Warehouse scheduling method and device, scheduling server, storage medium and program product

Abstract

The invention provides a warehouse scheduling method and device, a scheduling server, a storage medium and a program product. The method comprises the following steps: calculating key parameters required for allocating first robots according to the total number of warehouse-out tasks of a warehousing system, the total number of the first robots in the warehousing system, the number and state of warehouse-out tasks of each physical roadway in the warehousing system and the number of bound first robots; according to the key parameters, determining a first robot planned allocation number corresponding to each physical roadway, and realizing reasonable planning of the first robot planned allocation number corresponding to each physical roadway; the first robots bound to the physical roadways are correspondingly adjusted according to the planned allocation number of the first robots corresponding to the physical roadways, and it can be ensured that the first robots are evenly distributed in the physical roadways according to the ex-warehouse task requirements; the problem that local resources are insufficient and other physical roadway resources are idle due to the fact that the first robot is excessively concentrated in some physical roadways is solved, and the overall efficiency of the warehousing system is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent warehousing technology, and in particular to a warehousing scheduling method, device, scheduling server, storage medium, and program product. Background Art

[0002] In order to improve the operational efficiency of the warehouse, a suitable task allocation algorithm needs to be adopted in the warehousing system to schedule robots to ensure that the robots can work together efficiently.

[0003] Existing task allocation algorithms in warehousing systems typically make decisions based on instantaneous state, assigning tasks based on the current robot availability and task distribution. For example, when a task arises, the system selects a robot that is currently idle to perform the task. When selecting a robot, the robot closest to the task point is typically prioritized.

[0004] For robots responsible for unloading boxes in physical aisles in the warehousing system, the lack of overall planning will cause the robots to be too concentrated in certain physical aisles, resulting in local resource shortages, while resources in other physical aisles are idle, affecting the overall efficiency of the warehousing system. Summary of the Invention

[0005] The present disclosure provides a warehouse scheduling method, device, scheduling server, storage medium and program product, which are used to solve the problem that robots are too concentrated in certain physical lanes in the warehouse system, causing local resource shortages, while resources in other physical lanes are idle, affecting the overall efficiency of the warehouse system.

[0006] In a first aspect, the present disclosure provides a warehouse scheduling method, comprising:

[0007] Calculate key parameters required for assigning the first robots based on the total number of outbound tasks in the warehouse system, the total number of first robots in the warehouse system, and the number of outbound tasks, status, and number of bound first robots in each physical lane in the warehouse system, where the first robots are responsible for performing the task of unloading boxes in the physical lanes;

[0008] Determining the planned allocation quantity of the first robots corresponding to each of the physical lanes according to the key parameters;

[0009] According to the planned allocation quantity of the first robots corresponding to each physical lane, the first robots bound to each physical lane are adjusted.

[0010] Optionally, the key parameters include the average number of first robots assigned to each physical lane, the maximum number of first robots allowed to be assigned to a single physical lane, and the average number of outbound tasks for the first robots. Determining the planned number of first robots assigned to each physical lane based on the key parameters includes:

[0011] In descending order of the number of outbound tasks, the physical lanes are traversed in sequence, and a first-level allocation process is performed on the current physical lane traversed. The first-level allocation process is as follows:

[0012] Determine the planned allocation quantity of the first robots corresponding to the current physical lane based on the key parameters and the remaining allocatable quantity of the first robots; and update the remaining allocatable quantity of the first robots based on the planned allocation quantity of the first robots corresponding to the current physical lane.

[0013] Optionally, after traversing the physical lanes in descending order of the number of outbound tasks and performing primary allocation processing on the current physical lane traversed, the method further includes:

[0014] If the remaining allocatable quantity of the first robot is greater than 0, determining the remaining outbound task quantity of each physical lane according to the outbound task quantity of each physical lane, the planned allocation quantity of the first robot, and the average outbound task quantity of the first robot;

[0015] According to the order of the remaining outbound task volume from large to small, the physical lanes are traversed in turn, and the physical lanes are subjected to secondary allocation processing. The secondary allocation processing is as follows:

[0016] If the planned allocation quantity of the first robot corresponding to the physical lane is less than the maximum allowed allocation quantity of the first robot, and the remaining allocatable quantity of the first robot is greater than 0, then the planned allocation quantity of the first robot corresponding to the physical lane is increased by a first increment, and the remaining allocatable quantity of the first robot is reduced by the first increment.

[0017] Optionally, after traversing the physical lanes in descending order of the remaining outbound task amount and performing secondary allocation processing on the physical lanes, the method further includes:

[0018] According to the order of the number of upward moving tasks of each physical lane from large to small, the physical lanes are traversed in turn, and a three-level allocation process is performed on the physical lanes. The three-level allocation process is as follows:

[0019] Determining the number of first robots to be supplemented and allocated corresponding to the physical lanes according to the remaining allocatable number of the first robots, the number of upward movement tasks of the physical lanes, and the average upward movement task volume of each physical lane;

[0020] Increasing the first robot planned allocation quantity corresponding to the physical lane by the first robot supplementary allocation quantity;

[0021] The remaining dispensable quantity of the first robot is reduced by the supplementary dispensing quantity of the first robot.

[0022] Optionally, adjusting the first robots bound to each physical lane according to the planned allocation quantity of the first robots corresponding to each physical lane includes:

[0023] For any of the physical lanes, based on the planned allocation number of the first robots corresponding to the physical lane and the current position of each of the first robots, adjust the first robots bound to the physical lane so that the number of the first robots bound to the physical lane is the planned allocation number of the first robots.

[0024] Optionally, the method further includes:

[0025] For any of the physical lanes, if the physical lane includes multiple sub-lanes, the first robot bound to the physical lane is bound to the multiple sub-lanes according to the task ratio of the multiple sub-lanes.

[0026] Optionally, the key parameters include an average number of first robots allocated to each physical lane, a maximum number of first robots allowed to be allocated to a single physical lane, and an average number of outbound tasks for the first robots. Calculating the key parameters required for allocating the first robots based on the total number of outbound tasks in the warehouse system, the total number of first robots in the warehouse system, and the number of outbound tasks, status, and number of bound first robots in each physical lane in the warehouse system includes:

[0027] Determining the number of the physical lanes in use according to the status of each physical lane to obtain the actual number of lanes;

[0028] Calculate, based on the total number of the first robots and the actual number of lanes, an average number of the first robots allocated to each physical lane and a maximum allowable number of the first robots allocated to a single physical lane;

[0029] The average number of outbound tasks of the first robot is calculated according to the total number of outbound tasks and the total number of the first robots.

[0030] Optionally, adjusting the first robots bound to each physical lane according to the planned allocation quantity of the first robots corresponding to each physical lane includes:

[0031] For any of the physical lanes, fine-tune the number of the first robots bound to the physical lane according to the planned allocation number of the first robots corresponding to the physical lane, to obtain a target binding number of the first robots corresponding to the physical lane;

[0032] According to the current position of each first robot and the target binding number of the first robots corresponding to the physical lane, the first robots bound to the physical lane are adjusted so that the number of the first robots bound to the physical lane is the target binding number of the first robots.

[0033] Optionally, for any of the physical lanes, fine-tuning the number of the first robots bound to the physical lane according to the planned allocation number of the first robots corresponding to the physical lane to obtain a target binding number of the first robots corresponding to the physical lane includes:

[0034] For any of the physical lanes, if the planned number of the first robots to be allocated to the physical lane is less than the number of the first robots currently bound to the physical lane, subtract a second increment from the number of the first robots currently bound to the physical lane to obtain a target number of the first robots bound to the physical lane;

[0035] If the planned allocation quantity of the first robots corresponding to the physical lane is greater than the quantity of the first robots currently bound to the physical lane, the second increment is added to the quantity of the first robots bound to the physical lane to obtain the target binding quantity of the first robots corresponding to the physical lane.

[0036] Optionally, the method further includes:

[0037] At predetermined intervals, the latest data of the warehousing system is obtained, wherein the latest data includes: the total number of outbound tasks of the warehousing system, the total number of the first robots in the warehousing system, and the current number of outbound tasks, the status, and the number of bound first robots of each physical lane in the warehousing system;

[0038] Calculating the key parameters according to the latest data of the warehousing system, and determining the planned allocation quantity of the first robots corresponding to each physical lane according to the key parameters;

[0039] releasing the first robots bound to the respective physical lanes;

[0040] Rebind the first robots to each physical lane according to the current position of each first robot and the planned allocation number of the first robots corresponding to each physical lane.

[0041] Optionally, the method further includes:

[0042] Traversing the workstation groups in the warehousing system, determining a correspondence between the available workstations and the physical lanes according to a position of each available workstation in the workstation group, a position of a physical lane to which an outbound task corresponding to the workstation group belongs, and a number of outbound tasks in each physical lane;

[0043] The available workstation is allocated to each of the outbound tasks according to the average number of outbound tasks of the available workstations in the warehousing system and the corresponding relationship between the available workstations and the physical lanes.

[0044] Optionally, allocating the available workstation to each of the outbound tasks according to the average number of outbound tasks of the available workstations in the warehousing system and the correspondence between the available workstations and physical lanes includes:

[0045] If the average number of outbound tasks of the available workstations in the warehousing system is less than or equal to a preset task number threshold, then for any of the physical lanes in the warehousing system, at least one target available workstation is selected based on the distance between the available workstation corresponding to the physical lane and the physical lane;

[0046] Evenly distribute the outbound tasks in the physical lane to the at least one target available workstation.

[0047] Optionally, allocating the available workstation to each of the outbound tasks according to the average number of outbound tasks of the available workstations in the warehousing system and the correspondence between the available workstations and physical lanes includes:

[0048] If the average number of outbound tasks of the available workstations in the warehousing system is greater than a preset task number threshold, then for any of the physical lanes in the warehousing system, traverse the available workstations corresponding to the physical lanes to determine the remaining capacity of the current available workstations;

[0049] If the remaining capacity of the currently available workstation is less than the number of outbound tasks to be assigned in the physical lane, then according to the remaining capacity of the currently available workstation, the corresponding number of outbound tasks to be assigned in the physical lane are assigned to the currently available workstation, and the number of outbound tasks to be assigned in the physical lane is updated;

[0050] When the remaining capacity of the currently available workstation is greater than or equal to the number of outbound tasks to be assigned in the physical lane, the outbound tasks to be assigned in the physical lane are assigned to the currently available workstation, and the traversal ends.

[0051] Optionally, if the remaining capacity of the currently available workstation is less than the number of outbound tasks to be allocated in the physical lane, a corresponding number of outbound tasks to be allocated in the physical lane are allocated to the currently available workstation according to the remaining capacity of the currently available workstation. After updating the number of outbound tasks to be allocated in the physical lane, the method further includes:

[0052] If the number of the to-be-allocated outbound tasks in the physical lane is greater than 0 after traversing the available workstations corresponding to the physical lane, the to-be-allocated outbound tasks in the physical lane are allocated to the available workstations corresponding to the adjacent lanes of the physical lane.

[0053] Optionally, the method further includes:

[0054] Determining a corresponding number of assignable second robots according to a minimum value between the total number of outbound tasks of the warehousing system and the total number of second robots;

[0055] Allocate the assignable second robots to each physical lane according to the outbound task ratio of each physical lane, so that the ratio of the number of the second robots assigned to each physical lane is consistent with the outbound task ratio of each physical lane;

[0056] If there are any remaining assignable second robots, the remaining assignable second robots are assigned to the physical lanes with a large number of outbound tasks.

[0057] Optionally, the method further includes:

[0058] For any of the physical lanes, the second robots are sequentially assigned to the outbound tasks according to the outbound tasks in the physical lane and the second robots assigned to the physical lane, and according to the priorities of the outbound tasks.

[0059] In a second aspect, the present disclosure provides a warehouse scheduling device, comprising:

[0060] a data preprocessing unit, configured to calculate key parameters required for allocating the first robots based on the total number of outbound tasks in the warehousing system, the total number of first robots in the warehousing system, and the number of outbound tasks, status, and number of bound first robots in each physical lane in the warehousing system, wherein the first robots are robots responsible for performing box unloading tasks in the physical lanes;

[0061] A plan allocation unit, configured to determine the planned allocation quantity of the first robots corresponding to each of the physical lanes according to the key parameters;

[0062] The scheduling unit is configured to adjust the first robots bound to each of the physical lanes according to the planned allocation quantity of the first robots corresponding to each of the physical lanes.

[0063] In a third aspect, the present application provides a scheduling server, comprising:

[0064] A memory, a processor and a transceiver; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method as described in the first aspect above.

[0065] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method described in the first aspect.

[0066] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which implements the method described in the first aspect when executed by a processor.

[0067] The present disclosure provides a warehouse scheduling method, apparatus, scheduling server, storage medium, and program product. The method calculates key parameters required for allocating the first robots based on the total number of outbound tasks in a warehouse system, the total number of first robots in the warehouse system, and the number of outbound tasks, status, and number of bound first robots in each physical lane in the warehouse system. A planned allocation number of first robots corresponding to each physical lane is determined based on the key parameters. The first robots bound to each physical lane are adjusted based on the planned allocation number of the first robots corresponding to each physical lane. By comprehensively considering the total number of outbound tasks in the warehouse system, the total number of first robots, and the number of outbound tasks, status, and number of bound first robots in each physical lane, the planned allocation number of first robots corresponding to each physical lane is rationally planned, and the first robots bound to each physical lane are adjusted accordingly, thereby ensuring that the first robots are evenly distributed in each physical lane according to outbound task requirements. This solves the problem of local resource shortages and idle resources in other physical lanes caused by excessive concentration of first robots in certain physical lanes, thereby improving the overall efficiency of the warehouse system. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0069] Figure 1 A flowchart of a warehouse scheduling method provided in an embodiment of the present disclosure;

[0070] Figure 2 A flowchart of another storage scheduling method provided by an embodiment of the present disclosure;

[0071] Figure 3 A flowchart of another warehouse scheduling method provided by an embodiment of the present disclosure;

[0072] Figure 4 A flowchart of another warehouse scheduling method provided by an embodiment of the present disclosure;

[0073] Figure 5 A schematic diagram of a storage scheduling device provided in an embodiment of the present disclosure;

[0074] Figure 6 A schematic diagram of the structure of a scheduling server provided in an embodiment of the present disclosure.

[0075] The above drawings illustrate specific embodiments of the present disclosure, which will be described in more detail below. These drawings and textual descriptions are not intended to limit the scope of the present disclosure in any way, but rather to illustrate the concepts of the present disclosure to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0076] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0077] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0078] It should be noted that in the embodiments of the present disclosure, certain software, components, models and other existing solutions in the industry may be mentioned. They should be regarded as exemplary and their purpose is only to illustrate the feasibility of implementing the technical solution of the present disclosure, but it does not mean that the applicant has or will necessarily use the solution.

[0079] First, the terms involved in the present disclosure are explained:

[0080] Bin: A container used to store goods in a warehouse.

[0081] Buffer position: A designated location for temporarily storing containers, buffer positions are used to coordinate container transfers between different types of robots. In this embodiment, a buffer position refers to a storage location located at a low level of the shelf (e.g., below a predetermined height).

[0082] Storage position: Refers to a storage location located at a high level of the shelf, in this embodiment, it refers to a storage location on the shelf other than the buffer position located at the low level of the shelf.

[0083] Box dumping: The operation of moving a bin from one location to another in a warehouse environment by a robot.

[0084] Stock Keeping Unit (SKU): The smallest unit available in inventory management.

[0085] To solve the above technical problems, the present disclosure provides a warehouse scheduling method, which calculates the key parameters required for first robot allocation according to the total number of outbound tasks of the warehouse system, the total number of first robots in the warehouse system, and the number of outbound tasks, status, and the number of bound first robots of each physical aisle, determines the planned allocation number of first robots corresponding to each physical aisle according to the key parameters, reasonably plans the planned allocation number of first robots corresponding to each physical aisle according to the task demand, and adjusts the bound first robots of each physical aisle accordingly, which can ensure that the first robots are evenly distributed in each physical aisle according to the outbound task demand, solve the problem of local resource shortage caused by the concentration of first robots in some physical aisles, and improve the overall efficiency of the warehouse system.

[0086] Among them, the first robot refers to a robot in the warehouse system for performing a box dumping task, such as a box robot, also known as a large vehicle. For example, the first robot can perform a box lowering task to lower a bin located at a high storage position on the shelf to a buffer position. The first robot can also perform a box lifting task to lift a bin located at a buffer position to a storage position.

[0087] The warehouse system also includes a second robot for performing a carrying task, the second robot is usually responsible for carrying bins between buffer positions and workstations, such as a jacking robot, also known as a small vehicle. For example, the second robot can perform an outbound task to carry a bin to be outbound from a buffer position to a workstation; the second robot can also perform an inbound task to carry a bin to be inbound from a workstation to a designated area in the warehouse system, such as an inbound area or a buffer position.

[0088] The following detailed description of the technical solution of the present disclosure and how the technical solution of the present disclosure solves the above-mentioned technical problems is provided with specific embodiments. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The embodiments of the present disclosure will be described below in conjunction with the accompanying drawings.

[0089] Figure 1 This is a flow chart of a warehouse scheduling method provided by an embodiment of the present disclosure. The execution subject of this method may be a scheduling server for bin scheduling in a warehouse system. Figure 1 As shown, the specific steps of this method are as follows:

[0090] S101. Calculate key parameters required for first robot allocation based on the total number of outbound tasks in the warehousing system, the total number of first robots in the warehousing system, and the number of outbound tasks, status, and number of bound first robots in each physical lane in the warehousing system.

[0091] In this embodiment, when executing warehouse scheduling (i.e., allocating the first robot), the real-time data of the warehouse system is first obtained, and the key parameters required for the first robot allocation are calculated based on the real-time data of the warehouse system, which can ensure the accuracy of the key parameters.

[0092] Specifically, the real-time data obtained from the warehousing system includes but is not limited to: the total number of outbound tasks of the warehousing system, the total number of first robots in the warehousing system, the number of outbound tasks of each physical lane, the status of each physical lane, and the number of first robots bound to each physical lane.

[0093] In addition, in order to provide a richer data foundation for warehouse scheduling, the real-time data obtained from the warehouse system can also include the map data of the warehouse system, the location information of the physical lanes, the sub-lanes contained in the physical lanes, the location information of the sub-lanes, the location information of various robots, etc. The data required for warehouse scheduling can be obtained according to actual application needs, and no specific restrictions are made here.

[0094] The key parameters required for the first robot allocation refer to parameters, statistical indicators, etc. that need to be referred to for the first robot allocation. The key parameters required for the first robot allocation are calculated based on real-time data obtained from the warehouse system.

[0095] Exemplarily, key references required for first robot allocation may include but are not limited to: the average number of first robots allocated to each physical lane, the maximum allowed number of first robots allocated to a single physical lane, and the average number of outbound tasks for the first robot.

[0096] Specifically, the number of physical lanes in use is determined based on the status of each physical lane in the storage system to obtain the actual number of lanes. This number refers to the number of physical lanes actually in use within the storage system. Then, based on the total number of first robots and the actual number of lanes, the average number of first robots allocated to each physical lane is calculated, as well as the maximum number of first robots allowed to be allocated to a single physical lane.

[0097] The average number of first robots allocated to each physical lane is ceil(total number of first robots / actual number of lanes). Ceil() represents rounding up the value in the brackets.

[0098] The maximum number of first robots allowed to be assigned to a single physical lane is the upper limit of the number of first robots allowed to be assigned to a physical lane. The number of first robots assigned to any physical lane cannot exceed the maximum number of first robots allowed to be assigned to the physical lane.

[0099] For example, the maximum number of first robots allowed to be assigned to a single physical lane can be calculated as follows: Maximum number of first robots allowed to be assigned to a single physical lane = Total number of first robots * a / Number of actual lanes + b. Where a is the scaling factor and b is the redundancy factor. The values ​​of a and b can be set based on actual application requirements and are not specifically limited here.

[0100] For example, a can be set to 2, b can be set to 1, and the maximum number of first robots allowed to be assigned to a single physical lane = the total number of first robots * 2 / the actual number of lanes + 1.

[0101] The average number of outbound tasks for the first robot can be calculated based on the total number of outbound tasks for the warehousing system and the total number of first robots: total number of outbound tasks for the warehousing system / total number of first robots in the warehousing system.

[0102] S102: Determine the planned allocation quantity of the first robots corresponding to each physical lane according to the key parameters.

[0103] In this step, the number of first robots allocated to each physical lane is dynamically planned based on the calculated key parameters required for first robot allocation, so that the number of first robots allocated to each physical lane is evenly distributed according to task requirements.

[0104] In an optional embodiment, a first-level allocation strategy may be used in this step to reasonably plan the number of first robots to be allocated to each physical lane.

[0105] Specifically, the physical lanes are traversed in order of the number of outbound tasks from large to small, and the first-level allocation processing is performed on the current physical lane traversed.

[0106] For example, each physical lane is sorted in descending order according to the number of outbound tasks in each physical lane, and according to the result of this descending sorting, the first-level allocation processing is performed on each physical lane in sequence.

[0107] The first-level allocation process is as follows:

[0108] The planned allocation quantity of the first robot corresponding to the current physical lane is determined according to the key parameters and the remaining allocatable quantity of the first robot; and the remaining allocatable quantity of the first robot is updated according to the planned allocation quantity of the first robot corresponding to the current physical lane.

[0109] Initially, the remaining allocable quantity of first robots is the total number of first robots in the storage system. As each physical lane undergoes a primary allocation process and the corresponding planned number of first robots is allocated to each physical lane, the remaining allocable quantity of first robots decreases.

[0110] When performing a first-level allocation for any current physical lane, the quotient of the number of outbound tasks of the current physical lane and the average number of outbound tasks of the first robot can be calculated as the initial planned allocation number of the first robot corresponding to the current physical lane. Since the number of first robots allocated to a single physical lane cannot exceed the maximum allowable allocation number of the first robot for a single physical lane, the smaller value between the initial planned allocation number of the first robot corresponding to the current physical lane and the maximum allowable allocation number of the first robot for a single physical lane is used as the planned allocation number of the first robot corresponding to the current physical lane. This process can be expressed as: the planned allocation number of the first robot corresponding to the current physical lane = min (the number of outbound tasks of the current physical lane / the average number of outbound tasks of the first robot, the maximum allowable allocation number of the first robot for a single physical lane). Where min() means taking the minimum value among the multiple values ​​in the brackets.

[0111] In addition, if the planned allocation quantity of the first robot corresponding to the current physical lane is greater than the remaining allocatable quantity of the first robot, it means that the remaining allocatable quantity of the first robot is insufficient, and the planned allocation quantity of the first robot corresponding to the current physical lane is updated to the remaining allocatable quantity of the first robot.

[0112] After determining the planned allocation quantity of the first robots corresponding to the current physical lane, the remaining allocatable quantity of the first robots is subtracted from the planned allocation quantity of the first robots corresponding to the current physical lane to update the remaining allocatable quantity of the first robots.

[0113] If the remaining allocatable quantity of the first robot after the update is greater than 0, continue to traverse the remaining physical lanes until all physical lanes are traversed and the first-level allocation is ended. Alternatively, when the remaining allocatable quantity of the first robot after a certain traversal is 0, stop traversing the remaining physical lanes and end the first-level allocation early.

[0114] In this embodiment, by traversing each physical lane in order from large to small in terms of the number of outbound tasks, the planned allocation number of the first robot corresponding to the material lane is determined by combining the number of outbound tasks of the physical lane and the average number of outbound tasks of the first robot. The planned allocation number of the first robot corresponding to each physical lane can be reasonably and evenly planned based on the outbound task requirements, which can ensure that the first robots are evenly distributed in each physical lane according to the task requirements, and can improve the overall efficiency of the warehousing system.

[0115] In an optional embodiment, a two-level allocation strategy may be adopted in this step to more reasonably plan the planned allocation quantity of the first robots corresponding to each physical lane.

[0116] After the allocation based on the aforementioned primary allocation strategy is completed, if the remaining allocatable quantity of the first robot is greater than 0, the secondary allocation of the first robot is performed based on the remaining allocatable quantity of the first robot.

[0117] Specifically, the remaining outbound task capacity for each physical lane is determined based on the number of outbound tasks in each physical lane, the planned number of outbound tasks assigned to the first robot, and the average number of outbound tasks assigned to the first robot. The remaining outbound tasks are sorted from largest to smallest across the physical lanes, and a secondary allocation process is performed on the physical lanes.

[0118] Exemplarily, the remaining outbound task quantity for any physical lane is the number of outbound tasks for that physical lane minus the number of assigned outbound tasks. The number of assigned outbound tasks for that physical lane can be calculated based on the planned number of first robots assigned to that physical lane and the average number of outbound tasks for that first robot: Number of assigned outbound tasks for a physical lane = Number of first robots assigned to that physical lane * Average number of outbound tasks for that first robot.

[0119] Furthermore, each physical lane is sorted in descending order according to the remaining outbound task volume of each physical lane, and according to the result of this descending order, a secondary allocation process is performed on each physical lane in sequence.

[0120] The process of secondary allocation is as follows:

[0121] If the planned allocation quantity of the first robot corresponding to the physical lane is less than the maximum allowed allocation quantity of the first robot, and the remaining allocatable quantity of the first robot is greater than 0, then the planned allocation quantity of the first robot corresponding to the physical lane is increased by the first increment, and the remaining allocatable quantity of the first robot is reduced by the first increment to update the remaining allocatable quantity of the first robot.

[0122] If the remaining allocatable quantity of the first robot after the update is greater than 0, continue to traverse the remaining physical lanes until all physical lanes are traversed and the secondary allocation is ended. Alternatively, when the remaining allocatable quantity of the first robot after a certain traversal is 0, stop traversing the remaining physical lanes and end the secondary allocation early.

[0123] The first increment is a smaller positive integer, for example, the first increment may be 1. The first increment may be set according to actual application requirements and is not specifically limited here.

[0124] In this embodiment, after the first-level allocation is completed, if the remaining allocatable quantity of the first robot is still greater than 0, each physical lane is traversed in order from large to small according to the remaining outbound task volume of each physical lane, and the first robot of the first increment is allocated to the physical lane. By preferentially adding the first robot of the first increment to the high-load physical lane, the task backlog of the high-load physical lane can be alleviated, and the average task completion time can be shortened. It is especially suitable for scenarios with sudden task surges, and can fill the gap caused by task volume fluctuations, thereby improving the overall efficiency of the warehousing system.

[0125] In a warehousing system, when a target container located in a storage location on an upper shelf needs to be shipped out, a first robot is required to move the target container from its storage location to a cache location on a lower shelf. A second robot then moves the target container from the cache location to a workstation for shipment. The first robot is also responsible for moving containers that are temporarily unused from the cache location to storage locations on the upper shelf, freeing up more cache locations. Therefore, the first robot's load is not only related to the shipping task, but also closely related to the upward movement task. The upward movement task involves moving containers from a cache location on the lower shelf to a storage location on the upper shelf.

[0126] In an optional embodiment, a three-level allocation strategy may be used in this step to more accurately plan the number of first robots to be allocated to each physical lane.

[0127] After the allocation based on the aforementioned two-level allocation strategy is completed, if the remaining allocatable number of the first robot is still greater than 0, the first robot will be allocated in three levels based on the number of upward movement tasks in each physical lane to better meet the needs of upward movement tasks in the physical lane.

[0128] Specifically, the number of upward moving tasks of each physical lane is obtained, and each physical lane is traversed in descending order of the number of upward moving tasks of each physical lane, and a three-level allocation process is performed on the physical lanes.

[0129] For example, the physical lanes are sorted in descending order according to the number of upward moving tasks in each physical lane, and according to the result of this descending sorting, the three-level allocation processing is performed on each physical lane in sequence.

[0130] The three-level allocation process is as follows:

[0131] According to the remaining allocatable quantity of the first robot, the number of upward moving tasks of the physical lanes, and the average amount of upward moving tasks of each physical lane, the supplementary allocation quantity of the first robot corresponding to the physical lane is determined; the planned allocation quantity of the first robot corresponding to the physical lane is increased by the supplementary allocation quantity of the first robot; and the supplementary allocation quantity of the first robot is subtracted from the remaining allocatable quantity of the first robot to update the remaining allocatable quantity of the first robot.

[0132] Specifically, the average value of the number of upward moving tasks of each physical lane is calculated to obtain the average upward moving task volume of each physical lane. If the number of upward moving tasks of the current physical lane is greater than the average upward moving task volume of each physical lane, the initial first robot supplementary allocation quantity corresponding to the current physical lane is calculated: ceil((the number of upward moving tasks of the current physical lane - the average upward moving task volume of each physical lane) / the upward moving task capacity of a single first robot). Among them, the upward moving task capacity of a single first robot can be obtained by calculating the quotient of the average upward moving task volume of each physical lane and the maximum allowable allocation quantity of the first robot of a single physical lane. ceil() means rounding up the value in the brackets.

[0133] The smaller value between the initial first robot supplementary allocation quantity of the current physical lane and the remaining allocatable quantity of the first robot is used as the first robot supplementary allocation quantity of the current physical lane.

[0134] Since the number of first robots allocated to a single physical lane cannot exceed the maximum allowable allocation number of first robots for a single physical lane, if the sum of the planned allocation number of first robots corresponding to the current physical lane and the supplementary allocation number of first robots for the current physical lane is greater than the maximum allowable allocation number of first robots for a single physical lane, the supplementary allocation number of first robots for the current physical lane will be updated to: the difference between the maximum allowable allocation number of first robots for a single physical lane and the planned allocation number of first robots corresponding to the current physical lane, so as to ensure that after the three-level allocation, the planned allocation number of first robots corresponding to the current physical lane will not exceed the maximum allowable allocation number of first robots for a single physical lane.

[0135] Furthermore, after determining the supplementary allocation quantity for first robots in the current physical lane, the planned allocation quantity for first robots corresponding to the current physical lane is increased by the supplementary allocation quantity for first robots to obtain the planned allocation quantity for first robots corresponding to the current physical lane after the three-level allocation. Furthermore, the remaining allocatable quantity for first robots is subtracted from the supplementary allocation quantity for first robots to update the remaining allocatable quantity for first robots.

[0136] If the remaining allocatable quantity of the first robot after the update is still greater than 0, continue to traverse the remaining physical lanes until all physical lanes are traversed and the three-level allocation is ended. Alternatively, when the remaining allocatable quantity of the first robot after a certain traversal is 0, stop traversing the remaining physical lanes and end the three-level allocation early.

[0137] After one round of traversal in the three-level allocation process, the first robot is preferably additionally allocated to the physical lanes whose number of upward moving tasks is greater than the average upward moving task amount of each physical lane.

[0138] Optionally, if after the first round of traversal of the three-level allocation, the remaining allocatable number of first robots is still greater than 0, a second round of traversal can be performed on the physical lanes where the number of upward tasks is less than or equal to the average upward task amount. In the second round of traversal, these physical lanes are traversed in descending order of the number of upward tasks, and additional first robots are assigned to these physical lanes. In the second round of traversal, one additional first robot can be assigned to each traversed physical lane, i.e., the planned number of first robots assigned to the physical lane is increased by 1, and it is ensured that the planned number of first robots assigned to the physical lane after the addition of 1 does not exceed the maximum allowable number of first robots assigned to a single physical lane.

[0139] In this embodiment, after the previous two levels of allocation are completed, if the remaining allocatable number of the first robot is still greater than 0, each physical lane is traversed in order from large to small according to the number of upward moving tasks in each physical lane, and the first robot is preferentially allocated to the physical lanes where the number of upward moving tasks is greater than the average upward moving task amount of each physical lane. This can better meet the demand for upward moving tasks in the physical lanes, thereby improving the overall efficiency of the warehousing system.

[0140] In this embodiment, the first robot is allocated through a three-level allocation strategy, which can not only ensure the priority of high-throughput physical lanes, but also take into account the global resource utilization, avoid the first robot from being idle or congested, and thus improve the overall efficiency of the warehousing system.

[0141] S103 . Adjust the first robots bound to each physical lane according to the planned allocation quantity of the first robots corresponding to each physical lane.

[0142] After determining the planned allocation number of first robots corresponding to each physical lane, the first robots bound to each physical lane are adjusted accordingly based on the planned allocation number of first robots corresponding to the physical lane, so that the number of first robots bound to each physical lane is the corresponding planned allocation number of first robots, to ensure that the allocation number of first robots corresponding to each physical lane is evenly distributed according to task requirements.

[0143] Optionally, the planned allocation quantity of the first robots corresponding to the physical lanes can be used as the target binding quantity of the first robots corresponding to the physical lanes, and the first robots bound to each physical lane can be adjusted so that the quantity of the first robots bound to the physical lanes is the target binding quantity of the first robots corresponding to the physical lanes.

[0144] Optionally, for any physical lane, the number of first robots bound to the physical lane is fine-tuned based on the planned number of first robots assigned to the physical lane to obtain a target number of first robots bound to the physical lane. Based on the current position of each first robot and the target number of first robots bound to the physical lane, the first robots bound to the physical lane are adjusted so that the number of first robots bound to the physical lane equals the target number of first robots bound to the physical lane.

[0145] Specifically, when fine-tuning the number of first robots bound to the physical lane, if the planned allocation number of first robots corresponding to the physical lane is less than the number of first robots currently bound to the physical lane, the number of first robots bound to the physical lane is subtracted from the second increment to obtain the target binding number of first robots corresponding to the physical lane.

[0146] If the planned allocation quantity of the first robots corresponding to the physical lane is greater than the number of first robots currently bound to the physical lane, the second increment is added to the number of first robots bound to the physical lane to obtain the target binding quantity of the first robots corresponding to the physical lane.

[0147] The second increment is a smaller positive integer, for example, the second increment may be 1. The specific value may be set according to actual application requirements and is not specifically limited here.

[0148] In an optional embodiment, for any physical lane, the first robots bound to the physical lane are adjusted based on the planned number of first robots assigned to the physical lane and the current location of each first robot. By comprehensively considering the location of the physical lane and the current location of each first robot when adjusting the first robots bound to the physical lane, the first robots are bound to the nearest physical lane, thereby improving the operating efficiency of the first robots.

[0149] In an optional embodiment, when adjusting the first robots bound to each physical lane, all the first robots bound to each physical lane are unbound, and then based on the planned allocation number of first robots corresponding to each physical lane (or the target binding number of first robots) and the current position of each first robot, the first robots are re-bound to each physical lane, so that the number of first robots bound to the physical lane is the planned allocation number of first robots (or the target binding number of first robots).

[0150] Specifically, for any physical lane, the distance between each first robot and the physical lane is calculated based on the location of the physical lane and the current location of each first robot. Based on the planned number of first robots assigned to the physical lane (or the target number of first robots bound), first robots with a corresponding number of robots closer to the physical lane are preferentially selected to be bound to that physical lane.

[0151] In a warehousing system, some physical lanes may contain multiple sub-lanes. Optionally, for a physical lane containing multiple sub-lanes, the first robot bound to the physical lane can be bound to multiple sub-lanes based on the task ratios of the multiple sub-lanes, so that the ratio of the first robots bound to each sub-lane is equal to or close to the task ratio of each sub-lane. This ensures that the first robots bound to each sub-lane are evenly distributed within the physical lane according to task requirements, thereby improving the overall efficiency of the physical lane.

[0152] For example, suppose a physical lane contains three sub-lanes, and the number of outbound tasks in the three sub-lanes is 10, 20, and 40, respectively. The task ratio of the three sub-lanes is 1:2:4. If the number of first robots bound to the physical lane is 35, the number of first robots bound to the three sub-lanes can be 5, 10, and 20, respectively, resulting in a ratio of 1:2:4, which is consistent with the task ratio of the three sub-lanes.

[0153] Optionally, when binding the first robot corresponding to a physical lane to multiple sub-lanes, the first robot bound to each sub-lane may be randomly selected, or the first robot may be bound to each sub-lane based on the distance between the first robot and each sub-lane.

[0154] To accurately locate the physical lanes, sub-lanes, and the first robot, map data of the warehouse system, including multiple map points, can be obtained. The physical lane's area can be determined using the map points within the physical lane. The sub-lane's area can be determined using the map points within the sub-lane. Different sub-lanes are identified using different sub-lane IDs. A simple mapping relationship between physical lanes and sub-lanes is recorded using a mapping table between physical lanes and sub-lane IDs. This mapping table includes the sub-lane ID corresponding to each physical lane.

[0155] In an optional embodiment, when adjusting the first robots bound to the physical lanes, instead of unbinding all the first robots bound to the physical lanes, some of the first robots bound to the physical lanes are fine-tuned according to the planned allocation quantity of the first robots corresponding to the physical lanes.

[0156] Specifically, based on the target binding quantity of the first robot corresponding to the physical lane (or the planned allocation quantity of the first robot) and the number of first robots already bound to the physical lane (referred to as the bound quantity), if the target binding quantity of the first robot corresponding to the physical lane (or the planned allocation quantity of the first robot) is greater than the bound quantity, then based on the difference between the target binding quantity of the first robot corresponding to the physical lane (or the planned allocation quantity of the first robot) and the bound quantity, the corresponding number of first robots bound to the physical lane is added.

[0157] When adding a first robot bound to a physical lane, the first robot with a shorter physical lane binding distance may be selected based on the distance between the first robot and the physical lane; or the first robot bound to the physical lane may be selected based on other rules, which are not specifically limited here.

[0158] If the target binding quantity of the first robot corresponding to the physical lane (or the planned allocation quantity of the first robot) is less than the bound quantity, then the corresponding number of first robots will be unbound for the physical lane based on the absolute value of the difference between the target binding quantity of the first robot corresponding to the physical lane (or the planned allocation quantity of the first robot) and the bound quantity.

[0159] When unbinding some of the bound first robots from the physical lane, you can prioritize unbinding the first robots in the idle state based on their status; or select the first robots bound to the physical lane for unbinding based on other rules, which are not specifically limited here.

[0160] In this embodiment, there is no need to unbind all the first robots bound to each physical lane. Instead, the planned number of first robots corresponding to each physical lane is allocated, and some of the first robots bound to each physical lane are fine-tuned. This can reduce unnecessary unbinding and binding operations and improve the efficiency of warehouse scheduling.

[0161] Figure 2 A flow chart of another storage scheduling method provided by the embodiment of the present disclosure. Figure 2 As shown, the specific steps of this method are as follows:

[0162] S201. Obtain the latest data of the warehousing system at every preset time interval. The latest data includes: the total number of outbound tasks of the warehousing system, the total number of first robots in the warehousing system, and the current number of outbound tasks, status, and number of bound first robots of each physical lane in the warehousing system.

[0163] In this embodiment, the warehouse scheduling process is performed once every preset time interval through timed polling, and the planned allocation quantity of the first robots corresponding to each physical lane is re-planned to adjust the first robots bound to each physical lane so that the first robots are evenly distributed in each physical lane according to task requirements.

[0164] Among them, the preset duration can be set according to actual application requirements. For example, the preset duration can be 10 minutes, more than ten minutes, or several dozen minutes, etc., and is not specifically limited here.

[0165] In order to more reasonably plan the planned allocation quantity of the first robots corresponding to each physical lane, the latest data of the warehouse system is obtained in real time, including but not limited to: the total number of outbound tasks of the warehouse system, the total number of first robots in the warehouse system, the current number of outbound tasks of each physical lane, the status of each physical lane, and the number of first robots currently bound to each physical lane.

[0166] In addition, in order to provide a richer data foundation for warehouse scheduling, the latest data obtained from the warehouse system can also include the map data of the warehouse system, the location information of the physical aisles, the sub-aisles contained in the physical aisles, the location information of the sub-aisles, the current location information of various robots, etc. The data required for warehouse scheduling can be obtained according to actual application needs, and no specific restrictions are made here.

[0167] S202: Calculate key parameters based on the latest data of the warehousing system, and determine the planned allocation quantity of the first robot corresponding to each physical lane based on the key parameters.

[0168] The specific implementation principle of this step is the same as that of the aforementioned step S102. For details, please refer to the relevant content of the aforementioned embodiment.

[0169] S203: Release the first robot bound to each physical lane.

[0170] In this step, all first robots bound to the physical lanes are unbound to release the first robots bound to the physical lanes.

[0171] S204 : Rebind the first robots to each physical lane according to the current position of each first robot and the planned allocation number of first robots corresponding to each physical lane.

[0172] The implementation principle of this step is similar to that of the aforementioned step S103. When adjusting the first robots bound to each physical lane, all first robots bound to each physical lane are unbound. Then, based on the planned allocation number of first robots corresponding to each physical lane (or the target binding number of first robots) and the current position of each first robot, a new first robot is bound to each physical lane, so that the number of first robots bound to the physical lane is the planned allocation number of first robots (or the target binding number of first robots). The specific implementation scheme and technical effects can be found in the relevant content of the aforementioned embodiment and will not be repeated here.

[0173] The solution of this embodiment is to perform a warehouse scheduling process at preset intervals through timed polling, re-plan the planned allocation quantity of the first robots corresponding to each physical lane, unbind the first robots bound to each physical lane, and re-bind the first robots to each physical lane based on the current position of the first robots. This not only allows the first robots to be evenly distributed in each physical lane according to task requirements, but also allows the first robots to be bound to each physical lane nearby, thereby greatly improving the overall efficiency of the warehouse system.

[0174] On the basis of the above-mentioned embodiment, when performing warehouse scheduling, the scheduling server can also dynamically adjust the correspondence between physical lanes and available workstations, and allocate corresponding available workstations to the outbound tasks in each physical lane. Figure 3 This is a flow chart of a warehouse scheduling method provided by an embodiment of the present disclosure. Figure 3 As shown, the specific steps of this method are as follows:

[0175] S301. Traverse the workstation groups in the warehousing system and determine the correspondence between available workstations and physical lanes based on the location of each available workstation in the workstation group, the location of the physical lane to which the outbound task corresponding to the workstation group belongs, and the number of outbound tasks in each physical lane.

[0176] In a warehousing system, some outbound tasks have a specific destination, corresponding to a single workstation. Other outbound tasks can have multiple destinations, allowing the outbound operation to be performed at any of these workstations. In the warehousing system, multiple workstations with the same destination are considered a workstation group. A workstation group consists of one or more workstations.

[0177] In a warehousing system, workstations that are in normal operation are called available workstations. However, some workstations may be in abnormal operation, such as being offline or temporarily suspending order acceptance. These workstations are unavailable workstations.

[0178] In this embodiment, each workstation group in the warehousing system is traversed, and each available workstation within the workstation group is associated with a corresponding physical lane to establish a correspondence between available workstations and physical lanes. One physical lane corresponds to one available workstation, and one available workstation can correspond to one or more physical lanes. Any outbound task within a physical lane must be dispatched to the available workstation corresponding to that physical lane.

[0179] Optionally, for any traversed workstation group, the correspondence between the available workstations and the physical lanes is determined based on the positions of the available workstations in the workstation group, the positions of the physical lanes to which the outbound tasks corresponding to the workstation group belong, and the number of outbound tasks in each physical lane.

[0180] Specifically, the location of the physical lanes to which the corresponding outbound tasks of a workstation group belong can be used to determine the candidate physical lanes with which the available workstations in that workstation group can establish a corresponding relationship. Based on the location of each available workstation and the location of each candidate physical lane, the distance between the available workstation and the candidate physical lane is calculated. Based on the distance between the available workstation and the candidate physical lanes, as well as the number of outbound tasks in each physical lane, an optimization algorithm is used to determine the correspondence between the available workstations and the physical lanes. The optimization goal is to ensure that the distance between the available workstations and the corresponding physical lanes meets the distance constraint and that the outbound task load of each available workstation is relatively balanced.

[0181] For example, the distance between an available workstation and a corresponding physical lane meeting the distance constraint may be that the distance between the available workstation and the corresponding physical lane is less than a preset distance threshold. This distance constraint ensures that each available workstation is spatially close to the physical lane. The preset distance threshold can be set and adjusted based on the needs of actual application scenarios and is not specifically limited here.

[0182] For example, the distance between an available workstation and its corresponding physical lane can satisfy the distance constraint if the difference in distance between the available workstation and the corresponding physical lane is less than a first difference. This distance constraint ensures that the spatial distances between each available workstation and the physical lane are relatively even. The first difference can be set and adjusted based on the needs of actual application scenarios and is not specifically limited here.

[0183] For example, the outbound task load of each available workstation can be the sum of the number of outbound tasks in the physical lanes corresponding to each available workstation. Relatively balanced outbound task loads across each available workstation can be achieved when: the difference between the outbound task loads of any two available workstations is less than a second difference, or when the maximum difference between the outbound task loads of any two available workstations is less than a third difference. The second and third differences can be set and adjusted based on the needs of actual application scenarios and are not specifically limited herein.

[0184] The optimization algorithm and optimization target used can be configured and adjusted according to the needs of the actual application scenario and are not specifically limited here.

[0185] By comprehensively considering the spatial relationship between physical lanes and available workstations, as well as the number of outbound tasks in each physical lane, the correspondence between available workstations and physical lanes is determined, so that the available workstations and physical lanes are spatially closer, and the outbound task load of each available workstation is relatively balanced, thereby improving the overall efficiency of the warehousing system.

[0186] Optionally, for any traversed workstation group, the distance between each available workstation in the workstation group and each alternative physical lane can be calculated based on the position of each available workstation in the workstation group and the position of the physical lane (i.e., the alternative physical lane) to which the outbound task corresponding to the workstation group belongs, and the corresponding relationship between the available workstations and the physical lanes can be determined, so that the spatial distance between each available workstation and the physical lane is relatively balanced.

[0187] S302 : Allocate an available workstation to each outbound task according to the average number of outbound tasks of the available workstations in the workstation group and the correspondence between the available workstations and the physical lanes.

[0188] After determining the correspondence between available workstations and physical lanes, combined with the average number of outbound tasks at available workstations in the warehousing system, available workstations are allocated to each outbound task, so that the outbound task load of each available workstation is balanced, thereby improving the overall efficiency of the warehousing system.

[0189] The average number of outbound tasks of available workstations can be obtained by calculating the quotient of the total number of outbound tasks of the warehousing system and the total number of available workstations in the warehousing system.

[0190] If the average number of outbound tasks at available workstations in the warehousing system is less than or equal to the preset task threshold, the system currently has few outbound tasks and is underloaded. For any physical lane in the warehousing system, based on the distance between the available workstations corresponding to the physical lane and the physical lane, at least one available workstation closest to the physical lane is selected as the target available workstation. Outbound tasks within the physical lane are evenly distributed to the target available workstations.

[0191] For example, when the storage system is under low load, all available workstations corresponding to the physical lanes are selected as candidate workstations. These candidate workstations are sorted in ascending order based on their distance from the physical lanes. Based on the ascending sorting results, at least one candidate workstation with the highest ranking is selected as the target available workstation. Outbound tasks within the physical lanes are evenly distributed to the target available workstations.

[0192] When the warehousing system is in a low-load state, the allocation of outbound tasks and workstations can be quickly achieved according to the principle of close-range optimization and uniform distribution. This can reduce the material box transportation distance of the outbound task and achieve load balancing of the workstation, thereby improving the task throughput of the warehousing system and thus improving the overall efficiency of the warehousing system.

[0193] If the average number of outbound tasks for available workstations in the warehousing system is greater than the preset task number threshold, it means that the warehousing system currently has many outbound tasks and is in a high-load state. This step can be implemented in the following ways:

[0194] For any physical lane in the storage system, traverse the available workstations corresponding to the physical lane and determine the remaining capacity of the currently available workstation. The remaining capacity of the currently available workstation is calculated as: the average number of outbound tasks of the available workstation minus the number of outbound tasks assigned to the currently available workstation.

[0195] If the remaining capacity of the currently available workstation is less than the number of outbound tasks to be assigned in the physical lane, the corresponding number of outbound tasks to be assigned in the physical lane will be assigned to the available current workstation based on the remaining capacity of the currently available workstation, and the number of outbound tasks to be assigned in the physical lane will be updated.

[0196] When the remaining capacity of the currently available workstation is greater than or equal to the number of outbound tasks to be assigned in the physical lane, the outbound tasks to be assigned in the physical lane are assigned to the currently available workstation, and the traversal ends.

[0197] If the number of to-be-assigned outbound tasks in the physical lane is still greater than 0 after traversing all available workstations corresponding to the physical lanes, the to-be-assigned outbound tasks in the physical lane will be assigned to the available workstations corresponding to the adjacent lanes of the physical lane. When all available workstations corresponding to the physical lane are fully loaded, the available workstations corresponding to the adjacent physical lanes can be selected nearby. This can achieve elastic expansion of available workstations and support the needs of workstation failure / expansion scenarios.

[0198] The solution of this embodiment can dynamically switch the task allocation strategy according to the average number of outbound tasks of the available workstations in the warehousing system. In the low-load situation where the average number of outbound tasks of the available workstations is less than or equal to the preset task number threshold, the outbound tasks and workstations can be quickly allocated according to the principle of close-range optimization and uniform allocation. This can reduce the material box transportation distance of the outbound tasks, achieve load balancing of the workstations, and improve the task throughput of the warehousing system, thereby improving the overall efficiency of the warehousing system. When the warehousing system is in a high-load state, the available workstations are traversed to increase the number of outbound tasks allocated to the available workstations one by one to the average number of outbound tasks to improve the allocation efficiency; and when all the available workstations corresponding to the physical lanes are fully loaded, the available workstations corresponding to the adjacent physical lanes are selected nearby, which can achieve elastic expansion of the available workstations and support the needs of workstation failure / capacity expansion scenarios.

[0199] Figure 4 This is a flow chart of the warehouse scheduling method provided by the embodiment of the present disclosure. Based on the above embodiment, in this embodiment, when performing warehouse scheduling, the scheduling server can also implement the scheduling of the second robot in the warehouse system to improve the overall efficiency of the warehouse system. Figure 4 As shown, the specific steps of this method are as follows:

[0200] S401: Determine a corresponding number of assignable second robots based on the minimum value between the total number of outbound tasks of the warehousing system and the total number of second robots.

[0201] In this step, the minimum of the total number of outbound tasks in the warehouse system and the total number of second robots is used as the number of second robots that can be assigned in this scheduling. A corresponding number of second robots are selected from the warehouse system as the second robots that can be assigned in this scheduling.

[0202] S402 : Allocate available second robots to each physical lane according to the ratio of outbound tasks in each physical lane, so that the ratio of the number of second robots allocated to each physical lane is consistent with the ratio of outbound tasks in each physical lane.

[0203] In this step, the ratio of outbound tasks to each physical lane is calculated based on the number of outbound tasks in each physical lane. This ratio represents the proportion of outbound tasks in each physical lane to the total outbound tasks in the warehouse system. Based on this ratio, available second robots are assigned to each physical lane, ensuring that the ratio of assigned second robots to each physical lane aligns with the outbound task ratio. This ensures that the assigned second robots are evenly distributed across the physical lanes according to task demand, improving the overall efficiency of the warehouse system.

[0204] For example, assume that the total number of outbound tasks in the warehousing system is 100, and the total number of second robots is 10. The number of outbound tasks in physical lane A is 35, and the number of outbound tasks in physical lane B is 65. Then, the outbound task ratio of physical lane A is 35 / 100, and the number of second robots allocated to physical lane A is: floor((35 / 100)*10)=3. The outbound task ratio of physical lane B is 65 / 100, and the number of second robots allocated to physical lane B is: floor((65 / 100)*10)=6. Among them, floor() means rounding down the value in the brackets. The remaining number of second robots that can be allocated is: 10-(3+6)=1, that is, there is 1 second robot that can be allocated.

[0205] S403: If there are any remaining assignable second robots, assign the remaining assignable second robots to the physical lanes with a large number of outbound tasks.

[0206] When the number of remaining assignable second robots is greater than 0, the remaining assignable second robots are preferentially assigned to physical lanes with a larger number of outbound tasks.

[0207] For example, the physical lanes are sorted in descending order according to the number of outbound tasks, and a second robot is allocated to each physical lane in sequence according to the descending sorting result until the number of remaining allocable second robots is zero.

[0208] Based on the example in step S402, the number of outbound tasks in physical lane B is greater than that in physical lane A, so the remaining second robot is assigned to physical lane B. The final assignment result: 7 second robots are assigned to physical lane B, and 3 second robots are assigned to physical lane A.

[0209] Furthermore, after allocating the second robot to the physical lane, the second robot is allocated to the outbound tasks in the physical lane in sequence according to the priority of the outbound tasks based on the second robots allocated to the physical lane.

[0210] The solution of this embodiment, during warehouse scheduling, first comprehensively considers the total number of outbound tasks of the warehouse system, the total number of first robots, and the number of outbound tasks, status, and number of bound first robots of each physical lane in the warehouse system, dynamically plans the number of first robots allocated to each physical lane, and adjusts the first robots bound to each physical lane to achieve dynamic scheduling and allocation of the first robots, so as to ensure that the first robots are evenly distributed in each physical lane according to task requirements, thereby solving the problem of local resource shortage caused by excessive concentration of first robots in certain physical lanes and idle resources in other physical lanes, and improving the overall efficiency of the warehouse system.

[0211] By comprehensively considering the location of each available workstation in the workstation group, the location of the physical lanes, and the number of outbound tasks in each physical lane, the correspondence between available workstations and physical lanes is dynamically adjusted and optimized. Based on this optimized correspondence between available workstations and physical lanes, available workstations are assigned to each outbound task to ensure balanced outbound task load across each available workstation. Furthermore, a second robot is assigned to each physical lane based on the proportion of outbound tasks in each lane, and outbound tasks are assigned to the second robot based on the priority of the outbound tasks. Based on the overall planning of warehouse scheduling, path planning conflicts between carts can be reduced, task allocation can be optimized, and transportation capacity waste can be reduced, thereby improving the overall efficiency of the warehouse system.

[0212] Figure 5 This is a schematic diagram of a storage scheduling device provided by an embodiment of the present disclosure. Figure 5 As shown, the warehouse scheduling device 500 includes: a data pre-processing unit 501, a plan allocation unit 502 and a scheduling unit 503.

[0213] The data pre-processing unit 501 is used to calculate the key parameters required for first robot allocation based on the total number of outbound tasks in the warehouse system, the total number of first robots in the warehouse system, and the number of outbound tasks, status, and number of bound first robots in each physical lane in the warehouse system. The first robot is the robot responsible for performing the task of unloading boxes in the physical lane.

[0214] The plan allocation unit 502 is used to determine the number of first robots to be allocated to each physical lane according to the key parameters;

[0215] The scheduling unit 503 is configured to adjust the first robots bound to each physical lane according to the planned allocation quantity of the first robots corresponding to each physical lane.

[0216] In an optional embodiment, the key parameters include the average number of first robots assigned to each physical lane, the maximum number of first robots allowed to be assigned to a single physical lane, and the average number of outbound tasks for the first robots. In determining the planned number of first robots assigned to each physical lane based on the key parameters, the planned allocation unit 502 is specifically configured to:

[0217] According to the order of the number of outbound tasks from large to small, each physical lane is traversed in turn, and the current physical lane that is traversed is subjected to first-level allocation processing; wherein, the first-level allocation processing is as follows: according to the key parameters and the remaining allocatable quantity of the first robot, the planned allocation quantity of the first robot corresponding to the current physical lane is determined; according to the planned allocation quantity of the first robot corresponding to the current physical lane, the remaining allocatable quantity of the first robot is updated.

[0218] In an optional embodiment, the plan allocation unit 502 is further configured to:

[0219] After traversing each physical lane in descending order of the number of outbound tasks and performing the first-level allocation processing on the current physical lane traversed, if the remaining allocatable quantity of the first robot is greater than 0, the remaining outbound task quantity of each physical lane is determined based on the outbound task quantity of each physical lane and the planned allocation quantity of the first robot, as well as the average outbound task quantity of the first robot; traversing each physical lane in descending order of the remaining outbound task quantity, and performing the second-level allocation processing on the physical lanes, the second-level allocation processing is as follows: if the planned allocation quantity of the first robot corresponding to the physical lane is less than the maximum allowed allocation quantity of the first robot, and the remaining allocatable quantity of the first robot is greater than 0, the planned allocation quantity of the first robot corresponding to the physical lane is increased by the first increment, and the remaining allocatable quantity of the first robot is decreased by the first increment.

[0220] In an optional embodiment, the plan allocation unit 502 is further configured to:

[0221] After traversing each physical lane in order of the remaining outbound task volume from large to small and performing secondary allocation processing on the physical lanes, traversing each physical lane in order of the number of upward moving tasks of each physical lane from large to small and performing tertiary allocation processing on the physical lanes, the three-level allocation processing is as follows: determine the first robot supplementary allocation quantity corresponding to the physical lane based on the remaining allocatable quantity of the first robot, the number of upward moving tasks of the physical lane, and the average upward moving task volume of each physical lane; increase the first robot planned allocation quantity corresponding to the physical lane by the first robot supplementary allocation quantity; and subtract the first robot supplementary allocation quantity from the remaining allocatable quantity of the first robot.

[0222] In an optional embodiment, in terms of adjusting the first robots bound to each physical lane according to the planned allocation quantity of the first robots corresponding to each physical lane, the scheduling unit 503 is specifically configured to:

[0223] For any physical lane, according to the planned allocation number of first robots corresponding to the physical lane and the current position of each first robot, the first robots bound to the physical lane are adjusted so that the number of first robots bound to the physical lane is the planned allocation number of first robots.

[0224] In an optional embodiment, the scheduling unit 503 is further configured to:

[0225] For any physical lane, if the physical lane contains multiple sub-lanes, the first robot bound to the physical lane is bound to the multiple sub-lanes according to the task ratio of the multiple sub-lanes.

[0226] In an optional embodiment, the key parameters include an average number of the first robots allocated to each physical lane, a maximum allowed number of the first robots allocated to a single physical lane, and an average number of the out-bound tasks of the first robots. The data preprocessing unit 501 is specifically configured to:

[0227] According to the states of the physical lanes, the number of the physical lanes in the use state is determined to obtain an actual number of lanes; according to the total number of the first robots and the actual number of lanes, the average number of the first robots allocated to each physical lane and the maximum allowed number of the first robots allocated to a single physical lane are calculated; and according to the total number of the out-bound tasks and the total number of the first robots, the average number of the out-bound tasks of the first robots is calculated.

[0228] In an optional embodiment, the scheduling unit 503 is specifically configured to:

[0229] For any physical lane, the number of the first robots bound to the physical lane is adjusted according to the planned number of the first robots corresponding to the physical lane, so that the number of the first robots bound to the physical lane is the target number of the first robots corresponding to the physical lane.

[0230] In an optional embodiment, the scheduling unit 503 is specifically configured to:

[0231] For any physical lane, if the planned number of the first robots corresponding to the physical lane is less than the number of the first robots currently bound to the physical lane, the number of the first robots bound to the physical lane is reduced by a second increment to obtain the target number of the first robots corresponding to the physical lane; and if the planned number of the first robots corresponding to the physical lane is greater than the number of the first robots currently bound to the physical lane, the number of the first robots bound to the physical lane is increased by the second increment to obtain the target number of the first robots corresponding to the physical lane.

[0232] In an optional embodiment, the data preprocessing unit 501 is also used to: obtain the latest data of the warehousing system at every preset time interval, the latest data including: the total number of outbound tasks of the warehousing system, the total number of first robots in the warehousing system, and the current number of outbound tasks, status and number of bound first robots of each physical lane in the warehousing system; calculate key parameters based on the latest data of the warehousing system.

[0233] The plan allocation unit 502 is further configured to determine the planned allocation quantity of the first robots corresponding to each physical lane according to the key parameters.

[0234] The scheduling unit 503 is further configured to: release the first robots bound to each physical lane; and rebind the first robots to each physical lane according to the current position of each first robot and the planned allocation number of first robots corresponding to each physical lane.

[0235] In an optional embodiment, the scheduling unit 503 is further configured to:

[0236] Traverse the workstation groups in the warehousing system, determine the correspondence between available workstations and physical lanes based on the position of each available workstation in the workstation group, the position of the physical lane to which the outbound task corresponding to the workstation group belongs, and the number of outbound tasks in each physical lane; allocate available workstations to each outbound task based on the average number of outbound tasks of the available workstations in the warehousing system and the correspondence between available workstations and physical lanes.

[0237] In an optional embodiment, in terms of allocating available workstations to each outbound task based on the average number of outbound tasks in the available workstations in the warehousing system and the correspondence between available workstations and physical lanes, the scheduling unit 503 is specifically configured to:

[0238] If the average number of outbound tasks of the available workstations in the warehousing system is less than or equal to the preset task number threshold, then for any physical lane in the warehousing system, at least one target available workstation is selected based on the distance between the available workstations corresponding to the physical lane and the physical lane; and the outbound tasks in the physical lane are evenly distributed to at least one target available workstation.

[0239] In an optional embodiment, in terms of allocating available workstations to each outbound task based on the average number of outbound tasks in the available workstations in the warehousing system and the correspondence between available workstations and physical lanes, the scheduling unit 503 is specifically configured to:

[0240] If the average number of outbound tasks of available workstations in the warehousing system is greater than the preset task number threshold, then for any physical lane in the warehousing system, the available workstations corresponding to the physical lane are traversed to determine the remaining capacity of the currently available workstation; if the remaining capacity of the currently available workstation is less than the number of outbound tasks to be assigned in the physical lane, then the corresponding number of outbound tasks to be assigned in the physical lane are assigned to the available current workstation according to the remaining capacity of the currently available workstation, and the number of outbound tasks to be assigned in the physical lane is updated; until the remaining capacity of the currently available workstation is greater than or equal to the number of outbound tasks to be assigned in the physical lane, the outbound tasks to be assigned in the physical lane are assigned to the currently available workstation, and the traversal ends.

[0241] In an optional embodiment, the scheduling unit 503 is further configured to:

[0242] If the remaining capacity of the current available workstation is less than the number of outbound tasks to be assigned in the physical lane, the corresponding number of outbound tasks to be assigned in the physical lane will be assigned to the available current workstation according to the remaining capacity of the current available workstation. After the number of outbound tasks to be assigned in the physical lane is updated, if the number of outbound tasks to be assigned in the physical lane is greater than 0 after traversing the available workstations corresponding to the physical lanes, the outbound tasks to be assigned in the physical lane will be assigned to the available workstations corresponding to the adjacent lanes of the physical lane.

[0243] In an optional embodiment, the scheduling unit 503 is further configured to:

[0244] According to the minimum value of the total number of outbound tasks and the total number of second robots in the warehousing system, the corresponding number of assignable second robots is determined; according to the outbound task ratio of each physical lane, the assignable second robots are assigned to each physical lane, so that the ratio of the number of second robots assigned to each physical lane is consistent with the outbound task ratio of each physical lane; if there are remaining assignable second robots, the remaining assignable second robots are assigned to the physical lane with a large number of outbound tasks.

[0245] In an optional embodiment, the scheduling unit 503 is further configured to:

[0246] For any physical lane, according to the outbound tasks in the physical lane and the second robots allocated to the physical lane, the second robots are allocated to the outbound tasks in sequence according to the priorities of the outbound tasks.

[0247] The device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar and will not be described in detail in this embodiment.

[0248] Figure 6 This is a schematic diagram of the structure of a scheduling server provided by an embodiment of the present disclosure. Figure 6As shown, the scheduling server 600 includes a memory 601, a processor 602, and a transceiver 603. The memory 601 is used to store a computer program, and when the processor 602 executes the computer program, it implements the method of any of the above embodiments. A communication link is provided between the memory 601 and the processor 602. For example, the memory 601, the processor 602, and the transceiver 603 can communicate via a communication bus 604.

[0249] Optionally, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), or application-specific integrated circuits (ASICs). A general-purpose processor may be a microprocessor or any conventional processor. The steps in the method embodiments disclosed in the present disclosure may be directly implemented by a hardware processor or implemented by a combination of hardware and software modules in the processor.

[0250] The embodiments of the present disclosure further provide a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, a method in any of the above method embodiments is implemented.

[0251] An embodiment of the present disclosure further provides a computer program product, including a computer program, which implements the method in any of the above method embodiments when the computer program is executed by a processor.

[0252] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0253] The order of the above-mentioned embodiments of the present disclosure is for description only and does not represent the advantages and disadvantages of the embodiments. In addition, in some of the processes described in the above-mentioned embodiments and the accompanying drawings, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or in parallel. They are only used to distinguish between different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., and do not represent the order of precedence, nor do they limit "first" and "second" to be different types.

[0254] "Multiple" means two or more, unless otherwise clearly defined.

[0255] Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims. It should be understood that the present disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

[0256] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A warehouse scheduling method, characterized in that: include: Calculate key parameters required for assigning the first robots based on the total number of outbound tasks in the warehouse system, the total number of first robots in the warehouse system, and the number of outbound tasks, status, and number of bound first robots in each physical lane in the warehouse system, where the first robots are responsible for performing the task of unloading boxes in the physical lanes; Determining the planned allocation quantity of the first robots corresponding to each of the physical lanes according to the key parameters; According to the planned allocation quantity of the first robots corresponding to each physical lane, the first robots bound to each physical lane are adjusted.

2. The method according to claim 1, characterized in that The key parameters include an average number of first robots allocated to each physical lane, a maximum number of first robots allowed to be allocated to a single physical lane, and an average number of outbound tasks for the first robots. Determining the planned number of first robots allocated to each physical lane based on the key parameters includes: In descending order of the number of outbound tasks, the physical lanes are traversed in sequence, and a first-level allocation process is performed on the current physical lane traversed. The first-level allocation process is as follows: Determining the planned allocation quantity of the first robots corresponding to the current physical lane according to the key parameters and the remaining allocatable quantity of the first robots; The remaining allocatable number of the first robots is updated according to the planned allocation number of the first robots corresponding to the current physical lane.

3. The method according to claim 2, characterized in that After traversing the physical lanes in descending order of the number of outbound tasks and performing a primary allocation process on the current physical lane traversed, the method further includes: If the remaining allocatable quantity of the first robot is greater than 0, determining the remaining outbound task quantity of each physical lane according to the outbound task quantity of each physical lane, the planned allocation quantity of the first robot, and the average outbound task quantity of the first robot; According to the order of the remaining outbound task volume from large to small, the physical lanes are traversed in turn, and the physical lanes are subjected to secondary allocation processing. The secondary allocation processing is as follows: If the planned allocation quantity of the first robot corresponding to the physical lane is less than the maximum allowed allocation quantity of the first robot, and the remaining allocatable quantity of the first robot is greater than 0, then the planned allocation quantity of the first robot corresponding to the physical lane is increased by a first increment, and the remaining allocatable quantity of the first robot is reduced by the first increment.

4. The method according to claim 3, characterized in that After traversing the physical lanes in descending order of the remaining outbound task amounts and performing secondary allocation processing on the physical lanes, the method further includes: According to the order of the number of upward moving tasks of each physical lane from large to small, the physical lanes are traversed in turn, and a three-level allocation process is performed on the physical lanes. The three-level allocation process is as follows: Determining the number of first robots to be supplemented and allocated corresponding to the physical lanes according to the remaining allocatable number of the first robots, the number of upward movement tasks of the physical lanes, and the average upward movement task volume of each physical lane; Increasing the first robot planned allocation quantity corresponding to the physical lane by the first robot supplementary allocation quantity; The remaining dispensable quantity of the first robot is reduced by the supplementary dispensing quantity of the first robot.

5. The method according to claim 1, wherein The adjusting the first robots bound to each physical lane according to the planned allocation quantity of the first robots corresponding to each physical lane includes: For any of the physical lanes, based on the planned allocation number of the first robots corresponding to the physical lane and the current position of each of the first robots, adjust the first robots bound to the physical lane so that the number of the first robots bound to the physical lane is the planned allocation number of the first robots.

6. The method according to claim 5, characterized in that The method further comprises: For any of the physical lanes, if the physical lane includes multiple sub-lanes, the first robot bound to the physical lane is bound to the multiple sub-lanes according to the task ratio of the multiple sub-lanes.

7. The method according to claim 1, characterized in that The key parameters include the average number of first robots assigned to each physical lane, the maximum number of first robots allowed to be assigned to a single physical lane, and the average number of outbound tasks for the first robots. Calculating key parameters required for allocating the first robot based on the total number of outbound tasks of the warehouse system, the total number of first robots in the warehouse system, and the number of outbound tasks, status, and number of bound first robots in each physical lane in the warehouse system includes: Determining the number of the physical lanes in use according to the status of each physical lane to obtain the actual number of lanes; Calculate, based on the total number of the first robots and the actual number of lanes, an average number of the first robots allocated to each physical lane and a maximum allowable number of the first robots allocated to a single physical lane; The average number of outbound tasks of the first robot is calculated according to the total number of outbound tasks and the total number of the first robots.

8. The method according to claim 1, characterized in that The adjusting the first robots bound to each physical lane according to the planned allocation quantity of the first robots corresponding to each physical lane includes: For any of the physical lanes, fine-tune the number of the first robots bound to the physical lane according to the planned allocation number of the first robots corresponding to the physical lane, to obtain a target binding number of the first robots corresponding to the physical lane; According to the current position of each first robot and the target binding number of the first robots corresponding to the physical lane, the first robots bound to the physical lane are adjusted so that the number of the first robots bound to the physical lane is the target binding number of the first robots.

9. The method according to claim 8, characterized in that For any of the physical lanes, fine-tuning the number of the first robots bound to the physical lane according to the planned allocation number of the first robots corresponding to the physical lane to obtain a target binding number of the first robots corresponding to the physical lane includes: For any of the physical lanes, if the planned number of the first robots to be allocated to the physical lane is less than the number of the first robots currently bound to the physical lane, subtract a second increment from the number of the first robots currently bound to the physical lane to obtain a target number of the first robots bound to the physical lane; If the planned allocation quantity of the first robots corresponding to the physical lane is greater than the quantity of the first robots currently bound to the physical lane, the second increment is added to the quantity of the first robots bound to the physical lane to obtain the target binding quantity of the first robots corresponding to the physical lane.

10. The method according to any one of claims 1 to 9, characterized in that The method further comprises: At predetermined intervals, the latest data of the warehousing system is obtained, wherein the latest data includes: the total number of outbound tasks of the warehousing system, the total number of the first robots in the warehousing system, and the current number of outbound tasks, the status, and the number of bound first robots of each physical lane in the warehousing system; Calculating the key parameters according to the latest data of the warehousing system, and determining the planned allocation quantity of the first robots corresponding to each of the physical lanes according to the key parameters; releasing the first robots bound to the respective physical lanes; Rebind the first robots to each physical lane according to the current position of each first robot and the planned allocation number of the first robots corresponding to each physical lane.

11. The method according to any one of claims 1 to 9, characterized in that The method further comprises: Traversing the workstation groups in the warehousing system, determining a correspondence between the available workstations and the physical lanes according to a position of each available workstation in the workstation group, a position of a physical lane to which an outbound task corresponding to the workstation group belongs, and a number of outbound tasks in each physical lane; The available workstation is allocated to each of the outbound tasks according to the average number of outbound tasks of the available workstations in the warehousing system and the corresponding relationship between the available workstations and the physical lanes.

12. The method according to claim 11, characterized in that The allocating the available workstation to each of the outbound tasks according to the average number of outbound tasks of the available workstations in the warehousing system and the corresponding relationship between the available workstations and the physical lanes includes: If the average number of outbound tasks of the available workstations in the warehousing system is less than or equal to a preset task number threshold, then for any of the physical lanes in the warehousing system, at least one target available workstation is selected based on the distance between the available workstation corresponding to the physical lane and the physical lane; Evenly distribute the outbound tasks in the physical lane to the at least one target available workstation.

13. The method according to claim 11, characterized in that The allocating the available workstation to each of the outbound tasks according to the average number of outbound tasks of the available workstations in the warehousing system and the corresponding relationship between the available workstations and the physical lanes includes: If the average number of outbound tasks of the available workstations in the warehousing system is greater than a preset task number threshold, then for any of the physical lanes in the warehousing system, traverse the available workstations corresponding to the physical lanes to determine the remaining capacity of the current available workstations; If the remaining capacity of the currently available workstation is less than the number of outbound tasks to be assigned in the physical lane, then according to the remaining capacity of the currently available workstation, the corresponding number of outbound tasks to be assigned in the physical lane are assigned to the currently available workstation, and the number of outbound tasks to be assigned in the physical lane is updated; When the remaining capacity of the currently available workstation is greater than or equal to the number of outbound tasks to be assigned in the physical lane, the outbound tasks to be assigned in the physical lane are assigned to the currently available workstation, and the traversal ends.

14. The method according to claim 13, characterized in that If the remaining capacity of the currently available workstation is less than the number of outbound tasks to be allocated in the physical lane, then according to the remaining capacity of the currently available workstation, a corresponding number of outbound tasks to be allocated in the physical lane are allocated to the currently available workstation. After updating the number of outbound tasks to be allocated in the physical lane, the method further includes: If the number of the to-be-allocated outbound tasks in the physical lane is greater than 0 after traversing the available workstations corresponding to the physical lane, the to-be-allocated outbound tasks in the physical lane are allocated to the available workstations corresponding to the adjacent lanes of the physical lane.

15. The method according to any one of claims 1 to 9, characterized in that The method further comprises: Determining a corresponding number of assignable second robots according to a minimum value between the total number of outbound tasks of the warehousing system and the total number of second robots; Allocate the assignable second robots to each physical lane according to the outbound task ratio of each physical lane, so that the ratio of the number of the second robots assigned to each physical lane is consistent with the outbound task ratio of each physical lane; If there are any remaining assignable second robots, the remaining assignable second robots are assigned to the physical lanes with a large number of outbound tasks.

16. The method according to claim 15, characterized in that The method further comprises: For any of the physical lanes, the second robots are sequentially assigned to the outbound tasks according to the outbound tasks in the physical lane and the second robots assigned to the physical lane, and according to the priorities of the outbound tasks.

17. A storage scheduling device, characterized in that: include: a data preprocessing unit, configured to calculate key parameters required for allocating the first robots based on the total number of outbound tasks in the warehousing system, the total number of first robots in the warehousing system, and the number of outbound tasks, status, and number of bound first robots in each physical lane in the warehousing system, wherein the first robots are robots responsible for performing box unloading tasks in the physical lanes; A plan allocation unit, configured to determine the planned allocation quantity of the first robots corresponding to each of the physical lanes according to the key parameters; The scheduling unit is configured to adjust the first robots bound to each of the physical lanes according to the planned allocation quantity of the first robots corresponding to each of the physical lanes.

18. A scheduling server, characterized in that: include: memory, processors, and transceivers; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 16.

19. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 16 when executed by a processor.

20. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 16 when being executed by a processor.

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