Container transport method and device

Abstract

A container transfer method and apparatus are provided, which include: first, in response to acquiring a plurality of transfer waiting tasks, grouping the plurality of transfer waiting tasks based on candidate paths to obtain a grouping result corresponding to the candidate paths, the grouping result including transfer waiting tasks corresponding to the candidate paths and candidate workstations corresponding to the candidate paths; then, based on the grouping result, calculating scores for the candidate paths corresponding to the candidate workstations to obtain candidate path scores corresponding to the candidate workstations; then, based on the candidate path scores corresponding to the candidate workstations, identifying a target workstation and a seed path corresponding to the target workstation from among the candidate workstations and the candidate paths corresponding to the candidate workstations; finally, transmitting the transfer waiting tasks corresponding to the target workstation and the seed path to a target transfer robot and having the target transfer robot perform container transfer according to the transfer waiting tasks, thereby shortening transfer time and improving transfer efficiency.

Description

[Technical Field]

[0001] This disclosure claims priority to a Chinese patent application filed on March 7, 2023, bearing application number 202310246396.7 and entitled "METHOD AND APPARATUS FOR CONTAINER TRANSPORTATION," the entire contents of which are incorporated herein by reference.

[0002] [Technical field] TECHNICAL FIELD Embodiments of the present disclosure relate to the fields of computer technology and internet technology, and more particularly to a method and apparatus for transporting containers. [Background technology]

[0003] With the advancement of technology, the number of transport robots transporting goods is increasing. When transporting goods, after receiving a transport task, the robot performs positioning of the containers that need to be transported in the transport task, first selects an empty vehicle, then scores all the containers waiting for transport according to condition constraints and distance to select the most suitable container, and repeats the selection multiple times until it reaches the maximum number of containers that the transport robot can transport in one trip.

[0004] In this method of identifying a container, each transport robot must cross multiple different paths while transporting a container, which also leads to the problem of longer transport times. Summary of the Invention

[0005] Embodiments of the present disclosure provide a container transport method, apparatus, electronic device, and computer-readable medium.

[0006] In a first aspect, an embodiment of the present disclosure provides a container transport method, including: in response to acquiring a plurality of transport waiting tasks, performing grouping on the plurality of transport waiting tasks based on candidate passages, and obtaining a grouping result corresponding to the candidate passages; wherein the grouping result includes transport waiting tasks corresponding to the candidate passages and candidate workstations corresponding to the candidate passages; calculating scores for the candidate passages corresponding to the candidate workstations based on the grouping result, and obtaining candidate passage scores corresponding to the candidate workstations; identifying a target workstation and a seed passage corresponding to the target workstation from the candidate workstations and the candidate passages corresponding to the candidate workstations based on the candidate passage scores corresponding to the candidate workstations; sending the transport waiting tasks corresponding to the target workstation and the seed passage to a target transport robot; and having the target transport robot transport the container in accordance with the transport waiting tasks.

[0007] In some examples, calculating a score for the candidate aisle corresponding to the candidate workstation based on the grouping result and obtaining a candidate aisle score for the candidate workstation includes: obtaining a candidate aisle and a transport waiting task corresponding to the candidate workstation based on the grouping result; obtaining a corresponding number of containers in the candidate aisle corresponding to the candidate workstation and a number of temporary storage locations corresponding to the candidate workstation based on the transport waiting task corresponding to the candidate workstation; calculating a score for the candidate aisle corresponding to the candidate workstation based on the number of containers and the number of temporary storage locations and obtaining a candidate aisle score for the candidate workstation.

[0008] In some embodiments, calculating a score for a candidate aisle corresponding to a candidate workstation based on the number of containers and the number of temporary storage locations and obtaining a candidate aisle score for the candidate workstation includes: performing a container number information calculation for the candidate aisle based on the number of containers and the number of temporary storage locations and obtaining a container score for the candidate aisle; performing a vehicle load information calculation for the candidate aisle based on the container score and the transport capacity corresponding to the transport robot and obtaining a vehicle load score for the candidate aisle; performing an aisle vehicle number information calculation for the candidate aisle based on the number of vehicles in the candidate aisle and obtaining a vehicle score for the candidate aisle; performing a distance information calculation for the candidate aisle based on the center position of the candidate aisle and the position of the candidate workstation and obtaining a distance score for the candidate aisle; and obtaining a candidate aisle score for the candidate workstation based on the container score, vehicle load score, vehicle score, and distance score for the candidate aisle.

[0009] In some embodiments, the candidate workstations correspond to a plurality of candidate paths, and identifying a target workstation and a seed path corresponding to the target workstation from among the candidate workstations and the candidate path(s) corresponding to the candidate workstations based on the candidate path scores corresponding to the candidate workstations includes: selecting an optimal path corresponding to each candidate workstation from among the plurality of candidate path(s) corresponding to each candidate workstation based on the candidate path scores corresponding to the candidate workstations; identifying usage information of temporary storage locations corresponding to each candidate workstation based on the optimal path corresponding to each candidate workstation and availability information of temporary storage locations corresponding to each candidate workstation; selecting a target workstation from among the plurality of candidate workstations based on the usage information of the temporary storage locations, and identifying the optimal path corresponding to the target workstation as a seed path corresponding to the target workstation.

[0010] In some embodiments, sending a transport waiting task corresponding to the target workstation and seed passage to a target transport robot and having the target transport robot transport a container in accordance with the transport waiting task includes, in response to identifying multiple candidate transport robots for transporting the container, obtaining current positions of the multiple candidate transport robots, calculating route information corresponding to the multiple candidate transport robots based on the current positions of the multiple candidate transport robots and the center position of the seed passage, selecting a target transport robot from the multiple candidate transport robots based on the route information corresponding to the multiple candidate transport robots, sending a transport waiting task corresponding to the target workstation and seed passage to the target transport robot, and having the target transport robot transport the container in accordance with the transport waiting task.

[0011] In some embodiments, sending a transport waiting task corresponding to a target workstation and a seed aisle to a target transport robot and having the target transport robot transport a container in accordance with the transport waiting task includes sorting a plurality of candidate containers in the seed aisle based on the transport waiting task corresponding to the target workstation and the transport capacity corresponding to the target transport robot to obtain a plurality of primary sorted containers, calculating scores for the plurality of primary sorted containers based on position information and task information corresponding to the plurality of primary sorted containers to obtain scores corresponding to the plurality of primary sorted containers, selecting a first set of containers waiting to be transported corresponding to the seed aisle based on the scores corresponding to the plurality of primary sorted containers, sending the first set of containers waiting to be transported to the target transport robot, and having the target transport robot transport a container in accordance with the first set of containers waiting to be transported.

[0012] In some embodiments, sending the first set of containers waiting to be transported to the target transport robot and having the target transport robot transport containers in accordance with the first set of containers waiting to be transported includes determining whether the target transport robot has remaining transport capacity based on the first set of containers waiting to be transported and the transport capacity of the target transport robot, identifying an expansion passage corresponding to the target workstation based on the remaining transport capacity of the target transport robot and the target workstation in response to determining that the target transport robot has remaining transport capacity, selecting a second set of containers waiting to be transported corresponding to the expansion passage based on the transport waiting task corresponding to the target workstation and the remaining transport capacity of the target transport robot, sending the first set of containers waiting to be transported and the second set of containers waiting to be transported to the target transport robot and having the target transport robot transport containers in accordance with the first set of containers waiting to be transported and the second set of containers waiting to be transported.

[0013] In some embodiments, identifying an expansion passage corresponding to the target workstation based on the remaining transport capacity of the target transport robot and the target workstation in response to determining that the target transport robot has remaining transport capacity includes calculating scores for other candidate passages based on the remaining transport capacity of the target transport robot and the target workstation in response to determining that the target transport robot has remaining transport capacity, and obtaining other candidate passage scores corresponding to the target workstation, and identifying an expansion passage corresponding to the target workstation based on the other candidate passage scores corresponding to the target workstation.

[0014] In some embodiments, in response to identifying that the target transport robot has a remaining transport capacity, calculating scores for other candidate passages based on the remaining transport capacity of the target transport robot and the target workstation, and obtaining other candidate passage scores corresponding to the target workstation, includes, in response to identifying that the target transport robot has a remaining transport capacity, obtaining the number of containers corresponding to other candidate passages and the number of temporary storage positions corresponding to the target workstation, calculating container number information for other candidate passages based on the number of containers corresponding to other candidate passages and the number of temporary storage positions corresponding to the target workstation, and obtaining container scores corresponding to other candidate passages, and calculating other candidate passage scores based on the container scores and the remaining transport capacity of the target transport robot. calculating vehicle load information for the candidate passages and obtaining vehicle load scores corresponding to the other candidate passages; calculating passage vehicle number information for the other candidate passages based on the number of vehicles in the other candidate passages and obtaining vehicle scores corresponding to the other candidate passages; calculating distance information for the other candidate passages based on the center positions of the other candidate passages, the position of the target workstation, the position of the target transport robot and the center position of the seed passage and obtaining distance scores corresponding to the other candidate passages; calculating passage scores corresponding to the other candidate passages based on the seed passage corresponding to the target workstation; and obtaining other candidate passage scores corresponding to the target workstation based on the container scores, vehicle load scores, vehicle scores, distance scores and passage scores corresponding to the other candidate passages.

[0015] In some embodiments, identifying an expansion passage corresponding to the target workstation based on the remaining transport capacity of the target transport robot and the target workstation in response to determining that the target transport robot has remaining transport capacity includes obtaining a target passage number corresponding to the target transport robot in response to determining that the target transport robot has remaining transport capacity, determining whether the target passage number corresponding to the target transport robot exceeds a predetermined threshold, and identifying an expansion passage corresponding to the target workstation based on the remaining transport capacity of the target transport robot and the target workstation in response to determining that the target passage number corresponding to the target transport robot does not exceed the predetermined threshold.

[0016] In some embodiments, sending the first set of containers awaiting transport and the second set of containers awaiting transport to a target transport robot and having the target transport robot transport containers in accordance with the first set of containers awaiting transport and the second set of containers awaiting transport includes, in response to identifying that the number of target passages corresponding to the target transport robot exceeds a predetermined threshold, sending the first set of containers awaiting transport and the second set of containers awaiting transport to the target transport robot and having the target transport robot transport containers in accordance with the first set of containers awaiting transport and the second set of containers awaiting transport.

[0017] In a second aspect, an embodiment of the present disclosure provides a container transport device including: a grouping module configured to, in response to acquiring a plurality of transport waiting tasks, perform grouping on the plurality of transport waiting tasks based on candidate passages and obtain a grouping result corresponding to the candidate passages, wherein the grouping result includes transport waiting tasks corresponding to the candidate passages and candidate workstations corresponding to the candidate passages; a calculation module configured to calculate scores for the candidate passages corresponding to the candidate workstations based on the grouping result and obtain candidate passage scores corresponding to the candidate workstations; an identification module configured to identify a target workstation and a seed passage corresponding to the target workstation from among the candidate workstations and the candidate passages corresponding to the candidate workstations based on the candidate passage scores corresponding to the candidate workstations; and a transmission module configured to transmit the transport waiting tasks corresponding to the target workstation and the seed passage to a target transport robot and have the target transport robot transport a container in accordance with the transport waiting tasks.

[0018] In some examples, the calculation module is further configured to: obtain, based on the grouping result, candidate aisles and transport waiting tasks corresponding to the candidate workstations; obtain, based on the transport waiting tasks corresponding to the candidate workstations, the corresponding number of containers among the candidate aisles corresponding to the candidate workstations and the number of temporary storage positions corresponding to the candidate workstations; calculate a score for the candidate aisle corresponding to the candidate workstation based on the number of containers and the number of temporary storage positions; and obtain a candidate aisle score corresponding to the candidate workstation.

[0019] In some embodiments, the calculation module is further configured to: perform container number information calculation for the candidate aisle based on the number of containers and the number of temporary storage positions, and obtain a container score corresponding to the candidate aisle; perform vehicle load information calculation for the candidate aisle based on the container score and the transport capacity corresponding to the transport robot, and obtain a vehicle load score corresponding to the candidate aisle; perform aisle vehicle number information calculation for the candidate aisle based on the number of vehicles in the candidate aisle, and obtain a vehicle score corresponding to the candidate aisle; perform distance information calculation for the candidate aisle based on the center position of the candidate aisle and the position of the candidate workstation, and obtain a distance score corresponding to the candidate aisle; and obtain a candidate aisle score corresponding to the candidate workstation based on the container score, vehicle load score, vehicle score, and distance score corresponding to the candidate aisle.

[0020] In some embodiments, the candidate workstations correspond to a plurality of candidate paths, and the identification module is further configured to: select an optimal path corresponding to each candidate workstation from among the plurality of candidate paths corresponding to each candidate workstation based on a candidate path score corresponding to the candidate workstation; determine usage information of the temporary storage location corresponding to each candidate workstation based on the optimal path corresponding to each candidate workstation and availability information of the temporary storage location corresponding to each candidate workstation; select a target workstation from among the plurality of candidate workstations based on the usage information of the temporary storage location; and identify the optimal path corresponding to the target workstation as a seed path corresponding to the target workstation.

[0021] In some embodiments, the transmission module is further configured to, in response to the identification of multiple candidate transport robots for transporting the container, acquire current positions of the multiple candidate transport robots, calculate route information corresponding to the multiple candidate transport robots based on the current positions of the multiple candidate transport robots and the center position of the seed passage, select a target transport robot from among the multiple candidate transport robots based on the route information corresponding to the multiple candidate transport robots, transmit a transport waiting task corresponding to the target workstation and the seed passage to the target transport robot, and have the target transport robot transport the container in accordance with the transport waiting task.

[0022] In some embodiments, the transmission module is further configured to sort a plurality of candidate containers in the seed aisle based on a transport waiting task corresponding to the target workstation and a transport capacity corresponding to the target transport robot, obtain a plurality of primary sorted containers, calculate scores for the plurality of primary sorted containers based on position information and task information corresponding to the plurality of primary sorted containers, obtain scores corresponding to the plurality of primary sorted containers, select a first set of containers waiting to be transported corresponding to the seed aisle based on the scores corresponding to the plurality of primary sorted containers, transmit the first set of containers waiting to be transported to the target transport robot, and have the target transport robot transport containers according to the first set of containers waiting to be transported.

[0023] In some embodiments, the transmission module is further configured to determine whether the target transport robot has remaining transport capacity based on the first set of containers waiting to be transported and the transport capacity of the target transport robot, and in response to determining that the target transport robot has remaining transport capacity, identify an expansion passage corresponding to the target workstation based on the remaining transport capacity of the target transport robot and the target workstation, select a second set of containers waiting to be transported corresponding to the expansion passage based on the transport waiting task corresponding to the target workstation and the remaining transport capacity of the target transport robot, transmit the first set of containers waiting to be transported and the second set of containers waiting to be transported to the target transport robot, and have the target transport robot transport containers according to the first set of containers waiting to be transported and the second set of containers waiting to be transported.

[0024] In some embodiments, the transmission module is further configured to, in response to determining that the target transport robot has remaining transport capacity, calculate scores for other candidate passages based on the remaining transport capacity of the target transport robot and the target workstation, obtain other candidate passage scores corresponding to the target workstation, and identify an expanded passage corresponding to the target workstation based on the other candidate passage scores corresponding to the target workstation.

[0025] In some embodiments, the sending module is further configured to: in response to determining that the target transport robot has remaining transport capacity, obtain the number of containers corresponding to other candidate aisles and the number of temporary storage locations corresponding to the target workstation; perform container number information calculation for the other candidate aisles based on the number of containers corresponding to the other candidate aisles and the number of temporary storage locations corresponding to the target workstation; obtain container scores corresponding to the other candidate aisles; perform vehicle full load information calculation for the other candidate aisles based on the container scores and the remaining transport capacity of the target transport robot; obtain vehicle full load scores corresponding to the other candidate aisles; perform aisle vehicle number information calculation for the other candidate aisles based on the number of vehicles in the other candidate aisles; obtain vehicle scores corresponding to the other candidate aisles; perform distance information calculation for the other candidate aisles based on the center positions of the other candidate aisles, the position of the target workstation, the position of the target transport robot, and the center position of the seed aisle; obtain distance scores corresponding to the other candidate aisles; calculate aisle scores corresponding to the other candidate aisles based on the seed aisle corresponding to the target workstation; and obtain other candidate aisle scores corresponding to the target workstation based on the container scores, vehicle full load scores, vehicle scores, distance scores, and aisle scores corresponding to the other candidate aisles.

[0026] In some embodiments, the transmission module is further configured to, in response to determining that the target transport robot has remaining transport capacity, obtain a target passage number corresponding to the target transport robot, determine whether the target passage number corresponding to the target transport robot exceeds a predetermined threshold, and, in response to determining that the target passage number corresponding to the target transport robot does not exceed the predetermined threshold, identify an expansion passage corresponding to the target workstation based on the remaining transport capacity of the target transport robot and the target workstation.

[0027] In some embodiments, the transmission module is further configured to, in response to identifying that the number of target passages corresponding to the target transport robot exceeds a predetermined threshold, transmit a first set of containers awaiting transport and a second set of containers awaiting transport to the target transport robot, and cause the target transport robot to transport containers in accordance with the first set of containers awaiting transport and the second set of containers awaiting transport.

[0028] In a third aspect, an embodiment of the present disclosure provides an electronic device that includes one or more processors and a storage device that records one or more programs, and when the one or more programs are executed by the one or more processors, causes the one or more processors to realize the container conveying method described in any one of the embodiments in the first aspect.

[0029] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable medium having a computer program recorded thereon, the computer program realizing, when executed by a processor, the container transport method described in any one of the embodiments in the first aspect. [Brief explanation of the drawings]

[0030] Other features, objects and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting examples, which proceeds with reference to the drawings in which:

[0031] [Figure 1] FIG. 1 is a diagram illustrating an exemplary system architecture to which an embodiment of the present disclosure can be applied. [Figure 2] FIG. 2 is a flowchart of one embodiment of a container transport method according to the present disclosure. [Figure 3] FIG. 3 is a schematic diagram of an application scene of the container conveying method according to the embodiment of the present disclosure. [Figure 4] FIG. 4 is a flow chart of one embodiment of calculating scores for candidate paths corresponding to candidate workstations according to the present disclosure. [Figure 5]FIG. 5 is a flow chart of one embodiment of sending a transfer queue task corresponding to a target workstation and a seed path to a target transfer robot according to the present disclosure. [Figure 6] FIG. 6 is a flowchart of an embodiment of a process for transmitting a first set of containers waiting to be transferred to a target transfer robot according to the present disclosure. [Figure 7] FIG. 7 is a flow chart of one embodiment of identifying an expanded path corresponding to a target workstation according to the present disclosure. [Figure 8] FIG. 8 is a structural schematic diagram of an embodiment of a container conveying device according to the present disclosure. [Figure 9] FIG. 9 is a structural schematic diagram of an electronic device that is applied to realize an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0032] The present disclosure will be described in more detail below in conjunction with the drawings and examples. It should be understood that the specific examples described herein are merely for the purpose of illustrating the relevant disclosure, and are not intended to limit the disclosure. For the sake of convenience, only parts relevant to the disclosure are shown in the drawings. It should be noted that, unless contradictory, the embodiments and features in the embodiments in the present disclosure can be combined with each other. The present disclosure will be described in detail below in conjunction with the embodiments with reference to the drawings.

[0033] FIG. 1 illustrates an exemplary system architecture 100 of a container transport method and device to which embodiments of the present disclosure are applicable.

[0034] 1, system architecture 100 may include terminal devices 101, 102, 103, a network 104, and a server 105. Network 104 is used to provide a medium for a communications link between terminal devices 101, 102, 103 and server 105. Network 104 may include various types of connections, such as wired, wireless communications links, or fiber optic cables.

[0035] Users can use terminal devices 101, 102, and 103 to communicate with server 105 via network 104, for example, to send and receive messages. Terminal devices 101, 102, and 103 may be user terminal devices on which various client applications can be installed, such as e-commerce platform applications, image applications, video applications, search applications, and financial applications.

[0036] The terminal devices 101, 102, and 103 may be various electronic devices that have a display and can receive messages from a server, including, but not limited to, smartphones, tablets, e-book readers, e-players, laptops, and desktop computers. The terminal devices 101, 102, and 103 may be hardware or software. If the terminal devices 101, 102, and 103 are hardware, they may be various electronic devices. If the terminal devices 101, 102, and 103 are software, they may be installed in the electronic devices listed above. They may be realized as multiple software programs or software modules (e.g., multiple software modules for providing distributed services) or as a single software program or software module. No specific limitations are provided here.

[0037] The server 105 may be a server that provides various services, such as a background server that receives requests sent from a terminal device with which a communication connection has been established. The background server may receive and analyze the requests sent from the terminal device and generate processing results. The server 105 may acquire a plurality of transport waiting tasks, group the plurality of transport waiting tasks based on the candidate passages, obtain a grouping result corresponding to the candidate passages, the grouping result including the transport waiting tasks corresponding to the candidate passages and the candidate workstations corresponding to the candidate passages, calculate scores for the candidate passages corresponding to the candidate workstations based on the grouping result, obtain candidate passage scores corresponding to the candidate workstations, then identify a target workstation and a seed passage corresponding to the target workstation from among the candidate workstations and the candidate passages corresponding to the candidate workstations based on the candidate passage scores corresponding to the candidate workstations, and finally send the transport waiting tasks corresponding to the target workstation and the seed passage to a target transport robot, and have the target transport robot transport the container according to the transport waiting tasks.

[0038] The server may be hardware or software. If the server is hardware, it may be any of various electronic devices that provide various services to terminal devices. If the server is software, it may be realized as multiple software programs or software modules that provide various services to terminal devices, or as a single software program or software module that provides various services to terminal devices. No specific limitations are provided here.

[0039] It should be noted that the container transport method provided by the embodiment of the present disclosure may be executed by the server 105, and the container transport device may be disposed in the server 105 accordingly. It should be understood that the number of terminal devices, networks and servers in Figure 1 is merely exemplary, and there may be any number of terminal devices, networks and servers according to actual needs.

[0040] Referring to Figure 2, a flow chart 200 of one embodiment of a method for transporting a container according to the present disclosure is shown, which includes the following steps:

[0041] In step 210, in response to obtaining the plurality of transport waiting tasks, the plurality of transport waiting tasks are grouped based on the candidate paths to obtain grouping results corresponding to the candidate paths.

[0042] In this step, the executing entity (for example, server 105 in FIG. 1) executing the container transfer method can receive multiple different transfer waiting tasks, and the transfer waiting tasks can represent transferring awaiting transfer containers from a storage position in an aisle to a workstation. For example, the transfer waiting tasks include transferring container A from storage position xx in aisle 1 to workstation a, transferring container B from storage position xx in aisle 1 to workstation a, transferring container C from storage position xx in aisle 2 to workstation b, etc. The executing entity can also initialize data for the transfer waiting tasks, and can set a set C of all waiting containers, a set W of workstations corresponding to the containers, and the maximum number of containers that can be transferred at one time by the transfer robot.

number

[0043] After receiving the multiple waiting tasks, the executing entity performs data analysis on each waiting task to identify a path corresponding to each waiting task, i.e., to determine which candidate path each waiting task will use to transport a container, and then performs grouping of the multiple waiting tasks according to the candidate path to obtain a grouping result corresponding to the candidate path. The grouping result may include the waiting tasks corresponding to the candidate path and the candidate workstations corresponding to the candidate path. Therefore, the grouping result may be displayed in the format of {candidate path number: {task number, container number, workstation number}}.

[0044] As an example, the transport waiting tasks include Task 1: Transport container A from storage position xx in aisle 1 to workstation a, Task 2: Transport container B from storage position xx in aisle 1 to workstation a, and Task 3: Transport container C from storage position xx in aisle 2 to workstation b. By grouping based on the candidate aisles, the following grouping results can be obtained: {No. 1: {Task 1, container A, workstation a}}, {No. 1: {Task 2, container B, workstation a}}, {No. 2: {Task 3, container C, workstation b}}.

[0045] In step 220, based on the grouping results, scores are calculated for the candidate paths corresponding to the candidate workstations to obtain candidate path scores corresponding to the candidate workstations.

[0046] In this step, after the executing entity obtains the grouping results, it may perform data statistics on the grouping results to obtain candidate paths corresponding to each candidate workstation, that is, there may be cases where one candidate workstation corresponds to multiple candidate paths, and one candidate workstation corresponds to one candidate path.

[0047] After the executing entity obtains the candidate passages corresponding to each candidate workstation, it can obtain passage information for each candidate passage corresponding to each candidate workstation. The passage information represents passage attribute information for the candidate passage and may include attribute information representing the relationship between the candidate passage and the candidate workstation, such as the number of containers belonging to the candidate workstation in the candidate passage. The executing entity calculates scores using the passage information corresponding to the candidate passage and obtains scores corresponding to each candidate passage, thereby obtaining candidate passage scores corresponding to each candidate workstation, and each candidate workstation may correspond to multiple candidate passage scores.

[0048] For example, the grouping results may include {No. 1: {Task 1, Container A, Workstation a}}, {No. 1: {Task 2, Container B, Workstation a}}, {No. 2: {Task 3, Container C, Workstation b}}. By performing data statistics on the grouping results, a candidate aisle corresponding to each candidate workstation can be obtained. That is, the candidate aisle corresponding to Workstation a includes aisle 1 and aisle 2, and the candidate aisle corresponding to Workstation b includes aisle 2. The executing entity calculates scores for each of aisle 1 and aisle 2 corresponding to Workstation a, thereby obtaining the score for candidate aisle 1 and candidate aisle 2 corresponding to Workstation a. The executing entity also calculates scores for aisle 2 corresponding to Workstation b, thereby obtaining the score for candidate aisle 2 corresponding to Workstation b.

[0049] In step 230, a target workstation and a seed path corresponding to the target workstation are identified from among the candidate workstations and the candidate paths corresponding to the candidate workstations based on the candidate path score numbers corresponding to the candidate workstations.

[0050] In this step, the executing entity obtains the candidate path scores corresponding to each candidate workstation, then compares the candidate path scores corresponding to each candidate workstation, selects the candidate workstation with the highest score from the candidate path scores corresponding to all the candidate workstations, identifies the candidate workstation as the target workstation, and identifies the candidate path corresponding to the highest candidate path score as the seed path corresponding to the target workstation.

[0051] As an optional implementation, each candidate workstation may correspond to multiple candidate paths. Identifying a target workstation and a seed path corresponding to the target workstation from among the candidate workstations and the candidate paths corresponding to the candidate workstations based on the candidate path scores corresponding to the candidate workstations in step 230 above may include the following steps:

[0052] In the first step, an optimal path corresponding to each candidate workstation is selected from among a plurality of candidate paths corresponding to each candidate workstation based on the candidate path score corresponding to the candidate workstation.

[0053] Specifically, after obtaining the candidate path scores corresponding to each candidate workstation, the executing entity compares the candidate path scores corresponding to each candidate workstation, selects the highest candidate path score corresponding to each candidate workstation, and identifies the candidate path corresponding to the highest candidate path score as the optimal path, thereby obtaining the optimal path corresponding to each candidate workstation.

[0054] For example, the execution entity identifies the optimal path corresponding to each candidate workstation based on the candidate path score, which can be expressed as {Workstation a-Path 02-Path score xxx}, {Workstation b-Path 01-Path score xxx}, etc.

[0055] In the second step, the utilization information of the temporary storage location corresponding to each candidate workstation is determined based on the optimal path corresponding to each candidate workstation and the availability information of the temporary storage location corresponding to each candidate workstation.

[0056] Specifically, after obtaining the optimal path corresponding to each candidate workstation, the executing entity can obtain the availability information of the temporary storage locations corresponding to each candidate workstation. The availability information of the temporary storage locations can represent the number of available temporary storage locations at the candidate workstation. The executing entity can determine the availability rate of the temporary storage locations corresponding to the candidate workstation by calculating the ratio between the number of available temporary storage locations at the candidate workstation and the total number of temporary storage locations. That is, the availability rate of the temporary storage locations can be calculated using the following formula.

number

number

[0057] Then, the executing entity further identifies the candidate passage points corresponding to the optimal passage based on the optimal passage corresponding to each candidate workstation, and calculates the usage information of the temporary storage location corresponding to each candidate workstation according to the candidate passage points corresponding to the optimal passage and the vacancy rate of the temporary storage location. The executing entity can calculate the usage information of the temporary storage location corresponding to each candidate workstation using the following formula:

number

number

number

number

number

[0058] In the third step, a target workstation is selected from among the plurality of candidate workstations based on the utilization information of the temporary storage locations, and an optimal path corresponding to the target workstation is identified as a seed path corresponding to the target workstation.

[0059] Specifically, after obtaining the usage information of the temporary storage location corresponding to each candidate workstation, the executing entity compares the usage information of the temporary storage location corresponding to each candidate workstation, selects the corresponding candidate workstation with the largest usage information of the temporary storage location from among the multiple candidate workstations, identifies it as the target workstation, and identifies the optimal path corresponding to the target workstation as the seed path corresponding to the target workstation.

[0060] The execution body can also add a seed path corresponding to the target workstation to the path set °F for transport by the transport robot.

[0061] In this embodiment, secondary selection is performed based on the utilization rate of the temporary storage locations of the candidate workstations, and relatively vacant candidate workstations are selected, balancing the workload of the workstations, reducing personnel waiting, and maintaining a balance in the workload of manual picking at the workstations.

[0062] In step 240, a transfer waiting task corresponding to the target workstation and the seed passage is sent to the target transfer robot, and the target transfer robot is made to transfer the container in accordance with the transfer waiting task.

[0063] In this step, the executing entity can identify a target workstation and a seed passage, and then identify a transfer waiting task corresponding to the target workstation and the seed passage from among a plurality of transfer waiting tasks based on the target workstation and the seed passage, and transmit the transfer waiting task corresponding to the target workstation and the seed passage to the target transfer robot. After receiving the transfer waiting task corresponding to the target workstation and the seed passage, the target transfer robot can transfer a container from the seed passage in accordance with the transfer waiting task and transfer the container in the seed passage to the target workstation.

[0064] In the container transport method provided by the embodiment of the present disclosure, the executing entity first, in response to acquiring multiple transport waiting tasks, groups the multiple transport waiting tasks based on candidate aisles to obtain grouping results corresponding to the candidate aisles, the grouping results including transport waiting tasks corresponding to the candidate aisles and candidate workstations corresponding to the candidate aisles, calculates scores for the candidate aisles corresponding to the candidate workstations based on the grouping results to obtain candidate aisle scores corresponding to the candidate workstations, then identifies a target workstation and a seed aisle corresponding to the target workstation from the candidate workstations and the candidate aisles corresponding to the candidate workstations based on the candidate aisle scores corresponding to the candidate workstations, and finally sends the transport waiting tasks corresponding to the target workstation and the seed aisle to a target transport robot, and has the target transport robot transport the container according to the transport waiting tasks. While the transport robot transports containers in the aisle, a grouping process is performed on the waiting tasks from the perspective of the aisle, and the seed aisle corresponding to the target workstation is identified, so that the target transport robot can transport the waiting tasks corresponding to the target workstation and the seed aisle, allowing the target transport robot to complete the container transport in the seed aisle, reducing the number of aisles to be crossed, and effectively preventing the target transport robot from continuously changing aisles during transport, allowing the transport robot to quickly pick up containers in a single aisle, improving the overall transport efficiency during container transport, shortening the transport time, and improving transport efficiency.

[0065] Next, refer to FIG. 3. FIG. 3 is a schematic diagram of an application scenario of the container transportation method according to this embodiment. In the application scenario of FIG. 3, the server 301 can acquire multiple waiting tasks, such as: Task 1: Transport container A from storage location xx in aisle 1 to workstation a; Task 2: Transport container B from storage location xx in aisle 1 to workstation a; and Task 3: Transport container C from storage location xx in aisle 2 to workstation b. The server 301 then groups the waiting tasks according to the candidate aisles, resulting in grouping results such as {Task 1: {Task 1, container A, workstation a}}, {Task 1: {Task 2, container B, workstation a}}, and {Task 2: {Task 3, container C, workstation b}}. The server 301 then performs data statistics on the grouping results, resulting in candidate aisles corresponding to each candidate workstation. That is, the candidate aisle corresponding to workstation a includes aisle 1 and aisle 2, and the candidate aisle corresponding to workstation b includes aisle 2. The server 301 calculates scores for each of the aisles 1 and 2 corresponding to workstation a, obtaining the score for candidate aisle 1 and the score for candidate aisle 2 corresponding to workstation a. The server 301 also calculates scores for aisle 2 corresponding to workstation b, obtaining the score for candidate aisle 2 corresponding to workstation b. The server 301 compares the scores for candidate aisle 1 and candidate aisle 2 corresponding to workstation a with the scores for candidate aisle 2 corresponding to workstation b, selects the candidate aisle with the highest candidate aisle score as the seed aisle, and identifies the candidate workstation corresponding to that candidate aisle score as the target workstation. The server 301 then sends a transfer queue task corresponding to the target workstation and seed aisle to the target transfer robot, and has the target transfer robot transfer the container according to the transfer queue task. That is, the server 301 identifies a set of containers waiting for transfer in the seed aisle according to the transfer queue task, and can determine the optimal order using the TSP algorithm.A transfer task is generated with the current position of the target transfer robot as the starting point, the target workstation as the destination, and the pickup points of all waiting containers in the waiting container set as required waypoints. The transfer task can be expressed as {pickup point, container number, container coordinates, order}, {pickup point, container number, container coordinates, order}, etc. This allows the target transfer robot to transport the waiting containers to the target workstation within the seed path.

[0066] Please refer to Fig. 4. Fig. 4 shows a flowchart 400 of one embodiment for calculating scores for candidate paths corresponding to candidate workstations. That is, in the above step 220, calculating scores for candidate paths corresponding to candidate workstations based on the grouping results and obtaining candidate path scores for the candidate workstations may include the following steps:

[0067] In step 410, based on the grouping results, candidate paths and transport waiting tasks corresponding to the candidate workstations are obtained.

[0068] In this step, after obtaining the grouping results, the executing entity may perform data statistics on the grouping results to obtain candidate paths corresponding to each candidate workstation. That is, there may be cases where one candidate workstation corresponds to multiple candidate paths, and one candidate workstation corresponds to one candidate path. Then, the executing entity can further obtain waiting tasks corresponding to each candidate workstation from the grouping results.

[0069] In step 420, the number of corresponding containers in the candidate aisle corresponding to the candidate workstation and the number of temporary storage positions corresponding to the candidate workstation are obtained based on the transport queue tasks corresponding to the candidate workstation.

[0070] In this step, the executing entity can perform statistics on the number of containers for each candidate workstation in each candidate aisle based on the transport waiting task corresponding to the candidate workstation, and can select the number of containers belonging to the candidate workstation in the candidate aisle. In addition, the executing entity can obtain the number of temporary storage locations corresponding to each candidate workstation, thereby obtaining the number of containers in each candidate aisle corresponding to each candidate workstation and the number of temporary storage locations corresponding to each candidate workstation.

[0071] In step 430, a score is calculated for the candidate aisle corresponding to the candidate workstation based on the number of containers and the number of temporary storage locations to obtain a candidate aisle score for the candidate workstation.

[0072] In this step, the executing entity obtains the corresponding number of containers in the candidate aisle corresponding to the candidate workstation and the number of temporary storage positions corresponding to the candidate workstation, and then calculates the relationship between the candidate aisle and the candidate workstation according to the number of containers in each candidate aisle and the number of temporary storage positions of the candidate workstation, and obtains a score for each candidate aisle, thereby obtaining the candidate aisle score corresponding to the candidate workstation.

[0073] As an optional implementation, the step 430 above of calculating scores for candidate aisles corresponding to candidate workstations based on the number of containers and the number of temporary storage locations to obtain candidate aisle scores for the candidate workstations may include the following steps:

[0074] In the first step, container number information is calculated for the candidate aisle based on the number of containers and the number of temporary storage positions, and a container score corresponding to the candidate aisle is obtained. Specifically, the executing entity obtains the number of containers corresponding to each candidate aisle and the number of temporary storage locations corresponding to the candidate workstation for each candidate workstation, then calculates container number information for the candidate aisle based on the number of containers and the number of temporary storage locations, and obtains the container points corresponding to the candidate aisle.

[0075] The executing entity can calculate the number of containers corresponding to the candidate passage using the following formula.

number

number

number

number

number

[0076] In the second step, full vehicle load information is calculated for the candidate passage based on the number of containers and the transport capacity corresponding to the transport robot, and a full vehicle load score corresponding to the candidate passage is obtained. Specifically, after obtaining the container score for the candidate passage, the executing entity calculates the full vehicle load information for the candidate passage based on the number of containers that can be transported through the candidate passage and the transport capacity corresponding to the transport robot, and obtains the full vehicle load score corresponding to the candidate passage.

[0077] The executing entity can calculate the full load score corresponding to the candidate passage using the following formula:

number

number

number

number

number

number

[0078] In the third step, passage vehicle number information is calculated for the candidate passage based on the number of vehicles in the candidate passage, and a vehicle score corresponding to the candidate passage is obtained. Specifically, the executing entity can acquire the number of vehicles in the candidate passage and identify the number of transport robots already present in the candidate passage. The executing entity can calculate passage vehicle number information for the candidate passage according to the number of vehicles in the candidate passage and obtain a vehicle score corresponding to the candidate passage.

[0079] The executing entity can calculate the vehicle score corresponding to the candidate passage using the following formula.

number

number

number

number

number

[0080] In the fourth step, distance information is calculated for the candidate passage based on the center position of the candidate passage and the position of the candidate workstation, and a distance score corresponding to the candidate passage is obtained. Specifically, the executing entity identifies the center position of the candidate passage and further identifies the position of the candidate workstation, and then calculates distance information for the candidate passage according to the center position of the candidate passage and the position of the candidate workstation, thereby obtaining a distance score corresponding to the candidate passage.

[0081] The executing entity can calculate the distance score corresponding to the candidate passage using the following formula:

number

number

number

number

number

[0082] The execution body can calculate the number of candidate path points corresponding to the candidate workstations using the following formula:

number

number

[0083] In this embodiment, a score is calculated for each of the candidate aisles from a number of different perspectives, such as the number of containers, full vehicle load information, aisle vehicle count information, and distance information, and the candidate aisle scores can be displayed from different perspectives, making it possible to make the candidate aisle scores more accurate.

[0084] In this embodiment, a score is calculated for the candidate aisle corresponding to the candidate workstation based on the number of containers and the number of temporary storage locations, and the candidate aisle score corresponding to the candidate workstation is obtained, thereby making it possible to calculate the candidate aisle score for the number of containers in the candidate aisle and the number of temporary storage locations at the candidate workstation, thereby improving the accuracy of the candidate aisle score.

[0085] Please refer to Fig. 5. Fig. 5 shows a flowchart 500 of one embodiment for transmitting a transfer waiting task corresponding to a target workstation and a seed passage to a target transport robot. That is, transmitting a transfer waiting task corresponding to a target workstation and a seed passage to a target transport robot and having the target transport robot transport a container in accordance with the transfer waiting task in the above step 240 may include the following steps.

[0086] In step 510, in response to the identification of a plurality of candidate transport robots for transporting the container, the current positions of the plurality of candidate transport robots are acquired. In this step, the executing entity can acquire the working status of each transport robot and identify available transport robots as multiple candidate transport robots for transporting the container. Then, the executing entity can perform positioning for each candidate transport robot and acquire the current positions of the multiple candidate transport robots.

[0087] In step 520, route information corresponding to the plurality of candidate transport robots is calculated based on the current positions of the plurality of candidate transport robots and the center position of the seed passage. In this step, the executing entity acquires the current positions of multiple candidate transport robots, calculates the current position of each candidate transport robot and the center position of the seed passage, determines the distance between the current position of each candidate transport robot and the center position of the seed passage, and obtains route information corresponding to each candidate transport robot.

[0088] In step 530, a target transport robot is selected from among the plurality of candidate transport robots based on the path information corresponding to the plurality of candidate transport robots. In this step, the executing entity acquires route information corresponding to multiple candidate transport robots, compares the route information corresponding to each candidate transport robot, identifies the candidate transport robot with the smallest route information, and identifies it as the target transport robot.

[0089] In step 540, a transfer waiting task corresponding to the target workstation and the seed passage is sent to the target transfer robot, and the target transfer robot is made to transfer the container in accordance with the transfer waiting task. In this step, the executing entity identifies a target transport robot, and then identifies a transport waiting task corresponding to the target workstation and seed passage from among a plurality of transport waiting tasks according to the target workstation and seed passage, and transmits the transport waiting task corresponding to the target workstation and seed passage to the target transport robot. After receiving the transport waiting task corresponding to the target workstation and seed passage, the target transport robot can transport a container from the seed passage according to the transport waiting task and transport the container in the seed passage to the target workstation.

[0090] As an optional implementation, the above step 540 of sending a transport waiting task corresponding to the target workstation and seed passage to a target transport robot and having the target transport robot transport a container in accordance with the transport waiting task may include the following steps.

[0091] In the first step, a plurality of candidate containers in the seed path are sorted based on the transport waiting tasks corresponding to the target workstation and the transport capacity corresponding to the target transport robot, to obtain a plurality of primary sorted containers. Specifically, after acquiring the target transport robot, the executing entity acquires all containers in the seed passage, selects a plurality of candidate containers in the seed passage according to the transport waiting task corresponding to the target workstation and the transport capacity of the target transport robot, makes a judgment for each candidate container in the seed passage, determines whether the workstation corresponding to the candidate container is the target workstation, and determines whether the remaining transport capacity of the target transport robot exceeds 0. That is,

number

[0092] The execution body selects a plurality of candidate containers in the seed passage according to the plurality of selection conditions to obtain a plurality of first-selected containers.

[0093] In the second step, points are calculated for the plurality of primary sorting containers based on the position information and task information corresponding to the plurality of primary sorting containers, and points corresponding to the plurality of primary sorting containers are obtained. Specifically, after acquiring multiple primary sorting containers, the executing entity acquires location information and task information corresponding to each primary sorting container, calculates points for the multiple primary sorting containers based on the location information and task information corresponding to each primary sorting container, and obtains points corresponding to the multiple primary sorting containers.

[0094] The executing entity can calculate the actual distance from the location information corresponding to the primary sorting container to the target workstation, the wave priority of the task information corresponding to the primary sorting container, and whether the primary sorting container pick-up point belongs to the container pick-up point in the container list already selected by the target transport robot so as to minimize the set of pick-up points to be transported in one go, thereby obtaining points corresponding to multiple primary sorting containers.

[0095] In a third step, a first set of containers waiting to be transported corresponding to the seed path is selected based on the scores corresponding to the plurality of first sorted containers. Specifically, the executing entity obtains scores corresponding to a plurality of primary sorting containers, then selects from a plurality of primary sorting containers according to the scores corresponding to the plurality of primary sorting containers, and selects a first set of containers waiting to be transported corresponding to the seed passage until there are no primary sorting containers in the seed passage that satisfy the sorting conditions.

[0096] In the fourth step, the first set of containers waiting to be transferred is transmitted to the target transfer robot, and the target transfer robot is caused to transfer the containers in accordance with the first set of containers waiting to be transferred. Specifically, after identifying the first set of containers awaiting transport, the executing entity can send the first set of containers awaiting transport to a target transport robot, have the target transport robot transport containers according to the first set of containers awaiting transport, and transport the containers awaiting transport in the first set of containers awaiting transport to the target workstation.

[0097] After identifying the first set of containers waiting for transfer, the execution entity can use the TSP algorithm to determine the optimal order. A transfer task is generated with the current location of the target transfer robot as the starting point, the target workstation as the destination, and the pickup points of all containers waiting for transfer in the first set of containers waiting for transfer as required waypoints. The transfer task can be expressed as {pickup point, container number, container coordinates, order}, {pickup point, container number, container coordinates, order}, etc.

[0098] In this implementation, sorting and scoring of containers in the seed aisle allows for the selection of optimal waiting containers, respects the priority of transport tasks, and ensures timeliness.

[0099] In this embodiment, the target transport robot is selected according to the current position of the candidate transport robot and the center position of the seed passage, thereby making it possible to select the closest transport robot.

[0100] Please refer to Fig. 6. Fig. 6 shows a flowchart 600 of one embodiment for transmitting a first set of containers waiting for transfer to a target transport robot. That is, the above step 540 of transmitting a transfer waiting task corresponding to the target workstation and the seed passage to the target transport robot and having the target transport robot transport the containers in accordance with the transfer waiting task may include the following steps. In step 610, it is determined whether the target transport robot has a remaining transport capacity based on the first set of containers waiting to be transported and the transport capacity of the target transport robot.

[0101] In this step, the executing entity identifies the first set of containers waiting to be transported in the seed passage, and then compares the number of containers in the first set of containers waiting to be transported with the transport capacity of the target transport robot to determine whether the target transport robot has remaining transport capacity. In step 620, in response to determining that the target transport robot has a remaining transport capacity, an expansion passage corresponding to the target workstation is determined based on the remaining transport capacity of the target transport robot and the target workstation.

[0102] In this step, if the executing entity determines through comparison that the target transport robot has remaining transport capacity and proves that the target transport robot is not fully loaded on the seed path, it can identify an extension path corresponding to the target workstation from among other candidate paths according to the remaining transport capacity of the target transport robot and the target workstation, which may be a candidate path other than the seed path that is most closely related to the target workstation.

[0103] As an optional implementation, in response to determining in step 620 above that the target transport robot has remaining transport capacity, identifying an expansion passage corresponding to the target workstation based on the remaining transport capacity of the target transport robot and the target workstation may include the following steps:

[0104] In the first step, in response to identifying that the target transport robot has remaining transport capacity, scores are calculated for other candidate passages based on the remaining transport capacity of the target transport robot and the target workstation, and other candidate passage scores corresponding to the target workstation are obtained.

[0105] Specifically, if the executing entity determines through judgment that the target transport robot has remaining transport capacity, it can obtain the remaining transport capacity of the target transport robot, identify other candidate passages corresponding to the target workstation, and then obtain passage information for the other candidate passages.The executing entity can calculate scores for the other candidate passages according to the remaining transport capacity of the target transport robot and the passage information for the other candidate passages, and obtain the scores for the other candidate passages corresponding to the target workstation.

[0106] As an optional implementation form, the above first step of calculating scores for other candidate passages based on the remaining conveying capacity of the target transport robot and the target workstation in response to identifying that the target transport robot has remaining conveying capacity, and obtaining other candidate passage scores corresponding to the target workstation, may include the following steps:

[0107] In step 1, in response to the determination that the target transport robot has remaining transport capacity, the number of containers corresponding to other candidate passages and the number of temporary storage positions corresponding to the target workstation are acquired. Specifically, if the executing entity determines through judgment that the target transport robot has remaining transport capacity, it can perform statistics on the number of containers for each of the other candidate passages and select the number of containers belonging to the target workstation in the other candidate passages. In addition, the executing entity can obtain the number of temporary storage positions corresponding to the target workstation, thereby obtaining the number of containers in each of the other candidate passages corresponding to the target workstation and the number of temporary storage positions corresponding to the target workstation.

[0108] In step 2, container number information is calculated for the other candidate aisles based on the number of containers corresponding to the other candidate aisles and the number of temporary storage positions corresponding to the target workstation, and container points corresponding to the other candidate aisles are obtained. Specifically, the executing entity obtains the number of containers corresponding to other candidate aisles and the number of temporary storage locations corresponding to the target workstation, and then calculates container number information for other candidate aisles based on the number of containers and the number of temporary storage locations, thereby obtaining container points corresponding to other candidate aisles.

[0109] The executing entity can calculate the container points corresponding to other candidate passages using the following formula.

number

number

number

number

number

[0110] In step 3, based on the number of containers and the remaining transport capacity of the target transport robot, full vehicle load information is calculated for the other candidate passages, and full vehicle load points corresponding to the other candidate passages are obtained. Specifically, after obtaining the container scores for other candidate passages, the executing entity calculates full vehicle load information for the other candidate passages based on the number of containers that can be transported in the other candidate passages and the remaining transport capacity corresponding to the target transport robot, and obtains full vehicle load scores corresponding to the other candidate passages.

[0111] The executing entity can calculate the full load scores of other candidate passages using the following formula:

number

number

number

number

number

[0112] In step 4, passage vehicle number information is calculated for the other candidate passages based on the number of vehicles in the other candidate passages, and vehicle scores corresponding to the other candidate passages are obtained. Specifically, the executing entity can obtain the number of vehicles in the other candidate passages and identify the number of transport robots already present in the other candidate passages. The executing entity can calculate passage vehicle number information for the other candidate passages according to the number of vehicles in the other candidate passages and obtain vehicle scores corresponding to the other candidate passages.

[0113] The executing entity can calculate the vehicle scores corresponding to other candidate paths using the following formula:

number

number

number

number

number

[0114] In step 5, distance information is calculated for the other candidate passages based on the center positions of the other candidate passages, the position of the target workstation, the position of the target transport robot, and the center position of the seed passage, and distance scores corresponding to the other candidate passages are obtained. Specifically, the executing entity identifies the center positions of the other candidate passages, and further calculates the distance between the target workstation and the center positions of the other candidate passages, the distance between the position of the target transport robot and the center positions of the other candidate passages, and the distance between the center position of the seed passage and the center positions of the other candidate passages.Then, based on the above three distances, distance information is calculated for the other candidate passages, and distance scores corresponding to the other candidate passages can be obtained.

[0115] The executing entity can calculate the distance scores corresponding to other candidate paths using the following formula:

number

number

number

number

number

number

number

[0116] In step 6, based on the seed path corresponding to the target workstation, path scores corresponding to other candidate paths are calculated. Specifically, the execution entity can identify an aisle set °F corresponding to the target workstation according to the seed aisle of the target workstation, compare the aisles in the aisle set °F corresponding to the target workstation with each of the other candidate aisles, and determine whether the other candidate aisles are in the aisle set °F. The execution entity can calculate aisle scores corresponding to the other candidate aisles according to the comparison results.

[0117] The execution body can calculate the passage points corresponding to other candidate passages using the following formula:

number

number

number

number

number

[0118] In step 7, obtain other candidate aisle scores corresponding to the target workstation based on the container scores, full car scores, vehicle scores, distance scores and aisle scores corresponding to the other candidate aisles. Specifically, the executing entity obtains the container score, full vehicle load score, vehicle score, distance score and aisle score corresponding to other candidate aisles, and then calculates and obtains other candidate aisle scores corresponding to the target workstation according to the container score, full vehicle load score, vehicle score, distance score and aisle score corresponding to other candidate aisles.

[0119] The execution subject can calculate the number of other candidate path points corresponding to the target workstation using the following formula:

number

number

[0120] In this embodiment, scores are calculated for other candidate aisles from a number of different perspectives, such as the number of containers, full vehicle load information, aisle vehicle count information, distance information, and whether the aisles match. The scores for other candidate aisles can be displayed from different perspectives, making it possible to make the scores for other candidate aisles more accurate.

[0121] In the second step, an expanded path corresponding to the target workstation is identified based on the number of other candidate path points corresponding to the target workstation.

[0122] Specifically, after obtaining the other candidate path scores corresponding to the target workstation, the executing entity can compare the scores of each other candidate path, select the other candidate path with the highest score from all the other candidate path scores, and identify it as the extended path corresponding to the target workstation.

[0123] In this embodiment, by further selecting an extension path for the target workstation according to the number of other candidate paths, if the containers in the seed path are not enough to fully load the target transport robot, a new path can be further expanded to fully load the target transport robot.

[0124] In step 630, a second set of waiting containers corresponding to the expansion aisle is selected based on the waiting tasks corresponding to the target workstation and the remaining transfer capacity of the target transfer robot. In this step, the executing entity identifies the extension passage corresponding to the target workstation, then selects all containers corresponding to the transport waiting tasks from the extension passage according to the transport waiting tasks corresponding to the target workstation, sorts all containers corresponding to the transport waiting tasks according to the remaining transport capacity of the target transport robot, and selects a second set of containers waiting to be transported corresponding to the extension passage. Specifically, the execution body can identify the second set of containers waiting to be transferred by the step of identifying the first set of containers waiting to be transferred in step 540.

[0125] In step 640, the first set of containers waiting to be transferred and the second set of containers waiting to be transferred are sent to the target transfer robot, and the target transfer robot is caused to transfer containers according to the first set of containers waiting to be transferred and the second set of containers waiting to be transferred. In this step, the executing entity identifies the second set of containers waiting to be transported corresponding to the expansion passage, then sends the first set of containers waiting to be transported and the second set of containers waiting to be transported to the target transport robot, and has the target transport robot transport containers according to the first set of containers waiting to be transported and the second set of containers waiting to be transported, and transports the containers waiting to be transported in the first set of containers waiting to be transported and the second set of containers waiting to be transported to the target workstation.

[0126] Specifically, by transmitting the first set of containers waiting to be transferred to the target transfer robot in step 540, the executing entity can cause the target transfer robot to transfer the first set of containers waiting to be transferred and the second set of containers waiting to be transferred.

[0127] Furthermore, after transmitting the first set of containers waiting to be transferred and the second set of containers waiting to be transferred to the target transport robot, the execution entity can again determine whether the target transport robot has remaining transport capacity. If there is still remaining transport capacity, the execution entity can continue to execute steps 610 to 640 and further acquire the extension passage and the second set of containers waiting to be transferred within the extension passage until the remaining transport capacity of the target transport robot is used up.

[0128] In this embodiment, by further selecting an extended passage at the target workstation according to the number of other candidate passages, if the containers in the seed passage cannot fully load the target transport robot, a new passage can be further expanded, allowing the target transport robot to transport containers in the seed passage and the extended passage, thereby realizing a fully loaded vehicle and improving transport efficiency.

[0129] Continuing to refer to FIG. 6, the above step 540 of sending a transport waiting task corresponding to the target workstation and seed passage to the target transport robot and having the target transport robot transport a container in accordance with the transport waiting task may include the following steps:

[0130] In step 650, in response to determining that the target transport robot has no remaining transport capacity, a first set of containers waiting to be transported is sent to the target transport robot, and the target transport robot is caused to transport containers according to the first set of containers waiting to be transported. In this step, if the executing entity determines, through judgment, that the target transport robot has no remaining transport capacity, it determines that the containers waiting to be transported in the seed passage can fully load the target transport robot, directly sends the first set of containers waiting to be transported to the target transport robot, has the target transport robot transport containers according to the first set of containers waiting to be transported, and transports the containers waiting to be transported in the first set of containers waiting to be transported to the target workstation.

[0131] After identifying the first set of containers waiting for transfer, the execution entity can use the TSP algorithm to determine the optimal order. A transfer task is generated with the current location of the target transfer robot as the starting point, the target workstation as the destination, and the pickup points of all containers waiting for transfer in the first set of containers waiting for transfer as required waypoints. The transfer task can be expressed as {pickup point, container number, container coordinates, order}, {pickup point, container number, container coordinates, order}, etc.

[0132] In this embodiment, by determining that the containers waiting to be transported in the seed passage can be fully loaded by the target transport robot, the target transport robot can complete the current transport in one seed passage, eliminating the need to cross over to another passage, thereby improving transport efficiency.

[0133] Please refer to Fig. 7. Fig. 7 is a flowchart 700 of one embodiment for identifying an expansion path corresponding to a target workstation. That is, in response to identifying the target transport robot having a remaining transport capacity in step 620, identifying an expansion path corresponding to the target workstation based on the remaining transport capacity of the target transport robot and the target workstation may include the following steps.

[0134] In step 710, in response to the determination that the target transport robot has a remaining transport capacity, the number of target passages corresponding to the target transport robot is acquired.

[0135] In this step, if the executing entity determines through judgment that the target transport robot has remaining transport capacity, it determines that the target transport robot is not fully loaded, and can further acquire a path set °F corresponding to the target transport robot. The path set °F may include all paths that require transport for the target transport robot, or may include a seed path and at least one extension path. The executing entity can determine the number of target paths corresponding to the target transport robot according to the path set. The target number of paths may include the total number of seed paths and extension paths in the path set.

[0136] In step 720, it is determined whether the number of target passages corresponding to the target transport robot exceeds a preset threshold. In this step, the executing entity acquires the number of target passages corresponding to the target transport robot, and then compares the number of target passages with a preset threshold to determine whether the number of target passages corresponding to the target transport robot exceeds the preset threshold. The preset threshold may be a value preset by an operator, such as 3 or 5. The present disclosure does not particularly limit the number.

[0137] In step 730, in response to determining that the number of target passages corresponding to the target transport robot does not exceed a predetermined threshold, an expansion passage corresponding to the target workstation is identified based on the remaining transport capacity of the target transport robot and the target workstation. In this step, if the executing entity determines through judgment that the number of target paths corresponding to the target transport robot does not exceed a predetermined threshold, it can identify an extension path corresponding to the target workstation from among other candidate paths according to the remaining transport capacity of the target transport robot and the target workstation. The extension path may be a candidate path other than the seed path that has the highest correlation with the target workstation.

[0138] In this embodiment, if it is determined that the target transport robot has remaining transport capacity, the number of target passages for the target transport robot is further determined. However, by identifying an extended passage corresponding to the target workstation only if the number of target passages corresponding to the target transport robot does not exceed a preset threshold, it is possible to prevent the target transport robot from crossing multiple different passages in a single transport, preventing one robot from crossing excessively many passages, and improving transport efficiency.

[0139] Still referring to FIG. 7, the method further includes the following steps: In step 740, in response to determining that the number of target passages corresponding to the target transport robot exceeds a predetermined threshold, a first set of containers waiting to be transported and a second set of containers waiting to be transported are sent to the target transport robot, and the target transport robot is caused to transport containers according to the first set of containers waiting to be transported and the second set of containers waiting to be transported.

[0140] In this step, when the executing entity determines, through judgment, that the number of target passages corresponding to the target transport robot exceeds a predetermined threshold, it directly sends the first set of containers waiting to be transported corresponding to the seed passage and the second set of containers waiting to be transported corresponding to the expansion passage to the target transport robot without performing the expansion passage identification step again, and has the target transport robot transport containers according to the first set of containers waiting to be transported and the second set of containers waiting to be transported, and transports the containers waiting to be transported in the first set of containers waiting to be transported and the second set of containers waiting to be transported to the target workstation.

[0141] In this embodiment, when it is determined that the target transport robot has remaining transport capacity, the number of target passages for the target transport robot is further determined. If the number of target passages corresponding to the target transport robot exceeds a preset threshold, the extension passage corresponding to the target workstation is not identified again, and the target transport robot can be prevented from crossing multiple different passages in a single transport, preventing one robot from crossing excessively many passages and improving transport efficiency.

[0142] See Figure 8. As an implementation of the method shown in the above figures, the present disclosure provides an embodiment of a container transport device, which embodiment corresponds to the embodiment of the method shown in Figure 2.

[0143] As shown in FIG. 8, the container transport device 800 of this embodiment may include a grouping module 810, a calculation module 820, an identification module 830, and a transmission module 840. Wherein, the grouping module 810 is configured to, in response to obtaining a plurality of queuing tasks, perform grouping on the plurality of queuing tasks based on candidate passages, and obtain a grouping result corresponding to the candidate passages, where the grouping result includes the queuing tasks corresponding to the candidate passages and candidate workstations corresponding to the candidate passages.

[0144] The calculation module 820 is configured to calculate a score for the candidate path corresponding to the candidate workstation based on the grouping result, and obtain a candidate path score corresponding to the candidate workstation. The identification module 830 is configured to identify a target workstation and a seed path corresponding to the target workstation from among the candidate workstations and the candidate paths corresponding to the candidate workstations based on the candidate path score numbers corresponding to the candidate workstations.

[0145] The sending module 840 is configured to send a transfer waiting task corresponding to the target workstation and the seed passage to a target transport robot, and to cause the target transport robot to perform container transfer according to the transfer waiting task.

[0146] In some optional implementations of this embodiment, the calculation module 820 is further configured to obtain candidate aisles and transport waiting tasks corresponding to the candidate workstations based on the grouping result, obtain the corresponding number of containers among the candidate aisles corresponding to the candidate workstations and the number of temporary storage positions corresponding to the candidate workstations based on the transport waiting tasks corresponding to the candidate workstations, calculate a score for the candidate aisle corresponding to the candidate workstation based on the number of containers and the number of temporary storage positions, and obtain a candidate aisle score corresponding to the candidate workstation.

[0147] In some optional implementation forms of this embodiment, the calculation module 820 is further configured to: calculate container number information for the candidate aisle based on the number of containers and the number of temporary storage positions, and obtain a container score corresponding to the candidate aisle; calculate vehicle load information for the candidate aisle based on the container score and the transport capacity corresponding to the transport robot, and obtain a vehicle load score corresponding to the candidate aisle; calculate aisle vehicle number information for the candidate aisle based on the number of vehicles in the candidate aisle, and obtain a vehicle score corresponding to the candidate aisle; calculate distance information for the candidate aisle based on the center position of the candidate aisle and the position of the candidate workstation, and obtain a distance score corresponding to the candidate aisle; and obtain a candidate aisle score corresponding to the candidate workstation based on the container score, vehicle load score, vehicle score, and distance score corresponding to the candidate aisle.

[0148] In some optional implementations of this embodiment, the candidate workstations correspond to a plurality of candidate paths, and the identification module 830 is further configured to: select an optimal path corresponding to each candidate workstation from among the plurality of candidate paths corresponding to each candidate workstation based on the candidate path score corresponding to the candidate workstation; determine usage information of the temporary storage location corresponding to each candidate workstation based on the optimal path corresponding to each candidate workstation and availability information of the temporary storage location corresponding to each candidate workstation; select a target workstation from among the plurality of candidate workstations based on the usage information of the temporary storage location; and identify the optimal path corresponding to the target workstation as a seed path corresponding to the target workstation.

[0149] In some optional implementation forms of this embodiment, the transmission module 840 is further configured to, in response to the identification of multiple candidate transport robots for transporting the container, obtain the current positions of the multiple candidate transport robots, calculate route information corresponding to the multiple candidate transport robots based on the current positions of the multiple candidate transport robots and the center position of the seed passage, select a target transport robot from among the multiple candidate transport robots based on the route information corresponding to the multiple candidate transport robots, send a transport waiting task corresponding to the target workstation and the seed passage to the target transport robot, and have the target transport robot transport the container according to the transport waiting task.

[0150] In some optional implementations of this embodiment, the transmission module 840 is further configured to sort multiple candidate containers in the seed aisle based on the transport waiting tasks corresponding to the target workstation and the transport capacity corresponding to the target transport robot, obtain multiple primary sorted containers, calculate scores for the multiple primary sorted containers based on position information and task information corresponding to the multiple primary sorted containers, obtain scores corresponding to the multiple primary sorted containers, select a first set of containers waiting to be transported corresponding to the seed aisle based on the scores corresponding to the multiple primary sorted containers, transmit the first set of containers waiting to be transported to the target transport robot, and have the target transport robot transport containers according to the first set of containers waiting to be transported.

[0151] In some optional implementations of this embodiment, the transmission module 840 is further configured to determine whether the target transport robot has remaining transport capacity based on the first set of containers waiting to be transported and the transport capacity of the target transport robot, and in response to determining that the target transport robot has remaining transport capacity, identify an expansion passage corresponding to the target workstation based on the remaining transport capacity of the target transport robot and the target workstation, select a second set of containers waiting to be transported corresponding to the expansion passage based on the transport waiting task corresponding to the target workstation and the remaining transport capacity of the target transport robot, transmit the first set of containers waiting to be transported and the second set of containers waiting to be transported to the target transport robot, and have the target transport robot transport containers according to the first set of containers waiting to be transported and the second set of containers waiting to be transported.

[0152] In some optional implementations of this embodiment, the transmission module 840 is further configured to, in response to determining that the target transport robot has remaining transport capacity, calculate scores for other candidate passages based on the remaining transport capacity of the target transport robot and the target workstation, obtain other candidate passage scores corresponding to the target workstation, and identify an extended passage corresponding to the target workstation based on the other candidate passage scores corresponding to the target workstation.

[0153] In some optional implementation forms of this embodiment, the sending module 840 is further configured to, in response to determining that the target transport robot has remaining transport capacity, obtain the number of containers corresponding to other candidate aisles and the number of temporary storage positions corresponding to the target workstation, calculate container number information for other candidate aisles based on the number of containers corresponding to other candidate aisles and the number of temporary storage positions corresponding to the target workstation, obtain container scores for other candidate aisles, calculate full vehicle load information for other candidate aisles based on the container scores and the remaining transport capacity of the target transport robot, obtain full vehicle load scores for other candidate aisles, calculate aisle vehicle number information for other candidate aisles based on the number of vehicles in other candidate aisles, obtain vehicle scores for other candidate aisles, calculate distance information for other candidate aisles based on the center positions of the other candidate aisles, the position of the target workstation, the position of the target transport robot, and the center position of the seed aisle, obtain distance scores for other candidate aisles, calculate aisle scores for other candidate aisles based on the seed aisle corresponding to the target workstation, and obtain other candidate aisle scores for the target workstation based on the container scores, full vehicle load scores, vehicle scores, distance scores, and aisle scores for other candidate aisles.

[0154] In some optional implementations of this embodiment, the transmission module 840 is further configured to, in response to determining that the target transport robot has remaining transport capacity, obtain a target passage number corresponding to the target transport robot, determine whether the target passage number corresponding to the target transport robot exceeds a predetermined threshold, and, in response to determining that the target passage number corresponding to the target transport robot does not exceed the predetermined threshold, identify an extended passage corresponding to the target workstation based on the remaining transport capacity of the target transport robot and the target workstation.

[0155] In some optional implementations of this embodiment, the transmission module 840 is further configured to, in response to identifying that the number of target passages corresponding to the target transport robot exceeds a predetermined threshold, transmit a first set of containers awaiting transport and a second set of containers awaiting transport to the target transport robot, and cause the target transport robot to transport containers in accordance with the first set of containers awaiting transport and the second set of containers awaiting transport.

[0156] In the container transport device provided in the above embodiment of the present disclosure, the executing entity first, in response to acquiring multiple transport waiting tasks, groups the multiple transport waiting tasks based on candidate passages to obtain grouping results corresponding to the candidate passages, where the grouping results include transport waiting tasks corresponding to the candidate passages and candidate workstations corresponding to the candidate passages; then, based on the grouping results, calculates scores for the candidate passages corresponding to the candidate workstations to obtain candidate passage scores corresponding to the candidate workstations; then, based on the candidate passage scores corresponding to the candidate workstations, identifies a target workstation and a seed passage corresponding to the target workstation from among the candidate workstations and the candidate passages corresponding to the candidate workstations; and finally, sends the transport waiting tasks corresponding to the target workstation and the seed passage to a target transport robot, and has the target transport robot transport the container according to the transport waiting tasks. While the transport robot transports containers in the aisle, a grouping process is performed on the waiting tasks from the perspective of the aisle, and the seed aisle corresponding to the target workstation is identified, so that the target transport robot can transport the waiting tasks corresponding to the target workstation and the seed aisle, allowing the target transport robot to complete the container transport in the seed aisle, reducing the number of aisles to be crossed, and effectively preventing the target transport robot from continuously changing aisles during transport, allowing the transport robot to quickly pick up containers in a single aisle, improving the overall transport efficiency during container transport, shortening the transport time, and improving transport efficiency.

[0157] Those skilled in the art will appreciate that the above-described device may further include other well-known components, such as a server and memory, but these well-known components are not shown in FIG. 8 to avoid unnecessarily obscuring the embodiments of the present disclosure.

[0158] In addition, the technical solution disclosed herein, the collection, collection, updating, analysis, processing, use, transmission and storage of relevant users' personal information shall all comply with the provisions of relevant laws and regulations, be used for lawful purposes and not violate public order and morals. Necessary measures shall be taken with respect to users' personal information to prevent unauthorized access to users' personal information data and ensure the security of users' personal information, network security and national security.

[0159] Reference is now made to FIG. 9, which shows a structural schematic diagram of an electronic device 900 adapted to implement an embodiment of the present disclosure. Terminal devices in the embodiment of the present disclosure include, but are not limited to, mobile terminals such as smart screens, notebook computers, PADs (tablets), PMPs (portable media players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. The terminal device shown in FIG. 9 is merely an example, and does not impose any limitations on the functions and scope of use of the embodiment of the present disclosure.

[0160] 9, electronic device 900 may include a processing unit (e.g., a central processing unit, a graphics processor, etc.) 901 capable of performing various appropriate operations and processes according to programs stored in read-only memory (ROM) 902 or programs loaded from storage device 908 into random access memory (RAM) 903. RAM 903 further stores various programs and data necessary for the operation of electronic device 900. Processing unit 901, ROM 902, and RAM 903 are connected to one another via a bus 904. An input / output (I / O) interface 905 is also connected to bus 904.

[0161] Typically, input devices 906, including, for example, a touch panel, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 907, including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 908, including, for example, a magnetic tape, hard disk, etc.; and communication devices 909 may be connected to the I / O interface 905. The communication devices 909 enable the electronic device 900 to communicate wirelessly or via wires to exchange data with other devices. While FIG. 9 illustrates the electronic device 900 with various devices, it should be understood that it is not required to implement or include all of the devices illustrated. Alternatively, the electronic device 900 may be implemented or include more or fewer devices. Each block illustrated in FIG. 9 may represent one device or multiple devices, if desired.

[0162] In particular, according to embodiments of the present disclosure, the processes described with reference to the flowcharts above may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product including a computer program carried on a computer-readable medium, the computer program including program code for executing the methods illustrated in the flowcharts. In such embodiments, the computer program may be downloaded and installed from a network via a communication device 909, or may be installed from a storage device 908 or from a ROM 902. When executed by the processing device 901, the computer program performs the functions defined in the methods of the embodiments of the present disclosure. Note that the computer-readable medium described in the embodiments of the present disclosure may be a computer-readable signal medium, a computer-readable storage medium, or any combination thereof. The computer-readable storage medium may be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection using one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical memory, a magnetic memory, or any suitable combination thereof. In embodiments of the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program. The program may be usable by or in connection with an instruction execution system, apparatus, or device. In embodiments of the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with computer-readable program code carried therein.Such propagated data signals may take various forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium. The computer-readable signal medium may transmit, propagate, or transmit a program used by or in connection with an instruction execution system, apparatus, or device. The program code contained in the computer-readable medium may be transmitted over any suitable medium, including, but not limited to, electrical wire, optical cable, RF (radio frequency), etc., or any suitable combination thereof.

[0163] Computer program code for carrying out operations of embodiments of the present disclosure can be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may run entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via an Internet connection provided by an Internet Service Provider).

[0164] The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of systems, methods, and computer programs according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or portion of code. The module, program segment, or portion of code includes one or more executable instructions for implementing a given logical function. It should be noted that in some alternative implementations, the functions shown in the blocks may occur in a different order than that shown in the figures. For example, two blocks shown in succession may actually be executed substantially in parallel, or may sometimes be executed in the reverse order, in response to related functionality. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented in a system using dedicated hardware that performs the given function or operation, or in a combination of dedicated hardware and computer instructions.

[0165] The units described in the embodiments of the present disclosure may be implemented in the form of software or hardware. The described units may be provided in a processor, and may be described as "a processor including a grouping module, a calculation module, an identification module, and a sending module." Here, the names of these modules may not necessarily be limiting of the modules themselves.

[0166] In another aspect, the present disclosure further provides a computer-readable medium. The computer-readable medium may be included in the electronic device or may exist separately from the electronic device. The computer-readable medium may carry one or more programs. When the one or more programs are executed by the electronic device, the electronic device, in response to receiving a plurality of transfer waiting tasks, performs grouping of the plurality of transfer waiting tasks based on candidate paths to obtain grouping results corresponding to the candidate paths, where the grouping results include transfer waiting tasks corresponding to the candidate paths and candidate workstations corresponding to the candidate paths; calculates scores for the candidate paths corresponding to the candidate workstations based on the grouping results and obtains candidate path scores corresponding to the candidate workstations; identifies a target workstation and a seed path corresponding to the target workstation from among the candidate workstations and the candidate paths corresponding to the candidate workstations based on the candidate path scores; transmits the transfer waiting tasks corresponding to the target workstation and the seed path to a target transfer robot; and causes the target transfer robot to transfer a container according to the transfer waiting tasks.

[0167] The above description merely describes preferred embodiments of the present disclosure and the technical principles applied thereto. Those skilled in the art should understand that the scope of the invention according to the embodiments of the present disclosure is not limited to a technical solution consisting of a specific combination of the above-described technical features, but should also include other technical solutions consisting of any combination of the above-described technical features or equivalent features, as long as they do not deviate from the above-described inventive idea. For example, technical solutions may be obtained by mutually replacing the above features with (but not limited to) technical features having similar functions disclosed in the embodiments of the present disclosure.

Claims

1. In response to acquiring a plurality of queuing tasks, performing grouping on the plurality of queuing tasks based on candidate passages to obtain a grouping result corresponding to the candidate passages, wherein the grouping result includes queuing tasks corresponding to the candidate passages and candidate workstations corresponding to the candidate passages; calculating scores for the candidate paths corresponding to the candidate workstations based on the grouping results, and obtaining candidate path scores for the candidate workstations; identifying a target workstation and a seed path corresponding to the target workstation from among the candidate workstations and the candidate paths corresponding to the candidate workstations based on the candidate path score numbers corresponding to the candidate workstations; and transmitting a transport waiting task corresponding to the target workstation and the seed passage to a target transport robot, and causing the target transport robot to transport a container in accordance with the transport waiting task; A container transport method comprising:

2. Calculating scores for the candidate paths corresponding to the candidate workstations based on the grouping results, and obtaining candidate path scores for the candidate workstations, includes: obtaining candidate paths and queueing tasks corresponding to the candidate workstations based on the grouping results; obtaining a corresponding number of containers in the candidate aisle corresponding to the candidate workstation and a number of temporary storage locations corresponding to the candidate workstation based on the queueing tasks corresponding to the candidate workstation; and calculating a score for the candidate aisle corresponding to the candidate workstation based on the number of containers and the number of temporary storage locations to obtain a candidate aisle score corresponding to the candidate workstation; The method of claim 1 , comprising:

3. calculating a score for the candidate aisle corresponding to the candidate workstation based on the number of containers and the number of temporary storage locations, and obtaining a candidate aisle score corresponding to the candidate workstation, calculating container number information for the candidate aisle based on the number of containers and the number of temporary storage positions, and obtaining a container score corresponding to the candidate aisle; calculating full vehicle load information for the candidate passage based on the number of containers and the transport capacity corresponding to the transport robot, and obtaining a full vehicle load score corresponding to the candidate passage; calculating passage vehicle number information for the candidate passage based on the number of vehicles in the candidate passage, and obtaining a vehicle score corresponding to the candidate passage; performing distance information calculation for the candidate corridor based on the center position of the candidate corridor and the position of the candidate workstation, and obtaining a distance score corresponding to the candidate corridor; and obtaining a candidate path score corresponding to said candidate workstation based on a container score, a full car score, a vehicle score and a distance score corresponding to said candidate path; The method of claim 2 , comprising:

4. The candidate workstations correspond to a plurality of candidate paths, and identifying a target workstation and a seed path corresponding to the target workstation from among the candidate workstations and the candidate paths corresponding to the candidate workstations based on candidate path scores corresponding to the candidate workstations includes: selecting an optimal path corresponding to each candidate workstation from among a plurality of candidate paths corresponding to each candidate workstation based on the candidate path score corresponding to said candidate workstation; determining utilization information of temporary storage locations corresponding to each candidate workstation based on the optimal aisle corresponding to each candidate workstation and availability information of temporary storage locations corresponding to each candidate workstation; and selecting a target workstation from among a plurality of candidate workstations based on the utilization information of the temporary storage location, and identifying an optimal path corresponding to the target workstation as a seed path corresponding to the target workstation; The method of claim 1 , comprising:

5. The method of transmitting a transport waiting task corresponding to the target workstation and the seed passage to a target transport robot and causing the target transport robot to transport a container in accordance with the transport waiting task includes: In response to the identification of a plurality of candidate transport robots for transporting the container, acquiring current positions of the plurality of candidate transport robots; calculating path information corresponding to the plurality of candidate transport robots based on the current positions of the plurality of candidate transport robots and the center position of the seed passage; selecting a target transport robot from among the plurality of candidate transport robots based on route information corresponding to the plurality of candidate transport robots; and transmitting a transport waiting task corresponding to the target workstation and the seed passage to the target transport robot, and causing the target transport robot to transport a container in accordance with the transport waiting task; The method of claim 1 , comprising:

6. transmitting a transport waiting task corresponding to the target workstation and the seed passage to the target transport robot and causing the target transport robot to transport a container in accordance with the transport waiting task, performing sorting on a plurality of candidate containers in the seed path based on a waiting task for transport corresponding to the target workstation and a transport capacity corresponding to the target transport robot, to obtain a plurality of first sorted containers; calculating scores for the plurality of primary sorting containers based on position information and task information corresponding to the plurality of primary sorting containers, thereby obtaining scores corresponding to the plurality of primary sorting containers; selecting a first set of queued containers corresponding to the seed path based on scores corresponding to the plurality of primary sort containers; and transmitting the first set of containers waiting to be transferred to a target transfer robot, and causing the target transfer robot to transfer containers in accordance with the first set of containers waiting to be transferred; 6. The method of claim 1, comprising:

7. The first set of containers waiting to be transferred is transmitted to a target transfer robot, and the target transfer robot is caused to transfer containers in accordance with the first set of containers waiting to be transferred. determining whether the target transport robot has a remaining transport capacity based on the first set of containers waiting to be transported and the transport capacity of the target transport robot; In response to determining that the target transport robot has a remaining transport capacity, determining an expansion passage corresponding to the target workstation based on the remaining transport capacity of the target transport robot and the target workstation; selecting a second set of waiting containers corresponding to the expansion path based on the waiting tasks corresponding to the target workstation and the remaining transfer capacity of the target transfer robot; and transmitting the first set of containers waiting to be transferred and the second set of containers waiting to be transferred to a target transport robot, and causing the target transport robot to transport containers in accordance with the first set of containers waiting to be transferred and the second set of containers waiting to be transferred; The method of claim 6, comprising:

8. In response to determining that the target transport robot has a remaining transport capacity, determining an expansion passage corresponding to the target workstation based on the remaining transport capacity of the target transport robot and the target workstation includes: In response to determining that the target transport robot has a remaining transport capacity, calculate scores for other candidate paths based on the remaining transport capacity of the target transport robot and the target workstation, and obtain other candidate path scores corresponding to the target workstation; and identifying an expansion path corresponding to the target workstation based on other candidate path scores corresponding to the target workstation; The method of claim 7, comprising:

9. In response to determining that the target transport robot has a remaining transport capacity, calculating scores for other candidate passages based on the remaining transport capacity of the target transport robot and the target workstation, and obtaining other candidate passage scores corresponding to the target workstation, In response to determining that the target transport robot has remaining transport capacity, acquiring the number of containers corresponding to the other candidate paths and the number of temporary storage positions corresponding to the target workstation; calculating container number information for the other candidate aisle based on the number of containers corresponding to the other candidate aisle and the number of temporary storage positions corresponding to the target workstation, and obtaining a container score for the other candidate aisle; calculating full vehicle load information for the other candidate passages based on the number of containers and the remaining transport capacity of the target transport robot, and obtaining full vehicle load numbers corresponding to the other candidate passages; calculating passage vehicle number information for the other candidate passage based on the number of vehicles in the other candidate passage, and obtaining a vehicle score corresponding to the other candidate passage; calculating distance information for the other candidate passage based on the center position of the other candidate passage, the position of the target workstation, the position of the target transport robot, and the center position of the seed passage, and obtaining a distance score corresponding to the other candidate passage; calculating path scores corresponding to the other candidate paths based on the seed path corresponding to the target workstation; and obtaining other candidate aisle scores corresponding to the target workstation based on the container scores, full car scores, vehicle scores, distance scores and aisle scores corresponding to the other candidate aisles; The method of claim 8, comprising:

10. In response to determining that the target transport robot has a remaining transport capacity, determining an expansion passage corresponding to the target workstation based on the remaining transport capacity of the target transport robot and the target workstation includes: acquiring a target passage number corresponding to the target transport robot in response to determining that the target transport robot has a remaining transport capacity; determining whether the number of target passages corresponding to the target transport robot exceeds a preset threshold; and In response to determining that the number of target paths corresponding to the target transport robot does not exceed a predetermined threshold, determining an expansion path corresponding to the target workstation based on the remaining transport capacity of the target transport robot and the target workstation; The method of claim 7, comprising:

11. The first set of containers waiting to be transferred and the second set of containers waiting to be transferred are transmitted to a target transfer robot, and the target transfer robot is caused to transfer containers in accordance with the first set of containers waiting to be transferred and the second set of containers waiting to be transferred, In response to determining that the number of target passages corresponding to the target transport robot exceeds a predetermined threshold, transmitting the first set of containers waiting to be transported and the second set of containers waiting to be transported to the target transport robot, and causing the target transport robot to transport containers in accordance with the first set of containers waiting to be transported and the second set of containers waiting to be transported; The method of claim 10, comprising:

12. a grouping module configured to, in response to acquiring a plurality of waiting tasks, perform grouping on the plurality of waiting tasks based on candidate passages to obtain a grouping result corresponding to the candidate passages, wherein the grouping result includes the waiting tasks corresponding to the candidate passages and candidate workstations corresponding to the candidate passages; a calculation module configured to calculate scores for the candidate paths corresponding to the candidate workstations based on the grouping results, to obtain candidate path scores corresponding to the candidate workstations; an identification module configured to identify a target workstation and a seed path corresponding to the target workstation from among the candidate workstations and the candidate paths corresponding to the candidate workstations based on candidate path score numbers corresponding to the candidate workstations; a sending module configured to send a transfer waiting task corresponding to the target workstation and the seed path to a target transfer robot and cause the target transfer robot to transfer a container in accordance with the transfer waiting task; A container transport device comprising:

13. one or more processors; a storage device for recording one or more programs; An electronic device, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1 to 11.

14. A computer-readable medium having a computer program recorded thereon, A computer readable medium, characterized in that the computer program implements the method according to any one of claims 1 to 11 when the computer program is executed by a processor.

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