Goods shelf control method and device, storage medium and electronic equipment

Abstract

The invention relates to a goods shelf control method and device, a storage medium and electronic equipment, and particularly relates to the technical field of intelligent warehousing, and the method comprises the steps: firstly determining task containers participating in exchange in a plurality of source goods shelves and target goods shelves; configuring a goods shelf sequence of a plurality of source goods shelves and a target goods shelf for exchanging goods shelves according to the heavy safety range of the task goods shelves and the goods shelves; and then according to the goods shelf sequence, cargo box adjustment in the multiple source goods shelves and the target goods shelf is executed. By applying the technical scheme, the goods shelf sequence of the exchange goods shelves between the goods shelves is configured according to the task goods shelves and the goods shelf weighting safety range, so that the source goods shelves can reach the work station according to the preset goods shelf sequence, the operation process is clearer and more standardized by reasonably planning the arrival sequence of the goods shelves, and the work efficiency is improved. The operation difficulty and the error rate are reduced, meanwhile, the problem that the goods shelf is overweight due to imbalance of the goods boxes on the target goods shelf after the goods boxes are adjusted is avoided, and the side tipping risk of the goods shelf is effectively managed.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent warehousing technology, and in particular to a shelf control method, device, storage medium and electronic equipment. Background Art

[0002] In the management of smart warehouses, it is often necessary to reorganize and group cartons according to the actual needs of the products, that is, to adjust cartons between shelves.

[0003] Currently, cargo boxes are adjusted between shelves at workstations. The current solution is that a group of source shelves (or simply referred to as source shelves, etc.) corresponds to a target shelf. The source shelves provide cargo boxes to the target shelves, and the target shelves need to vacate cargo compartments to collect the received cargo boxes.

[0004] However, since the order in which these source shelves arrive at the workstation is random, the source shelves that arrive first may cause an imbalance of the cartons on the target shelves after the cartons are adjusted, which in turn causes the shelf to be overweight, resulting in a risk of tipping. Summary of the invention

[0005] In view of this, the present disclosure provides a shelf control method, device, storage medium and electronic device, the main purpose of which is to improve the current related technology that the order in which source shelves arrive at the workstation is random, which may cause an imbalance of cargo boxes on the target shelf after the cargo boxes are adjusted, thereby causing the shelf to be overweight, and thus there is a technical problem of the risk of tipping.

[0006] In a first aspect, the present disclosure provides a shelf control method, comprising:

[0007] Determine the task boxes involved in the exchange among multiple source shelves and target shelves;

[0008] According to the safety range of the task cargo boxes and the weight of the shelves, the shelf order of exchanging cargo boxes between the multiple source shelves and the target shelf is configured;

[0009] Carton adjustments in the plurality of source shelves and the target shelf are performed according to the shelf order.

[0010] Optionally, configuring the order of exchanging cargo boxes between the plurality of source racks and the target rack according to the safety range of the task cargo boxes and the weight of the racks includes:

[0011] According to the instantaneous status of the cargo boxes in the source shelf and the target shelf, the shelf order corresponding to the task cargo box transfer in the safety range is configured.

[0012] Optionally, performing the adjustment of the containers in the plurality of source shelves and the target shelf according to the shelf order includes:

[0013] Get the number of empty shelf slots in the staging area;

[0014] According to the number of shelf vacancies in the temporary storage area, the adjustment of containers in the plurality of source shelves and the target shelf is performed in the shelf order.

[0015] Optionally, the adjusting of the containers in the plurality of source shelves and the target shelf is performed according to the shelf order according to the number of shelf vacancies in the temporary storage area, including:

[0016] According to the number of empty shelves in the temporary storage area, dispatch a corresponding number of source shelves to the temporary storage area in the order of the shelves;

[0017] According to the source shelves that have completed the exchange of boxes with the target shelf, and the source shelves that have queued in the queue area of ​​the workstation, and combined with the vacancy situation in the queue area, the source shelves that have arrived at the temporary storage area will be dispatched to the queue area in sequence according to the order of the shelves.

[0018] Optionally, the method further includes:

[0019] If the source shelf with the highest shelf order does not arrive at the temporary storage area within the preset time, the shelf order of the source shelves that have arrived in the temporary storage area is reconfigured based on the source shelves that have arrived in the temporary storage area and their corresponding task boxes that need to be exchanged, and combined with the safety range of the overweight shelves;

[0020] According to the reconfigured shelf order of the source shelves that have arrived in the temporary storage area, the cargo box adjustment in the source shelves that have arrived in the temporary storage area and the target shelves is performed.

[0021] Optionally, after adjusting the source shelves that have arrived in the temporary storage area and the cargo boxes in the target shelves according to the reconfigured shelf order of the source shelves that have arrived in the temporary storage area, the method further includes:

[0022] Reconfigure the order of the source shelves for the remaining uncompleted container exchanges according to the existing containers on the target shelves and the safety range of the shelf weight;

[0023] According to the shelf order of the source shelf of the remaining unfinished container exchange reconfiguration, the container adjustment in the source shelf of the remaining unfinished container exchange and the target shelf is performed.

[0024] Optionally, before dispatching the source shelves arriving at the temporary storage area to the queuing area in sequence according to the order of the shelves based on the source shelves that have completed the exchange of boxes with the target shelf and the source shelves that have been queued in the queuing area of ​​the workstation and the vacancy of the queuing area, the method further includes:

[0025] According to the number of empty shelf positions in the queuing area, a corresponding number of source shelves are dispatched to the queuing area in the order of the shelves.

[0026] Optionally, the source shelf includes: a plurality of shelf surfaces capable of storing cargo boxes;

[0027] The shelf order in which the plurality of source shelves exchange boxes with the target shelf includes: the shelf order corresponding to each shelf surface of the plurality of source shelves.

[0028] Optionally, each shelf surface has its corresponding shelf sequence number, and the difference between the shelf sequence numbers of the shelf surfaces in the same source shelf is within a preset interval range.

[0029] Optionally, the method further includes:

[0030] The preset interval range is determined according to the number of shelves that can be accommodated in the temporary storage area.

[0031] In a second aspect, the present disclosure provides a shelf control device, comprising:

[0032] A determination module is configured to determine task containers involved in the exchange from a plurality of source shelves and a target shelf;

[0033] A configuration module is configured to configure the shelf order of exchanging boxes between the plurality of source shelves and the target shelf according to the safety range of the task boxes and the weight of the shelves;

[0034] The execution module is configured to execute the adjustment of the containers in the plurality of source shelves and the target shelf according to the shelf order.

[0035] In a third aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the shelf control method described in the first aspect.

[0036] In a fourth aspect, the present disclosure provides an electronic device, including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein the processor implements the shelf control method described in the first aspect when executing the computer program.

[0037] In a fifth aspect, the present disclosure provides a computer program product, including a computer program, which implements the shelf control method described in the first aspect when executed by a processor.

[0038] By means of the above technical scheme, the present disclosure provides a shelf control method, device, storage medium and electronic device. Compared with the current related technologies, the present disclosure first determines the task boxes involved in the exchange between multiple source shelves and target shelves; then configures the shelf order of exchanging boxes between multiple source shelves and target shelves according to the safety range of the task boxes and the shelf weight; and then performs the box adjustment in multiple source shelves and target shelves according to the shelf order. By applying the technical scheme of the present disclosure, according to the safety range of the task boxes and the shelf weight, the shelf order of exchanging boxes between shelves is configured, and the boxes are adjusted according to the shelf order, the source shelves can arrive at the workstation according to the predetermined shelf order. By reasonably planning the arrival order of the shelves, the operation process is clearer and more standardized, the operation difficulty and error rate are reduced, and at the same time, the shelf weight problem caused by the imbalance of boxes on the target shelves after the box adjustment is avoided, and the rollover risk of the shelves is effectively managed.

[0039] The above description is only an overview of the technical solution of the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific implementation methods of the present disclosure are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0041] In order to more clearly illustrate the embodiments of the present invention 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0042] Figure 1 A schematic diagram of a storage system provided by an embodiment of the present disclosure is shown;

[0043] Figure 2 A schematic diagram of the structure of a workstation provided by an embodiment of the present disclosure is shown;

[0044] Figure 3 A schematic diagram of a process flow of a shelf control method provided by an embodiment of the present disclosure is shown;

[0045] Figure 4A schematic diagram of a process flow of a shelf control method provided by an embodiment of the present disclosure is shown;

[0046] Figure 5 A schematic diagram showing an example provided by an embodiment of the present disclosure;

[0047] Figure 6 A schematic diagram showing an example provided by an embodiment of the present disclosure;

[0048] Figure 7 A schematic diagram of a process flow of a shelf control method provided by an embodiment of the present disclosure is shown;

[0049] Figure 8 A schematic diagram showing an example provided by an embodiment of the present disclosure;

[0050] Fig. 9 A schematic diagram of the structure of a shelf control device provided by an embodiment of the present disclosure is shown;

[0051] Fig.10 A schematic structural diagram of an electronic device provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0052] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0053] Many specific details are described in the following description to facilitate a full understanding of the present disclosure. However, the present disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present disclosure, so the present disclosure is not limited by the specific implementation disclosed below.

[0054] The terms used in one or more embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present disclosure. The singular forms of "a", "said" and "the" used in one or more embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0055] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present disclosure, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0056] The warehousing system applied in the embodiment of the present disclosure is described below with reference to the accompanying drawings.

[0057] Figure 1 Schematic diagram of a storage system used in the embodiment of the present disclosure. Figure 1 As shown, the warehousing system 100 includes a plurality of shelves 10 , a shelf docking area 20 , and at least one workstation 30 .

[0058] Exemplarily, the shelf 10 may include a plurality of storage locations, wherein the storage locations may be used to place containers, material boxes, or goods directly, or original boxes of goods, which are not limited in the embodiments of the present disclosure, and the following embodiments are schematically described by taking the storage locations used to place containers as an example.

[0059] For example, the plurality of storage locations on the shelf 10 may be neatly arranged along the length, width, and height of the shelf 10. The container may be a matching product specially designed for the shelf 10, or may be an ordinary cargo box (also called a material box), or may be a packaging of the cargo (also called an original box), which is not limited in the embodiments of the present disclosure.

[0060] In some examples, the shelf 10 can be a source shelf or a target shelf, that is, it can be a shelf that provides target boxes or a shelf that receives and concentrates target boxes.

[0061] In some examples, the shelf 10 may be a single-sided shelf, a double-sided shelf, or a four-sided shelf (i.e., containers can be placed and retrieved from all four sides of the shelf), and the embodiments of the present disclosure do not limit this. For example, when the shelf 10 is a double-sided shelf, partitions may be provided between multiple cargo locations of the shelf 10 in the vertical direction; each side of the shelf 10 may be provided with 30 storage locations, and a total of 60 storage locations are provided on both sides. For another example, when the shelf 10 is a four-sided shelf, partitions may be provided between multiple cargo locations of the shelf 10 in the vertical and horizontal directions, and containers can be placed and retrieved from all four sides of the shelf 10. The embodiments of the present disclosure do not limit the type of shelf 10 and the number of storage locations included, and are only schematically illustrated here.

[0062] In some embodiments, the number of workstations 30 in the storage system 100 may be one or more, which is not limited in the embodiments of the present disclosure. Each workstation 30 in the storage system 100 may be provided with one or more shelf docking areas 20, and the shelf docking areas 20 are used to dock the shelves 10.

[0063] In some examples, the shelf docking area 20 includes one or more docking positions, which are used to dock the shelf 10. For example, one workstation 30 may correspond to one docking position, or one workstation 30 may correspond to multiple docking positions, which is not limited in the embodiments of the present disclosure. The workstation 30 may take out a cargo box from a shelf 10 (such as a target shelf or a source shelf) docked in the shelf docking area 20, and may also place a cargo box on a shelf 10 docked in the shelf docking area 20.

[0064] Figure 2 The following is a schematic diagram of the structure of a workstation provided by an embodiment of the present disclosure. Figure 2 As shown, the workstation 30 includes a support frame 31, a fetching mechanism 32, and a box fetching mechanism 33. The cache position can be set to the support frame 31 or the fetching mechanism 32.

[0065] In some examples, the object-retrieving mechanism 32 is provided to the support frame 31. The object-retrieving mechanism 32 can move laterally and vertically relative to the support frame 31. The box-retrieving mechanism 33 is provided to the object-retrieving mechanism 32 so that the box-retrieving mechanism 33 can move laterally and / or vertically relative to the support frame 31.

[0066] In some examples, the box-taking mechanism 33 may be coupled to a control device. When the handling device carries the shelf 10 to the shelf docking area 20 corresponding to the workstation 30 under the control of the control device, the box-taking mechanism 33 moves horizontally and / or vertically to reach a position corresponding to a storage location in the shelf 10, thereby picking up and placing a container at the storage location.

[0067] For example, in some examples, the cache position can be used to place containers. For example, the box-taking mechanism 33 can move the container between different storage positions, or between a storage position and a cache position, thereby adjusting the storage position of the container on the same shelf 10, or moving the container between multiple shelves 10.

[0068] In some embodiments, the workstation 30 may include at least one object-retrieving mechanism 32 and a box-retrieving mechanism 33. The box-retrieving mechanism 33 is disposed on the object-retrieving mechanism 32, and the box-retrieving mechanism 33 may move horizontally and / or vertically through the object-retrieving mechanism 32.

[0069] In some examples, the object-retrieving mechanism 32 may be a robotic arm (also referred to as an automated robotic arm), the box-retrieving mechanism 33 may be connected to the robotic arm, and may rotate to retrieve and return boxes, and the box-retrieving mechanism 33 may move laterally and / or vertically through the robotic arm (for example, the robotic arm may move laterally and / or vertically with the box-retrieving mechanism 33). The robotic arm may be fixed to the ground or a guide rail, such as the robotic arm may be permanently fixed to the ground or a guide rail, or may be temporarily fixed to the ground or a guide rail, and the embodiments of the present disclosure are not limited to this.

[0070] In order to improve the current related technology, the random order of source shelves arriving at the workstation may lead to an imbalance of the cargo boxes on the target shelves after the cargo boxes are adjusted, which in turn causes the problem of unbalanced weight of the shelves, resulting in the risk of tilting. Figure 1 and Figure 2 , the embodiment of the present disclosure provides a shelf control method, such as Figure 3 As shown, the method includes the following steps 301 to 303:

[0071] Step 301: Determine task containers that participate in the exchange in multiple source shelves and target shelves.

[0072] In some examples, in order to meet the various needs in warehouse operations, it is usually necessary to exchange task cartons. For example, when the inventory of goods at the point of sale or picking area is lower than the preset threshold, it is necessary to replenish these areas from the storage area; or in order to complete customer orders, it is necessary to collect the required cartons from different shelves and then concentrate them in a designated area for packaging and delivery; in order to optimize inventory layout or perform cycle counts, it may also be necessary to rearrange the position of the cartons. For another example, in both the order tallying scenario and the inventory tallying scenario, the cartons need to be reorganized and collected.

[0073] Among them, the grouping of cargo boxes based on orders or waves is referred to as order tallying. Specifically, the inventory can be grouped according to the same wave based on the orders actually issued the next day. In this way, before the production of the next day's orders, the working window has several hours to adjust the position of the cargo boxes, thereby ensuring a higher outbound efficiency in the initial stage of the next day's production; the cargo box adjustment generated by operational needs can be referred to as inventory tallying. Specifically, in the actual production process, after the consumption of the inventory in the cargo boxes, empty cargo boxes without goods will be generated. These empty cargo boxes are sometimes not directly removed from the shelves after there are no goods in them, but may still be put back into the cargo grid of the shelf. When the warehouse manager disposes of these empty cargo boxes in a centralized manner, he hopes that these empty cargo boxes are concentrated on a small number of shelves, so there will be a demand for cargo box adjustment of concentrated empty cargo boxes. In addition to the above requirements, a common requirement is that warehouse managers want to concentrate the same type of goods on one shelf, such as the goods on a shelf are all Class A stock keeping units (SKU), the same brand, or even the same style, etc., to improve warehouse operation efficiency, reduce error rates, and further optimize inventory management. These situations usually involve moving task cartons from storage shelves to points of sale or picking shelves to better utilize space or improve warehouse operation efficiency. By effectively managing and executing these carton exchange tasks, warehouses can maintain efficient operations and ensure that they can respond to changes in market demand in a timely manner, while reducing operating costs and improving customer satisfaction.

[0074] For example, based on the above-mentioned demand for box exchange, the shelves corresponding to the exchange task are usually divided into source shelves and target shelves, where the source shelves are shelves that provide task boxes to the target shelves, and contain some goods that need to be moved or redistributed. These goods may need to be transferred to other locations due to order requirements, inventory adjustments, goods rotation or other management requirements. Correspondingly, the target shelves are shelves that receive and concentrate task boxes, and need to vacate cargo grids to collect the received boxes. During the exchange process, the target shelves need to vacate enough cargo grids to receive the boxes that are about to arrive, and ensure that these boxes can be stored in the prescribed order and manner.

[0075] For example, the type of task can be clarified first, such as replenishment, picking, or other logistics activities. Detailed information (SKU, quantity, etc.) of each container is obtained, including its current location (source shelf), the location to be moved to (target shelf), and information about the goods in the container. It is also possible to determine which tasks have a higher priority based on business needs or system algorithms, and combine this information to determine the task containers involved in the exchange among multiple source shelves and target shelves.

[0076] Step 302: According to the safety range of task cargo boxes and shelf weight, configure the shelf order of exchanging cargo boxes between multiple source shelves and target shelves.

[0077] In some examples, there may be large differences in weight between different boxes. Even if the boxes are initially placed evenly, if the weight, position, and order of exchange between boxes are not fully considered during the transfer process, some shelves may be overweight. Among them, the order in which the boxes are transferred has a great impact on the weight of the shelves. If a heavier box is transferred to the target shelf first, and the boxes of the corresponding weight are not replenished on the other side of the target shelf in time, the shelf may be overweight. The inventory in the warehouse changes dynamically, and new boxes may be put into the warehouse at any time, while old boxes may be taken out of the warehouse. This dynamic change may break the original equilibrium state and cause the shelf to be overweight.

[0078] For example, you first need to clarify the load-bearing limit of each shelf and the safety threshold for overweight, set the safety range of the shelf, that is, the maximum and minimum weight limits that the shelf can withstand, and when choosing to swap out cartons, you can consider the weight and size of the cartons and the position of the cartons on the shelf to ensure that the total weight of the shelf after the transfer is within a safe range and that the problem of overweight shelves does not occur during the transfer of cartons.

[0079] For example, multi-factor evaluation algorithms, machine learning algorithms, etc. can be used to evaluate each candidate box and select the most suitable box for exchange, simulating the process of transferring the selected box from the source shelf to the target shelf, and the process of transferring the swapped box from the target shelf to the source shelf. And calculate the total weight of the two shelves after the transfer and whether the boxes on the shelves are placed evenly, and verify whether they are still within the safe range. Optimize the transfer order of the boxes based on factors such as the weight, size, and position of the boxes. Ensure that the weight of the shelves is always within the safe range during the transfer. If the transfer causes the weight of any shelf to exceed the safe range, reselect the box or adjust the transfer plan. Then update the status information of the shelf, including the location and weight of the box.

[0080] Step 303: Execute cargo box adjustment in multiple source shelves and target shelves according to the shelf order.

[0081] In some examples, for the scenario of adjusting the position of cargo boxes, the general cargo box adjustment is divided into two important stages, namely the planning stage and the execution stage. However, in actual execution, due to various constraints and restrictions, it may not be possible to execute the plan in the planning stage. For example, after execution, it will cause the problem of unbalanced shelf weight and the risk of tilting. If the shelves arrive out of order, the factors that can be considered during execution are quite limited, because the design of out-of-order arrival requires more flexible and improvisational disposal strategies to ensure the smooth operation. On the contrary, if the shelves can arrive in an orderly manner, it can provide more flexibility and accuracy for the planning stage of warehousing and logistics. In this case, more stringent conditions and more sophisticated operating procedures can be set in the planning stage, just like rehearsals, to ensure high efficiency and accuracy during execution.

[0082] In some examples, when business requirements are complex, ad hoc decisions may always require the cancellation of tasks, while the shelves arrive in order. Since the factors that can be considered in planning are complex, the probability of cancellation that cannot be executed is very low. For example, there is a group of boxes on multiple source shelves, half of which are expected to go to the F side of the target shelf, and the other half are expected to go to the B side of the target shelf. If these shelves arrive out of order, the first boxes that arrive may be those that go to the F side. For another example, when the shelf is a four-sided shelf, boxes can be placed on all four sides of the shelf. Considering the shelf balance during the box adjustment process, it is necessary to determine the order in which the boxes arrive at the four sides of the target shelf to ensure that the boxes can be evenly distributed on the four sides of the shelf. If these boxes all move to one side of the target shelf, it is easy to cause a weight imbalance problem. When making ad hoc decisions, the execution stage is often canceled if it cannot be placed. It can be imagined that not many of this group of boxes can reach the target shelf. On the contrary, if the shelves are in order, the order in which the shelves arrive can be simulated during the planning stage. Through careful planning and execution, it can be ensured that all cartons are not overloaded during the sorting process and the final state, and all shelves are delivered to the target shelves.

[0083] For example, in the actual operation of warehousing and logistics management, when the shelves carry multiple task boxes, the design of disorderly arrival of shelves often brings a series of problems. For example, after the first shelf arrives at the docking point, the time required to perform the cargo box task is often not negligible. The shelves that arrive out of order may carry different types of cargo boxes, which increases the complexity of the operation and the risk of errors. The orderly arrival of shelves can reduce waiting time. Since the shelves arrive in a predetermined order, each shelf can start to perform tasks immediately upon arrival, reducing unnecessary waiting time. At the same time, it can also improve execution efficiency. The orderly arrival of shelves allows operators to focus on the current task, reducing the risk of task switching and errors, and improving execution efficiency. By rationally planning the arrival order of the shelves, the storage space and equipment resources of the warehouse can be maximized to avoid resource waste. The design of orderly arrival can also make the operation process clearer and more standardized, reducing the difficulty of operation and the error rate.

[0084] In summary, from the perspective of actual operational efficiency and resource utilization, it is undoubtedly a more reasonable and effective choice to perform the adjustment of cargo boxes in multiple source shelves and target shelves according to the shelf order. When the shelves can arrive in an orderly manner, more precise conditions and processes can be set in the planning stage. Since the arrival order and time can be predicted, detailed operation plans and emergency plans can be formulated in advance. In the execution stage, warehouse automation management equipment or operators only need to execute according to the predetermined plan, which greatly reduces the gap between planning and execution.

[0085] Compared with the current related technologies, the embodiment of the present disclosure can first determine the task boxes involved in the exchange among multiple source shelves and target shelves; then configure the shelf order of the multiple source shelves and target shelves for exchanging boxes according to the safety range of the task boxes and the weight of the shelves; and then perform the box adjustment among multiple source shelves and target shelves according to the shelf order. By applying the technical solution of the embodiment of the present disclosure, the positions of the task boxes involved in the exchange among the source shelves and the target shelves are configured and recorded, and the box adjustment is performed. According to the safety range of the task boxes and the weight of the shelves, the shelf order of exchanging boxes between the shelves is configured, and the box adjustment is performed according to the shelf order, the source shelves can arrive at the workstation according to the predetermined shelf order. By reasonably planning the arrival order of the shelves, the operation process is clearer and more standardized, and the operation difficulty and error rate are reduced. At the same time, the shelf weight problem caused by the imbalance of the boxes on the target shelves after the box adjustment is avoided, and the rollover risk of the shelves is effectively managed.

[0086] Further, as Figure 3 An optional method of the embodiment, such as Figure 4 As shown, the method may include the following steps 401 to 404:

[0087] Step 401: Determine task containers that participate in the exchange among multiple source shelves and target shelves.

[0088] For example, by querying the Warehouse Management System (WMS) or other warehouse management software, you can quickly determine the task boxes that need to be exchanged, including the shelf number, layer number, and location number of the task boxes. You can also use the physical marks and labels of the goods to determine the location of the task boxes in multiple source shelves and target shelves, and update the inventory status in real time.

[0089] Step 402: According to the safety range of task cargo boxes and shelf weight, configure the shelf order of exchanging cargo boxes between multiple source shelves and target shelves.

[0090] In some examples, there may be large differences in weight between boxes for different tasks. Even if the boxes are placed evenly at the beginning, if the weight, position, and order of exchange between boxes are not fully considered during the transfer process, some shelves may be overweight. The order in which boxes are transferred has a great impact on the weight of the shelves. If a heavier box is transferred to the target shelf first, and the boxes of the corresponding weight are not replenished on the other side of the target shelf in time, the shelf may be overweight. The inventory in the warehouse changes dynamically. New boxes may be put into the warehouse at any time, while old boxes may be taken out of the warehouse. This dynamic change may break the original equilibrium state and cause the shelves to be overweight.

[0091] For example, it is first necessary to clarify the load-bearing limit of each shelf and the safety threshold of overweight, and set the safety range of shelf overweight, that is, the maximum and minimum weight limits that the shelf can withstand. When selecting the shelf order for exchanging cartons between multiple source shelves and target shelves, the weight and size of the cartons and the position of the cartons on the shelves can be considered to ensure that the total weight of the shelf after the transfer is within a safe range and that the problem of shelf overweight does not occur during the cargo box transfer process.

[0092] Optionally, step 402 may specifically include: configuring the shelf order corresponding to the task container transfer within the safety range according to the instantaneous status of the containers in the source shelf and the target shelf.

[0093] Exemplarily, in the planning stage of cargo box adjustment, when a group of cargo box adjustment tasks are generated, the target shelf is determined according to the task goal. Then, when selecting the cargo box in the source shelf to be replaced, the result of the current cargo box exchange can be simulated based on the instantaneous state of the weight distribution of the cargo boxes in the shelf before and after the current cargo box transfer. Then, the result of the exchangeable cargo box in which the weight distribution of the cargo boxes in the source shelf and the target shelf is within the safe range before and after the cargo box transfer is determined, that is, when the next source shelf is generated, the cargo box transfer simulation is performed based on the result after the previous cargo box transfer as the current state precondition. If a group of cargo box adjustment tasks can be finally generated, it is proved that under the given task conditions, there is at least one shelf order corresponding to the task cargo box transfer within the safe range, which can make all the shelves involved in the exchange not overweight, that is, at least one feasible solution is achieved. This shelf order can be determined as the shelf order corresponding to the task cargo box transfer within the safe range. When selecting the cargo box to be replaced, there may be multiple cargo box combinations that can meet the requirements of the safe range. These combinations may involve different cargo box quantities, weights and types, but they can all keep the shelves balanced. Even if the same totes are selected for exchange, the locations of these totes on the destination shelf may be different. Totes can be placed in multiple locations on the destination shelf as long as storage rules and safety requirements are met.

[0094] For example, the instantaneous state of the cargo boxes in the source shelf and the target shelf can be obtained through sensors and / or information systems, and the most appropriate shelf order for exchanging cargo boxes can be selected based on this, simulating the process of exchanging cargo boxes between multiple source shelves and target shelves according to the shelf order. And calculate the total weight of the two shelves after the transfer and whether the cargo boxes on the shelves are placed evenly, and verify whether they are still within the safety range. The transfer order of the cargo boxes can also be optimized according to factors such as the weight, size and position of the cargo boxes. Ensure that the weight bias of the shelves is always within the safety range during the transfer process. If the transfer causes the weight bias of any shelf to exceed the safety range, reconfigure the shelf order of exchanging cargo boxes between multiple source shelves and target shelves. Then update the status information of the shelf, including the location and weight of the cargo box. By applying the method of this embodiment, the transfer task of the cargo box in the intelligent warehousing system can be effectively managed and optimized to ensure the safety and efficiency of the entire process.

[0095] In some examples, if there are 3 source shelves and 1 target shelf: source shelf A, source shelf B, source shelf C, and target shelf D, the instantaneous state of the cargo boxes when the source shelves and the target shelves are exchanged can be simulated. If the source shelves arrive at the workstation in the order of A, B, and C to exchange with the target shelves, the weight imbalance of the target shelf D in this process may exceed the safety range; and when the source shelves arrive at the workstation in the order of A, C, and B to exchange with the target shelves, the cargo box transfer results on the target shelf D are always within the safety range. In this way, the shelf sequence number of source shelf A can be determined as 1, the shelf sequence number of source shelf C can be determined as 2, and the shelf sequence number of source shelf B can be determined as 3, so as to ensure that when the source shelves exchange cargo boxes according to the shelf sequence, there will be no weight imbalance problem, which will cause the shelves to tilt.

[0096] Optionally, the above-mentioned source shelves may specifically include: multiple shelf surfaces that can store cargo boxes; accordingly, the shelf order of the above-mentioned multiple source shelves and the target shelves for exchanging cargo boxes may specifically include: the shelf order corresponding to each shelf surface of the multiple source shelves.

[0097] For example, when the source shelf contains multiple shelf surfaces that can store boxes, the tasks and execution order of managing these shelf surfaces become more complicated. Each shelf surface may carry different quantities, weights, and types of boxes, and each box may have its own specific handling order and priority, such as the shelf order corresponding to each shelf surface.

[0098] Optionally, each of the above-mentioned shelf surfaces may have a corresponding shelf sequence number, and the difference between the shelf sequence numbers of the shelf surfaces in the same source shelf is within a preset interval range.

[0099] In some examples, when a shelf has completed the previous task and there are unfinished handling tasks on the back, an effective strategy is needed to handle this situation to avoid unnecessary movement and potential "self-locking". Self-locking occurs when a shelf needs to turn around to perform the back task after completing the previous task, but due to improper system scheduling or insufficient space in the queuing area and temporary storage area, the shelf may not be able to return to the appropriate position in the task queue in time after turning around, and thus be "locked" by the subsequent shelf and unable to continue to perform its back task.

[0100] For example, Figure 5As shown, if the source shelf needs to be turned, there will be 2 shelf sequence numbers. If the difference between the second number and the first number is too large, for example, the 2 shelf sequence numbers of source shelf 1 (source 1) in the figure are 1 and 10 respectively, and the 2 shelf sequence numbers of source shelf 2 (source 2) are 2 and 12 respectively, and so on, after these source shelves are turned, there may be no temporary storage positions available, which will lead to the problem that the shelves cannot be released quickly. Even if one side is completed, it still needs to occupy the temporary storage area resources. Figure 5 A batch of source shelves that have been called cannot be released after completing one side, and the exchange of cargo boxes requires the addition of source shelf 9 (source 9), while the previous order shelves cannot be released, which eventually causes the required shelves to exceed the maximum number of shelves that can be accommodated at the workstation. In the above example, in order to avoid this problem, a maximum interval parameter can be set for the sequence number of the two shelf faces of the same shelf when planning the sorting, that is, the maximum difference in the sequence number of the two shelf faces of the same shelf, to ensure the rapid release of a shelf. For example, considering the situation that the shelf needs to return to the temporary storage area to wait after the face is turned, the maximum interval parameter can be set according to the number of empty shelf spaces in the temporary storage area. For example, if the number of empty shelf spaces is 8, the maximum interval parameter can be set to 8 to ensure that the workstation can be quickly re-entered when there are enough empty shelf spaces, so as to avoid the cargo boxes on other sides of the shelf being unable to be released for a long time due to the interval parameter being too large, occupying the empty spaces in the temporary storage area, and even causing other shelves to have no temporary storage spaces available, affecting the overall work efficiency. At the same time, a minimum interval parameter can also be set, that is, the minimum difference in the serial numbers of the two shelf surfaces of the same shelf. Because it takes some time to switch surfaces, other shelves can exchange cartons with the target shelf during this period of time.

[0101] Optionally, the method of this embodiment may further specifically include: determining a preset interval range according to the number of shelves that can be accommodated in the temporary storage area.

[0102] In some examples, the shelf sequence numbers are continuous, or at least continuous within an acceptable range, for ease of management and identification, and the preset interval range determines the flexibility of the sequence number allocation. The preset interval range can be determined based on the total number of shelves that can be accommodated in the temporary storage area, the arrangement of the shelves, and the flexibility requirements for the sequence number allocation. In actual applications, it may be necessary to determine an appropriate preset interval range through experiments and adjustments to ensure a balance between the continuity and flexibility of the sequence number allocation.

[0103] In some examples, the preset interval range may also be determined based on the time required for the face rotation and the time of other operations. If it is found that the sequence number space is about to be exhausted or there is a large amount of unused sequence number space, the sequence number allocation strategy may be re-planned within the preset interval range.

[0104] Step 403: Obtain the number of empty shelf spaces in the temporary storage area.

[0105] For example, Figure 6 As shown, one or more shelf temporary storage areas can be introduced in the product form of the current cargo box adjustment very close to the workstation. Each temporary storage area can include one or more shelf vacancies (or can be called temporary storage positions or temporary storage points), so that when the shelf behind the ordered shelf arrives first, there can be a temporary storage position without circling or facing the problem of re-queuing. Through the setting of the shelf temporary storage area, the shelf that has arrived at the workstation but is at the back of the shelf order can have a temporary waiting position in the area close to the workstation. When the shelf in the front of the shelf order has not arrived, the shelf can wait in the temporary storage area; when the shelf in the front of the shelf order enters the queue area, if there are still vacancies in the queue area, the shelf also enters the queue. Through this shelf temporary storage mechanism, it can be ensured that under the condition of orderly shelves, the queued shelves can also arrive quickly and can still queue in an orderly manner after turning around.

[0106] For example, Figure 6 The initial number of empty shelf spaces in the middle queue area is 2, and the number of empty shelf spaces in the temporary storage area is 6.

[0107] Step 404: According to the number of empty shelf spaces in the temporary storage area, adjust the containers in the multiple source shelves and the target shelves in the order of the shelves.

[0108] For example, the real-time status or database records of the temporary storage area can be read to determine which shelf spaces are currently available in the temporary storage area and the number of these spaces, and then the source shelf and the target shelf need to be adjusted, and which boxes on each shelf need to be moved. Before performing the box adjustment, it can be verified again whether there are enough spaces in the temporary storage area to accommodate all the boxes to be adjusted. If there are enough spaces, the box adjustment can be performed according to the order of the shelves.

[0109] For example, the positions of the task boxes involved in the exchange in the source shelf and the target shelf can also be configured by two-way control. The two-way control requires both position monitoring and recording of the task boxes on the source shelf and the task boxes on the target shelf. In this way, it can be ensured that only cargo boxes that meet the planning requirements can be exchanged between the target shelf and the source shelf, and the problem of cargo boxes running around can be effectively prevented, ensuring the orderly management of the warehouse. It can also ensure that even if the arrival order of the source shelf is unpredictable, the cargo box adjustment task can still be completed efficiently and accurately.

[0110] Optionally, step 404 may specifically include: according to the number of empty shelf slots in the temporary storage area, dispatching a corresponding number of source shelves to the temporary storage area in order of the shelves; according to the source shelves that have completed the exchange of cartons with the target shelves, and the source shelves that have been queued in the queuing area of ​​the workstation, and combined with the empty space in the queuing area, the source shelves that have arrived at the temporary storage area are dispatched to the queuing area in order in order of the shelves.

[0111] For example, if the number of empty shelves in the temporary storage area is 5, a dispatch instruction can be sent first to instruct the source shelves ranked in the top five to go to the temporary storage area. According to the number of empty shelves in the queue area and the shelf order, the next one or more source shelves to be dispatched are determined, and instruction information is sent to instruct the source shelves to go to the queue area in order. When the number of empty shelves in the temporary storage area exceeds the preset number, a dispatch instruction is sent according to the current number of empty shelves in the temporary storage area to instruct the shelves in the subsequent shelf order to go to the temporary storage area, such as shelves ranked 6-10.

[0112] For example, a group of workstation tasks may include several source shelves and only one target shelf. In this case, the ordered shelves actually refer to the order in which the source shelves arrive. Figure 6 The figure shows the single-station layout of the temporary storage area of ​​the large shelf. All the source shelves in the figure exchange and transfer boxes with the target shelf in a certain order. Each pair of shelves must be at the corresponding docking point when exchanging boxes. For the target shelf, docking point 1 is used, and the source shelf uses docking point 2. In the queuing area shown in the figure, the queued shelves must be sorted strictly in the planned order. If some shelves arrive before the previous shelves arrive, the vacant temporary storage position in the figure will be selected. Figure 6 There are 6 temporary storage positions in 2 temporary storage areas, all of which are used by source shelves, and these 6 temporary storage positions do not have the attribute of queuing. The source shelves can choose to go to any free position. If source shelf 3 has not arrived, source shelves 4 to 7 can only go to the temporary storage area. When source shelf 3 arrives at the workstation, since source shelf 2 has arrived, it can be queued after source shelf 2. After source shelf 3 is queued, for example, the queuing area is set to accommodate a maximum of 5 shelves, then source shelves 4 and source shelves 5 will also queue in turn, and source shelves 6 and source shelves 7 will wait for the queue position to be released. In this way, the flow of shelves in the cargo box adjustment task can be effectively controlled to ensure that each shelf exchanges and transfers cargo boxes in a predetermined order.

[0113] Optionally, the method of this embodiment may further specifically include: according to the number of empty shelf slots in the queuing area, dispatching a corresponding number of source shelves to the queuing area in order of the shelves.

[0114] For example, if the number of empty shelves in the temporary storage area is 4 and the number of empty shelves in the queuing area is 1, a dispatch instruction can be sent to instruct the shelf ranked first in the current shelf order to go to the queuing area, and at the same time instruct the source shelves ranked 2-4 in the shelf order to go to the temporary storage area, and according to the number of empty shelves in the queuing area and the shelf order, determine the next one or more source shelves to be dispatched, and send instruction information to instruct the source shelves to go to the queuing area in sequence according to the shelf order. When the number of empty shelves in the temporary storage area exceeds the preset number, a dispatch instruction is sent according to the current number of empty shelves in the temporary storage area to instruct the shelves in the subsequent shelf order to go to the temporary storage area, such as the shelves ranked 5-7 in the shelf order.

[0115] In some examples, the order of the shelf that is currently at the last shelf in the queue area can also be obtained, and the next one or more shelves to enter the queue area can be determined according to the order of the shelf and the number of empty shelves in the queue area; if there is an empty space in the queue area, a first indication message is sent, wherein the first indication message is used to instruct the shelf in the temporary storage area to go to the queue area. Specifically, the status of the shelves in the current queue area can be determined first, and the shelf at the last position can be found according to the order of the shelves in the queue area, and then the next one or more shelves to enter the queue area can be determined according to the order of the last shelf. Check whether there are enough empty spaces in the queue area to accommodate the new shelf. If there are empty spaces in the queue area, send the first indication message to the shelf in the temporary storage area to instruct it to go to the queue area. Assuming that the maximum capacity of the queue area is 3, each time there is an empty space, the next shelf in the temporary storage area can be instructed to enter the queue area to reduce waiting time and improve work efficiency.

[0116] In some examples, the shelf order of the shelves entering the preset area can also be obtained, wherein the preset area can include areas such as workstations, queuing areas, and temporary storage areas. If there are no vacancies in the queuing area and / or the shelf is not the next one or more shelves that need to enter the queuing area, a second indication message is sent, wherein the second indication message is used to instruct the shelf to go to the temporary storage area. Specifically, the status information of the shelf can be determined when the shelf enters the preset area, and the order of the shelf can be determined according to the shelf order of the current shelf. Check whether there are enough vacancies in the queuing area to accommodate the new shelf, and determine whether the shelf is the next one or more shelves that need to enter the queuing area according to the current shelf order. If there are vacancies in the queuing area and the shelf is the next shelf that needs to enter the queuing area, the first indication message is sent; otherwise, the second indication message is sent to instruct the shelf to go to the temporary storage area.

[0117] Compared with the current related technologies, by applying the technical solution of the disclosed embodiment, the positions of the task boxes involved in the exchange in the source shelf and the target shelf are configured and recorded, and the cargo box adjustment is performed. According to the safe range of the task cargo box and the weight of the shelf, the shelf order of the cargo box exchanged between the shelves is configured, and the cargo box adjustment is performed according to the shelf order, so that the source shelf can arrive at the workstation according to the predetermined shelf order. By reasonably planning the arrival order of the shelves, the operation process is clearer and more standardized, and the operation difficulty and error rate are reduced. At the same time, the problem of the weight of the shelf caused by the imbalance of the cargo box on the target shelf after the cargo box adjustment is avoided, and the risk of the rollover of the shelf is effectively managed. By reasonably planning the arrival order of the shelves, the storage space and equipment resources of the warehouse can be maximized to avoid waste of resources.

[0118] Furthermore, in the actual shelf scheduling process, the problem of shelves not arriving according to the planned expected time will always occur during the execution phase. For example, many shelves at the end of the shelf order have arrived, but the shelves at the front of the shelf order have not arrived for a long time. As a result, the subsequent shelves cannot smoothly exchange boxes, thereby reducing the overall production efficiency. If the source shelf at the front of the shelf order does not arrive at the temporary storage area within the preset time, and / or the source shelf scheduled to the queue area does not arrive at the queue area within the preset time, the shelf order in the temporary storage area can be reconfigured accordingly, such as Figure 7 As shown, the method may include the following steps 501 to 502:

[0119] Step 501: Based on the source shelves that have arrived in the temporary storage area and their corresponding task containers that need to be exchanged, and combined with the safety range of the heavy shelves, the shelf order of the source shelves that have arrived in the temporary storage area is reconfigured.

[0120] For example, if the source shelf at the front of the shelf order does not arrive at the temporary storage area within the preset time, and / or the source shelf scheduled to the queue area does not arrive at the queue area within the preset time, this may have an adverse impact on the entire production, logistics or warehousing process, such as causing waste of space in the temporary storage area, extending the waiting time of subsequent shelves, and may even affect the efficiency and response speed of the entire system.

[0121] For example, if all temporary storage areas and queuing areas are full, but there are still unscheduled shelves, new scheduling instructions may need to be suspended until there is a vacancy. If a shelf fails to arrive on time, the scheduling plan may need to be re-evaluated and the scheduling order of subsequent shelves may need to be adjusted.

[0122] In some examples, such as Figure 8As shown, when the temporary storage area is full or all shelves except the shelf with the original planned serial number 1 have arrived, the system can monitor the arrival of the source shelf in real time and compare it with the preset time. Once it is found that the front shelf fails to arrive within the specified time, the early warning mechanism is triggered immediately. When the early warning is triggered, the system should be able to trigger the corresponding reconfiguration (replanning) of the shelf order, and consider bringing other shelves that have arrived or are expected to arrive soon to the temporary storage area in advance to fill the vacancies and reduce waiting time. Among them, the range of the replanned shelf pool can only include shelves that have arrived at the temporary storage area, but not shelves with later serial numbers that have not yet arrived at the temporary storage area. In this way, the shelf with the first serial number after replanning can be removed from the temporary storage area and start the operation directly.

[0123] In some examples, the reconfiguration mechanism of the shelf order is crucial to ensure the flexibility of the ordered shelf arrival plan and the efficient use of the temporary storage area. When there is a vacancy in the queue area but the target shelf (which may refer to a specific source shelf or a station for performing a case exchange) has not arrived in the queue area within the preset time, it is a reasonable strategy to re-plan the order of the shelves in the temporary storage area and send new instructions. In the face of a large number of feasible solutions for products, processes or projects in production, logistics or warehouse management systems, an effective re-planning mechanism can be flexibly selected to ensure the flexibility of the ordered arrival plan and the efficient use of the temporary storage area.

[0124] Step 502: According to the order of the reconfigured shelves of the source shelves that have arrived in the temporary storage area, the cargo boxes in the source shelves and the target shelves that have arrived in the temporary storage area are adjusted.

[0125] For example, if there are vacancies in the queue area and the target shelf does not arrive at the queue area within the preset time, the serial number of the shelf in the current temporary storage area can be re-planned; according to the re-planned serial number, the third indication information is sent, and the third indication information is used to instruct the shelves in the temporary storage area to go to the queue area in the order of the serial number. In this way, the arrival order of the shelves is optimized, the waiting time is minimized, and the space utilization rate of the temporary storage area and the queue area is improved.

[0126] Optionally, the method of this embodiment may also include: reconfiguring the shelf order of the source shelves of the remaining unfinished container exchanges based on the existing containers on the target shelves and the safety range of shelf weight imbalance; and performing container adjustments on the source shelves and target shelves of the remaining unfinished container exchanges according to the reconfigured shelf order of the source shelves of the remaining unfinished container exchanges.

[0127] In some instances, the order of the source shelves can be rearranged according to the weight of the remaining unfinished boxes to minimize the impact on the weight distribution of the target shelf. For example, the lighter boxes are exchanged first, and then the heavier boxes are exchanged to maintain the overall balance of the target shelf. Optimization algorithms (such as genetic algorithms, etc.) can also be used to find the best shelf order configuration to minimize the risk of overweighting of the target shelf while satisfying all constraints. So that the boxes on the source shelves of the remaining unfinished box exchanges can be moved to the appropriate positions of the target shelves in sequence. At the same time, during the box exchange process, the weight and weight distribution of the target shelf are monitored in real time to ensure that they do not exceed the safety range of overweighting. If it is found that a box exchange will cause the target shelf to be overweight beyond the safety range, the exchange order should be adjusted immediately or other strategies should be selected (such as temporarily storing some boxes on other shelves) and records should be made to ensure that all remaining unfinished box exchanges have been completed after the shelf order is reconfigured, and the weight and weight distribution of the target shelf are within the safety range.

[0128] For example, if the originally planned shelf numbered 1 does not arrive at the temporary storage area within the preset time, the source shelves 2-7 in the temporary storage area can be reconfigured within the safe range of the container adjustment, for example, Figure 8 Source shelf 3 and source shelf 7 are reconfigured as source shelf 1 and source shelf 2 respectively, and the reconfigured source shelf 1 and source shelf 2 are dispatched to the queue area. If the shelf originally planned with sequence number 1 arrives at the temporary storage area, the shelf order of the shelves in the temporary storage area can be reconfigured again.

[0129] By applying the technical solution of the disclosed embodiment, the shelf order of the temporary storage area shelves is reasonably re-planned, so that when the source shelf at the front of the shelf order does not arrive at the temporary storage area within the preset time, and / or the source shelf dispatched to the queue area does not arrive at the queue area within the preset time, etc., it can enter the queue area according to the re-planned shelf order, thereby improving the flexibility and execution efficiency of shelf control and greatly avoiding the waste of space resources in the temporary storage area. Controlling the orderly arrival of shelves makes the operation process clearer and more standardized, reduces the difficulty of operation and the error rate, avoids the problem of shelf overweight caused by the imbalance of cargo boxes on the target shelves after cargo box adjustment, and effectively manages the risk of shelf rollover.

[0130] Further, as Figures 3 to 8 In the specific implementation of the example shown, the embodiment of the present disclosure provides a shelf control device, such as Fig. 9 As shown, the device includes: a determination module 61, a configuration module 62, and an execution module 63.

[0131] A determination module 61 is configured to determine task containers involved in the exchange from a plurality of source shelves and target shelves;

[0132] A configuration module 62 is configured to configure a shelf order for exchanging containers between the plurality of source shelves and the target shelf according to the safety range of the task containers and the weight of the shelves;

[0133] The execution module 63 is configured to execute the adjustment of the containers in the plurality of source shelves and the target shelf according to the shelf order.

[0134] In some embodiments, the configuration module 62 is further configured to configure the order of shelves corresponding to the task container transfer within the safety range according to the instantaneous status of the containers in the source shelf and the target shelf.

[0135] In some embodiments, the execution module 63 is further configured to obtain the number of empty shelf slots in the temporary storage area; and perform adjustments to the containers in the multiple source shelves and the target shelves in the order of the shelves based on the number of empty shelf slots in the temporary storage area.

[0136] In some embodiments, the execution module 63 is further specifically configured to dispatch a corresponding number of source shelves to the temporary storage area according to the number of empty shelf slots in the temporary storage area in accordance with the shelf order; based on the source shelves that have completed the exchange of cartons with the target shelves and the source shelves that have been queued in the queuing area of ​​the workstation, and in combination with the empty space situation in the queuing area, the source shelves that arrive at the temporary storage area will be dispatched to the queuing area in sequence according to the shelf order.

[0137] In some embodiments, the execution module 63 is further specifically configured to reconfigure the shelf order of the source shelves that have arrived in the temporary storage area if the source shelf ranked first in the shelf order has not arrived at the temporary storage area within a preset time period, based on the source shelves that have arrived in the temporary storage area and their corresponding task cartons that need to be exchanged, and combined with the safety range of the overweight shelves; and adjust the cartons in the source shelves that have arrived in the temporary storage area and the target shelves according to the reconfigured shelf order of the source shelves that have arrived in the temporary storage area.

[0138] In some embodiments, the execution module 63 is further specifically configured to reconfigure the shelf order of the source shelves of the remaining unfinished container exchanges according to the existing containers on the target shelves and the safety range of the shelf weight; and to perform container adjustments on the source shelves of the remaining unfinished container exchanges and the target shelves according to the reconfigured shelf order of the source shelves of the remaining unfinished container exchanges.

[0139] In some embodiments, the execution module 63 is further configured to dispatch a corresponding number of source shelves to the queuing area according to the number of empty shelf slots in the queuing area and in the order of the shelves.

[0140] In some embodiments, the source shelves include: a plurality of shelf surfaces capable of storing cartons; accordingly, the shelf order in which the plurality of source shelves exchange cartons with the target shelves includes: the shelf order corresponding to each shelf surface of the plurality of source shelves.

[0141] In some embodiments, the configuration module 62 is further configured so that each shelf surface has its corresponding shelf sequence number, and the difference between the shelf sequence numbers of the shelf surfaces in the same source shelf is within a preset interval range.

[0142] In some embodiments, the configuration module 62 is further configured to determine the preset interval range according to the number of shelves that can be accommodated in the temporary storage area.

[0143] It should be noted that for other corresponding descriptions of the functional units involved in the shelf control device provided in the embodiment of the present disclosure, reference can be made to Figures 3 to 8 The corresponding description in will not be repeated here.

[0144] Based on the above Figures 3 to 8 The example shown in the figure, accordingly, the embodiment of the present disclosure also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned Figures 3 to 8 Example method shown.

[0145] Based on the above Figures 3 to 8 The example shown, accordingly, the embodiment of the present disclosure also provides a computer program product, including a computer program, which implements the above-mentioned Figures 3 to 8 Example method shown.

[0146] Based on this understanding, the technical solution of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of various implementation scenarios of the present disclosure.

[0147] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0148] Fig.10A schematic block diagram of an example electronic device 1000 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0149] like Fig.10 As shown, the device 1000 includes a computing unit 1001, which can perform various appropriate actions and processes according to a computer program stored in a ROM (Read-Only Memory) 1002 or a computer program loaded from a storage unit 1008 to a RAM (Random Access Memory) 1003. In the RAM 1003, various programs and data required for the operation of the device 1000 can also be stored. The computing unit 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. An I / O (Input / Output) interface 1005 is also connected to the bus 1004.

[0150] A number of components in the device 1000 are connected to the I / O interface 1005, including: an input unit 1006, such as a keyboard, a mouse, etc.; an output unit 1007, such as various types of displays, speakers, etc.; a storage unit 1008, such as a disk, an optical disk, etc.; and a communication unit 1009, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1009 allows the device 1000 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0151] The computing unit 1001 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1001 include, but are not limited to, a CPU (Central Processing Unit), a GPU (Graphic Processing Units), various dedicated AI (Artificial Intelligence) computing chips, various computing units running machine learning model algorithms, a DSP (Digital Signal Processor), and any appropriate processor, controller, microcontroller, etc. The computing unit 1001 performs the various methods and processes described above, such as a control method for a robot. For example, in some embodiments, the control method for a robot may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 1008. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 1000 via the ROM 1002 and / or the communication unit 1009. When the computer program is loaded into the RAM 1003 and executed by the computing unit 1001, one or more steps of the method described above may be performed. Alternatively, in other embodiments, the computing unit 1001 may be configured to execute the aforementioned robot control method in any other appropriate manner (eg, by means of firmware).

[0152] Various embodiments of the systems and techniques described above herein may be implemented in digital electronic circuit systems, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application Specific Standard Products), SOCs (System On Chips), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor that may be a dedicated or general-purpose programmable processor that may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0153] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0154] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include electrical connections based on one or more lines, portable computer disks, hard disks, RAM, ROM, EPROM (Electrically Programmable Read-Only-Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0155] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0156] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: LAN (Local Area Network), WAN (Wide Area Network), the Internet, and blockchain networks.

[0157] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The server may also be a server of a distributed system, or a server combined with a blockchain.

[0158] It should be noted that artificial intelligence is a discipline that studies how computers can simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), and includes both hardware-level and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, and big data processing; artificial intelligence software technologies mainly include computer vision technology, speech recognition technology, natural language processing technology, as well as machine learning / deep learning, big data processing technology, knowledge graph technology, and other major directions.

[0159] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0160] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A shelf control method, characterized in that: include: Determine the task boxes involved in the exchange among multiple source shelves and target shelves; According to the safety range of the task cargo boxes and the weight of the shelves, the shelf order of exchanging cargo boxes between the multiple source shelves and the target shelf is configured; Carton adjustments in the plurality of source shelves and the target shelf are performed according to the shelf order.

2. The method according to claim 1, characterized in that According to the safety range of the task cargo box and the weight of the shelf, the shelf order of exchanging cargo boxes between the multiple source shelves and the target shelf is configured, including: According to the instantaneous status of the cargo boxes in the source shelf and the target shelf, the shelf order corresponding to the task cargo box transfer in the safety range is configured.

3. The method according to claim 1, characterized in that Executing the adjustment of the containers in the plurality of source shelves and the target shelf according to the shelf order includes: Get the number of empty shelf slots in the staging area; According to the number of shelf vacancies in the temporary storage area, the adjustment of containers in the plurality of source shelves and the target shelf is performed in the shelf order.

4. The method according to claim 3, characterized in that According to the number of shelf vacancies in the temporary storage area, the adjustment of the containers in the plurality of source shelves and the target shelf is performed according to the shelf order, including: According to the number of empty shelves in the temporary storage area, dispatch a corresponding number of source shelves to the temporary storage area in the order of the shelves; According to the source shelves that have completed the exchange of boxes with the target shelf, and the source shelves that have queued in the queue area of ​​the workstation, and combined with the vacancy situation in the queue area, the source shelves that have arrived at the temporary storage area will be dispatched to the queue area in sequence according to the order of the shelves.

5. The method according to claim 4, characterized in that The method further comprises: If the source shelf with the highest shelf order does not arrive at the temporary storage area within the preset time, the shelf order of the source shelves that have arrived in the temporary storage area is reconfigured based on the source shelves that have arrived in the temporary storage area and their corresponding task boxes that need to be exchanged, and combined with the safety range of the overweight shelves; According to the reconfigured shelf order of the source shelves that have arrived in the temporary storage area, the cargo box adjustment in the source shelves that have arrived in the temporary storage area and the target shelves is performed.

6. The method according to claim 5, characterized in that After adjusting the cargo boxes in the source shelves that have arrived in the temporary storage area and the target shelves according to the shelf order reconfigured by the source shelves that have arrived in the temporary storage area, the method further includes: Reconfigure the order of the source shelves for the remaining uncompleted container exchanges according to the existing containers on the target shelves and the safety range of the shelf weight; According to the shelf order of the source shelf of the remaining unfinished container exchange reconfiguration, the container adjustment in the source shelf of the remaining unfinished container exchange and the target shelf is performed.

7. The method according to claim 4, characterized in that Before dispatching the source shelves arriving at the temporary storage area to the queuing area in sequence according to the shelf order based on the source shelves that have completed the exchange of cargo boxes with the target shelf and the source shelves that have been queued in the queuing area of ​​the workstation and the vacancy situation of the queuing area, the method further includes: According to the number of empty shelf positions in the queuing area, a corresponding number of source shelves are dispatched to the queuing area in the order of the shelves.

8. The method according to any one of claims 1 to 7, characterized in that The source shelves include: a plurality of shelf surfaces capable of storing cargo boxes; The shelf order in which the plurality of source shelves exchange boxes with the target shelf includes: the shelf order corresponding to each shelf surface of the plurality of source shelves.

9. The method according to claim 8, characterized in that Each shelf surface has a corresponding shelf sequence number, and the difference between the shelf sequence numbers of the shelf surfaces in the same source shelf is within a preset interval range.

10. The method according to claim 9, characterized in that The method further comprises: The preset interval range is determined according to the number of shelves that can be accommodated in the temporary storage area.

11. A shelf control device, characterized in that: include: A determination module is configured to determine task containers involved in the exchange from a plurality of source shelves and a target shelf; A configuration module is configured to configure a shelf order for exchanging containers between the plurality of source shelves and the target shelf according to the safety range of the task containers and the weight of the shelves; The execution module is configured to execute the adjustment of the containers in the plurality of source shelves and the target shelf according to the shelf order.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

13. An electronic device comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 10 is implemented.

14. A computer program product comprising a computer program, characterized in that The computer program implements the method according to any one of claims 1 to 10 when executed by a processor.

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