Luggage sorting method, luggage sorting device, luggage sorting equipment, warehouse system, computer-readable storage medium, and computer program

Abstract

A method, device, equipment, warehouse system, and storage medium for sorting luggage are provided. The luggage sorting method is applied to a warehouse system, and includes the steps of: determining luggage to be sent out corresponding to a target order that is an order within a predetermined future time; determining a target location for the luggage to be sent out based on a target operation console that corresponds to the target order; and, if the target location for the luggage to be sent out and a storage location where the luggage to be sent out is currently stored satisfy a transfer condition, transporting the luggage to be sent out to the corresponding target location. By realizing location sorting based on future orders, the accuracy of location sorting can be high, and at the same time, order processing efficiency can be improved.

Description

[Technical Field]

[0001] This application claims priority from a Chinese patent application filed with the China Patent Office on August 31, 2021, application number 202111015111.6, for the invention "Luggage organization method, device, equipment, warehouse system and storage medium," the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates to the technical field of smart warehouses, in particular to methods for organizing luggage, Organizing luggage Device, Organizing luggage Equipment, warehouse systems , computer-readable storage medium and computer program products Regarding. [Background technology]

[0003] Robot-based warehouse systems adopt smart operation systems to automatically retrieve and store goods according to system commands, and can operate continuously 24 hours a day, replacing human management and operation to improve warehouse efficiency, which has led to their widespread use and popularity.

[0004] In the field of robot-based smart warehouses, it is often necessary to periodically or automatically organize the warehouse, i.e., to perform location management early, to improve the efficiency of goods being sent out. In the prior art, a method based on the hotness of goods is often adopted to determine a location management plan, and goods with a high hotness are often organized to a location with high retrieval efficiency, such as a location close to the operation console, to improve the retrieval efficiency. Summary of the Invention [Problem to be solved by the invention]

[0005] However, if a shipping order contains many items with low hotness, the above method cannot improve the shipping efficiency of the order.

[0006] The present disclosure provides a luggage organization method that can realize an order-based luggage organization plan and improve order processing efficiency; Organizing luggage Device, Organizing luggage Equipment, warehouse systems , computer-readable storage medium and computer program products To provide a means to solve the problem.

[0007] In a first aspect, a luggage sorting method provided in an embodiment of the present disclosure includes a step of determining luggage to be shipped that corresponds to a target order, which is an order to be placed within a predetermined future time period; a step of determining a target location for the luggage to be shipped based on a target operation console corresponding to the target order; and a step of transporting the luggage to be shipped to the corresponding target location if the target location for the luggage to be shipped and the storage location for the luggage to be shipped satisfy a transfer condition, wherein the storage location is a location where the luggage to be shipped is currently stored.

[0008] Optionally, the step of determining a target location for the luggage to be shipped based on the target console corresponding to the target order includes the steps of determining a location score for each location in the warehouse system based on the target console, and determining a target location for each of the luggage to be shipped based on the location score.

[0009] Optionally, the step of determining a location score for each location of the warehouse system based on the target console includes the steps of calculating a first distance between each location of the warehouse system and the target console, and determining a location score for each of the locations based on the first distance.

[0010] Optionally, determining a location score for each of the locations based on the first distance includes determining a location score for each of the locations based on the first distance and a location altitude of each location.

[0011] Optionally, the step of determining a location score for each location in the warehouse system based on the target console includes the steps of: calculating a second distance between an aisle exit of each aisle in the warehouse system and the target console; obtaining a first quantity of target locations corresponding to each of the aisles; determining an aisle score for each of the aisles based on the second distance and the first quantity; and determining a location score for each location based on the aisle score of the aisle corresponding to the location and the distance between the location and the aisle exit of the corresponding aisle, wherein the aisle is a path for a robot to travel between two adjacent storage racks, and the storage racks include one or more locations for storing luggage.

[0012] Optionally, the step of determining a target location for the luggage to be shipped based on the target operation console corresponding to the target order includes the steps of: calculating a second distance between an aisle exit of each aisle and the target operation console; for each aisle, determining a first score for each location corresponding to the aisle based on a third distance between each location corresponding to the aisle and the aisle exit of the aisle; obtaining a first quantity for the target locations corresponding to each of the aisles until target locations for all of the luggage to be shipped corresponding to the target order are determined; determining an aisle score for each of the aisles based on the second distance and the first quantity; and for the target aisle with the highest current aisle score, determining a predetermined number of locations from among the locations in the target aisle that have not been determined as target locations, in descending order of first score, as target locations for a predetermined number of the luggage to be shipped, and updating the first quantity for the target aisle based on the predetermined number, wherein the predetermined number is the number of stages in the temporary storage rack of the robot.

[0013] Optionally, the step of determining a target location for luggage to be shipped corresponding to the target order based on the target operation console corresponding to the target order includes the steps of calculating a second distance between an aisle exit of each aisle and the target operation console, determining a congestion coefficient for each aisle, determining an aisle score for each aisle based on the second distance and the congestion coefficient corresponding to each aisle, determining a first score for each location corresponding to the aisle based on a third distance between each location corresponding to the aisle and the aisle exit of the aisle, and determining a target location for each of the luggage to be shipped corresponding to the target order based on the first score of each location and the aisle score of the aisle corresponding to each location.

[0014] Optionally, the step of determining a target location for each of the luggage to be shipped corresponding to the target order based on the first score of each location and the aisle score of the aisle corresponding to each location includes a step of sequentially determining the first location of each aisle in descending order of aisle score as the target location for each of the luggage to be shipped corresponding to the target order, the first location being a location whose first score is greater than a predetermined score.

[0015] Optionally, the step of sequentially determining the first locations of each aisle in descending order of aisle score as target locations for each luggage to be shipped corresponding to the target order includes a step of sequentially determining a corresponding number of the first locations in descending order of aisle score and in descending order of first score in the aisle as target locations for luggage to be shipped in the target order, and deleting aisles with zero first locations.

[0016] Optionally, after the step of sequentially determining the first location of each aisle in descending order of aisle score as the target location for each package to be shipped that corresponds to the target order, the method further includes the steps of obtaining package to be shipped that corresponds to the next target order, updating the congestion coefficient of each first aisle based on the number of target locations corresponding to each first aisle, updating the aisle score of each first aisle based on the second distance corresponding to each first aisle and the updated congestion coefficient, and sequentially determining the first location of each aisle in descending order of aisle score as the target location for each package to be shipped that corresponds to the next target order, the first aisle being an aisle having at least one location determined as the target location.

[0017] Optionally, the method further includes determining a location type corresponding to each shipment to be shipped.

[0018] Correspondingly, the step of determining a target location for the luggage to be shipped based on the target console corresponding to the target order includes a step of determining each target location that matches the location type corresponding to each of the luggage to be shipped based on the target console corresponding to the target order and the location type of each luggage to be shipped.

[0019] Optionally, the step of determining each target location that matches the location type corresponding to each of the luggage to be shipped based on the target operation console corresponding to the target order and the location type of each of the luggage to be shipped includes the steps of determining each selected candidate location that matches the location type for each luggage to be shipped of the same location type, determining a location score for each of the selected candidate locations based on the target operation console, and sequentially determining each selected candidate location as the target location for each of the luggage to be shipped in descending order of location score.

[0020] Optionally, the method further includes determining an allocation order for each of the parcels to be shipped corresponding to the target order, and sequentially allocating target locations to each of the parcels to be shipped corresponding to the target order based on the allocation order.

[0021] Optionally, the target location of the luggage to be released and the storage location of the luggage to be released satisfying the transfer condition includes the target location of the luggage to be released and the storage location of the luggage to be released not being located in the same aisle, or the target location of the luggage to be released being beyond a predetermined range of the storage location of the luggage to be released, or the target location of the luggage to be released and the storage location of the luggage to be released not being the same.

[0022] Optionally, the step of determining a shipment of goods to be delivered corresponding to the target order includes determining a shipment of goods to be delivered corresponding to the target order based on an order request of the target order and a target console corresponding to the target order.

[0023] Optionally, the method further comprises determining a target console for the target order based on a work line corresponding to the target order.

[0024] Optionally, if an occupied load is present on the target location, the method further comprises controlling a robot to remove the occupied load from the target location.

[0025] Correspondingly, the step of transporting the luggage to be picked up to the corresponding target location includes the step of controlling a robot to store the luggage to be picked up at the target location after the occupied luggage is picked up.

[0026] Optionally, after storing the to-be-shipped luggage at the target location, the method further comprises assigning a new location to the occupied luggage and storing the occupied luggage at the new location.

[0027] In a second aspect, an embodiment of the present disclosure further provides a luggage sorting device that includes a luggage determination module for determining luggage to be shipped that corresponds to a target order that is an order to be placed within a predetermined future time period, a location determination module for determining a target location for the luggage to be shipped based on a target operation console corresponding to the target order, and a luggage transport module for transporting the luggage to be shipped to the corresponding target location if the target location for the luggage to be shipped does not match the storage location of the luggage to be shipped.

[0028] As a third aspect, a luggage sorting device further provided in an embodiment of the present disclosure includes a memory and at least one processor, wherein the memory stores computer-executable instructions, and the at least one processor executes the computer-executable instructions stored in the memory, thereby performing the luggage sorting method provided in any embodiment corresponding to the first aspect of the present disclosure.

[0029] As a fourth aspect, a warehouse system further provided in an embodiment of the present disclosure includes a warehouse rack, an operation console, a robot, and luggage sorting equipment provided in an embodiment corresponding to the third aspect of the present disclosure.

[0030] As a fifth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium having computer-executable instructions stored therein, which, when executed by a processor, realizes the luggage sorting method provided in any embodiment corresponding to the first aspect of the present disclosure.

[0031] In a sixth aspect, an embodiment of the present disclosure further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the luggage sorting method provided in any embodiment corresponding to the first aspect of the present disclosure is realized. [Effects of the Invention]

[0032] A luggage organization method provided in an embodiment of the present disclosure; Organizing luggage Device, Organizing luggage Equipment, warehouse systems , computer-readable storage medium and computer program products For target orders within a predetermined future time, the system determines a target location for each item to be shipped that corresponds to the target order based on the target operation console that corresponds to the target order, and if the target location and the original location of the item to be shipped satisfy the transfer conditions, the item to be shipped is transported ahead of schedule to the corresponding target location, thereby achieving advanced location management on an order-by-order basis. Since location management is performed based on future orders, the accuracy of location management is improved, and the advanced location management allows items to be shipped that correspond to orders to be shipped more quickly, reducing order processing time and improving the processing efficiency of future orders. [Brief explanation of the drawings]

[0033] The following drawings, which are incorporated in and constitute a part of this specification, illustrate preferred embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0034] [Figure 1] FIG. 1 is a diagram of an application scenario of the luggage management method provided in the embodiment of the present disclosure. [Figure 2] FIG. 2 is a flowchart of a luggage management method provided in one embodiment of the present disclosure. [Figure 3] FIG. 3 is a flowchart of a luggage management method provided in another embodiment of the present disclosure. [Figure 4] FIG. 4 is a flowchart of step S303 in the embodiment of the present disclosure shown in FIG. [Figure 5] FIG. 5 is a flowchart of a luggage management method provided in another embodiment of the present disclosure. [Figure 6] FIG. 6 is a flowchart of step S503 in the embodiment of the present disclosure shown in FIG. [Figure 7] FIG. 7 is a flowchart of a luggage management method provided in another embodiment of the present disclosure. [Figure 8] FIG. 8 is a flowchart of a luggage management method provided in another embodiment of the present disclosure. [Figure 9] FIG. 9 is a flowchart of a luggage management method provided in another embodiment of the present disclosure. [Figure 10] FIG. 10 is a structural schematic diagram of a luggage management device provided in one embodiment of the present disclosure. [Figure 11] FIG. 11 is a structural schematic diagram of a luggage management device provided in one embodiment of the present disclosure. [Figure 12] FIG. 12 is a structural schematic diagram of a warehouse system provided in one embodiment of the present disclosure.

[0035] The drawings above show clear examples of the present disclosure, which will now be described in more detail. These drawings and written description are not intended to limit the scope of the concepts of the present disclosure in any way, but rather to explain the concepts of the present disclosure to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0036] Reference will now be made in detail to illustrative embodiments, examples of which are illustrated in the drawings. When referring to the drawings in the following description, identical numerals in different drawings refer to identical or similar elements unless otherwise stated. The embodiments described in the following illustrative examples are not intended to represent every embodiment consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as set forth in the claims.

[0037] The following specific examples will be used to explain in detail the technical scheme of the present disclosure and how the technical scheme of the present disclosure 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 will be explained in detail in conjunction with the drawings.

[0038] First, application scenarios of the embodiments of the present disclosure will be described in detail.

[0039] FIG. 1 is a diagram illustrating an application scenario of the luggage sorting method provided in the embodiment of the present disclosure. As shown in FIG. 1, the luggage sorting method provided in the embodiment of the present disclosure is executed by a luggage sorting device. The luggage sorting device is a scheduling device for a warehouse system, and may take the form of a computer or a server. In a warehouse system, to improve the efficiency of retrieving luggage 120, it is often necessary to perform location management for each luggage 120 stored on a rack 110 of the warehouse system, i.e., adjust the position of the luggage 120.

[0040] In conventional technology, location management is often performed using a method based on the hotness of the luggage 120. Hotness is a parameter that indicates the frequency of luggage retrieval, and the higher the hotness, the higher the luggage retrieval frequency. Specifically, luggage 120 with a high hotness is placed in a location in a preferred position, such as location 111, which is a location close to the operation console 130 or an aisle exit. By moving luggage 120 to location 111 in the direction corresponding to the dotted arrow in FIG. 1, the retrieval efficiency of luggage with a high hotness can be improved, and luggage 120 can be transported to the operation console 130 more efficiently.

[0041] However, location management methods based solely on the hotness of packages often only increase the shipping efficiency of packages with a high hotness level. If all of the packages to be shipped in response to an order have a low hotness level, location management methods based on hotness in the prior art often result in packages not being sorted for that order. In other words, the location does not change, and packages may even be transported to an undesirable location. This makes it impossible to increase the shipping efficiency of packages corresponding to that order, reduces the processing efficiency of that order, and fails to meet customer needs.

[0042] In order to improve the efficiency of parcel dispatch and order processing, an embodiment of the present disclosure provides a parcel sorting method, the main idea of ​​which is to determine a target location for each parcel to be dispatched of a future order based on a target operation corresponding to the future order when the future order is known, and if the target location and the original location of the parcel to be dispatched satisfy a transfer condition, to transport the parcel to the target location, thereby realizing a location management plan based on the future order, improving the accuracy of location management, sorting each parcel to be dispatched corresponding to the future order to a location with a more favorable position, improving the dispatch efficiency of the parcel to be dispatched, and thereby improving the processing efficiency of the future order.

[0043] 2 is a flowchart of a luggage sorting method provided in one embodiment of the present disclosure. As shown in FIG. 2, the luggage sorting method is applied to a warehouse system. The luggage sorting method can be performed by luggage sorting equipment. The luggage sorting method provided in this embodiment includes the following steps:

[0044] Step S201: The goods to be shipped corresponding to the target order are determined.

[0045] The target order is an order within a predetermined time in the future. In other words, the target order is not an order that is currently being processed, but an order that needs to be processed within a predetermined time in the future. The parcel to be shipped is parcel that needs to be shipped for the target order. The predetermined time in the future may be the next 24 hours, the next 12 hours, etc.

[0046] Specifically, based on order information from the warehouse system, for example, order information sent from an order receiving device, one or more orders to be placed within a predetermined time period in the future, i.e., one or more target orders, are identified. Furthermore, for each target order, based on the order requirements of the target order, one or more packages to be shipped corresponding to the target order are determined.

[0047] Specifically, the order request for the target order indicates each item that needs to be shipped, and includes, for example, the item ID of each item that needs to be shipped. Each item that needs to be shipped corresponding to the target order can be determined based on each corresponding item ID in the order request for the target order.

[0048] Furthermore, the order request for the target order may indicate each item and quantity of each item that needs to be shipped. The items are typically stored in luggage or containers. The order request for the target order is then fulfilled by determining each luggage item that needs to be shipped based on the items and quantities that need to be shipped in the order request for the target order.

[0049] A single container or load in a warehouse system may store one type of item or multiple types of items.

[0050] As an example, let us assume that the order request for the target order is to ship 100 pairs of socks W1 and 50 pieces of clothing C1, and the storage status of the containers containing socks W1 or clothing C1 on the racks in the warehouse system is as follows: 30 pairs of socks W1 and 26 pieces of clothing C1 are stored in container H01, 87 pairs of socks W1 are stored in container H05, and 20 pairs of socks W1 and 60 pieces of clothing C1 are stored in container H16. In this case, the cargo to be shipped corresponding to the target order can be identified as container H05 and container H16.

[0051] Specifically, after the order processing for the day is completed or at a specific time every day, a location management task is triggered to obtain each target order that needs to be processed the next day, and then, for each target order, each item that needs to be shipped corresponding to the target order is determined, or each target order that needs to be processed the next day is considered as one target order and each item that needs to be shipped for the target order is obtained.

[0052] Location management or location management task as presented in this disclosure refers to the process of assigning a new location for each corresponding load, e.g., each load to be shipped, and transporting them to the newly assigned location.

[0053] Step S202: A target location for the cargo to be shipped is determined based on the target operation console corresponding to the target order.

[0054] The target console is the console or consoles that will process or are expected to process each outgoing shipment for the target order. The target location is the new location for the outgoing shipment, which may be different from the original location where it is stored.

[0055] In some embodiments, each time an order is generated, one or more operation consoles corresponding to the order are determined, and each corresponding operation console processes the parcel corresponding to the order.

[0056] Specifically, the target location for each package to be delivered is determined from among the locations whose distance from the target console is equal to or less than a predetermined distance. The distance between the location and the target console may be the shortest distance traveled by the robot when moving from the target console to the location, or the distance traveled when moving from the location to the target console.

[0057] Furthermore, by determining the target location for the luggage to be shipped from each location based on the distance between each location and the target operation console and the aisle to which each location belongs, the distance between the target location for each luggage to be shipped for the target order and the target operation console can be shortened, and the number of corresponding target locations on each aisle that are close to the target operation console can be made as equal as possible.

[0058] In some embodiments, a target location for each package to be shipped is determined from among vacant locations that are within a predetermined distance from the target console. If the number of vacant locations that are within a predetermined distance from the target console is less than the number of packages to be shipped, a target location for each remaining package to be shipped is determined from among occupied locations that are within a predetermined distance from the target console. This reduces the number of packages that need to be transported during location management, reduces the workload of the robot, and improves location management efficiency.

[0059] Optionally, if there are multiple parcels to be shipped, the method further includes determining an allocation order for each parcel to be shipped corresponding to the target order, and sequentially allocating target locations to each parcel to be shipped corresponding to the target order based on the allocation order.

[0060] In some embodiments, the order in which each shipment is allocated may be determined randomly.

[0061] In some embodiments, the allocation order for each parcel to be shipped may be determined based on the parcel priority of each parcel to be shipped, with the higher the parcel priority, the earlier the parcel to be shipped will be allocated.

[0062] The priority of the parcel is determined based on parameters such as the items stored in the parcel to be shipped, the quantity of items, and the parcel size, where the parcel size includes one or more of the height, width, length, volume, etc. of the parcel to be shipped.

[0063] Specifically, the priority of the luggage to be shipped is positively correlated with the priority of the items stored in the luggage to be shipped, the quantity of the items, and the luggage size. That is, the higher the priority of the items stored in the luggage to be shipped, the higher the priority of the luggage to be shipped, the greater the quantity of items stored in the luggage to be shipped, and the larger the luggage size, the higher the priority of the luggage to be shipped.

[0064] Furthermore, weights may be set for parameters such as the items stored in the luggage to be shipped, the quantity of items, and the luggage size, and the luggage priority of the luggage to be shipped may be determined based on the weighted average value of parameters such as the items stored in the luggage to be shipped, the quantity of items, and the luggage size.

[0065] Specifically, after determining the allocation order of each package to be delivered, target locations are sequentially allocated to each package to be delivered based on the allocation order. That is, the target locations of each package to be delivered are sequentially determined.

[0066] Step S203: If the target location of the cargo to be delivered and the storage location of the cargo to be delivered satisfy the transfer condition, the cargo to be delivered is transported to the corresponding target location.

[0067] The storage location is the location where the package to be shipped is currently stored, i.e., the storage location is the original location of the package to be shipped. The transfer condition is a predetermined condition for determining whether or not to move the package to be shipped.

[0068] Specifically, after determining the target location for each item to be shipped corresponding to the target order, it is determined whether the target location for that item and the storage location of that item satisfy the transfer condition. If not, the storage location of the item to be shipped is determined as the target location, eliminating the need to move that item. If the condition is satisfied, the robot is controlled to transport that item to the corresponding target location.

[0069] Optionally, the target location of the parcel to be shipped and the storage location of the parcel to be shipped satisfy a transfer condition including the following situations:

[0070] The target location of the item to be shipped and the storage location of the item to be shipped are not located in the same aisle, or the target location of the item to be shipped is outside a predetermined range of the storage location of the item to be shipped, or the target location of the item to be shipped and the storage location of the item to be shipped do not match.

[0071] Specifically, if the target location of the package to be shipped does not match the storage location, the robot can be controlled to transport the package to the corresponding target location.

[0072] Specifically, if the location distance between the target location of the luggage to be shipped and the storage location exceeds a predetermined range, the robot can be controlled to transport the luggage to be shipped to the corresponding target location.

[0073] The predetermined range is a range that is located in the same aisle as the storage location and whose distance from the storage location is less than a first threshold value.

[0074] If the target location of the package to be delivered and the storage location of the package to be delivered do not satisfy the transfer conditions, the storage location of the package to be delivered is determined as the target location of the package to be delivered.

[0075] For example, the first threshold is the distance corresponding to two locations, and if the target location of the luggage to be shipped is a storage location or a location near the original location, the movement condition is not met, so the luggage to be shipped does not need to be moved and can be stored as is in the storage location, and the storage location is determined to be the target location.

[0076] The luggage sorting method provided in the embodiment of the present disclosure determines, for target orders within a predetermined future time period, a target location for each luggage to be shipped corresponding to the target order based on the target operation console corresponding to the target order, and if the target location and the original location of the luggage to be shipped satisfy the transfer conditions, the luggage to be shipped is transported ahead of schedule to the corresponding target location, thereby realizing advanced location management on an order-by-order basis. Since location management is performed based on future orders, the accuracy of location management is improved, and advanced location management allows luggage to be shipped corresponding to orders more quickly, reducing order processing time and improving the processing efficiency of future orders.

[0077] Optionally, Figure 3 is a flowchart of a luggage management method provided in another embodiment of the present disclosure, which is based on the embodiment shown in Figure 2, further restricting steps S201 and S202, and adding a step of determining a target console before step S201. As shown in Figure 3, the luggage management method provided in this embodiment includes the following steps:

[0078] Step S301: A target console for the target order is determined based on the operation line corresponding to the target order.

[0079] In some embodiments, packages corresponding to some orders may need to be picked or packed at the console before being sent to a work line for further processing, such as adding packaging or instructions.

[0080] Specifically, one work line usually corresponds to one or more operation consoles, and one or more operation consoles corresponding to the work line corresponding to the target order can be determined as the target operation consoles.

[0081] Furthermore, the usage frequency of each console corresponding to the work line corresponding to the target order may be determined by aggregating the corresponding consoles in the history of the work line corresponding to the target order.Then, the console corresponding to the work line corresponding to the target order with the highest usage frequency is determined as the target console for the target order.Alternatively, the console corresponding to the work line corresponding to each target order with a usage frequency higher than a predetermined frequency is determined as the target console for the target order.

[0082] Furthermore, the target operation console for the target order may be estimated based on the operation console corresponding to past orders on the work line corresponding to the target order, the processing time of the past orders, and a pre-constructed neural network model.

[0083] Step S302: Based on the order request of the target order and the target operation console corresponding to the target order, the goods to be delivered corresponding to the target order are determined.

[0084] Specifically, after determining the target operation console, each item of luggage that needs to be shipped corresponding to the target order is determined based on the storage status of the warehouse system, the order request of the target order, and the target operation console that corresponds to the target order, thereby minimizing the number of items of luggage that need to be shipped and at the same time shortening the distance between the storage location of each item of luggage that needs to be shipped and the target operation console as much as possible.

[0085] Specifically, a set of candidate items to be selected that meets the order requirements is determined based on the order requirements of the target order and the storage status of the warehouse system. Each set of candidate items to be selected includes one or more items stored in racks. Then, for each set of candidate items to be selected, a fourth distance between the storage location of each item in the set of candidate items and the target operation console is calculated, and each item in the set of candidate items to be selected that has the smallest sum of the fourth distances corresponding to each item in the set of candidate items is determined as each item to be shipped.

[0086] Step S303: Determine a location score for each location in the warehouse system based on the target console.

[0087] The location score represents the delivery efficiency of each location; the higher the location score, the higher the delivery efficiency.

[0088] Specifically, a location score for each location is determined based on the position of each location and the position of the target console.

[0089] Optionally, determining a location score for each location in the warehouse system based on the target console includes the following steps:

[0090] A first distance between each location of the warehouse system and the target console is calculated, and a location score for each location is determined based on the first distance.

[0091] The first distance may be the shortest distance the robot needs to travel from the target console to the location, and the location score is negatively correlated with the first distance, i.e., the shorter the first distance corresponding to a location, the higher the location score of the location.

[0092] Specifically, a first distance between each location and the target console can be calculated based on the position of each location and the position of the target console.

[0093] Specifically, a first correspondence relationship between the first distance and the location score is established in advance, and the location score of each location is determined by substituting the calculated first distance of each location into the first correspondence relationship.

[0094] Optionally, determining a location score for each said location based on said first distance comprises determining a location score for each said location based on said first distance and a location altitude of each location.

[0095] The location altitude of a location can be expressed using the rack level at which the location is located.

[0096] Specifically, a second correspondence relationship between the first distance, the location altitude, and the location score is constructed, and the location score of each location is determined based on the second correspondence relationship, the first distance corresponding to each location, and the location altitude of each location.

[0097] For example, the second correspondence relationship can be expressed by the following equation:

number

[0098] However, S i is the location score of the i-th location, d1 i is the first distance corresponding to the i-th location, l i is the rack level at which the i-th location is located, a, b, and c are set constants, and L is a predetermined height. The value of L is determined based on the level at which the robot is located in the temporary storage rack.

[0099] Optionally, FIG. 4 is a flowchart of step S303 in the embodiment shown in FIG. 3 of the present disclosure, and as shown in FIG. 4, step S303 includes the following steps:

[0100] Step S3031: A second distance between the aisle exit of each aisle in the warehouse system and the target operation console is calculated.

[0101] The aisle is a path for the robot to travel between two adjacent storage racks, and the storage racks include one or more locations for storing packages. The aisle exit is one exit of each aisle, and after the robot picks up or stores the baggage in the aisle, it passes through the aisle exit of the aisle and exits the aisle. The second distance is used to represent the shortest distance traveled by the robot from the aisle exit to the target operation console.

[0102] Specifically, the second distance between the aisle exit of each aisle and each operation console and the first distance between each location and each operation console can be calculated in advance, and a warehouse map of the warehouse system can be created based on the second distance between each aisle and each operation console and the first distance between each location and each operation console. After the target operation console is determined, the warehouse map is initialized based on the target operation console, thereby obtaining the second distance between the aisle exit of each aisle and the target operation console and the first distance between each location and the target operation console.

[0103] Step S3032: Obtain a first quantity of target locations corresponding to each of the passages.

[0104] The first quantity is used to represent the number of locations in the path that are currently determined to be target locations.

[0105] Step S3033: Determine an aisle score for each of the aisles based on the second distance and the first quantity.

[0106] Specifically, the aisle score and the second distance are negatively correlated, i.e., the shorter the second distance corresponding to an aisle, the higher the aisle score of the aisle.

[0107] Specifically, the aisle score and the first quantity are negatively correlated, i.e., the smaller the first quantity corresponding to an aisle, the higher the aisle score of the aisle.

[0108] Furthermore, a third correspondence relationship between the second distance, the first quantity, and the aisle score can be established in advance, and the aisle score for each aisle can be determined based on the third correspondence relationship, the second distance corresponding to each aisle, and the first quantity.

[0109] Step S3034: For each location, determine a location score for the location based on the aisle score of the aisle corresponding to the location and the distance between the location and the aisle exit of the corresponding aisle.

[0110] The distance between a location and the exit of the corresponding passage may be expressed using the horizontal distance between them, or may be expressed as the shortest distance traveled by the robot when moving from the position corresponding to the location to the exit of the passage.

[0111] Specifically, for each location, the location score is calculated based on the aisle score of the aisle to which the location belongs and the distance between the location and the aisle exit of the aisle to which the location belongs. In other words, the location score is affected by two factors: the aisle score of the aisle to which the location belongs and the distance between the location and the aisle exit of the aisle to which the location belongs.

[0112] Furthermore, a fourth correspondence relationship between the location score, the aisle score, and the distance between the location and the aisle exit of the corresponding aisle may be established in advance, and the location score of the corresponding location may be determined based on the fourth correspondence relationship, the aisle score of the corresponding aisle, and the distance between the location and the aisle exit of the corresponding aisle. The location score is positively correlated with the aisle score, and negatively correlated with the distance between the location and the aisle exit of the corresponding aisle.

[0113] Step S304: Determine a target location for each of the packages to be shipped based on the location score.

[0114] Specifically, the locations are sequentially determined as target locations for luggage to be shipped in descending order of location score.

[0115] After determining the allocation order for the packages to be shipped, the location with the highest location score is determined as the target location for the package with the first allocation order to be shipped, and the location with the next highest location score is assigned as the target location for the package with the second allocation order to be shipped. Similarly, the target locations for each package to be shipped for the target order are determined.

[0116] Specifically, the locations are ranked in descending order of location score to obtain location ranking results, and the locations ranked 1st to Nth are sequentially determined as target locations for the parcels to be shipped that have allocation orders 1st to Nth, where N is the number of parcels to be shipped.

[0117] Furthermore, a target location for each item of luggage to be shipped is determined based on the storage status and location score of each location, and locations that are vacant and have a high location score are given priority in determining the target location for the item of luggage to be shipped.

[0118] The storage status of a location includes two types: vacant and occupied. Vacant means that no items are stored in the location and it is an empty location, while occupied means that occupied items (e.g., other luggage) are stored in the location.

[0119] Step S305: If the target location of the luggage to be shipped and the storage location of the luggage to be shipped meet the transfer conditions and an occupied object exists at the target location, control the robot to remove the occupied luggage from the target location, and after the occupied luggage is removed, control the robot to store the luggage to be shipped in the target location.

[0120] The occupants on the target location are typically other cargo (eg, other containers).

[0121] If the target location of the package to be shipped and the storage location satisfy the transfer conditions, it is determined whether an occupant exists at the target location. If not, the target location of each package to be shipped is determined, and the package to be shipped is transported to the corresponding target location. If an occupant exists, the target location of each package to be shipped is determined, and the robot is controlled to remove the occupant from the target location, and a robot (e.g., another robot) is controlled to place the package to be shipped at the target location.

[0122] Specifically, after determining the target location for each item to be shipped corresponding to each target order, the storage status of each target location is identified, a first task for the robot is generated for each target location where an occupied object exists, and the robot retrieves the occupied object from each target location based on the first task. For each target location, if the target location is vacant or after the occupied object at the target location has been retrieved, the robot is controlled to move the item to be shipped corresponding to the target location to the target location, thereby realizing the organization of each item to be shipped corresponding to each target order within a predetermined future time period and realizing location management of the warehouse system.

[0123] Step S306: A new location is assigned to the occupied luggage, and the occupied luggage is stored in the new location.

[0124] A new location must be assigned to each of the objects that have been removed from the target location. Specifically, a new location for each object must be determined from among the vacant locations in the warehouse system.

[0125] Specifically, based on the location of the target location (i.e., the location where the occupied item was stored before it was removed) corresponding to each occupied item and the location of each vacant location in the warehouse system, a new location for each occupied item is determined so that the robot reduces the distance it must travel to store all of the occupied items in the corresponding new location.

[0126] In this embodiment, after determining a target console corresponding to the target order, each item to be shipped that satisfies the order requirements of the target order is determined based on the target console and the order requirements of the target order. The distance between each item to be shipped and the target console is minimized, thereby reducing the amount of work required for location management and improving location management efficiency. Then, a score for each location is calculated based on the position of the target console, and target locations for each item to be shipped are determined in descending order of location score. If the relocation conditions are met, the item to be shipped is relocated from its original location to the corresponding target location. As a result, after location management, each item to be shipped is placed in a location with higher shipping efficiency, improving order processing efficiency when the target order is processed. If an occupant is present at the target location, the occupant is removed, and the corresponding item to be shipped is placed at the target location. A new location is assigned to the occupant so that the occupant can be stored appropriately.

[0127] 5 is a flowchart of a luggage sorting method provided in another embodiment of the present disclosure. This embodiment is based on the embodiment shown in FIG. 2, and further restricts step S202, and adds a step of determining the location type of luggage to be shipped after step S201. As shown in FIG. 5, the luggage sorting method provided in this embodiment includes the following steps:

[0128] Step S501: The goods to be shipped corresponding to the target order are determined.

[0129] Step S502: Determine the location type corresponding to each piece of luggage to be shipped.

[0130] Specifically, location types may be divided into large locations and small locations based on location size, for example. Location types may be divided into constant temperature locations and normal temperature locations based on storage temperature, for example. Constant temperature locations may be further divided into types corresponding to each set temperature. Of course, location types may also be divided based on other factors. The present disclosure is not limited thereto.

[0131] After determining each item to be shipped for the target order, the location type of each item to be shipped is tallied. Each item to be shipped for the target order may correspond to the same location type or to different location types.

[0132] Specifically, the location type corresponding to the cargo to be shipped is determined based on the cargo ID of the cargo to be shipped.

[0133] Furthermore, when each piece of luggage is first received, a fifth correspondence relationship may be constructed based on the luggage ID of the luggage and the location type corresponding to the luggage, and after each piece of luggage requiring delivery is determined, the location type corresponding to each piece of luggage requiring delivery may be determined based on the luggage ID of each piece of luggage requiring delivery and the fifth correspondence relationship.

[0134] Furthermore, the location type of the storage location for the luggage to be shipped may be determined to be a location type corresponding to the luggage to be shipped.

[0135] Step S503: Based on the target operation console corresponding to the target order and the location type of each of the parcels to be delivered, each target location that matches the location type corresponding to each of the parcels to be delivered is determined.

[0136] Specifically, when assigning a target location to each item of luggage to be shipped, it is necessary to determine the target location for each item of luggage to be shipped based on the location type corresponding to each item of luggage to be shipped and the position of the target operation console corresponding to the target order, and to determine each location that is compatible with the location type corresponding to each item of luggage to be shipped and that is close to the target operation console.

[0137] Optionally, FIG. 6 is a flowchart of step S503 in the embodiment shown in FIG. 5 of the present disclosure, and as shown in FIG. 6, step S503 includes the following steps:

[0138] Step S5031: For each package of the same location type that needs to be shipped, each selection candidate location that matches the location type is determined.

[0139] "Compatible with location type" means that the location type of the candidate location to be selected is the same as the location type corresponding to the cargo to be shipped.

[0140] Specifically, each item of cargo to be shipped corresponding to the target order may correspond to multiple location types, in which case, for each location type corresponding to the target order, each candidate location that is suitable for that location type is determined.

[0141] Step S5032: Determine a location score for each of the selection candidate locations based on the target console.

[0142] The specific method for determining the location score of the selected candidate location is similar to the process for determining the location score of the location in the above embodiment, and the specific determination process can refer to the content corresponding to step S303, so it will not be described again here.

[0143] S5033: Each of the candidate locations is determined as the target location for each package to be shipped in descending order of location score.

[0144] Specifically, each time a target location for one piece of luggage to be shipped is determined, the target location is locked to prevent the target location from being assigned to another piece of luggage to be shipped.

[0145] After determining the allocation order of the luggage to be shipped, a target location for each luggage to be shipped corresponding to the location type can be determined from among the candidate locations based on the allocation order and the location score.

[0146] Step S504: If the target location of the cargo to be delivered and the storage location of the cargo to be delivered satisfy the transfer condition, the cargo to be delivered is transported to the corresponding target location.

[0147] In this embodiment, the target location of each item to be shipped is determined based on two factors: the location type corresponding to each item to be shipped that corresponds to the target order, and the target operation console corresponding to the target order. This ensures that the item to be shipped is moved to an appropriate location during location management. This prevents the quality of the item from being affected by an inappropriate location type, and at the same time, it is possible to improve the processing efficiency of the target order by determining a location with higher shipping efficiency based on the target operation console as the target location for the item to be shipped.

[0148] 7 is a flowchart of a luggage organization method provided in another embodiment of the present disclosure. The luggage organization method provided in this embodiment is based on the embodiment shown in FIG. 2 and further subdivides step S202. As shown in FIG. 7, the luggage organization method provided in this embodiment includes the following steps:

[0149] Step S701: The goods to be shipped corresponding to the target order are determined.

[0150] Step S702: A second distance between the passage exit of each passage and the target console is calculated.

[0151] Step S703: For each aisle, determine a first score for each location corresponding to the aisle based on a third distance between each location corresponding to the aisle and an aisle exit of the aisle.

[0152] The third distance includes a minimum distance traveled by the robot from the location to the corresponding aisle exit, and may further include an altitude of the location. A higher first score indicates a shorter third distance corresponding to the location and a higher efficiency of the location's retrieval.

[0153] Specifically, after obtaining a first score for each location corresponding to the passage, the locations are ranked in descending order of the first score.

[0154] Step S704: The following steps are repeatedly executed until the target locations of all the packages to be shipped corresponding to the target order are determined.

[0155] Step S705: Obtain a first quantity of target locations corresponding to each of the passages.

[0156] The first quantity corresponding to each passage is initially set to 0.

[0157] Step S706: Determine an aisle score for each of the aisles based on the second distance and the first quantity.

[0158] Specifically, a congestion coefficient for each aisle is determined based on the first quantity. Further, an aisle score for each aisle is determined based on the second distance and the congestion coefficient. The smaller the congestion coefficient, the higher the aisle score.

[0159] Specifically, the congestion coefficient is determined by the number of robots traveling on the aisle when the target order is processed, and the congestion coefficient can be determined based on the ratio of the first quantity to a predetermined number.

[0160] Step S707: For the target aisle with the highest current aisle score, a predetermined number of locations are determined as target locations for a predetermined number of the luggage to be shipped from among the locations in the target aisle that have not been determined as target locations, in descending order of first score, and the first quantity of the target aisle is updated based on the predetermined number.

[0161] The predetermined number is the number of stages in the robot's temporary storage rack.

[0162] Specifically, each of the parcels to be shipped in the target order is divided into groups of a predetermined number, and each group of parcels to be shipped is obtained. However, the number of parcels to be shipped in the last group is equal to or less than the predetermined number, and the number of parcels to be shipped in the other groups is also the predetermined number. Then, target locations are sequentially assigned to the parcels to be shipped in each group in a specific order.

[0163] Specifically, among the locations that have not been determined as target locations in the target aisle with the highest current aisle score, the locations with the top predetermined number of first scores are determined as target locations for a predetermined number of items to be shipped that correspond to the current group's items to be shipped.

[0164] Then, the first quantity of the target aisle is updated based on the predetermined number. That is, the first quantity of the target aisle is updated to the sum of the original first quantity and the predetermined number. As a result, the aisle score of the target aisle is updated based on the updated first quantity and the second distance, and the target aisle with the highest current aisle score is obtained. Within the new target aisle, the locations with the highest first scores up to the predetermined number are determined as target locations for the predetermined number of baggage to be delivered, which corresponds to the next group of baggage to be delivered.

[0165] If the number of items in the last group of luggage to be shipped is smaller than a predetermined number, for example, a second quantity, each location in the target aisle with the highest current aisle score, up to the second quantity with the highest first score, is determined as the target location for the second quantity of luggage to be shipped corresponding to the last group of luggage to be shipped.

[0166] Specifically, when assigning a target location to each package to be shipped for a target order, the system prioritizes the selection of the aisle with the highest aisle score. Until target locations for all packages to be shipped for the target order have been determined, the system determines the location with the highest first score in the aisle with the highest current aisle score as the target location for the current package to be shipped, and locks that target location.

[0167] For example, assume that a warehouse system corresponds to three aisles, aisle R1, aisle R2, and aisle R3, the first quantity corresponding to each aisle is currently 0, the aisle score is determined based on the second distance, the current aisle scores for aisles R1, R2, and R3 are 60, 75, and 82, the number of packages h10 to be shipped corresponding to the target order is 10, and the predetermined number is 5. In this case, the locations in aisle R3 with the top five first scores are determined as the target locations for the five packages h10. As a result, the first quantity corresponding to aisle R3 becomes 5, and the aisle score for aisle R3 is updated to 72. As a result, the aisle with the highest aisle score is now aisle R2, and the locations in aisle R2 with the top five first scores are determined as the target locations for the remaining five packages h10. In this way, the target locations for the 10 packages h10 are determined.

[0168] Step S708: If the target location of the cargo to be delivered and the storage location of the cargo to be delivered satisfy the transfer conditions, the cargo to be delivered is transported to the corresponding target location.

[0169] In this embodiment, an aisle score is determined based on the second distance between the aisle exit and the target console and the first quantity of target locations within the aisle. In the target aisle with the highest aisle score, the locations with the highest first scores (up to a predetermined number) are determined as target locations for the predetermined number of parcels to be shipped. The first score of the target aisle is then updated based on the predetermined number to obtain a new target aisle with the highest aisle score. In this manner, target locations for all parcels to be shipped are obtained. This prevents excessively complicated allocation plans due to excessively frequent aisle switching when assigning target locations, reducing location allocation wastage. At the same time, the location with the highest current shipping efficiency is guaranteed to be the target location for the parcels to be shipped, improving the shipping efficiency of parcels to be shipped and the processing efficiency of the target orders.

[0170] Optionally, Figure 8 is a flowchart of a luggage management processing method provided in another embodiment of the present disclosure. The luggage management method provided in this embodiment is based on the embodiment shown in Figure 2 and further subdivides step S202. As shown in Figure 8, the luggage management method provided in this embodiment includes the following steps:

[0171] Step S801: The goods to be shipped corresponding to the target order are determined.

[0172] Step S802: A second distance between the passage exit of each passage and the target console is calculated.

[0173] Step S803: The congestion coefficient of each passage is determined.

[0174] The congestion coefficient is used to represent the congestion state of the aisle when processing each target order, and can be represented by the number of robots traveling simultaneously on the aisle when processing each target order.

[0175] Specifically, a congestion coefficient of the aisle can be determined based on a first quantity of locations determined to be target locations on the aisle.

[0176] Furthermore, the robot of the warehouse system includes a temporary storage rack. The temporary storage rack is used to temporarily store the cargo transported by the robot. The temporary storage rack may have five, six, or other multiple levels. The congestion coefficient of the aisle can be evaluated based on the ratio of the first quantity corresponding to the aisle to a predetermined number, and the greater the ratio, the greater the congestion coefficient of the aisle.

[0177] Step S804: Determine an aisle score for each aisle based on the second distance and congestion coefficient corresponding to each aisle.

[0178] Specifically, the passage score shows a negative correlation with the second distance and also shows a negative correlation with the congestion coefficient. That is, the shorter the second distance and the smaller the congestion coefficient, the higher the passage score.

[0179] Step S805: For each aisle, determine a first score for each location corresponding to the aisle based on a third distance between each location corresponding to the aisle and an aisle exit of the aisle.

[0180] Step S806: Based on the first score of each location and the aisle score of the aisle corresponding to each location, a target location for each of the packages to be picked up corresponding to the target order is determined.

[0181] Specifically, the shipping efficiency of each location is calculated based on the first score of each location and the aisle score of the aisle to which the location belongs, and the target location for each item to be shipped corresponding to the target order is determined based on the shipping efficiency of each location.

[0182] Furthermore, the locations are sequentially determined as the target locations for each package to be shipped corresponding to the target order in descending order of shipping efficiency.

[0183] Optionally, the step of determining a target location for each of the luggage to be shipped corresponding to the target order based on the first score of each location and the aisle score of the aisle corresponding to each location includes a step of sequentially determining the first location of each aisle as the target location for each of the luggage to be shipped corresponding to the target order in descending order of aisle score.

[0184] The first location is the location where the first score is greater than a predetermined score.

[0185] Specifically, the aisles are ranked in descending order of aisle score, and then screened based on a predetermined score to obtain first locations in each aisle whose first scores are greater than the predetermined score. First, the first locations on the aisle with the highest aisle score are determined as target locations for each package to be shipped corresponding to the target order. If there are still packages to be shipped, the first locations on the aisle with the next highest aisle score are determined as target locations for each package to be shipped corresponding to the target order. This process is repeated until target locations for all packages to be shipped have been determined.

[0186] Furthermore, the first locations in the aisle are sequentially determined as target locations for the baggage to be unloaded in descending order of the first score, and locations with the highest first scores are given priority in consideration as target locations.

[0187] Optionally, the step of sequentially determining the first locations of each aisle in descending order of aisle score as target locations for each parcel to be shipped corresponding to the target order includes the step of sequentially determining the corresponding quantities of the first locations as target locations for parcels to be shipped in the target order in descending order of aisle score and in descending order of first score in the aisle, and deleting aisles with zero first locations.

[0188] Specifically, the first location in each aisle is determined as the target location for the luggage to be shipped in descending order of aisle score, i.e., each first location in an aisle is determined as the target location for the corresponding number of luggage to be shipped, and when the number of first locations in that aisle becomes 0, that aisle is deleted and the first location in the next aisle is determined as the target location for the luggage to be shipped.

[0189] As an example, let's take the case where the predetermined score is 60 points. Assume that the warehouse system corresponds to three aisles, aisle R4, aisle R5, and aisle R6, and the aisle scores of aisles R4, R5, and R6 are 45, 70, and 60, respectively. The number of first locations corresponding to aisles R4, R5, and R6, i.e., locations with a first score greater than 60, are 2, 5, and 8, respectively. The number of packages to be shipped corresponding to the target order is 12. In this case, target locations are first determined in the aisle with the highest aisle score. That is, the five first locations corresponding to aisle R5 are determined as target locations for the five packages to be shipped. Then, aisle R5 is deleted. Next, target locations are determined in the aisle with the next highest aisle score. That is, the top seven first locations in aisle R6 with the highest first scores are determined as target locations for the remaining seven packages to be shipped.

[0190] Furthermore, when there are multiple target orders, the order sequence of each target order may be determined based on, for example, the order priority, and a target location may be assigned to each item requiring shipping corresponding to each target order according to the order sequence. After the target locations of all items requiring shipping for the previous target order in the order sequence have been determined, each item requiring shipping for the target order next in the order sequence is obtained, and the target location of each item requiring shipping for the next target order is determined in the same way as for the previous target order. This process is repeated until the target locations of items requiring shipping corresponding to all target orders have been determined.

[0191] Step S807: If the target location of the cargo to be delivered and the storage location of the cargo to be delivered satisfy the transfer conditions, the cargo to be delivered is transported to the corresponding target location.

[0192] Optionally, Figure 9 is a flowchart of a package sorting method provided in another embodiment of the present disclosure, which is intended for the case where there are multiple target orders. As shown in Figure 9, this embodiment is based on the embodiment shown in Figure 8, and adds the following steps after step S806:

[0193] Step S901: The next shipment to be shipped corresponding to the target order is acquired.

[0194] The next target order is also an order that needs to be processed within a predetermined time in the future, for example, an order that needs to be processed in 12 hours.

[0195] Specifically, when there are multiple target orders, target locations are assigned to the items to be shipped for each target order in order of order placement. After the target locations for all items to be shipped for the previous target order have been determined, each item to be shipped for the next target order is obtained.

[0196] Step S902: Update the congestion coefficient of each first path based on the number of target locations corresponding to each first path.

[0197] The first path is a path in which at least one location is determined as a target location, i.e., a path used for each target order prior to the next target order.

[0198] Step S903: The aisle score of each first aisle is updated based on the second distance corresponding to each first aisle and the updated congestion coefficient.

[0199] When a target location is assigned to the next target order's cargo to be shipped, the congestion coefficients of the aisles used previously, i.e., the congestion coefficients of each first aisle, must be updated. Furthermore, based on the updated congestion coefficients, the aisle scores of each first aisle are recalculated, and the aisles are ranked in descending order of aisle score to obtain a new ranking result.

[0200] Step S904: The first location of each aisle is determined in descending order of aisle score as the target location for each package to be shipped corresponding to the next target order.

[0201] Specifically, the method for determining the target location of each item to be shipped in the next target order is the same as the specific process in step S806 described above, with only the corresponding aisle scores being slightly different, so it will not be described again here.

[0202] Specifically, the specific process of the luggage organization method provided in the above embodiment is as follows:

[0203] The first step is to obtain the parcels to be shipped for the target order corresponding to the current order according to the order sequence. If there are no parcels to be shipped, i.e., if all parcels to be shipped have been assigned a target location, the process ends. Otherwise, the process continues to the next step. The second step is to calculate an aisle score for each aisle based on the second distance and the aisle congestion coefficient, and rank the aisles in descending order of aisle score. Also, for each aisle, rank the locations within the aisle in descending order of the first score. The third step is to select the next aisle in the ranking. The fourth step is to match each parcel to be shipped for the target order in the current order with each location in the aisle one by one according to the principle of sequential matching. During matching, already assigned parcels to be shipped and locations are ignored. If all locations for the aisle have been used up, the process returns to the third step. If target locations have been assigned for all parcels to be shipped for the target order in the current order, the process returns to the first step, and assigns target locations to each parcel to be shipped for the next target order.

[0204] In this embodiment, when assigning target locations to packages requiring shipping for future target orders, an aisle score is calculated based on the second aisle distance and congestion coefficient. At the same time, a first score is calculated for each location in the aisle based on the third distance between the location and the aisle exit for each aisle. The aisle score and the first location score are then comprehensively considered to assign target locations to packages requiring shipping. Specifically, the aisle with the highest aisle score is prioritized, and among those, locations with a first score greater than a predetermined score are determined as target locations for the packages requiring shipping. If any packages requiring shipping remain, the aisle with the next highest aisle score is considered. Target locations for all packages requiring shipping are determined in the same manner. This avoids excessively complex allocation plans due to excessively frequent aisle switching and reduces location allocation wear. At the same time, the location with the highest current shipping efficiency is guaranteed to be the target location for the packages requiring shipping, thereby improving the shipping efficiency of the packages requiring shipping and the processing efficiency of the target orders.

[0205] 10 is a structural schematic diagram of a luggage sorting device provided in one embodiment of the present disclosure. The device is applied to a warehouse system. As shown in FIG. 10, the device includes a luggage determination module 1010, a location determination module 1020, and a luggage transport module 1030.

[0206] The luggage determination module 1010 is used to determine luggage to be shipped corresponding to a target order. The target order is an order within a predetermined time period in the future. The location determination module 1020 is used to determine a target location of the luggage to be shipped based on a target operation console corresponding to the target order. The luggage transport module 1030 is used to transport the luggage to be shipped to the corresponding target location if the target location of the luggage to be shipped does not match the storage location of the luggage to be shipped.

[0207] Optionally, the location determination module 1020 includes a location score determination unit for determining a location score for each location in the warehouse system based on the target console, and a location determination unit for determining a target location for each of the luggage to be shipped based on the location score.

[0208] Optionally, the location score determination unit includes a first distance calculation subunit for calculating a first distance between each location of the warehouse system and the target operation console, and a location score determination subunit for determining a location score of each of the locations based on the first distance.

[0209] Optionally, the location score determination subunit is specifically used for determining a location score for each said location based on said first distance and a location altitude of each said location.

[0210] Optionally, the location score determination unit is specifically used to calculate a second distance between an aisle exit of each aisle and the target console in the warehouse system, obtain a first quantity of a target location corresponding to each of the aisles, determine an aisle score for each of the aisles based on the second distance and the first quantity, and determine, for each location, a location score for the location based on the aisle score of the aisle corresponding to the location and the distance between the location and the aisle exit of the corresponding aisle. The aisle is a path for a robot to travel between two adjacent storage racks, and the storage rack includes one or more locations for storing packages.

[0211] Optionally, the location determination module 1020 is specifically used to calculate a second distance between an aisle exit of each aisle and the target operation console, determine a first score for each location corresponding to the aisle based on a third distance between each location corresponding to the aisle and the aisle exit of the aisle, and repeatedly perform the following steps until target locations for all the packages to be shipped corresponding to the target order are determined: obtain a first quantity for the target locations corresponding to each aisle, determine an aisle score for each aisle based on the second distance and the first quantity, and for the target aisle with the highest current aisle score, determine a predetermined number of locations from among the locations in the target aisle that have not been determined as target locations in the target aisle in descending order of first score as target locations for the predetermined number of the packages to be shipped, and update the first quantity for the target aisle based on the predetermined number, where the predetermined number is the number of stages in the temporary storage rack of the robot.

[0212] Optionally, the location determination module 1020 includes: a second distance calculation unit for calculating a second distance between an aisle exit of each aisle and the target operation console; a congestion coefficient determination unit for determining a congestion coefficient of each aisle; an aisle score determination unit for determining an aisle score of each aisle based on the second distance and the congestion coefficient corresponding to each aisle; a first score determination unit for determining, for each aisle, a first score of each location corresponding to the aisle based on a third distance between each location corresponding to the aisle and an aisle exit of the aisle; and a target location determination unit for determining a target location of each of the luggage to be shipped corresponding to the target order based on the first score of each location and the aisle score of the aisle corresponding to each location.

[0213] Optionally, the target location determination unit is specifically used to sequentially determine a first location of each aisle in descending order of aisle score as a target location for each luggage to be shipped corresponding to the target order, and the first location is a location whose first score is greater than a predetermined score.

[0214] Optionally, the target location determination unit specifically includes a step of sequentially determining a corresponding number of first locations as target locations for luggage to be shipped in the target order in order of highest aisle score and highest first score in the aisle, and deleting aisles with zero first locations.

[0215] Optionally, the device further includes a next order processing module, which is used to obtain luggage to be shipped corresponding to the next target order after the first location of each aisle has been determined as the target location for each luggage to be shipped corresponding to the target order in order of highest aisle score, update the congestion coefficient of each first aisle based on the number of target locations corresponding to each first aisle, update the aisle score of each first aisle based on the second distance corresponding to each first aisle and the updated congestion coefficient, and sequentially determine the first location of each aisle in order of highest aisle score as the target location for each luggage to be shipped corresponding to the next target order, wherein the first aisle is an aisle having at least one location determined as the target location among the aisles.

[0216] Optionally, the apparatus further includes a type determination module for determining a location type corresponding to each package to be shipped.

[0217] Correspondingly, the location determination module 1020 is specifically used to determine each target location that is compatible with the location type corresponding to each of the luggage to be shipped, based on the target operation console corresponding to the target order and the location type of each of the luggage to be shipped.

[0218] Optionally, the location determination module 1020 is specifically used to determine, for each piece of luggage to be shipped of the same location type, each selected candidate location that matches the location type, determine a location score for each selected candidate location based on the target operation console, and sequentially determine each selected candidate location as the target location for each piece of luggage to be shipped in descending order of location score.

[0219] Optionally, the apparatus further includes an allocation order determination module for determining an allocation order for each of the parcels to be shipped corresponding to the target order, and sequentially allocating target locations to each of the parcels to be shipped corresponding to the target order based on the allocation order.

[0220] Optionally, the luggage determination module 1010 is specifically used for determining luggage to be delivered corresponding to the target order based on the order requirement of the target order and the target console corresponding to the target order.

[0221] Optionally, the apparatus further includes a console determination module for determining a target console for the target order based on a work line corresponding to the target order.

[0222] Optionally, the apparatus further includes an occupied object removal module for controlling a robot to remove occupied cargo from the target location if the occupied cargo is present on the target location.

[0223] Correspondingly, the luggage transport module 1030 is specifically used to control the robot to store the luggage to be shipped in the target location after the occupied luggage is removed if the target location of the luggage to be shipped does not match the storage location of the luggage to be shipped.

[0224] Optionally, the apparatus further includes an occupancy location assignment module for assigning a new location to the occupied luggage and storing the occupied luggage at the new location after the luggage to be removed is stored at the target location.

[0225] The luggage sorting device provided in the embodiments of the present disclosure can execute the luggage sorting method provided in any embodiment of the present disclosure, and has corresponding functional modules for executing the method, thereby achieving beneficial effects.

[0226] FIG. 11 is a structural schematic diagram of a luggage management device provided in one embodiment of the present disclosure. As shown in FIG. 11, the luggage management device includes a memory 1110, a processor 1120, and a computer program.

[0227] The computer program is stored in the memory 1110 and is configured to be executed by the processor 1120 to realize the luggage sorting method provided in any one of the embodiments corresponding to Figures 2 to 9 of the present disclosure. The memory 1110 and the processor 1120 are connected via a bus 1130.

[0228] The relevant explanations can be understood by referring to the relevant descriptions and effects corresponding to the steps in FIGS. 2 to 9, and therefore will not be repeated here.

[0229] 12 is a structural schematic diagram of a warehouse system provided in one embodiment of the present disclosure. As shown in FIG. 12, the warehouse system includes a warehouse rack 1210, an operation console 1220, a robot 1230, and a luggage sorting device 1240.

[0230] The luggage organization equipment 1240 is the luggage organization equipment provided in the embodiment of the present disclosure shown in Figure 11. In some embodiments, the warehouse system further includes equipment such as unloaders, elevators, conveyor lines, and the like.

[0231] A computer-readable storage medium provided in one embodiment of the present disclosure stores a computer program, which is executed by a processor to realize the luggage sorting method provided in any one of the embodiments corresponding to Figures 2 to 9 of the present disclosure.

[0232] The computer readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, or the like.

[0233] The present disclosure further provides a program product, the program product including an executable computer program, the executable computer program being stored in a readable storage medium, wherein at least one processor of a luggage sorting device or a warehouse system can read the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the luggage sorting device to perform the luggage sorting method provided in each of the above embodiments.

[0234] It should be understood that the devices and methods disclosed in some embodiments provided by the present disclosure can be realized in other forms. For example, the above device embodiments are merely illustrative, and the above module divisions are merely logical function divisions. In actual implementations, other division methods are possible. For example, multiple modules may be combined or integrated into another system, or some features may be omitted or not implemented. Furthermore, the couplings, direct couplings, or communication connections between devices shown or discussed may be indirect couplings or communication connections via some interface, device, or module, and may be electrical, mechanical, or other forms.

[0235] The modules described above as separate components may or may not be physically separate. Components shown as modules may or may not be physical units, located in a single location or distributed over multiple network units. A part or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0236] Furthermore, each functional module in each embodiment of the present disclosure may be integrated into a single processing unit, each module may exist physically independent, or two or more modules may be integrated into a single unit. The unit consisting of the above modules may be realized in the form of hardware, or may be realized in the form of hardware plus a software functional unit.

[0237] The integrated module realized in the form of the above software function module may be stored in a single computer-readable storage medium, and the above software function module is stored in a single storage medium and includes several instructions for causing a single computer device (which may be a personal computer, a server, a network device, etc.) or a processor to execute some steps of the method according to each embodiment of the present disclosure.

[0238] The processor may be a CPU (Central Processing Unit), other general-purpose processors, DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), etc. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc. The steps of the combination of the methods disclosed in the present disclosure may be directly embodied and executed as a processor in hardware, or may be executed and realized using a combination of hardware and software modules in a processor.

[0239] The memory may include a high-speed RAM, and may also include at least one non-volatile memory NVM such as a magnetic disk memory, a USB, a mobile hard disk, a ROM, a magnetic disk, an optical disk, or the like.

[0240] The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. Although the buses are shown in the drawings in this disclosure for clarity, they are not limited to having only one bus or one type of bus.

[0241] The memory may be implemented by any type of volatile or non-volatile storage device, such as, for example, Static Random Access Memory (SRAM), Electrically Erasable and Programmable Read Only Memory (EEPROM), Erasable and Programmable Read Only Memory (PROM), Programmable Read Only Memory (ROM), Read Only Memory (ROM), magnetic memory, flash memory, magnetic disk, optical disk, or any combination thereof. The storage media may be any available media that can be accessed by a general purpose or special purpose computer.

[0242] An example storage medium may be coupled to a processor so that the processor can read information from and write information to the storage medium. Of course, the storage medium may be a component of the processor. The processor and the storage medium may reside in an ASIC (Application Specific Integrated Circuit). Of course, the processor and the storage medium may reside as separate components in an electronic device or a main control device.

[0243] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be achieved by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When the program is executed, the steps of the above method embodiments are executed. The storage medium may include various media capable of storing program code, such as ROM, RAM, magnetic disk, optical disk, etc.

[0244] Finally, it should be noted that the above examples are used only to explain the technical scheme of the present disclosure and are not intended to be limiting. Furthermore, although the present disclosure has been described in detail with reference to the above examples, those skilled in the art will understand that the technical schemes described in the above examples can be further modified, or equivalent replacements can be made for some or all of the technical features. However, these modifications or replacements do not cause the essence of the technical scheme to deviate from the scope of the technical schemes of the examples of the present disclosure.

Claims

1. A step in which a computer determines a package to be shipped that corresponds to a target order that is an order to be placed within a predetermined time period in the future; The computer determines a target location for the package to be shipped based on a target console corresponding to the target order; and a step in which the computer controls the robot to transport the package to be delivered to the corresponding target location when the target location of the package to be delivered and the storage location of the package to be delivered satisfy a transfer condition; The storage location is a location where the package to be shipped is currently stored, The step of determining a target location of the cargo to be shipped based on a target operation console corresponding to the target order includes: determining a location score for each location in the warehouse system based on the target console; determining a target location for each of the packages to be shipped based on the location score; The step of determining a location score for each location in the warehouse system based on the target console includes: Calculating a second distance between an aisle exit of each aisle and the target console in the warehouse system; obtaining a first quantity set to a number of target locations corresponding to each said aisle; determining an aisle score for each said aisle based on said second distance and said first quantity; for each location, determining a location score for the location based on an aisle score of an aisle corresponding to the location and a distance between the location and an aisle exit of the corresponding aisle; The aisle is a path along which the robot travels between two adjacent storage racks, and the storage racks include one or more locations for storing packages. How to organize your luggage.

2. The step of determining a location score for each location in the warehouse system based on the target console includes: calculating a first distance between each location of the warehouse system and the target console; determining a location score for each of the locations based on the first distance; The luggage organizing method according to claim 1.

3. determining a location score for each of the locations based on the first distance, determining a location score for each location based on the first distance and a location altitude for each location; The luggage organizing method according to claim 2.

4. A step in which a computer determines a package to be shipped that corresponds to a target order that is an order to be placed within a predetermined time period in the future; The computer determines a target location for the package to be shipped based on a target console corresponding to the target order; and a step in which the computer controls the robot to transport the package to be delivered to the corresponding target location when the target location of the package to be delivered and the storage location of the package to be delivered satisfy a transfer condition; The storage location is a location where the package to be shipped is currently stored, The step of determining a target location of the cargo to be shipped based on a target operation console corresponding to the target order includes: calculating a second distance between an exit of each aisle and the target console; determining, for each aisle, a first score for each location corresponding to the aisle based on a third distance between each location corresponding to the aisle and an aisle exit of the aisle; until the target locations of all the packages to be shipped corresponding to the target order are determined. obtaining a first quantity set to a number of target locations corresponding to each said aisle; determining an aisle score for each said aisle based on said second distance and said first quantity; a step of determining, for a target aisle having the highest current aisle score, a predetermined number of locations from among locations in the target aisle that have not been determined as target locations, in descending order of first score, as target locations for the predetermined number of packages to be shipped, and updating a first quantity of the target aisle based on the predetermined number; and repeatedly performing The predetermined number is the number of stages of a temporary storage rack of the robot. How to organize your luggage.

5. A step in which a computer determines a package to be shipped that corresponds to a target order that is an order to be placed within a predetermined time period in the future; The computer determines a target location for the package to be shipped based on a target console corresponding to the target order; and a step in which the computer controls the robot to transport the package to be delivered to the corresponding target location when the target location of the package to be delivered and the storage location of the package to be delivered satisfy a transfer condition; The storage location is a location where the package to be shipped is currently stored, The step of determining a target location of a package to be shipped corresponding to the target order based on the target operation console corresponding to the target order includes: calculating a second distance between an exit of each aisle and the target console; determining a congestion coefficient determined by the number of robots traveling on each passage; determining an aisle score for each aisle based on a second distance and a congestion coefficient corresponding to each aisle; determining, for each aisle, a first score for each location corresponding to the aisle based on a third distance between each location corresponding to the aisle and an aisle exit of the aisle; determining a target location for each of the packages to be shipped corresponding to the target order based on the first score of each location and the aisle score of the aisle corresponding to each location; How to organize your luggage.

6. determining a location type corresponding to each package to be shipped; Correspondingly, the step of determining a target location of the luggage to be shipped based on a target console corresponding to the target order includes: determining target locations that match the location types corresponding to each of the packages to be shipped based on a target operation console corresponding to the target order and a location type of each of the packages to be shipped; The luggage organizing method according to claim 1.

7. a parcel determination module for determining parcels to be shipped corresponding to target orders that are orders to be placed within a predetermined time period in the future; a location determination module for determining a target location of the package to be shipped based on a target console corresponding to the target order; a luggage transport module for controlling a robot to transport the luggage to be delivered to the corresponding target location when the target location of the luggage to be delivered does not match the storage location of the luggage to be delivered, The storage location is a location where the package to be shipped is currently stored, Determining a target location of the package to be shipped based on a target console corresponding to the target order includes: determining a location score for each location in the warehouse system based on the target console; determining a target location for each of the shipments based on the location score; determining a location score for each location in the warehouse system based on the target console; Calculating a second distance between an aisle exit of each aisle of the warehouse system and the target console; obtaining a first quantity set to a number of target locations corresponding to each of the aisles; determining an aisle score for each said aisle based on said second distance and said first quantity; for each location, determining a location score for the location based on an aisle score of an aisle corresponding to the location and a distance between the location and an aisle exit of the corresponding aisle; The aisle is a path along which the robot travels between two adjacent storage racks, and the storage racks include one or more locations for storing packages. Luggage organizer.

8. a parcel determination module for determining parcels to be shipped corresponding to target orders that are orders to be placed within a predetermined time period in the future; a location determination module for determining a target location of the package to be shipped based on a target console corresponding to the target order; a luggage transport module for controlling a robot to transport the luggage to be delivered to the corresponding target location when the target location of the luggage to be delivered does not match the storage location of the luggage to be delivered, The storage location is a location where the package to be shipped is currently stored, Determining a target location of the package to be shipped based on a target console corresponding to the target order includes: calculating a second distance between an aisle exit of each aisle and the target console; For each aisle, determining a first score for each location corresponding to the aisle based on a third distance between each location corresponding to the aisle and an aisle exit of the aisle; until the target locations of all the packages to be shipped corresponding to the target order are determined. obtaining a first quantity set to a number of target locations corresponding to each of the aisles; determining an aisle score for each said aisle based on said second distance and said first quantity; For a target aisle having the highest current aisle score, determine a predetermined number of locations from among locations in the target aisle that have not been determined as target locations, in descending order of first score, as target locations for the predetermined number of the baggage to be shipped, and update the first quantity of the target aisle based on the predetermined number; and repeatedly executing The predetermined number is the number of stages of a temporary storage rack of the robot. Luggage organizer.

9. a parcel determination module for determining parcels to be shipped corresponding to target orders that are orders to be placed within a predetermined time period in the future; a location determination module for determining a target location of the package to be shipped based on a target console corresponding to the target order; a luggage transport module for controlling a robot to transport the luggage to be delivered to the corresponding target location when the target location of the luggage to be delivered does not match the storage location of the luggage to be delivered, The storage location is a location where the package to be shipped is currently stored, Determining a target location of a package to be shipped corresponding to the target order based on a target operation console corresponding to the target order includes: calculating a second distance between an aisle exit of each aisle and the target console; determining a congestion coefficient determined by the number of robots traveling on each passage; determining an aisle score for each aisle based on a second distance and a congestion coefficient corresponding to each aisle; For each aisle, determining a first score for each location corresponding to the aisle based on a third distance between each location corresponding to the aisle and an aisle exit of the aisle; determining a target location for each of the parcels to be shipped corresponding to the target order based on a first score of each location and an aisle score of an aisle corresponding to each location; Luggage organizer.

10. a memory and at least one processor; the memory stores computer-executable instructions; The at least one processor executes the computer-executable instructions stored in the memory, thereby performing the luggage sorting method according to any one of claims 1 to 6. Luggage organization equipment.

11. A warehouse rack, an operation console, a robot, and the luggage organization device according to claim 10. Warehouse system.

12. A computer-readable storage medium having stored thereon computer-executable instructions, which, when executed by a processor, implements the luggage sorting method according to any one of claims 1 to 6. A computer-readable storage medium.

13. When executed by a processor, the luggage organization method according to any one of claims 1 to 6 is realized. Computer program.

Images