Material transportation method, system and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a material transportation method, system and device, electronic equipment and a storage medium, and relates to the technical field of warehouse logistics, and the method is applied to a task issuing end, and comprises the steps: obtaining task information of a to-be-processed task for a first warehouse area, and taking the task information as to-be-processed task information; judging whether a to-be-moved bin position represented by a bin position identifier in the to-be-processed task information is higher than the maximum material sorting height supported by the robot or not; and if the to-be-moved-away bin position is not higher than the maximum material sorting height, a bin position identifier is sent to a robot control end, so that the robot control end controls a first robot to travel towards the to-be-moved-away bin position according to the bin position identifier, and the to-be-moved materials in the to-be-moved-away bin position are moved to a target position. Thus, the robot can replace manpower to achieve material transportation in the warehouse, the manual moving distance can be reduced, manpower consumption in the material transportation process can be reduced, and the material transportation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of warehousing and logistics technology, and in particular to a material transportation method, system, device, electronic equipment and storage medium. Background Art

[0002] In the warehousing and logistics scenario, the factory warehouse is often equipped with different storage locations for storing various materials. When the factory receives an order, it needs to manually pick the materials required for the order from the warehouse and transport the materials to the target location. Since the number of orders received by the factory is often large, and the types and quantities of materials required for the orders are also large, a lot of manpower will be consumed in the process of material picking and transportation. At the same time, the efficiency of manual material transportation is also low. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a material transportation method, system, device, electronic device and storage medium to achieve material transportation through robots, reduce manpower consumption in the material transportation process, and improve the efficiency of material transportation. The specific technical solution is as follows:

[0004] In a first aspect of an embodiment of the present application, a material transportation method is first provided, the method being applied to a task-based initiator, the method comprising:

[0005] Obtaining task information of pending tasks for the first storage area as pending task information;

[0006] Determine whether the storage location to be moved out represented by the storage location identifier in the pending task information is higher than the maximum material picking height supported by the robot;

[0007] If the warehouse to be moved out is not higher than the maximum material picking height, the warehouse identification is sent to the robot control end, so that the robot control end controls the first robot to move to the warehouse to be moved out according to the warehouse identification, and transports the materials to be moved in the warehouse to be moved out to the target position.

[0008] Optionally, the sending of the storage location identifier to the robot control end so that the robot control end controls the first robot to move to the storage location to be moved out according to the storage location identifier, and moves the material to be moved in the storage location to be moved out to a target location, including:

[0009] In the case where the materials to be transported represent materials that need to be shipped out of the warehouse in whole pallets, the warehouse location identification is sent to the robot control end, so that the robot control end controls the first robot to move to the warehouse to be moved out according to the warehouse location identification, and picks the materials to be transported from the warehouse to be moved out and transports them to the target location.

[0010] Optionally, the method further includes:

[0011] If the storage location to be moved out is higher than the maximum material picking height, the storage location identifier is sent to the first user terminal corresponding to the first warehouse area, so that the user who logs in to the first user terminal can move the material to be moved from the storage location to be moved out to other storage locations that are not higher than the maximum material picking height according to the storage location identifier, and then send the storage location identifier of the other storage location to the task issuing terminal through the first user terminal;

[0012] Obtaining the location identifier of the other location sent by the first user terminal, and obtaining new task information to be processed;

[0013] Return to the step of determining whether the storage location to be moved out represented by the storage location identifier in the pending task information is higher than the maximum material picking height supported by the robot.

[0014] Optionally, the method further includes:

[0015] If the warehouse to be moved out is not higher than the maximum material picking height, and the material to be transported indicates materials that need to be disassembled and shipped out, the warehouse location identifier and the material identifier of the material to be transported are sent to the second user terminal corresponding to the first warehouse area, so that the user who logs in to the second user terminal can browse the warehouse location identifier and the material identifier, and after the first robot drives to the warehouse to be moved out, the material to be transported from the warehouse to be moved out to the carrying space of the first robot.

[0016] Optionally, the method further includes:

[0017] If the storage location to be moved out is not higher than the maximum material picking height, and the material to be transported indicates materials that need to be disassembled and shipped out, a first task type identifier representing the task of disassembling and shipping out is sent to the robot control end, so that the robot control end controls the first robot to take an empty pallet from the pallet storage area as the carrying space for the first robot before controlling the first robot to drive to the storage location to be moved out.

[0018] Optionally, before obtaining the task information of the to-be-processed tasks for the first storage area as the to-be-processed task information, the method further includes:

[0019] The current tasks to be processed for the first warehouse area are determined from the unfinished tasks for the first warehouse area included in the task wave to be processed; wherein one task wave includes tasks for at least one warehouse area.

[0020] Optionally, determining the current to-be-processed task for the first warehouse area from the unfinished tasks for the first warehouse area included in the to-be-processed task wave includes:

[0021] In a case where the pending tasks for the first warehouse area determined last time are not completed, the current pending tasks for the first warehouse area are determined from the uncompleted tasks for the first warehouse area included in the pending task wave.

[0022] Optionally, determining the current to-be-processed task for the first warehouse area from the unfinished tasks for the first warehouse area included in the to-be-processed task wave includes:

[0023] A first task is determined from unfinished tasks for the first warehouse area included in the task wave to be processed, and the current task to be processed for the first warehouse area is obtained; wherein, among the task waves to be processed, the task wave to which the first task belongs among the unfinished tasks for the first warehouse area has the earliest generation time.

[0024] Optionally, determining the first task from the unfinished tasks for the first warehouse area included in the task wave to be processed to obtain the current task to be processed for the first warehouse area includes:

[0025] If there are multiple first tasks in the unfinished tasks for the first warehouse area included in the task wave to be processed, select a second task from the multiple first tasks as the current task to be processed for the first warehouse area;

[0026] Among them, the distance between the second task and the warehouse location to which the materials required for the pending tasks for the first warehouse area determined last time belong is less than a preset distance; or, among multiple first tasks, the number of warehouse areas corresponding to unfinished tasks in the task wave to which the second task belongs is the smallest; or, among multiple first tasks, the number of channels corresponding to unfinished tasks in the task wave to which the second task belongs is the smallest.

[0027] Optionally, the tasks being processed in other warehouse areas except the first warehouse area are different from the task wave to which the currently determined tasks to be processed for the first warehouse area belong.

[0028] Optionally, before obtaining the task information of the to-be-processed tasks for the first storage area as the to-be-processed task information, the method further includes:

[0029] Receiving an order identifier sent by a third user terminal;

[0030] Based on the materials located in the first warehouse area required for the order represented by the order identifier, the current tasks to be processed for the first warehouse area are determined.

[0031] In a second aspect of the embodiment of the present application, a material transportation system is further provided, the system comprising a task issuing end, a user end, and a robot control end, wherein:

[0032] The task is initiated to execute any of the above-mentioned material transportation methods;

[0033] The user terminal is used to display information received from the task sending terminal to the user;

[0034] The robot control end is used to control the robot to perform tasks according to the information received from the task sending end.

[0035] Optionally, the user terminal is also used to send the location identifier of the other storage location to the task issuing end when the materials to be moved indicate that the materials need to be shipped out of the warehouse in whole pallets, the storage location to be moved from is higher than the maximum material picking height, and the user logged in to the user terminal moves the materials to be moved from the storage location to be moved to other storage locations not higher than the maximum material picking height.

[0036] Optionally, the user terminal is further configured to send a task instruction indicating that the carrying space of the robot is full to the robot control terminal when the material to be transported indicates that the material needs to be disassembled and shipped out of the warehouse, the storage location to be removed is not higher than the maximum material picking height, and the carrying space of the robot executing the task to be processed is full;

[0037] The robot control end is also used to control the robot with remaining carrying space to continue to execute the task to be processed according to the task instruction.

[0038] In a third aspect of the embodiments of the present application, a material transport device is provided, the device is applied to a task initiator, and the device includes:

[0039] A task information acquisition module, used to acquire task information of pending tasks for the first storage area as pending task information;

[0040] A height judgment module, used to judge whether the storage location to be removed represented by the storage location identifier in the pending task information is higher than the maximum material picking height supported by the robot;

[0041] The first sending module is used to send the location identification to the robot control end if the location to be moved out is not higher than the maximum material picking height, so that the robot control end controls the first robot to move to the location to be moved out according to the location identification, and transports the materials to be moved in the location to be moved out to the target position.

[0042] Optionally, the identification sending module is specifically used to send the warehouse location identification to the robot control end when the material to be transported indicates that the material needs to be shipped out of the warehouse in a whole pallet, so that the robot control end controls the first robot to move to the warehouse to be moved out according to the warehouse location identification, and picks the material to be transported from the warehouse to be moved out and transports it to the target location.

[0043] Optionally, the device further comprises:

[0044] A second sending module is used to send the location identifier to the first user terminal corresponding to the first warehouse area if the location to be moved out is higher than the maximum material picking height, so that the user who logs in to the first user terminal can move the material to be moved from the location to be moved out to other locations not higher than the maximum material picking height according to the location identifier, and then send the location identifier of the other location to the task issuing terminal through the first user terminal;

[0045] The information updating module is used to obtain the location identification of the other location sent by the first user terminal, obtain new task information to be processed, and trigger the height judgment module.

[0046] Optionally, the device further comprises:

[0047] The third sending module is used to send the location identifier and the material identifier of the material to be transported to the second user terminal corresponding to the first warehouse area if the location to be moved out is not higher than the maximum material picking height and the material to be transported indicates materials that need to be disassembled and shipped out of the warehouse, so that the user who logs in to the second user terminal can browse the location identifier and the material identifier, and after the first robot drives to the location to be moved out, the material to be transported from the location to be moved out to the carrying space of the first robot.

[0048] Optionally, the device further comprises:

[0049] The fourth sending module is used to send a first task type identifier representing a task of disassembling and shipping out of the warehouse to the robot control end if the warehouse to be moved out is not higher than the maximum material picking height and the material to be transported indicates that the material needs to be disassembled and shipped out of the warehouse, so that the robot control end controls the first robot to take an empty pallet from the pallet storage as the carrying space of the first robot before controlling the first robot to travel to the warehouse to be moved out.

[0050] Optionally, the device further comprises:

[0051] A task determination module, used to determine the current pending tasks for the first warehouse area from the unfinished tasks for the first warehouse area included in the pending task wave; wherein a task wave includes tasks for at least one warehouse area;

[0052] Optionally, the task determination module is specifically used to determine the current pending tasks for the first warehouse area from the unfinished tasks for the first warehouse area included in the pending task wave when the pending tasks for the first warehouse area determined last time are not completed.

[0053] Optionally, the task determination module includes:

[0054] The task determination submodule is used to determine the first task from the unfinished tasks for the first warehouse area included in the task wave to be processed, and obtain the current task to be processed for the first warehouse area; wherein, among the task waves to be processed, the task wave to which the first task belongs among the unfinished tasks for the first warehouse area has the earliest generation time.

[0055] Optionally, the task determination submodule is specifically configured to select a second task from the plurality of first tasks as the current task to be processed for the first warehouse area if there are a plurality of the first tasks in the unfinished tasks for the first warehouse area included in the task wave to be processed;

[0056] Among them, the distance between the second task and the warehouse location to which the materials required for the pending tasks for the first warehouse area determined last time belong is less than a preset distance; or, among multiple first tasks, the number of warehouse areas corresponding to unfinished tasks in the task wave to which the second task belongs is the smallest; or, among multiple first tasks, the number of channels corresponding to unfinished tasks in the task wave to which the second task belongs is the smallest.

[0057] Optionally, the tasks being processed in other warehouse areas except the first warehouse area are different from the task wave to which the currently determined tasks to be processed for the first warehouse area belong.

[0058] Optionally, the device further comprises:

[0059] An order identification receiving module, used for receiving an order identification sent by a third user terminal before obtaining the task information of the to-be-processed task for the first warehouse area as the to-be-processed task information;

[0060] The pending task determination module is used to determine the pending tasks currently for the first warehouse area based on the materials located in the first warehouse area and required for the order represented by the order identifier.

[0061] According to a fourth aspect of the embodiments of the present application, an electronic device is provided, including:

[0062] Memory, used to store computer programs;

[0063] The processor is used to implement any of the above-mentioned material transportation methods when executing the program stored in the memory.

[0064] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned material transportation methods is implemented.

[0065] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-mentioned material transportation methods.

[0066] An embodiment of the present application provides a material transportation method, which is applied to a task issuing end and can obtain task information of pending tasks in a first warehouse area as pending task information; determine whether the warehouse to be moved away represented by the warehouse location identification in the pending task information is higher than the maximum material picking height supported by the robot; if the warehouse to be moved away is not higher than the maximum material picking height, send the warehouse location identification to the robot control end, so that the robot control end controls the first robot to move to the warehouse to be moved away according to the warehouse location identification, and transport the materials to be transported in the warehouse to be moved away to the target position.

[0067] Based on the above processing, the task issuing end can obtain the task information (i.e., pending task information) of the pending tasks for the warehouse area (i.e., the first warehouse area) where the material currently to be transported (i.e., the material to be transported) is located, and determine the warehouse location (i.e., the warehouse location to be moved away) where the material to be transported is located based on the warehouse location identifier contained in the pending task information. Furthermore, it can be determined whether the warehouse location to be moved away is higher than the maximum material picking height supported by the robot. If the warehouse location to be moved away is not higher than the maximum material picking height, the warehouse location identifier can be sent to the robot control end.

[0068] Correspondingly, after receiving the storage location identifier, the robot control end can control the robot for transporting materials (i.e., the first robot) to move to the storage location to be removed represented by the storage location identifier, and transport the materials to be transported in the storage location to be removed to the target location. In other words, the robot can replace manpower in the warehouse to transport materials, reduce manpower consumption in the material transportation process, and improve the efficiency of material transportation.

[0069] Furthermore, in the scenario of the present application, since the robot can travel to the storage location to be removed, it is possible to avoid the increase in the distance of manual movement and manpower consumption caused by manual movement from the storage location to be removed to the location of the robot. This can also reduce the distance of manual movement, further reduce manpower consumption in the material transportation process, and improve the efficiency of material transportation.

[0070] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0072] Figure 1 A first flow chart of the material transportation method provided in the embodiment of the present application;

[0073] Figure 2 A second flow chart of the material transportation method provided in the embodiment of the present application;

[0074] Figure 3 A third flow chart of the material transportation method provided in the embodiment of the present application;

[0075] Figure 4 A fourth flow chart of the material transportation method provided in an embodiment of the present application;

[0076] Figure 5 A schematic diagram of a task wave involved in a storage area provided in an embodiment of the present application;

[0077] Figure 6 A structural schematic diagram of a material transportation system provided in an embodiment of the present application;

[0078] Figure 7 A first interactive schematic diagram of a material transportation system provided in an embodiment of the present application;

[0079] Figure 8a A first schematic diagram of a PDA (Personal Digital Assistant) function selection interface provided in an embodiment of the present application;

[0080] Figure 8b A second schematic diagram of a PDA function selection interface provided in an embodiment of the present application;

[0081] Figure 9aA schematic diagram of an interface displayed by a PDA when executing a high-level warehouse full-pallet outbound task provided in an embodiment of the present application;

[0082] Figure 9b A schematic diagram of an interface for completing the binding of a pallet and a bin using a PDA provided in an embodiment of the present application;

[0083] Fig.10a A schematic diagram of a PDA display interface when performing a disassembly and delivery task provided in an embodiment of the present application;

[0084] Fig.10b A schematic diagram of a PDA display interface after clicking full capacity provided in an embodiment of the present application;

[0085] Fig.11 A second interactive schematic diagram of a material transportation system provided in an embodiment of the present application;

[0086] Fig.12a A first schematic diagram of a PDA order accompanying function interface provided in an embodiment of the present application;

[0087] Figure 12b A second schematic diagram of a PDA order accompanying function interface provided in an embodiment of the present application;

[0088] Fig.13 A schematic diagram of the structure of a material transport device provided in an embodiment of the present application;

[0089] Fig.14 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0090] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0091] In the warehousing and logistics scenario, the factory warehouse is often equipped with different storage locations for storing various materials. When the factory receives an order, it needs to manually pick the materials required for the order from the warehouse and transport the materials to the target location. Since the number of orders received by the factory is often large, and the types and quantities of materials required for the orders are also large, a lot of manpower will be consumed in the process of material picking and transportation. At the same time, the efficiency of manual material transportation is also low.

[0092] In order to realize the transportation of materials by robots, reduce the manpower consumption in the material transportation process, and improve the efficiency of material transportation, the embodiment of the present application provides a material transportation method, which is applied to the task initiation. Figure 1 , Figure 1 The first flow chart of the material transportation method provided in the embodiment of the present application. The material transportation method may include the following steps:

[0093] Step S101: Acquire task information of tasks to be processed for the first warehouse area as task information to be processed.

[0094] Step S102: Determine whether the storage location to be moved out represented by the storage location identifier in the pending task information is higher than the maximum material picking height supported by the robot.

[0095] Step S103: If the storage location to be moved out is not higher than the maximum material picking height, send a storage location identifier to the robot control end so that the robot control end controls the first robot to move to the storage location to be moved out according to the storage location identifier, and transports the materials to be transported in the storage location to be moved out to the target location.

[0096] Based on the above processing, the task issuing end can obtain the task information (i.e., pending task information) of the pending tasks for the warehouse area (i.e., the first warehouse area) where the material currently to be transported (i.e., the material to be transported) is located, and determine the warehouse location (i.e., the warehouse location to be moved away) where the material to be transported is located based on the warehouse location identifier contained in the pending task information. Furthermore, it can be determined whether the warehouse location to be moved away is higher than the maximum material picking height supported by the robot. If the warehouse location to be moved away is not higher than the maximum material picking height, the warehouse location identifier can be sent to the robot control end.

[0097] Correspondingly, after receiving the storage location identifier, the robot control end can control the robot for transporting materials (i.e., the first robot) to move to the storage location to be removed represented by the storage location identifier, and transport the materials to be transported in the storage location to be removed to the target location. In this way, the robot can replace manpower in the warehouse to transport materials, reduce the manpower consumption in the material transportation process, and improve the efficiency of material transportation.

[0098] Furthermore, compared with the related art, in which the robot cannot travel to the warehouse to be moved out and the materials to be moved in the warehouse to be moved out need to be manually moved to the robot's position, the robot in the present application can travel to the warehouse to be moved out, which can avoid the problem of increased manual moving distance caused by manually moving from the warehouse to be moved out to the robot's position.

[0099] In this way, the distance of manual movement can be reduced, the manpower consumption in the material transportation process can be further reduced, and the efficiency of material transportation can be improved.

[0100] In the present application, the task originator may be iWMS (Intelligence Warehouse Management System), also known as WMS, and the task involved is a material handling task.

[0101] For step S101, the first storage area is the storage area where the material currently to be transported (i.e., the material to be transported) is located. A storage area can be a warehouse, or can also be a part of a warehouse. The pending task is a transport task for the first storage area. Task information of the pending task can be obtained as the pending task information. The pending task information may include: a location identifier for characterizing the location where the material to be transported is located (i.e., the location to be moved out).

[0102] With respect to step S102, since the maximum material picking height supported by the robot is often limited, it is necessary to determine the relationship between the height of the position to be moved out and the maximum material picking height supported by the robot, so as to determine how to control the robot to carry out material handling. For example, the robot may be an AGV (Automated Guided Vehicle), and the maximum material picking height supported by the robot may be 1 meter or 2 meters. The task initiator can determine the position to be moved out represented by the position identification according to the position identification, and further, can determine whether the height of the position to be moved out is higher than the maximum material picking height supported by the robot.

[0103] For step S103, if the storage location to be removed is not higher than the maximum material picking height, it means that the robot can move to the storage location to be removed to carry the materials in the storage location to be removed. Therefore, the task issuing end can send a material handling instruction to the robot control end, and the material handling instruction can carry the storage location identifier in the task information to be processed. The robot control end can be RCS (Robots Control System, robot scheduling system).

[0104] The robot control end can determine the robot used to perform the task to be processed (i.e., the first robot), and then, according to the warehouse identification, control the first robot to move to the warehouse to be moved out, and move the materials to be moved in the warehouse to be moved out to the target location.

[0105] In this application, the materials in the bin can be stored in a container (such as a pallet). For a material handling task, if the materials to be handled by the task include all the materials currently stored in a container, then all the materials currently stored in the container are the whole pallet materials for the task, and handling the whole pallet materials can be called whole pallet outbound. If the materials to be handled by the task only include a part of the materials currently stored in a container, then the part of the materials currently stored in the container is the split material for the task, and handling the split material can be called split outbound.

[0106] Storage bins that are higher than the maximum material picking height (called high-level storage bins) are generally used to store whole pallets of materials, that is, the materials stored in high-level storage bins generally only involve the situation of whole pallet outbound. Storage bins that are not higher than the maximum material picking height (called low-level storage bins) are generally used to store small-lot materials, and can also store whole pallets of materials. That is, the materials stored in low-level storage bins can involve both whole pallet outbound and small-lot outbound.

[0107] One container can be stored in one storage location, and one whole pallet of materials can be placed in one container. When the material to be transported is a whole pallet of materials, the robot can obtain the container stored in the storage location to be moved out after driving to the storage location to be moved out indicated by the storage location identifier to realize the transportation of the material to be transported. Alternatively, multiple small-part materials can be placed in one container. When the material to be transported is a small-part material, the user can move part of the materials in the container storing the material to be transported in the storage location to be moved out to the robot's carrying space according to the material identifier to realize the transportation of the material to be transported. For example, the material identifier can be the unique identifier of each small-part material itself; or, when multiple small-part materials in the container are of the same type, the material identifier can also be represented by the number of small-part materials to be transported.

[0108] In one embodiment, the materials to be transported are located in the lower warehouse and the materials to be transported represent materials that need to be shipped out of the warehouse in full. Step S103 includes:

[0109] When the materials to be transported represent materials that need to be shipped out of the warehouse in whole pallets, a storage location identifier is sent to the robot control end, so that the robot control end controls the first robot to move to the storage location to be moved out according to the storage location identifier, and picks the materials to be transported from the storage location to be moved out and transports them to the target location.

[0110] In the embodiment of the present application, the materials to be transported represent materials that need to be shipped out of the warehouse in a whole tray, that is, all materials stored in the container in the bin corresponding to the materials to be transported are the materials to be transported. At this time, the materials to be transported can also be determined according to the bin identification of the materials to be transported.

[0111] And since the storage location to be removed is not higher than the maximum material picking height supported by the robot, it means that the robot can directly pick up the materials to be transported from the storage location to be removed, that is, the robot can directly fork the container for storing the materials to be transported. Therefore, the task issuing end can directly send the storage location identifier to the robot control end. For example, the robot can have a fork structure, and when the robot drives to the storage location to be removed, the fork structure can fork the container for storing the materials to be transported. For example, the fork structure can be fork teeth.

[0112] Furthermore, the robot control end can control the first robot to move to the storage location to be removed according to the storage location mark, and directly fork the container storing the material to be transported from the storage location to be removed represented by the storage location mark, and transport the forked container to the target location to achieve the transport of the material to be transported. For example, the target location can be a mixing and sweeping table, and the staff can confirm whether the material transported by the first robot is accurate at the mixing and sweeping table.

[0113] Based on the above processing, when the storage space to be moved out is not higher than the maximum material picking height and the materials need to be shipped out in a whole pallet, the materials can be transported by robots, and the robots can directly pick up the containers storing the materials to be transported, without the need for manual participation in the transportation process of the materials to be transported. In this way, it can be further ensured that the materials can be transported by robots, reducing the manpower consumption in the material transportation process.

[0114] In one embodiment, the materials to be transported are located in a high-level warehouse and the materials to be transported represent materials that need to be shipped out of the warehouse in full. Figure 1 Based on Figure 2 , Figure 2 A second flow chart of the material transportation method provided in the embodiment of the present application, the method further includes:

[0115] Step S104: If the storage location to be moved out is higher than the maximum material picking height, a storage location identifier is sent to the first user terminal corresponding to the first storage area, so that the user who logs into the first user terminal can move the materials to be moved from the storage location to be moved out to other storage locations not higher than the maximum material picking height according to the storage location identifier, and then send the storage location identifier of the other storage location to the task issuing terminal through the first user terminal.

[0116] Step S105: Acquire the location identifier of the other location sent by the first user terminal to obtain new task information to be processed. Return to step S102.

[0117] In the embodiment of the present application, for each warehouse area, a user terminal corresponding to the warehouse area is provided. A user can log in to the user terminal corresponding to the warehouse area to manage the materials in the warehouse area. For example, the user can be a staff member in the warehouse, and the user terminal can be a PDA.

[0118] If the storage location to be removed is higher than the maximum material picking height, it means that the robot cannot directly move the materials in the storage location to be removed, and because high-level storage locations often only store materials that need to be shipped out in full, the task issuing end may send the storage location identifier to the user end corresponding to the first storage area (i.e., the first user end). For example, the task issuing end may select the user end with the least number of uncompleted tasks from the user ends corresponding to the first storage area as the first user end.

[0119] After receiving the storage location identifier, the first user terminal may display the received storage location identifier. Then, the user may move the material to be moved from the storage location to be moved out to another storage location that is not higher than the maximum material picking height according to the displayed storage location identifier. For example, the user may drive a high-level forklift to move the material to be moved from the storage location to be moved out to another storage location that is not higher than the maximum material picking height.

[0120] After the material to be transported is transported to the other storage location, the user can send the storage location identifier of the other storage location to the task issuing end through the first user end. For example, the user can establish a binding relationship between the storage location identifier and the material identifier of the other storage location in the interface of the first user end, and send the storage location identifier to the task issuing end.

[0121] The task issuing end can obtain new pending task information according to the received location identifier of the other location. That is, in the new pending task information, the location to be moved out represented by the location identifier is the other location, and the height of the location to be moved out is not higher than the maximum material picking height supported by the robot. Subsequently, the task issuing end can send the location identifier in the new pending task information to the robot control end, so that the robot control end controls the first robot to travel to the location to be moved out according to the location identifier, and picks the materials to be moved from the location to be moved out and moves them to the target location. That is, step S103 in the above embodiment.

[0122] Based on the above processing, when the storage location to be moved out is higher than the maximum material picking height and the materials need to be shipped out in a whole pallet, it is only necessary to manually move the materials to be moved from the storage location to other storage locations that are not higher than the maximum material picking height, and the robot can pick the materials from the other storage locations to realize the transportation of the materials. In this way, it can further ensure that the materials can be transported by robots, reducing the manpower consumption in the material transportation process.

[0123] In one embodiment, the material to be transported is located in a lower-level warehouse and the material to be transported represents material that needs to be disassembled and shipped out of the warehouse. The material transportation method further includes:

[0124] Step 1: If the warehouse to be moved out is not higher than the maximum material picking height, and the materials to be moved represent materials that need to be disassembled and shipped out, send the warehouse location identifier and the material identifier of the materials to be moved to the second user terminal corresponding to the first warehouse area, so that the user who logs in to the second user terminal can browse the warehouse location identifier and the material identifier, and after the first robot drives to the warehouse to be moved out, move the materials to be moved from the warehouse to be moved out to the carrying space of the first robot.

[0125] In the embodiment of the present application, if the storage location to be removed is not higher than the maximum material picking height, and the materials to be transported indicate materials that need to be disassembled and shipped out of the warehouse, the robot cannot directly transport the materials to be removed from the storage location. Therefore, the task sending end can send the storage location identifier and material identifier to the second user end corresponding to the first warehouse area. The determination method of the second user end is similar to the determination method of the first user end in the above embodiment.

[0126] And the task issuing end can send a storage location identification to the robot control end, so that the robot control end controls the first robot to move to the storage location to be moved out according to the storage location identification. After receiving the storage location identification and the material identification, the second user end can display the received storage location identification and material identification. When the multiple disassembled materials in the container in the storage location to be moved out are of the same type, the material identification can be represented by the number of disassembled materials to be transported, and accordingly, the second user end can display the number of materials to be transported. Furthermore, after the first robot drives to the storage location to be moved out, the user can move the materials to be transported from the storage location to be moved out to the carrying space of the first robot according to the displayed storage location identification and the number of materials to be transported.

[0127] Alternatively, the material identification may be a unique identification of each disassembled material, and accordingly, the second user terminal may display the unique identification of each material to be transported. Furthermore, after the first robot moves to the storage location to be removed, the user may transport the material to be transported from the storage location to be removed to the carrying space of the first robot according to the displayed storage location identification and the unique identification of each material to be transported.

[0128] After the user moves the material to be moved from the storage location to be moved out to the carrying space of the first robot, the user can inform the robot control end through the second user end that the first robot has completed the loading of the material to be moved, and accordingly, the robot control end can control the first robot to move the material to be moved to the target location. For example, the user can send information indicating that the first robot has completed the loading of the material to be moved to the task issuing end through the second user end, and the task issuing end sends the information to the robot control end, so that the robot control end controls the first robot to move the material to be moved to the target location.

[0129] Based on the above processing, the robot can be used to transport materials when the storage space to be moved is not higher than the maximum material picking height and the materials need to be disassembled and shipped out. In this way, it can further ensure that the materials can be transported by robots, reducing the manpower consumption in the material transportation process.

[0130] In one embodiment, when the carrying space of the first robot is full, the user can notify the task issuing end through the second user end that the carrying space of the first robot is full, and the task issuing end can send new task information to the robot control end so that the robot control end selects a new robot in an idle state to continue processing the pending task; or, the robot control end controls the first robot to obtain a new carrying space so that the first robot can continue processing the pending task. For example, a full capacity control can be set in the interface displayed by the second user end, and when the carrying space of the first robot is full, the user can trigger the full capacity control to notify the task issuing end that the carrying space of the first robot is full.

[0131] In one embodiment, the material transportation method further comprises:

[0132] Step 2: If the storage location to be moved out is not higher than the maximum material picking height, and the materials to be moved indicate materials that need to be disassembled and shipped out, send the first task type identifier representing the disassembly and shipping task to the robot control end, so that the robot control end controls the first robot to take an empty pallet from the pallet storage area as the carrying space for the first robot before controlling the first robot to drive to the storage location to be moved out.

[0133] In an embodiment of the present application, the carrying space of the first robot may be a pallet, and a pallet storage place for storing pallets is pre-set. In the case where the material to be transported is located in a lower-level warehouse and the material to be transported indicates that the material needs to be disassembled and shipped out of the warehouse, the material handling instruction sent by the task issuing end to the robot control end may also carry a first task type identifier representing the disassembly and shipping task. After receiving the first task type identifier, the robot control end may first control the first robot to travel to the pallet storage place and take an empty pallet as the carrying space of the first robot. After the first robot takes the empty pallet, the robot control end may control the first robot to travel to the warehouse to be moved out, so that the user can move the material to be transported to the carrying space of the first robot.

[0134] Based on the above processing, the first robot can obtain an empty pallet as its own carrying space before driving to the warehouse to be removed, for storing the materials to be transported, so as to transport the materials to be transported to the target location. In this way, it can further ensure that the materials can be transported by the robot, reducing the manpower consumption in the material transportation process.

[0135] In one embodiment, Figure 2Based on Figure 3 , Figure 3 This is a third flow chart of the material transportation method provided in the embodiment of the present application. Before step S101, the material transportation method further includes:

[0136] Step S106: Determine the current tasks to be processed for the first warehouse area from the unfinished tasks for the first warehouse area included in the task wave to be processed.

[0137] Among them, a task wave includes tasks for at least one warehouse area.

[0138] In an embodiment of the present application, the task issuing end can generate at least one task wave according to the handling tasks of various materials involved in the pending order to obtain the pending task wave. The method of generating the task wave is not specifically limited. For example, the tasks involved in the current pending order can be divided into at least one task wave according to the delivery time of the current pending order, whether the various materials need to be shipped out in full or in pieces, or the required number of various materials, so as to generate the task wave. For example, one order can correspond to one task wave. As the pending orders are continuously received, the pending task waves can be generated at different times, and accordingly, the generation time of each task wave can be different.

[0139] A task wave may include tasks for at least one warehouse area. Furthermore, the current pending tasks for the first warehouse area may be determined from the unfinished tasks for the first warehouse area included in the pending task wave. The specific determination method may refer to the description in the subsequent embodiments. The method of transporting materials according to the task wave may be called wave-accompanying picking.

[0140] Based on the above processing, the material handling tasks involved in the pending order can be divided into at least one task wave according to the materials required for the pending order. Furthermore, the current pending tasks for the first warehouse area can be determined according to the task wave. In this way, the pending tasks can be determined according to the task wave, and subsequently, the task issuing end can also process the pending tasks, that is, the task issuing end can determine the pending tasks according to the preset rules, which can ensure that the material transportation process is carried out in an orderly manner.

[0141] In one embodiment, the tasks being processed in the other warehouse areas except the first warehouse area are different from the task wave to which the currently determined tasks to be processed for the first warehouse area belong.

[0142] In the embodiment of the present application, after determining the task wave to be processed, for any warehouse area, the task wave to which the task for the warehouse area belongs can be determined, that is, the task wave involved in the warehouse area can be determined. For each task wave, a robot for processing the tasks belonging to the task wave can be provided. That is, there is one robot for one task wave for executing the tasks included in the task wave.

[0143] Accordingly, for each task wave, the robot used to process tasks belonging to the task wave can only process tasks for one warehouse area at the same time. Therefore, it is necessary to ensure that in the task wave to which the currently processed tasks for the first warehouse area belong, there are no tasks being processed by other warehouse areas except the first warehouse area.

[0144] Based on the above processing, it can be ensured that the robot used to process the task wave to which the currently pending tasks for the first warehouse area belong can process the currently pending tasks for the first warehouse area. In this way, it can be ensured that the currently pending tasks for the first warehouse area can be processed in a timely manner, and each task wave can be processed reasonably and orderly, thereby ensuring the efficiency of material transportation.

[0145] In one embodiment, step S106 includes: when the pending tasks for the first warehouse area determined last time are not completed, determining the current pending tasks for the first warehouse area from the unfinished tasks for the first warehouse area included in the pending task wave.

[0146] In an embodiment of the present application, when the pending tasks for the first warehouse area determined last time are not completed, the pending tasks for the first warehouse area to be processed next time can be determined. That is, when a task is not completed, the task to be processed next time can be determined. For example, when the number of unfinished pending tasks is a preset number, the task to be processed next time can be determined, such as the preset number can be 3 or 4. In this way, it is possible to pre-dispatch tasks in advance, determine the tasks to be processed in a timely manner, and ensure the continuity of task processing during material transportation, that is, to ensure continuous operation, which can improve the efficiency of material transportation.

[0147] In one embodiment, Figure 3 Based on Figure 4 , Figure 4 This is a fourth flow chart of the material transportation method provided in the embodiment of the present application. Step S106 includes:

[0148] Step S1061: Determine the first task from the unfinished tasks for the first warehouse area included in the task wave to be processed, and obtain the current task to be processed for the first warehouse area.

[0149] Among the task waves to be processed, the task wave to which the first task belongs among the unfinished tasks in the first warehouse area is generated the earliest.

[0150] In the embodiment of the present application, there may be multiple unfinished tasks for the first warehouse area, and there may also be multiple waves of tasks to be processed to which the unfinished tasks for the first warehouse area belong. In this case, the generation time of the wave of tasks to be processed to which each unfinished task for the first warehouse area belongs can be determined, and the unfinished tasks included in the task wave with the earliest generation time can be selected as the first task.

[0151] Based on the above processing, the current pending tasks for the first warehouse area can be determined from the unfinished tasks included in the pending task wave with the earliest generation time, so that the task waves with earlier generation times can be completed first, avoiding the situation where the task waves with earlier generation times are not completed in time, resulting in a long time required for the completion and delivery of the task waves with earlier generation times. It can also ensure that the determined task waves can be completed in time, thereby improving the efficiency of material transportation.

[0152] In one embodiment, see Figure 5 , Figure 5 A schematic diagram of task waves involved in a warehouse area provided in an embodiment of the present application. Warehouse areas A, B, C and D are provided in the warehouse. The task wave involved in warehouse area A is wave 01, the task waves involved in warehouse area B are wave01 and wave02, the task waves involved in warehouse area C are wave02 and wave03, and the task waves involved in warehouse area D are wave02, wave03 and wave04. For a warehouse area, wave01, wave02, wave03 and wave04 in the warehouse area respectively represent the tasks for the warehouse area belonging to task waves wave01, wave02, wave03 and wave04.

[0153] If the four warehouses start working at the same time and begin to process the handling tasks, the task issuing end needs to ensure that the staff (also called operators) in each warehouse can have tasks to execute when issuing tasks. When issuing tasks for the first time, the task issuing end can send tasks belonging to wave01 for warehouse A to the user end where the operators in warehouse A log in, send tasks belonging to wave02 for warehouse B to the user end where the operators in warehouse B log in, send tasks belonging to wave03 for warehouse C to the user end where the operators in warehouse C log in, and send tasks belonging to wave04 for warehouse D to the user end where the operators in warehouse D log in.

[0154] If warehouse B completes the tasks belonging to wave02 first, the next task assigned to warehouse B needs to wait for the tasks belonging to wave01 in warehouse A to be completed. Whether the next task belonging to wave02 to be executed is for the tasks in warehouse C or warehouse D needs to be determined according to the order in which warehouse C and warehouse D complete their tasks. If warehouse C and warehouse D complete the tasks they are processing at the same time, since warehouse D is closer to warehouse B, the next task belonging to wave02 to be executed is the task for warehouse D.

[0155] If the tasks belonging to wave02 are completed in warehouse B and tasks belonging to wave03 are completed in warehouse C, the robot used to process tasks belonging to wave02 can be moved to warehouse C to continue processing tasks belonging to wave02, and the workers in warehouse C can obtain tasks belonging to wave02. The robot used to process tasks belonging to wave03 can be moved from warehouse C to warehouse D to continue processing tasks belonging to wave03. If, on this basis, warehouse D completes tasks belonging to wave04, the next task obtained by the workers in warehouse D is tasks belonging to wave03.

[0156] In one embodiment, step S1061 includes: if there are multiple first tasks in the unfinished tasks for the first warehouse area included in the task wave to be processed, selecting a second task from the multiple first tasks as the current task to be processed for the first warehouse area.

[0157] Among them, the distance between the second task and the warehouse location to which the materials required for the pending tasks for the first warehouse area determined last time belong is less than a preset distance; or, among multiple first tasks, the number of warehouse areas corresponding to unfinished tasks in the task wave to which the second task belongs is the smallest; or, among multiple first tasks, the number of channels corresponding to unfinished tasks in the task wave to which the second task belongs is the smallest.

[0158] In the embodiment of the present application, if there are multiple first tasks, it is necessary to select the task to be processed currently for the first storage area from the multiple first tasks.

[0159] A second task whose distance from the warehouse location to which the materials required for the pending task for the first warehouse area determined last time belong is less than a preset distance can be determined as the pending task for the first warehouse area this time. For example, a second task that belongs to the same channel as the warehouse location to which the materials required for the pending task for the first warehouse area determined last time belong can be determined as the pending task for the first warehouse area this time. If there is no second task belonging to the same channel, a second task that is closer to the channel where the warehouse location to which the materials required for the pending task for the first warehouse area determined last time belong is located is selected as the pending task for the first warehouse area this time. Since the distance between the second task and the warehouse location to which the materials required for the pending task for the first warehouse area determined last time belong is closer, the distance that the user needs to move can be reduced, thereby reducing the intensity of manual work.

[0160] Alternatively, the second task with the smallest number of storage areas corresponding to the unfinished tasks in the task wave can be determined as the task to be processed for the first storage area this time. The smaller the number of storage areas corresponding to the unfinished tasks in the task wave, the fewer storage areas are involved in the unfinished tasks in the task wave. In the process of processing the unfinished tasks belonging to the task wave, the robot needs to move to fewer storage areas and the time required for the robot to move is also less, that is, the time required to complete the unfinished tasks belonging to the task wave is shorter. In this way, the task waves that consume less time can be processed first, ensuring the efficiency of task completion.

[0161] Alternatively, the second task with the smallest number of channels corresponding to the unfinished tasks in the task wave can be determined as the task to be processed for the first warehouse area this time. The smaller the number of channels corresponding to the unfinished tasks in the task wave, the fewer channels are involved in the unfinished tasks in the task wave. In the process of processing the unfinished tasks belonging to the task wave, the robot passes through fewer channels and the time required for the robot to move is also less, that is, the time required to complete the unfinished tasks belonging to the task wave is shorter, and the task waves with shorter consumption time can be processed first, ensuring the timeliness of the completion of each task wave.

[0162] In one embodiment, before step S101, the material transportation method further includes:

[0163] Step 1: Receive an order ID sent by a third user terminal.

[0164] Step 2: Based on the materials located in the first warehouse area and required for the order represented by the order identifier, determine the current pending tasks for the first warehouse area.

[0165] In the embodiment of the present application, during the material transportation process, it may be necessary to give priority to the transportation of some newly added pending orders. The user can query the newly added pending orders that need to be processed first through the third user terminal to select the newly added pending orders that need to be processed first and process the selected orders. For example, the newly added pending orders that need to be processed first can be queried based on the document type, document number, material number of the required materials, and order creation date of the newly added pending orders.

[0166] The third user terminal may be the first user terminal or the second user terminal in the above embodiment, or may be another user terminal different from the first user terminal and the second user terminal, without specific limitation. The method of transporting materials according to orders may be called order picking.

[0167] The user can select the newly added pending orders that need to be processed first through the third user terminal. Accordingly, the third user terminal can send the order identifier of the selected order to the task issuing terminal, and the task issuing terminal can determine the material handling task located in the first warehouse area required for the order represented by the received order identifier as the current pending task for the first warehouse area. In this way, the newly added pending orders can be processed first, ensuring the transportation of materials for the newly added pending orders.

[0168] Based on the same inventive concept, the present application also provides a material transportation system, see Figure 6 , Figure 6 This is a structural diagram of a material transportation system provided in an embodiment of the present application. The system includes a task issuing terminal 601, a user terminal 602, and a robot control terminal 603, wherein:

[0169] The task initiator 601 is used to execute any of the material transportation methods described in the above embodiments.

[0170] The user terminal 602 is used to display the information received from the task sending terminal 601 to the user.

[0171] The robot control terminal 603 is used to control the robot to execute the task according to the information received from the task sending terminal 601.

[0172] Based on the material transportation system provided by the embodiment of the present application, the task issuing end can obtain the task information (i.e., pending task information) of the pending tasks for the storage area (i.e., the first storage area) where the material currently to be transported (i.e., the material to be transported) is located, and determine the storage location (i.e., the storage location to be moved away) where the material to be transported is located based on the storage location identifier contained in the pending task information. Furthermore, it can be determined whether the storage location to be moved away is higher than the maximum material picking height supported by the robot. In the case where the storage location to be moved away is not higher than the maximum material picking height, the storage location identifier can be sent to the robot control end.

[0173] Correspondingly, after receiving the storage location identifier, the robot control end can control the robot for transporting materials (i.e., the first robot) to move to the storage location to be removed represented by the storage location identifier, and transport the materials to be transported in the storage location to be removed to the target location. In this way, the robot can replace manpower in the warehouse to transport materials, reduce the manpower consumption in the material transportation process, and improve the efficiency of material transportation.

[0174] Furthermore, compared with the related art, in which the robot cannot travel to the warehouse to be moved out and the materials to be moved in the warehouse to be moved out need to be manually moved to the robot's position, the robot in the present application can travel to the warehouse to be moved out, which can avoid the problem of increased manual moving distance caused by manually moving from the warehouse to be moved out to the robot's position.

[0175] In this way, the distance of manual movement can be reduced to ensure that the operators move the shortest distance for continuous work, further reducing the manpower consumption in the material transportation process and improving the efficiency of material transportation.

[0176] In an embodiment of the present application, the task initiator may also be provided with support configurations for tasks to be processed, and users may set support configurations as needed without specific limitations. For example, the relevant support configuration information may be the preset number in the above embodiment.

[0177] In one embodiment, the user terminal 602 is also used to send the location identifier of the other storage bin to the task issuing terminal 601 when the materials to be moved indicate that the materials need to be shipped out of the warehouse in whole pallets, the storage bin to be moved out is higher than the maximum material picking height, and the user logged in to the user terminal 602 moves the materials to be moved from the storage bin to other storage bins not higher than the maximum material picking height.

[0178] In one embodiment, the user terminal 602 is also used to send a task instruction indicating that the carrying space of the robot is full to the robot control terminal 603 when the material to be transported indicates that the material needs to be disassembled and shipped out of the warehouse, the storage location to be moved out is not higher than the maximum material picking height, and the carrying space of the robot executing the task to be processed is full.

[0179] The robot control terminal 603 is also used to control the robot with remaining carrying space to continue to execute the pending task according to the task instruction.

[0180] The material transportation system may also include a CMS (Content Management System, task scheduling system). The task issuing end may send pending task information to the CMS, and the CMS may perform path planning based on the pending task information to obtain the robot's driving path when processing pending tasks. The CMS may send the obtained path to the user end, and accordingly, the user end may display the path, and the user may determine the location to be moved to based on the path. The CMS may also send the obtained path to the robot control end, so that the robot control end controls the robot to drive to the storage location to be moved out along the path.

[0181] In one embodiment, see Figure 7 , Figure 7 The first interactive diagram of the material transportation system provided in the embodiment of the present application. WMS is the task sending terminal 601 in the above embodiment, PDA is the user terminal 602 in the above embodiment, and RCS is the robot control terminal 603 in the above embodiment. The material transportation method includes:

[0182] Step S701: WMS creates waves according to the wave strategy, that is, step S106 in the above embodiment.

[0183] Step S702: The operator uses the PDA to enter the "accompanying picking" function and clicks "start shift". The operator who turns on the "accompanying picking" function is responsible for carrying out the material handling task of the lower-level warehouse.

[0184] like Figure 8a As shown, Figure 8a The first schematic diagram of the PDA function selection interface provided in the embodiment of the present application. After the "accompanying picking" function is turned on, the task issuing end will only send a layer of split picking tasks (i.e. split outbound tasks for the lower warehouse) and a layer of full pallet outbound tasks (i.e. full pallet outbound tasks for the lower warehouse) to the user end.

[0185] Step S703: The operator uses the PDA to enter the "full pallet outbound" function and clicks "start shift". The operator who opens the "full pallet outbound" function is responsible for the full pallet outbound task of the high-level warehouse and the low-level warehouse.

[0186] like Figure 8b As shown, Figure 8b The second schematic diagram of the PDA function selection interface provided in the embodiment of the present application. After the "full pallet outbound" function is turned on, the task issuing end will only send high-level full pallet outbound tasks (i.e., full pallet outbound tasks for high-level warehouses) and first-level full pallet outbound tasks to the user end.

[0187] Step S704: WMS controls the sending of waves according to the conditions, that is, step S106 and step S101 in the above embodiment.

[0188] Step S705: WMS determines whether it is a first-floor full-pallet delivery. If yes, execute step S706; if not, execute step S707. That is, determine whether the warehouse to be moved out represented by the warehouse location identifier in the pending task information is a low-level warehouse, and whether the material to be moved indicates that the material needs to be delivered by full pallet.

[0189] Step S706: RCS dispatches a hidden forklift to directly go to the warehouse to fork the pallet to the mixed sweeping platform. The hidden forklift is the robot in the above embodiment, and the mixed sweeping platform is the target location in the above embodiment. That is, the robot control end controls the first robot to drive to the warehouse to be moved out according to the warehouse identification, and picks the materials to be moved from the warehouse to be moved out and moves them to the target location.

[0190] Step S707: WMS determines whether it is a high-level full-pallet delivery. If yes, execute step S708; if not, execute step S712. That is, determine whether the warehouse to be moved out represented by the warehouse location identifier in the pending task information is a high-level warehouse, and whether the material to be moved indicates that the material needs to be delivered by full pallet.

[0191] Step S708: The operator takes the cargo down by means of a high-level forklift and puts it into a first-level storage location. That is, the user who logs into the first user terminal uses a high-level forklift that can be raised and lowered to move the cargo from the storage location to be moved to another storage location that is not higher than the maximum material picking height according to the storage location identifier.

[0192] Step S709: The operator completes the whole-pallet picking confirmation according to the PDA instruction. That is, the operator confirms the completion of the whole-pallet picking through the first user terminal.

[0193] like Figure 9a As shown, Figure 9a A schematic diagram of an interface displayed by a PDA when executing a high-level warehouse full-pallet outbound task provided in an embodiment of the present application. The interface can display relevant information of the task that currently requires full-pallet outbound, including: the carrier of the material, the warehouse number (i.e., the warehouse identification in the above embodiment), the material code (i.e., the material identification in the above embodiment), the material description, the required quantity (e.g., XXX boxes, XXX pieces), the source sales order number, the batch, the master, the distribution, the factory / warehouse location (i.e., the warehouse area), and the wave number (i.e., the number of the task wave) and other information. The user can also enter the material code and the outbound quantity in this interface.

[0194] Step S710: WMS inventory update. That is, WMS updates the material inventory after completing the full pallet picking.

[0195] Step S711: The operator uses the PDA to complete the binding of the pallet and the bin, and generates a pallet handling task. That is, the operator sends the bin identifier of the other bin to the task sending end through the first user terminal. Figure 9b As shown, Figure 9b A schematic diagram of an interface for using a PDA to complete the binding of a pallet and a bin provided in an embodiment of the present application. The container number is the number of the pallet that needs to be bound currently, which can be called the task pallet number, and the bin number is the bin identifier in the above embodiment. The other bin can be an empty bin recommended by the system nearby, that is, the empty bin closest to the bin to be moved out. The user can trigger the "bind" control to realize the binding of the pallet and the bin.

[0196] Step S712: RCS assigns a hidden forklift to the pallet stacker to take the empty pallet to the first task station. That is, the robot control end controls the first robot to take the empty pallet from the pallet storage area as the carrying space of the first robot, and after the first robot takes the empty pallet, controls the first robot to move to the warehouse to be removed.

[0197] Step S713: The operator picks up the goods and places them on the hidden forklift pallet according to the PDA display. After the current task is completed, click "Confirm".

[0198] like Fig.10a As shown, Fig.10a A schematic diagram of a PDA display interface when performing a disassembly and delivery task provided in an embodiment of the present application. The information displayed on the PDA interface is Figure 9a After the current task is completed, the user can trigger and click the "Pick Confirmation" control. The material transportation can be carried out according to the wave-by-wave picking method in the above embodiment.

[0199] If the current potential forklift pallet is full, the operator can click the full capacity trigger control to trigger the transport. The WMS can determine whether the target site is this site or a new site based on whether the current task is completed, and dispatch the potential forklift to transport the new empty pallet to this site or a new site through the robot control end. Fig.10b As shown, Fig.10b A schematic diagram of a PDA display interface after clicking full capacity provided by an embodiment of the present application. The operator can enter the container number of the current full capacity, that is, the pallet number, and trigger the transport control to trigger the transport.

[0200] Step S714: The hidden forklift transports the pallet to the target site until the task is completed.

[0201] Step S715: The forklift transports the pallet to the mixed sweeping platform, that is, transports the material to be transported to the target location.

[0202] In the embodiments of the present application, materials can be transported in accordance with the wave-by-wave picking method in the above embodiments. The relay picking mode is adopted for tasks across storage areas and channels, which can avoid long walking paths for people and reduce people's work intensity. And after manually picking materials, they can be placed directly on the AGV, without the need to manually push a cart for picking, and then manually pick the materials in the cart to the AGV, that is, no secondary picking is required.

[0203] In one embodiment, see Fig.11 , Fig.11 The second interactive schematic diagram of the material transportation system provided in the embodiment of the present application. This method is the material transportation method of picking by order in the above embodiment. The material transportation method includes:

[0204] Step S1101: WMS material voucher. That is, WMS can record relevant information of materials required for the pending order, such as the quantity and material identification of the required materials.

[0205] Step S1102: WMS allocates inventory. That is, WMS can determine the warehouse where the materials required for the pending order are located.

[0206] Step S1103: The operator uses the "Accompany by Order" function of the PDA, selects the query conditions such as the document type, and clicks "Query". All document information is obtained, the operator selects the corresponding document, selects execution, and issues the picking task. That is, the third user terminal in the above embodiment sends the order identifier to the task issuing terminal.

[0207] like Fig.12a and Figure 12b As shown, Fig.12a This is a first schematic diagram of a PDA order accompanying function interface provided in an embodiment of the present application. The operator can enter the document type, document number, material number and order creation date, click query, and query the newly added pending orders that need to be processed first. Figure 12b This is a second schematic diagram of a PDA order accompanying function interface provided in an embodiment of the present application. The interface can display the order number, material number and quantity obtained by query, the material name (i.e. Figure 12b Correspondingly, the operator can select the newly added pending orders that need to be processed first in the query results displayed in the interface, and click Execute to process the selected orders (which can also be called manual delisting).

[0208] Step S1104: WMS determines whether it is a full-pallet delivery from one layer. If yes, execute step S1105; if not, execute step S1106.

[0209] Step S1105: dispatching a potential forklift to directly go to the warehouse to fork the pallet to the mixed sweeping station.

[0210] Step S1106: WMS determines whether it is a high-rise full-pallet delivery. If yes, execute step S1107; if not, execute step S1111.

[0211] Step S1107: The high-rise forklift takes down the cargo and puts it in a storage space on the first floor.

[0212] Step S1108: The operator completes the whole-pallet picking confirmation according to the PDA instructions.

[0213] Step S1109: WMS inventory update.

[0214] Step S1110: The operator uses the PDA to complete the binding of the pallet and the storage location and generates a pallet handling task.

[0215] Step S1111: Assign a hidden forklift to the pallet stacker to take the empty pallet to the first task station.

[0216] Step S1112: The operator picks the goods onto the potential forklift pallet according to the PDA display. After the current task is completed, click "Confirm". If the current pallet is full, click Full Capacity to trigger the transport, and dispatch the potential forklift to transport the new empty pallet to this point or a new station (WMS determines whether the target station is the current point or the next point based on whether the current task has been completed).

[0217] Step S1113: The hidden forklift transports the pallet to the target site until the task is completed.

[0218] Step S1114: The hidden forklift transports the pallet to the mixed sweeping station.

[0219] In the embodiment of the present application, steps S1104 to S1114 are the same as steps S705 to S715 in the above embodiment.

[0220] Based on the same inventive concept, the present application also provides a material transport device, see Fig.13 , Fig.13 This is a schematic diagram of the structure of a material transport device provided in an embodiment of the present application. The device is applied to the task start-up end, and the device includes:

[0221] The task information acquisition module 1301 is used to acquire the task information of the to-be-processed task for the first warehouse area as the to-be-processed task information;

[0222] The height determination module 1302 is used to determine whether the storage location to be removed represented by the storage location identifier in the pending task information is higher than the maximum material picking height supported by the robot;

[0223] The first sending module 1303 is used to send the location identifier to the robot control end if the location to be moved out is not higher than the maximum material picking height, so that the robot control end controls the first robot to move to the location to be moved out according to the location identifier, and transports the materials to be moved in the location to be moved out to the target position.

[0224] Based on the material transport device provided in the embodiment of the present application, the task issuing end can obtain the task information (i.e., pending task information) of the pending tasks for the storage area (i.e., the first storage area) where the material currently to be transported (i.e., the material to be transported) is located, and determine the storage location (i.e., the storage location to be moved away) where the material to be transported is located based on the storage location identifier contained in the pending task information. Furthermore, it can be determined whether the storage location to be moved away is higher than the maximum material picking height supported by the robot. In the case where the storage location to be moved away is not higher than the maximum material picking height, the storage location identifier can be sent to the robot control end.

[0225] Correspondingly, after receiving the storage location identifier, the robot control end can control the robot for transporting materials (i.e., the first robot) to move to the storage location to be removed represented by the storage location identifier, and transport the materials to be transported in the storage location to be removed to the target location. In other words, the robot can replace manpower in the warehouse to transport materials, reduce manpower consumption in the material transportation process, and improve the efficiency of material transportation.

[0226] Furthermore, in the scenario of the present application, since the robot can travel to the storage location to be removed, it is possible to avoid the increase in the distance of manual movement and manpower consumption caused by manual movement from the storage location to be removed to the location of the robot. This can also reduce the distance of manual movement, further reduce manpower consumption in the material transportation process, and improve the efficiency of material transportation.

[0227] In one embodiment, the identification sending module is specifically used to send the warehouse location identification to the robot control end when the material to be transported indicates that the material needs to be shipped out of the warehouse in a whole pallet, so that the robot control end controls the first robot to move to the warehouse to be moved out according to the warehouse location identification, and picks the material to be transported from the warehouse to be moved out and transports it to the target location.

[0228] In one embodiment, the apparatus further comprises:

[0229] A second sending module is used to send the location identifier to the first user terminal corresponding to the first warehouse area if the location to be moved out is higher than the maximum material picking height, so that the user who logs in to the first user terminal can move the material to be moved from the location to be moved out to other locations not higher than the maximum material picking height according to the location identifier, and then send the location identifier of the other location to the task issuing terminal through the first user terminal;

[0230] The information updating module is used to obtain the location identification of the other location sent by the first user terminal, obtain new task information to be processed, and trigger the height determination module 1302.

[0231] In one embodiment, the apparatus further comprises:

[0232] The third sending module is used to send the location identifier and the material identifier of the material to be transported to the second user terminal corresponding to the first warehouse area if the location to be moved out is not higher than the maximum material picking height and the material to be transported indicates materials that need to be disassembled and shipped out of the warehouse, so that the user who logs in to the second user terminal can browse the location identifier and the material identifier, and after the first robot drives to the location to be moved out, the material to be transported from the location to be moved out to the carrying space of the first robot.

[0233] In one embodiment, the apparatus further comprises:

[0234] The fourth sending module is used to send a first task type identifier representing a task of disassembling and shipping out of the warehouse to the robot control end if the warehouse to be moved out is not higher than the maximum material picking height and the material to be transported indicates that the material needs to be disassembled and shipped out of the warehouse, so that the robot control end controls the first robot to take an empty pallet from the pallet storage as the carrying space of the first robot before controlling the first robot to travel to the warehouse to be moved out.

[0235] In one embodiment, the apparatus further comprises:

[0236] The task determination module is used to determine the current pending tasks for the first warehouse area from the unfinished tasks for the first warehouse area included in the pending task wave; wherein one task wave includes tasks for at least one warehouse area.

[0237] In one embodiment, the task determination module is specifically used to determine the current pending tasks for the first warehouse area from the unfinished tasks for the first warehouse area included in the pending task wave when the pending tasks for the first warehouse area determined last time are not completed.

[0238] In one embodiment, the task determination module includes:

[0239] The task determination submodule is used to determine the first task from the unfinished tasks for the first warehouse area included in the task wave to be processed, and obtain the current task to be processed for the first warehouse area; wherein, among the task waves to be processed, the task wave to which the first task belongs among the unfinished tasks for the first warehouse area has the earliest generation time.

[0240] In one embodiment, the task determination submodule is specifically configured to select a second task from the plurality of first tasks as the current task to be processed for the first warehouse area if there are a plurality of the first tasks in the unfinished tasks for the first warehouse area included in the task wave to be processed;

[0241] Among them, the distance between the second task and the warehouse location to which the materials required for the pending tasks for the first warehouse area determined last time belong is less than a preset distance; or, among multiple first tasks, the number of warehouse areas corresponding to unfinished tasks in the task wave to which the second task belongs is the smallest; or, among multiple first tasks, the number of channels corresponding to unfinished tasks in the task wave to which the second task belongs is the smallest.

[0242] In one embodiment, the tasks being processed in other warehouse areas except the first warehouse area are different from the task wave to which the currently determined tasks to be processed for the first warehouse area belong.

[0243] In one embodiment, the apparatus further comprises:

[0244] An order identification receiving module, used for receiving an order identification sent by a third user terminal before obtaining the task information of the to-be-processed task for the first warehouse area as the to-be-processed task information;

[0245] The pending task determination module is used to determine the pending tasks currently for the first warehouse area based on the materials located in the first warehouse area and required for the order represented by the order identifier.

[0246] The present application also provides an electronic device, including:

[0247] Memory 1401, used for storing computer programs;

[0248] The processor 1402 is used to implement the following steps when executing the program stored in the memory 1401:

[0249] Obtaining task information of pending tasks for the first storage area as pending task information;

[0250] Determine whether the storage location to be moved out represented by the storage location identifier in the pending task information is higher than the maximum material picking height supported by the robot;

[0251] If the warehouse to be moved out is not higher than the maximum material picking height, the warehouse identification is sent to the robot control end, so that the robot control end controls the first robot to move to the warehouse to be moved out according to the warehouse identification, and transports the materials to be moved in the warehouse to be moved out to the target position.

[0252] In addition, the electronic device may further include a communication bus and / or a communication interface, and the processor 1402, the communication interface, and the memory 1401 communicate with each other via the communication bus.

[0253] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0254] The communication interface is used for communication between the above electronic device and other devices.

[0255] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0256] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0257] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned robot control methods are implemented.

[0258] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any robot control method in the above embodiments.

[0259] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0260] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0261] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system, device, electronic device, storage medium and program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0262] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A material transportation method, characterized in that: The method is applied to the task initiator, and the method includes: Obtaining task information of pending tasks for the first storage area as pending task information; Determine whether the storage location to be moved out represented by the storage location identifier in the pending task information is higher than the maximum material picking height supported by the robot; If the warehouse to be moved out is not higher than the maximum material picking height, the warehouse identification is sent to the robot control end, so that the robot control end controls the first robot to move to the warehouse to be moved out according to the warehouse identification, and transports the materials to be moved in the warehouse to be moved out to the target position.

2. The method according to claim 1, characterized in that The sending of the storage location identifier to the robot control end so that the robot control end controls the first robot to move to the storage location to be moved out according to the storage location identifier, and moves the material to be moved in the storage location to be moved out to the target location, including: In the case where the materials to be transported represent materials that need to be shipped out of the warehouse in whole pallets, the warehouse location identification is sent to the robot control end, so that the robot control end controls the first robot to move to the warehouse to be moved out according to the warehouse location identification, and picks the materials to be transported from the warehouse to be moved out and transports them to the target location.

3. The method according to claim 2, characterized in that The method further comprises: If the storage location to be moved out is higher than the maximum material picking height, the storage location identifier is sent to the first user terminal corresponding to the first warehouse area, so that the user who logs in to the first user terminal can move the material to be moved from the storage location to be moved out to other storage locations that are not higher than the maximum material picking height according to the storage location identifier, and then send the storage location identifier of the other storage location to the task issuing terminal through the first user terminal; Obtaining the location identifier of the other location sent by the first user terminal, and obtaining new task information to be processed; Return to the step of determining whether the storage location to be moved out represented by the storage location identifier in the pending task information is higher than the maximum material picking height supported by the robot.

4. The method according to claim 1, characterized in that: The method further comprises: If the warehouse to be moved out is not higher than the maximum material picking height, and the material to be transported indicates materials that need to be disassembled and shipped out, the warehouse location identifier and the material identifier of the material to be transported are sent to the second user terminal corresponding to the first warehouse area, so that the user who logs in to the second user terminal can browse the warehouse location identifier and the material identifier, and after the first robot drives to the warehouse to be moved out, the material to be transported from the warehouse to be moved out to the carrying space of the first robot.

5. The method according to claim 4, characterized in that The method further comprises: If the storage location to be moved out is not higher than the maximum material picking height, and the material to be transported indicates materials that need to be disassembled and shipped out, a first task type identifier representing the task of disassembling and shipping out is sent to the robot control end, so that the robot control end controls the first robot to take an empty pallet from the pallet storage area as the carrying space for the first robot before controlling the first robot to drive to the storage location to be moved out.

6. The method according to any one of claims 1 to 5, characterized in that: Before obtaining the task information of the to-be-processed tasks for the first storage area as the to-be-processed task information, the method further includes: The current tasks to be processed for the first warehouse area are determined from the unfinished tasks for the first warehouse area included in the task wave to be processed; wherein one task wave includes tasks for at least one warehouse area.

7. The method according to claim 6, characterized in that The determining, from the unfinished tasks for the first warehouse area included in the task wave to be processed, the current task to be processed for the first warehouse area includes: In a case where the pending tasks for the first warehouse area determined last time are not completed, the current pending tasks for the first warehouse area are determined from the uncompleted tasks for the first warehouse area included in the pending task wave.

8. The method according to claim 6, characterized in that The determining, from the unfinished tasks for the first warehouse area included in the task wave to be processed, the current task to be processed for the first warehouse area includes: A first task is determined from unfinished tasks for the first warehouse area included in the task wave to be processed, and the current task to be processed for the first warehouse area is obtained; wherein, among the task waves to be processed, the task wave to which the first task belongs among the unfinished tasks for the first warehouse area has the earliest generation time.

9. The method according to claim 8, characterized in that The step of determining the first task from the unfinished tasks for the first warehouse area included in the task wave to be processed, and obtaining the current task to be processed for the first warehouse area, comprises: If there are multiple first tasks in the unfinished tasks for the first warehouse area included in the task wave to be processed, select a second task from the multiple first tasks as the current task to be processed for the first warehouse area; Among them, the distance between the second task and the warehouse location to which the materials required for the pending tasks for the first warehouse area determined last time belong is less than a preset distance; or, among multiple first tasks, the number of warehouse areas corresponding to unfinished tasks in the task wave to which the second task belongs is the smallest; or, among multiple first tasks, the number of channels corresponding to unfinished tasks in the task wave to which the second task belongs is the smallest.

10. The method according to any one of claims 7 to 9, characterized in that: The tasks being processed in other warehouse areas except the first warehouse area are different from the task wave to which the currently determined tasks to be processed for the first warehouse area belong.

11. The method according to any one of claims 1 to 5, characterized in that: Before obtaining the task information of the to-be-processed tasks for the first storage area as the to-be-processed task information, the method further includes: Receiving an order identifier sent by a third user terminal; Based on the materials located in the first warehouse area required for the order represented by the order identifier, the current tasks to be processed for the first warehouse area are determined.

12. A material transportation system, characterized in that: The system includes a task issuing end, a user end, and a robot control end, wherein: The task is initiated by executing the method described in any one of claims 1 to 11 above; The user terminal is used to display information received from the task sending terminal to the user; The robot control end is used to control the robot to perform tasks according to the information received from the task sending end.

13. The system according to claim 12, characterized in that The user terminal is also used to send the location identifier of the other storage bin to the task issuing terminal when the materials to be transported indicate that the materials need to be shipped out of the warehouse in whole pallets, the storage bin to be moved out is higher than the maximum material picking height, and the user logged in to the user terminal transports the materials to be transported from the storage bin to be moved out to other storage bins not higher than the maximum material picking height.

14. The system according to claim 12, characterized in that The user terminal is further configured to send a task instruction indicating that the carrying space of the robot is full to the robot control terminal when the material to be transported indicates that the material needs to be disassembled and shipped out of the warehouse, the storage location to be removed is not higher than the maximum material picking height, and the carrying space of the robot executing the task to be processed is full; The robot control end is also used to control the robot with remaining carrying space to continue to execute the task to be processed according to the task instruction.

15. A material transport device, characterized in that: The device is applied to the task initiator, and the device comprises: A task information acquisition module, used to acquire task information of pending tasks for the first storage area as pending task information; A height judgment module, used to judge whether the storage location to be removed represented by the storage location identifier in the pending task information is higher than the maximum material picking height supported by the robot; The first sending module is used to send the location identification to the robot control end if the location to be moved out is not higher than the maximum material picking height, so that the robot control end controls the first robot to move to the location to be moved out according to the location identification, and transports the materials to be moved in the location to be moved out to the target position.

16. The device according to claim 15, characterized in that The identification sending module is specifically used to send the warehouse identification to the robot control end when the material to be transported indicates that the material needs to be transported out of the warehouse in a whole pallet, so that the robot control end controls the first robot to travel to the warehouse to be transported out according to the warehouse identification, and picks the material to be transported from the warehouse to be transported out and transports it to the target location; The device also includes: A second sending module is used to send the location identifier to the first user terminal corresponding to the first warehouse area if the location to be moved out is higher than the maximum material picking height, so that the user who logs in to the first user terminal can move the material to be moved from the location to be moved out to other locations not higher than the maximum material picking height according to the location identifier, and then send the location identifier of the other location to the task issuing terminal through the first user terminal; An information updating module, used for acquiring the location identifier of the other location sent by the first user terminal, obtaining new task information to be processed; and triggering the height determination module; The device also includes: A third sending module is used for sending the bin identifier and the material identifier of the material to be transported to the second user terminal corresponding to the first warehouse area if the bin to be transported is not higher than the maximum material picking height and the material to be transported indicates a material that needs to be disassembled and shipped out of the warehouse, so that the user who logs in to the second user terminal browses the bin identifier and the material identifier, and after the first robot drives to the bin to be transported, the material to be transported is transported from the bin to be transported to the carrying space of the first robot; The device also includes: a fourth sending module, configured to send a first task type identifier indicating a task of disassembling and dispatching materials to the robot control end if the storage location to be transported is not higher than the maximum material picking height and the material to be transported indicates that the material needs to be disassembled and dispatched, so that the robot control end controls the first robot to take an empty pallet from the pallet storage as the carrying space of the first robot before controlling the first robot to travel to the storage location to be transported; The device also includes: A task determination module, used to determine the current pending tasks for the first warehouse area from the unfinished tasks for the first warehouse area included in the pending task wave; wherein a task wave includes tasks for at least one warehouse area; The task determination module is specifically configured to determine the current pending tasks for the first warehouse area from the unfinished tasks for the first warehouse area included in the pending task wave when the pending tasks for the first warehouse area determined last time are not completed; The task determination module comprises: The task determination submodule is used to determine the first task from the unfinished tasks for the first warehouse area included in the task wave to be processed, and obtain the task to be processed currently for the first warehouse area; wherein, among the task waves to be processed, the task wave to which the first task belongs among the unfinished tasks for the first warehouse area has the earliest generation time; The task determination submodule is specifically configured to select a second task from the plurality of first tasks as the current task to be processed for the first warehouse area if there are a plurality of the first tasks in the unfinished tasks for the first warehouse area included in the task wave to be processed; The distance between the second task and the storage location to which the materials required for the task to be processed in the first warehouse area determined last time belong is less than a preset distance; or, among multiple first tasks, the number of warehouse areas corresponding to the unfinished tasks in the task wave to which the second task belongs is the smallest; or, among multiple first tasks, the number of channels corresponding to the unfinished tasks in the task wave to which the second task belongs is the smallest; The tasks being processed in other warehouse areas except the first warehouse area are different from the task wave to which the currently determined tasks to be processed for the first warehouse area belong; The device also includes: An order identification receiving module, used for receiving an order identification sent by a third user terminal before obtaining the task information of the to-be-processed task for the first warehouse area as the to-be-processed task information; The pending task determination module is used to determine the pending tasks currently for the first warehouse area based on the materials located in the first warehouse area and required for the order represented by the order identifier.

17. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-11 when executing a program stored in a memory.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

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