hit vehicle assigned to the pending order. The pre-dispatched result is used to indicate the pre-dispatched workstation assigned to the pending order. Finally, obtain the latest pre-hit result and pre-dispatched result corresponding to each pending order, determine the target order from multiple pending orders based on the latest pre-hit result and pre-dispatched result corresponding to each pending order, and pick or sort the target order based on the latest pre-hit result and pre-dispatched result corresponding to the target order.

[0222] Based on the same inventive concept, the present application also provides a picking device, such as Fig.12 As shown, the picking device includes a push-type picking module 1201 and a pull-type picking module 1202 .

[0223] The push picking module 1201 is used to obtain multiple pending orders, and based on the allocation information of each pending order, perform at least one vehicle hit processing and at least one workstation dispatch processing on each pending order, so as to obtain the pending picking vehicle and target workstation corresponding to each pending order; wherein the allocation information is used to indicate the hit relationship between the pending order and multiple candidate vehicles in the warehousing system, and the dispatch relationship between the pending order and multiple picking workstations in the warehousing system;

[0224] The pull picking module 1202 is used to determine the target order from multiple pending orders based on the warehouse inventory environment information, as well as the pending picking vehicles and target workstations corresponding to each pending order; generate pending picking tasks based on the pending picking vehicles corresponding to the target order, and control the target workstation to execute the pending picking tasks corresponding to the target order.

[0225] In some embodiments, the push picking module 1201 is also used to, if the allocation information of the pending order indicates that the pending order has been allocated a pre-hit vehicle and a pre-dispatch workstation, then, when it is determined that the pre-hit vehicle corresponding to the pending order meets the re-hit trigger condition, perform at least one vehicle hit processing on the pending order, and determine the to-be-picked vehicle corresponding to the pending order from multiple candidate vehicles; when it is determined that the pre-dispatch workstation meets the re-dispatch trigger condition, perform at least one workstation dispatch processing on the pending order, and determine the target workstation corresponding to the pending order from multiple picking workstations.

[0226] In some embodiments, the push picking module 1201 is also used to determine a first distance between the pre-hit vehicle corresponding to the pending order and the pre-dispatch workstation; it is also used to determine a first degree of contention corresponding to the pre-hit vehicle corresponding to the pending order; the first degree of contention indicates the degree of contention among multiple picking workstations in the warehousing system for the pre-hit vehicle; if the first distance is greater than a preset distance threshold, and / or the first degree of contention is greater than a preset degree of contention threshold, it is also used to determine that the pre-hit vehicle meets the re-hit trigger condition.

[0227] In some embodiments, the push picking module 1201 is also used to determine the second distance between the pre-dispatch workstation corresponding to the pending order and each candidate vehicle in the warehousing system; determine the candidate vehicle contention degree corresponding to each candidate vehicle in the warehousing system; the candidate vehicle contention degree indicates the degree of contention among multiple picking workstations for each candidate vehicle; based on each second distance and each candidate vehicle contention degree, determine the vehicle to be picked corresponding to the pending order from multiple candidate vehicles in the warehousing system; the closer the second distance, the higher the probability that the candidate vehicle corresponding to the second distance is re-hit as the vehicle to be picked, and the lower the candidate vehicle contention degree, the higher the probability that the candidate vehicle corresponding to the candidate vehicle contention degree is re-hit as the vehicle to be picked.

[0228] In some embodiments, the push picking module 1201 is also used to determine a first matching value between the carrier to be picked and the pre-dispatch workstation; determine a second matching value between the carrier to be picked and each picking workstation in the warehousing system except the pre-dispatch workstation; if there is a third matching value among multiple second matching values, it is determined that the pre-dispatch workstation meets the re-dispatch trigger condition; the matching value difference between the third matching value and the first matching value is greater than a preset matching value threshold.

[0229] In some embodiments, the push picking module 1201 is also used to determine the hit rate of the pre-dispatching workstation corresponding to the pre-dispatching workstation based on the overlap between the vehicle to be picked and the vehicle pool corresponding to the pre-dispatching workstation; determine the second contention degree corresponding to the vehicle to be picked; the second contention degree indicates the degree of contention for the vehicle to be picked among multiple picking workstations in the warehousing system; determine the third distance between the vehicle to be picked and the pre-dispatching workstation; determine the total number of tasks to be picked corresponding to the pre-dispatching workstation after the vehicle to be picked is assigned to the pre-dispatching workstation; determine multiple indicator scores corresponding to the hit rate of the pre-dispatching workstation, the second contention degree, the third distance and the total number of tasks to be picked corresponding to the pre-dispatching workstation, and perform weighted addition of the multiple indicator scores to obtain a first matching value between the vehicle to be picked and the pre-dispatching workstation.

[0230] In some embodiments, the push picking module 1201 is further used to determine the picking workstation with the highest second matching value among multiple picking workstations in the warehousing system except the pre-order workstation as the target workstation.

[0231] In some embodiments, if the pending order is not assigned a pre-hit carrier and a pre-dispatch workstation, the push picking module 1201 is also used to perform the first carrier hit processing on the pending order and determine the pre-hit carrier corresponding to the pending order from multiple candidate carriers.

[0232] In some embodiments, the push picking module 1201 is also used to determine the number of pending orders hit by each candidate carrier, and determine the candidate carrier with the largest number of pending orders hit among multiple candidate carriers in the warehousing system as the pre-hit carrier.

[0233] In some embodiments, if a pre-hit vehicle has been assigned to the pending order but no pre-dispatching workstation has been assigned, the push picking module 1201 is also used to perform the first workstation dispatch processing on the pending order based on preset dispatch constraints and the pre-hit vehicle, and determine the pre-dispatching workstation corresponding to the pending order from multiple picking workstations in the warehousing system.

[0234] In some embodiments, the push picking module 1201 is also used to determine the candidate workstation corresponding to the pending order from multiple picking workstations based on the preset dispatching constraints; determine the fourth matching value between the pre-hit vehicle corresponding to each pending order and each candidate workstation; and determine the candidate workstation with the highest fourth matching value among the multiple candidate workstations as the pre-dispatching workstation corresponding to the pending order.

[0235] In some embodiments, the push picking module 1201 is further used to generate picking tasks based on the picking carriers corresponding to each pending order, and control the target workstation to execute the picking tasks corresponding to each pending order.

[0236] In some embodiments, the picking device further comprises a warehouse preparation module;

[0237] The warehouse preparation module is also used to obtain the vehicles to be picked and the target workstations corresponding to each pending order; based on the vehicles to be picked and the target workstations corresponding to each pending order, corresponding handling tasks and / or tallying tasks are generated; the handling tasks are used to instruct the handling equipment to pre-transport the vehicles to be picked corresponding to each pending order to the vehicle docking area corresponding to the target workstation; the tallying tasks are used to instruct the tallying workstations in the warehousing system to tally the vehicles to be picked corresponding to each pending order.

[0238] like Fig.13 As shown, it is a schematic diagram of the internal structure of a robot provided in this embodiment. The robot includes a processor, a memory, a communication interface, a display screen and an input device connected by a system bus. Among them, the processor of the robot is used to provide computing and control capabilities. The memory of the robot includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the robot is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a picking method is implemented. The display screen of the robot can be a liquid crystal display screen or an electric first ink display screen, and the input device of the robot can be a touch layer covered on the display screen, or a button, a trackball or a touchpad set on the robot shell, or an external keyboard, touchpad or mouse, etc.

[0239] like Fig.14 As shown, it is a schematic diagram of the internal structure of an electronic device provided in this embodiment. The electronic device may be a server. The electronic device includes a processor, a memory and a network interface connected via a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the electronic device is used to store height parameter quantities and three-dimensional map quantity data. The network interface of the electronic device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a picking method is implemented.

[0240] Those skilled in the art will understand that Fig.13 and Fig.14The structure shown in the figure is merely a block diagram of a partial structure related to the present application scheme, and does not constitute a limitation on the robot and electronic device to which the present application scheme is applied. The specific robot and electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0241] In a specific implementation, an embodiment of the present application provides an electronic device, including a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the method in any of the above embodiments are implemented.

[0242] In a specific implementation, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method in any of the above embodiments are implemented.

[0243] In a specific implementation, an embodiment of the present application provides a computer program product, including a computer program, which implements the steps of the method in any of the above embodiments when executed by a processor.

[0244] In a specific implementation, an embodiment of the present application provides a computer program, which, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0245] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and quantitative data (including but not limited to quantitative data for analysis, quantitative data for storage, quantitative data for display, etc.) involved in this application are all information and quantitative data authorized by the user or fully authorized by all parties. A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it may include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The quantity database involved in each embodiment provided in this application may include at least one of a relational quantity database and a non-relational quantity database. The non-relational quantity database may include a distributed quantity database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on the first calculation, etc., but is not limited thereto.

[0246] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0247] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A picking method, characterized in that: The method is applied to a picking system, the picking system comprising a push picking module and a pull picking module; The method comprises: A plurality of pending orders are obtained through the push picking module, and based on the allocation information of each pending order, at least one vehicle hit processing and at least one workstation dispatch processing are performed on each pending order to obtain a pending picking vehicle and a target workstation corresponding to each pending order; wherein the allocation information is used to indicate a hit relationship between the pending order and a plurality of candidate vehicles in the warehousing system, and a dispatch relationship between the pending order and a plurality of picking workstations in the warehousing system; Based on the allocation information of each of the pending orders, performing at least one carrier hit processing and at least one workstation dispatch processing on each of the pending orders to obtain the to-be-picked carrier and target workstation corresponding to each of the pending orders, including: If the allocation information of the pending order indicates that the pending order has been allocated a pre-hit vehicle and a pre-dispatching workstation, then, upon determining that the pre-hit vehicle corresponding to the pending order meets the re-hit trigger condition, the push-picking module performs at least one vehicle hit processing on the pending order, and determines the to-be-picked vehicle corresponding to the pending order from a plurality of candidate vehicles; upon determining that the pre-dispatching workstation meets the re-dispatching trigger condition, the push-picking module performs at least one workstation dispatch processing on the pending order, and determines the target workstation corresponding to the pending order from a plurality of picking workstations; the re-hit trigger condition is used to indicate whether to perform vehicle hit processing on the pending order; the re-dispatching trigger condition is used to indicate whether to perform workstation dispatch processing on the pending order; Determining a target order from a plurality of pending orders by the pull-picking module based on warehouse inventory environment information, and the pending picking carriers and the target workstations corresponding to each pending order; the warehouse inventory environment information is used to indicate current picking requirements; The pull-picking module generates a task to be picked based on the carrier to be picked corresponding to the target order, and controls the target workstation to execute the task to be picked corresponding to the target order.

2. The method according to claim 1, characterized in that The determining that the pre-order workstation corresponding to the pending order meets a re-hit trigger condition includes: Determine, by the push picking module, a first distance between the pre-selected carrier corresponding to the order to be processed and the pre-assignment workstation; Determining a first contention degree corresponding to the pre-selected carrier corresponding to the pending order by the push picking module; the first contention degree indicates the contention degree of the multiple picking workstations in the warehousing system for the pre-selected carrier; If the first distance is greater than a preset distance threshold, and / or the first contention degree is greater than a preset contention degree threshold, it is determined that the pre-hit vehicle meets the re-hit trigger condition.

3. The method according to claim 2, characterized in that When it is determined that the pre-hit carrier corresponding to the pending order meets the re-hit trigger condition, the push picking module performs at least one carrier hit process on the pending order to determine the to-be-picked carrier corresponding to the pending order from a plurality of candidate carriers, including: Determine, by the push picking module, a second distance between the pre-assignment workstation corresponding to the pending order and each of the candidate carriers in the warehousing system; Determining the candidate carrier contention degree corresponding to each of the candidate carriers in the storage system by the push picking module; the candidate carrier contention degree indicates the degree of contention of the multiple picking workstations for each of the candidate carriers; Based on each of the second distances and the degree of contention of each of the candidate vehicles, the vehicle to be picked corresponding to the pending order is determined from multiple candidate vehicles; the shorter the second distance, the higher the probability that the candidate vehicle corresponding to the second distance is re-hit as the vehicle to be picked, and the lower the degree of contention of the candidate vehicle, the higher the probability that the candidate vehicle corresponding to the degree of contention of the candidate vehicle is re-hit as the vehicle to be picked.

4. The method according to claim 1, characterized in that: The determining that the pre-order dispatching workstation corresponding to the pending order meets the re-order dispatching triggering condition includes: Determine, by the push picking module, a first matching value between the to-be-picked carrier corresponding to the to-be-processed order and the pre-assignment workstation; Determine, by the push picking module, a second matching value between the carrier to be picked and each picking workstation in the warehousing system except the pre-order workstation; If there is a third matching value among the plurality of second matching values, it is determined that the pre-dispatch workstation meets the re-dispatch trigger condition; and the matching value difference between the third matching value and the first matching value is greater than a preset matching value threshold.

5. The method according to claim 4, characterized in that The determining of a first matching value between the to-be-picked carrier corresponding to the to-be-processed order and the pre-order dispatching workstation includes: Determine the hit rate of the pre-dispatching workstation corresponding to the pre-dispatching workstation by the push picking module based on the overlap between the carrier to be picked and the carrier pool corresponding to the pre-dispatching workstation; Determine a second contention degree corresponding to the carrier to be picked by the push picking module; the second contention degree indicates the contention degree of the multiple picking workstations in the warehousing system for the carrier to be picked; Determine a third distance between the to-be-picked carrier and the pre-dispatching workstation by using the push-picking module; After the push-picking module determines that the carrier to be picked is allocated to the pre-dispatching workstation, the total number of tasks to be picked corresponding to the pre-dispatching workstation; The push picking module is used to determine multiple indicator scores corresponding to the hit rate of the pre-assignment workstation, the second contention degree, the third distance and the total number of tasks to be picked corresponding to the pre-assignment workstation, and the multiple indicator scores are weightedly added to obtain the first matching value between the carrier to be picked and the pre-assignment workstation.

6. The method according to claim 5, characterized in that When it is determined that the pre-dispatching workstation meets the re-dispatching triggering condition, the push-picking module performs at least one workstation dispatching process on the pending order, and determines the target workstation corresponding to the pending order from the plurality of picking workstations, including: The picking workstation with the highest second matching value among a plurality of picking workstations other than the pre-order dispatching workstation in the warehousing system is determined as the target workstation.

7. The method according to claim 1, characterized in that The method further comprises: If the allocation information of the pending order indicates that the pending order is not assigned the pre-hit carrier and the pre-order dispatch workstation, the push picking module performs the first carrier hit processing on the pending order to determine the pre-hit carrier corresponding to the pending order from the multiple candidate carriers.

8. The method according to claim 7, characterized in that The first carrier hit processing is performed on the pending order by the push picking module, and the pre-hit carrier corresponding to the pending order is determined from a plurality of candidate carriers, including: The push picking module is used to determine the number of pending orders hit by each candidate carrier, and the candidate carrier with the largest number of pending orders hit by the multiple candidate carriers in the warehouse system is determined as the pre-hit carrier.

9. The method according to claim 1, characterized in that: The method further comprises: If the allocation information of the pending order indicates that the pending order has been allocated the pre-hit vehicle but has not been allocated the pre-dispatching workstation, the push picking module performs the first workstation dispatch processing on the pending order based on the preset dispatch constraints and the pre-hit vehicle, and determines the pre-dispatching workstation corresponding to the pending order from the multiple picking workstations.

10. The method according to claim 9, characterized in that The first workstation dispatching process is performed on the pending order by the push picking module based on the preset dispatching constraints and the pre-hit carrier, and the pre-dispatching workstation corresponding to the pending order is determined from a plurality of picking workstations, including: Determine, by the push picking module, a candidate workstation corresponding to the pending order from the plurality of picking workstations based on the preset order dispatching constraints; Determine, by the push picking module, a fourth matching value between the pre-selected carrier corresponding to each of the pending orders and each of the candidate workstations; The candidate workstation with the highest fourth matching value among the multiple candidate workstations is determined as the pre-order dispatching workstation corresponding to the to-be-processed order.

11. The method according to claim 1, characterized in that: The method further comprises: The push picking module generates picking tasks based on the picking carriers corresponding to each of the pending orders, and controls the target workstation to execute the picking tasks corresponding to each of the pending orders.

12. The method according to claim 1, characterized in that The picking system also includes a warehouse preparation module; The method further comprises: Acquire the to-be-picked carrier and the target workstation corresponding to each of the to-be-processed orders through the warehouse preparation module; The warehouse preparation module generates corresponding handling tasks and / or tallying tasks based on the vehicles to be picked corresponding to each of the pending orders and the target workstation; the handling tasks are used to instruct the handling equipment to pre-transport the vehicles to be picked corresponding to each of the pending orders to the vehicle docking area corresponding to the target workstation; the tallying tasks are used to instruct the tallying workstation in the warehousing system to tally the vehicles to be picked corresponding to each of the pending orders.

13. A picking system, characterized in that: include: A push picking module is used to obtain multiple pending orders, and based on the allocation information of each pending order, perform at least one vehicle hit processing and at least one workstation dispatch processing on each pending order, so as to obtain the pending picking vehicle and target workstation corresponding to each pending order; wherein the allocation information is used to indicate the hit relationship between the pending order and multiple candidate vehicles in the warehouse system, and the dispatch relationship between the pending order and multiple picking workstations in the warehouse system; and is also used to determine the pre-hit vehicle and pre-dispatch workstation corresponding to the pending order if the allocation information of the pending order indicates that the pending order has been allocated a pre-hit vehicle and a pre-dispatch workstation. When the carrier meets the re-hit trigger condition, the push-picking module performs at least one carrier hit process on the pending order, and determines the carrier to be picked corresponding to the pending order from multiple candidate carriers; when it is determined that the pre-dispatch workstation meets the re-dispatch trigger condition, the push-picking module performs at least one workstation dispatch process on the pending order, and determines the target workstation corresponding to the pending order from multiple picking workstations; the re-hit trigger condition is used to indicate whether to perform carrier hit process on the pending order; the re-dispatch trigger condition is used to indicate whether to perform workstation dispatch process on the pending order; The pull picking module is used to determine the target order from multiple pending orders based on the warehouse inventory environment information, and the pending picking carriers and the target workstations corresponding to each pending order; the warehouse inventory environment information is used to indicate the current picking needs; based on the pending picking carriers corresponding to the target order, a pending picking task is generated, and the target workstation is controlled to execute the pending picking task corresponding to the target order.

14. The picking system according to claim 13, characterized in that: Also includes: The warehouse preparation module is used to obtain the vehicles to be picked and the target workstation corresponding to each of the pending orders, and generate corresponding handling tasks and / or tallying tasks based on the vehicles to be picked and the target workstation corresponding to each of the pending orders through the warehouse preparation module; the handling tasks are used to instruct the handling equipment to pre-handle the vehicles to be picked corresponding to each of the pending orders to the vehicle docking area corresponding to the target workstation; the tallying tasks are used to instruct the tallying workstation in the warehousing system to tally the vehicles to be picked corresponding to each of the pending orders.

15. The picking system according to claim 13 or 14, characterized in that: The push picking module is further used to generate picking tasks based on the picking carriers corresponding to each of the pending orders, and control the target workstation to execute the picking tasks corresponding to each of the pending orders.

16. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method according to any one of claims 1 to 12 when executing the computer program.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 12 are implemented.

18. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 12.

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