Lane configuration methods, devices, electronic equipment, storage media, and computer program products

Abstract

Embodiments of the present invention provide a lane arrangement method, apparatus, electronic device, and storage medium. The lane arrangement method includes acquiring area distribution information and loading / unloading rules for the warehouse area to be arranged; determining each storage space in a storage area and each storage space in an obstacle area located between two obstacles and not belonging to any storage area, based on the storage area location and obstacle location; and for each obstacle area, arranging lanes for the target adjacent storage space in the obstacle area and at least one storage space in the obstacle area according to lane arrangement rules that match the loading / unloading rules, and acquiring the arranged Type 1 lanes. By applying the lane arrangement method provided by embodiments of the present invention, the utilization rate of warehouse storage space can be increased.

Description

Technical Field

[0001] The present invention claims priority based on the Chinese patent application filed with the China National Intellectual Property Administration on September 25, 2023, with the application number 202311242869.2 and the title of the invention "Lane arrangement method, apparatus, electronic device and storage medium". The entire content thereof is incorporated herein by reference.

[0002] The present invention relates to the field of warehouse logistics technology, and in particular to a lane arrangement method, apparatus, electronic device and storage medium.

Background Art

[0003] In the field of warehouse logistics, warehouses usually adopt a high-density storage mode to improve space utilization, and lane-type storage is one of the arrangement modes for high-density storage in warehouses. As shown in Figure 1, a warehouse area using lane-type storage includes at least storage areas for storing cargo and passages for pedestrians and mobile robots to pass through.

[0004] In a related lane arrangement method, as shown in Figure 1, a plurality of storage locations are arranged in the storage area, and adjacent storage locations in each column can be determined as one lane. That is, each lane is composed of a plurality of storage locations arranged in a single row, people or mobile robots can enter and exit the lane through the passage, and load and unload cargo in the lane according to the access route of the lane.

[0005] However, in a warehouse area, obstacles such as load-bearing columns usually exist, and there may be an obstacle area between some obstacles. For example, in Figure 2, there is an obstacle area a between obstacle 1 and obstacle 2. Therefore, when the conventional lane arrangement method is applied, cargo cannot be stored in the obstacle area, which reduces the utilization rate of the storage space of the warehouse. That is, when the conventional lane arrangement method is applied, the space utilization rate of areas other than passages in the warehouse becomes low.

Summary of the Invention

[0006] The embodiments of the present invention aim to provide a lane arrangement method, apparatus, electronic equipment, and storage medium for increasing the utilization rate of warehouse storage space. Specific technical proposals are as follows. [Means for solving the problem]

[0007] In a first aspect, an embodiment of the present invention provides a lane arrangement method. The lane arrangement method is This involves obtaining area distribution information and loading / unloading rules for the warehouse area to be deployed, wherein the area distribution information includes the location of aisles, the location of storage areas, and the location of obstacles. Based on the storage area location and the obstacle location, determine each storage space within the storage area and each storage space located between the two obstacles and not belonging to either of the aforementioned storage areas within the obstacle area. This includes, for each obstacle area, arranging lanes for the target adjacent storage location in the obstacle area and at least one storage location in the obstacle area according to lane arrangement rules that match the aforementioned loading and unloading rules, and acquiring the arranged Type 1 lanes, Each target adjacent storage location in an obstacle area includes each storage location in an adjacent storage area located on the designated side of the obstacle area, which is adjacent to the obstacle area and arranged according to the arrangement direction of each storage location in the obstacle area, and the shape of the first lane includes at least one of a concave shape, an L-shape, and a U-shape.

[0008] Selectively, in one specific implementation, for each obstacle area, lanes are arranged for the target adjacent storage location in the obstacle area and at least one storage location in the obstacle area, according to lane arrangement rules that match the cargo loading / unloading rules, and the arranged Type 1 lanes are obtained. If the aforementioned loading and unloading rule is first-in, first-out, then for each obstacle area, lanes are arranged for the target adjacent storage location in the obstacle area and each storage location in the obstacle area according to the lane arrangement rule of type 1 shape, and the arranged type 1 lanes are obtained, wherein the aforementioned type 1 shape includes a concave shape. If the loading and unloading rules are first-in, last-out, then for each obstacle area, a lane arrangement is made for the target adjacent storage location in the obstacle area and for each storage location in the obstacle area, according to the lane arrangement rules of type 2 shape, and the arranged type 1 lane is obtained, wherein the type 2 shape includes a U-shape and / or an L-shape.

[0009] Selectively, in one specific implementation, arranging lanes for the target adjacent storage location in the obstacle area and each storage location in the obstacle area according to the lane arrangement rules of the first type shape, and acquiring the arranged first type lanes, The target lane start point is determined to be any storage location adjacent to the aforementioned passage position within the target adjacent storage location in the obstacle area, In the aforementioned storage location adjacent to the target, the storage location adjacent to the passage position, excluding the starting end of the target lane, is determined to be the end of the target lane. The method involves determining each target storage location that connects the start and end points of the target lane and satisfies the loading and unloading rules, from the target adjacent storage location and each storage location in the obstacle area, and obtaining a U-shaped Type 1 lane that is arranged accordingly, wherein each target storage location includes at least one storage location in the obstacle area.

[0010] Selectively, in one specific implementation, arranging lanes for the target adjacent storage location in the obstacle area and each storage location in the obstacle area according to the lane arrangement rules of the second type shape, and obtaining the arranged first type lane, The target lane start point is determined to be any storage location adjacent to the aforementioned passage position within the target adjacent storage location in the obstacle area, To determine one of the storage locations within the obstacle area as the end of the target lane, The method involves determining each target storage location that connects the target lane start and the target lane end and satisfies the cargo loading and unloading rules, from the target adjacent storage location and each storage location in the designated direction starting from the target lane end in the obstacle area, and obtaining a U-shaped or L-shaped Type 1 lane that is arranged therein, wherein the target storage location includes all storage locations in the designated direction, and the designated direction is the direction from the target lane end toward the obstacle furthest from the target lane start in the obstacle area.

[0011] Selectively, in one specific implementation, determining one of the storage locations in the said obstacle area as the target lane end is, The method involves determining the target lane end from among the storage locations within the obstacle area, specifically the storage location adjacent to the obstacle within the obstacle area and closest to the target lane start end, and the resulting Type 1 lane shape is U-shaped. or This includes determining the target lane end point as the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and furthest from the target lane start point, and ensuring that the shape of the acquired Type 1 lane is L-shaped.

[0012] Selectively, in one specific implementation, determining the target lane end point to be the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and closest to the target lane start point is: If the number of storage locations in the obstacle area is less than or equal to the specified number, the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and closest to the start of the target lane is determined as the end of the target lane. The lane arrangement method described above is: If the number of storage locations in the obstacle area exceeds a specified number, the storage location in the obstacle area that is separated from the obstacle closest to the start of the target lane by a specified number of storage locations is determined as the end of the target lane, wherein the specified number is the difference between the number of storage locations and the specified number, and the shape of the acquired Type 1 lane is U-shaped or L-shaped.

[0013] Selectively, in one specific implementation, the lane arrangement method is For each storage area, the method further includes partitioning lanes for each storage location that is not designated as a target storage location within that storage area, based on the aforementioned loading and unloading rules and the aforementioned aisle locations, and acquiring each of the assigned Type 2 lanes.

[0014] Selectively, in one specific implementation, the rules for loading and unloading goods are first-in, first-out. For each of the aforementioned storage areas, based on the aforementioned loading and unloading rules and the aforementioned aisle positions, lanes are demarcated for each storage location that is not designated as a target storage location within that storage area, and each of the assigned Type 2 lanes is acquired. For each storage area, if the target adjacent storage location exists within that storage area, each storage location within that storage area is divided into a plurality of storage location groups according to the arrangement direction, and each storage location group that does not include the target adjacent storage location is divided into the same lane, and each of the arranged Type 2 lanes is acquired. For each storage area, if there is no target adjacent storage location in that storage area, the method includes dividing each storage location in that storage area into a plurality of storage location groups according to the arrangement direction, dividing each storage location group into the same lane, and acquiring each of the arranged Type 2 lanes.

[0015] Selectively, in one specific implementation, the loading and unloading rule for the goods is first-in, last-out, and there is an empty storage area in the adjacent target storage area that is not designated as a target storage area. For each of the aforementioned storage areas, based on the aforementioned loading and unloading rules and the aforementioned aisle positions, lanes are demarcated for each storage location that is not designated as a target storage location within that storage area, and each of the assigned Type 2 lanes is acquired. For each storage area, if a target adjacent storage location exists within that storage area, each storage location within that storage area is divided into multiple storage location groups according to the arrangement direction, the empty storage location and one storage location group adjacent to the empty storage location are divided into the same L-shaped lane, each storage location group that does not include the target adjacent storage location is divided into the same lane, and each of the arranged Type 2 lanes is acquired. For each storage area, if there is no target adjacent storage location in that storage area, the method includes dividing each storage location in that storage area into a plurality of storage location groups according to the arrangement direction, dividing each storage location group into the same lane, and acquiring each of the arranged Type 2 lanes.

[0016] In a second aspect, an embodiment of the present invention provides a lane arrangement device. The lane arrangement device is An information acquisition module for obtaining area distribution information and loading / unloading rules for warehouse areas to be deployed, wherein the area distribution information includes the location of aisles, the location of storage areas, and the location of obstacles. A storage location determination module for determining each storage location within the storage area and each storage location within the obstacle area that is located between the two obstacles and does not belong to either of the aforementioned storage areas, based on the storage area location and the obstacle location, The system includes a lane arrangement module for arranging lanes for each obstacle area, according to lane arrangement rules that match the aforementioned loading and unloading rules, for the target adjacent storage location in the obstacle area and at least one storage location in the obstacle area, and for acquiring the arranged Type 1 lanes, The target adjacent storage locations of each obstacle area include each storage location adjacent to the obstacle area and arranged according to the arrangement direction of each storage location in the obstacle area in the adjacent storage area located on the specified side of the obstacle area, and the shape of the first type lane includes at least one of a concave shape, an L-shape, and a U-shape.

[0017] Optionally, in one specific implementation, the lane arrangement module: when the cargo loading and unloading rule is first-in first-out, for each obstacle area, performing lane arrangement on the target adjacent storage locations of the obstacle area and each storage location in the obstacle area according to the lane arrangement rule of the first type shape, so as to obtain the arranged first type lanes, which is a first arrangement submodule, wherein the first type shape includes a concave shape; and when the cargo loading and unloading rule is first-in last-out, for each obstacle area, performing lane arrangement on the target adjacent storage locations of the obstacle area and each storage location in the obstacle area according to the lane arrangement rule of the second type shape, so as to obtain the arranged first type lanes, which is a second arrangement submodule, wherein the second type shape includes a U-shape and / or an L-shape.

[0018] Optionally, in one specific implementation, the first arrangement submodule is configured to: determine any storage location adjacent to the aisle position in the target adjacent storage locations of the obstacle area as the starting end of the target lane; determine a storage location in the target adjacent storage locations, which excludes the starting end of the target lane and is adjacent to the aisle position, as the terminal end of the target lane; determine each target storage location that connects the starting end of the target lane and the terminal end of the target lane and satisfies the cargo loading and unloading rule from the target adjacent storage locations and each storage location in the obstacle area, and obtain the arranged concave-shaped first type lane, wherein the target storage location includes at least one storage location in the obstacle area.

[0019] Selectively, in one specific implementation, the second arrangement submodule is: A lane start determination means for determining the target lane start of any storage location adjacent to the passage position in the target adjacent storage location of the obstacle area, A lane end determination means for determining one of the storage locations in the obstacle area as the target lane end, The lane determination means for determining each target storage location that connects the target lane start and the target lane end and satisfies the cargo loading and unloading rules, from the target adjacent storage location and each storage location in a designated direction starting from the target lane end in the obstacle area, and for obtaining a U-shaped or L-shaped first type lane, wherein the target storage location includes all storage locations in the designated direction, and the designated direction is the direction from the target lane end toward the obstacle furthest from the target lane start in the obstacle area.

[0020] Selectively, in one specific implementation, the lane termination determination means is A first determination sub-means for determining the target lane end point among the storage locations in the obstacle area, the storage location adjacent to the obstacle in the obstacle area and closest to the target lane start point, wherein the shape of the acquired first type lane is U-shaped. or The system includes a second determination sub-means for determining the target lane end point, which is the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and furthest from the target lane start point, wherein the shape of the acquired first type lane is L-shaped.

[0021] Selectively, in one specific implementation form, the first definite sub-means is, If the number of storage locations in the obstacle area is less than or equal to the specified number, the storage location in the obstacle area that is adjacent to the obstacle and closest to the start of the target lane will be determined as the end of the target lane. The lane arrangement device is, If the number of storage locations in the obstacle area exceeds a specified number, the system further includes a lane end determination module for determining the target lane end by separating the storage location from the obstacle closest to the target lane start by a specified number of storage locations, wherein the target number is the difference between the number of storage locations and the specified number, and the shape of the acquired Type 1 lane is U-shaped or L-shaped.

[0022] Selectively, in one specific implementation, the lane arrangement device is Each storage area is further provided with a lane partitioning module for partitioning lanes for each storage location that is not designated as a target storage location within that storage area, based on the aforementioned loading and unloading rules and the aforementioned aisle positions, and for acquiring each of the assigned Type 2 lanes.

[0023] Selectively, in one specific implementation, the rules for loading and unloading goods are first-in, first-out. The aforementioned lane partitioning module is For each storage area, if the target adjacent storage location exists within that storage area, each storage location within that storage area is divided into a plurality of storage location groups according to the arrangement direction, each storage location group that does not include the target adjacent storage location is divided into the same lane, and each of the arranged Type 2 lanes is acquired. This is used to, for each storage area, if there is no target adjacent storage location in that storage area, to partition each storage location in that storage area into a plurality of storage location groups according to the arrangement direction, partition each storage location group into the same lane, and acquire each of the arranged Type 2 lanes.

[0024] Selectively, in one specific implementation, the loading and unloading rule for the goods is first-in, last-out, and there is an empty storage area in the adjacent target storage area that is not designated as a target storage area. The aforementioned lane partitioning module is For each storage area, if a target adjacent storage location exists within that storage area, each storage location within that storage area is divided into multiple storage location groups according to the arrangement direction, the empty storage location and one storage location group adjacent to the empty storage location are divided into the same L-shaped lane, each storage location group that does not include the target adjacent storage location is divided into the same lane, and each of the arranged Type 2 lanes is acquired. This is used to, for each storage area, if there is no target adjacent storage location in that storage area, to partition each storage location in that storage area into a plurality of storage location groups according to the arrangement direction, partition each storage location group into the same lane, and acquire each of the arranged Type 2 lanes.

[0025] In a third aspect, an embodiment of the present invention provides an electronic device. The electronic device is Memory for storing computer programs, The system includes a processor for implementing the lane configuration method described in any one of the above items when a program stored in memory is executed.

[0026] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium. A computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the lane arrangement method described in any one of the above items is realized.

[0027] In a fifth aspect, an embodiment of the present invention provides a computer program product. The computer program product includes instructions, and when the computer program product is executed on a computer, it causes the computer to execute the lane arrangement method described in any one of the above paragraphs. [Effects of the Invention]

[0028] The beneficial effects of the embodiments of the present invention are as follows: As can be seen from the above, by applying the technical solution provided by the embodiment of the present invention, when arranging lanes in a warehouse area to be laid out, it is possible to determine storage locations in an obstacle area that is located between two obstacles and does not belong to any of the storage areas. Furthermore, by utilizing storage locations in storage areas adjacent to the obstacle area, storage locations in the obstacle area can be arranged in the lanes. In other words, in the above warehouse area, it is possible to arrange lanes that include storage locations in an obstacle area that is located between two obstacles and does not belong to any of the storage areas, thereby enabling the storage of goods in the obstacle area as well, and increasing the utilization rate of the warehouse storage space. [Brief explanation of the drawing]

[0029] The drawings described herein are provided to further illustrate the present invention and constitute part of it. The exemplary embodiments and descriptions of the present invention are for illustrative purposes only and do not unduly limit the present invention.

[0030] [Figure 1] Figure 1 is a schematic diagram of the area distribution of the warehouse area provided by an embodiment of the present invention. [Figure 2] Figure 2 is a schematic diagram of an obstacle area provided by an embodiment of the present invention. [Figure 3] Figure 3 is a flowchart of the lane arrangement method provided by an embodiment of the present invention. [Figure 4] Figure 4 is a schematic diagram of the lane arrangement provided by an embodiment of the present invention. [Figure 5(a)] Figure 5(a) is a schematic diagram of a first type U-shaped lane section provided by an embodiment of the present invention. [Figure 5(b)] Figure 5(b) is a schematic diagram of a second type U-shaped lane section provided by an embodiment of the present invention. [Figure 6(a)] Figure 6(a) is a schematic diagram of a U-shaped lane provided by an embodiment of the present invention. [Figure 6(b)] Figure 6(b) is a schematic diagram of an L-shaped lane provided by an embodiment of the present invention. [Figure 6(c)] Figure 6(c) is a schematic diagram of another lane configuration provided by an embodiment of the present invention. [Figure 7] Figure 7 is a schematic diagram of the structure of a lane arrangement device provided by an embodiment of the present invention. [Figure 8] Figure 8 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. [Modes for carrying out the invention]

[0031] Hereinafter, the present invention will be described in more detail with reference to the drawings, with reference to examples, in order to further clarify the object, technical proposal and advantages of the present invention. Clearly, the examples described are not all of the examples of the present invention, but only a selection of them. All other examples obtained by those skilled in the art based on the examples of the present invention are all within the scope of protection of the present invention.

[0032] In the relevant lane configuration method, multiple storage locations can be set up in a storage area, and adjacent storage locations within each row can be designated as a single lane. People and mobile robots can enter and exit the lanes via aisles and load and unload goods within the lanes according to the lane's entry and exit route. However, warehouse areas typically contain obstacles such as load-bearing pillars, and obstacle areas may exist between some of these obstacles. Applying conventional lane configuration methods would prevent goods from being stored in obstacle areas, reducing the utilization rate of warehouse storage space.

[0033] To solve the above problems, the embodiment of the present invention provides a lane arrangement method.

[0034] Herein, the method can be applied to various scenarios requiring lane arrangement, for example, to a warehouse area with obstacles such as load-bearing columns. Furthermore, the implementing body in the embodiments of the present invention may be various electronic devices equipped with data processing functions, such as mobile phones, laptop computers, and desktop computers, but will be simply referred to as "electronic devices" below. The electronic devices may be independent electronic devices or device clusters consisting of multiple electronic devices. Based on this, the embodiments of the present invention do not limit the specific application scenarios or implementing bodies of the method. In other words, in the field of warehouse logistics, when high-density storage is adopted in a warehouse, the method can be used to arrange lanes in the warehouse, thereby enabling the storage of goods using the obstacle areas between obstacles within the warehouse, and further increasing the utilization rate of warehouse storage space.

[0035] The lane arrangement method provided by embodiments of the present invention is, This involves obtaining area distribution information and loading / unloading rules for the warehouse area to be deployed, wherein the area distribution information includes the location of aisles, the location of storage areas, and the location of obstacles. Based on the location of the storage area and the location of the obstacles, each storage space within the storage area and each storage space located between the two obstacles and not belonging to any of the aforementioned storage areas within the obstacle area are determined. This includes, for each obstacle area, arranging lanes for the target adjacent storage location in the obstacle area and at least one storage location in the obstacle area according to lane arrangement rules that match the aforementioned loading and unloading rules, and acquiring the arranged Type 1 lanes, Each target adjacent storage location in an obstacle area includes each storage location in an adjacent storage area located on the designated side of the obstacle area, that is adjacent to the obstacle area and arranged along the direction of arrangement of each storage location in the obstacle area, and the shape of the first lane includes at least one of a concave shape, an L-shape, and a U-shape.

[0036] As can be seen from the above, by applying the technical solution provided by the embodiment of the present invention, when arranging lanes in a warehouse area to be laid out, it is possible to determine storage locations in an obstacle area that is located between two obstacles and does not belong to any storage area. Furthermore, by utilizing storage locations in storage areas adjacent to the obstacle area, storage locations in the obstacle area can be arranged in the lanes. In other words, in the above warehouse area, lanes can be arranged that include storage locations in an obstacle area that is located between two obstacles and does not belong to any storage area, thereby making the obstacle area available for storage as well, and further increasing the utilization rate of warehouse storage space.

[0037] The lane arrangement method provided by embodiments of the present invention will be described in detail below with reference to the drawings.

[0038] Figure 3 is a flowchart of a lane arrangement method provided by an embodiment of the present invention. As shown in Figure 3, the method may include the following steps S301 to S303.

[0039] In S301, area distribution information and cargo loading / unloading rules for the warehouse area to be deployed are obtained. Here, area distribution information includes aisle locations, storage area locations, and obstacle locations.

[0040] The warehouse area to be addressed refers to the warehouse area where a lane layout is necessary in order to enable the loading and unloading of goods via lanes. This warehouse area may be an area where a lane layout has never been implemented before, or it may be an area where a lane layout was implemented in the past but needs to be implemented again for reasons such as the previous lane layout being unreasonable. Both are reasonable.

[0041] When arranging lanes for a warehouse area, it is first possible to obtain area distribution information such as the location of aisles, storage areas, and obstacles in the warehouse area, as well as the rules for loading and unloading goods in the warehouse area.

[0042] Selectively, a person skilled in the art can mark area distribution information, such as the location of aisles, storage areas, and obstacles, on a plan view of the warehouse area to be laid out. Furthermore, when arranging lanes in the warehouse area to be laid out, the electronic device can acquire the above plan view marked with area distribution information and determine the area distribution information, such as the location of aisles, storage areas, and obstacles, based on the above plan view.

[0043] By selectively installing an image acquisition device within the target warehouse area, scene images of the target warehouse system can be collected. This allows the electronic device to acquire one or more scene images covering the entire target warehouse area, perform area recognition on these scene images, and determine areas such as aisle areas, storage areas, and areas with obstacles within the target warehouse area. Furthermore, based on the recognition results, area distribution information such as aisle locations, storage area locations, and obstacle locations within the target warehouse area can be determined.

[0044] Of course, electronic devices can also acquire area distribution information of the warehouse area to be installed by other means. For example, an electronic device can acquire and display a floor plan of the warehouse area to be installed, and a person skilled in the art can mark area distribution information such as the location of aisles, storage areas, and obstacles on the floor plan displayed on the electronic device by means of a touch panel or mouse click. In this way, the electronic device can acquire area distribution information through the operations of a person skilled in the art described above. These are reasonable.

[0045] Here, the loading and unloading rules can be first-in, first-out or first-in, last-out, and these rules apply to the entire warehouse area where the goods are to be stored. In other words, the loading and unloading rules for each lane in the warehouse area are the same, and all are either first-in, first-out or first-in, last-out. The loading and unloading rules for the warehouse area can be determined by those skilled in the art according to actual circumstances, such as the frequency of loading and unloading of goods to be stored and the storage period of goods to be stored, and are not specifically limited in the embodiments of the present invention.

[0046] If the loading and unloading rule is first-in, first-out, then for each lane, goods are typically loaded into the lane from the end of the lane towards the beginning of the lane, and unloaded from the lane from the end of the lane towards the beginning of the lane.

[0047] As an example, consider a lane consisting of storage locations A, B, C, D, and E, as shown in Figure 1. If the loading and unloading rule is first-in, first-out, and the lane starts at storage location A and ends at storage location E, then when loading items into the lane, a person or mobile robot enters the lane from storage location A, first places items into storage location E, then sequentially places items into storage locations D, C, and B, and finally places items into storage location A. On the other hand, when retrieving items, a person or mobile robot enters the lane from storage location E, first retrieves items from storage location E, then sequentially retrieves items from storage locations D, C, and B, and finally retrieves items from storage location A.

[0048] If the loading and unloading rule is first-in, last-out, then for each lane, packages are typically loaded into the lane from the end of the lane towards the beginning of the lane, and unloaded from the lane from the beginning of the lane towards the end of the lane.

[0049] As an example, consider a lane consisting of storage locations A, B, C, D, and E, as shown in Figure 1. If the loading and unloading rule is first-in, last-out, and the lane starts at storage location A and ends at storage location E, then when loading items into the lane, a person or mobile robot enters the lane from storage location A, first places items into storage location E, then sequentially places items into storage locations D, C, and B, and finally places items into storage location A. On the other hand, when retrieving items, a person or mobile robot enters the lane from storage location A, first retrieves items from storage location A, then sequentially retrieves items from storage locations B, C, and D, and finally retrieves items from storage location E.

[0050] In summary, in this invention, "lane start" refers to the storage location that a person or mobile robot first reaches each time they enter the lane from the aisle during the process of storing goods in the lane, and is also the last storage location used when storing goods. In other words, the lane start is adjacent to the aisle. Correspondingly, "lane end" refers to the storage location that is first used when storing goods in the process of storing goods in the lane. When the goods loading and unloading rule is first-in, first-out, the lane end is adjacent to the aisle. On the other hand, when the goods loading and unloading rule is first-in, last-out, the lane end may or may not be adjacent to the aisle.

[0051] Here, "storage area adjacent to a passageway" means that the storage area and the passageway are connected, allowing people and mobile robots to enter the storage area adjacent to the passageway directly from the passageway without having to pass through other areas.

[0052] In S302, based on the storage area location and the obstacle location, each storage space within the storage area and each storage space within the obstacle area, which is located between the two obstacles and does not belong to either storage area, are determined.

[0053] After obtaining area distribution information such as the location of aisles, storage areas, and obstacles in the warehouse area to be laid out, it is possible to determine each storage location within a storage area based on the storage area location. Furthermore, based on the storage area location and obstacle location, it is possible to determine the location of an obstacle area that is located between two obstacles and does not belong to either storage area, and then determine each storage location within that obstacle area.

[0054] Typically, for a warehouse area to be assigned, it is possible to obtain information about the goods to be stored in that area, such as the type and size of the goods. Furthermore, based on the above information, storage requirements such as temperature, humidity, and shelf type for the warehouse area, as well as storage location information such as the size of each storage location within that warehouse area, can be determined.

[0055] Thus, the storage area within the warehouse area to be deployed is a dedicated area planned specifically for the installation of storage spaces. Therefore, after obtaining the area distribution information of the warehouse area to be deployed, the storage area within the warehouse area can be directly determined based on the location of the storage area. Furthermore, based on the storage space information, such as the size of the storage space determined above, the storage area is partitioned to determine the individual storage spaces within that area.

[0056] Furthermore, regarding obstacles in the warehouse area where the device is to be placed, the electronic device can determine two adjacent obstacles based on the acquired obstacle locations. Here, two adjacent obstacles refer to two obstacles that are located on the same straight line and have no other obstacles between them. In addition, the area between these two adjacent obstacles is determined. Since the electronic device also acquires the storage area locations within the warehouse area where the device is to be placed, for each pair of adjacent obstacles, the electronic device determines, based on the above storage area locations, whether the area between the two adjacent obstacles overlaps with a storage area, and whether the area between the two adjacent obstacles overlaps with a passageway. If the area between the two adjacent obstacles does not overlap with any storage areas or passageways, the area between the two adjacent obstacles becomes an obstacle area.

[0057] In other words, in this invention, the obstacle area refers to an area located between two obstacles that does not belong to either storage area and does not belong to a passageway.

[0058] As an example, as shown in Figure 2, there is an obstacle area a between vertically adjacent obstacles 1 and 2, and the area between horizontally adjacent obstacles 1 and 3 is a storage area but not an obstacle area. The area between adjacent obstacles 3 and 4 in the direction of incline is a storage area but not an obstacle area. The area between vertically adjacent obstacles 2 and 4 is a passageway but not an obstacle area.

[0059] Taking the obstacle area shown in Figure 2 as an example, it can be seen that, because the obstacles block access, people and mobile robots cannot enter the obstacle area directly from the passageway without passing through the storage area.

[0060] Thus, in the present invention, with respect to obstacles in the warehouse area to be installed, after obtaining area distribution information of the warehouse area to be installed, the obstacle area can be determined based on the area distribution information. Furthermore, in order to utilize the obstacle area determined above for the storage of goods and increase the utilization rate of the warehouse storage space, the storage area can be further partitioned into storage spaces based on storage space information such as the size of the storage spaces determined above, thereby determining each storage space within the obstacle area.

[0061] Selectively, in one specific implementation, since the length and width of the storage area are known, each storage location within the storage area and obstacle area can be determined based on the length and width of the storage area, the location of the storage area, and the location of the obstacle area.

[0062] For example, if the length and width of the storage area are both 1 meter, then based on the location of the storage area, it can be determined that the storage area is a rectangular area with a length of 4 meters and a width of 3 meters. Furthermore, four rows of storage spaces can be placed along the length of the storage area, and three rows of storage spaces can be placed along the width of the storage area, resulting in 12 storage spaces being determined within that storage area.

[0063] For example, assuming both the length and width of the storage area are 1 meter, the obstacle area can be determined to be a rectangular area with a length of 4 meters and a width of 1 meter, based on its location. Furthermore, four rows of storage spaces can be placed along the length of the obstacle area, and one row of storage spaces along the width of the obstacle area, resulting in the determination of four storage spaces within that obstacle area.

[0064] When selectively determining storage locations in storage areas and obstacle areas, storage locations in obstacle areas and storage locations in storage areas can be aligned. That is, for each storage location in an obstacle area and a storage area, the horizontal or vertical coordinates of the center points of two adjacent storage locations may be the same.

[0065] Selectively, in one specific implementation, it is possible to acquire information on the size of the package and the contents of the package, and to determine the size of the storage location based on the information on the size of the package and the contents of the package.

[0066] Selectively, the size of the storage area can be made larger than the size of the packages or the size of the mobile robots that transport the packages, thereby allowing the mobile robots to more easily retrieve and place packages in the storage area.

[0067] In S303, for each obstacle area, lanes are arranged for the target adjacent storage location in the obstacle area and at least one storage location in the obstacle area, according to the lane arrangement rules that match the loading and unloading rules, and the arranged Type 1 lanes are obtained.

[0068] Here, the target adjacent storage locations for each obstacle area may include storage locations in the adjacent storage area located on the designated side of the obstacle area that are adjacent to the obstacle area and arranged along the direction of arrangement of each storage location in the obstacle area, and the shape of the first lane may include at least one of a concave shape, an L-shape, and a U-shape.

[0069] In the present invention, lane arrangement means determining the target lane start and target lane end points belonging to the same lane, and the target storage location connecting the target lane start and target lane end points, at each storage location in the storage area and obstacle area, defining the target lane start points, target lane end points, and target storage location points as storage locations in the same lane, and obtaining a lane that starts at the target lane start point, passes through each of the target storage locations in order, and ends at the target lane end point. Here, each arranged Type 1 lane includes a storage location in the obstacle area.

[0070] When loading goods onto a lane, people or mobile robots need to pass through aisles in the warehouse area to reach the beginning of each lane; therefore, the beginning of a lane is usually a storage area adjacent to an aisle in the warehouse area. On the other hand, when retrieving goods from a lane, people or mobile robots need to pass through aisles in the warehouse area to reach either the beginning or end of each lane; therefore, the end of a lane may also be adjacent to an aisle in the warehouse area. However, due to the influence of obstacles, there are usually no storage areas adjacent to aisles in areas with obstacles. However, for each area with obstacles, there are usually storage areas adjacent to aisles in the storage area adjacent to that area, arranged in the direction of the arrangement of each storage area within that area. Therefore, by utilizing the storage areas adjacent to aisles in the storage area adjacent to the obstacle area, it is possible to connect the storage areas in the obstacle area with the aisles, allowing people or mobile robots to enter the obstacle area from the aisle via the storage areas, thereby enabling the storage areas in the obstacle area to be placed on lanes for loading and unloading goods.

[0071] Typically, depending on the location of the obstacle area, there may be one adjacent storage area or two adjacent storage areas. Therefore, you first set the designated side, and then you can determine the target adjacent storage location from among the adjacent storage areas on the designated side of the obstacle area.

[0072] Therefore, after determining each storage location in the storage area and the obstacle area, for each obstacle area, each storage location adjacent to the obstacle area and arranged according to the arrangement direction of each storage location in the obstacle area can be determined as the target adjacent storage location for that obstacle area.

[0073] For example, as shown in Figure 4, with respect to the obstacle area in Figure 4, the adjacent storage area located to the right of the obstacle area, that is, the row of storage spaces adjacent to the obstacle area in storage area 2, can be determined as the target adjacent storage space for the obstacle area. In other words, the leftmost row of storage spaces in storage area 2 is determined as the target adjacent storage space for the obstacle area.

[0074] Furthermore, for each obstacle area, lanes can be arranged for the target adjacent storage location in that obstacle area and at least one storage location within that obstacle area, according to lane arrangement rules that match the loading / unloading rules, and the arranged Type 1 lanes can be obtained. In the Type 1 lanes, the storage locations in the obstacle area are connected to the passageway via the target adjacent storage location in that obstacle area, and people and mobile robots can enter the obstacle area through the passageway and the target adjacent storage location in the Type 1 lane.

[0075] In other words, for the first type lane, a person or mobile robot can enter the target-adjacent storage area from the passageway, and then enter a storage area in the obstacle area from the target-adjacent storage area. Correspondingly, after entering a storage area in the obstacle area, it can return from the storage area in the obstacle area to the target-adjacent storage area, and then enter the passageway from the target-adjacent storage area, thereby leaving the first type lane.

[0076] As can be seen from the above, by utilizing the target adjacent storage location for each obstacle area, a connection between the aisle and the storage location in the obstacle area can be achieved, thereby allowing the storage location in the obstacle area to be arranged in a lane. Furthermore, when arranging lanes based on the first-in, first-out (FIFO) and first-in, last-out (FIFO) loading / unloading rules, it is necessary to consider the storage location adjacent to the aisle in the target adjacent storage location of the obstacle area. In other words, when arranging lanes, it is necessary to consider not only the differences in the requirements for whether the start and end of a lane must be adjacent to an aisle, depending on the different loading / unloading rules, but also the positional relationship between the target adjacent storage location of the obstacle area and the aisle.

[0077] Based on this, in the present invention, step S303 above, arranging lanes for each obstacle area in accordance with lane arrangement rules that match the loading and unloading rules, for the target adjacent storage location of the obstacle area and at least one storage location within the obstacle area, is substantially equivalent to arranging lanes for each obstacle area in accordance with lane arrangement rules that match the loading and unloading rules, based on the aisle position of the warehouse area to be arranged, for the target adjacent storage location of the obstacle area and at least one storage location within the obstacle area, for each obstacle area, based on the aisle position of the warehouse area to be arranged.

[0078] Here, the shape of the first lane may include at least one of the following: concave, L-shaped, and U-shaped.

[0079] For example, in Figure 4, the lane consisting of each storage location through which each arrow connecting the lane start point 1 and the lane end point 1 passes is a U-shaped lane. Here, as shown in Figures 5(a) and 5(b), the U-shaped lane in Figure 4 is composed of a combination of a first-type U-shaped lane section shown in Figure 5(a) and a second-type U-shaped lane section shown in Figure 5(b). In this case, with respect to the U-shaped lane in Figure 4, a person or mobile robot can move from the lane start point 1, passing sequentially through each storage location in the leftmost row of storage locations in the obstacle area and storage area 2 (i.e., the target adjacent storage location) along the direction of the arrow, and then move to the lane end point 1. Correspondingly, a person or mobile robot can move from the lane end point 1, passing sequentially through each storage location in the leftmost row of storage locations in the obstacle area and storage area 2 along the opposite direction of the arrow, and then move to the lane start point 1.

[0080] Exemplary, a U-shaped lane is configured as shown in Figure 6(a). In Figure 6(a), the lane consisting of each storage location through which each arrow connecting the lane start point 2 and the lane end point 2 passes is a U-shaped lane. In the U-shaped lane shown in Figure 6(a), each storage location in the same column as the lane end point 2 is a storage location in the obstacle area, and each storage location in the same column as the lane start point 2 is a target adjacent storage location. In this way, a person or mobile robot can move from the lane start point 2, passing sequentially through the target adjacent storage locations and each storage location in the obstacle area along the direction opposite to the direction of the arrow, to the lane end point 2. Correspondingly, a person or mobile robot can move from the lane end point 2, passing sequentially through the obstacle area and each storage location in the target adjacent storage locations along the direction of the arrow, to the lane start point 2.

[0081] Exemplary, an L-shaped lane is configured as shown in Figure 6(b). In Figure 6(b), the lane consisting of each storage location through which each arrow connecting the lane start 3 and the lane end 3 passes is an L-shaped lane. In the L-shaped lane shown in Figure 6(b), each storage location in the same column as the lane end 3 is a storage location in the obstacle area, and each storage location in the same column as the lane start 3 is a target adjacent storage location. In this way, a person or mobile robot can move from the lane start 3, along the direction opposite to the direction of the arrow, passing sequentially through the target adjacent storage locations and each storage location in the obstacle area, to the lane end 3. Correspondingly, a person or mobile robot can move from the lane end 3, along the direction of the arrow, passing sequentially through each storage location in the obstacle area and each target adjacent storage location, to the lane start 3.

[0082] In summary, step S303 above involves arranging lanes for the target adjacent storage location in the obstacle area and for at least one storage location in the obstacle area.

[0083] In other words, for each obstacle area, the first lane positioned therein includes at least one storage location adjacent to the target storage location in that obstacle area, and at least one storage location in that obstacle area. On the other hand, the first lane positioned therein therein may include all of the storage locations in that obstacle area, or it may include only some of the storage locations in that obstacle area.

[0084] Furthermore, as can be seen from Figures 4, 6(a), and 6(b), when the shape of the Type 1 lane is U-shaped, both the lane start and end can be adjacent to the aisle. When the shape of the Type 1 lane is L-shaped or U-shaped, the lane end does not have to be adjacent to the aisle. On the other hand, under the First-In, First-Out (FIFO) loading and unloading rule, both the lane start and end of each lane are required to be adjacent to the aisle, while under the First-In, Last-Out (FIFO) loading and unloading rule, the lane start of each lane is required to be adjacent to the aisle. Therefore, considering that the requirements for whether the lane start and end of a lane are adjacent to the aisle differ depending on the loading and unloading rule, it is possible to select different lane shapes based on different loading and unloading rules to arrange the Type 1 lanes.

[0085] Here, for a first-in, first-out (FIFO) loading / unloading rule, a U-shaped lane is selected to create a Type 1 lane configuration. On the other hand, for a first-in, last-out (FIFO) loading / unloading rule, a U-shaped and / or L-shaped lane is selected to create a Type 1 lane configuration.

[0086] Selectively, in one specific implementation, step S303 above may include the following steps 11 to 12.

[0087] In step 11, if the loading and unloading rule is first-in, first-out, then for each obstacle area, a lane layout is performed for the target adjacent storage location in that obstacle area and for each storage location in that obstacle area, according to the lane layout rule of type 1, and the configured type 1 lane is obtained.

[0088] Here, the first type of shape includes the concave shape.

[0089] In this specific implementation, if the loading and unloading rule is first-in, first-out (FIFO), it is usually required that goods be retrieved from the lane in the order they were placed on it. Furthermore, for each lane, when loading goods into that lane, it is necessary to reach the beginning of the lane via the aisle, enter the lane from the beginning, and load the goods in the lane from the end to the beginning. When retrieving goods from each lane, it is usually necessary to reach the end of the lane via the aisle, enter the lane from the end, and retrieve the goods in the lane from the end to the beginning. Therefore, if the loading and unloading rule is first-in, first-out (FIFO), it is usually required that both the beginning and end of each lane, which are storage locations, be adjacent to an aisle.

[0090] As can be seen from Figures 4, 6(a), and 6(b), when the shape of the Type 1 lane is U-shaped, both the lane start and end can be adjacent to the aisle. When the shape of the Type 1 lane is L-shaped or U-shaped, the lane end does not have to be adjacent to the aisle. In this way, when the loading and unloading rule is first-in, first-out, lanes can be arranged for each obstacle area according to the U-shaped lane arrangement rule, for the target adjacent storage location in the obstacle area and for each storage location in the obstacle area, and the arranged Type 1 lanes can be obtained.

[0091] In other words, the first-in, first-out (FIFO) loading and unloading rule requires that both the start and end points of each lane be adjacent to an aisle, and the start and end points of a U-shaped lane can be storage locations adjacent to an aisle within the storage area. Therefore, in order to satisfy the requirements of the FIFO loading and unloading rule, when arranging the lanes, the shape of the lanes adopted is U-shaped, and the start and end points of the arranged U-shaped lanes are storage locations adjacent to an aisle within the target adjacent storage area of ​​the obstacle area.

[0092] Selectively, in one specific implementation, step 11 above, which involves arranging lanes for the target adjacent storage location in the obstacle area and each storage location in the obstacle area according to the lane arrangement rules of type 1, and obtaining the arranged type 1 lanes, may include the following steps 21 to 23.

[0093] In step 21, one of the storage locations adjacent to the passageway position in the target adjacent storage location within the obstacle area is determined as the target lane start point.

[0094] In step 22, the storage location adjacent to the target lane, excluding the start of the target lane and adjacent to the aisle position, is determined as the end of the target lane.

[0095] In step 23, the target storage locations are determined by connecting the target lane start and target lane end, and satisfying the loading and unloading rules, from the target adjacent storage locations and each storage location in the obstacle area, and the arranged U-shaped Type 1 lane is obtained.

[0096] Here, the target storage location includes at least one storage location within the obstacle area.

[0097] In this specific implementation, if the loading and unloading rule is first-in, first-out, then lanes are arranged for each obstacle area according to the U-shaped lane arrangement rule, and a U-shaped Type 1 lane is obtained.

[0098] Here, when arranging lanes for each obstacle area according to the lane arrangement rules of Type 1 shape, the first step is to determine the target lane start point at any storage location adjacent to the aisle position within the target lane adjacent storage area of ​​the obstacle area. Next, the target lane end point is determined at any storage location adjacent to the aisle position, excluding the target lane start point. Finally, from the target lane adjacent storage locations and each storage location within the obstacle area, each target storage location that connects the target lane start point and the target lane end point and satisfies the loading and unloading rules is determined, and the resulting U-shaped Type 1 lane is obtained.

[0099] In other words, for each obstacle area, first, the storage locations adjacent to the passage within the target adjacent storage locations of that obstacle area are determined. Then, one storage location is selected from the storage locations adjacent to the passage as the target lane start, and one storage location is selected from the remaining storage locations adjacent to the passage as the target lane end. Here, considering that there are usually two storage locations adjacent to the passage within the target adjacent storage locations of an obstacle area, these two storage locations adjacent to the passage can be used as the target lane start and target lane end, respectively. Here, the target lane start and target lane end belong to the same Type 1 lane in which they are located.

[0100] For each obstacle area, after determining the target lane start and target lane end, first, from each storage location in the obstacle area and the target-adjacent storage locations other than the target lane start and target lane end, a storage location adjacent to the target lane start is selected as the first target storage location. Then, starting from the first target storage location, target storage locations adjacent to the previous target storage location are selected sequentially from each storage location not yet selected in the obstacle area and target-adjacent storage locations, and this process continues until the last target storage location adjacent to the target lane end is selected. As a result, the target lane start, each selected target storage location, and the target lane end form a concave-shaped Type 1 lane.

[0101] In this process of lane arrangement, two adjacent storage locations are located in the same row or the same column.

[0102] As an example, as shown in Figure 4, after determining that the leftmost row of storage locations in storage area 2 is the target adjacent storage location in the obstacle area, the uppermost storage location in that target adjacent storage location is designated as the target lane start, i.e., lane start 1 is designated as the target lane start, and the lowermost storage location in that target adjacent storage location is designated as the target lane end, i.e., lane end 1 is designated as the target lane end. Then, first, the adjacent storage location below lane start 1 is selected from the target adjacent storage locations as the first target storage location. Next, the adjacent storage location to the left of the first target storage location is selected from the obstacle area as the second target storage location. Then, the adjacent storage location below the second target storage location is selected from the obstacle area as the third target adjacent storage location. This process is continued sequentially until the adjacent storage location above lane end 1 in the target adjacent storage location is selected as the final target storage location. In this case, lane start 1, the 13 selected target storage locations, and lane end 1 constitute the arranged U-shaped first type lane.

[0103] Selectively, the aisles in the warehouse area to be arranged as described above include loading aisles and unloading aisles. Furthermore, if the loading and unloading rule is first-in, first-out, then for each lane, when loading goods into that lane, it is usually necessary to go through the loading aisle to reach the beginning of the lane, enter the lane from the beginning, and load goods in that lane in the order of lane end to lane start. When unloading goods into that lane, it is usually necessary to go through the unloading aisle to reach the end of the lane, enter the lane from the end, and unload goods in the order of lane end to lane start.

[0104] Thus, when the loading and unloading rules are first-in, first-out rules, and the above-mentioned passage includes a loading passage and a loading passage, when determining the target lane start and target lane end for each obstacle area, the storage location located at the edge of the adjacent storage area and adjacent to the loading passage within the target adjacent storage area of ​​the obstacle area is determined as the target lane start. Storage locations other than the target lane start, located at the edge of the adjacent storage area and adjacent to the loading passage within the target adjacent storage area are determined as the target lane end belonging to the same lane as the target lane start.

[0105] For example, as shown in Figure 4, for an obstacle area in Figure 4, the target adjacent storage location for that obstacle area may be a row of storage locations adjacent to the obstacle area in storage area 2. In other words, for an obstacle area in Figure 4, the target adjacent storage location for that obstacle area may be the leftmost row of storage locations in storage area 2. Furthermore, when determining the target lane start and target lane end, among the row of storage locations adjacent to the obstacle area in storage area 2, the storage location located at the edge of storage area 2 and adjacent to the loading aisle, i.e., lane start 1, is determined as the target lane start. Also, among the row of storage locations adjacent to the obstacle area in storage area 2, other than lane start 1, the storage location located at the edge of storage area 2 and adjacent to the loading aisle, i.e., lane end 1, is determined as the target lane end belonging to the same lane as lane start 1.

[0106] Furthermore, by overlapping and combining the Type 1 U-shaped lane section shown in Figure 5(a) and the Type 2 U-shaped lane section shown in Figure 5(b) according to the U-shaped lane arrangement rules, it is possible to determine each target storage location that connects the start and end points of the target lane and satisfies the loading and unloading rules, from the target adjacent storage location and each storage location in the obstacle area, and to obtain the arranged Type 1 lane.

[0107] As can be seen in Figure 5(a), when determining the first type lane according to the U-shaped lane arrangement rule, one storage space at the position indicated by letter X is lost for each U-shaped lane section of the first type that is combined. As can be seen in Figure 5(b), when determining the first type lane according to the U-shaped lane arrangement rule, no storage space is lost when combining second type U-shaped lane sections. Furthermore, when determining the first type lane according to the U-shaped lane arrangement rule, as many second type U-shaped lane sections as possible can be overlapped and combined to increase the utilization rate of storage spaces.

[0108] As an example, regarding the obstacle area in Figure 4, as shown in Figure 4, storage location 1 is a lost storage location that is not used. Here, as shown in Figure 4, after determining the lane start 1 and lane end 1 belonging to the same lane, they are arranged according to a U-shaped lane arrangement rule, and the first type lane corresponding to the lane start 1 and lane end 1 consists of each storage location through which each arrow connecting the lane start 1 and lane end 1 in Figure 4 passes, and the direction indicated by each arrow is used to indicate the front-to-back order of loading and unloading goods in the first type lane. As can be seen from this, when determining the first type lane corresponding to the lane start 1 and lane end 1 according to the U-shaped lane arrangement rule, storage location 1 is lost.

[0109] Here, when loading and unloading cargo in the U-shaped lane shown in Figure 4, the cargo is loaded and unloaded sequentially in the reverse order of the direction indicated by each arrow. That is, when loading cargo, it is first placed in lane end 1 and last in lane start 1. On the other hand, when unloading cargo, the cargo placed in lane end 1 is removed first, and last in lane start 1 is removed.

[0110] In step 12, if the loading and unloading rule is first-in, last-out, a lane layout is performed for each obstacle area, according to the lane layout rule of type 2, for the target adjacent storage location in the obstacle area and for each storage location in the obstacle area, and the resulting type 1 lane is acquired.

[0111] Here, the second type of shape includes U-shapes and / or L-shapes.

[0112] In this specific implementation, if the loading and unloading rule is a first-in, last-out rule, it is usually required that the items be removed from the lane in the reverse order of how they were placed. Furthermore, for each lane, when loading items into that lane, it is usually necessary to reach the beginning of the lane via the aisle, enter the lane from the beginning, and load the items from the end of the lane back to the beginning. When removing items from that lane, it is usually necessary to reach the beginning of the lane via the aisle, enter the lane from the beginning, and remove the items from the beginning to the end of the lane. Therefore, if the loading and unloading rule is a first-in, last-out rule, it is usually required that the storage area at the beginning of each lane be adjacent to an aisle.

[0113] Based on the explanation of the lanes shown in Figures 6(a) and 6(b) and the U-shaped Type 1 lanes described above, if the loading and unloading rule is first-in, last-out, then for each obstacle area, lanes can be arranged according to U-shaped and / or L-shaped lane arrangement rules for the target adjacent storage location in the obstacle area and for each storage location within the obstacle area, and the arranged Type 1 lanes can be obtained. Therefore, if the loading and unloading rule is first-in, last-out, the arranged Type 1 lanes are either U-shaped or L-shaped lanes.

[0114] In other words, the first-in, last-out (FIFO) loading and unloading rule requires that the starting point of each lane be adjacent to an aisle. In the case of U-shaped or L-shaped lanes, the starting point of the lane may be a storage location adjacent to an aisle in the warehouse area. Therefore, when arranging lanes to satisfy the requirements of the FIFO loading and unloading rule described above, the lanes used may be U-shaped lanes, L-shaped lanes, or lanes that are partly U-shaped and partly L-shaped. The starting points of the arranged U-shaped lanes and / or L-shaped lanes are storage locations adjacent to an aisle in the target adjacent storage locations of the obstacle area. In order for the arranged Type 1 lanes to have storage locations in the obstacle area, the starting points of the arranged U-shaped lanes and / or L-shaped lanes become storage locations in the obstacle area.

[0115] Selectively, in one specific implementation, step 12 above may include steps 31 to 33 below, which involve arranging lanes for the target adjacent storage location in the obstacle area and each storage location in the obstacle area according to the lane arrangement rules of type 2 shape, and obtaining the arranged type 1 lanes.

[0116] In step 31, one of the storage locations adjacent to the passageway in the target adjacent storage location of the obstacle area is determined as the target lane start point.

[0117] In step 32, one of the storage locations in the obstacle area is determined to be the end of the target lane.

[0118] In this specific implementation, if the loading and unloading rule is first-in, last-out, lanes are arranged for each obstacle area according to a U-shaped or L-shaped lane arrangement rule, and a U-shaped Type 1 lane or an L-shaped Type 1 lane is obtained.

[0119] Here, for each obstacle area, when arranging lanes for the target adjacent storage location and each storage location within the obstacle area according to the lane arrangement rules of type 2 shape, one of the storage locations adjacent to the passage in the target adjacent storage location of the obstacle area can be determined as the target lane start point, and then one of the storage locations within the obstacle area can be determined as the target lane end point. Here, the target lane start point and the target lane end point belong to the same type 1 lane in which they are arranged.

[0120] Selectively, in one specific implementation, step 32 above may include step 41 below, which determines one of the storage locations in the obstacle area as the target lane end.

[0121] In step 41, among the storage locations in the obstacle area, the storage location adjacent to the obstacle in the obstacle area and closest to the start of the target lane is determined as the end of the target lane.

[0122] The shape of the Type 1 lane obtained here is U-shaped.

[0123] In this specific implementation, when arranging lanes for each obstacle area and for the target adjacent storage location in that obstacle area and for each storage location in that obstacle area, according to the U-shaped lane arrangement rule, one of the storage locations adjacent to the passage in the target adjacent storage location in that obstacle area is determined as the target lane start point, and among the storage locations in that obstacle area, the storage location adjacent to the obstacle in that obstacle area and closest to the target lane start point is determined as the target lane end point.

[0124] As an example, as shown in Figure 6(c), when arranging a Type 1 lane in relation to the obstacle area in Figure 6(c) according to the U-shaped lane arrangement rule, first, in the adjacent storage area to the left of the obstacle area, a row of storage locations adjacent to the obstacle area and arranged along the direction of the arrangement of each storage location in the obstacle area is determined as the target adjacent storage location for the obstacle area. In other words, the rightmost row of storage locations in the adjacent storage area to the left of the obstacle area can be designated as the target adjacent storage location for the obstacle area. Then, the storage location located at the top of the target adjacent storage location for the obstacle area and adjacent to the passage is determined as the target lane start point, and among the storage locations in the obstacle area, storage location A, which is adjacent to the obstacle in the obstacle area and closest to the target lane start point, is determined as the target lane end point. Here, as shown in Figure 6(c), among the storage locations in the obstacle area, there are two storage locations adjacent to the obstacle in that obstacle area. Of these two storage locations, storage location A is not only adjacent to the obstacle but is also closest to the start of the target lane, so storage location A is determined to be the end of the target lane.

[0125] However, if there are many storage locations in the obstacle area, applying this specific implementation to determine the target lane end would result in an excessive number of storage locations in the obstacle area within the designated Type 1 lane. This would reduce the efficiency of loading and unloading cargo in that Type 1 lane, making it impossible to meet the requirements for cargo loading and unloading efficiency.

[0126] Therefore, selectively, in one specific implementation, step 41 above may include the following step 51.

[0127] In step 51, if the number of storage locations in the obstacle area is less than or equal to the specified number, the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and closest to the start of the target lane is determined as the end of the target lane.

[0128] In this specific implementation, a person skilled in the art can determine the above-specified number according to the requirements for the efficiency of loading and unloading goods. If the number of storage locations in the obstacle area is less than or equal to the above-specified number, the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and closest to the start of the target lane can be directly determined as the end of the target lane.

[0129] In accordance with step 51 above, in this specific embodiment, the lane arrangement method provided by the embodiment of the present invention may further include the following step 52.

[0130] In step 52, if the number of storage locations in the obstacle area exceeds the specified number, the storage location in the obstacle area that is separated from the obstacle closest to the start of the target lane by the specified number of storage locations is determined as the end of the target lane.

[0131] Here, the target number is the difference between the number of storage locations and the specified number, and the shape of the acquired Type 1 lane is U-shaped or L-shaped.

[0132] If the number of storage locations in an obstacle area exceeds the specified number, and the storage location adjacent to an obstacle in that obstacle area and closest to the start of the target lane is determined as the target lane end, then the number of storage locations in the obstacle area in the deployed Type 1 lane will exceed the specified number, and as a result, the loading and unloading efficiency of the deployed Type 1 lane will not meet the loading and unloading efficiency requirements. Therefore, in this case, the difference between the number of storage locations in the obstacle area and the specified number is determined as the target number, and the storage location that is separated from the obstacle closest to the start of the target lane by the target number of storage locations is determined as the target lane end.

[0133] In other words, if the number of storage locations in the obstacle area exceeds the specified number, the first step is to calculate the difference between the number of storage locations in the obstacle area and the specified number to obtain the target number. Then, within the obstacle area, the storage location adjacent to the obstacle and closest to the start of the target lane is determined. Next, the storage locations separated from the closest storage location by the target number of storage locations are determined, and this finally determined storage location becomes the end of the target lane.

[0134] Here, assuming that M is the number of storage locations in the obstacle area, N is the number of specified locations, and M > N, the target number is MN. In the obstacle area, starting with the storage location adjacent to the obstacle in the obstacle area and closest to the start of the target lane, each storage location in the obstacle area is numbered sequentially, with the starting number being 1 and the difference in numbers between adjacent storage locations being 1. Then, in the obstacle area, the number of the storage location adjacent to the obstacle in the obstacle area and closest to the start of the target lane is 1. Furthermore, the number of the storage location separated from the storage location with number 1 by the target number (MN) is 1 + (MN) + 1. That is, the number of the storage location finally determined to be the end of the target lane is 2 + MN.

[0135] For example, as shown in Figure 6(b), assuming that the number of storage locations in the obstacle area is M=3 and the number of specified locations is N=2, since 3>2, the target number is MN=3-2=1. Each storage location in the obstacle area is located in the same column as lane end 3, and the numbers of each storage location in the obstacle area are 1, 2, and 3 from top to bottom. In this case, the number of the storage location that is ultimately determined to be the target lane end is 2+MN=2+3-2=3, meaning that the storage location that is ultimately determined to be the target lane end is storage location number 3 in the obstacle area. In other words, lane end 3 in Figure 6(b) is determined to be the target lane end. At this time, the first type lane that is arranged will be an L-shaped lane.

[0136] In this case, if, among the storage locations in the obstacle area, the storage location that is separated by the target number of storage locations from the obstacle closest to the start of the target lane is the storage location that is adjacent to the obstacle in the obstacle area and furthest from the start of the target lane, then the final shape of the Type 1 lane obtained is L-shaped.

[0137] In other words, if the storage location determined to be the end of the target lane among the storage locations in the obstacle area is the storage location that is adjacent to the obstacle in the obstacle area and furthest from the start of the target lane, then the final Type 1 lane that is arranged is an L-shaped lane. For example, the L-shaped lane shown in Figure 6(b).

[0138] If, among the storage locations in the obstacle area, the storage location that is separated by the target number of storage locations from the obstacle closest to the start of the target lane is not the storage location that is adjacent to the obstacle in the obstacle area and furthest from the start of the target lane, then the final Type 1 lane obtained is a U-shaped lane.

[0139] In other words, if the storage location determined to be the end of the target lane among the storage locations in the obstacle area is not the storage location adjacent to the obstacle and furthest from the start of the target lane among the storage locations in the obstacle area, then the final Type 1 lane is a U-shaped lane.

[0140] Based on this, by applying this specific implementation, even if there are many storage spaces in the obstacle area, it is possible to avoid having many storage spaces in the obstacle area in the deployed Type 1 lane, and as a result, the loading and unloading efficiency of the deployed Type 1 lane can meet the requirements for loading and unloading efficiency.

[0141] Selectively, in one specific implementation, step 32 above may include step 42 below, which determines one of the storage locations in the obstacle area as the target lane end.

[0142] In step 42, among the storage locations in the obstacle area, the storage location that is adjacent to the obstacle in the obstacle area and furthest from the start of the target lane is determined as the end of the target lane.

[0143] The shape of the Type 1 lane obtained here is L-shaped.

[0144] In this specific implementation, when arranging lanes for each obstacle area and for the target adjacent storage location and each storage location within the obstacle area according to the L-shaped lane arrangement rule, one of the storage locations adjacent to the aisle position within the target adjacent storage location of the obstacle area is determined as the target lane start point, and the storage location that is adjacent to the obstacle in the obstacle area and furthest from the target lane start point is determined as the target lane end point.

[0145] For example, as shown in Figure 6(b), the area where storage locations are located in the same column as lane end 3 is an obstacle area, and the storage locations in the same column as lane end 3 are the storage locations within the obstacle area. Thus, when arranging a Type 1 lane in relation to the obstacle area in Figure 6(b) according to the L-shaped lane arrangement rule, first, the row of storage locations adjacent to the left side of the obstacle area is determined as the target adjacent storage location for the obstacle area. Then, the storage location located at the top of the target adjacent storage location for the obstacle area and adjacent to the aisle is determined as the target lane start, i.e., lane start 3 is determined as the target lane start. Among the storage locations in the obstacle area, the storage location adjacent to the obstacle in the obstacle area and furthest from the target lane start is determined as the target lane end, i.e., lane end 3 is determined as the target lane end. Here, as shown in Figure 6(b), among the storage locations in the obstacle area, there are two storage locations adjacent to the obstacle in that obstacle area. Of these two storage locations, lane end 3 is not only adjacent to the obstacle, but is also the furthest from the target lane start, so lane end 3 is determined to be the target lane end.

[0146] In step 33, from the target adjacent storage location and each storage location along the designated direction starting from the target lane end in the obstacle area, each target storage location that connects the target lane start and target lane end and satisfies the cargo loading and unloading rules is determined, and the arranged U-shaped or L-shaped Type 1 lane is obtained.

[0147] Here, the target storage location includes all storage locations in the specified direction, and the specified direction is the direction from the end of the target lane to the obstacle furthest from the start of the target lane in the obstacle area.

[0148] For each obstacle area, after determining the target lane start and target lane end, the designated direction can be determined first. Here, the designated direction is the direction from the target lane end to the obstacle furthest from the target lane start in that obstacle area. As a result, the target storage location includes all storage locations along the designated direction starting from the target lane end in that obstacle area, and some or all of the target adjacent storage locations. In this way, after determining the target lane start and target lane end, each target storage location that connects the target lane start and target lane end and satisfies the loading and unloading rules is determined from the target adjacent storage locations and each storage location along the designated direction starting from the target lane end in that obstacle area, and the arranged U-shaped or L-shaped Type 1 lane is obtained.

[0149] As an example, as shown in Figure 6(c), when arranging a Type 1 lane in relation to an obstacle area in Figure 6(c) according to the Type 2 lane arrangement rules, first, the rightmost row of storage locations in the adjacent storage area to the left of the obstacle area is determined as the target adjacent storage location for the obstacle area. Then, within the target adjacent storage location for the obstacle area, the storage location located at the top and adjacent to the aisle is determined as the target lane start point, and among the storage locations in the obstacle area, storage location A, which is adjacent to the obstacle in the obstacle area and closest to the target lane start point, is determined as the target lane end point. Since the obstacle furthest from the target lane start point in the obstacle area is the obstacle below storage location A, the designated direction is from storage location A towards the obstacle below storage location A, that is, the designated direction is downward. Thus, the target storage location can include all storage locations below storage location A in the obstacle area, and the first, second, and third storage locations below the target lane start in the target adjacent storage location. In this way, each of the above target storage locations can connect the target lane start and storage location A, which is the target lane end, thereby obtaining the U-shaped lane shown in Figure 6(c) and forming the configured Type 1 lane.

[0150] Selectively, in one specific embodiment, the lane arrangement method provided by an embodiment of the present invention further includes the following step 61.

[0151] In step 61, for each storage area, a lane is partitioned for each storage location that is not designated as a target storage location within that storage area, based on the loading and unloading rules and aisle location, and each assigned Type 2 lane is obtained.

[0152] In this specific implementation, after placing Type 1 lanes corresponding to each obstacle area, there may be some storage locations within the storage area that are not designated as target storage locations. Therefore, for each storage area, based on the loading and unloading rules and aisle positions, lanes can be partitioned for each storage location that is not designated as a target storage location within that storage area, and each of the placed Type 2 lanes can be acquired.

[0153] In other words, after assigning a Type 1 lane to each obstacle area, there may still be some storage locations in the storage area that are not assigned to any lane. Therefore, for each storage area, based on the loading and unloading rules and aisle positions, lanes can be demarcated for each storage location that is not assigned to any lane within that storage area, and each assigned Type 2 lane can be acquired.

[0154] Selectively, in one specific implementation, the loading and unloading rules may be first-in, first-out. Step 61 above may include the following steps 71-72.

[0155] In step 71, for each storage area, if a target adjacent storage location exists in that storage area, each storage location in that storage area is divided into multiple storage location groups according to the arrangement direction, each storage location group that does not include a target adjacent storage location is divided into the same lane, and each of the arranged Type 2 lanes is acquired.

[0156] In step 72, for each storage area, if there is no target adjacent storage location in that storage area, each storage location in that storage area is divided into multiple storage location groups according to the arrangement direction, each storage location group is divided into the same lane, and each of the arranged Type 2 lanes is acquired.

[0157] In this specific implementation, if the loading and unloading rule is first-in, first-out, then for each storage area, if there is a target adjacent storage location in that storage area, each storage location in that storage area is divided into multiple storage location groups according to the arrangement direction, each storage location group that does not include the target adjacent storage location is divided into the same lane, and each of the arranged Type 2 lanes can be acquired.

[0158] Here, the above-mentioned target adjacent storage location refers to the target adjacent storage location of an obstacle area. In other words, if the loading and unloading rule is first-in, first-out, then for each storage area, if there is a target adjacent storage location of an obstacle area in that storage area, storage locations that are not located in any lane within the storage area are first divided into multiple groups according to the arrangement direction of storage locations in the obstacle area. For each divided group of storage locations, if that group does not include a target adjacent storage location of a certain obstacle area, that group of storage locations can be divided into the same lane. Since the target adjacent storage location of an obstacle area is usually adjacent to the obstacle area on the designated side, for each divided group of storage locations, if that group of storage locations is located on the designated side of a certain obstacle area and is adjacent to that obstacle area, that group of storage locations cannot be arranged as a Type 2 lane. Conversely, if the group of storage locations is not adjacent to any obstacle area, or is adjacent to an obstacle area but is not located on the designated side of that obstacle area, the group of storage locations will be partitioned into the same lane and arranged as a Type 2 lane.

[0159] As an example, applying this specific implementation, five Type 2 lanes, indicated by symbols a to e in Figure 4, are obtained by dividing each storage location that is not determined as a target storage location in storage area 2 of Figure 4 into lanes.

[0160] In response to this, if there are no target adjacent storage locations in the obstacle area within the storage area, each storage location within the storage area is divided into multiple storage location groups according to the arrangement direction of the storage locations in the obstacle area, each storage location group is divided into the same lane, and each assigned Type 2 lane is acquired.

[0161] Selectively, in one specific implementation, the loading and unloading rules may be first-in, last-out, and there may be empty storage spaces in the adjacent target storage area that are not designated as target storage areas. Step 61 above may include the following steps 81-82.

[0162] In step 81, for each storage area, if a target adjacent storage location exists in that storage area, each storage location in that storage area is divided into multiple storage location groups according to the arrangement direction, an empty storage location and one storage location group adjacent to the empty storage location are divided into the same L-shaped lane, each storage location group that does not include a target adjacent storage location is divided into the same lane, and each of the arranged Type 2 lanes is obtained.

[0163] In this specific implementation, if the loading and unloading rule is first-in, last-out, and if there is a target adjacent storage location in each storage area, and there are empty storage locations in the target adjacent storage location that are not designated as target storage locations, then each storage location in the storage area is divided into multiple storage location groups according to the arrangement direction, the empty storage locations and one storage location group adjacent to the empty storage locations are divided into the same L-shaped lane, each storage location group that does not include a target adjacent storage location is divided into the same lane, and each of the arranged Type 2 lanes is acquired.

[0164] Here, the above-mentioned target-adjacent storage location refers to the target-adjacent storage location in the obstacle area. An empty storage location that is not designated as a target storage location in the target-adjacent storage location refers to a storage location that is not designated as a Type 1 lane in the target-adjacent storage location of the obstacle area when a Type 1 lane is designated in the obstacle area.

[0165] For example, as shown in Figure 6(c), the storage space adjacent to the left of the obstacle located below storage space A is a storage space that is not placed in the Type 1 lane (the U-shaped lane in Figure 6(c)) in the target adjacent storage space of the obstacle area in Figure 6(c). In other words, the storage space adjacent to the left of the obstacle located below storage space A is an empty storage space that is not partitioned as a target storage space in the target adjacent storage space. Based on this, the empty storage space and a group of storage spaces adjacent to the empty storage space may be partitioned into the same L-shaped lane, and the acquired Type 2 lane may be the L-shaped lane shown in Figure 6(c).

[0166] Selectively, in one specific implementation, the above-mentioned arrangement direction may be an arrangement direction perpendicular to the aisle, and partitioning into multiple storage space groups according to the above-mentioned arrangement direction allows for partitioning each storage space in a row arranged perpendicular to the aisle as a single storage space group.

[0167] In step 82, for each storage area, if there is no target adjacent storage location in that storage area, each storage location in that storage area is divided into multiple storage location groups according to the arrangement direction, each storage location group is divided into the same lane, and each assigned Type 2 lane is acquired.

[0168] If no target adjacent storage location exists in a given storage area, each storage location within that area can be divided into multiple storage location groups according to the arrangement direction, each storage location group can be divided into the same lane, and each of the arranged Type 2 lanes can be acquired.

[0169] Based on this, by applying the technical solution provided by the embodiment of the present invention, when arranging lanes in a warehouse area to be laid out, the storage space in the storage area adjacent to the obstacle area can be used to arrange the storage space in the obstacle area in the lanes, thereby enabling goods to be stored in the obstacle area as well, and increasing the utilization rate of warehouse storage space.

[0170] In other words, by applying the technical solution provided by the embodiment of the present invention, when arranging lanes in a warehouse area to be used, it is possible to identify storage locations in obstacle areas that are located between two obstacles and do not belong to any of the storage areas. Furthermore, in the warehouse area, lanes can be arranged that include storage locations in obstacle areas that are located between two obstacles and do not belong to any of the storage areas, thereby enabling the storage of goods in obstacle areas as well, and increasing the utilization rate of warehouse storage space.

[0171] Furthermore, in some cases, electronic devices can implement the above lane arrangement method in response to control commands from workers. Exemplarily, the process by which electronic devices implement the above lane arrangement method in response to control commands from workers is as follows:

[0172] Step 1: The worker sends a command to the electronic device to retrieve information about the warehouse area to be assigned. The electronic device receives the command and, in response, retrieves and displays area distribution information and loading / unloading rules for the warehouse area to be assigned, allowing the user to observe the area distribution information and loading / unloading rules for the warehouse area to be assigned.

[0173] Step 2: When the worker observes the area distribution information of the warehouse area to be assigned, they set the size of the storage space and the distance between two adjacent storage spaces according to their needs, and thereby transmit a storage space partition command, including the size of the storage space and the distance between two adjacent storage spaces, to an electronic device.

[0174] The electronic device receives the storage location partitioning command and, in response to the command, determines each storage location within a storage area and each storage location in an obstacle area that is located between two obstacles and does not belong to any storage area, based on the storage area location and the location of obstacles, thereby obtaining each storage location in the warehouse area to be placed. Furthermore, the electronic device can overlay the determined storage locations onto the area distribution information of the warehouse area to be placed.

[0175] Step 3: When the worker observes each storage location displayed overlaid on the area distribution information of the warehouse area to be assigned, for each obstacle area, based on the loading and unloading rules and aisle location, the worker determines the target lane start from the target adjacent storage location in that obstacle area, and from the target adjacent storage locations other than the target lane start, and each storage location in that obstacle area, determines the target lane end that belongs to the same lane as the target lane start, and from the target adjacent storage locations and each storage location in that obstacle area, determines each target storage location that belongs to the same lane as the target lane start and target lane end and satisfies the loading and unloading rules.

[0176] In this way, the worker can transmit a Type 1 lane partitioning command to the electronic device, which includes the target lane start point, target lane end point, and each target storage location. Upon receiving the Type 1 lane partitioning command, the electronic device can then partition and save the target lane start point, target lane end point, and each target storage location as a Type 1 lane.

[0177] Step 4: After setting up the Type 1 lanes, the workers further demarcate lanes for each storage area based on the loading / unloading rules and aisle positions, thereby determining which storage locations are included in each Type 2 lane.

[0178] In this way, the worker can transmit a Type 2 lane partitioning command to the electronic device, which includes the storage locations included in each Type 2 lane. Upon receiving the Type 2 lane partitioning command, the electronic device can then partition and store each Type 2 lane based on the storage locations included in each Type 2 lane.

[0179] Based on this, when arranging lanes for a warehouse area, human-machine interaction allows for the use of storage spaces in adjacent storage areas to place storage spaces in the obstacle area into lanes. This enables the storage of goods in the obstacle area as well, thereby increasing the utilization rate of warehouse storage space.

[0180] In accordance with the lane arrangement method provided by the above-described embodiment of the present invention, the embodiment of the present invention further provides a lane arrangement device.

[0181] Figure 7 is a schematic diagram of the structure of a lane arrangement device provided by an embodiment of the present invention. As shown in Figure 7, the lane arrangement device may comprise the following modules.

[0182] The lane arrangement device is An information acquisition module 701 for acquiring area distribution information and loading / unloading rules in a warehouse area to be deployed, wherein the area distribution information includes the location of aisles, the location of storage areas, and the location of obstacles. A storage location determination module 702 for determining each storage location in the storage area and each storage location in the obstacle area that is located between the two obstacles and does not belong to either of the aforementioned storage areas, based on the storage area location and the obstacle location, The system includes a lane arrangement module 703 for arranging lanes for each obstacle area, according to lane arrangement rules that match the aforementioned loading and unloading rules, for the target adjacent storage location in the obstacle area and at least one storage location in the obstacle area, and for acquiring the arranged Type 1 lanes, Each target adjacent storage location in an obstacle area includes each storage location in an adjacent storage area located on the designated side of the obstacle area, which is adjacent to the obstacle area and arranged according to the arrangement direction of each storage location in the obstacle area, and the shape of the first lane includes at least one of a concave shape, an L-shape, or a U-shape.

[0183] As described above, by applying the technical solution provided by the embodiment of the present invention, when arranging lanes in a warehouse area to be laid, it is possible to identify storage locations in obstacle areas that are located between two obstacles and do not belong to any storage area. Furthermore, by utilizing storage locations in storage areas adjacent to obstacle areas, storage locations in obstacle areas can be arranged in lanes. In other words, in the above warehouse area, lanes can be arranged that include storage locations in obstacle areas that are located between two obstacles and do not belong to any storage area, thereby making obstacle areas available for storage and increasing the utilization rate of warehouse storage space.

[0184] Selectively, in one specific implementation, the lane arrangement module is: When the loading and unloading rules are first-in, first-out, a first arrangement submodule for obtaining the arranged first-type lanes is provided for each obstacle area, according to the lane arrangement rules of the first type shape, for the target adjacent storage location in the obstacle area and each storage location in the obstacle area, wherein the first type shape includes a first arrangement submodule with a concave shape, When the loading and unloading rules are first-in, last-out, a second arrangement submodule for obtaining the arranged first-type lanes is provided for each obstacle area, according to the second-type shape lane arrangement rules, for the target adjacent storage location in the obstacle area and each storage location in the obstacle area, wherein the second-type shape includes a second arrangement submodule with a U-shape and / or L-shape.

[0185] Selectively, in one specific implementation, the first arrangement submodule is: The target lane start point is determined to be any storage location adjacent to the aforementioned passage position within the target adjacent storage location in the obstacle area, In the aforementioned storage location adjacent to the target, the storage location adjacent to the passage position, excluding the starting end of the target lane, is determined to be the end of the target lane. This is used to determine each target storage location that connects the start and end points of the target lane and satisfies the loading and unloading rules, from the target adjacent storage location and each storage location in the obstacle area, and to obtain a U-shaped Type 1 lane that is arranged therein, wherein each target storage location includes at least one storage location in the obstacle area.

[0186] Selectively, in one specific implementation, the second arrangement submodule is: A lane start determination means for determining the target lane start of any storage location adjacent to the passage position in the target adjacent storage location of the obstacle area, A lane end determination means for determining one of the storage locations in the obstacle area as the target lane end, The lane determination means for determining each target storage location that connects the target lane start and the target lane end and satisfies the cargo loading and unloading rules, and for obtaining a U-shaped or L-shaped first type lane, which is arranged from the target adjacent storage location and each storage location in a designated direction starting from the target lane end in the obstacle area, wherein the target storage location includes all storage locations in the designated direction, and the designated direction is the direction from the target lane end toward the obstacle furthest from the target lane start in the obstacle area.

[0187] Selectively, in one specific implementation, the lane termination determination means is A first determination sub-means for determining the target lane end point among the storage locations in the obstacle area that are adjacent to the obstacle in the obstacle area and closest to the target lane start point, wherein the shape of the acquired first type lane is U-shaped. or The system includes a second determination sub-means for determining the target lane end point among the storage locations in the obstacle area that are adjacent to the obstacle in the obstacle area and furthest from the target lane start point, wherein the shape of the acquired first type lane is L-shaped.

[0188] Selectively, in one specific implementation form, the first definite sub-means is, If the number of storage locations in the obstacle area is less than or equal to the specified number, the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and closest to the start of the target lane will be determined as the end of the target lane. The lane arrangement device is, If the number of storage locations in the obstacle area exceeds a specified number, the system further includes a lane end determination module for determining the target lane end by separating the storage location from the obstacle closest to the target lane start by a specified number of storage locations, wherein the target number is the difference between the number of storage locations and the specified number, and the shape of the acquired Type 1 lane is U-shaped or L-shaped.

[0189] Selectively, in one specific implementation, the lane arrangement device is Each storage area is further provided with a lane partitioning module for partitioning lanes for each storage location that is not designated as a target storage location within that storage area, based on the aforementioned loading and unloading rules and the aforementioned aisle positions, and for acquiring each of the assigned Type 2 lanes.

[0190] Selectively, in one specific implementation, the rules for loading and unloading goods are first-in, first-out. The aforementioned lane partitioning module is For each storage area, if the target adjacent storage location exists within that storage area, each storage location within that storage area is divided into a plurality of storage location groups according to the arrangement direction, each storage location group that does not include the target adjacent storage location is divided into the same lane, and each of the arranged Type 2 lanes is acquired. This is used to, for each storage area, if there is no target adjacent storage location in that storage area, to partition each storage location in that storage area into a plurality of storage location groups according to the arrangement direction, partition each storage location group into the same lane, and acquire each of the arranged Type 2 lanes.

[0191] Selectively, in one specific implementation, the loading and unloading rule for the goods is first-in, last-out, and there is an empty storage area in the adjacent target storage area that is not designated as a target storage area. The aforementioned lane partitioning module is For each storage area, if a target adjacent storage location exists within that storage area, each storage location within that storage area is divided into multiple storage location groups according to the arrangement direction, the empty storage location and one storage location group adjacent to the empty storage location are divided into the same L-shaped lane, each storage location group that does not include the target adjacent storage location is divided into the same lane, and each of the arranged Type 2 lanes is acquired. This is used to, for each storage area, if there is no target adjacent storage location in that storage area, to partition each storage location in that storage area into a plurality of storage location groups according to the arrangement direction, partition each storage location group into the same lane, and acquire each of the arranged Type 2 lanes.

[0192] Embodiments of the present invention further provide electronic devices. As shown in Figure 8, the electronic device is Memory 801 for storing computer programs, The present invention includes a processor 802 for executing a program stored in memory to implement a step of any lane arrangement method provided by an embodiment of the present invention.

[0193] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 802, the communication interface, and the memory 801 communicate with each other via the communication bus.

[0194] The communication bus in the above-mentioned electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of visual convenience, the bus is shown with a single thick line in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0195] The communication interface is for the above-mentioned electronic devices to communicate with other devices.

[0196] The memory may include random access memory (RAM), non-volatile memory (NVM), and, for example, at least one magnetic disk memory. Selectively, the memory may be at least one storage device located away from the processor.

[0197] 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.

[0198] Another embodiment provided by the present invention provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it realizes one of the steps of the lane arrangement method described above.

[0199] Another embodiment provided by the present invention provides a computer program product. The computer program product includes instructions, and when the computer program product is executed on the computer, it causes the computer to execute one of the lane arrangement methods in the above embodiment.

[0200] In the embodiments described above, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded into a computer and executed, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, an application-specific computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, computer, server, or data center to another website, computer, server, or data center via a wired connection (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless connection (e.g., infrared, radio, microwave, etc.). The computer-readable storage medium may be any available medium accessible by a computer, or a data storage device including a server, data center, etc., that integrates one or more available media. The above-mentioned usable media may include magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), etc.

[0201] In this text, relational terms such as those in Sections 1 and 2 are used solely to distinguish one entity or action from another, and do not necessarily imply that such an actual relationship or order exists between these entities or actions. Furthermore, the terms “encompassing,” “including,” or other variations thereof are intended to imply non-exclusive inclusion, meaning that 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 inherent to such a process, method, article, or device. Unless otherwise specified, the elements limited by “including one…” do not preclude the process, method, article, or device containing such elements from having yet other identical elements.

[0202] Although the embodiments described herein are described in a manner that relates to one another, any identical or similar parts between embodiments should be referenced to one another, and each embodiment should focus on explaining the differences from other embodiments. In particular, the embodiments of apparatus, electronic equipment, computer-readable storage media, and computer-readable are described briefly as they are substantially similar to the embodiments of method. Relevant parts should be referred to the description of the embodiments of method.

[0203] The foregoing description is merely a preferred embodiment of the present application and does not limit the scope of protection. Any modifications, substitutions, improvements, etc., made within the spirit and principles of the present application shall all be included within the scope of protection.

Claims

1. A method of arranging lanes, This involves obtaining area distribution information and loading / unloading rules for the warehouse area to be deployed, wherein the area distribution information includes the location of aisles, the location of storage areas, and the location of obstacles. Based on the location of the storage area and the location of the obstacles, each storage space within the storage area and each storage space located between the two obstacles and not belonging to either of the aforementioned storage areas within the obstacle area are determined. This includes, for each obstacle area, arranging lanes for the target adjacent storage location in the obstacle area and at least one storage location in the obstacle area according to lane arrangement rules that match the aforementioned loading and unloading rules, and acquiring the arranged Type 1 lanes, Each obstacle area's target adjacent storage location includes each storage location in the adjacent storage area located on the designated side of the obstacle area, which is adjacent to the obstacle area and arranged according to the arrangement direction of each storage location within the obstacle area, and the shape of the first type lane includes at least one of a concave shape, an L-shape, or a U-shape. A lane arrangement method characterized by the following features.

2. For each of the aforementioned obstacle areas, lanes are arranged for the target adjacent storage location in the obstacle area and at least one storage location in the obstacle area, in accordance with lane arrangement rules that match the cargo loading and unloading rules, and the arranged Type 1 lanes are acquired. If the aforementioned loading and unloading rule is first-in, first-out, then for each obstacle area, lanes are arranged for the target adjacent storage location in the obstacle area and each storage location in the obstacle area according to the lane arrangement rule of type 1 shape, and the arranged type 1 lanes are acquired, wherein the aforementioned type 1 shape includes a concave shape. If the loading and unloading rule is first-in, last-out, then for each obstacle area, a lane arrangement is made for the target adjacent storage location in the obstacle area and each storage location in the obstacle area according to the lane arrangement rule of type 2 shape, and the arranged type 1 lane is obtained, wherein the type 2 shape includes a U-shape and / or an L-shape. The lane arrangement method according to claim 1, characterized by including the following:

3. In accordance with the lane arrangement rules of the first type shape described above, lanes are arranged for the target adjacent storage location in the obstacle area and for each storage location in the obstacle area, and the arranged first type lanes are obtained. The target lane start point is determined to be any storage location adjacent to the aforementioned passage position within the target adjacent storage location in the obstacle area, In the aforementioned storage location adjacent to the target, the storage location adjacent to the passage position, excluding the starting end of the target lane, is determined to be the end of the target lane. From the aforementioned target adjacent storage locations and each storage location in the obstacle area, each target storage location is determined that connects the start and end of the target lane and satisfies the cargo loading and unloading rules, and a concave-shaped Type 1 lane is obtained, wherein each target storage location includes at least one storage location in the obstacle area. The lane arrangement method according to claim 2, characterized by including the following:

4. In accordance with the lane arrangement rules of the second type described above, lanes are arranged for the target adjacent storage location in the obstacle area and for each storage location within the obstacle area, and the arranged first type lanes are obtained. The target lane start point is determined to be any storage location adjacent to the aforementioned passage position within the target adjacent storage location in the obstacle area, To determine one of the storage locations within the obstacle area as the end of the target lane, The method involves determining each target storage location that connects the target lane start and target lane end and satisfies the cargo loading / unloading rules, from the target adjacent storage location and each storage location in the designated direction starting from the target lane end in the obstacle area, and obtaining a U-shaped or L-shaped Type 1 lane that is arranged therein, wherein the target storage location includes all storage locations in the designated direction, and the designated direction is the direction from the target lane end to the obstacle furthest from the target lane start in the obstacle area. The lane arrangement method according to claim 2, characterized by including the following:

5. Determining one of the storage locations within the obstacle area as the end of the target lane is: The method involves determining the target lane end point from among the storage locations within the obstacle area, specifically the storage location adjacent to the obstacle within the obstacle area and closest to the target lane start point, wherein the shape of the acquired Type 1 lane is U-shaped. or This includes determining the target lane end point as the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and furthest from the target lane start point, and ensuring that the shape of the acquired Type 1 lane is L-shaped. The lane arrangement method according to claim 4, characterized in that

6. Of the storage locations within the obstacle area, determining the storage location adjacent to the obstacle in the obstacle area and closest to the start of the target lane as the end of the target lane is: If the number of storage locations in the obstacle area is less than or equal to the specified number, the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and closest to the start of the target lane is determined to be the end of the target lane. The lane arrangement method described above is: If the number of storage locations in the obstacle area exceeds a specified number, the storage location in the obstacle area that is separated from the obstacle closest to the start of the target lane by a specified number of storage locations is determined as the end of the target lane, wherein the specified number is the difference between the number of storage locations and the specified number, and the shape of the acquired Type 1 lane is U-shaped or L-shaped. The lane arrangement method according to feature 5.

7. The lane arrangement method described above is: For each storage area, the process further includes partitioning each storage location that is not designated as a target storage location within that storage area based on the aforementioned loading and unloading rules and the aforementioned aisle locations, and acquiring each of the assigned Type 2 lanes. The lane arrangement method according to any one of claims 1 to 6.

8. The aforementioned rules for loading and unloading cargo are first-in, first-out. For each of the aforementioned storage areas, based on the loading and unloading rules and the aisle positions, lanes are demarcated for each storage location that is not designated as a target storage location within that storage area, and each assigned Type 2 lane is acquired. For each storage area, if a target adjacent storage location exists within that storage area, each storage location within that storage area is divided into a plurality of storage location groups according to the arrangement direction, and each storage location group that does not include the target adjacent storage location is divided into the same lane, and each of the arranged Type 2 lanes is acquired. For each storage area, if there is no target adjacent storage location in that storage area, each storage location in that storage area is divided into a plurality of storage location groups according to the arrangement direction, and each storage location group is divided into the same lane, and each of the arranged Type 2 lanes is acquired. The lane arrangement method according to claim 7, characterized by including the following:

9. The aforementioned rules for loading and unloading goods are first-in, last-out, and there are empty storage areas in the adjacent target storage area that are not designated as target storage areas. For each of the aforementioned storage areas, based on the loading and unloading rules and the aisle positions, lanes are demarcated for each storage location that is not designated as a target storage location within that storage area, and each assigned Type 2 lane is acquired. For each storage area, if a target adjacent storage location exists within that storage area, each storage location within that storage area is divided into multiple storage location groups according to the arrangement direction, the empty storage location and one storage location group adjacent to the empty storage location are divided into the same L-shaped lane, each storage location group that does not include the target adjacent storage location is divided into the same lane, and each of the arranged Type 2 lanes is acquired. For each storage area, if there is no target adjacent storage location in that storage area, each storage location in that storage area is divided into multiple storage location groups according to the arrangement direction, each storage location group is divided into the same lane, and each of the arranged Type 2 lanes is acquired. The lane arrangement method according to claim 7, characterized by including the following:

10. A lane arrangement device, An information acquisition module for obtaining area distribution information and loading / unloading rules for warehouse areas to be deployed, wherein the area distribution information includes the location of aisles, the location of storage areas, and the location of obstacles. A storage location determination module for determining each storage location within the storage area and each storage location within the obstacle area that is located between the two obstacles and does not belong to either of the aforementioned storage areas, based on the storage area location and the obstacle location, The system includes a lane arrangement module for arranging lanes for each obstacle area, according to lane arrangement rules that match the aforementioned loading and unloading rules, for the target adjacent storage location in the obstacle area and at least one storage location in the obstacle area, and for acquiring the arranged Type 1 lanes, Each obstacle area's target adjacent storage location includes each storage location in the adjacent storage area located on the designated side of the obstacle area, which is adjacent to the obstacle area and arranged according to the arrangement direction of each storage location within the obstacle area, and the shape of the first lane includes at least one of a concave shape, an L-shape, and a U-shape. A lane arrangement device characterized by the following features.

11. The lane arrangement module is When the loading and unloading rules are first-in, first-out, a first arrangement submodule for acquiring the arranged first-type lanes is provided for each obstacle area, according to the lane arrangement rules of the first type shape, for the target adjacent storage location in the obstacle area and each storage location in the obstacle area, wherein the first type shape includes a first arrangement submodule with a concave shape, When the loading and unloading rule is first-in, last-out, a second arrangement submodule for obtaining the arranged first-type lanes is provided for each obstacle area, according to the second-type shape lane arrangement rule, for the target adjacent storage location in the obstacle area and each storage location in the obstacle area, wherein the second-type shape includes a second arrangement submodule that includes a U-shape and / or an L-shape. The lane arrangement device according to claim 10.

12. The first arrangement submodule described above is The target lane start point is determined to be any storage location adjacent to the aforementioned passage position within the target adjacent storage location in the obstacle area, In the aforementioned storage location adjacent to the target, the storage location adjacent to the passage position, excluding the starting end of the target lane, is determined to be the end of the target lane. This method involves determining each target storage location that connects the start and end points of the target lane and satisfies the loading and unloading rules, and obtaining a U-shaped Type 1 lane, wherein each target storage location includes at least one storage location in the obstacle area. The lane arrangement device according to feature 11.

13. The aforementioned second arrangement submodule is, A lane start determination means for determining the target lane start of any storage location adjacent to the passage position in the target adjacent storage location of the obstacle area, A lane end determination means for determining one of the storage locations in the obstacle area as the target lane end, Lane determination means for determining each target storage location that connects the target lane start and the target lane end and satisfies the cargo loading and unloading rules, and for obtaining a U-shaped or L-shaped first type lane, wherein the target storage location includes all storage locations in the designated direction, and the designated direction is the direction from the target lane end to the obstacle furthest from the target lane start in the obstacle area, The lane arrangement device according to claim 11, characterized by comprising:

14. The lane end determination means is, A first determination sub-means for determining the target lane end point among the storage locations in the obstacle area, the storage location adjacent to the obstacle in the obstacle area and closest to the target lane start point, wherein the shape of the acquired first type lane is U-shaped. or A second determination sub-means for determining the target lane end point among the storage locations in the obstacle area, the storage location adjacent to the obstacle in the obstacle area and furthest from the target lane start point, wherein the shape of the acquired first type lane is L-shaped. Equipped with, The lane arrangement device according to feature 13.

15. The first determinative sub-means is, If the number of storage locations in the obstacle area is less than or equal to the specified number, the storage location in the obstacle area that is adjacent to the obstacle and closest to the start of the target lane will be determined as the end of the target lane. The lane arrangement device is, If the number of storage locations in the obstacle area exceeds a specified number, the system further includes a lane end determination module for determining the target lane end by separating the storage location from the obstacle closest to the target lane start by a specified number of storage locations from that storage location in the obstacle area. The target number is the difference between the number of storage locations and the specified number, and the shape of the acquired Type 1 lane is U-shaped or L-shaped. The lane arrangement device according to feature 14.

16. The lane arrangement device is, Each storage area is further provided with lane partitioning modules for partitioning lanes for each storage location that is not designated as a target storage location within that storage area, based on the aforementioned loading and unloading rules and the aforementioned aisle positions, and for acquiring each of the assigned Type 2 lanes. The lane arrangement device according to any one of claims 10 to 15, characterized by the above.

17. The aforementioned rules for loading and unloading cargo are first-in, first-out. The aforementioned lane partitioning module is For each storage area, if a target adjacent storage location exists within that storage area, each storage location within that storage area is divided into a plurality of storage location groups according to the arrangement direction, each storage location group that does not include the target adjacent storage location is divided into the same lane, and each of the arranged Type 2 lanes is acquired. For each storage area, if there is no target adjacent storage location in that storage area, each storage location in that storage area is divided into a plurality of storage location groups according to the arrangement direction, each storage location group is divided into the same lane, and each of the arranged Type 2 lanes is acquired, and this is used. The lane arrangement device according to claim 16.

18. The aforementioned rules for loading and unloading goods are first-in, last-out, and there are empty storage areas in the adjacent target storage area that are not designated as target storage areas. The aforementioned lane partitioning module is For each storage area, if a target adjacent storage location exists within that storage area, each storage location within that storage area is divided into multiple storage location groups according to the arrangement direction, the empty storage location and one storage location group adjacent to the empty storage location are divided into the same L-shaped lane, each storage location group that does not include the target adjacent storage location is divided into the same lane, and each of the arranged Type 2 lanes is acquired. For each storage area, if there is no target adjacent storage location in that storage area, each storage location in that storage area is divided into a plurality of storage location groups according to the arrangement direction, each storage location group is divided into the same lane, and each of the arranged Type 2 lanes is acquired, and this is used. The lane arrangement device according to claim 16, characterized in that

19. It is an electronic device, Memory for storing computer programs, A processor for realizing the lane arrangement method described in any one of claims 1 to 9, which executes a program stored in memory, An electronic device characterized by the following features.

20. A computer-readable storage medium, The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, it realizes the lane arrangement method described in any one of claims 1 to 9. A computer-readable storage medium characterized by the following:

21. A computer program product, The computer program product includes instructions, and when the computer program product is executed on a computer, it causes the computer to execute the lane arrangement method described in any one of claims 1 to 9. A computer program product characterized by the following features.

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