Tallying method, device and warehousing system

Abstract

The present application relates to the technical field of warehousing logistics, and discloses a goods sorting method, device and warehousing system. The method includes: determining a first carrier and a second carrier among a plurality of carriers to be sorted; controlling a first handling device to move the first carrier to a first docking position in the goods sorting area, and controlling a second handling device to move the second carrier to a second docking position in the goods sorting area; when the surface of the first carrier faces the goods sorting device and the surface of the third carrier faces the goods sorting device, if there is a first inventory object on the surface of the first carrier that matches the second carrier, when the first inventory object is movable, controlling the goods sorting device to transfer the first inventory object to the surface of the third carrier; when the first inventory object is immovable, based on the first surface rotation parameter corresponding to the surface of the first carrier, controlling the second handling device to perform a surface rotation operation on the second carrier; or canceling the goods sorting task corresponding to the first inventory object. The present application can improve the goods sorting efficiency of the warehousing system.

Description

Technical Field

[0001] This application relates to the technical field of warehousing logistics, and in particular, to a method and device for sorting goods and a warehousing system. Background Art

[0002] Generally, during the process of a robot performing a shelving task (i.e., the robot returning a cargo box to a shelf), the to-be-returned cargo box being carried is randomly placed on any shelf in the shelf area. Although this placement method improves the handling efficiency of the robot, it will result in the goods placed on each shelf being relatively messy, and this messy placement method will affect the subsequent operation efficiency of the warehousing system. Summary of the Invention

[0003] To solve the above problems, the embodiments of this application provide a method and device for sorting goods and a warehousing system, which can quickly sort out each carrier, improve the sorting efficiency of the warehousing system, and improve the subsequent work efficiency. Specifically, the embodiments of this application disclose the following technical solutions:

[0004] In the first aspect of the embodiments of this application, a method for sorting goods is provided. The method includes: First, determine a first carrier and a second carrier among a plurality of carriers to be sorted; where the first carrier includes a first carrier surface and a second carrier surface, and the second carrier includes a third carrier surface and a fourth carrier surface. Secondly, control a first handling device to transport the first carrier to a first docking position in the sorting area, and control a second handling device to transport the second carrier to a second docking position in the sorting area. Then, when the first carrier surface faces the sorting device and the third carrier surface faces the sorting device, if there is a first inventory object on the first carrier surface that matches the second carrier, and when the first inventory object is movable, control the sorting device to transfer the first inventory object to the third carrier surface. Finally, when the first inventory object is immovable, based on the first surface rotation parameter corresponding to the first carrier surface, control the second handling device to perform a surface rotation operation on the second carrier; or cancel the sorting task corresponding to the first inventory object.

[0005] In some embodiments, the above-mentioned controlling the second handling device to perform a surface rotation operation on the second carrier based on the first surface rotation parameter corresponding to the first carrier surface; or canceling the sorting task corresponding to the first inventory object includes: determining whether the first surface rotation parameter meets the surface rotation condition; when the first surface rotation parameter meets the surface rotation condition, controlling the second handling device to transport the second carrier to a surface rotation point for surface rotation, and adjusting the first surface rotation parameter to not meet the surface rotation condition; or when the first surface rotation parameter does not meet the surface rotation condition, canceling the sorting task corresponding to the first inventory object.

[0006] In some embodiments, determining whether the first turning surface parameter meets the turning condition includes: during the process of the first carrier surface facing the goods sorting device, if the third carrier surface faces the goods sorting device and the fourth carrier surface has not faced the goods sorting device, it is determined that the first turning surface parameter meets the turning condition. During the process of the first carrier surface facing the goods sorting device, if the third carrier surface faces the goods sorting device and the fourth carrier surface has also faced the goods sorting device, it is determined that the first turning surface parameter does not meet the turning condition.

[0007] In some embodiments, after controlling the second handling device to transport the second carrier to the turning point for turning, the method further includes: controlling the second handling device to transport the second carrier from the turning point to the second docking position so that the fourth carrier surface faces the goods sorting device; determining whether the first inventory object is movable; if the first inventory object is movable, controlling the goods sorting device to transport the first inventory object to the fourth carrier surface; if the first inventory object is not movable, canceling the goods sorting task corresponding to the first inventory object.

[0008] In some embodiments, after controlling the second handling device to transport the second carrier from the turning point to the second docking position, the method further includes: when there is a second inventory object matching the first carrier on the fourth carrier surface, if the second inventory object is movable, controlling the goods sorting device to transfer the second inventory object to the first carrier surface. If the second inventory object is not movable, determining whether the second turning surface parameter corresponding to the fourth carrier surface meets the turning condition; when the second turning surface parameter meets the turning condition, controlling the first handling device to transport the first carrier to the turning point for turning and adjusting the second turning surface parameter to not meet the turning condition; when the second turning surface parameter does not meet the turning condition, canceling the goods sorting task corresponding to the second inventory object.

[0009] In some embodiments, after controlling the first handling device to transport the first carrier to the turning point for turning, the method further includes: controlling the first handling device to transport the first carrier from the turning point to the first docking position so that the second carrier surface faces the goods sorting device; determining whether the second inventory object is movable; if the second inventory object is movable, controlling the goods sorting device to transport the second inventory object to the second carrier surface; if the second inventory object is not movable, canceling the goods sorting task corresponding to the second inventory object.

[0010] In some embodiments, after controlling the first handling device to move the first carrier from the transfer point to the first docking position, the method further includes: when there is a third inventory object matching the second carrier on the second carrier surface, if the third inventory object is movable, controlling the merchandising device to transfer the third inventory object to the second carrier surface; if the third inventory object is immovable, determining whether the third transfer surface parameter corresponding to the second carrier surface meets the transfer surface condition; when the third transfer surface parameter meets the transfer surface condition, controlling the second handling device to move the second carrier to the transfer point for transfer surface, and adjusting the third transfer surface parameter to not meet the transfer surface condition; when the third transfer surface parameter does not meet the transfer surface condition, canceling the merchandising task corresponding to the third inventory object.

[0011] In some embodiments, after controlling the second handling device to move the second carrier to the transfer point for transfer surface, the method further includes: controlling the second handling device to move the second carrier from the transfer point to the second docking position, so that the third carrier surface faces the merchandising device, and adjusting the fourth transfer surface parameter corresponding to the third carrier surface to not meet the transfer surface condition. Determining whether the third inventory object is movable; if the third inventory object is movable, transferring the third inventory object to the third carrier surface; if the third inventory object is immovable, canceling the merchandising task corresponding to the third inventory object.

[0012] In some embodiments, the method further includes: when the first carrier surface faces the merchandising device and the third carrier surface faces the merchandising device, if there is a fourth inventory object matching the first carrier on the third carrier surface and the fourth inventory object is movable, controlling the merchandising device to transfer the fourth inventory object to the first carrier surface. If the fourth inventory object is immovable, when the second carrier surface faces the merchandising device and the third carrier surface faces the merchandising device, determining whether the fourth inventory object is movable; if the fourth inventory object is movable, controlling the merchandising device to transfer the fourth inventory object to the second carrier surface; if the fourth inventory object is immovable, canceling the merchandising task corresponding to the fourth inventory object.

[0013] In some embodiments, after canceling the merchandising task corresponding to the first inventory object when the first transfer surface parameter does not meet the transfer surface condition, the method further includes: determining whether the fourth transfer surface parameter corresponding to the third carrier surface meets the transfer surface condition; when the fourth transfer surface parameter meets the transfer surface condition, controlling the first handling device to move the first carrier to the transfer point for transfer surface, and adjusting the fourth transfer surface parameter to not meet the transfer surface condition. When the fourth transfer surface parameter does not meet the transfer surface condition, determining whether the third transfer surface parameter corresponding to the second carrier surface and the second transfer surface parameter corresponding to the fourth carrier surface meet the transfer surface condition.

[0014] In some embodiments, the method further includes: when the first turning surface parameter corresponding to the first vehicle surface, the second turning surface parameter corresponding to the fourth vehicle surface, the third turning surface parameter corresponding to the second vehicle surface, and the fourth turning surface parameter corresponding to the third vehicle surface do not satisfy the turning surface condition, controlling the first handling device to move the first vehicle away from the first docking position, or controlling the first handling device to move the first vehicle away from the first docking position and controlling the second handling device to move the second vehicle away from the second docking position.

[0015] In some embodiments, the above controlling the first handling device to move the first vehicle away from the first docking position, or controlling the first handling device to move the first vehicle away from the first docking position and controlling the second handling device to move the second vehicle away from the second docking position includes: when the first docking position is determined to be a temporary docking position and the second docking position is determined to be a target docking position, if there is at least one to-be-tally vehicle on the multiple queuing positions corresponding to the first docking position, controlling the first handling device to move the first vehicle away from the first docking position; and controlling the third handling device to move the third vehicle among the at least one to-be-tally vehicle to the first docking position. If there is no to-be-tally vehicle on the multiple queuing positions corresponding to the first docking position, controlling the first handling device to move the first vehicle away from the first docking position and controlling the second handling device to move the second vehicle away from the second docking position.

[0016] In some embodiments, the method further includes: when the first vehicle surface faces the tallying device and the third vehicle surface faces the tallying device, if there is a first inventory object matching the second vehicle on the first vehicle surface, determining whether the first inventory object is movable; when there is no idle cargo space on the third vehicle surface, determining that the first inventory object is not movable; or when there is an idle cargo space on the third vehicle surface and the idle cargo space is abnormal, determining that the first inventory object is not movable.

[0017] In some embodiments, the method further includes: when the first handling device moves the first vehicle to the first docking position, the second handling device moves the second vehicle to the second docking position, and the second docking position is the target docking position, setting the attribute of the inventory object on the third vehicle surface of the second vehicle that matches the first vehicle to be visible, and setting the attributes of the inventory objects that match other to-be-tally vehicles to be invisible; wherein the tallying device cannot perform a transfer operation on the inventory object with an invisible attribute.

[0018] In a second aspect of the embodiments of the present application, a goods sorting device is provided, which includes a determination module and a control module. The determination module is configured to: determine a first carrier and a second carrier from a plurality of carriers to be sorted; the first carrier includes a first carrier surface and a second carrier surface, and the second carrier includes a third carrier surface and a fourth carrier surface. The control module is configured to: control a first handling device to move the first carrier to a first docking position in the goods sorting area, and control a second handling device to move the second carrier to a second docking position in the goods sorting area; when the first carrier surface faces the goods sorting device and the third carrier surface faces the goods sorting device, if there is a first inventory object on the first carrier surface that matches the second carrier, then when the first inventory object is movable, control the goods sorting device to transfer the first inventory object to the third carrier surface; when the first inventory object is immovable, based on the first surface rotation parameter corresponding to the first carrier surface, control the second handling device to perform a surface rotation operation on the second carrier; or cancel the goods sorting task corresponding to the first inventory object.

[0019] In a third aspect of the embodiments of the present application, a warehousing system is provided, which includes a goods sorting area, and the goods sorting area includes a goods sorting device, a first docking position, and a second docking position. The control device is configured to: determine a first carrier and a second carrier from a plurality of carriers to be sorted, and generate a first handling instruction based on the first carrier and a second handling instruction based on the second carrier; the first carrier includes a first carrier surface and a second carrier surface, and the second carrier includes a third carrier surface and a fourth carrier surface. The first handling device is configured to: move the first carrier to the first docking position based on the first handling instruction. The second handling device is configured to: move the second carrier to the second docking position based on the second handling instruction. The control device is configured to: when the first carrier surface faces the goods sorting device and the third carrier surface faces the goods sorting device, if there is a first inventory object on the first carrier surface that matches the second carrier, then when the first inventory object is movable, generate a goods sorting instruction, or when the first inventory object is immovable, based on the first surface rotation parameter corresponding to the first carrier surface, generate a surface rotation instruction or cancel the goods sorting task corresponding to the first inventory object. The goods sorting device is configured to: transfer the first inventory object to the third carrier surface based on the goods sorting instruction. The second handling device is configured to: perform a surface rotation operation on the second carrier based on the surface rotation instruction.

[0020] In a fourth aspect of the embodiments of the present application, an electronic device is provided, which includes: a processor and a memory, where the memory is used to store computer-executable instructions; the processor is used to read the instructions from the memory and execute the instructions to implement the goods sorting method described in the foregoing first aspect.

[0021] In a fifth aspect of the embodiments of the present application, a computer-readable storage medium is provided, and the storage medium stores computer program instructions, and when a computer reads the instructions, it executes the goods sorting method described in the foregoing first aspect.

[0022] In a sixth aspect of the embodiments of the present application, a computer program product is provided. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer is caused to execute the tallying method described in the foregoing first aspect.

[0023] In a seventh aspect of the embodiments of the present application, a computer program is provided. When the computer program is executed by a processor, the tallying method described in the foregoing first aspect can be implemented.

[0024] In the tallying method, device, and warehousing system provided by the embodiments of the present application, during the process of tallying the first vehicle and the second vehicle, when the first vehicle surface of the first vehicle and the third vehicle surface of the second vehicle face the tallying device, first, it is determined whether there is a first inventory object matching the second vehicle on the first vehicle surface. If there is a first inventory object, then it is further determined whether the first inventory object is movable. When the first inventory object is movable, the tallying device transfers the first inventory object to the third vehicle surface of the second vehicle; when the first inventory object is not movable, based on the first surface turning parameter corresponding to the first vehicle surface, it is further determined whether to transfer the first inventory object by turning the second vehicle or cancel the tallying task of the first inventory object. Therefore, in the process of transferring the inventory object matching another vehicle on the current surface of one vehicle to the current surface of another vehicle in the embodiments of the present application, when the inventory object is movable, it can be directly transferred. When the inventory object is not movable, the other vehicle can be turned to continue the transfer of the inventory object. Thus, as many matching objects as possible can be transferred in one tallying task, improving the tallying efficiency of the warehousing system. At the same time, by setting the surface turning parameters corresponding to each vehicle surface in the embodiments of the present application, multiple repeated turnings of each vehicle can be avoided, further improving the tallying efficiency of the warehousing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0026] Figure 1 A schematic diagram of a warehousing system provided by the embodiments of the present application;

[0027] Figure 2 A schematic diagram of a tallying process provided by the embodiments of the present application;

[0028] Figure 3Schematic diagram of a goods tallying method provided by an embodiment of this application;

[0029] Figure 4 Schematic diagram of another goods tallying process provided by an embodiment of this application;

[0030] Figure 5 Schematic diagram of another goods tallying method provided by an embodiment of this application;

[0031] Figure 6 Schematic diagram of yet another goods tallying method provided by an embodiment of this application;

[0032] Figure 7 Schematic diagram of still another goods tallying method provided by an embodiment of this application;

[0033] Figure 8 Schematic diagram of still another goods tallying method provided by an embodiment of this application;

[0034] Figure 9 Schematic diagram of still another goods tallying method provided by an embodiment of this application;

[0035] Figure 10 Schematic diagram of a goods tallying device provided by an embodiment of this application;

[0036] Figure 11 Schematic diagram of an electronic device provided by an embodiment of this application. Detailed implementation manners

[0037] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention and make the above-mentioned objects, features, and advantages of the embodiments of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0038] In a warehousing system, when a robot is performing a shelving task (i.e., returning an inventory object to a vehicle), it will randomly place the transported inventory object on the vehicle in the inventory area, resulting in a messy placement of the inventory objects on the vehicle. This messy placement method will seriously affect the efficiency of subsequent process operations, such as affecting subsequent handling and goods tallying operations. Generally, the warehousing system can organize the inventory objects on each vehicle (referred to as goods tallying) to reduce the degree of chaos of the inventory objects on each vehicle and improve the subsequent operation efficiency of the warehousing system.

[0039] Figure 1 Schematic diagram of a warehousing system provided by an embodiment of this application. As Figure 1 shown, the warehousing system 100 includes a plurality of vehicles 10, a plurality of handling devices 20, a workstation 30, a goods tallying device 40, and a control device ( Figure 1 not shown in the figure).

[0040] In some examples, the vehicle 10 can be a shelf, a pallet, a turnover cart, a cage cart, etc. The vehicle 10 includes a plurality of storage locations (which can also be referred to as storage positions). The storage location can be a rectangular parallelepiped-shaped accommodation space, and the plurality of storage locations on the vehicle 10 can be neatly arranged along the length direction, width direction, and height direction of the vehicle 10.

[0041] For example, the storage locations on the vehicle 10 are used to carry inventory objects such as goods or containers. The container can be a supporting product specifically designed for the vehicle 10, or an ordinary cargo box (also referred to as a bin), or it can also be the packaging of the goods (also referred to as the original box). The embodiments of the present application do not limit this. The embodiments of the present application take the inventory object placed on the vehicle 10 as a container as an example for exemplary illustration.

[0042] In some examples, as Figure 1 shown, the area for storing and docking the vehicle 10 is the inventory area 101. The inventory area 101 can be a dense storage area or a non-dense storage area. Among them, the inventory area 101 can include a plurality of storage positions, and the plurality of storage positions can be neatly distributed in rows and columns, and each storage position can be used to place the vehicle 10.

[0043] Exemplarily, the warehousing system 100 includes a plurality of handling devices 20. The handling devices 20 can be used to handle goods, containers, or the vehicle 10, etc. For example, the handling device 20 can be a handling robot, such as an Automated Guided Vehicle (AGV). The handling device 20 can transport the target object (goods, container, or vehicle) to the corresponding destination.

[0044] Exemplarily, the number of workstations 30 in the warehousing system 100 can be one or multiple. The workstation is used to perform picking operations on the vehicle 10. For example, the handling device 20 can transport the vehicle 10 in the inventory area 101 to the workstation 30 to perform picking operations on the vehicle 10 through the workstation 30. One or more docking areas can be correspondingly set in the workstation 30, and the docking area is used to dock at least one vehicle 10.

[0045] Exemplarily, the number of tallying devices 40 in the warehousing system 100 can be one or multiple. The tallying device 40 is used to perform tallying operations on the vehicle 10. Among them, the tallying device 40 can be set in the inventory area 101 or in an area outside the inventory area 101 (i.e., the working area 102). The embodiments of the present application do not limit this.

[0046] For example, when the number of the tallying devices 40 is multiple, some of the tallying devices 40 can be arranged in the inventory area 101, and some other tallying devices 40 can be arranged in the working area 102; or, all the tallying devices 40 can be arranged in the inventory area 101 (or the working area 102). It should be noted that, in the embodiments of the present application, the area where the tallying devices 40 are arranged can be referred to as the tallying area 103.

[0047] In some examples, the tallying area 103 can be provided with a docking area, and the docking area can be provided with multiple docking positions, and each docking position can dock the handling equipment of the handling vehicle 10. For example, the handling equipment 20 can transport the vehicle 10 in the inventory area 101 to the docking position in the tallying area 103, and perform tallying operations on the inventory objects placed on the vehicle 10 through the tallying device 40.

[0048] In some examples, the control device can be respectively coupled to the handling equipment 20 and the tallying device 40 for controlling the operations of the handling equipment 20 and the tallying device 40. For example, the control device can control the moving operation of the handling equipment 20 and the handling operation of the vehicle 10, and can also control the tallying device 40 to perform tallying operations on the vehicle 10. For example, the control device can control the handling equipment 20 to transport the vehicle 10 to the tallying area 103, and control the tallying device 40 in the tallying area 103 to perform tallying operations on the vehicle 10.

[0049] For example, the control device can be a server or a terminal device. The terminal device can include at least one of a personal computer, a notebook computer, a smart phone, a tablet computer, and a portable wearable device; the server can include an independent server or a server cluster composed of multiple servers, and the embodiments of the present application do not make any limitations thereto.

[0050] In some examples, the control device is communicatively connected to the handling equipment 20 and the tallying device 40 for data communication. For example, the control device can communicate with the handling equipment 20 and the tallying device 40 through a local area network (LAN), a wireless local area network (WLAN), and other networks.

[0051] Exemplarily, when the handling equipment 20 transports multiple vehicles to the tallying area 103, the tallying device 40 can perform tallying operations on the multiple vehicles, that is, the tallying device 40 transfers the inventory objects among the multiple vehicles. Among them, the tallying device 40 can include a box-taking device, and the box-taking device can realize the taking and placing of the inventory objects on the vehicle 10.

[0052] Figure 2 It is a schematic diagram of a tallying process provided by the embodiments of the present application. As Figure 2As shown, the three containers (Container 1, 2, 3) on vehicle A are matched with vehicle B, that is, Container 1 to Container 3 need to be transferred to vehicle B.

[0053] As Figure 2 shown, the tallying device can perform tallying operations according to the tallying tasks issued by the control device. When the tallying device transfers the three containers (Container 1, 2, 3) on vehicle A to vehicle B according to the tallying tasks, after placing Container 1 and Container 2 on the current surface of vehicle B facing the tallying device, it is impossible to place Container 3. In this case, the tallying device will cancel the tallying task of Container 3, and then move vehicle A away. This process does not complete the tallying operations of vehicle A and vehicle B, and it may be necessary to transfer Container 3 later, resulting in a more complex tallying process.

[0054] To solve the above problems, the embodiments of the present application provide a tallying method, device, and warehousing system. During the tallying process of the first vehicle and the second vehicle, when the first vehicle surface of the first vehicle and the third vehicle surface of the second vehicle face the tallying device, first determine whether there is a first inventory object on the first vehicle surface that matches the second vehicle. If there is a first inventory object, then determine whether the first inventory object is movable. When the first inventory object is movable, the tallying device transfers the first inventory object to the third vehicle surface of the second vehicle; when the first inventory object is not movable, further determine whether to transfer the first inventory object by rotating the second vehicle based on the first turning surface parameter corresponding to the first vehicle surface, or cancel the tallying task of the first inventory object. Therefore, in the process of transferring the inventory object on the current surface of one vehicle that matches another vehicle to the current surface of the other vehicle, when the inventory object is movable, it can be directly transferred. When the inventory object is not movable, it can also be rotated to the other vehicle to continue the transfer of the inventory object, so as to transfer as many matching objects as possible in one tallying task and improve the tallying efficiency of the warehousing system. At the same time, by setting the turning surface parameters corresponding to each vehicle surface, the embodiments of the present application can avoid multiple repeated turnings of each vehicle and further improve the tallying efficiency of the warehousing system.

[0055] The following describes the tallying method provided by the embodiments of the present application with reference to the accompanying drawings.

[0056] Figure 3 is a schematic diagram of a tallying method provided by the embodiments of the present application. As Figure 3 shown, the tallying method includes steps 310 to 340 as follows. It should be noted that, Figure 3 the method shown can be implemented by the warehousing system 100 in the above embodiments, such as through the control device in the warehousing system 100.

[0057] Step 310, determine a first vehicle and a second vehicle among multiple vehicles to be sorted.

[0058] In some examples, an inventory area (such as inventory area 101) includes multiple vehicles. Based on the orders received by the control device, vehicles to be sorted can be determined among the multiple vehicles. For example, according to the goods required by the orders received within a preset time range, the vehicle where the goods required by the order are located can be determined as the vehicle to be sorted. Among them, the vehicle to be sorted can be the vehicle required in a sorting task. Multiple inventory objects can be included on the vehicle to be sorted. The inventory object can be a container or goods. The embodiments of the present application do not limit this. The following embodiments will be described by taking the inventory object as a container as an example.

[0059] Exemplarily, each vehicle can be set with a vehicle attribute, and each inventory object can be set with an object attribute. When there is a mapping relationship between the vehicle attribute and the object attribute, it indicates that the inventory object belongs to the vehicle, that is, the inventory object matches the vehicle. Among them, the mapping relationship between the vehicle attribute and the object attribute can be preset and stored.

[0060] In some examples, the object attribute can be related to the size, type, and order hit situation of the goods in the container, or can be related to the size, type, and status of the container. For example, containers for placing daily necessities can have the same object attribute, containers for placing food can have the same object attribute, idle containers can have the same object attribute, containers where the goods that hit the order are located can have the same object attribute, etc. The embodiments of the present application do not limit this.

[0061] For example, inventory objects with the same object attribute need to be transferred to a vehicle with the same vehicle attribute. Among them, inventory objects with the same object attribute can be placed on one vehicle or on multiple vehicles.

[0062] Exemplarily, multiple inventory objects are included on the vehicle to be sorted. Among the multiple inventory objects, there are inventory objects that match the vehicle to be sorted, and there can also be chaotic objects that do not match the vehicle to be sorted. Performing a sorting operation on the vehicle to be sorted is to transfer the chaotic objects on the vehicle to be sorted to another vehicle to which they match.

[0063] For example, as Figure 2 shown, containers 1, 2, and 3 on vehicle A do not match vehicle A and are chaotic objects on vehicle A. The sorting operation can transfer containers 1, 2, and 3 to vehicle B to which they match.

[0064] In some examples, after determining multiple to-be-tidied carriers, a first carrier and a second carrier can be determined among the multiple to-be-tidied carriers. For example, the first carrier and the second carrier can be any two different carriers among the multiple to-be-tidied carriers; or, one of the first carrier and the second carrier is a target carrier.

[0065] Exemplarily, a target carrier can be set among the multiple to-be-tidied carriers. The target carrier can be any one of the multiple to-be-tidied carriers, or the target carrier can also be related to the degree of chaos of each to-be-tidied carrier. The degree of chaos is used to indicate the number of inventory objects (i.e., chaotic objects) belonging to other to-be-tidied carriers on the to-be-tidied carrier.

[0066] For example, the target carrier can be the carrier with the highest degree of chaos among the multiple to-be-tidied carriers. For example, among the multiple to-be-tidied carriers, when an inventory object belonging to each of the other to-be-tidied carriers is included on a to-be-tidied carrier, this to-be-tidied carrier can be determined as the target carrier. For example, among three to-be-tidied carriers (such as carrier a, carrier b, and carrier c), when both inventory objects matching carrier b and inventory objects matching carrier c exist on carrier a, carrier a can be determined as the target carrier.

[0067] In some examples, the first carrier can be the target carrier, or the second carrier is the target carrier. The embodiments of the present application do not limit this, and the embodiments of the present application take the second carrier as the target carrier as an example for exemplary illustration. For example, when the second carrier is the target carrier, the first carrier is any one of the multiple to-be-tidied carriers.

[0068] Step 320, control the first handling device to move the first carrier to the first docking position in the tidying area, and control the second handling device to move the second carrier to the second docking position in the tidying area.

[0069] Exemplarily, the tidying area includes multiple docking positions, and the multiple docking positions include the first docking position and the second docking position. The first docking position and the second docking position are the two docking positions corresponding to the current tidying task. When the to-be-tidied carrier is moved to the tidying area by the handling device to perform the tidying operation, the handling device can dock at the docking position to perform a transfer operation between the two carrier surfaces of the two carriers facing the tidying device through the tidying device.

[0070] In some examples, one of the first docking position and the second docking position can be called the target docking position, and the other docking position can be called the temporary docking position. Among them, the target docking position and the temporary docking position can be set and fixed in advance, or can be dynamically set during the execution of the tidying task. The embodiments of the present application do not limit this.

[0071] In some examples, each docking position can correspond to multiple queuing positions, and each queuing position can dock the handling device for handling the to-be-tidied carrier.

[0072] Exemplarily, the target docking position is for docking the target vehicle among the to-be-tally vehicles to be docked, the temporary docking position is for docking any to-be-tally vehicle other than the target vehicle, and the queuing position corresponding to the temporary docking position is for docking the remaining to-be-tally vehicles. The to-be-tally vehicles docked at the queuing position can be sequentially moved to the temporary docking position, and the tally operation between the target vehicle at the target docking position and the to-be-tally vehicle at the temporary docking position can be realized through the tally equipment.

[0073] In some examples, after determining the first vehicle and the second vehicle, the handling equipment in the warehousing system can move the first vehicle and the second vehicle to the corresponding docking positions. Among them, the first handling equipment for handling the first vehicle and the second handling equipment for handling the second vehicle can be the same handling equipment or different handling equipment. In this embodiment of the application, the example of the first handling equipment and the second handling equipment being different handling equipment is used for illustration. The first vehicle and the second vehicle can be moved to the tally area simultaneously or not simultaneously, and this embodiment of the application does not limit this.

[0074] For example, taking the second vehicle as the target vehicle, the first docking position can be set as the temporary docking position in advance, and the second docking position is determined as the target docking position. Then, the first handling equipment moves the first vehicle to the first docking position and the second vehicle (i.e., the target vehicle) to the second docking position; or, after the second handling equipment docks the second vehicle at the second docking position, the second docking position can be determined as the target docking position, and the remaining first docking position can be determined as the temporary docking position.

[0075] It should be noted that after determining the target vehicle among multiple to-be-tally vehicles, since the target vehicle needs to perform tally operations with other to-be-tally vehicles, after the tally task starts to be executed, the target vehicle and any to-be-tally vehicle can be first moved to the corresponding docking positions in the tally area. When the second vehicle is determined as the target vehicle, the first vehicle can be the first to-be-tally vehicle to be moved to perform tally operations between the second docking position and the target vehicle, or it can be a to-be-tally vehicle that is subsequently moved to the second docking position. This embodiment of the application does not limit this.

[0076] In some examples, each vehicle can include two vehicle surfaces. The two vehicle surfaces of the first vehicle can be called the first vehicle surface and the second vehicle surface, and the two vehicle surfaces of the second vehicle can be called the third vehicle surface and the fourth vehicle surface.

[0077] For example, after the first vehicle is transported to the first docking position by the first handling device and the second vehicle is transported to the second docking position by the second handling device, a vehicle surface of the first vehicle (such as the first vehicle surface) faces the goods sorting device, and a vehicle surface of the second vehicle (such as the third vehicle surface) faces the goods sorting device. The goods sorting device performs goods sorting operations between the first vehicle surface and the second vehicle surface.

[0078] In some embodiments, when the first handling device transports the first vehicle to the first docking position, the second handling device transports the second vehicle to the second docking position, and the second docking position is the target docking position, the attributes of the inventory objects on the third vehicle surface of the second vehicle that match the first vehicle are set to visible, and the attributes of the inventory objects that match other vehicles to be sorted are set to invisible; wherein, the goods sorting device cannot perform transfer operations on the inventory objects with invisible attributes.

[0079] In some examples, when the goods sorting device needs to perform goods sorting operations between the first vehicle surface of the first vehicle and the third vehicle surface of the second vehicle, the control device can set the attributes of the inventory objects on the third vehicle surface of the second vehicle (i.e., the target vehicle) that match the first vehicle to visible, so that the goods sorting device can perform transfer operations on the visible inventory objects, and the attributes of the inventory objects that match other vehicles to be sorted are set to invisible, so that the goods sorting device cannot transfer these inventory objects to the first vehicle, thereby avoiding increasing the chaotic objects on the first vehicle and increasing the degree of chaos of the first vehicle, and further improving the goods sorting efficiency.

[0080] Since during the goods sorting process, the goods sorting device may transfer the inventory objects on the first vehicle that match the second vehicle to the second vehicle, and then transfer the inventory objects on the second vehicle that match other vehicles to be sorted to the first vehicle, so as to vacate the idle cargo spaces, but this will cause the problem of increasing the degree of chaos of the first vehicle. The goods sorting method provided by the embodiments of the present application realizes the designated transfer of inventory objects by the goods sorting device by setting the attributes of the inventory objects to visible or invisible, improves the goods sorting efficiency, and reduces the goods sorting complexity.

[0081] For example, as Figure 2 shown, taking vehicle B as the target vehicle as an example, when the goods sorting device performs goods sorting operations between vehicle A and vehicle B, it can only transfer the containers on vehicle B that belong to vehicle A to vehicle A, and cannot transfer the containers that belong to other vehicles to vehicle A.

[0082] Step 330, when the first vehicle surface faces the goods sorting device and the third vehicle surface faces the goods sorting device, if there is a first inventory object on the first vehicle surface that matches the second vehicle, and the first inventory object is movable, control the goods sorting device to transfer the first inventory object to the third vehicle surface.

[0083] In some examples, the first vehicle surface can be any vehicle surface of the first vehicle, and the third vehicle surface can also be any vehicle surface of the second vehicle. For example, taking the second vehicle as the target vehicle, the first vehicle surface can be the vehicle surface facing the goods sorting device when the first handling device first transports the first vehicle to the first docking position, or it can also be a vehicle surface after the first vehicle is rotated during the goods sorting process. The embodiments of the present application do not limit this. For example, when the first handling device first transports the first vehicle to the first docking position, the second vehicle surface of the first vehicle faces the goods sorting device. During the goods sorting process, the first handling device may perform a vehicle rotation operation on the first vehicle so that the first vehicle surface of the first vehicle faces the goods sorting device.

[0084] Exemplarily, there may be at least one goods to be sorted object (such as a first chaotic object) on the first vehicle that matches (i.e., belongs to) the second vehicle, and there may be at least one goods to be sorted object (such as a second chaotic object) on the second vehicle that matches (i.e., belongs to) the first vehicle. Among them, the first chaotic object may be distributed on any one vehicle surface of the first vehicle, or may be distributed on two vehicle surfaces of the first vehicle respectively. Similarly, the second chaotic object may be distributed on any one vehicle surface of the second vehicle, or may be distributed on two vehicle surfaces of the second vehicle respectively.

[0085] In some examples, when the first vehicle surface and the third vehicle surface face the goods sorting device, it can be determined whether there is an inventory object on the first vehicle surface that matches the second vehicle, and whether there is an inventory object on the third vehicle surface that matches the first vehicle.

[0086] For example, it can be determined whether there is an object attribute on the first vehicle surface that has a mapping relationship with the vehicle attribute of the second vehicle, and the inventory object corresponding to the object attribute is called the first chaotic object; similarly, it is determined whether there is an object attribute on the third vehicle surface that has a mapping relationship with the vehicle attribute of the first vehicle, and the inventory object corresponding to the object attribute is called the second chaotic object.

[0087] In some examples, when there is a first chaotic object on the first vehicle surface, the number of the first chaotic objects can be one or multiple. For example, when there is one first chaotic object on the first vehicle surface, the first inventory object is the first chaotic object. When there are multiple first chaotic objects on the first vehicle surface, the first inventory object is any one of the multiple first chaotic objects.

[0088] Exemplarily, after determining the first inventory object on the first vehicle surface, it can be further determined whether the first inventory object is movable. Among them, whether the first inventory object is movable is used to indicate whether the goods sorting device can perform a transfer operation on the first inventory object.

[0089] In some embodiments, when there is no idle storage location on the third vehicle surface, it is determined that the first inventory object cannot be moved; or, when there are idle storage locations on the third vehicle surface and the idle storage locations are abnormal, it is determined that the first inventory object cannot be moved.

[0090] In some examples, before the goods sorting device transfers the first inventory object on the first vehicle surface to the third vehicle surface, it can first determine whether the first inventory object can be moved. When there is no idle storage location on the third vehicle surface, since the goods sorting device cannot place the first inventory object on the third vehicle surface, the first inventory object cannot be moved; when there are idle storage locations on the third vehicle surface, but all the idle storage locations are abnormal, the goods sorting device also cannot place the first inventory object on the third vehicle surface, so the first inventory object also cannot be moved.

[0091] That is to say, when there is at least one idle storage location in a normal state (hereinafter referred to as an available idle storage location) on the third vehicle surface, it can be determined that the first inventory object can be moved. When there is no available idle storage location on the third vehicle surface, it can be determined that the first inventory object cannot be moved.

[0092] For example, when there is a first chaotic object on the first vehicle surface, the first chaotic object may or may not be movable. When there are multiple first chaotic objects on the first vehicle surface, some of the multiple chaotic objects may be movable and some may not be movable; or, all of the multiple chaotic objects may be movable; or, all of the multiple chaotic objects may not be movable.

[0093] Exemplarily, when the first inventory object is movable, the goods sorting device is controlled to take out the first inventory object from the first vehicle and transfer the first inventory object to the first storage location on the third vehicle surface. Wherein, the first storage location can be any available idle storage location on the third vehicle surface, or an idle storage location with the smallest handling cost (such as the shortest handling distance) on the first vehicle surface.

[0094] In some examples, after the transfer of the first inventory object is completed, if there are other first chaotic objects on the first vehicle surface, the goods sorting operation can continue to be performed on the other first chaotic objects, that is, the process of step 330 above is continued.

[0095] Figure 4 Another schematic diagram of the goods sorting process provided by the embodiments of the present application. As Figure 4 shown, the first vehicle includes a first vehicle surface a1 and a second vehicle surface b1, and the second vehicle includes a third vehicle surface a2 and a fourth vehicle surface b2.

[0096] As Figure 4As shown in (a) of [reference], when the first vehicle surface a1 of the first vehicle and the third vehicle surface a2 of the second vehicle face the goods sorting device, since there are two first chaotic objects on the first vehicle surface a1 that match the second vehicle, namely container 1 and container 2, the control device determines that container 1 is movable, and the goods sorting device transfers container 1 from the first vehicle surface a1 to an available empty cargo space on the third vehicle surface a2.

[0097] Step 340, in the case where the first inventory object is not movable, based on the first surface rotation parameter corresponding to the first vehicle surface, control the second handling device to perform a surface rotation operation on the second vehicle; or cancel the goods sorting task corresponding to the first inventory object.

[0098] In some examples, in the case where the first inventory object is not movable, it is necessary to further determine the processing method of the first inventory object based on the first surface rotation parameter corresponding to the first vehicle surface.

[0099] For example, as Figure 4 shown in (a) of [reference], after the goods sorting device completes the transfer of container 1 on the first vehicle surface a1, there is no available empty cargo space on the third vehicle surface a2, so container 2 is not movable. In this case, it is necessary to determine whether to perform a surface rotation operation on the second vehicle or cancel the goods sorting task corresponding to container 2 based on the first surface rotation parameter corresponding to the first vehicle surface a1.

[0100] Exemplarily, when there are multiple first chaotic objects on the first vehicle surface that match the second vehicle, the goods sorting device sequentially performs goods sorting operations on each first chaotic object. Before operating on each first chaotic object, the control device determines whether each first chaotic object is movable. During the process of the goods sorting device sorting the first inventory object, if it is determined that the first inventory object is not movable, it indicates that there is no available empty cargo space on the third vehicle surface. Therefore, the remaining other first chaotic objects on the first vehicle surface are also not movable. That is, when the first non - movable first chaotic object appears on the first vehicle surface, it indicates that the remaining first chaotic objects are all not movable, and thus the remaining first chaotic containers can be continuously transferred by rotating the second vehicle.

[0101] For example, when there are four first chaotic objects on the first vehicle surface, the goods sorting device can sequentially perform goods sorting operations on the four first chaotic objects. After the goods sorting device sequentially transfers two chaotic objects to the available empty cargo spaces on the third vehicle surface and there is no available empty cargo space on the third vehicle surface, the remaining two first chaotic objects on the first vehicle surface cannot be transferred to the third vehicle surface, that is, the remaining first chaotic objects are all not movable.

[0102] Figure 5 Schematic diagram of another goods sorting method provided by an embodiment of this application, as Figure 5As shown, the above step 340 includes steps 341 to 343 as shown below.

[0103] Step 341, when the first inventory object is immovable, determine whether the first turning surface parameter meets the turning surface condition.

[0104] In some embodiments, the above step 341 includes: during the process that the first carrier surface faces the goods sorting device, if the third carrier surface faces the goods sorting device and the fourth carrier surface has not faced the goods sorting device, determine that the first turning surface parameter meets the turning surface condition; during the process that the first carrier surface faces the goods sorting device, if the third carrier surface has faced the goods sorting device and the fourth carrier surface has also faced the goods sorting device, determine that the first turning surface parameter does not meet the turning surface condition.

[0105] In some examples, the first turning surface parameter meeting the turning surface condition is used to indicate that the second carrier can perform a turning surface operation relative to the first carrier surface, and the first turning surface parameter not meeting the turning surface condition is used to indicate that the second carrier cannot perform a turning surface operation relative to the first carrier surface.

[0106] Exemplarily, turning surface parameters can be set on the carrier surfaces of each goods sorting carrier to indicate the access situation between the carrier surface of this carrier and the two carrier surfaces of another goods sorting carrier performing the goods sorting operation. For example, the turning surface parameter can be set to "0" or "1". When the turning surface parameter is set to "0", it means that the turning surface parameter meets the turning surface condition. When the turning surface parameter is set to "1", it means that the turning surface parameter does not meet the turning surface condition.

[0107] In some examples, when the first carrier surface first accesses a carrier surface of the second carrier (such as the third carrier surface), the first turning surface parameter corresponding to the first carrier surface can be set to "0". When the first carrier surface accesses the fourth carrier surface, another carrier surface of the second carrier, after accessing the third carrier surface, the first turning surface parameter can be set to "1". That is to say, one carrier surface of a carrier can only access each carrier surface of another carrier once.

[0108] For example, during the process that the first carrier surface of the first carrier faces the goods sorting device, if the third carrier of the second carrier faces the goods sorting device, it indicates that the first carrier surface has accessed the third carrier surface; if the fourth carrier surface and the first carrier surface have also faced the goods sorting device simultaneously before the third carrier surface faces the goods sorting device, it indicates that the first carrier surface has also accessed the fourth carrier surface. That is to say, the first carrier surface has accessed two carrier surfaces of the first carrier (i.e., the third carrier surface and the fourth carrier surface). In this case, it can be determined that the first turning surface parameter corresponding to the first carrier surface does not meet the turning surface condition, that is, the second carrier cannot access the third carrier surface and the fourth carrier surface again, and the control device can adjust the first turning surface parameter of the first carrier surface to "1".

[0109] For another example, when the first vehicle surface of the first vehicle faces the goods sorting device, the third vehicle surface of the second vehicle faces the goods sorting device, indicating that the first vehicle surface has accessed the third vehicle surface. If the fourth vehicle surface has not faced the goods sorting device simultaneously with the first vehicle surface before the third vehicle surface faces the goods sorting device, it indicates that the first vehicle surface has only accessed the third vehicle surface of the first vehicle and has not accessed the fourth vehicle surface. In this case, it indicates that the first rotation surface parameter corresponding to the first vehicle surface meets the rotation surface condition, that is, the second vehicle can still perform the rotation surface operation.

[0110] It should be noted that the rotation surface parameters corresponding to the vehicle surfaces of a vehicle are for the same vehicle. If the vehicle for the goods sorting operation is changed, the rotation surface parameters of each vehicle surface of the vehicle need to be reset. For example, when the second vehicle and the first vehicle perform the goods sorting operation, the rotation surface parameters corresponding to the third vehicle surface of the second vehicle can be determined according to the access situation of the third vehicle surface to each vehicle surface of the first vehicle. When the second vehicle and the third vehicle perform the goods sorting operation, the rotation surface parameters corresponding to the third vehicle surface need to be reset and re-determined according to the access situation of the third vehicle surface to each vehicle surface of the third vehicle.

[0111] The goods sorting method provided by the embodiments of the present application realizes the single access mechanism for each vehicle surface by setting rotation surface parameters for each vehicle surface of the vehicle, that is, one vehicle surface cannot repeatedly access the same vehicle surface of another vehicle, thereby avoiding the problem of low goods sorting efficiency caused by repeated rotation surfaces and further improving the goods sorting efficiency of the warehousing system.

[0112] Step 342, when the first rotation surface parameter meets the rotation surface condition, control the second handling device to transport the second vehicle to the rotation point for rotation, and adjust the first rotation surface parameter to not meet the rotation surface condition.

[0113] In some examples, that the first rotation surface parameter meets the rotation surface condition indicates that the first vehicle surface has not accessed the fourth vehicle surface of the second vehicle. Therefore, the second vehicle can be rotated so that the fourth vehicle surface of the second vehicle and the first vehicle surface face the goods sorting device together, and the goods sorting operation is performed by the goods sorting device.

[0114] For example, the control device can control the second handling device to transport the second vehicle to a preset rotation point for rotation. Among them, the rotation point can be a rotation position preset in the inventory area. The number of rotation points in the inventory area can be one or multiple. The second handling device can rotate the second vehicle at any idle rotation point, or can rotate the second vehicle at an idle rotation point closest to the goods sorting area (such as the closest to the second docking position). The embodiments of the present application do not limit this.

[0115] Exemplarily, after the second handling device performs a surface rotation on the second carrier to make the fourth carrier surface face the goods sorting device, that is, the first carrier surface and the fourth carrier surface both face the goods sorting device, that is, the first carrier surface accesses the fourth carrier surface. And before that, the first carrier surface has also accessed the third carrier surface. Therefore, the first carrier surface has accessed both the third carrier surface and the fourth carrier surface. Therefore, the first surface rotation parameter of the first carrier surface can be set to not meet the surface rotation condition.

[0116] For example, after the second carrier is converted to the fourth carrier surface, the first surface rotation parameter of the first carrier surface can be adjusted from 0 to 1, indicating that the first surface rotation parameter does not meet the surface rotation condition, that is, the first carrier surface cannot access the third carrier surface and the fourth carrier surface of the second carrier again.

[0117] As Figure 4 shown, since the container 2 on the first carrier surface a1 of the first carrier is immovable and the first surface rotation parameter corresponding to the first carrier surface a1 meets the surface rotation condition, the second carrier is rotated, as shown in Figure 4 (b) in. After the second carrier is rotated, the fourth carrier surface b2 of the second carrier faces the goods sorting device. In this case, the first carrier surface a1 of the first carrier and the fourth carrier surface b2 of the second carrier both face the goods sorting device, and the goods sorting device can continue to perform the goods sorting operation between the first carrier surface a1 and the fourth carrier surface b2 of the second carrier.

[0118] Step 343, when the first surface rotation parameter does not meet the surface rotation condition, cancel the goods sorting task corresponding to the first inventory object.

[0119] Exemplarily, when the first surface rotation parameter does not meet the surface rotation condition, it indicates that the first carrier surface has accessed the fourth carrier surface of the second carrier, and the first inventory object has not been transferred to the fourth carrier surface, that is, the first inventory object can neither be transferred to the fourth carrier surface of the second carrier nor to the third carrier surface. In this case, the goods sorting task of the first inventory object can be cancelled.

[0120] Figure 6 is a schematic diagram of another goods sorting method provided by an embodiment of the present application. As shown in Figure 6 shown, after step 342, the method further includes:

[0121] Step 610, control the second handling device to move the second carrier from the rotation point to the second docking position so that the fourth carrier surface faces the goods sorting device.

[0122] In some examples, after the second handling device moves the second carrier to the rotation point for rotation and then moves the second carrier back to the second docking position, after the second carrier returns to the second docking position, the fourth carrier surface of the second carrier faces the goods sorting device.

[0123] Step 620: Determine whether the first inventory object is movable.

[0124] In some examples, since there are untransferred first inventory objects on the first vehicle surface, after the fourth vehicle surface faces the tallying device, it is possible to re-determine whether the first inventory object is movable relative to the fourth vehicle surface. That is, determine whether there are available empty spaces on the fourth vehicle surface.

[0125] Step 630: If the first inventory object is movable, control the tallying device to move the first inventory object to the fourth vehicle surface; if the first inventory object is not movable, cancel the tallying task corresponding to the first inventory object.

[0126] In some examples, when there is any available empty space on the fourth vehicle surface, it indicates that the first inventory object is movable, and the tallying device can take out the first inventory object from the first vehicle surface and transfer it to the empty space on the fourth vehicle surface.

[0127] In other examples, if there is still no available empty space on the fourth vehicle surface, then the first inventory object is still not movable. Since the first transfer surface parameter corresponding to the first vehicle surface does not meet the transfer condition, the first inventory object is not movable on both the third vehicle surface and the fourth vehicle surface. Therefore, the tallying task for the first inventory object can be cancelled, that is, there is no need to transfer the first inventory object.

[0128] As Figure 4 shown in (b) of , the container 2 on the first vehicle surface a1 is not movable relative to the third vehicle surface a2 of the second vehicle and is still not movable relative to the fourth vehicle surface b2 of the second vehicle. Therefore, the tallying task for the container 2 can be cancelled.

[0129] It should be noted that in addition to the first inventory object on the first vehicle surface, there may be other immovable first chaotic objects. The control device can determine whether each first chaotic object is movable respectively. If it is movable, transfer the movable first chaotic object from the first vehicle surface to the fourth vehicle surface; if it is not movable, cancel the tallying task for the immovable first chaotic object.

[0130] Figure 7 is a schematic diagram of another tallying method provided by an embodiment of the present application. As Figure 7 shown, after the above step 610, the method further includes steps 710 to 740 as follows.

[0131] Step 710: When there is a second inventory object on the fourth vehicle surface that matches the first vehicle, if the second inventory object is movable, control the tallying device to transfer the second inventory object to the first vehicle surface.

[0132] In some examples, after the fourth vehicle surface of the second vehicle faces the merchandising device, it is also possible to determine whether there is a second disordered object on the fourth vehicle surface that matches the first vehicle. If there is a second disordered object on the fourth vehicle surface, the merchandising device can also perform a merchandising operation on the second disordered object. The number of second disordered objects on the fourth vehicle surface can be one or multiple. When there are multiple second disordered objects, the second inventory object can be any inventory object among the multiple disordered objects.

[0133] It should be noted that the implementation process of step 710 is similar to that of the above-mentioned step 330, and for the sake of avoiding repetition, it will not be elaborated here.

[0134] In some examples, step 710 can be executed before the above-mentioned step 620 or after step 620, and the embodiments of the present application do not limit this. For example, step 620 can be executed after step 710. Since step 710 can transfer the second inventory object on the fourth vehicle surface to the first vehicle surface, there may be available free spaces on the fourth vehicle surface. In this case, step 620 can be continued to transfer the first inventory object to the fourth vehicle surface through the merchandising device.

[0135] It should be noted that whether the inventory object involved in the embodiments of the present application is movable may be that there are still no available free spaces after transferring all the movable inventory objects on each vehicle surface. For example, before executing step 710, there may be no available free space on the fourth vehicle surface for placing the first inventory object, but after executing step 710, there may be an available free space for placing the first inventory object on the fourth vehicle surface.

[0136] As Figure 4 As shown in (b) of [reference], when the first vehicle surface a1 of the first vehicle and the fourth vehicle surface b2 of the second vehicle jointly face the merchandising device, there is a container 2 to be transferred on the first vehicle surface a1, and there are containers 5 and 6 (i.e., the second disordered objects) to be transferred on the fourth vehicle surface b2. The merchandising device can first perform a merchandising operation on containers 5 and 6, or first perform a merchandising operation on container 2, or the merchandising device can first perform a merchandising operation on container 5, then perform a merchandising operation on container 2, and then perform a merchandising operation on container 6. The embodiments of the present application do not limit this.

[0137] For example, when the container 2 on the first vehicle surface a1 is still immovable, cancel the merchandising task of container 2. When the container 5 on the fourth vehicle surface b2 is movable, the merchandising device transfers container 5 to the first vehicle surface a1; when container 6 is immovable, determine the processing method of container 6 based on the second turning surface parameter corresponding to the fourth vehicle surface (i.e., execute according to the following steps 720 to 730).

[0138] Step 720: If the second inventory object is immovable, determine whether the second turning parameter corresponding to the fourth vehicle face meets the turning condition.

[0139] In some examples, when the second inventory object is immovable, that is, the second inventory object cannot be placed on the first vehicle face, the second turning parameter corresponding to the fourth vehicle face can be determined. That is, determine that the second turning parameter corresponding to the fourth vehicle face is 0 or 1, so as to determine whether the second turning parameter meets the turning condition. Based on whether the second turning parameter meets the turning condition, determine whether the first vehicle can be turned.

[0140] Step 730: When the second turning parameter meets the turning condition, control the first handling device to move the first vehicle to the turning point for turning, and adjust the second turning parameter to not meet the turning condition.

[0141] In some examples, when the second turning parameter corresponding to the fourth vehicle face is 0, it indicates that the second turning parameter corresponding to the fourth vehicle face meets the turning condition, so the first vehicle can be turned so that the second vehicle face of the first vehicle faces the merchandising device.

[0142] For example, after the first vehicle is turned, it is equivalent to that the fourth vehicle face of the second vehicle has visited both the first vehicle face and the second vehicle face of the first vehicle. Therefore, the second turning parameter corresponding to the second vehicle can be set to 1 so as not to meet the turning condition.

[0143] In some examples, the turning point for the first vehicle to turn can be the same as or different from the turning point for the second vehicle to turn. The embodiments of the present application do not limit this.

[0144] Such as Figure 4 shown, in the process from (a) to (b) in Figure 4 , the fourth vehicle face b2 only visits the first vehicle face a1 of the first vehicle. Therefore, the second turning parameter corresponding to the fourth vehicle face b2 meets the turning condition. After the first handling device moves the first vehicle to the turning point for turning, (c) in Figure 4 is obtained. In this case, the second vehicle face b1 of the first vehicle and the fourth vehicle face b2 of the second vehicle face the merchandising device at the same time, and the merchandising device can perform merchandising operations on the second vehicle face b1 and the fourth vehicle face b2.

[0145] Step 740: When the second turning parameter does not meet the turning condition, cancel the merchandising task corresponding to the second inventory object.

[0146] In some examples, when the second surface rotation parameter does not meet the surface rotation condition, the first vehicle cannot rotate its surface again, indicating that the second inventory object cannot be placed on the third vehicle surface of the second vehicle nor on the fourth vehicle surface of the second vehicle. Therefore, the tallying task for the second inventory object can be cancelled.

[0147] The tallying method provided by the embodiments of the present application can transfer matching objects between the first vehicle and the second vehicle during the tallying operation between the first vehicle and the second vehicle. When the two vehicle surfaces face the tallying device together, the inventory objects on the current surface of the first vehicle that match the second vehicle can be transferred to the current surface of the second vehicle, and the inventory objects on the current surface of the second vehicle that match the first vehicle can be transferred to the current surface of the first vehicle, thus realizing two-way tallying and improving the tallying efficiency of the warehousing system.

[0148] Figure 8 It is a schematic diagram of another tallying method provided by the embodiments of the present application. As Figure 8 shown, after the above step 730, the method further includes steps 810 to 860 as follows.

[0149] Step 810: Control the first handling device to move the first vehicle from the surface rotation point to the first docking position so that the second vehicle surface faces the tallying device.

[0150] In some examples, when the second surface rotation parameter corresponding to the fourth vehicle surface meets the surface rotation condition, the first handling device moves the first vehicle to the surface rotation point for surface rotation, and after surface rotation, moves the first vehicle back from the surface rotation point to the first docking position so that the second vehicle surface of the first vehicle faces the tallying device, as Figure 4 shown in (c) of

[0151] Step 820: Determine whether the second inventory object is movable.

[0152] Step 830: If the second inventory object is movable, control the tallying device to move the second inventory object to the second vehicle surface; if the second inventory object is not movable, cancel the tallying task corresponding to the second inventory object.

[0153] In some examples, after the second vehicle surface of the first vehicle faces the tallying device, re-determine whether the second inventory object on the fourth vehicle surface is movable relative to the second vehicle surface. If the second inventory object is movable, the tallying device transfers the second inventory object from the fourth vehicle surface to the second vehicle surface. If the second inventory object is still not movable, since the second inventory object cannot be transferred to the first vehicle surface nor to the second vehicle surface, the tallying task for the second inventory object can be cancelled.

[0154] It should be noted that steps 820 to 830 are similar to steps 620 to 630 in the above embodiments. To avoid repetition, they will not be elaborated here.

[0155] For example, as Figure 4 shown, since the container 6 on the fourth vehicle surface b2 cannot be transferred when facing the first vehicle surface a1 and still cannot be transferred when facing the second vehicle surface b1, the tallying task of the container 6 can be cancelled.

[0156] Step 840, when there is a third inventory object matching the second vehicle on the second vehicle surface and the third inventory object is movable, control the tallying device to transfer the third inventory object to the second vehicle surface.

[0157] In some examples, when the second vehicle surface faces the tallying device, there may be at least one first chaotic object matching the second vehicle on the second vehicle surface. Among them, the third inventory object is any inventory object among the at least one first chaotic object. When the third inventory object on the second vehicle surface is movable, the tallying device transfers the third inventory object to an available empty cargo space on the fourth vehicle surface of the second vehicle.

[0158] As Figure 4 shown in (c) of, the container 7 on the second vehicle surface b1 is a first chaotic object matching the second vehicle. If the container 7 is movable, the tallying device transfers the container 7 to the fourth vehicle surface b2.

[0159] Step 850, if the third inventory object is immovable, determine whether the third surface transfer parameter corresponding to the second vehicle surface meets the surface transfer condition.

[0160] Step 860, when the third surface transfer parameter meets the surface transfer condition, control the second handling device to carry the second vehicle to the surface transfer point for surface transfer and adjust the third surface transfer parameter to not meet the surface transfer condition; when the third surface transfer parameter does not meet the surface transfer condition, cancel the tallying task corresponding to the third inventory object.

[0161] In some examples, when the third inventory object is immovable, continue to determine whether the third surface transfer parameter corresponding to the second vehicle surface meets the surface transfer condition. For example, when the third surface transfer parameter meets the surface transfer condition, a surface transfer operation can be performed on the second vehicle. Since after the second vehicle is surface transferred, the second vehicle surface has accessed two vehicle surfaces of the second vehicle, the third surface transfer parameter corresponding to the second vehicle surface can be adjusted to "1" to not meet the surface transfer condition. For another example, when the third surface transfer parameter does not meet the surface transfer condition, it indicates that the second vehicle can no longer be surface transferred. Therefore, the third inventory object cannot be transferred to the second vehicle. In this case, the tallying task corresponding to the third inventory object can be cancelled.

[0162] It should be noted that the implementation processes of steps 850 to 860 are similar to those of steps 720 to 740 in the above embodiments. To avoid repetition, they will not be elaborated here.

[0163] For example, as shown in (c) of Figure 4 , since the second vehicle surface b1 of the first vehicle has only accessed the fourth vehicle surface b2 of the second vehicle and has not accessed the third vehicle surface a2 of the second vehicle, the third surface rotation parameter corresponding to the second vehicle surface b1 meets the surface rotation condition, and the surface rotation operation can be performed on the second vehicle. After the surface rotation of the second vehicle, (d) of Figure 4 is obtained, that is, the third vehicle surface a2 of the second vehicle and the second vehicle surface b1 of the first vehicle face the goods sorting device together. Since the second vehicle surface b1 has accessed the third vehicle surface a2 of the second vehicle and has also accessed the fourth vehicle surface b2 of the second vehicle, the third surface rotation parameter corresponding to the second vehicle surface b1 can be set to "1", which does not meet the surface rotation condition.

[0164] In some embodiments, when the above third surface rotation parameter meets the surface rotation condition, after controlling the second handling device to transport the second vehicle to the surface rotation point for surface rotation, the method further includes: controlling the second handling device to transport the second vehicle from the surface rotation point to the second docking position, so that the third vehicle surface faces the goods sorting device, and adjusting the fourth surface rotation parameter corresponding to the third vehicle surface to not meet the surface rotation condition; determining whether the third inventory object is movable; if the third inventory object is movable, transferring the third inventory object to the third vehicle surface; if the third inventory object is not movable, canceling the goods sorting task of the third inventory object.

[0165] In some examples, after the second handling device transports the second vehicle to the surface rotation point for surface rotation, the second vehicle can continue to be transported to the second docking position. After the second vehicle rotates its surface and reaches the second docking position, the third vehicle surface of the second vehicle faces the goods sorting device again, and the goods sorting device performs goods sorting operations between the second vehicle surface of the first vehicle and the third vehicle surface of the second vehicle.

[0166] Since after performing the above steps 310 to 340, steps 610 to 630, and steps 710 to 740, the third vehicle surface has accessed the first vehicle surface of the first vehicle and has also accessed the second vehicle surface of the second vehicle, the fourth surface rotation parameter corresponding to the third vehicle surface can be set to "1", that is, the fourth surface rotation parameter does not meet the surface rotation condition.

[0167] In some examples, it is redetermined whether a third inventory object on a second vehicle surface is movable relative to a third vehicle surface. If the third inventory object is movable, the goods sorting device transfers the third inventory object to the third vehicle surface of the second vehicle. If the third inventory object is not movable, since the third transfer surface parameter corresponding to the second vehicle surface no longer satisfies the transfer surface condition, the goods sorting task corresponding to the third inventory object can be cancelled.

[0168] In some embodiments, when the first vehicle surface faces the goods sorting device and the third vehicle surface faces the goods sorting device, if there is a fourth inventory object matching the first vehicle on the third vehicle surface and the fourth inventory object is movable, the goods sorting device is controlled to transfer the fourth inventory object to the first vehicle surface.

[0169] Exemplarily, in step 330 above, when the first vehicle surface faces the goods sorting device and the third vehicle surface faces the goods sorting device, in addition to determining whether there is a first chaotic object matching the second vehicle on the first vehicle surface of the first vehicle, it can also be determined whether there is a second chaotic object matching the first vehicle on the third vehicle surface of the second vehicle. If there are multiple second chaotic objects on the third vehicle surface, the fourth inventory object can be any one of the multiple second chaotic objects.

[0170] In some examples, when the fourth inventory object is movable, the goods sorting device transports the fourth inventory object to the first vehicle surface of the first vehicle.

[0171] It should be noted that the above process can be executed before step 330 or after step 330, and the embodiments of the present application do not limit this.

[0172] In some embodiments, if the fourth inventory object is not movable, when the second vehicle surface faces the goods sorting device and the third vehicle surface faces the goods sorting device, it is determined whether the fourth inventory object is movable; if the fourth inventory object is movable, the goods sorting device is controlled to transfer the fourth inventory object to the second vehicle surface; if the fourth inventory object is not movable, the goods sorting task of the fourth inventory object is cancelled.

[0173] In some examples, if the fourth inventory object on the third vehicle surface is not movable, no relevant operation needs to be performed on the fourth inventory object. Subsequently, by rotating the first vehicle to make the second vehicle surface face the goods sorting device and the third vehicle surface face the goods sorting device, it is continued to determine whether the fourth inventory object is movable relative to the second vehicle surface. If the fourth inventory object is movable, the goods sorting device is controlled to transfer the fourth inventory object to the second vehicle surface of the second vehicle; if the fourth inventory object is not movable, since the fourth inventory object cannot be transferred to the first vehicle surface nor to the second vehicle surface, the goods sorting task of the fourth inventory object is cancelled.

[0174] For example, as shown in (d) of Figure 4 after the second vehicle is turned, the third vehicle surface a2 of the second vehicle and the second vehicle surface b1 of the first vehicle face the goods sorting device. If the container 7 on the second vehicle surface b1 is still immovable, the goods sorting task corresponding to the container 7 is cancelled. If there is no container on the third vehicle surface that matches the second vehicle surface, the goods sorting device does not need to perform a transfer.

[0175] In some embodiments, after the above step 343, the method further includes: determining whether the fourth turning parameter corresponding to the third vehicle surface meets the turning condition. When the fourth turning parameter meets the turning condition, controlling the first handling device to transport the first vehicle to the turning point for turning, and adjusting the fourth turning parameter to not meet the turning condition. When the fourth turning parameter does not meet the turning condition, determining whether the third turning parameter corresponding to the second vehicle surface and the second turning parameter corresponding to the fourth vehicle surface meet the turning condition.

[0176] In some examples, when it is determined in the above step 343 that the first turning parameter does not meet the turning condition, it indicates that the first vehicle surface has accessed the third vehicle surface and the fourth vehicle surface. Therefore, the second vehicle surface cannot be turned relative to the first vehicle surface. In this case, it is possible to continue to determine whether the fourth turning parameter corresponding to the third vehicle surface meets the turning condition.

[0177] For example, when the fourth turning parameter meets the turning condition, it indicates that the third vehicle surface has not accessed the second vehicle surface. In this case, the first vehicle can be turned so that the second vehicle surface and the third vehicle surface of the first vehicle jointly face the goods sorting device, and the goods sorting device can perform goods sorting operations between the second vehicle surface and the third vehicle surface.

[0178] For another example, when the fourth turning parameter also does not meet the turning condition, it is possible to continue to determine whether the third turning parameter corresponding to the second vehicle surface of the first vehicle, or the second turning parameter corresponding to the fourth vehicle surface of the second vehicle meets the turning condition. If the third turning parameter meets the turning condition, it indicates that the second vehicle surface has not accessed the fourth vehicle surface. Therefore, the first vehicle and the second vehicle can be turned respectively so that the second vehicle surface and the second vehicle surface jointly face the goods sorting device, so as to perform goods sorting operations between the second vehicle surface and the second vehicle surface through the goods sorting device. At the same time, the third turning parameter corresponding to the second vehicle surface can be set to "1", that is, it does not meet the turning condition. When the first turning parameter, the third turning parameter, and the fourth turning parameter all do not meet the turning condition, it indicates that each vehicle surface of the first vehicle has respectively accessed the two vehicle surfaces of the second vehicle, and each vehicle surface of the second vehicle has also respectively accessed the two vehicle surfaces of the first vehicle. That is to say, the second turning parameter corresponding to the fourth vehicle surface also does not meet the turning condition.

[0179] In some embodiments, when the first turning surface parameter corresponding to the first vehicle face, the second turning surface parameter corresponding to the fourth vehicle face, the third turning surface parameter corresponding to the second vehicle face, and the fourth turning surface parameter corresponding to the third vehicle face all do not meet the turning surface conditions, control the first handling device to move the first vehicle away from the first docking position, and / or control the first handling device to move the first vehicle away from the first docking position, and control the second handling device to move the second vehicle away from the second docking position.

[0180] In some examples, when it is determined that the first turning surface parameter corresponding to the first vehicle face of the first vehicle, the fourth turning surface parameter corresponding to the second vehicle face, the third turning surface parameter corresponding to the third vehicle face of the second vehicle, and the second turning surface corresponding to the fourth vehicle do not meet the turning surface conditions, it indicates that each vehicle face between the two vehicles has been visited respectively, the movable inventory objects have been transferred, and the remaining immovable inventory objects cannot be moved after two attempts, so the tallying task for the remaining immovable inventory objects can be cancelled. That is to say, the tallying device has completed the tallying task between the first vehicle and the second vehicle.

[0181] Exemplarily, after completing the tallying task between the first vehicle and the second vehicle, when the second vehicle is the target vehicle, based on the number of remaining vehicles to be tallied in the queuing position corresponding to the first docking position (i.e., the temporary docking position), determine whether to move the first vehicle away, or move the first vehicle and the second vehicle away.

[0182] In some embodiments, when the first docking position is determined as the temporary docking position and the second docking position is determined as the target docking position, if there is at least one vehicle to be tallied on the multiple queuing positions corresponding to the first docking position, control the first handling device to move the first vehicle away from the first docking position, and control the third handling device to move the third vehicle among the at least one vehicle to be tallied to the first docking position; if there is no vehicle to be tallied on the multiple queuing positions corresponding to the first docking position, control the first handling device to move the first vehicle away from the first docking position, and control the second handling device to move the second vehicle away from the second docking position.

[0183] Exemplarily, when the first docking position is the temporary docking position and the second docking position is the target docking position, after the first vehicle on the first docking position completes the tallying task, the first vehicle can be moved away from the first docking position, such as moving the tallied first vehicle to the inventory area or the workstation. The embodiments of the present application do not limit this.

[0184] In some examples, if there is at least one to-be-tally vehicle on the multiple queuing positions corresponding to the first docking position, it indicates that the tally task has not ended yet. Therefore, as the target vehicle, the second vehicle still needs to dock at the second docking position. After the next to-be-tally vehicle reaches the first docking position, the tally device performs a tally operation between the third vehicle and the second vehicle. For example, after the first handling device moves the first vehicle away from the first docking position, the third handling device can be controlled to move the third vehicle among the at least one to-be-tally vehicles to the first docking position, and the tally device is controlled to perform a tally operation between the second vehicle and the third vehicle. Among them, the third vehicle can be the to-be-tally vehicle docked at the first queuing position.

[0185] It should be noted that the process of the tally device performing a tally operation between the second vehicle and the third vehicle is similar to the process of the tally device performing a tally operation between the first vehicle and the second vehicle in the above embodiment (such as steps 310 to 340 above). To avoid repetition, it will not be elaborated here.

[0186] In other examples, if there is no to-be-tally vehicle on the queuing position corresponding to the first docking position that has not undergone a tally operation, that is, the first vehicle is the last vehicle to undergo a tally operation. In this case, after the tally task between the first vehicle and the second vehicle is completed, the first vehicle can be moved out of the tally area, and the second vehicle can also be moved out of the tally area.

[0187] In some examples, to improve the tally efficiency, during the process of performing a tally operation between the first vehicle and the second vehicle, the first handling device may need to move the first vehicle to a turning point for turning. In this case, during the idle time when the first vehicle is turning, the third handling device can also be controlled to move the third vehicle to the first docking position, so as to facilitate the tally device to perform a tally operation on the second vehicle and the second vehicle, saving the time for the second vehicle to wait for the first vehicle to turn, and further improving the tally efficiency.

[0188] The embodiments of the present application provide a tallying method. During the tallying process of the first vehicle and the second vehicle, when the first vehicle surface of the first vehicle and the third vehicle surface of the second vehicle face the tallying device, first determine whether there is a first inventory object matching the second vehicle on the first vehicle surface. If there is a first inventory object, then determine whether the first inventory object is movable. When the first inventory object is movable, the tallying device transfers the first inventory object to the third vehicle surface of the second vehicle; when the first inventory object is not movable, further determine whether to transfer the first inventory object by rotating the second vehicle or cancel the tallying task of the first inventory object based on the first rotation surface parameter corresponding to the first vehicle surface. Therefore, during the process of transferring the inventory object matching another vehicle on the current surface of one vehicle to the current surface of another vehicle, in the case where the inventory object is movable, it can be directly transferred. In the case where the inventory object is not movable, it can also be achieved by rotating another vehicle to continue transferring the inventory object, so that as many matching objects as possible can be transferred in one tallying task, improving the tallying efficiency of the warehousing system. At the same time, by setting the rotation surface parameters corresponding to each vehicle surface, the embodiments of the present application can avoid multiple repeated rotations of each vehicle, and can further improve the tallying efficiency of the warehousing system.

[0189] Figure 9 is a schematic diagram of another tallying method provided by the embodiments of the present application. As Figure 9 shown, the tallying method includes steps 901 to 912 as follows. The following combines Figure 9 to illustrate a specific tallying process provided by the embodiments of the present application.

[0190] Step 901, the fronts of the source vehicle and the target vehicle face the tallying device.

[0191] Among them, the source vehicle may be the first vehicle in the above embodiments, and the target vehicle may be the second vehicle in the above embodiments.

[0192] Step 902, determine whether there is a movable container.

[0193] For example, the control device respectively determines whether there is a movable container on the front of the source vehicle and the front of the target vehicle. It should be noted that the movable containers involved in this example are all movable containers matching the vehicle. For example, determine whether there is a movable container matching the target vehicle on the front of the source vehicle, and determine whether there is a movable vehicle matching the source vehicle on the front of the target vehicle.

[0194] If there is at least one movable container on the front of the source vehicle and / or the front of the target vehicle, execute step 903. If there is no movable container on the front of the source vehicle and / or the front of the target vehicle, execute step 904.

[0195] Step 903, transfer the movable container to the source vehicle or the target vehicle.

[0196] For example, the tallying device can transfer the movable container on the front of the source vehicle to the front of the target vehicle, and / or transfer the movable container on the front of the target vehicle to the front of the source vehicle.

[0197] Step 904, turn the target vehicle so that the front of the source vehicle and the back of the target vehicle face the tallying device.

[0198] Step 905, check if there is a movable container.

[0199] For example, determine whether there is a movable container on the front of the source vehicle and the back of the target vehicle respectively.

[0200] If there is at least one movable container on the front of the source vehicle and / or the back of the target vehicle, execute Step 906; if there is no movable container on the front of the source vehicle and / or the back of the target vehicle, execute Step 907.

[0201] Step 906, transfer the movable container to the source vehicle or the target vehicle.

[0202] For example, the tallying device can transfer the movable container on the front of the source vehicle to the back of the target vehicle, and / or transfer the movable container on the back of the target vehicle to the front of the source vehicle.

[0203] Step 907, cancel the tallying task on the front of the source vehicle.

[0204] For example, if the container on the front of the source vehicle cannot be moved relative to the two sides of the target vehicle, cancel the tallying task corresponding to this container.

[0205] Step 908, check if the back of the source vehicle is prohibited.

[0206] For example, when the back of the source vehicle has visited the two vehicle sides of the target vehicle, it indicates that the back of the source vehicle has been prohibited. In this case, there is no need to turn the source vehicle. When the back of the source vehicle has not visited one or both sides of the target vehicle, it indicates that the back of the source vehicle has not been prohibited.

[0207] If the back of the source vehicle is not prohibited, execute Step 909; if the back of the source vehicle is prohibited, execute Step 912.

[0208] Step 909, turn the source vehicle and confirm the back of the source vehicle with the back and front of the target vehicle respectively.

[0209] For example, after turning the source vehicle, confirm whether there are containers to be transferred between the back of the source vehicle and the back of the target vehicle, as well as between the back of the source vehicle and the front of the target vehicle (after the target vehicle is turned). It should be noted that it is possible to first confirm the back of the source vehicle and the back of the target vehicle, then turn the target vehicle, and then confirm the back of the source vehicle and the front of the target vehicle.

[0210] Step 910, determine whether there are movable containers.

[0211] For example, respectively determine whether there are movable containers on the back of the source vehicle and the back of the target vehicle, and whether there are movable containers on the back of the source vehicle and the front of the target vehicle.

[0212] If there are movable containers on the back of the source vehicle and the back of the target vehicle, and there is at least one movable container on the back of the source vehicle and the front of the target vehicle, then execute step 911. If there are no movable containers on the front of the source vehicle and the back of the target vehicle, then execute step 912.

[0213] Step 911, transfer the movable containers to the source vehicle or the target vehicle.

[0214] For example, transfer the movable containers to the corresponding vehicles respectively.

[0215] Step 912, cancel the tallying tasks on the source vehicle and the target vehicle, move the source vehicle away. If the source vehicle is the last vehicle to be tallied, also move the target vehicle away.

[0216] For example, after both vehicle surfaces of the source vehicle and the target vehicle have been accessed, that is, after the front and back of the source vehicle are both prohibited, the tallying tasks on the source vehicle and the target vehicle can be cancelled. Since the tallying task of the source vehicle is completed, the source vehicle can be moved away from the tallying area, and the next vehicle to be tallied can be transported to perform tallying with the target vehicle. If the source vehicle is the last vehicle to be tallied, the target vehicle also needs to be moved away from the tallying area.

[0217] Figure 10 It is a schematic diagram of a tallying device provided by an embodiment of the present application. As Figure 10 shown, the tallying device 1000 includes a determination module 1010 and a control module 1020. Among them:

[0218] The determination module 1010 is configured to: determine a first vehicle and a second vehicle among multiple vehicles to be tallied; the first vehicle includes a first vehicle surface and a second vehicle surface, and the second vehicle includes a third vehicle surface and a fourth vehicle surface.

[0219] The control module 1020 is configured to: control the first handling device to move the first vehicle to the first docking position in the tally area, and control the second handling device to move the second vehicle to the second docking position in the tally area; when the first vehicle surface faces the tally device and the third vehicle surface faces the tally device, if there is a first inventory object on the first vehicle surface that matches the second vehicle, and the first inventory object is movable, control the tally device to transfer the first inventory object to the third vehicle surface; when the first inventory object is immovable, based on the first surface rotation parameter corresponding to the first vehicle surface, control the second handling device to perform a surface rotation operation on the second vehicle; or cancel the tally task corresponding to the first inventory object.

[0220] In some embodiments, the determination module 1010 is further configured to: determine whether the first surface rotation parameter meets the surface rotation condition. The control module 1020 is configured to: when the first surface rotation parameter meets the surface rotation condition, control the second handling device to move the second vehicle to the surface rotation point for surface rotation, and adjust the first surface rotation parameter to not meet the surface rotation condition; or when the first surface rotation parameter does not meet the surface rotation condition, cancel the tally task corresponding to the first inventory object.

[0221] In some embodiments, the determination module 1010 is further configured to: during the process that the first vehicle surface faces the tally device, if the third vehicle surface faces the tally device and the fourth vehicle surface has not faced the tally device, determine that the first surface rotation parameter meets the surface rotation condition. During the process that the first vehicle surface faces the tally device, if the third vehicle surface faces the tally device and the fourth vehicle surface has also faced the tally device, determine that the first surface rotation parameter does not meet the surface rotation condition.

[0222] In some embodiments, the control module 1020 is further configured to: control the second handling device to move the second vehicle from the surface rotation point to the second docking position so that the fourth vehicle surface faces the tally device. The determination module 1010 is further configured to: determine whether the first inventory object is movable. The control module 1020 is further configured to: if the first inventory object is movable, control the tally device to move the first inventory object to the fourth vehicle surface; if the first inventory object is immovable, cancel the tally task corresponding to the first inventory object.

[0223] In some embodiments, the control module 1020 is further configured to: when there is a second inventory object matching the first vehicle on the fourth vehicle surface, if the second inventory object is movable, control the tallying device to transfer the second inventory object to the first vehicle surface. The determination module 1010 is further configured to: if the second inventory object is immovable, determine whether the second transfer surface parameter corresponding to the fourth vehicle surface meets the transfer surface condition. The control module 1020 is further configured to: when the second transfer surface parameter meets the transfer surface condition, control the first handling device to carry the first vehicle to the transfer point for surface transfer, and adjust the second transfer surface parameter to not meet the transfer surface condition; when the second transfer surface parameter does not meet the transfer surface condition, cancel the tallying task corresponding to the second inventory object.

[0224] In some embodiments, the control module 1020 is further configured to: control the first handling device to carry the first vehicle from the transfer point to the first docking position, so that the second vehicle surface faces the tallying device. The determination module 1010 is further configured to: determine whether the second inventory object is movable. The control module 1020 is further configured to: if the second inventory object is movable, control the tallying device to carry the second inventory object to the second vehicle surface; if the second inventory object is immovable, cancel the tallying task corresponding to the second inventory object.

[0225] In some embodiments, the control module 1020 is further configured to: when there is a third inventory object matching the second vehicle on the second vehicle surface, if the third inventory object is movable, control the tallying device to transfer the third inventory object to the second vehicle surface. The determination module 1010 is further configured to: if the third inventory object is immovable, determine whether the third transfer surface parameter corresponding to the second vehicle surface meets the transfer surface condition. The control module 1020 is further configured to: when the third transfer surface parameter meets the transfer surface condition, control the second handling device to carry the second vehicle to the transfer point for surface transfer, and adjust the third transfer surface parameter to not meet the transfer surface condition; when the third transfer surface parameter does not meet the transfer surface condition, cancel the tallying task corresponding to the third inventory object.

[0226] In some embodiments, the control module 1020 is further configured to: control the second handling device to carry the second vehicle from the transfer point to the second docking position, so that the third vehicle surface faces the tallying device, and adjust the fourth transfer surface parameter corresponding to the third vehicle surface to not meet the transfer surface condition. The determination module 1010 is further configured to: determine whether the third inventory object is movable. The control module 1020 is further configured to: if the third inventory object is movable, transfer the third inventory object to the third vehicle surface; if the third inventory object is immovable, cancel the tallying task of the third inventory object.

[0227] In some embodiments, the control module 1020 is further configured to: when the first vehicle surface faces the merchandising device and the third vehicle surface faces the merchandising device, if there is a fourth inventory object matching the first vehicle on the third vehicle surface and the fourth inventory object is movable, control the merchandising device to transfer the fourth inventory object to the first vehicle surface. The determination module 1010 is further configured to: if the fourth inventory object is immovable, determine whether the fourth inventory object is movable when the second vehicle surface faces the merchandising device and the third vehicle surface faces the merchandising device. The control module 1020 is further configured to: if the fourth inventory object is movable, control the merchandising device to transfer the fourth inventory object to the second vehicle surface; if the fourth inventory object is immovable, cancel the merchandising task of the fourth inventory object.

[0228] In some embodiments, the determination module 1010 is further configured to: determine whether the fourth turning surface parameter corresponding to the third vehicle surface meets the turning surface condition. The control module 1020 is further configured to: when the fourth turning surface parameter meets the turning surface condition, control the first handling device to move the first vehicle to the turning point for turning and adjust the fourth turning surface parameter to not meet the turning surface condition. The determination module 1010 is further configured to: when the fourth turning surface parameter does not meet the turning surface condition, determine whether the third turning surface parameter corresponding to the second vehicle surface and the second turning surface parameter corresponding to the fourth vehicle surface meet the turning surface condition.

[0229] In some embodiments, the control module 1020 is further configured to: when the first turning surface parameter corresponding to the first vehicle surface, the second turning surface parameter corresponding to the fourth vehicle surface, the third turning surface parameter corresponding to the second vehicle surface, and the fourth turning surface parameter corresponding to the third vehicle surface all do not meet the turning surface condition, control the first handling device to move the first vehicle away from the first docking position, or control the first handling device to move the first vehicle away from the first docking position and control the second handling device to move the second vehicle away from the second docking position.

[0230] In some embodiments, the control module 1020 is further configured to: when the first docking position is determined as a temporary docking position and the second docking position is determined as the target docking position, if there is at least one vehicle to be merchandised on the multiple queuing positions corresponding to the first docking position, control the first handling device to move the first vehicle away from the first docking position; and control the third handling device to move the third vehicle among the at least one vehicle to be merchandised to the first docking position. If there is no vehicle to be merchandised on the multiple queuing positions corresponding to the first docking position, control the first handling device to move the first vehicle away from the first docking position and control the second handling device to move the second vehicle away from the second docking position.

[0231] In some embodiments, the determination module 1010 is further configured to: when the first vehicle surface faces the goods sorting device and the third vehicle surface faces the goods sorting device, if there is a first inventory object on the first vehicle surface that matches the second vehicle, determine whether the first inventory object is movable; when there is no idle cargo space on the third vehicle surface, determine that the first inventory object is immovable; or, when there is an idle cargo space on the third vehicle surface and the idle cargo space is abnormal, determine that the first inventory object is immovable.

[0232] In some embodiments, the control module 1020 is further configured to: when the first handling device transports the first vehicle to the first docking position, the second handling device transports the second vehicle to the second docking position, and the second docking position is the target docking position, set the attribute of the inventory object on the third vehicle surface of the second vehicle that matches the first vehicle to visible, and set the attributes of the inventory objects that match other vehicles to be sorted to invisible; wherein, the goods sorting device cannot perform a transfer operation on the inventory object with an invisible attribute.

[0233] Figure 11 Schematic diagram of an electronic device provided by an embodiment of the present application. In some embodiments, the electronic device includes one or more processors and a memory. The memory is configured to store one or more programs. Wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the goods sorting method in the above embodiments.

[0234] As Figure 11 shown, the electronic device 1100 includes: a processor 1001 and a memory 1002. Exemplarily, the electronic device 1100 may further include: a communication interface 1003 and a communication bus 1004.

[0235] Wherein, the processor 1001, the memory 1002, and the communication interface 1003 complete communication with each other through the communication bus 1004. The communication interface 1003 is used to communicate with network elements of other devices such as clients or other servers.

[0236] In some embodiments, the processor 1001 is used to execute the program 1005, and specifically may execute the relevant steps in the above embodiments of the goods sorting method. Specifically, the program 1005 may include program code, and the program code includes computer-executable instructions.

[0237] Exemplarily, the processor 1001 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. One or more processors included in the electronic device 1100 may be of the same type of processor, such as one or more CPUs; or may be of different types of processors, such as one or more CPUs and one or more ASICs.

[0238] In some embodiments, the memory 1002 is used to store the program 1005. The memory 1002 may include high-speed RAM memory, and may also include non-volatile memory (NVM), such as at least one disk memory.

[0239] The program 1005 can be specifically called by the processor 1001 to cause the electronic device 1100 to perform the operations of the tallying method.

[0240] The embodiments of the present application provide a computer-readable storage medium storing at least one executable instruction. When the executable instruction runs on the electronic device 1100, the electronic device 1100 is caused to perform the tallying method in the above embodiments.

[0241] The executable instruction can be specifically used to cause the electronic device 1100 to perform the operations of the tallying method.

[0242] For example, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0243] In some embodiments, the embodiments of the present application provide a computer program product including a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform the tallying method described in any of the above embodiments.

[0244] In some embodiments, the embodiments of the present application further provide a computer program that, when executed by a processor, can implement the tallying method described in any of the above embodiments.

[0245] The beneficial effects that can be achieved by the tallying device, electronic device, computer-readable storage medium, computer program product, and computer program provided in the embodiments of the present application can refer to the beneficial effects of the tallying method provided above, and will not be elaborated here.

[0246] It should be noted that in the application, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0247] Each embodiment in this specification is described in a related manner. The same or similar parts among the embodiments can be referred to each other, and the differences between each embodiment and other embodiments are emphasized. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment.

[0248] The logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus or device), or in combination with these instruction execution systems, apparatus or devices.

[0249] For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0250] More specific examples of computer-readable media (non-exhaustive list) include the following: an electrical connection part with one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM).

[0251] In addition, a computer-readable medium can even be paper or other suitable media on which a program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other suitable processing as necessary, and then stored in a computer memory. It should be understood that various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof.

[0252] In the above-described embodiments, the multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or a combination of the following techniques known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having suitable combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), and the like.

[0253] The above-described embodiments of the present application do not constitute a limitation on the protection scope of the present application.

Claims

1. A tallying method, characterized in that, Including: Determine a first vehicle and a second vehicle among a plurality of vehicles to be sorted; wherein, the first vehicle includes a first vehicle surface and a second vehicle surface, and the second vehicle includes a third vehicle surface and a fourth vehicle surface; Control a first handling device to transport the first vehicle to a first docking position in the sorting area, and control a second handling device to transport the second vehicle to a second docking position in the sorting area; When the first vehicle surface faces the sorting device and the third vehicle surface faces the sorting device, if there is a first inventory object on the first vehicle surface that matches the second vehicle, and the first inventory object is movable, control the sorting device to transfer the first inventory object to the third vehicle surface; When the first inventory object is immovable, based on the first surface rotation parameter corresponding to the first vehicle surface, control the second handling device to perform a surface rotation operation on the second vehicle; or cancel the sorting task corresponding to the first inventory object.

2. The method according to claim 1, wherein The controlling the second handling device to perform a surface rotation operation on the second vehicle based on the first surface rotation parameter corresponding to the first vehicle surface; or canceling the sorting task corresponding to the first inventory object includes: Determine whether the first surface rotation parameter meets the surface rotation condition; When the first surface rotation parameter meets the surface rotation condition, control the second handling device to transport the second vehicle to a surface rotation point for surface rotation, and adjust the first surface rotation parameter to not meet the surface rotation condition; or, When the first surface rotation parameter does not meet the surface rotation condition, cancel the sorting task corresponding to the first inventory object.

3. The method according to claim 2, wherein The determining whether the first surface rotation parameter meets the surface rotation condition includes: During the process that the first vehicle surface faces the sorting device, if the third vehicle surface faces the sorting device and the fourth vehicle surface has not faced the sorting device, determine that the first surface rotation parameter meets the surface rotation condition; During the process that the first vehicle surface faces the sorting device, if the third vehicle surface faces the sorting device and the fourth vehicle surface has also faced the sorting device, determine that the first surface rotation parameter does not meet the surface rotation condition.

4. The method according to claim 2, wherein After controlling the second handling device to transport the second vehicle to the surface rotation point for surface rotation, the method further includes: Control the second handling device to transport the second vehicle from the surface rotation point to the second docking position so that the fourth vehicle surface faces the sorting device; Determine whether the first inventory object is movable; If the first inventory object is movable, control the sorting device to transport the first inventory object to the fourth vehicle surface; If the first inventory object is immovable, cancel the sorting task corresponding to the first inventory object.

5. The method according to claim 4, characterized in that, After controlling the second handling device to transport the second vehicle from the surface rotation point to the second docking position, the method further includes: When there is a second inventory object matching the first vehicle on the fourth vehicle surface, if the second inventory object is movable, control the goods sorting device to transfer the second inventory object to the first vehicle surface; If the second inventory object is immovable, determine whether the second transfer surface parameter corresponding to the fourth vehicle surface meets the transfer surface condition; When the second transfer surface parameter meets the transfer surface condition, control the first handling device to carry the first vehicle to the transfer point for surface transfer, and adjust the second transfer surface parameter to not meet the transfer surface condition; When the second transfer surface parameter does not meet the transfer surface condition, cancel the goods sorting task corresponding to the second inventory object.

6. The method according to claim 5, wherein After controlling the first handling device to carry the first vehicle to the transfer point for surface transfer, the method further includes: Control the first handling device to carry the first vehicle from the transfer point to the first docking position, so that the second vehicle surface faces the goods sorting device; Determine whether the second inventory object is movable; If the second inventory object is movable, control the goods sorting device to carry the second inventory object to the second vehicle surface; If the second inventory object is immovable, cancel the goods sorting task corresponding to the second inventory object.

7. The method according to claim 6, wherein After controlling the first handling device to carry the first vehicle from the transfer point to the first docking position, the method further includes: When there is a third inventory object matching the second vehicle on the second vehicle surface, if the third inventory object is movable, control the goods sorting device to transfer the third inventory object to the second vehicle surface; If the third inventory object is immovable, determine whether the third transfer surface parameter corresponding to the second vehicle surface meets the transfer surface condition; When the third transfer surface parameter meets the transfer surface condition, control the second handling device to carry the second vehicle to the transfer point for surface transfer, and adjust the third transfer surface parameter to not meet the transfer surface condition; When the third transfer surface parameter does not meet the transfer surface condition, cancel the goods sorting task corresponding to the third inventory object.

8. The method according to claim 7, characterized in that, After controlling the second handling device to carry the second vehicle to the transfer point for surface transfer, the method further includes: Control the second handling device to carry the second vehicle from the transfer point to the second docking position, so that the third vehicle surface faces the goods sorting device, and adjust the fourth transfer surface parameter corresponding to the third vehicle surface to not meet the transfer surface condition; Determine whether the third inventory object is movable; If the third inventory object is movable, transfer the third inventory object to the third vehicle surface; If the third inventory object is immovable, cancel the goods sorting task of the third inventory object.

9. The method according to claim 8, wherein The method further includes: When the first vehicle surface faces the goods sorting device and the third vehicle surface faces the goods sorting device, if there is a fourth inventory object matching the first vehicle on the third vehicle surface and the fourth inventory object is movable, control the goods sorting device to transfer the fourth inventory object to the first vehicle surface; If the fourth inventory object is immovable, when the second vehicle surface faces the goods sorting device and the third vehicle surface faces the goods sorting device, determine whether the fourth inventory object is movable; if the fourth inventory object is movable, control the goods sorting device to transfer the fourth inventory object to the second vehicle surface; if the fourth inventory object is immovable, cancel the goods sorting task of the fourth inventory object.

10. The method according to claim 2, characterized in that After canceling the goods sorting task corresponding to the first inventory object when the first turning surface parameter does not meet the turning surface condition, the method further includes: Determine whether the fourth turning surface parameter corresponding to the third vehicle surface meets the turning surface condition; When the fourth turning surface parameter meets the turning surface condition, control the first handling device to transport the first vehicle to the turning point for turning, and adjust the fourth turning surface parameter to not meet the turning surface condition; When the fourth turning surface parameter does not meet the turning surface condition, determine whether the third turning surface parameter corresponding to the second vehicle surface and the second turning surface parameter corresponding to the fourth vehicle surface meet the turning surface condition.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: When the first turning surface parameter corresponding to the first vehicle surface, the second turning surface parameter corresponding to the fourth vehicle surface, the third turning surface parameter corresponding to the second vehicle surface, and the fourth turning surface parameter corresponding to the third vehicle surface all do not meet the turning surface condition, control the first handling device to move the first vehicle away from the first docking position, or Control the first handling device to move the first vehicle away from the first docking position, and control the second handling device to move the second vehicle away from the second docking position.

12. The method according to claim 11, wherein The control of the first handling device to move the first vehicle away from the first docking position, or the control of the first handling device to move the first vehicle away from the first docking position and the control of the second handling device to move the second vehicle away from the second docking position includes: When the first docking position is a temporary docking position and the second docking position is a target docking position, if there is at least one to-be-sorted vehicle on the multiple queuing positions corresponding to the first docking position, control the first handling device to move the first vehicle away from the first docking position, and control the third handling device to transport the third vehicle among the at least one to-be-sorted vehicle to the first docking position; If there is no to-be-sorted vehicle on the multiple queuing positions corresponding to the first docking position, control the first handling device to move the first vehicle away from the first docking position, and control the second handling device to move the second vehicle away from the second docking position.

13. The method according to any one of claims 1 to 10, characterized in that The method further includes: When the first vehicle surface faces the goods sorting device and the third vehicle surface faces the goods sorting device, if there is a first inventory object on the first vehicle surface that matches the second vehicle, determine whether the first inventory object is movable; When there is no idle cargo space on the third vehicle surface, determine that the first inventory object is immovable; or, when there is an idle cargo space on the third vehicle surface and the idle cargo space is abnormal, determine that the first inventory object is immovable.

14. The method according to any one of claims 1-10, characterized in that, The method further includes: When the first handling device transports the first vehicle to the first docking position, the second handling device transports the second vehicle to the second docking position, and the second docking position is the target docking position, set the attribute of the inventory object on the third vehicle surface of the second vehicle that matches the first vehicle to visible, and set the attributes of the inventory objects that match other vehicles to be sorted to invisible; Among them, the goods sorting device cannot perform a transfer operation on inventory objects with invisible attributes.

15. A tallying device, characterized in that, It includes: A determination module, configured to: determine a first vehicle and a second vehicle among multiple vehicles to be sorted; wherein, the first vehicle includes a first vehicle surface and a second vehicle surface, and the second vehicle includes a third vehicle surface and a fourth vehicle surface; A control module, configured to: control the first handling device to transport the first vehicle to the first docking position in the goods sorting area, and control the second handling device to transport the second vehicle to the second docking position in the goods sorting area; When the first vehicle surface faces the goods sorting device and the third vehicle surface faces the goods sorting device, if there is a first inventory object on the first vehicle surface that matches the second vehicle, when the first inventory object is movable, control the goods sorting device to transfer the first inventory object to the third vehicle surface; When the first inventory object is immovable, based on the first turning surface parameter corresponding to the first vehicle surface, control the second handling device to perform a turning surface operation on the second vehicle; or cancel the goods sorting task corresponding to the first inventory object.

16. A warehousing system, characterized in that, It includes: A goods sorting area, a goods sorting device, a first docking position and a second docking position; A control device, configured to: determine a first vehicle and a second vehicle among multiple vehicles to be sorted, and generate a first handling instruction based on the first vehicle and a second handling instruction based on the second vehicle; wherein, the first vehicle includes a first vehicle surface and a second vehicle surface, and the second vehicle includes a third vehicle surface and a fourth vehicle surface; A first handling device, configured to: based on the first handling instruction, transport the first vehicle to the first docking position; A second handling device, configured to: based on the second handling instruction, transport the second vehicle to the second docking position; The control device is configured to: when the first vehicle surface faces the goods sorting device and the third vehicle surface faces the goods sorting device, if there is a first inventory object matching the second vehicle on the first vehicle surface, generate a goods sorting instruction when the first inventory object is movable, or generate a surface rotation instruction or a cancellation instruction based on the first surface rotation parameter corresponding to the first vehicle surface when the first inventory object is immovable; The goods sorting device is configured to: transfer the first inventory object to the third vehicle surface based on the goods sorting instruction; The second handling device is configured to: perform a surface rotation operation on the second vehicle based on the surface rotation instruction.

17. An electronic device, characterized in that, Comprising: One or more processors and a memory; The memory is configured to: store one or more programs; Wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the goods sorting method according to any one of claims 1-14.

18. A computer-readable storage medium, characterized in that, A computer program is stored thereon, and when the computer program is executed by a processor, the goods sorting method according to any one of claims 1-14 is implemented.

19. A computer program product, characterized in that, Including a computer program, and when the computer program is executed by a processor, the goods sorting method according to any one of claims 1-14 is implemented.

Images