A warehouse partitioning method, device, equipment and warehouse system

Abstract

This application discloses a warehouse partitioning method, apparatus, equipment, and warehouse system. The method includes: dividing multiple physical aisles into multiple target sub-aisles based on a first quantity and the task load to be executed corresponding to each operation point, such that the number of target sub-aisles is the first quantity. When a physical aisle includes at least two target sub-aisles, a first difference between the task loads to be executed corresponding to any two target sub-aisles within the same physical aisle is less than the average task load, and the sum between the task loads to be executed corresponding to any two target sub-aisles within the same physical aisle is greater than the average task load. The operation points within the target sub-aisles are continuous and belong to the same physical aisle. According to the technical solution of this application, by dynamically partitioning physical aisles, the number of tasks executed by each robot can be effectively balanced, improving the efficiency of robot handling operations.

Description

Technical Field

[0001] This application relates to the field of intelligent warehousing, specifically to a warehousing zoning method, apparatus, equipment, and warehousing system. Background Technology

[0002] Smart warehousing typically requires automated equipment such as robots to automate the storage, picking, and handling of goods.

[0003] In some existing automated warehousing operations, when robots perform handling tasks, the uneven number of tasks in each robot's fixed storage area leads to wasted robot resources and low efficiency in overall warehouse handling. Summary of the Invention

[0004] In view of this, this application proposes a warehouse zoning method, apparatus, equipment and warehouse system to improve warehouse handling efficiency.

[0005] In a first aspect, this application proposes a warehouse zoning method, which is applied to a warehouse system comprising multiple physical aisles, the method comprising:

[0006] Obtain the first number of robots in the storage area that are in a usable state;

[0007] The workload of tasks to be executed corresponding to each operation point in the storage area is calculated, and the operation point includes spatial location information;

[0008] The plurality of physical lanes are divided into a plurality of target sub-lanes according to the first quantity and the task load to be executed corresponding to each operation point, such that the number of target sub-lanes is the first quantity, and when a physical lane includes at least two target sub-lanes, the first difference between the task loads to be executed corresponding to any two target sub-lanes in the same physical lane is less than the average task load, and the sum between the task loads to be executed corresponding to any two target sub-lanes in the same physical lane is greater than the average task load, wherein the operation points in the target sub-lanes are continuous and belong to the same physical lane, and the average task load is the ratio between the total task load to be executed in the storage area and the first quantity.

[0009] In some embodiments, when there is only one target sub-lane in a physical lane, the total load of tasks to be executed in the physical lane is less than twice the average load of the tasks to be executed.

[0010] In some embodiments, the workload to be executed is the number of tasks to be executed or the time cost of the tasks to be executed.

[0011] In some embodiments, the workload of the tasks to be executed includes the time cost of the tasks to be executed, and the step of calculating the workload of the tasks to be executed corresponding to each operation point in the storage area includes:

[0012] Determine the execution order of at least one task to be executed corresponding to the operation point;

[0013] Calculate the time cost of each task to be executed corresponding to each operation point based on the height of each task to be executed and the execution order.

[0014] In some embodiments, dividing the plurality of physical roadways into a plurality of target sub-roadways according to the first quantity and the task load to be executed corresponding to each operation point includes:

[0015] The two-dimensional planes corresponding to the multiple physical tunnels are transformed into a one-dimensional sequence, wherein each operation point in the one-dimensional sequence includes a physical tunnel identifier and an index information of the operation point.

[0016] The one-dimensional sequence is divided into at least two set schemes according to the task load to be executed corresponding to each operation point. Each set scheme includes the first number of sets, wherein the operation points in each set of each set scheme are continuous and belong to the same physical channel.

[0017] Based on the optimization objective, a target scheme is determined from the at least two set schemes, the target scheme being used to indicate the division of the plurality of physical lanes into the plurality of target sub-lanes.

[0018] In some embodiments, the optimization objective is to minimize the second normal form summation of the second difference corresponding to the set scheme, wherein the second difference is the difference between the total load of the tasks to be executed for each set in the set scheme and the average load of the tasks to be executed.

[0019] In some embodiments, determining the target solution among the at least two set solutions based on the optimization objective includes:

[0020] Calculate the second difference between the total load of tasks to be executed for each set in the set scheme and the average load of tasks to be executed;

[0021] The sum is obtained by summing the second difference corresponding to each set in the set scheme;

[0022] The set scheme with the smallest cumulative sum among the at least two set schemes is determined as the target scheme.

[0023] In some embodiments, dividing the plurality of physical roadways into a plurality of target sub-roadways according to the first quantity and the task load to be executed corresponding to each operation point includes:

[0024] The multiple physical tunnels are divided into multiple sub-tunnels according to each operation point;

[0025] Based on the first quantity and the task load to be executed corresponding to each operation point, the divided multiple sub-lanes are merged into multiple target sub-lanes, so that the number of target sub-lanes is the first quantity, wherein the operation points in the target sub-lanes are continuous and belong to the same physical lane.

[0026] In some embodiments, after dividing the plurality of physical roadways into a plurality of target sub-roadways according to the first quantity and the task load to be executed corresponding to each operation point, the method further includes:

[0027] One robot is assigned to each of the target sub-lanes so that the robot can perform picking and placing tasks in the corresponding target sub-lane.

[0028] Secondly, this application also provides a warehouse zoning device, which is applied to a warehouse system including multiple physical aisles, and the device includes:

[0029] The acquisition module is used to acquire the first number of robots in the storage area that are in a usable state;

[0030] The statistics module is used to count the workload of tasks to be executed corresponding to each operation point in the storage area, wherein the operation point includes spatial location information;

[0031] The partitioning module is used to divide the plurality of physical lanes into a plurality of target sub-lanes according to the first quantity and the task load to be executed corresponding to each operation point, such that the number of target sub-lanes is the first quantity, and when a physical lane includes at least two target sub-lanes, the first difference between the task loads to be executed corresponding to any two target sub-lanes in the same physical lane is less than the average task load, and the sum between the task loads to be executed corresponding to any two target sub-lanes in the same physical lane is greater than the average task load, wherein the operation points in the target sub-lanes are continuous and belong to the same physical lane, and the average task load is the ratio between the total task load to be executed in the storage area and the first quantity.

[0032] Thirdly, this application also provides an electronic device, the electronic device comprising:

[0033] At least one processor; and

[0034] A memory communicatively connected to the at least one processor; wherein,

[0035] The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the methods provided as in the first aspect and any embodiment of the first aspect.

[0036] Fourthly, this application also provides a warehousing system, the system comprising: a robot, electronic equipment as described in the third aspect above, and multiple rows of shelves arranged in a warehousing area, wherein two rows of shelves form a physical aisle, the electronic equipment being used to control the robot to perform handling operations in the physical aisle, the robot moving in the physical aisle and handling goods in the shelves on both sides of the physical aisle.

[0037] Fifthly, this application provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the methods provided in the first aspect and any embodiment of the first aspect.

[0038] In a sixth aspect, this application provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the methods provided in the first aspect and any embodiment of the first aspect.

[0039] The warehousing zoning method, apparatus, equipment, and warehousing system provided in this application can dynamically and reasonably divide multiple physical aisles into multiple target sub-aisles, making the workload of tasks to be performed in each target sub-aisle more balanced. This allows robots to effectively avoid long-distance picking and placing of boxes and interference between robot movement routes when performing warehousing tasks, balances the number of tasks assigned to each robot, improves the efficiency of robot handling operations, and shortens order fulfillment time.

[0040] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0041] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application, and the illustrative embodiments and descriptions thereof are used to explain this application. In the drawings:

[0042] Figure 1 A schematic flowchart illustrating the warehouse zoning method provided in this application embodiment;

[0043] Figure 2 A schematic diagram of a warehouse partitioning scenario provided for an embodiment of this application;

[0044] Figure 3A flowchart illustrating the method for dividing multiple target sub-lanes provided in an embodiment of this application;

[0045] Figure 4 This is a schematic diagram of the structure of the storage partitioning device provided in the embodiments of this application;

[0046] Figure 5 This is a schematic diagram of the structure of an electronic device according to a preferred embodiment of the application. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0048] In a warehousing system, automated operations such as goods storage, picking, and handling can be achieved through automated equipment such as robots. A warehousing system includes at least robots and multiple racks within the warehouse area. Physical aisles are formed between opposing racks. Robots move within these aisles and handle goods on the racks on either side. Each aisle contains multiple operating points for robot handling. Each rack is designed with multiple layers and columns, with each layer capable of storing multiple columns of goods to be handled. Each operating point corresponds to two opposing columns of goods on the racks on either side. The robot moves to the operating point to move goods from higher storage positions to lower buffer positions to complete the handling operation.

[0049] Based on this, this application proposes a warehouse zoning method, apparatus, equipment and warehouse system to dynamically zon the physical aisles, balance the number of tasks assigned to each robot and improve the handling efficiency of the robots.

[0050] Figure 1 A flowchart of a warehouse zoning method provided in one embodiment of this application is applied to the above-mentioned warehouse system application scenario, such as... Figure 1 As shown, the method in this embodiment includes the following steps 110-130.

[0051] Step 110: Obtain the first number of robots in the warehouse that are in a usable state;

[0052] Specifically, in practical applications, robots in the warehouse system will inevitably be in a state of charging or maintenance, which will make these robots unavailable for a certain period of time. Therefore, when this application dynamically partitions the warehouse according to the tasks to be executed, it only obtains the first number of robots available in the target time period, and excludes robots that cannot be used in the target time period, making the warehouse partitioning more reasonable and the subsequent allocation of warehouse tasks more reasonable.

[0053] The target time period can be the current moment, for example, obtaining the first number of available robots at the current moment to immediately partition the warehouse and then assign tasks to the robots. Alternatively, the target time period can be an interval at a preset frequency, for example, dynamically obtaining the first number of available robots at a preset frequency to dynamically partition the warehouse at that preset frequency. Or, the target time period can also be a future period, for example, obtaining the first number of available robots in a future period based on robot maintenance or charging plans to pre-determine warehouse partitioning.

[0054] Step 120: Calculate the workload of tasks to be executed for each operation point in the warehouse area;

[0055] Specifically, each operation point includes spatial location information to mark its spatial location in the physical aisles of the warehouse. Each operation point in this application may correspond to a task load to be executed. For example, when there is a task to be executed (i.e., there are goods that need to be moved) on the shelf column corresponding to the operation point, the task load to be executed corresponding to the operation point is calculated based on the task to be executed corresponding to the operation point. Alternatively, when there is no task to be executed on the shelf column corresponding to the operation point, the task load to be executed corresponding to the operation point is determined to be 0, or the operation point has no corresponding task load to be executed.

[0056] The pending task load refers to either the number of pending tasks at each operation point or the time cost of those tasks. The number of pending tasks can be understood as the total number of tasks the robot needs to complete within the current operation point. The time cost of pending tasks can be understood as the time required for the robot to complete all tasks within the current operation point. If the pending task load is the number of pending tasks, calculating the pending task load for each operation point in the storage area is equivalent to calculating the total number of pending tasks for each operation point in the storage area. If the pending task load is the time cost of pending tasks, the steps for calculating the pending task load for each operation point in the storage area include: determining the execution order of at least one pending task corresponding to each operation point, and then calculating the time cost of the pending tasks for each operation point based on the height of each pending task and its execution order.

[0057] Furthermore, as new warehousing tasks are continuously added and old warehousing tasks are completed, this application can, in accordance with step 110 above, dynamically calculate the workload of tasks to be executed at each operation point in the warehouse area, making the subsequent allocation of warehouse zoning and warehousing tasks more reasonable.

[0058] Step 130: Divide multiple physical roadways into multiple target sub-roadways according to the first quantity and the task load to be executed corresponding to each operation point;

[0059] Specifically, when dividing all physical lanes within the storage area, the number of physical lanes is equal to the first number of robots in the storage area that are in a usable state, so that the number of target sub-lanes is the first number, and each target sub-lane corresponds to one robot that performs the task in the target sub-lane.

[0060] Furthermore, when dividing physical lanes, it is also necessary to ensure that the operation points in the target sub-lanes are continuous and belong to the same physical lane, based on the spatial location information of the operation points. This is because each target sub-lane corresponds to one robot. When a long physical lane is divided into multiple target sub-lanes, multiple robots in a long physical lane need to perform box-moving tasks in parallel, and the task routes of each robot do not interfere with each other and can be dynamically adjusted. In addition, since the target sub-lanes belong to the same physical lane, the robot does not need to cross lanes when performing the task of the corresponding target sub-lane, which helps to improve task execution efficiency.

[0061] The above determines the number of target sub-aisles and the location requirements of the operation points within each target sub-aisle. Given these location and quantity requirements, to achieve a more reasonable "grouping" of operation points within the physical aisles, the workload of tasks to be executed among the target sub-aisles needs to be "as balanced as possible." Specifically, the workload of tasks to be executed at each operation point in a target sub-aisle includes the total workload of tasks to be executed at the corresponding locations on the shelves on both sides of the physical aisle corresponding to the operation point.

[0062] Regarding the aforementioned "balanced" pending task load, this application measures whether the pending task load among each target sub-roadway is "as balanced as possible" based on the average pending task load. Here, the average pending task load is the ratio between the total pending task load in the storage area and the first quantity.

[0063] When a physical roadway includes at least two target sub-roadways, in order to ensure that the load of tasks to be executed among the target sub-roadways is "as balanced as possible", the first difference between the loads of tasks to be executed corresponding to any two target sub-roadways in the same physical roadway must be less than the average load of tasks to be executed, and the sum between the loads of tasks to be executed corresponding to any two target sub-roadways in the same physical roadway must be greater than the average load of tasks to be executed.

[0064] Understandably, if the first difference between the pending task loads corresponding to any two target sub-lanes in the same physical roadway is not less than the average pending task load, or the sum between the pending task loads corresponding to any two target sub-lanes in the same physical roadway is not greater than the average pending task load, then the pending task loads between the target sub-lanes in the same physical roadway will inevitably differ greatly.

[0065] In a like Figure 2 In the specific embodiment shown, for example, there are three rows of shelves in the warehouse area. Two opposite shelves in these three rows form two physical aisles, designated "Physical Aisle 1" and "Physical Aisle 2". Each physical aisle includes operation points for each item on the shelves on both sides, as shown in the figure as "A1...J1, A2...J2". The value of the task load corresponding to each operation point is as follows: Figure 2 As shown, the pending task load for operation point "A1" is "1", the pending task load for operation point "A2" is "8", and so on. Furthermore, the first number of robots in usable condition in the warehouse area is "5", meaning that these two physical lanes need to be divided into five target sub-lanes. The total pending task load for all operation points in these two physical lanes is "100", therefore the average pending task load is "20". In "Partition Scheme X," the partitioning method is the existing method of dividing based on the average length of physical roadways. In "Physical Roadway 1," the values ​​of the task loads to be executed from the first target sub-roadway to the third target sub-roadway are "3," "13," and "36," respectively. The first difference between the task loads corresponding to the first and third target sub-roadways is calculated to be "33," and the first difference between the task loads corresponding to the second and third target sub-roadways is "23," both greater than the average task load of "20." Furthermore, the sum of the task loads corresponding to the first and second target sub-roadways is "16," less than the average task load of "20." These all indicate an "uneven" distribution of the task load. In contrast, "Partition Scheme Y" and "Partition Scheme Z" do not exhibit these issues and can be considered to have a relatively "balanced" distribution of the task load.

[0066] Furthermore, when there is only one target sub-lane in a physical roadway, the total load of tasks to be executed in the physical roadway is less than twice the average load of tasks to be executed. Understandably, if the total load of tasks to be executed in a physical roadway is not less than twice the average load of tasks to be executed, then this physical roadway should be divided into at least two target sub-lanes in order to achieve a "balanced" distribution of task load in the storage area.

[0067] The reason for separating the cases of a physical lane containing only one target sub-lane from those containing multiple target sub-lanes is that the operation points within a target sub-lane must be continuous and belong to the same physical lane, in order to improve the robot's task execution efficiency. For example, in... Figure 2 In the specific embodiment shown, operation point "A1" in "physical lane 1" and operation point "A2" in "physical lane 2" will not be merged into the same target sub-lane. Therefore, when allocating warehousing tasks, the task loads to be executed for operation point "A1" and operation point "A2" will not be considered together.

[0068] More specifically, such as Figure 3 As shown, multiple physical roadways are divided into multiple target sub-roadways according to the first quantity and the task load to be executed corresponding to each operation point, including steps 310-330.

[0069] Step 310: Convert the two-dimensional planes corresponding to multiple physical tunnels into a one-dimensional sequence;

[0070] Specifically, the physical tunnels in a two-dimensional plane are transformed into a one-dimensional sequence by connecting them end to end. This one-dimensional sequence includes operation points in the physical tunnels, and each operation point includes a physical tunnel identifier to represent each physical tunnel, as well as operation point index information to identify the operation point itself. The operation point index information may be, for example, the operation point's identification number.

[0071] Step 320: Divide the one-dimensional sequence into at least two set schemes according to the task load to be executed corresponding to each operation point;

[0072] Specifically, as explained above, at least two allocation results may be obtained during warehouse zoning, and each allocation result includes a first number of target sub-lanes. One allocation result corresponds to one set scheme, and one target sub-lane corresponds to one set; that is, each set scheme includes a first number of sets. Based on the physical lane identifier, the index information of the operation point, and the first number of values, the operation points in the one-dimensional sequence are assigned to the first number of sets to ensure that the operation points in each target sub-lane are continuous and belong to the same physical lane.

[0073] Step 330: Determine the target solution from at least two set solutions based on the optimization objective;

[0074] Specifically, by setting an optimization objective, an optimal target scheme can be determined from the multiple obtained set schemes to indicate the division of multiple physical roadways into multiple target sub-roadways. The optimization objective is to minimize the sum of the second normal forms of the corresponding second differences of the set schemes. Here, the second difference is the difference between the total load of tasks to be executed and the average load of tasks to be executed for each set in a set scheme. The sum of the second normal forms of the second differences can be understood as summing the second normal forms of the second differences for each set in a set scheme. Determining the target scheme from at least two set schemes based on the optimization objective can be understood as identifying the scheme with the smallest sum of the second normal forms of the second differences among at least two set schemes as the target scheme.

[0075] As mentioned above, there are at least two set schemes for partitioning a one-dimensional sequence. Each set scheme includes a first number of sets. When determining the scheme with the smallest sum of the second normal forms of the second difference as the target scheme, it can be done as follows: First, calculate the second difference between the total load of the tasks to be executed and the average load of the tasks to be executed for each set in each set scheme. This second difference is the absolute value. Then, sum the second differences corresponding to each set to obtain the sum of each set scheme. Finally, determine the set scheme with the smallest sum among at least two set schemes as the target scheme.

[0076] For example Figure 2 In the specific embodiment shown, "Partition Scheme Y" and "Partition Scheme Z" are two of multiple set schemes. A target sub-lane represents a set in one set scheme, and the average load of tasks to be executed is "20". In "Partition Scheme Y", the total load of tasks to be executed for each set in this set scheme is "10", "24", "18", "32", and "16", respectively, so the sum of the second differences of this set scheme is "32". In "Partition Scheme Z", the total load of tasks to be executed for each set in this set scheme is "16", "18", "18", "24", and "24", respectively, so the sum of the second differences of this set scheme is "16". It can be seen that the sum of the second differences of "Partition Scheme Z" is less than the sum of the second differences of "Partition Scheme Y", so "Partition Scheme Z" is a better set scheme than "Partition Scheme Y". Moreover, compared with other unshown partition schemes that meet the requirements of the number of partitions and the location of operation points, the sum of "Partition Scheme Z" is the smallest, so "Partition Scheme Z" is the target scheme.

[0077] In a specific embodiment, the above steps can be implemented using dynamic programming (DP). Dynamic programming deals with a multi-stage decision-making problem, starting from an initial state and reaching a final state through the selection of decisions in intermediate stages. The specific framework of the dynamic programming algorithm includes steps such as defining the state, initialization, and state transition equations, which can be specifically set as follows:

[0078] In the state definition step, we define dp[n][j], where n is the first quantity and j is used to represent the partition position in the one-dimensional sequence. As mentioned above, the one-dimensional sequence is composed of "operation points", so the elements of the one-dimensional sequence are "operation points". dp[n][j] represents the minimum value of the sum of the second difference normal forms corresponding to the partition of n sets up to the j-th element of the one-dimensional sequence.

[0079] In the initialization step, dp[n][j] is initialized to dp[1][j]. For all elements j, dp[1][j] represents the second normal form value of the second difference when the first j elements are treated as a set, that is:

[0080] dp[1][j]=(nums[:j]-averageNum)**2 (Formula 1).

[0081] Where nums[:j] represents the load of the tasks to be executed in the set, averageNum represents the average load of the tasks to be executed, and **2 represents the exponentiation operation.

[0082] In the state transition step, define the equation:

[0083] dp[n][j]=min{dp[n-1][ji]+cost(ji,j)|n-1<=i<=j} (Formula 2).

[0084] Where i represents the number of elements traversed when moving from state (dp[n-1][ji]) to the current state (dp[n][j]), cost(ji,j) represents the transition cost or price from position ji to position j, and min{} represents the minimum value of the second normal form accumulation for solving the second difference. The value of the final state can be obtained according to this state transition equation, that is, a target scheme is determined among multiple target schemes.

[0085] Here, reuse Figure 2 The specific embodiments shown summarize the warehouse zoning process and results in this application.

[0086] Under the conditions that "the number of target sub-lanes is the first quantity" and "the operation points in the target sub-lanes are continuous and belong to the same physical lane," multiple schemes including "partition scheme X," "partition scheme Y," and "partition scheme Z" can be obtained. Further, under the conditions that "the first difference between the pending task loads corresponding to any two target sub-lanes in the same physical lane is less than the average pending task load, and the sum of the pending task loads corresponding to any two target sub-lanes in the same physical lane is greater than the average pending task load," "partition scheme X" is eliminated, leaving multiple schemes such as "partition scheme Y" and "partition scheme Z" that satisfy the above conditions. Therefore, the warehousing system can partition the physical lanes according to partition scheme Y or partition scheme Z. Furthermore, under the condition that "the set scheme with the smallest cumulative sum among at least two set schemes is determined as the target scheme," "partition scheme Z" can be determined as the target scheme.

[0087] Regarding step 130 above, in another implementation, multiple physical lanes can first be divided into multiple sub-lanes according to each operation point. Then, based on a first quantity and the workload of tasks to be executed corresponding to each operation point, the divided sub-lanes are merged into multiple target sub-lanes, so that the number of target sub-lanes is the first quantity. The operation points in the target sub-lanes are continuous and belong to the same physical lane. Specifically, the detailed steps and principles of the process of "merging the divided sub-lanes into multiple target sub-lanes according to the first quantity and the workload of tasks to be executed corresponding to each operation point" can be found in steps 310-330, and will not be repeated here.

[0088] In addition, after completing step 130, you can also perform the step of assigning a robot to each target sub-lane so that the robot can perform the picking and placing tasks in the corresponding target sub-lane.

[0089] The warehouse zoning method provided in this application rationally divides multiple physical aisles into multiple target sub-aisles, making the workload of tasks to be performed in each target sub-aisle more balanced. This allows the robot to effectively avoid long-distance picking and placing of goods and interference between the movement routes of the robots when performing warehouse tasks, thus balancing the warehouse tasks assigned to each robot and improving the efficiency of robot handling operations.

[0090] Figure 4 A schematic diagram of a storage partitioning device provided in one embodiment of this application is shown below. Figure 4 As shown, the device in this embodiment includes: an acquisition module 410, a statistics module 420, and a division module 430.

[0091] The acquisition module 410 is used to acquire the first number of robots in the storage area that are in a usable state;

[0092] The statistics module 420 is used to calculate the workload of the tasks to be executed corresponding to each operation point in the storage area. The operation points include spatial location information.

[0093] The partitioning module 430 is used to divide multiple physical lanes into multiple target sub-lanes according to a first quantity and the task load to be executed corresponding to each operation point, such that the number of target sub-lanes is the first quantity, and when a physical lane includes at least two target sub-lanes, the first difference between the task loads to be executed corresponding to any two target sub-lanes in the same physical lane is less than the average task load, and the sum between the task loads to be executed corresponding to any two target sub-lanes in the same physical lane is greater than the average task load. The operation points in the target sub-lanes are continuous and belong to the same physical lane, and the average task load is the ratio between the total task load to be executed in the storage area and the first quantity.

[0094] Figure 5 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application, such as... Figure 5 As shown, the electronic device 500 in this embodiment may include: a memory 501 and a processor 502.

[0095] Processor 502 may be a Central Processing Unit (CPU). ， CPU or other form of processing unit with data processing and / or instruction execution capabilities, and can control other components in electronic device 500 to perform desired functions.

[0096] The memory 501 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 502 may execute the program instructions to implement the methods of the various embodiments of this application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0097] In one example, the electronic device 500 may also include an input device 503 and an output device 504, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0098] The input device 503 may include, for example, a keyboard, a mouse, etc.

[0099] The output device 504 can output various information to the outside, including determined distance information, direction information, etc. The output device 504 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0100] Of course, for the sake of simplicity, Figure 5 Only some of the components of the electronic device 500 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 500 may include any other suitable components depending on the specific application.

[0101] This application also proposes a warehousing system, including: shelves, storage aisles located next to the shelves, a robot that performs handling operations on the goods in the shelves in the storage aisles, and the aforementioned electronic equipment for controlling the robot to perform handling operations.

[0102] Other preferred embodiments, detailed descriptions, technical problems solved, and effects of the warehouse zoning devices, electronic devices, and warehouse systems disclosed in this application are the same as those of the aforementioned warehouse zoning methods, and will not be repeated here. Furthermore, this application also provides a computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section of this specification.

[0103] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0104] In addition to the methods, apparatus, devices, and media described above, this application also provides a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps of the methods according to various embodiments of this application described in the "Exemplary Methods" section of this specification.

[0105] The computer program product can be written in any combination of one or more programming languages ​​to execute the methods of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0106] The preferred embodiments of this application have been described in detail above. However, this application is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this application, various simple modifications can be made to the technical solution of this application, and these simple modifications all fall within the protection scope of this application.

[0107] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this application will not describe the various possible combinations separately.

[0108] Furthermore, various different embodiments of this application can be combined in any way, as long as they do not violate the spirit of this application, they should also be regarded as the content disclosed by this invention.

Claims

1. A warehouse zoning method, characterized in that, The method is applied to a warehousing system, which includes multiple physical aisles, and the method includes: Obtain the first number of robots in the storage area that are in a usable state; The task load to be executed corresponding to each operation point in the warehouse area is calculated. The operation point includes spatial location information. The task load to be executed corresponding to the operation point includes the total task load to be executed at the relative positions on both sides of the shelves in the physical aisle corresponding to the operation point. The plurality of physical lanes are divided into a plurality of target sub-lanes according to the first quantity and the task load to be executed corresponding to each operation point, such that the number of target sub-lanes is the first quantity, and when a physical lane includes at least two target sub-lanes, the first difference between the task loads to be executed corresponding to any two target sub-lanes in the same physical lane is less than the average task load, and the sum between the task loads to be executed corresponding to any two target sub-lanes in the same physical lane is greater than the average task load, wherein the operation points in the target sub-lanes are continuous and belong to the same physical lane, and the average task load is the ratio between the total task load to be executed in the storage area and the first quantity.

2. The warehouse zoning method according to claim 1, characterized in that, When there is only one target sub-lane in a physical lane, the total load of tasks to be executed in the physical lane is less than twice the average load of the tasks to be executed.

3. The warehouse zoning method according to claim 1, characterized in that, The workload of the tasks to be executed is the number of tasks to be executed or the time cost of the tasks to be executed.

4. The warehouse zoning method according to claim 3, characterized in that, The pending task load includes the pending task time cost, and the step of calculating the pending task load corresponding to each operation point in the warehouse area includes: Determine the execution order of at least one task to be executed corresponding to the operation point; Calculate the time cost of each task to be executed corresponding to each operation point based on the height of each task to be executed and the execution order.

5. The warehouse zoning method according to claim 1, characterized in that, The step of dividing the plurality of physical roadways into a plurality of target sub-roadways according to the first quantity and the task load to be executed corresponding to each operation point includes: The two-dimensional planes corresponding to the multiple physical tunnels are transformed into a one-dimensional sequence, wherein each operation point in the one-dimensional sequence includes a physical tunnel identifier and an index information of the operation point. The one-dimensional sequence is divided into at least two set schemes according to the task load to be executed corresponding to each operation point. Each set scheme includes the first number of sets, wherein the operation points in each set of each set scheme are continuous and belong to the same physical channel. Based on the optimization objective, a target scheme is determined from the at least two set schemes, the target scheme being used to indicate the division of the plurality of physical lanes into the plurality of target sub-lanes.

6. The warehouse zoning method according to claim 5, characterized in that, The optimization objective is to minimize the sum of the second normal forms of the second difference corresponding to the set scheme, wherein the second difference is the difference between the total load of the tasks to be executed in each set of the set scheme and the average load of the tasks to be executed.

7. The warehouse zoning method according to claim 5, characterized in that, Determining the target solution among the at least two set solutions based on the optimization objective includes: Calculate the second difference between the total load of tasks to be executed for each set in the set scheme and the average load of tasks to be executed; The sum is obtained by summing the second difference corresponding to each set in the set scheme; The set scheme with the smallest cumulative sum among the at least two set schemes is determined as the target scheme.

8. The warehouse zoning method according to claim 1, characterized in that, The step of dividing the plurality of physical roadways into a plurality of target sub-roadways according to the first quantity and the task load to be executed corresponding to each operation point includes: The multiple physical tunnels are divided into multiple sub-tunnels according to each operation point; Based on the first quantity and the task load to be executed corresponding to each operation point, the divided multiple sub-lanes are merged into multiple target sub-lanes, so that the number of target sub-lanes is the first quantity, wherein the operation points in the target sub-lanes are continuous and belong to the same physical lane.

9. The warehouse zoning method according to any one of claims 1-8, characterized in that, After dividing the plurality of physical roadways into a plurality of target sub-roadways according to the first quantity and the task load to be executed corresponding to each operation point, the method further includes: One robot is assigned to each of the target sub-lanes so that the robot can perform picking and placing tasks in the corresponding target sub-lane.

10. A warehouse partitioning device, characterized in that, The device is applied to a warehousing system, which includes multiple physical aisles, and the device includes: The acquisition module is used to acquire the first number of robots in the storage area that are in a usable state; The statistics module is used to count the load of tasks to be executed corresponding to each operation point in the warehouse area. The operation point includes spatial location information, and the load of tasks to be executed corresponding to the operation point includes the total load of tasks to be executed at the relative positions on both sides of the shelves in the physical aisle corresponding to the operation point. The partitioning module is used to divide the plurality of physical lanes into a plurality of target sub-lanes according to the first quantity and the task load to be executed corresponding to each operation point, such that the number of target sub-lanes is the first quantity, and when a physical lane includes at least two target sub-lanes, the first difference between the task loads to be executed corresponding to any two target sub-lanes in the same physical lane is less than the average task load, and the sum between the task loads to be executed corresponding to any two target sub-lanes in the same physical lane is greater than the average task load, wherein the operation points in the target sub-lanes are continuous and belong to the same physical lane, and the average task load is the ratio between the total task load to be executed in the storage area and the first quantity.

11. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the storage partitioning method as described in any one of claims 1-9.

12. A warehousing system, characterized in that, The system includes: a robot, an electronic device as described in claim 11, and multiple rows of shelves arranged in a warehouse area, wherein two rows of shelves form a physical aisle, the electronic device is used to control the robot to perform handling operations in the physical aisle, the robot moves in the physical aisle and handles goods in the shelves on both sides of the physical aisle.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the warehouse partitioning method as described in any one of claims 1-9.

14. A computer program product comprising a computer program that, when executed by a processor, implements the warehouse partitioning method according to any one of claims 1-9.

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