Robot-based warehouse organization method, apparatus, and storage medium

Abstract

This document discloses a method, apparatus, and storage medium for organizing a warehouse using robots. [Solution] The present invention discloses a method, apparatus, and storage medium for warehouse organization using a robot. The method includes a step of performing warehouse organization by classification on the client side for warehouse operations processing, for items stored in each first storage container in the warehouse. Warehouse organization by classification includes obtaining the utilization rate of each first storage container, determining the storage container with the lowest utilization rate based on the obtained utilization rate, generating a classification task to classify and organize the items stored in the storage container with the lowest utilization rate into a second storage container based on the storage container with the lowest utilization rate, and transmitting the classification task to a robot control system so that the robot control system schedules a robot to perform the classification task.

Description

[Technical Field]

[0001] This invention relates to the field of warehouse logistics, and more particularly to a method, apparatus, and storage medium for organizing warehouses using robots. [Background technology]

[0002] In warehouse management, after a certain period of receiving and shipping, items within the warehouse gradually become disorganized, which is not only detrimental to warehouse management but also affects subsequent receiving and shipping operations. Therefore, organizing items within a warehouse is an integral part of warehouse logistics.

[0003] Warehouse organization is a method of organizing goods, and includes storing goods in containers and organizing the containers used to store those goods. Warehouse organization makes the storage space for goods and containers more efficient, simplifies warehouse management, and improves the efficiency of subsequent receiving and shipping operations.

[0004] Manual warehouse organization is a common method. That is, items are sorted manually and then inventory is adjusted. This method is prone to errors, is labor-intensive, and inefficient.

[0005] Another method involves combining manual labor with robotics for warehouse organization. For example, first, an operator sorts the items to be organized in the warehouse management system and generates an outbound task. Then, a robot is controlled to transport the items to be organized to a workstation, where the operator binds the rotating containers to their distribution positions and distributes the items to be organized into the corresponding rotating containers according to the information presented by the workstation's client. Finally, the warehouse management system generates an inbound task and re-enters the items in the rotating containers. This method still requires operators to sort and distribute the items to be organized, and therefore does not offer a high degree of automation in warehouse organization. [Overview of the project]

[0006] The present invention provides a robotic warehouse organization method, apparatus, and storage medium to improve the degree of automation in warehouse organization.

[0007] A first aspect of the present invention provides a method for organizing a warehouse using a robot, the method comprising the step of performing a sorting-based warehouse organization on the client side for warehouse operations processing, wherein the sorting-based warehouse organization includes obtaining the utilization rate of each of the first storage containers, determining the storage containers with low utilization rates based on the obtained utilization rates, generating a sorting task to sort and organize the items stored in the storage containers with low utilization rates into second storage containers based on the storage containers with low utilization rates, and transmitting the sorting task to a robot control system, which then schedules the robot to perform the sorting task.

[0008] In some embodiments, obtaining the utilization rate of each of the first storage containers includes, for each of the first storage containers, obtaining the utilization rate of the items of each category stored in the first storage container, according to the categories of items stored in the first storage container.

[0009] In some embodiments, determining underutilized storage containers based on the acquired utilization rates includes determining underutilized storage containers for each category of articles based on the acquired utilization rates.

[0010] In some embodiments, generating a classification task for classifying and organizing articles stored in the underutilized storage containers into a second storage container, based on the underutilized storage containers, includes determining at least one type of target organizing article based on the categories of articles stored in the underutilized storage containers, assigning a second storage container to each type of target organizing article, and generating a warehouse organizing task for organizing that type of target organizing article into the second storage container.

[0011] In some embodiments, obtaining the utilization rate of each of the first storage containers includes, for each of the first storage containers, totaling the number of articles stored in the first storage container and obtaining the utilization rate of the first storage container.

[0012] In some embodiments, determining a storage container with a low utilization rate based on the acquired utilization rate includes determining a first storage container as a storage container with a low utilization rate if the number of items stored in that container is less than a first number threshold.

[0013] In some embodiments, generating a classification task to classify and organize items stored in a low-utilization storage container into a second storage container, based on the low-utilization storage container, includes designating the items stored in the low-utilization storage container as target items to be sorted, and generating a warehouse sorting task to assign the second storage container to the target items and sort the target items into the second storage container, thereby emptying the items stored in the low-utilization storage container.

[0014] In some embodiments, determining a first storage container in which the number of stored articles is less than a first threshold as a storage container with low utilization rates further includes determining whether the category of articles stored in a first storage container in which the number of stored articles is equal to or greater than the first threshold is a set category, and if it is a set category, determining the first storage container as a storage container with low utilization rates.

[0015] In some embodiments, assigning a second storage container to the target items to be organized includes setting a priority for the storage containers with low utilization rates according to the number of items stored in them, and sequentially assigning the second storage containers to each storage container with low utilization rates in order of priority, where the fewer the number of items stored in the storage container, the higher the priority for the storage container with low utilization rates.

[0016] In some embodiments, assigning a second storage container to the target items and generating a warehouse organization task for organizing the target items into the second storage containers includes determining at least one type of target items depending on the category of the target items, and assigning a second storage container to each type of target item and generating a warehouse organization task for organizing that type of target item into the second storage containers.

[0017] In some embodiments, determining at least one type of target sorting item includes obtaining item information for each underutilized storage container, wherein the item information includes at least item popularity information to indicate the frequency of items being moved in and out, and clustering the items stored in each underutilized storage container based on the item popularity information to obtain at least one type of clustered item, and designating the at least one type of clustered item as at least one type of target sorting item.

[0018] In some embodiments, assigning a second storage container to each type of target sorting item includes assigning the second storage container to each type of target sorting item based on the storage capacity of the second storage container and the item mixing policy.

[0019] In some embodiments, the article information further includes article packaging specification information, and for each underutilized storage container, after obtaining article information for each category of articles stored in the underutilized storage container, the method further includes obtaining information for the underutilized storage container, the information for the underutilized storage container including at least the number of articles of each category stored and the article mixing policy.

[0020] In some embodiments, assigning the second storage container to each type of target sorted article based on the storage capacity of the second storage container and an article mixing policy includes dividing the at least one type of clustering article according to the article mixing policy, dividing clustering articles that are permitted to be mixed into the same group and clustering articles that are not permitted to be mixed into different groups to obtain at least one group of first grouped articles; secondary dividing each of the first grouped articles based on the article packaging specification information, the volume of the second storage container, and the storage rate of the second storage container to obtain at least one group of second grouped articles; and determining the number of the second storage containers to store each of the second grouped articles based on the number of groups of the second grouped articles.

[0021] In some embodiments, determining at least one type of target decluttering item includes, for each category of item stored in a low-utilization storage container, counting the number of low-utilization storage containers for that category of item, and marking the item in that category as a target decluttering item when the number of low-utilization storage containers reaches a set threshold number, or when the ratio of the number of low-utilization storage containers to the total number of storage containers in which the item in that category is located reaches a set threshold ratio.

[0022] In some embodiments, assigning a second storage container to each type of target item includes, for each type of target item, obtaining item information for that type of target item and storage container information with low utilization rates for that type of target item, wherein the item information includes packaging specification information for that type of target item, and the storage container information with low utilization rates includes the number of that type of target item stored in the storage containers with low utilization rates; and determining the number of second storage containers for storing that type of target item based on the packaging specification information for that type of target item, the number of that type of target item stored in the storage containers with low utilization rates, the volume of the second storage containers, and the storage rate of the second storage containers, wherein the warehouse sorting task is accompanied by the item information for that type of target item.

[0023] In some embodiments, after determining the number of second storage containers for storing the target sorting items of this type, the method further includes integrating the second storage containers of various types of target sorting items according to the item mixing policy, and the warehouse sorting task further includes adding item information of the target sorting items that are permitted to be placed in the same second storage container.

[0024] In some embodiments, obtaining the utilization rate of each category of items stored in the first storage container in the first storage container includes calculating the utilization rate of each category of items stored in the first storage container based on the volume and number of each category of items stored in the first storage container, and the utilization rate is the ratio of the product of the volume of one item of this category of items and the number of this category of items to the volume of the first storage container.

[0025] In some embodiments, determining the storage container with a low utilization rate of each category of items based on the obtained utilization rate includes judging whether the utilization rate is less than the set utilization rate threshold for the utilization rate of any first storage container of each category of items, and if the utilization rate is less than the set utilization rate threshold, marking the first storage container as the storage container with a low utilization rate of this category of items.

[0026] In some embodiments, the robot control system scheduling the robot to execute the sorting task is the robot control system scheduling the robot in response to each warehouse sorting task to transport the storage container with a low utilization rate where the target sorting items are located to the first target position for sorting, distributing the target sorting items in the storage container with a low utilization rate to the second storage container based on the item information added to the warehouse sorting task, and after the warehouse sorting task is completed, replying a warehouse sorting task completion message to the client side.

[0027] In some embodiments, the method further includes the step that, in response to the warehouse sorting task completion message, the client side transmits to the robot control system a task for the robot control system to schedule a robot to transport the second storage container to a second target location for storing articles.

[0028] In some embodiments, the method further includes performing warehouse organization by organizing the storage space for storage containers located in any of the storage spaces, so that the container popularity information of the storage container matches the storage space popularity information of the storage space in which the storage container is located. Here, the storage space popularity information represents the efficiency of robotic loading and unloading of storage containers located in the storage space, with higher efficiency indicating higher storage space popularity. The container popularity information represents the popularity of the items stored in the storage containers. Item popularity represents the frequency with which the items are loaded and unloaded, with higher frequency indicating higher item popularity.

[0029] In some embodiments, the warehouse organization by organizing storage spaces involves obtaining storage container information and storage space information for storage containers that do not match the popularity of a storage space, or storage spaces that do not match the popularity of a container, wherein the storage container information includes container popularity information and the storage space information includes storage space popularity information; determining candidate storage spaces for a storage container based on the container popularity information of the storage container, wherein the storage space popularity information of the candidate storage space matches the container popularity information of the storage container; calculating a first distance between the candidate storage space and the workstation, and setting the priority of the candidate storage spaces according to the proximity of the first distance. The process includes: the priority of a candidate storage space increases the closer the first distance between the candidate storage space and the workstation; the calculation of a second distance between the storage container and the candidate storage space; the adjustment of the priority of the candidate storage spaces according to the proximity of the second distance; the selection of the candidate storage space with the highest priority as the target storage space for the storage container; and the generation of a warehouse cleanup task for transporting the storage container from the source storage space to the target storage space, wherein the priority of the candidate storage space increases the closer the second distance between the storage container and the candidate storage space; and the transmission of the warehouse cleanup task to a robot control system, which then schedules the robot to execute the warehouse cleanup task.

[0030] In some embodiments, the warehouse organization by storage space organization further includes determining whether the link length of the warehouse organization task is greater than a set link length threshold, and if so, dividing the link of the warehouse organization task into multiple sublinks less than or equal to the link length threshold to obtain grouped warehouse organization tasks, and executing each grouped warehouse organization task. Here, one sublink corresponds to one grouped warehouse organization task.

[0031] In some embodiments, storage containers that do not match the popularity of a storage space, or storage spaces that do not match the popularity of a container, are determined by obtaining container popularity information for storage containers located in each storage space and storage space popularity information for the storage space in which each storage container is located, and selecting storage containers or storage spaces where the popularity information of the storage containers and the popularity information of the storage space do not match.

[0032] A second aspect of the present invention provides a robotic warehouse sorting device, the device comprising a first sorting module for acquiring the utilization rate of each first storage container in the warehouse and determining storage containers with low utilization rates based on the acquired utilization rates, The system includes a classification task generation module that generates a classification task for classifying and organizing items stored in the underutilized storage containers into a second storage container based on the underutilized storage containers, and transmits the classification task to a robot control system so that the robot control system can schedule a robot to perform the classification task.

[0033] A third aspect of the present invention provides a robotic warehouse organization device, the device comprising a memory storing a computer program and a processor, the processor being configured to execute the computer program and perform the robotic warehouse organization method described above.

[0034] A fourth aspect of the present invention provides a computer-readable storage medium in which a computer program is stored, and when the computer program is executed by a processor, the above-described robot-based warehouse organization method is performed.

[0035] The present invention provides a robotic warehouse organization method that achieves the classification and organization of inventory-level items through classified warehouse organization. It classifies and stores items stored in different storage containers, reduces the use of storage containers, makes warehouse space utilization more rational, and reduces the granularity of item classification, thereby simplifying warehouse management and improving the efficiency of inbound and outbound operations. The present invention can automatically sort relatively scattered items and generate corresponding warehouse organization tasks without manual judgment, saving labor costs and reducing the error rate. Furthermore, when performing warehouse organization tasks by item classification, it can match the storage capacity of storage containers with the volume of items, maximizing the use of empty storage containers while maximizing the use of non-empty storage containers. [Brief explanation of the drawing]

[0036] [Figure 1] This is a flowchart of a robotic warehouse organization method according to one embodiment of the present invention. [Figure 2] This figure shows an example of how identical items stored in different containers look before and after being reorganized. [Figure 3] This is a flowchart of a warehouse organization method based on classification, relating to one embodiment of the present invention. [Figure 4] This is a flowchart of a warehouse organization algorithm at the inventory level. [Figure 5] This is a schematic diagram of the classification performed by the inventory-level warehouse organization algorithm. [Figure 6] This is a schematic diagram showing the warehouse before and after storage space reorganization according to one embodiment of the present invention. [Figure 7] This is a flowchart of a warehouse organization method by organizing storage space according to one embodiment of the present invention. [Figure 8] This is a flowchart of a carrier-level warehouse organization algorithm related to one embodiment of the present invention. [Figure 9] This diagram shows the distribution of storage space and containers before warehouse reorganization. [Figure 10] This is a schematic diagram illustrating the division of warehouse organization tasks by organizing storage space. [Figure 11] This is a schematic diagram of a robot-based warehouse organization device according to one embodiment of the present invention. [Figure 12] This is another schematic diagram of a robot-based warehouse organization device according to one embodiment of the present invention. [Modes for carrying out the invention]

[0037] To further clarify the object, technical means, and advantages of the present invention, the present invention will be described in more detail below with reference to the drawings.

[0038] The applicant discovered that in the process of warehouse management, the basic attribute information and operational status of items in the warehouse are typically matched to pre-set warehouse storage conditions, the space information occupied by a single item is determined based on the basic attribute information of the item, and the amount of storage space for the item is determined based on the number information and space information of the item. Based on the type of warehouse space for the item, warehouse spaces belonging to that type are determined as candidate warehouse spaces. Here, the types of warehouse spaces include best-selling warehouse space, unsold warehouse space, expired warehouse space, defective product warehouse space, on-season warehouse space, off-season warehouse space, bonus warehouse space, inventory aging warehouse space, and warehouse space nearing its expiration date. Based on the current storage information and candidate warehouse spaces, the sorting method for the items to be sorted is determined.

[0039] The above-described warehouse organization method, which classifies warehouse spaces into different types and organizes items based on the matching relationship between item attributes and quantity and the classified space type, has a large level of organization granularity. While the warehouse space type and item attributes have a one-to-many matching relationship, allowing items to be organized in the same space, the items organized in that space still remain disorganized. In particular, when a certain type of space corresponds to a large number of items, it fails to effectively improve the efficiency of subsequent inbound and outbound operations.

[0040] In view of this, an embodiment of the present invention provides a robotic warehouse organization method for organizing items stored in various storage containers by classification.

[0041] Figure 1 is a flowchart of a robotic warehouse organization method according to one embodiment of the present invention. As shown in Figure 1, the method includes a step on the client side for warehouse operations to perform warehouse organization by classification of items stored in each first storage container in the warehouse. Warehouse organization by classification includes steps 101 to 103.

[0042] In step 101, the utilization rate of each first storage container is obtained.

[0043] In this step, if the same or the same type of articles are stored in different first storage containers, the utilization rate of each category of articles stored in the first storage container is obtained for each first storage container, according to the category of articles stored in the first storage container. The utilization rate is obtained by calculating the proportion of the space in the storage container occupied by the articles of each category, based on the volume and number of articles of each category stored in the storage container.

[0044] In practical applications, given that it is not possible to accurately represent the utilization rate using volume information of items, for example, since the utilization rate of storage containers differs between items with high density and items with low density, the utilization rate of the first storage container may be obtained by totaling the number of items stored in either of the first storage containers. For example, if the number of items A stored in the first storage container is N1 and the number of items B stored is N2, then the number of stored items is the sum of N1 and N2, that is, the total number of items stored in the first storage container becomes the utilization rate of the first storage container.

[0045] Note that "identical items" usually refers to items where all of the specified information is the same, for example, items where the specifications, model number, identification information, brand, and name are all the same. "Items of the same type" usually refers to items where some of the specified information is the same, for example, items where the name is the same but at least one of the specifications, model number, and brand is different. An item category is a classification of items according to the set information, and the set information may be the same as or different from the specified information. Thus, identical items may belong to the same category or to different categories, and items of the same type may belong to the same category or to different categories. As another example, the utilization rate of any item stored in any of the specified first storage containers may be obtained for that first storage container.

[0046] In step 102, based on the acquired utilization rates, storage containers with low utilization rates are determined.

[0047] As an example, based on the acquired utilization rates, storage containers with low utilization rates for items in each category can be determined.

[0048] As another example, a first storage container in which the number of items stored is less than a set first threshold is determined to be a storage container with low utilization. For a first storage container in which the number of items stored is equal to or greater than the set first threshold, it is determined whether the category of items stored in that first storage container is a set category, and if it is a set category, that first storage container is determined to be a storage container with low utilization. For example, if the items stored in the first storage container are summer clothes, and the volume occupied by summer clothes is smaller than the volume occupied by winter clothes, then even if the number of items is large, the utilization rate is not high, and such a first storage container can be designated as a storage container with low utilization, which is advantageous in reducing the storage container's occupancy.

[0049] In step 103, based on the storage container with the low utilization rate, a classification task is generated to classify and organize the items stored in the storage container with the low utilization rate into a second storage container, and this classification task is transmitted to the robot control system, which then schedules the robot to execute the classification task. As a result of this classification task, the items stored in the storage container with the low utilization rate are classified and organized into the same second storage container or two or more second storage containers.

[0050] As an example, based on the categories of items stored in underutilized storage containers, at least one type of target item to organize is determined, a second storage container is assigned to each type of target item to organize, and a warehouse organization task is generated for each assigned second storage container to organize that type of target item into that second storage container, thereby classifying items of each category stored in underutilized storage containers into different storage containers.

[0051] As another example, items stored in underutilized storage containers can be designated as target items for decluttering, a second storage container can be assigned to these target items, and a warehouse decluttering task can be generated to move the target items from the underutilized containers into the second container, thereby emptying the underutilized containers. To quickly empty underutilized containers and rapidly reduce their occupancy, all items stored in one underutilized container may be treated as a single type of target item for decluttering. Furthermore, to empty underutilized containers and classify items, items stored in underutilized containers may be designated as multiple types of target items for decluttering, depending on the category of the target items for decluttering.

[0052] For any type of target sorting item, items of each category stored in a storage container with low utilization may be classified into different storage containers according to any of the above embodiments. A priority may be set for the storage containers with low utilization according to the number of items stored in them, and the items stored in each storage container with low utilization may be designated as target sorting items in order of priority. Alternatively, a second storage container may be sequentially assigned to each storage container with low utilization in order to process the storage containers with low utilization quickly and improve the efficiency of warehouse organization. Here, the fewer the number of items stored in a storage container, the higher the priority of the storage container with low utilization.

[0053] An embodiment of the present invention utilizes information about the articles stored in storage containers to obtain the utilization rate of the storage containers, thereby selecting storage containers with low utilization rates, and further, by executing the generated classification task, warehouse organization by classifying articles. In this embodiment, by adopting a warehouse organization method by classification, classifying and organizing the same articles or articles of the same type into one or more second storage containers for each first storage container that stores multiple or multiple types of articles is equivalent to warehouse organization by container classification or warehouse organization by container classification, which reduces the use of storage containers, simplifies inventory management, and improves the efficiency of subsequent receiving and shipping operations.

[0054] To facilitate understanding of the present invention, the following explanation will use the example of classifying and integrating items dispersed in various storage containers in a warehouse operation scenario.

[0055] The following explains technical terms related to warehouse operations.

[0056] Intelligent Warehouse Management System (IWMS): An application program for online control and tracking of logistics processes in warehouse operations, belonging to the client for warehouse operations processing.

[0057] Robot Control System (RCS): Receives tasks sent from the intelligent warehouse management system and sends relevant commands to the robot to complete the tasks.

[0058] Warehouse robots are automated robots that perform loading, unloading, picking, and transporting operations within a warehouse. General warehouse robots include both retractable robots and retractable robots. AGVs (Automated Guided Vehicles) are a type of retractable robot used for transporting goods on shelves. CTUs (Container Transfer Units) are a type of retractable robot that can directly load, unload, and transport storage containers (e.g., containers) within a storage space.

[0059] A distribution station is a frame structure containing multiple cells, which may also be a wall structure, in which case it is called a distribution wall, and is used to temporarily store rotating containers in warehouse organization operations. Each cell is usually equipped with an electronic tag to guide the sorting of goods. Distribution stations are typically used in combination with workstations.

[0060] Distribution Location: A cell located within a distribution station; one cell constitutes one distribution location.

[0061] Storage container: A container used to store goods in a warehouse, such as a storage container.

[0062] Rotating container: Essentially a storage container, for distinction, a container for storing goods in a warehouse is called a storage container and corresponds to the first storage container, while a storage container located at the distribution position and bound is called a rotating container and corresponds to the second storage container. In embodiments of the present invention, the rotating container is bound at the distribution position and is used to sort and store goods organized from the storage containers. When the rotating container is full of goods, or when there are no other goods to put in the rotating container, the rotating container is removed from the distribution position and returned to the warehouse, after which the rotating container becomes a storage container.

[0063] Item Popularity Information: This information represents the frequency with which an item is received and shipped. The more frequently an item is received and shipped, the higher its popularity. For example, items can be classified into popularity levels based on their frequency of receipt and shipment. Items with a high popularity level are received and shipped frequently, while items with a low popularity level are received and shipped infrequently. For instance, items with the highest popularity level could be defined as Item Popularity A, Item Popularity B, and Item Popularity C, in descending order of popularity.

[0064] Container Popularity Information: This information represents the popularity of the items stored in the storage container. For example, the popularity of the item with the highest popularity in the storage container may be used as the storage container popularity, or the storage container popularity may be obtained using a set calculation method, such as the average popularity of multiple types of items or a weighted popularity.

[0065] Storage Space Popularity Information: This information represents the efficiency with which robots can access and retrieve storage containers located within a storage space. For storage robots, the efficiency of accessing storage containers in different storage spaces on a shelf varies. Based on the robot's access efficiency, storage spaces on the shelf are classified according to their popularity level. Storage spaces with high popularity have high robot access efficiency for storage containers, while storage spaces with low popularity have low robot access efficiency for storage containers. For example, storage spaces with high popularity are defined as Storage Space Popularity A, Storage Space Popularity B, and Storage Space Popularity C, in descending order of popularity.

[0066] As shown in Figure 2, item A represents an item of category A or item A, item B represents an item of category B or item B, and item C represents an item of category C or item C. Before warehouse organization by classification, items A, B, and C are stored in different storage containers, the distribution of items in each category is scattered, and the items stored in each storage container are similarly relatively disorganized. Warehouse organization by classification makes the distribution of items in the storage containers more rational.

[0067] Figure 3 is a flowchart of a warehouse organization method by classification according to one embodiment of the present invention. As shown in Figure 3, the method includes steps 301 to 307.

[0068] In step 301, for each storage container, the intelligent warehouse management system determines the utilization rate of each category of goods stored in that container.

[0069] As an example, based on the volume and number of items of each category stored in the storage container, the utilization rate of that type of item in the storage container can be calculated and expressed as a formula:

number

[0070] Here, η ijis the utilization rate of item j in storage container i, V i is the volume of storage container i, R ij is the volume of one item j in storage container i, N ij is the number of item j in storage container i.

[0071] Thereby, the current utilization rate of items in each category in the storage container can be obtained.

[0072] For example, in Figure 2, the utilization rate η of item A in storage container 1 1A , the utilization rate η of item B in storage container 1 1B , the utilization rate η of item A in storage container 2 2A , the utilization rate η of item B in storage container 2 2B , the utilization rate η of item C in storage container 2 2C , the utilization rate η of item B in storage container 3 3B , the utilization rate η of item C in storage container 3 3C , the utilization rate η of item C in storage container 4 4C can be obtained.

[0073] In step 302, the intelligent warehouse management system uses the calculated utilization rate to determine the storage containers with low utilization rates for items in each category.

[0074] As an example, based on each calculated utilization rate η ij , it is determined whether the utilization rate is less than the set utilization rate threshold. If the utilization rate is less than the set utilization rate threshold, the storage container i corresponding to the utilization rate indicates that it is a storage container with a low utilization rate for the item j corresponding to the utilization rate, and the storage container i is marked as a storage container with a low utilization rate for item j. For example, L ij is denoted. Thereby, the storage containers to be sorted can be selected.

[0075] In step 303, the intelligent warehouse management system totals the number of storage containers with low utilization rates for items in each category.

[0076] When the number of underutilized storage containers reaches a set threshold, or when the ratio of underutilized storage containers to the total number of storage containers containing items of that category reaches a set threshold, it indicates that the distribution of items of that category in the warehouse is relatively dispersed, and items of that category are marked as target items for decluttering. This allows for the selection of items to be decluttered.

[0077] In step 304, based on the selected underutilized storage containers, a classification task is generated to sort and organize items of each category stored in the underutilized storage containers into a rotating container. This classification task is then transmitted to the robot control system, which schedules the robot and instructs it to transport the selected underutilized storage containers to the workstation.

[0078] For example, an intelligent warehouse management system employs an inventory-level warehouse organization algorithm to organize items stored in underutilized containers into different rotating containers. Based on the storage capacity of the rotating containers and the item mixing policy, it calculates which items can be placed in the rotating containers, generates warehouse organization tasks according to the dimensions of the rotating containers, and all warehouse organization tasks constitute a classification task.

[0079] To facilitate the management of incoming and outgoing goods stored in the warehouse, outgoing tasks can also be generated. Specifically, the outgoing task involves arranging goods into rotating containers.

[0080] Figure 4 is a flowchart of the inventory-level warehouse organization algorithm. As shown in Figure 4, the inventory-level warehouse organization algorithm includes steps 4041 to 4044.

[0081] In step 4041, for the selected underutilized storage containers, the system obtains item information for the items in each category to which the underutilized storage containers are stored, as well as underutilized storage container information, and also obtains rotating container information. Here, item information includes item identification information such as item name, item packaging specification information, and item popularity information. Underutilized storage container information includes item identification information such as item name for the items stored in the underutilized storage containers, the number of items stored, and the item mixing policy. For example, if mixing of items from some or some categories is permitted, the system supports prioritizing the organization of items of the same category or type into the same rotating container, and at this time, if there is still remaining space in the rotating container, it supports continuing to organize items that are permitted to be mixed into that rotating container. Rotating container information includes the volume of the rotating container and the storage rate of the rotating container.

[0082] In step 4042, based on the popularity information of the items, all items stored in storage containers with low utilization rates are clustered to obtain at least one type of clustered item, and at least one type of clustered item is designated as at least one type of target sorting item.

[0083] For example, an item with popularity information A is considered one type of clustering item, an item with popularity information B is considered another type of clustering item, and an item with popularity information C is considered yet another type of clustering item.

[0084] In step 4043, by dividing each type of clustering item according to the item mixing policy, clustering items that are allowed to mix are divided into the same group, and clustering items that are not allowed to mix are divided into different groups, resulting in different first grouping items.

[0085] As an example, cluster items that are permitted to be mixed are divided into one group, and cluster items that are not permitted to be mixed are divided into different groups.

[0086] In step 4044, different first grouped articles are divided into secondary groups based on the packaging specifications of the articles, the volume of the rotating container, and the storage rate of the rotating container to obtain at least one second group of articles.

[0087] As an example, for each item in the first group, the number of items that can be stored in each rotating container and the number of rotating containers required are calculated based on the item's packaging specifications, the rotating container's volume, and the rotating container's storage capacity. Here, one rotating container represents one second group, and the number of rotating containers is the number of second groups. One warehouse sorting task is generated for all items permitted to be placed in the same rotating container, and this task is accompanied by item information for the items permitted to be placed in the same rotating container, i.e., item information for the second grouped items. It can be seen that there are a certain number of warehouse sorting tasks for a certain number of rotating containers, and these warehouse sorting tasks constitute a classification task. In this way, when generating tasks, the maximum number of items that can be stored in each rotating container can be calculated based on the volume of the items and the storage capacity of the rotating containers, and a corresponding outbound task can be generated for each rotating container according to that number, allowing each rotating container to be filled as much as possible, reducing the use of storage containers, and completing warehouse sorting with as few rotating containers as possible.

[0088] The above inventory-level warehouse organization algorithm takes into account the storage capacity limitations of rotating containers; that is, when organizing items from multiple storage containers into one rotating container, the total volume of items to be organized into that rotating container cannot exceed the storage capacity of the rotating container. The above inventory-level warehouse organization algorithm takes into account mixing restrictions; if mixing is permitted for some or some categories of items, it prioritizes organizing items with the same attributes into the same rotating container, and if there is still remaining space in the rotating container, it supports continuing to organize the items that are permitted to be mixed into that rotating container. The above inventory-level warehouse organization algorithm aims to complete warehouse organization with as few rotating containers as possible.

[0089] By performing the classification task, identical or identical items stored in underutilized storage containers are classified and organized into the same rotating container or two or more rotating containers.

[0090] Figure 5 is a schematic diagram of the classification performed by the inventory-level warehouse organization algorithm. As shown in Figure 5, clustering, splitting, and secondary splitting are performed on all items stored in underutilized storage containers, ultimately forming a second group of items. It should be understood that steps 4042 and 4043 above are optional steps to be adjusted according to the actual situation, and for example, the mixing of items or the popularity of items may not be taken into consideration.

[0091] Another example of step 304 is to generate a warehouse sorting task for each type of target sorting item to sort that type of target sorting item into a second storage container, and to send the task to the robot control system, which then schedules the robot and instructs the robot to transport each storage container containing the target sorting items to the workstation.

[0092] For example, an intelligent warehouse management system employs an inventory-level warehouse organization algorithm to organize target items into different rotating containers, generating warehouse organization tasks according to the dimensions of the rotating containers, and all warehouse organization tasks constitute a classification task.

[0093] To facilitate the management of incoming and outgoing goods stored in the warehouse, outgoing tasks can also be generated. Specifically, the outgoing task involves arranging goods into rotating containers.

[0094] In this exemplary inventory-level warehouse organization algorithm, for each type of target organization item, item information for that type of target organization item and information on underutilized storage containers for that type of target organization item are obtained. Here, item information includes item identification information and item packaging specification information. Underutilized storage container information includes the number of that type of target organization item stored in underutilized storage containers, and may further include item identification information for each category of items stored in underutilized storage containers, and the number of items in each category stored. Based on the obtained packaging specification information for that type of target organization item, the number of that type of target organization item stored in underutilized storage containers, the volume of the rotating containers, and the storage rate of the rotating containers, the number of rotating containers for storing that type of target organization item is determined. For each determined rotating container, a warehouse organization task is generated to organize that type of target organization item into that rotating container, and the item information for that type of target organization item is attached to the task. In this way, there are a certain number of rotating containers, a certain number of warehouse organization tasks, and these warehouse organization tasks constitute a classification task.

[0095] By performing the classification task, items of the same target sorting category or the same type of target sorting category will be sorted and organized into the same rotating container or two or more rotating containers.

[0096] To reduce the number of rotating containers, if there are multiple types of target sorting items, the rotating containers may be consolidated according to the item mixing policy, and then warehouse sorting tasks may be generated for the consolidated rotating containers. These tasks will include item information for the target sorting items that are permitted to be placed in the same rotating container.

[0097] It should be understood that the two examples in Step 304 are not mutually exclusive and may be performed either alternately or selectively.

[0098] In step 305, after each storage container or each underutilized storage container containing the target sorting items has been transported to a first target location for sorting, such as a workstation, a rotating container is bound to a distribution location, and based on the interface presentation of the workstation client, the target sorting items are removed from the storage containers and placed into the rotating container at the corresponding distribution location, or items are removed from each underutilized storage container and placed into the rotating container at the corresponding distribution location.

[0099] For example, the worker receives an outbound task from a workstation client, and based on the interface of the workstation client, retrieves the target sorting items from storage containers and places them in a rotating container at the corresponding distribution location, or retrieves items from each underutilized storage container and places them in a rotating container at the corresponding distribution location, and sends an outbound task completion message back to the intelligent warehouse management system. In some embodiments, the worker may be a robot.

[0100] In step 306, after receiving the outbound task completion message, the intelligent warehouse management system generates a task, e.g., an inbound task, for the robot control system to schedule the robot to transport the second storage container, which is a rotating container, to a second target location for storing the goods, e.g., a warehouse, and sends the inbound task to the RCS, which then schedules the robot and instructs the robot to transport the rotating container to the second target location for storing the goods.

[0101] In step 307, the scheduled robot executes commands from the RCS and transports the rotating container into the warehouse.

[0102] This invention automates classification by automatically sorting target items or storage containers with low utilization rates and automatically generating tasks, thereby reducing misclassification due to manual operation and improving work efficiency. Embodiments of this invention consider classification granularity and space utilization in warehouse organization, as well as labor costs, to complete warehouse organization with as much system automation as possible and as little manpower as possible. Warehouse organization by container classification is an automated warehouse organization process in which the system automatically generates warehouse organization tasks, robots transport storage containers that need to be organized to workstations, workers distribute and organize items on distribution walls according to the system's instructions, and robots transport the organized rotating containers into the warehouse, which is advantageous in reducing human error.

[0103] Embodiments of the present invention further include performing warehouse organization by storage space organization for storage containers located in any of the storage spaces. Warehouse organization by storage space organization is a carrier-level warehouse organization and is used to organize storage containers into different storage spaces.

[0104] To maximize the retrieval efficiency of storage containers in a warehouse, highly popular containers should be placed in storage spaces on shelves that are frequently retrieved and easily accessible by robots. Furthermore, to reduce the time it takes for robots to transport the containers from storage to workstations during subsequent retrieval operations, highly popular containers should be placed in storage spaces on shelves closer to workstations. Warehouse reorganization through storage space organization addresses these issues by organizing storage containers within storage spaces, allowing containers of different levels of popularity to be placed in storage spaces corresponding to their respective levels of popularity, and improving retrieval efficiency by placing highly popular containers as close to workstations as possible.

[0105] Figure 6 shows a warehouse organization method by organizing storage spaces according to one embodiment of the present invention. In the figure, storage spaces A, B, and C represent the popularity levels of the storage spaces, and A, B, and C contained within each storage container represent the popularity levels of the storage container, defined as A, B, and C in descending order of popularity. As shown in Figure 6, storage containers with different popularity levels before organization are dispersed to different storage spaces. Some of the popular storage containers are stored in storage spaces that are far from the workstation and less popular, such as storage containers 2 and 3, while some of the less popular storage containers are stored in storage spaces that are close to the workstation and more popular, such as storage containers 4 and 6. This storage method results in very low efficiency for subsequent robot retrieval operations. After warehouse organization by organizing storage spaces, storage containers with different popularity levels are organized into storage spaces corresponding to their popularity levels.

[0106] Figure 7 is a flowchart of a method for organizing a warehouse by organizing storage space according to one embodiment of the present invention. As shown in Figure 7, the method includes steps 701 to 705.

[0107] In step 701, the intelligent warehouse management system obtains container popularity information for each storage container and popularity information for the storage space where each storage container is located.

[0108] For robots, the efficiency of retrieving and storing storage containers located in different storage spaces on shelves varies. Therefore, storage spaces on shelves are classified by popularity level according to the robot's retrieval efficiency. Storage spaces with high popularity have high robot retrieval efficiency for storage containers, while storage spaces with low popularity have low robot retrieval efficiency. Thus, storage space popularity information represents the robot's retrieval efficiency for storage containers within a storage space. Storage space popularity information may be predetermined and then stored in an intelligent warehouse management system. As an example, storage spaces with high popularity are defined as Storage Space Popularity A, Storage Space Popularity B, and Storage Space Popularity C, in descending order of popularity.

[0109] The storage container popularity information is determined by the highest popularity rating among the items stored in the container. Here, item popularity is classified based on the frequency of inbound and outbound transactions; items with high popularity are inbound and outbound frequently, while items with low popularity are inbound and outbound frequently. For example, item popularity ratings are defined as Item Popularity A, Item Popularity B, and Item Popularity C, in descending order of popularity.

[0110] In step 702, the intelligent warehouse management system identifies storage containers and / or storage spaces in the warehouse where the popularity of the storage containers does not match the popularity of the storage spaces.

[0111] For example, storage space popularity information is divided into at least one level according to the efficiency of robotic loading and unloading of storage containers located in different storage spaces, with higher efficiency resulting in a higher level. Item popularity is divided into at least one level according to the frequency of item loading and unloading, with higher frequency resulting in a higher level. Container popularity level is the highest item popularity level possessed by the items stored in the storage container. For each storage container located in a storage space, it is determined whether the level difference between the container popularity level of the storage container and the storage space popularity level of the storage space where the storage container is located is smaller than a set level threshold. If the level difference is smaller than the set level threshold, it is determined that the storage container and the storage space where the storage container is located are a match; otherwise, it is determined that the storage container and the storage space where the storage container is located are not a match.

[0112] In step 703, a carrier-level warehouse organization algorithm is employed to match storage containers that do not match the popularity of a storage space with a target storage space, and a storage space organization task is generated and sent. This storage space organization task is the task of transporting each storage container from the source storage space to the target storage space.

[0113] Figure 8 is a flowchart of a carrier-level warehouse organization algorithm according to one embodiment of the present invention. As shown in Figure 8, the carrier-level warehouse organization algorithm includes steps 8031 ​​to 8036.

[0114] In step 8031, for each storage container that does not match the popularity of the storage space, or for each storage space that does not match the popularity of the container, the storage container information for the storage container and the storage space information for the storage space are obtained. Here, the storage container information includes storage container identification information such as the container number and container popularity information. The storage space information includes storage space identification information such as the storage space number, storage space popularity information, and storage space location information.

[0115] In step 8032, for each storage container that does not match the popularity of a storage space, a candidate storage space for that storage container is matched based on the container popularity information of that storage container.

[0116] As an example, among storage spaces other than the matched storage spaces, those storage spaces whose popularity information and the popularity information of the storage container are the same will be designated as candidate storage spaces for that storage container.

[0117] In step 8033, a first distance is calculated between each candidate storage space and a designated location such as a workstation, and the priority of the candidate storage spaces is set according to the proximity of this first distance. The closer the first distance between a candidate storage space and a workstation, the higher the priority of that candidate storage space, and it is possible that there are candidate storage spaces with the same priority.

[0118] In step 8034, the second distance between the storage container and the candidate storage space is calculated, the priority of the candidate storage spaces is adjusted according to the proximity of this second distance, the candidate storage space with the highest priority is preferentially selected as the target storage space for the storage container, and a warehouse sorting task is generated to transport the storage container from the current source storage space to the target storage space. The closer the second distance between the storage container and the candidate storage space, the higher the priority of the candidate storage space. The warehouse sorting task is accompanied by storage container information, source storage space information, and target storage space information.

[0119] For example, among candidate storage spaces with the same priority determined based on the first distance, the closer a candidate storage space is to the storage container in question, the higher its priority becomes, and the candidate storage space with the highest priority is preferentially selected as the target storage space for that storage container. If there are multiple target storage spaces, one of them is randomly selected as the target storage space.

[0120] In step 8035, return to step 8032 until a warehouse sorting task is generated for each storage container that does not match the popularity of the storage space.

[0121] In this way, a warehouse organization task is generated for each storage container that does not match the popularity of the storage space, or for each storage space that does not match the popularity of the container, and these warehouse organization tasks form a storage space organization task.

[0122] In the process of organizing storage containers, if it is necessary to move storage container A in storage space C back to storage space A, and at this time storage container B is in storage space A and storage container B needs to be moved back to storage space B, and storage container C is in storage space B and storage container C needs to be moved back to storage space C, then the above situation is called a chain task, and if the links in the chain task are long, warehouse organization becomes complicated and it affects the receiving and shipping operations. In this embodiment, the link length of the chain task is limited, and when the link length reaches the set link length threshold, the chain task is divided into multiple sub-chain tasks and executed. Therefore, step 8036 is executed.

[0123] In step 8036, based on the information attached to the warehouse organization task, a chain of related warehouse organization tasks is constructed. It is determined whether the link length of each chain task is greater than the set link length threshold. If the link length is greater than the set link length threshold, it is indicated that the link of that chain task is long. The link of that chain task is divided into multiple sublinks less than or equal to the link length threshold, the chain task is grouped, and the grouped warehouse organization task is obtained. If the link length is less than or equal to the set link length threshold, the chain task is output. Here, one sublink corresponds to one grouped warehouse organization task.

[0124] Each grouped warehouse organization task and chain tasks with link lengths below the threshold will be designated as storage space organization tasks.

[0125] For example, Figure 9 shows the distribution of storage space and containers before warehouse reorganization. As shown in Figure 9, according to the warehouse reorganization logic based on storage space reorganization, completing the warehouse reorganization process without performing task grouping requires performing six transport tasks as shown in Figure 9. Long task links are disadvantageous for task management, especially when tasks need to be interrupted or terminated. By performing task grouping and breaking down one long task link into two groups of shorter task links according to a pre-set link length threshold (assuming 3) (see Figure 10), and executing each group separately, the granularity of task execution can be reduced, making it easier to manage.

[0126] As an example, a chain task can be constructed as follows:

[0127] For each warehouse organization task, if the target storage space information attached to that task is the same as the source storage space information attached to another warehouse organization task, it indicates that there are storage containers in that source storage space that require storage space organization. The other warehouse organization task is then designated as a subsequent task adjacent to the said task, and a task sequence including both the said task and the other warehouse organization task is obtained. Several task sequences are obtained in this manner, task sequences with common parts are integrated, and the integrated task sequence is obtained as a chain task.

[0128] For example, in the situation shown in Figure 9, we generate warehouse organization tasks 1 through 6. Here, warehouse organization task 1 and warehouse organization task 2 become task sequence 12, warehouse organization task 2 and warehouse organization task 3 become task sequence 23, warehouse organization task 3 and warehouse organization task 4 become task sequence 34, warehouse organization task 4 and warehouse organization task 5 become task sequence 45, and warehouse organization task 5 and warehouse organization task 6 become task sequence 56. Task sequence 12 and task sequence 23 have a common part 2, and after integration, task sequence 123 is obtained. Task sequence 23 and task sequence 34 have a common part 3, and after integration, task sequence 234 is obtained. Task sequence 34 and task sequence 45 have a common part 4, and after integration, task sequence 345 is obtained. Task sequence 45 and task sequence 56 have a common part 5, and after integration, task sequence 456 is obtained. Task sequence 123 and task sequence 345 have a common part 3, and after integration, task sequence 12345 is obtained. Task sequence 12345 and task sequence 456 have a common part 45, and after integration, task sequence 123456 is obtained. These task sequences are chain tasks.

[0129] In step 704, the RCS receives a storage space organization task transmitted from the intelligent warehouse management system, schedules a robot, and instructs the robot to transport the storage container from the source storage space to the target storage space.

[0130] In step 705, the robot transports the storage containers from the source storage space to the target storage space and performs a storage space organization operation for the storage containers, based on the storage container information, source storage space information, and target storage space information added to the storage space organization task.

[0131] The warehouse organization method by storage space organization according to this embodiment employs a carrier-level warehouse organization algorithm to organize storage containers of different popularity levels into matching storage spaces, thereby improving the efficiency of robot loading and unloading. It also places the most popular storage containers as close to the workstation as possible to improve the efficiency of subsequent retrieval operations. The warehouse organization method by storage space organization provided by this embodiment can automatically sort storage containers, automatically generate warehouse organization tasks, and complete warehouse organization, thereby saving labor costs and reducing the error rate.

[0132] Figure 11 is a schematic diagram of a robot-based warehouse organization device according to one embodiment of the present invention. As shown in Figure 11, the device includes a warehouse organization unit for classification and a warehouse organization unit for storage space organization.

[0133] The sorting-based warehouse organization unit is used to sort and organize items stored in various first storage containers, classifying and organizing identical or identical items into one or more second storage containers.

[0134] The warehouse organization unit, which organizes storage spaces, is used to organize storage containers located in any of the storage spaces, and to match the popularity information of the containers with the popularity information of the storage space where the containers are located.

[0135] The warehouse organization unit by classification includes a first sorting module and a classification task generation module.

[0136] The first sorting module obtains the utilization rate of each first storage container in the warehouse and is used to determine the storage containers with low utilization rates based on the obtained utilization rates.

[0137] The classification task generation module generates a classification task based on the storage container with low utilization rates to classify and organize the items stored in the storage container with low utilization rates into a second storage container. By transmitting this classification task to the robot control system, the robot control system schedules the robot to execute the classification task, thereby classifying and organizing the items stored in the storage container with low utilization rates into the same second storage container or two or more second storage containers.

[0138] The warehouse organization unit, which uses storage space organization, includes a second sorting module and a storage space organization task generation module.

[0139] The second sorting module is used to obtain storage container information for storage containers that do not match the popularity of the storage space, or storage space information for storage spaces that do not match the popularity of the containers.

[0140] The storage space organization task generation module, for storage containers that do not match the popularity of a storage space, selects a target storage space from storage spaces other than the matched storage space, where the popularity information of the storage space matches the popularity information of the storage container in question. It then generates a storage space organization task to transport the storage container from the source storage space to the target storage space, and transmits the storage space organization task to the robot control system. The robot control system then schedules the robot to execute the storage space organization task, performing warehouse organization by organizing the storage space for storage containers located in any of the storage spaces, and is used to match the popularity information of the storage container with the popularity information of the storage space where the storage container is located.

[0141] Figure 12 is another schematic diagram of a robot-operated warehouse organization device according to one embodiment of the present invention. As shown in Figure 12, the device includes a memory and a processor, the memory which stores a computer program, and the processor which executes the computer program to perform the robot-operated warehouse organization method described in the embodiment of the present invention.

[0142] The memory may include random access memory (RAM) and may include at least one non-volatile memory (NVM), such as magnetic disk memory. Optionally, the memory may also include at least one storage device located away from the processor.

[0143] The above-mentioned processor may be a general-purpose processor including a Central Processing Unit (CPU), a Network Processor (NP), a Digital Signal Processing (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, or discrete hardware components.

[0144] Embodiments of the present invention further provide a computer-readable storage medium in which a computer program is stored, and when the computer program is executed by a processor, the robot-based warehouse organization method described in embodiments of the present invention is performed.

[0145] The embodiments of the device / network-side equipment / storage medium are basically similar to the embodiments of the method, so the explanation is simple, and relevant sections should be referred to in the section on embodiments of the method.

[0146] In this specification, relational terms such as “first” and “second” are used solely to distinguish one entity or action from another, and do not necessarily require or imply that any actual relationship or order exists between these entities or actions. Furthermore, the terms “includes,” “added,” or any other variation thereof are intended to cover non-exclusive inclusion, and a process, method, article, or device containing a set of elements includes not only those elements but also other elements not explicitly listed, or elements specific to such a process, method, article, or device. Unless further restrictions are imposed, an element limited by the phrase “includes one…” does not preclude other identical elements from being present in a process, method, article, or device containing such element.

[0147] The foregoing are merely some embodiments of the present invention and do not limit it. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should all be within the scope of protection of the present invention.

Claims

1. A method of organizing warehouses using robots, The client's warehouse operations process includes a step of sorting and organizing items stored in each of the first storage containers in the warehouse, The warehouse organization based on the aforementioned classification is To obtain the utilization rate of each of the first storage containers, Based on the acquired utilization rate, the storage containers with low utilization rates are determined, The process includes generating a classification task to classify and organize items stored in a storage container with a low utilization rate into a second storage container, based on the storage container with a low utilization rate, and transmitting the classification task to a robot control system, which then schedules the robot to execute the classification task. A robotic method for organizing a warehouse.

2. Obtaining the utilization rate of each of the first storage containers is: For each of the first storage containers, the utilization rate of the items of each category stored in the first storage container is obtained, according to the category of items stored in the first storage container. Based on the acquired utilization rate, determining the storage containers with low utilization rates is: Based on the acquired utilization rates, the method includes determining the storage containers with the lowest utilization rates for items in each category. Based on the storage containers with low utilization rates, generating a classification task to classify and organize the items stored in the storage containers with low utilization rates into a second storage container is: Based on the categories of items stored in the storage containers with low utilization rates, determine at least one type of target item to organize, This includes assigning a second storage container to each type of target item to organize, and generating a warehouse organization task for organizing that type of target item into the second storage container, The warehouse organization method according to feature 1.

3. Obtaining the utilization rate of each of the first storage containers is: For each of the first storage containers, the number of items stored in the first storage container is tallied, and the utilization rate of the first storage container is obtained. Based on the acquired utilization rate, determining the storage containers with low utilization rates is: This includes determining a first storage container, in which the number of items stored is less than a first threshold, as a storage container with a low utilization rate. Based on the storage containers with low utilization rates, generating a classification task to classify and organize the items stored in the storage containers with low utilization rates into a second storage container is: The items stored in the aforementioned storage containers with low utilization rates will be designated as target items for organization, This includes assigning a second storage container to the target items to be sorted and generating a warehouse sorting task to sort the target items into the second storage container, thereby causing the items stored in the underutilized storage containers to become empty. The warehouse organization method according to feature 1.

4. Determining a first storage container in which the number of items stored is less than a first threshold as a storage container with a low utilization rate further means that, For a first storage container in which the number of items stored is equal to or greater than the first threshold, the method includes determining whether the category of items stored in the first storage container is a set category, and if it is a set category, determining the first storage container as a storage container with a low utilization rate. Assigning the second storage container to the aforementioned target items is: Prioritizing storage containers with low utilization rates according to the number of items stored in them, This includes assigning a second storage container to each of the storage containers with the lowest utilization rate in order of priority, Here, the fewer the number of items stored, the higher the priority given to the storage container with the lowest utilization rate. The warehouse organization method according to feature 3.

5. Assigning a second storage container to the aforementioned target items and generating a warehouse organization task for organizing the aforementioned target items into the second storage container is: Depending on the category of the target items to be sorted, at least one type of target item to be sorted must be determined. This includes assigning a second storage container to each type of target item to organize, and generating a warehouse organization task for organizing that type of target item into the second storage container, The warehouse organization method according to feature 4.

6. Determining at least one type of target item to organize is necessary. For each storage container with a low utilization rate, the method involves obtaining item information for each category of items stored in that storage container, wherein the item information includes at least item popularity information to indicate the frequency of items being entered or left the warehouse. This includes clustering the items stored in each storage container with a low utilization rate based on the item popularity information, obtaining at least one type of clustered item, and designating the at least one type of clustered item as the at least one type of target sorting item. Assigning a second storage container to each type of target item is: This includes assigning the second storage container to each type of target sorting item based on the storage capacity of the second storage container and the item sorting policy, The warehouse organization method according to claim 2 or 5.

7. The aforementioned article information further includes information on the packaging specifications of the article, For each storage container with a low utilization rate, after obtaining the item information of the items in each category stored in that storage container with a low utilization rate, the method further: This includes obtaining information on storage containers with low utilization rates, The information regarding the storage containers with low utilization rates includes, at a minimum, the number of items in each category stored therein and the item mixing policy. Assigning the second storage container to each type of target sorted item, based on the storage capacity of the second storage container and the item sorting policy, In accordance with the aforementioned article mixing policy, the at least one type of clustering article is divided, the clustering articles permitted to be mixed are divided into the same group, and the clustering articles not permitted to be mixed are divided into different groups, thereby obtaining at least one group of first grouped articles. Based on the packaging specifications of the articles, the volume of the second storage container, and the storage rate of the second storage container, each of the first grouped articles is divided into secondary sections to obtain at least one second group of articles. This includes determining the number of second storage containers for storing each of the second grouped articles based on the number of groups of the second grouped articles, The warehouse organization method according to feature 6.

8. Determining at least one type of target item to organize is necessary. For items in each category stored in storage containers with low utilization rates, the number of storage containers with low utilization rates for items in that category will be tallied, The system includes marking items in a category as target items when the number of storage containers with low utilization rates reaches a set threshold number, or when the ratio of the number of storage containers with low utilization rates to the total number of storage containers containing items in that category reaches a set threshold ratio. The warehouse organization method according to claim 2 or 5.

9. Assigning a second storage container to each type of target item is: For each type of target item to be sorted, the method involves obtaining item information for that type of target item and information on storage containers with low utilization rates for that type of target item, wherein the item information includes packaging specification information for that type of target item, and the information on storage containers with low utilization rates includes the number of that type of target item stored in storage containers with low utilization rates. This includes determining the number of second storage containers for storing the target items of a given type, based on the packaging specifications of the target items of that type, the number of target items of that type stored in storage containers with low utilization rates, the volume of the second storage containers, and the storage rate of the second storage containers. The aforementioned warehouse organization task is accompanied by item information for the target items of that type. The warehouse organization method according to claim 2 or 5.

10. After determining the number of second storage containers for storing the target sorting items of that type, the method further: This includes consolidating the second storage containers for each type of target sorting item in accordance with the item sorting policy. The aforementioned warehouse sorting task is further supplemented with item information of target sorting items that are permitted to be placed in the same second storage container. The warehouse organization method according to feature 9.

11. Obtaining the utilization rate of each category of items stored in the first storage container is: This includes calculating the utilization rate of items of each category in the first storage container based on the volume and number of items of each category stored in the first storage container, The utilization rate is the ratio of the product of the volume of one item in the category and the number of items in that category to the volume of the first storage container. Based on the acquired utilization rates, determining the storage containers with low utilization rates for items in each category is: The method includes determining whether the utilization rate of any item in a first storage container of each category is less than a set utilization rate threshold, and if the utilization rate is less than the set utilization rate threshold, marking the first storage container as a storage container with a low utilization rate for that type of item. The warehouse organization method according to feature 2.

12. The robot control system scheduling the robot to perform a classification task means that The robot control system includes scheduling a robot in response to each warehouse sorting task to transport a low-utilization storage container containing the target sorting items to a first target location for sorting, distributing the target sorting items from the low-utilization storage container to a second storage container based on item information attached to the warehouse sorting task, and, after the warehouse sorting task is completed, sending a warehouse sorting task completion message to the client. The above method further, The client side, in response to the warehouse sorting task completion message, transmits to the robot control system a task for the robot control system to schedule a robot to transport the second storage container to a second target location for storing the items, The warehouse organization method according to claim 2 or 3.

13. A first sorting module for obtaining the utilization rate of each first storage container in the warehouse and determining storage containers with low utilization rates based on the obtained utilization rates, A classification task generation module that generates a classification task for classifying and organizing items stored in the underutilized storage containers into a second storage container based on the underutilized storage containers, and transmits the classification task to a robot control system so that the robot control system can schedule the robot to execute the classification task, is included. A robot-powered warehouse organization system characterized by the following features.

14. A robotic warehouse organization device including memory and a processor, The aforementioned memory stores computer programs, The processor is configured to execute the computer program and perform the robotic warehouse organization method described in any one of claims 1 to 5, 11. A robot-powered warehouse organization system characterized by the following features.

15. A computer-readable storage medium in which a computer program is stored, When the computer program is executed by the processor, the robot-based warehouse organization method described in any one of claims 1 to 5, 11 is executed. A computer-readable storage medium characterized by the following features.

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