Delivery method, delivery device, electronic device, computer-readable storage medium, and computer program

Abstract

An outgoing method, device, and equipment related to the technical field of luggage transport equipment. The method includes the steps of: determining at least one outgoing sequence, each outgoing sequence including at least one outgoing group, and each outgoing group including at least one container to be outgoing; assigning a transport task of the container to be outgoing to a robot according to the at least one outgoing sequence; and performing outgoing of the at least one container to be outgoing based on the task execution state of the transport task and the at least one outgoing sequence. An outgoing request of a complex service scenario is divided into outgoing sequences and outgoing groups, each outgoing sequence includes at least one outgoing group, and each outgoing group includes at least one container to be outgoing. By performing outgoing of the container to be outgoing according to the outgoing sequence and the outgoing group, the outgoing request of the complex service scenario can be satisfied.

Description

[Technical field]

[0001] This application claims priority to a Chinese patent application entitled "Storeroom Method and Apparatus" filed with the China Patent Office on September 10, 2021, application number 202111063114.7, the entire contents of which are incorporated herein by reference.

[0002] The present embodiment relates to the technical field of luggage transport equipment, and in particular to a method for unloading luggage. , delivery device, electronic device, computer-readable storage medium and computer program Regarding. [Background technology]

[0003] Smart warehouse is an important part of the logistics process. Robots can transport containers instead of humans, and play an important role in smart warehouse. Robots perform the loading and unloading process for containers, including taking containers out of racks and storing containers in racks. Here, taking containers out of racks is called out and storing containers in racks is called in. Summary of the Invention [Problem to be solved by the invention]

[0004] As service scenarios become increasingly complex, how to meet the delivery requirements of complex service scenarios has become an urgent issue to be resolved.

[0005] The present embodiment provides a dispatch method and device that meets the dispatch requirements of complex service scenarios. [Means for solving the problem]

[0006] As a first aspect, an outgoing method provided in an embodiment of the present application includes a step of determining at least one outgoing series, where each of the outgoing series includes at least one outgoing group, and each of the outgoing groups includes at least one container to be outgoing; a step of assigning a transport task of the container to be outgoing to a robot according to the at least one outgoing series; and a step of outgoing the at least one container to be outgoing based on a task execution state of the transport task and the at least one outgoing series.

[0007] Optionally, when at least two outgoing sequences exist, the step of assigning a transport task of the container to be shipped to a robot according to the at least one outgoing sequence includes the steps of assigning transport tasks of the at least two outgoing sequences to a robot in parallel, and assigning a transport task of at least one container to be shipped in each outgoing sequence to a robot according to a target outgoing plan corresponding to each outgoing sequence, the target outgoing plan being used to specify a first outgoing order between at least one outgoing group included in the outgoing sequence and / or a second outgoing order between at least one container to be shipped included in each outgoing group.

[0008] Optionally, the step of assigning a transport task of at least one container to be shipped in each of the outbound sequences to a robot in accordance with a target outbound plan corresponding to each of the outbound sequences includes a step of assigning a transport task of at least one container to be shipped in the outbound sequence to a robot in accordance with the first outbound sequence and the second outbound sequence, or a step of assigning a transport task of at least one container to be shipped in the outbound sequence to a robot in accordance with the first outbound sequence and an intra-group default plan for determining an outbound sequence between at least one container to be shipped based on information of each of the containers to be shipped included in the outbound group. The method includes a step of assigning a transport task of at least one of the containers to be shipped in the outbound sequence to a robot in accordance with an inter-group default plan for determining an outbound order between at least one of the outbound groups based on information of each of the outbound groups included in the outbound sequence and the second outbound order, or a step of assigning a transport task of at least one of the containers to be shipped in the outbound sequence to a robot in accordance with the inter-group default plan and the intra-group default plan.

[0009] Optionally, the information on the outgoing group includes at least one of the quantity of the containers to be shipped included in the outgoing group and the number of aisles in which the containers to be shipped included in the outgoing group are located.

[0010] Optionally, the information on the outgoing container includes at least one of a transport distance of the outgoing container, a weight of the outgoing container, and a size of the outgoing container.

[0011] Optionally, the step of assigning a transport task of at least one container requiring outgoing in the outgoing sequence to a robot in accordance with the first outgoing order and the second outgoing order includes a step of stopping the assignment of the transport task of each of the container requiring outgoing in the outgoing sequence to a robot if the assignment of the transport task of any one of the container requiring outgoing in the outgoing sequence fails in the process of assigning the transport task of each of the container requiring outgoing in the outgoing sequence to a robot in accordance with the first outgoing order and the second outgoing order.

[0012] Optionally, the step of assigning a transport task of at least one of the outgoing containers in the outgoing sequence to a robot in accordance with an inter-group default plan and the second outgoing order includes, if the process of assigning the transport task of each of the outgoing containers in the outgoing sequence to a robot fails to assign the transport task of a first outgoing container in the outgoing sequence, stopping the assignment of transport tasks of the remaining outgoing containers in a first outgoing group in which the first outgoing container is present to a robot, and assigning the transport tasks of each of the outgoing containers in a second outgoing group to a robot, the second outgoing group being an outgoing group other than the first outgoing group in the outgoing sequence.

[0013] Optionally, the step of assigning a transport task of at least one of the containers requiring outgoing shipment in the outgoing sequence to a robot in accordance with the first outgoing order and a default plan within the group includes a step of canceling the assignment of transport tasks of containers requiring outgoing shipment in outgoing groups other than the first outgoing group to a robot and assigning transport tasks of containers requiring outgoing shipment other than the first container requiring outgoing shipment in the first outgoing group to a robot if the assignment of the transport task of a first container requiring outgoing shipment in the outgoing sequence fails in the process of assigning the transport task of each container requiring outgoing shipment in the outgoing sequence to a robot, the first outgoing group being the outgoing group in which the first container requiring outgoing shipment is present.

[0014] Optionally, the step of retrieving the at least one container to be handed over based on the task execution state of the transport task and the at least one outgoing series includes a step of acquiring a task execution state of at least one third transport task, which is a transport task for a third container to be handed over, when a task execution state of a second transport task corresponding to one second container to be handed over is a state in which the second container to be handed over has been removed; and a step of continuing the second transport task when a task execution state of each of the third transport tasks is a state in which the second container to be handed over has been removed from an operation console. and issuing the second outgoing container and the third outgoing container in accordance with the first outgoing order and / or the second outgoing order, wherein the third outgoing container includes a third outgoing container included in a third outgoing group located before the second outgoing group in the first outgoing order and / or a container located before the second outgoing container in the second outgoing order corresponding to the second outgoing group, and the second outgoing group is an outgoing group in which the second outgoing container is present.

[0015] Optionally, the method further includes a step of controlling a robot transporting the second container to be shipped to wait when the task execution state of at least one of the third transport tasks is any execution state prior to a state of having arrived at the operation table, and a step of continuing to execute the second transport task when the task execution state of the third transport task is updated to a state of having arrived at the operation table, to ship the second container to be shipped and the third container to be shipped according to the first outgoing order and / or the second outgoing order.

[0016] As a second aspect, an outgoing device provided in an embodiment of the present application includes an outgoing sequence determination module for determining at least one outgoing sequence, where each outgoing sequence includes at least one outgoing group and each outgoing group includes at least one container to be outgoing, a task allocation module for assigning a transport task of the container to be outgoing to a robot in accordance with the at least one outgoing sequence, and a container outgoing module for outgoing the at least one container to be outgoing based on a task execution state of the transport task and the at least one outgoing sequence.

[0017] Optionally, when at least two outgoing sequences exist, the task allocation module is further used to assign transport tasks of at least two of the outgoing sequences to a robot in parallel, and to assign a transport task of at least one container to be shipped in each of the outgoing sequences to a robot according to a target shipping plan corresponding to each of the outgoing sequences, the target shipping plan being used to specify a first outgoing sequence between at least one of the outgoing groups included in the outgoing sequence, and / or a second outgoing sequence between at least one container to be shipped included in each of the outgoing groups.

[0018] Optionally, the task allocation module further allocates, when allocating a transport task of at least one container to be shipped in each of the outbound sequences to a robot according to a target outbound plan corresponding to each of the outbound sequences, a transport task of at least one container to be shipped in the outbound sequence to a robot according to the first outbound sequence and the second outbound sequence, or allocates a transport task of at least one container to be shipped in the outbound sequence to a robot according to the first outbound sequence and an intra-group default plan for determining an outbound sequence between at least one container to be shipped based on information of each of the containers to be shipped included in the outbound group. or assigning a transport task of at least one of the containers requiring outgoing in the outgoing sequence to a robot in accordance with an inter-group default plan for determining an outgoing order between at least one of the outgoing groups based on information of each of the outgoing groups included in the outgoing sequence and the second outgoing order, or assigning a transport task of at least one of the containers requiring outgoing in the outgoing sequence to a robot in accordance with the inter-group default plan and the intra-group default plan.

[0019] Optionally, the information on the outgoing group includes at least one of the quantity of the containers to be shipped included in the outgoing group and the number of aisles in which the containers to be shipped included in the outgoing group are located.

[0020] Optionally, the information on the outgoing container includes at least one of a transport distance of the outgoing container, a weight of the outgoing container, and a size of the outgoing container.

[0021] Optionally, the task allocation module is further used to, when assigning a transport task of at least one container to be shipped in the outbound sequence to a robot in accordance with the first outbound sequence and the second outbound sequence, stop assigning the transport task of each container to be shipped in the outbound sequence to a robot if the assignment of the transport task of any one of the containers to be shipped in the outbound sequence fails.

[0022] Optionally, the task allocation module is further used, when assigning a transport task of at least one of the outgoing containers in the outgoing sequence to a robot according to the inter-group default plan and the second outgoing order, to stop assigning transport tasks of the remaining outgoing containers in a first outgoing group in which the first outgoing container is present to a robot if the assignment of the transport task of a first outgoing container in the outgoing sequence fails, and to assign to a robot transport tasks of each outgoing container in a second outgoing group, the second outgoing group being an outgoing group other than the first outgoing group in the outgoing sequence.

[0023] Optionally, the task allocation module is further used to, when assigning a transport task of at least one of the containers requiring outgoing shipment in the outgoing sequence to a robot according to the first outgoing order and a default plan within the group, if the assignment of the transport task of the first container requiring outgoing shipment in the outgoing sequence fails, stop assigning transport tasks of containers requiring outgoing shipment in outgoing groups other than the first outgoing group to a robot, and assign transport tasks of containers requiring outgoing shipment other than the first container requiring outgoing shipment in the first outgoing group to a robot, the first outgoing group being the outgoing group in which the first container requiring outgoing shipment is present.

[0024] Optionally, the container outgoing module further acquires a task execution state of at least one third transport task which is a transport task of a third container requiring outgoing when the task execution state of a second transport task corresponding to one second container requiring outgoing is a state in which the second container requiring outgoing has been removed, and when the task execution state of each of the third transport tasks is a state in which the second container requiring outgoing has been reached at the operation console, continues to execute the second transport task, which is used to outgo the second container requiring outgoing and the third container requiring outgoing according to the first outgoing order and / or the second outgoing order, wherein the third container requiring outgoing includes a container requiring outgoing included in a third outgoing group located before the second outgoing group in the first outgoing order, and / or a container requiring outgoing located before the second container requiring outgoing in the second outgoing order corresponding to the second outgoing group, and the second outgoing group is an outgoing group in which the second container requiring outgoing is present.

[0025] Optionally, the container outgoing module is further used to control a robot transporting the second container to be outgoing to wait when the task execution state of at least one of the third transport tasks is any execution state prior to the state of having arrived at the operation console, and when the task execution state of the third transport task is updated to the state of having arrived at the operation console, to continue executing the second transport task and outgoing the second container to be outgoing and the third container to be outgoing in accordance with the first outgoing order and / or the second outgoing order.

[0026] As a third aspect, an electronic device provided in an embodiment of the present application includes at least one processor and a memory, wherein the memory stores computer-executable instructions, and when the at least one processor executes the computer-executable instructions stored in the memory, the electronic device realizes the method of the first aspect.

[0027] In a fourth aspect, the present application provides a computer-readable storage medium having computer-executable instructions stored thereon, the computer-executable instructions, when executed by a processor, causing a computing device to implement the method of the first aspect.

[0028] As a fifth aspect, a computer program is provided in the present application, which is used to implement the method of the first aspect. Effect of the Invention

[0029] The outgoing method and device provided in the embodiment of the present application include the steps of: determining at least one outgoing sequence, each outgoing sequence including at least one outgoing group, and each outgoing group including at least one container to be outgoing; allocating a transport task of the container to be outgoing to a robot according to the at least one outgoing sequence; and performing outgoing of the at least one container to be outgoing based on the task execution state of the transport task and the at least one outgoing sequence. The embodiment of the present application can divide the outgoing request of a complex service scenario into outgoing sequences and outgoing groups, each outgoing sequence including at least one outgoing group, and each outgoing group including at least one container to be outgoing. This allows outgoing of the container to be outgoing according to the outgoing sequence and the outgoing group, and can satisfy the outgoing request of the complex service scenario. [Brief description of the drawings]

[0030] In order to more clearly describe the technical means in the embodiments of the present application or the prior art, the following will briefly introduce the drawings used in the description of the embodiments or the prior art. It is obvious that the drawings below are only a part of the embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without any creative effort.

[0031] [Figure 1] FIG. 1 is an overhead view of a warehouse to which the present embodiment is applied. [Diagram 2] FIG. 2 is a side view of a rack to which the embodiment of the present invention is applied. [Diagram 3] FIG. 3 is a schematic diagram of the structure of the robot provided in the present application. [Figure 4] FIG. 4 is a flow chart showing the specific steps of the shipping method provided in the embodiment of the present application. [Diagram 5] FIG. 5 is a structural block diagram of the delivery device provided in the embodiment of the present application. [Figure 6] FIG. 6 is a structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] In order to make the purpose, technical means and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described below in a clear and comprehensive manner in combination with the drawings in the embodiments of the present application. Of course, the described embodiments are only a part of the embodiments of the present application, and are not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without the need for inventive or creative efforts are all within the scope of protection of the present application.

[0033] The present embodiment is used in the technical field of smart warehouses. In the technical field of smart warehouses, items are stored on racks in a warehouse. The items may be individual packages or containers containing packages. FIG. 1 is an overhead view of a warehouse to which the present embodiment is applied. As shown in FIG. 1, six racks 102 are installed in a warehouse 101, and two racks 102 are arranged in a horizontal row, and a total of three such rows of racks 102 are installed in the warehouse 101. An item 103 can be placed on the rack 102 .

[0034] Of course, the rack 102 is provided with multiple storage tiers, each of which has multiple locations, and each location can accommodate an item 103. In this way, the rack 102 can increase its storage capacity for items 103 by providing multiple storage tiers and multiple locations. It can be seen from FIG. 1 that each item 103 occupies one location. FIG. 2 is a side view of a rack to which the embodiment of the present application is applied. As shown in FIG. 2, the rack 102 includes three storage tiers 105, each of which includes five locations, and each location can accommodate one item 103.

[0035] In order to improve the efficiency of article transport, the article is usually transported by a robot, which can retrieve an article from a storage level in a rack to a storage level of the robot, and store the article from the storage level of the robot to a storage level of the rack.

[0036] A certain amount of free space called an aisle is required between each of the racks 102 in Fig. 1, and the robot can access the racks through the aisle. Looking at Fig. 1, it can be seen that there are four aisles 104. When the robot needs to store an item in the rack 102, the robot moves into the corresponding aisle 104 and stores the item on the storage level of the robot in the rack 102. When the robot needs to take an item out of the rack 102, the robot also moves into the corresponding aisle 104, takes the item out of the storage level of the rack 102, and stores it in the storage level of the robot.

[0037] FIG. 3 is a structural schematic diagram of a robot provided in an embodiment of the present application. As shown in FIG. 3, the robot includes a support unit 210, a moving chassis 220, a load-receiving device 230, and a storage rack 240, in which the support unit 210 is mounted on the moving chassis 220, and the storage rack 240 and the load-receiving device 230 are mounted on the support unit 210. The load-receiving device 230 can be vertically moved along the support unit 210. The storage rack 240 can be provided with several storage shelves for placing one or more transportable items. A lifting unit is installed on the support unit 210, and the lifting unit is used to drive the load-receiving device 230 to move up and down, so as to align the load-receiving device 230 with any one of the storage cells on the storage rack 240 or with the racks and / or items in the warehouse. The load-receiving device 230 can be rotated around a vertical axis to adjust its orientation, so as to align with the storage cell or with the racks and / or items. The loader 230 is used to load or unload items and transports the items between the racks and the storage cells.

[0038] Since the above-mentioned items are usually stored in containers, when a robot transports an item, it is equivalent to transporting a container. When retrieving a container, the robot transports the container from a rack in a warehouse to an operation console, and retrieves the container from the operation console.

[0039] In the prior art, multiple containers can be continuously delivered during delivery. Specifically, multiple containers are assigned to a robot in order, and the robot delivers the containers in sequence. However, the delivery method is simple and cannot meet the delivery requirements of complex service scenarios.

[0040] In order to solve the above problem, the embodiment of the present application divides the outgoing request of a complex service scenario into outgoing sequences and outgoing groups. Each outgoing sequence includes at least one outgoing group, and each outgoing group includes at least one container to be outgoing. This allows the outgoing container to be outgoing according to the outgoing sequence and the outgoing group, thereby satisfying the outgoing request of the complex service scenario.

[0041] The complex service scenario may be a scenario in which an item is divided into at least two dimensions. For example, if the item is clothing, the clothing may be divided into two dimensions, namely, color and size. Then, one size corresponds to one delivery group. The divided group includes clothing of the size arranged by color. Furthermore, delivery groups corresponding to a plurality of sizes form one delivery sequence. For example, one delivery sequence is obtained in the order of S size, M size, and L size. In this way, it is convenient for the user to store the clothing as it is according to the delivery sequence, and there is no need to organize the clothing according to color and size before storing it, and the complexity of the user's operation can be reduced. The user may typically be a clothing retailer.

[0042] The following specific examples are used to describe in detail the technical scheme of the present application and how the technical scheme of the present application solves the above technical problems. The following specific examples can be combined with each other. The same or similar concepts or processes may not be repeated in some examples. The following examples are described in detail in conjunction with the drawings.

[0043] 4 is a flow chart of the specific steps of the issuing method provided in the embodiment of the present application. As shown in FIG. 4, the method includes the following steps:

[0044] S201: At least one outgoing sequence is determined. Each outgoing sequence includes at least one outgoing group, and each outgoing group includes at least one container to be outgoing.

[0045] The outgoing sequence and the outgoing group can be determined based on the outgoing request.

[0046] S202: A transport task of a container to be shipped is assigned to a robot according to at least one shipping sequence.

[0047] Specifically, for one outgoing group, the transport task of the first container L1 to be shipped is first assigned to the robot A. Then, depending on the amount of containers that the robot can transport, the transport tasks of several containers to be shipped after L1 in the outgoing group are assigned to the robot A.

[0048] Naturally, when the number of containers assigned to this robot A reaches the transportable container amount, the transport task of the next container L2 to be shipped from the group is assigned to the robot B, and the transport tasks of some containers to be shipped after L2 in the shipping group are assigned to the robot B. This allocation is continued until the assignment of the transport tasks of the containers to be shipped from the shipping group is completed.

[0049] A transport task refers to a task of transporting a container to be shipped from a rack in a warehouse to the operation console. The operation console is used to ship the container to be shipped. One container to be shipped corresponds to one transport task, one transport task is executed by one robot, and one robot can execute one or multiple transport tasks.

[0050] When there are at least two outgoing series, the transport tasks may be assigned consecutively or in parallel between the different outgoing series. However, assigning the transport tasks in parallel reduces the time consumed in assigning the transport tasks, thereby shortening the outgoing time.

[0051] For example, in two outgoing series Q1 and Q2, Q1 includes two outgoing groups G1 and G2, and Q2 includes three outgoing groups G3, G4, and G5. G1 includes two outgoing containers B1 and B2, G2 includes three outgoing containers B3, B4, and B5, G3 includes one outgoing container B6, G4 includes two outgoing containers B7 and B8, and G5 includes four outgoing containers B9 to B12.

[0052] Of the containers B1 to B12 that need to be shipped, B1 to B5 are containers in the shipping sequence Q1, and B6 to B12 are containers in the shipping sequence Q2, so transport tasks can be assigned to B1 to B5 and B6 to B12 in parallel. In other words, transport tasks can be assigned to B1 to B5 and B6 to B12 at the same time.

[0053] Each of the outbound sequences may correspond to a target outbound plan, which may specify an arbitrary outbound sequence between each of the containers to be outbound in the outbound sequence. The target outbound plan may further specify an outbound sequence between each of the outbound groups in the outbound sequence and / or between each of the containers to be outbound in each of the outbound groups.

[0054] In order to guarantee the above-mentioned outgoing sequence, the transport task of each container to be shipped in one outgoing sequence is also assigned one by one according to the outgoing sequence, and the transport task is assigned preferentially to the container to be shipped first. In other words, the transport task of at least one container to be shipped in each outgoing sequence is assigned to a robot according to the target outgoing plan corresponding to each outgoing sequence.

[0055] For ease of explanation, the outgoing order between the outgoing groups specified by the target outgoing plan is referred to as the first outgoing order, and the outgoing order between each container to be shipped within the outgoing group specified by the target outgoing plan is referred to as the second outgoing order.

[0056] Next, the process of allocating transportation tasks based on the target outbound plan will be described in detail.

[0057] When a first outgoing order and a second outgoing order are specified in the target outgoing plan, a transport task of at least one container to be outgoing in the outgoing sequence is assigned to the robot based on the first outgoing order and the second outgoing order.

[0058] When the transport tasks are assigned to the outgoing sequence according to the first outgoing sequence and the second outgoing sequence, first, the sequence of each outgoing group in the outgoing sequence is determined according to the first outgoing sequence. Next, for each outgoing group, the sequence of each container requiring outgoing in the outgoing group is determined according to the second outgoing sequence of the outgoing group. Next, the sequence of at least one container requiring outgoing in the outgoing sequence is determined based on the sequence of each outgoing group and the sequence of each container requiring outgoing in each outgoing group. Finally, the transport tasks are assigned sequentially to the robots based on the sequence of the at least one container requiring outgoing in the outgoing sequence.

[0059] In normal cases, the transport task is successfully assigned to each container to be shipped in the shipping sequence according to the first and second shipping sequences. However, due to the influence of various factors, the transport task assignment may fail. For example, the passageway in which a container to be shipped is located is filled with robots currently performing a transport task, so the transport task cannot be assigned to the container to be shipped, and the transport task assignment fails. In addition, the transport task assignment fails because, for example, all robots have already been assigned and are out, or there is no robot available for assignment due to a malfunction.

[0060] When the first and second outgoing orders are specified in the target outgoing plan, i.e., the outgoing order between the outgoing groups and the outgoing order between each container requiring outgoing within the outgoing group are specified in the outgoing request, in the process of assigning the transport task of each container requiring outgoing in the outgoing sequence to the robot according to the first and second outgoing orders, if the assignment of the transport task of any one container requiring outgoing in the outgoing sequence fails, the assignment of the transport task of each container requiring outgoing in the outgoing sequence to the robot is stopped. In this way, if the assignment fails, the transport tasks of the remaining containers requiring outgoing are not continuously assigned, thereby avoiding a mismatch between the actual outgoing order and the outgoing order specified in the target outgoing plan.

[0061] The containers to be shipped for which allocation is to be stopped include the containers to be shipped in the first shipping group to which the container to be shipped that has failed to be allocated exists, and the containers to be shipped in the shipping group that has not yet been allocated. For example, in the shipping sequence Q1, if the first shipping order is G1, G2, the second shipping order of G1 is B1, B2, and the second shipping order of G2 is B3, B4, B5, and allocation of the transport task for B2 has failed, allocation of the transport tasks for B3, B4, and B5 to the robot is stopped.

[0062] When the first outgoing order is specified in the target outgoing plan but the second outgoing order is not specified, the transport task may be assigned to the outgoing groups in the outgoing sequence according to the first outgoing order, and the transport task may be assigned to the containers requiring outgoing in each outgoing group in any order. In order to prevent the containers requiring outgoing from being omitted in the outgoing group, a default arrangement order may be determined for each container requiring outgoing in the outgoing group. That is, the transport task of at least one container requiring outgoing in the outgoing sequence is assigned to the robot according to the first outgoing order and the default plan within the group. The default plan within the group is used to determine the outgoing order between at least one container requiring outgoing based on information of each container requiring outgoing included in the outgoing group.

[0063] The information on the container to be shipped includes at least one of the transport distance of the container to be shipped, the weight of the container to be shipped, and the size of the container to be shipped.

[0064] The transport distance refers to the distance between the location of the container on the rack and the operation console, i.e., the robot needs to transport the container from the rack to the operation console before it can be delivered.

[0065] In an embodiment of the present disclosure, a transport task may be preferentially assigned to a container requiring a short transport distance to be shipped out, or a transport task may be preferentially assigned to a container requiring a long transport distance to be shipped out.

[0066] Regarding the weight of the container to be output, the transport task may be preferentially assigned to a container to be output which has a smaller weight, or the transport task may be preferentially assigned to a container to be output which has a larger weight.

[0067] Regarding the size of the container to be shipped, the transport task may be preferentially assigned to a smaller sized container to be shipped, or the transport task may be preferentially assigned to a larger sized container to be shipped.

[0068] Naturally, the allocation order of transport tasks for containers to be shipped within each shipping group may be determined by combining at least two of the above-mentioned transport distance, weight, and size. Specifically, a score for each container to be shipped may be determined based on at least two of the transport distance, weight, and size, and the allocation order of transport tasks may be obtained based on the ranking of the scores. For example, the scores can be obtained by the following formula.

[0069]

number

[0070] where SCR2 is the score of each container that needs to be shipped, D, H, and S are the transportation distance, weight, and size, respectively, and p21 , p 22 , p 23 are the weighting coefficients for transport distance, weight, and size, respectively.

[0071] In practical operation, the weight coefficients in the above formula may be adjusted to adjust the relationship between the corresponding elements and the allocation order. For example, p 21 , p 22 , p 23 is set to a positive number, and transport tasks are assigned to containers requiring delivery in ascending order of SCR2. This allows priority to be given to transport tasks assigned to containers requiring delivery that have a short transport distance, weight, and size.

[0072] When the transport tasks are assigned to the outgoing sequence according to the first outgoing sequence and the intra-group default plan, first, the sequence of each outgoing group in the outgoing sequence is determined according to the first outgoing sequence. Next, for each outgoing group, the sequence of each container requiring outgoing in the outgoing group is determined according to the intra-group default plan. Next, the sequence of at least one container requiring outgoing in the outgoing sequence is determined based on the sequence of each outgoing group and the sequence of each container requiring outgoing in each outgoing group. Finally, the transport tasks are assigned sequentially to the robots based on the sequence of at least one container requiring outgoing in the outgoing sequence.

[0073] In normal cases, the transport task is successfully assigned to each container in the outgoing sequence according to the first outgoing sequence and the group default plan. However, due to the influence of various factors, the transport task assignment may fail.

[0074] If a first outgoing order is specified in the target outgoing plan but a second outgoing order is not specified, i.e., an outgoing order between each container requiring outgoing within the outgoing group is not specified in the outgoing request, and in the process of assigning a transport task for at least one container requiring outgoing in the outgoing sequence to a robot according to the first outgoing order and the default plan within the group, if the assignment of the transport task for the first container requiring outgoing in the outgoing sequence fails, outgoing can be performed using the following two plans.

[0075] The first plan is to stop the allocation of all containers to be shipped in the shipping sequence to the robot. For example, this plan is used when it is required to ship all the containers to be shipped in one shipping group at once.

[0076] As a second plan, the robot is stopped from being assigned the transport task of the containers to be shipped in the outgoing groups other than the first outgoing group, and the robot is assigned the transport task of the containers to be shipped other than the first container to be shipped in the first outgoing group. The first outgoing group is the outgoing group in which the first container to be shipped exists. For example, this plan is used when it is not required to ship all the containers to be shipped in one outgoing group at once.

[0077] By stopping the allocation of containers requiring outgoing in outgoing groups other than the first outgoing group to the robot, it is possible to avoid discrepancies between the actual outgoing order between the outgoing groups and the outgoing order specified in the target outgoing plan, and by assigning containers requiring outgoing other than the first container requiring outgoing in the first outgoing group to the robot, it is possible to increase the success rate of allocation of transport tasks.

[0078] For example, in the outgoing sequence Q1, the first outgoing sequence is G1, G2, the second outgoing sequence for G1 is determined to be B2, B1 based on the group default plan, and the second outgoing sequence for G2 is determined to be B4, B3, B5 based on the group default plan, if allocation of the transport task to B2 fails, the allocation of the transport tasks of B4, B3, B5 in G2 to the robot is stopped, and the transport task of B1 in G1 is continued.

[0079] If the second outgoing order is specified in the target outgoing plan and the first outgoing order is not specified, the transportation task can be assigned in the two plans.

[0080] In the first plan, transport tasks can be assigned to the outgoing groups in the outgoing sequence in any order, and transport tasks can be assigned to the containers requiring outgoing in each outgoing group using the second outgoing order. In order to prevent an outgoing group from being omitted, a default arrangement order can be determined for the outgoing groups. That is, a transport task of at least one container requiring outgoing in the outgoing sequence is assigned to the robot according to the inter-group default plan and the second outgoing order. The inter-group default plan is used to determine the outgoing order between at least one outgoing group based on information of each outgoing group included in the outgoing sequence.

[0081] The information on the outgoing group includes at least one of the quantity of containers requiring outgoing that are included in the outgoing group and the number of aisles in which the containers requiring outgoing that are included in the outgoing group are located.

[0082] Regarding the number of containers to be shipped, the transport task may be preferentially assigned to an outgoing group with a smaller number of containers, or the transport task may be preferentially assigned to an outgoing group with a larger number of containers.

[0083] Regarding the number of aisles in which the containers to be shipped are located, the transport task may be preferentially assigned to an outgoing group with a smaller number of aisles, or the transport task may be preferentially assigned to an outgoing group with a larger number of aisles.

[0084] Of course, the allocation order of the transport tasks of the outgoing groups may be determined by combining the quantity of containers to be outgoing and the number of aisles. Specifically, the score of each outgoing group may be determined based on the quantity of containers to be outgoing and the number of aisles, and the allocation order of the transport tasks may be obtained based on the ranking of the scores. For example, the score may be obtained by the following formula.

[0085]

number

[0086] where SCR1 is the score of each shipping group, NUM1 and NUM2 are the number of containers to be shipped and the number of aisles, respectively, and p 11 , p 12 are the weighting coefficients for the number of containers to be shipped and the number of aisles, respectively.

[0087] In practical operation, the weight coefficients in the above formula may be adjusted to adjust the relationship between the corresponding elements and the allocation order. For example, p 11 , p 12 is set to a positive number, and transport tasks are assigned to outgoing groups in ascending order of SCR1. This allows transport tasks to be assigned preferentially to outgoing groups with a small number of containers to be shipped and a small number of aisles.

[0088] When allocating transport tasks to the outbound sequence according to the second outbound sequence and the inter-group default plan, first, the sequence of each outbound group in the outbound sequence is determined according to the inter-group default plan. Next, for each outbound group, the sequence of each container requiring outbound in the outbound group is determined according to the second outbound sequence of the outbound group. Next, the sequence of at least one container requiring outbound in the outbound sequence is determined according to the sequence of each outbound group and the sequence of each container requiring outbound in each outbound group. Finally, the transport tasks are allocated sequentially based on the sequence of the at least one container requiring outbound in the outbound sequence.

[0089] In normal cases, the system succeeds in allocating a transport task to each container in the outgoing sequence according to the second outgoing sequence and the inter-group default plan. However, due to the influence of various factors, there are cases where the system fails to allocate a transport task.

[0090] In the second plan, the second outgoing sequence is guaranteed, and the outgoing containers of multiple outgoing groups are assigned in an insert manner. For example, if the outgoing sequence Q1 includes two outgoing groups G1 and G2, G1 includes two outgoing containers B1 and B2, and G2 includes three outgoing containers B3, B4, and B5, the transport tasks can be assigned in the order of B1, B3, B4, B2, and B5.

[0091] The above-mentioned insertion allocation means that a transport task is allocated by inserting a required outgoing container in one outgoing group G1 before or after a required outgoing container associated with the required outgoing container in the other outgoing group G2. The associated two required outgoing containers include at least one of two required outgoing containers that are close to each other in storage positions on a rack and two required outgoing containers of the same type.

[0092] When the second outgoing order is specified in the target outgoing plan but the first shipping order is not specified, i.e., when the outgoing order between the outgoing groups is not specified in the outgoing request, and in the process of assigning the transport task of at least one container requiring outgoing in the outgoing sequence to a robot according to the inter-group default plan and the second outgoing order, if the assignment of the transport task of the first container requiring outgoing in the outgoing sequence fails, the assignment of the transport tasks of the remaining container requiring outgoing in the first outgoing group in which the first container requiring outgoing exists to the robot is stopped. Then, the transport tasks of each container requiring outgoing in the second outgoing group are assigned to the robot. The second outgoing group is an outgoing group other than the first outgoing group in the outgoing sequence.

[0093] By stopping the allocation of the transport tasks of the remaining containers to be shipped in the first outgoing group in which the first container to be shipped exists to the robot, it is possible to avoid a mismatch between the actual outgoing order between the containers to be shipped in the outgoing group and the order specified in the target outgoing plan. Then, by assigning the transport tasks of the containers to be shipped in the second outgoing group to the robot, it is possible to increase the success rate of the transport task allocation.

[0094] For example, in the outbound sequence Q1, if the outbound sequence determined based on the inter-group default plan is G2, G1, the second outbound sequence for G1 is B1, B2, and the second outbound sequence for G2 is B3, B4, B5, and allocation of a transport task to B1 fails, the allocation of the transport task for B2 in G1 to the robot is stopped, and the transport tasks for B3, B4, B5 in G2 are assigned to the robot.

[0095] If the first outgoing order and the second outgoing order are not specified in the target outgoing plan, the transport task can be assigned in the two plans.

[0096] In the first plan, for all outgoing containers in the outgoing sequence, the order of transport tasks for all outgoing containers in the outgoing sequence is determined based on the distance between the two outgoing containers, the priority of each outgoing container, and the aisle in which each outgoing container is located, and transport tasks can be assigned. For example, transport tasks are assigned consecutively to outgoing containers that are close to each other. Or, transport tasks are assigned sequentially to outgoing containers in the order of priority. Or, transport tasks are assigned consecutively to outgoing containers on racks in the same aisle.

[0097] In the second plan, the transport task is assigned to at least one container to be shipped in the outbound sequence in an arbitrary order. In an embodiment of the present disclosure, in order to prevent a container to be shipped from being omitted when assigning the transport task, the transport task of at least one container to be shipped in the outbound sequence can be assigned to the robot according to the inter-group default plan and the intra-group default plan.

[0098] That is, a default outgoing order for at least one container requiring outgoing is determined based on the inter-group default plan and the intra-group default plan, and a transport task is assigned to the at least one container requiring outgoing based on the default outgoing order.

[0099] In addition, if the first outgoing order and the second outgoing order are not specified in the target outgoing plan, i.e., if the outgoing order between outgoing groups and the outgoing order between each container requiring outgoing within the outgoing group are not specified in the outgoing request, and in the process of assigning the transport task of at least one container requiring outgoing in the outgoing sequence to a robot according to the above-mentioned inter-group default plan and the above-mentioned intra-group default plan, if the assignment of the transport task of one container requiring outgoing can fail, outgoing can be performed using the following two plans.

[0100] In the first plan, the robot is stopped from being assigned the transport task of the remaining containers to be shipped in the first outgoing group, and the robot is assigned the transport task of the containers to be shipped in the remaining outgoing groups, where the first outgoing group is the outgoing group in which the containers to be shipped that were not assigned successfully exist.

[0101] In the second plan, the transport task of the remaining outgoing containers in the outgoing sequence that have not been assigned a transport task, i.e., the remaining outgoing containers in the first outgoing group and the remaining outgoing containers in the remaining outgoing groups, can be continuously assigned, thereby increasing the success rate of the transport task assignment.

[0102] For example, outgoing sequence Q1 includes outgoing groups G1 and G2, G1 includes containers B1 and B2 that need to be outgoing, and G2 includes containers B3, B4, and B5 that need to be outgoing. Since the first outgoing sequence and the second outgoing sequence do not exist, the outgoing sequence of B5, B4, B3, B1, and B2 is obtained according to the inter-group default plan and the intra-group default plan. If the assignment of the transport task to B4 fails, the transport tasks of B3, B1, and B2 are continuously assigned to the robot.

[0103] In order to further increase the success rate of allocating a transport task, each time a transport task is allocated to one outgoing sequence, re-allocation may be performed to containers that need to be outgoing that were previously unsuccessfully allocated.

[0104] S203: At least one container to be shipped is shipped based on the task execution state of the transport task and at least one shipping sequence.

[0105] The task execution state includes a plurality of states, for example, the robot is traveling, the robot is picking up the container to be shipped, the robot has arrived at the operation console, etc. The state of the robot traveling includes the state in which the robot is traveling before the container is picked up and the state in which the robot is traveling when the container is picked up, and the state in which the robot has arrived at the operation console indicates that the robot has transported the container to be shipped within a predetermined range around the operation console.

[0106] In the embodiment of the present disclosure, any one of the containers requiring shipping is referred to as a second container requiring shipping. The shipping group in which the second container requiring shipping exists is referred to as a second shipping group, and the container requiring shipping included in a third shipping group located before the second shipping group in the first shipping order and / or the container requiring shipping located before the second container requiring shipping in the second shipping order corresponding to the second shipping group is referred to as a third container requiring shipping.

[0107] Therefore, when the task execution status of the transport task of the second container requiring shipment is a state in which the second container requiring shipment has been removed, it is necessary to determine whether the robot for the second container requiring shipment will wait or continue to execute the transport task of the second container requiring shipment based on the task execution status of the transport task of the third container requiring shipment, to ensure that the second container requiring shipment is shipped after the third container requiring shipment.

[0108] Optionally, when the robot retrieves the second container to be retrieved, a task execution state of the transport task of the third container to be retrieved may be acquired to determine whether the robot of the second container to be retrieved waits or continues to execute the transport task of the second container to be retrieved. The state in which the second container to be retrieved has been retrieved includes a time range from when the second container to be retrieved is retrieved to when the second container to be retrieved arrives at the operation console.

[0109] Specifically, the process of retrieving the second container to be retrieved includes the following: First, obtain the task execution status of at least one third transport task. The third transport task is a transport task of the third container to be retrieved. Next, if the task execution status of each of the third transport tasks is a state of having arrived at the operation console, continue to execute the second transport task to retrieve the second container to be retrieved and the third container to be retrieved according to the first retrieval order and / or the second retrieval order.

[0110] Naturally, when the task execution state of at least one third transport task is any execution state prior to the state of having arrived at the operation console, the robot transporting the second container to be shipped is controlled to wait. When the task execution state of the third transport task is updated to the state of having arrived at the operation console, the second transport task is continued to be executed to ship the second container to be shipped and the third container to be shipped according to the first shipping order and / or the second shipping order.

[0111] In addition, in the outgoing order determined according to the first outgoing order and / or the second outgoing order, the third container requiring outgoing is positioned before the second container requiring outgoing, so the third container requiring outgoing is first outgoing, followed by the second container requiring outgoing.

[0112] Corresponding to the retrieval method of the above embodiment, FIG. 5 is a structural block diagram of the retrieval device provided in the embodiment of the present application. For convenience of explanation, only the parts related to the embodiment of the present application are shown. As shown in FIG. 5, the retrieval device 300 includes a retrieval sequence determination module 301, a task allocation module 302, and a container retrieval module 303.

[0113] The outbound delivery sequence determination module 301 is used to determine at least one outbound delivery sequence, where each outbound delivery sequence includes at least one outbound delivery group, and each outbound delivery group includes at least one container to be delivered.

[0114] The task allocation module 302 is used for allocating a transport task of the outgoing container to a robot according to the at least one outgoing sequence.

[0115] The container outgoing module 303 is used to outgo the at least one container to be outgoing based on the task execution status of the transport task and the at least one outgoing sequence.

[0116] Optionally, when at least two outgoing sequences exist, the task allocation module 302 further includes the steps of assigning transport tasks of the at least two outgoing sequences to a robot in parallel, and assigning a transport task of at least one container to be shipped in each of the outgoing sequences to a robot according to a target outgoing plan corresponding to each of the outgoing sequences, the target outgoing plan being used to specify a first outgoing order between at least one of the outgoing groups included in the outgoing sequence and / or a second outgoing order between at least one container to be shipped included in each of the outgoing groups.

[0117] Optionally, the task allocation module 302 further allocates, when allocating a transport task of at least one container to be shipped in each of the outbound sequences to a robot according to a target outbound plan corresponding to each of the outbound sequences, a transport task of at least one container to be shipped in the outbound sequence to a robot according to the first outbound sequence and the second outbound sequence, or allocates a transport task of at least one container to be shipped in the outbound sequence to a robot according to the first outbound sequence and an intra-group default plan for determining an outbound sequence between at least one container to be shipped based on information of each of the containers to be shipped included in the outbound group. or assigning a transport task of at least one of the containers to be shipped in the outbound sequence to a robot in accordance with an inter-group default plan for determining an outbound sequence between at least one of the outbound groups based on information of each of the outbound groups included in the outbound sequence and the second outbound sequence, or assigning a transport task of at least one of the containers to be shipped in the outbound sequence to a robot in accordance with the inter-group default plan and the intra-group default plan.

[0118] Optionally, the information on the outgoing group includes at least one of the quantity of the containers to be shipped included in the outgoing group and the number of aisles in which the containers to be shipped included in the outgoing group are located.

[0119] Optionally, the information on the outgoing container includes at least one of a transport distance of the outgoing container, a weight of the outgoing container, and a size of the outgoing container.

[0120] Optionally, the task allocation module 302 is further used to, when allocating a transport task of at least one container to be shipped in the outbound sequence to a robot in accordance with the first outbound sequence and the second outbound sequence, stop allocating the transport task of each container to be shipped in the outbound sequence to a robot if the allocation of the transport task of any one of the containers to be shipped in the outbound sequence fails.

[0121] Optionally, the task allocation module 302 is further used, when assigning a transport task of at least one of the containers requiring outgoing in the outgoing sequence to a robot according to the inter-group default plan and the second outgoing order, to stop assigning transport tasks of the remaining containers requiring outgoing in the first outgoing group in which the first container requiring outgoing is present to a robot if the assignment of the transport task of the first container requiring outgoing in the outgoing sequence fails, and to assign a robot transport tasks of each container requiring outgoing in a second outgoing group, the second outgoing group being an outgoing group other than the first group in the outgoing sequence.

[0122] Optionally, the task allocation module 302 is further used to, when assigning a transport task of at least one of the containers requiring outgoing shipment in the outgoing sequence to a robot according to the first outgoing order and a default plan within a group, if the assignment of the transport task of the first container requiring outgoing shipment in the outgoing sequence fails, stop assigning transport tasks of containers requiring outgoing shipment in outgoing groups other than the first outgoing group to a robot, and assign transport tasks of containers requiring outgoing shipment other than the first container requiring outgoing shipment in the first outgoing group to a robot, the first outgoing group being the outgoing group in which the first container requiring outgoing shipment is present.

[0123] Optionally, the container outgoing module 303 further acquires a task execution state of at least one third transport task which is a transport task of a third container requiring outgoing storage when the task execution state of the second transport task corresponding to one second container requiring outgoing storage is a state in which the second container requiring outgoing storage has been removed, and when the task execution state of each of the third transport tasks is a state in which the operation console has been reached, continues to execute the second transport task, which is used to outgo the second container requiring outgoing storage and the third container requiring outgoing storage according to the first outgoing order and / or the second outgoing order, wherein the third container requiring outgoing storage includes a container requiring outgoing storage included in a third outgoing group located before the second outgoing group in the first outgoing order, and / or a container requiring outgoing storage located before the second container requiring outgoing storage in the second outgoing order corresponding to the second outgoing group, and the second outgoing group is an outgoing group in which the second container requiring outgoing storage is present.

[0124] Optionally, the container outgoing module 303 is further used to control a robot transporting the second container to be sent out to wait when the task execution state of at least one of the third transport tasks is any execution state prior to the state of having arrived at the operation console, and when the task execution state of the third transport task is updated to the state of having arrived at the operation console, to continue executing the second transport task to send out the second container to be sent out and the third container to be sent out in accordance with the first outgoing order and / or the second outgoing order.

[0125] The delivery device provided in this embodiment is used to implement the technical scheme of the method embodiment shown in Figure 4 above, and their realization principles and technical effects are similar, so this embodiment will not be described again here.

[0126] 6 is a structural schematic diagram of an electronic device provided in an embodiment of the present application. The electronic device 600 includes a memory 602 and at least one processor 601, the memory 602 stores computer-implemented instructions, and when the at least one processor 601 executes the computer-implemented instructions stored in the memory 602, the electronic device 601 realizes the method in FIG. 4.

[0127] The electronic device further includes a receiver 603 and a transmitter 604, where the receiver 603 is used to receive information from other devices or equipment and transfer it to the processor 601, and the transmitter 604 is used to transmit information to other devices or equipment.

[0128] The present embodiment further provides a computer-readable storage medium having computer-executable instructions stored thereon, which, when executed by a processor, causes a computing device to implement the method in FIG.

[0129] The present embodiment further provides a computer program, which can be used to implement the method in FIG.

[0130] Finally, the above examples are used only to explain the technical scheme of the present application, and are not intended to be limiting. Although the present application has been described in detail with reference to the above examples, those skilled in the art can understand that the technical scheme described in the above examples can be further modified or equivalently substituted for some or all of the technical features. However, these modifications or substitutions do not cause the essence of the technical scheme to depart from the scope of the technical scheme of each example of the present application.

Claims

1. determining at least one outbound sequence, the outbound sequence including at least one outbound group, the outbound group including at least one container to be shipped; assigning a transport task of the at least one container to be shipped to a robot according to a target outgoing plan corresponding to the outgoing sequence, the target outgoing plan being for specifying a first outgoing order between at least one outgoing group included in the corresponding outgoing sequence and / or a second outgoing order between at least one container to be shipped included in the outgoing group; and controlling a robot based on a task execution state of the transport task to transport a container to be shipped in the at least one outbound sequence according to at least one target outbound plan corresponding to the at least one outbound sequence, thereby completing the outbound of the at least one outbound sequence. The step of allocating a transport task of the at least one container to be shipped to a robot according to a target shipping plan corresponding to the shipping sequence includes: When the first outgoing order and the second outgoing order are specified in the target outgoing plan, a step of assigning a transport task of at least one container to be outgoing in the outgoing sequence to a robot according to the first outgoing order and the second outgoing order; or When the first outgoing order is specified in the target outgoing plan and the second outgoing order is not specified, a step of assigning a transport task of at least one of the containers to be outgoing in the outgoing sequence to a robot according to the first outgoing order and a default plan within a group; or When the first outgoing order is not set in the target outgoing plan and the second outgoing order is set, a transport task of at least one of the containers to be outgoing in the outgoing sequence is assigned to a robot according to an inter-group default plan and the second outgoing order; or When the first outgoing order and the second outgoing order are not specified in the target outgoing plan, a transport task of at least one of the containers to be outgoing in the outgoing sequence is assigned to a robot according to the inter-group default plan and the intra-group default plan; The group default plan is used to determine an outgoing order between at least one of the outgoing containers based on a ranking of scores of each of the outgoing containers included in the outgoing group, the ranking being determined based on information of each of the outgoing containers including at least two of a transport distance of the outgoing container, a weight of the outgoing container, and a size of the outgoing container; The inter-group default plan is used to determine a shipping sequence between at least one of the outgoing groups based on a ranking of scores of each of the outgoing groups included in the outgoing sequence, the ranking being determined based on information of each of the outgoing groups including a quantity of the outgoing containers and a number of aisles in which the outgoing containers included in the outgoing group are present. How to issue goods.

2. When at least two outgoing sequences exist, the step of assigning a transport task of the at least one container to be outgoing to a robot according to a target outgoing plan corresponding to the outgoing sequence includes: The method includes the steps of: allocating transport tasks of at least two of the outbound sequences to a robot in parallel; and allocating a transport task of at least one container to be shipped in each of the outbound sequences to the robot according to a target outbound plan corresponding to each of the outbound sequences. The method of retrieval according to claim 1.

3. The step of assigning a transport task of at least one container to be shipped in the shipping sequence to a robot in accordance with the first shipping sequence and the second shipping sequence includes: In the process of allocating a transport task of each of the containers to be shipped in the outgoing sequence to a robot according to the first outgoing sequence and the second outgoing sequence, when allocation of the transport task of any one of the containers to be shipped in the outgoing sequence fails, the process includes a step of stopping allocation of the transport task of each of the containers to be shipped in the outgoing sequence to a robot. The method of retrieval according to claim 1.

4. The step of assigning a transport task of at least one of the containers to be shipped in the shipping sequence to a robot according to an inter-group default plan and the second shipping sequence includes: the process of allocating to a robot the transport task of each of the outgoing containers in the outgoing sequence includes, when the allocation of the transport task of the first outgoing container in the outgoing sequence fails, stopping the allocation of the transport tasks of the remaining outgoing containers in the first outgoing group in which the first outgoing container exists to the robot, and allocating to the robot the transport tasks of each of the outgoing containers in a second outgoing group, the second outgoing group being an outgoing group other than the first outgoing group in the outgoing sequence; The method of retrieval according to claim 1.

5. The step of assigning a transport task of at least one of the containers to be shipped in the shipping sequence to a robot according to the first shipping sequence and a default plan within the group includes: the process of allocating transport tasks of each of the outgoing containers in the outgoing sequence to a robot includes, when allocation of the transport task of a first outgoing container in the outgoing sequence fails, stopping the allocation of transport tasks of outgoing containers in outgoing groups other than the first outgoing group in which the first outgoing container in the outgoing sequence exists to a robot, and allocating transport tasks of outgoing containers other than the first outgoing container in the first outgoing group to a robot, the first outgoing group being the outgoing group in which the first outgoing container exists; The method of retrieval according to claim 1.

6. The step of controlling a robot based on a task execution state of the transport task to transport a container to be shipped in the at least one outgoing sequence according to at least one target outgoing plan corresponding to the at least one outgoing sequence includes: When a task execution state of a second transport task corresponding to one second outgoing container is a state in which the second outgoing container has been removed, acquiring a task execution state of at least one third transport task which is a transport task of a third outgoing container; When the task execution state of each of the third transport tasks is a state of having reached the operation console, continuing to execute the second transport task and retrieving the second container to be retrieved and the third container to be retrieved according to the first retrieval order and / or the second retrieval order; The third outgoing container includes a third outgoing container included in a third outgoing group located before the second outgoing group in the first outgoing order, and / or a second outgoing container located before the second outgoing container in the second outgoing order corresponding to the second outgoing group; The second outgoing group is an outgoing group in which the second container to be shipped exists, The method of retrieval according to claim 1.

7. When the task execution state of at least one of the third transport tasks is any execution state prior to the state of having arrived at the operation console, controlling the robot that transports the second container to be taken out and making it wait; When the task execution state of the third transport task is updated to a state of having arrived at the operation console, continuing to execute the second transport task, and retrieving the second container to be retrieved and the third container to be retrieved according to the first retrieval order and / or the second retrieval order. The method of retrieval according to claim 6.

8. An outbound sequence determination module for determining at least one outbound sequence, the outbound sequence including at least one outbound group, and the outbound group including at least one container to be shipped; a task allocation module for allocating a transport task of the at least one container to be shipped to a robot according to a target outgoing plan corresponding to the outgoing sequence, the target outgoing plan being for specifying a first outgoing order between at least one outgoing group included in the corresponding outgoing sequence and / or a second outgoing order between at least one container to be shipped included in the outgoing group; a container retrieval module for controlling a robot based on a task execution state of the transport task to transport a container to be retrieved in the at least one outgoing sequence according to at least one target outgoing plan corresponding to the at least one outgoing sequence, thereby completing the retrieval of the at least one outgoing sequence; The allocation of the transport task of the at least one container to be shipped to a robot according to a target shipping plan corresponding to the shipping sequence is When the first outgoing order and the second outgoing order are specified in the target outgoing plan, a step of assigning a transport task of at least one container to be outgoing in the outgoing sequence to a robot according to the first outgoing order and the second outgoing order; or When the first outgoing order is specified in the target outgoing plan, a step of assigning a transport task of at least one of the containers to be outgoing in the outgoing sequence to a robot according to the first outgoing order and a default plan within a group; or When the second outgoing order is specified in the target outgoing plan, a step of assigning a transport task of at least one of the containers to be outgoing in the outgoing sequence to a robot according to an inter-group default plan and the second outgoing order; or When the first outgoing order and the second outgoing order are not specified in the target outgoing plan, a transport task of at least one of the containers to be outgoing in the outgoing sequence is assigned to a robot according to the inter-group default plan and the intra-group default plan; The group default plan is used to determine an outgoing order between at least one of the outgoing containers based on a ranking of scores of each of the outgoing containers included in the outgoing group, the ranking being determined based on information of each of the outgoing containers including at least two of a transport distance of the outgoing container, a weight of the outgoing container, and a size of the outgoing container; The inter-group default plan is used to determine a shipping sequence between at least one of the outgoing groups based on a ranking of scores of each of the outgoing groups included in the outgoing sequence, the ranking being determined based on information of each of the outgoing groups including a quantity of the outgoing containers and a number of aisles in which the outgoing containers included in the outgoing group are present. Output device.

9. An electronic device including at least one processor and a memory, The memory stores computer executable instructions, When the at least one processor executes the computer-executable instructions stored in the memory, the electronic device realizes the method for issuing goods according to any one of claims 1 to 7. electronic equipment.

10. A computer-readable storage medium having computer-executable instructions stored thereon, the computer-executable instructions being executed by a processor to cause a computer device to implement the method of issuing goods according to any one of claims 1 to 7. A computer-readable storage medium.

11. Used to realize the retrieval method according to any one of claims 1 to 7, Computer program.

Images