Task allocation method and device

Abstract

A task allocation method, an apparatus, a device, a warehouse system, and a storage medium. The task allocation method is applied to a warehouse system, and a warehouse of the warehouse system includes a plurality of logical zones, and each logical zone includes one or more physical areas. The method includes the steps of: determining each wanted piece of luggage corresponding to at least one task; determining each target robot to perform the at least one task based on the logical zone corresponding to each wanted piece of luggage and an area attribute of each robot, the area attribute representing the logical zone corresponding to the robot; and determining a task to be performed for each target robot based on a storage space corresponding to each wanted piece of luggage, and having the target robot perform the at least one task. By determining a robot with matching attributes to perform the task corresponding to the piece of luggage based on the area corresponding to the piece of luggage and the area attribute of the robot, the flexibility of task allocation and the efficiency of task processing are improved.

Description

[Technical Field]

[0001] This application claims priority from a Chinese patent application filed with the China Patent Office on September 14, 2021, application number 202111076808.4, entitled "Task allocation method, device, equipment, warehouse system and storage medium," the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the technical field of smart warehouses, and in particular to a task allocation method, an apparatus, a device, a warehouse system, and a storage medium. [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] As warehouse floor space tends to expand, the distance that robots must travel to execute warehouse orders is gradually increasing, resulting in a decline in order processing efficiency.To improve order processing efficiency, warehouses are typically divided into multiple independent physical areas, with one group of robots assigned to each physical area to execute the orders corresponding to that physical zone. Summary of the Invention [Problem to be solved by the invention]

[0005] In the prior art, when tasks are assigned to robots, they are limited to physical areas, and the robots can only process tasks in the corresponding physical areas, resulting in low flexibility in task assignment, low task processing efficiency, and inability to meet needs. [Means for solving the problem]

[0006] The task allocation method, device, equipment, warehouse system, and storage medium provided by the present application adopt a logical zone method to increase zone flexibility and perform task allocation based on the logical zone corresponding to the robot, thereby improving task allocation flexibility and order processing efficiency.

[0007] In a first aspect, the task allocation method provided in the present embodiment is applied to a warehouse system, wherein a warehouse of the warehouse system includes a plurality of logical zones, each logical zone including one or more physical areas, and the method includes the steps of: determining each wanted piece of luggage corresponding to at least one task; determining each target robot to perform the at least one task based on the logical zone corresponding to each wanted piece of luggage and an area attribute of each robot, the area attribute representing the logical zone corresponding to the robot; and determining a task to be performed for each target robot based on a storage space corresponding to each wanted piece of luggage, and having the target robot perform the at least one task, wherein the storage space is a space for storing luggage in the logical zone.

[0008] Optionally, the step of determining each target robot to perform the at least one task based on the logical zone corresponding to each of the wanted luggage and the area attributes of each robot includes the steps of determining the logical zone corresponding to each of the wanted luggage as a target area, and determining each target robot to perform the at least one task from among the robots whose area attributes include the target area.

[0009] Optionally, the step of determining each target robot that will perform the at least one task from among the robots whose area attributes include the target area includes the step of acquiring the operating status of each robot whose area attribute includes the target area, and the step of determining each target robot that will perform the at least one task from among the robots whose area attributes include the target area and whose operating status is in a state where they can accept orders, based on the task amount of the at least one task and the task priority of the at least one task.

[0010] Optionally, the area attribute includes a first attribute, the first attribute is used to represent a logical zone to which the robot belongs throughout its life cycle, and the first attribute is an immutable attribute, and the step of determining each target robot that will perform the at least one task from among each robot whose area attribute includes the target area includes a step of obtaining an operating status of each first robot whose first attribute is the target area, and a step of determining each target robot that will perform the at least one task based on the operating status of each first robot and the task amount of the at least one task.

[0011] Optionally, the area attribute further includes a second attribute, the second attribute being used to represent one or more logical zones to which the robot belongs, the second attribute being a changeable attribute, and the step of determining each target robot to perform the at least one task based on the operation state of each of the first robots and the task volume of the at least one task includes the steps of determining, based on the task volume of the at least one task, whether a first total order acceptance volume of each first robot whose operation state is in an order acceptance state is smaller than the task volume of the at least one task; and if smaller, determining the first total order acceptance volume of each first robot to be the smallest. and determining, if the task priority is higher than a predetermined priority, each first robot whose operating state is in a state where it can accept an order as a first target robot and acquiring the operating state of each second robot whose second attribute includes the target area. The method includes determining, based on the task volume of the at least one task and a first total order volume, at least one second robot whose operating state is in a state where it can accept an order as a second target robot, and having each of the first target robot and the second target robot perform the at least one task.

[0012] Optionally, the area attribute further includes a third attribute, which is used to represent a zone that the robot can span during the operating period of one stroke, and when the second total order acceptance volume of each of the first target robot and the second target robot is smaller than the task volume of the at least one target task, the method further includes the steps of obtaining the operating status of each third robot whose third attribute includes the target area, and determining at least one third target robot from among the third robots whose operating status is in a state where they can accept orders based on the second total order acceptance volume and the task volume, and having each of the first target robot, the second target robot, and the third target robot perform the at least one task.

[0013] Optionally, the logical zone includes a first zone attribute, which is used to represent a predetermined number of robots allowed to work in the logical zone at the same time, and the method further includes the steps of obtaining the number of tasks of robots working in each logical zone corresponding to wanted cargo; for each logical zone corresponding to wanted cargo, if the sum of the total number of target robots corresponding to the logical zone and the number of tasks exceeds a predetermined number corresponding to the first zone attribute of the logical zone, determining from the target robots a number of first-class robots whose sum with the number of tasks equals the predetermined number, and second-class robots which are the remaining target robots excluding the first-class robots; controlling the first-class robots to perform corresponding tasks that need to be performed; and, when it is detected that the first number of robots in the logical zone have left the logical zone, controlling the first number of the second-class robots to move to the logical zone and perform the corresponding tasks that need to be performed.

[0014] Optionally, the method further includes a step of dividing each physical area of ​​the warehouse based on the location of the storage space of each of the wanted packages corresponding to the at least one task to determine each logical zone of the warehouse system, and a step of setting area attributes of each robot based on each logical zone.

[0015] Optionally, the step of determining the tasks to be performed for each of the target robots based on the storage spaces corresponding to each of the wanted luggage includes a step of determining the tasks to be performed for each of the target robots based on the aisle to which the storage spaces corresponding to each of the wanted luggage belong, so that the number of aisles corresponding to the wanted luggage that are crossed in the tasks to be performed for each of the target robots is less than a predetermined value.

[0016] Optionally, before the step of determining each wanted piece of luggage corresponding to at least one task, the method further includes the steps of receiving an order, determining at least one task based on the order, and determining one or more target consoles based on the task requirements of the at least one task, logical zones corresponding to each console, and luggage storage status of each logical zone, wherein the zones corresponding to the one or more target consoles store luggage that meets the task requirements of the at least one task.

[0017] Correspondingly, the step of determining each wanted item corresponding to at least one task includes the step of determining each wanted item of the at least one task in a logical zone corresponding to the target console based on the task requirements of the at least one task.

[0018] In a second aspect, a task allocation device further provided in an embodiment of the present application is applied to a warehouse system, wherein a warehouse of the warehouse system includes a plurality of logical zones, each logical zone including one or more physical areas, and the device includes: a luggage determination module for determining each wanted luggage corresponding to at least one task; a robot determination module for determining each target robot based on the logical zone corresponding to each wanted luggage and an area attribute of each robot, the area attribute being used to represent the logical zone corresponding to the robot; and a task determination module for determining a task to be performed for each target robot based on a storage space corresponding to each wanted luggage, and for causing the target robot to perform the at least one task, wherein the storage space is a space for storing luggage in the logical zone.

[0019] In a third aspect, the present embodiment further provides a task allocation device including 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 task allocation method provided in any embodiment corresponding to the first aspect of the present application.

[0020] As a fourth aspect, a warehouse system is further provided in an embodiment of the present application, which includes a robot, a warehouse including a plurality of logical zones, and a task allocation device provided in an embodiment corresponding to the third aspect of the present application.

[0021] In a fifth aspect, the present application further provides a computer-readable storage medium having computer-executable instructions stored therein, which, when executed by a processor, realizes the task allocation method provided in any embodiment corresponding to the first aspect of the present application.

[0022] In a sixth aspect, the present application further provides a computer program product, which includes a computer program, which, when executed by a processor, implements the task allocation method provided in any embodiment corresponding to the first aspect of the present application.

[0023] The task allocation method, device, equipment, warehouse system, and storage medium provided in the present application are intended for a warehouse system including multiple logical zones. The logical zones can include one or more physical zones, and the warehouse of the warehouse system can be divided into multiple flexible areas using the logical zone approach. Therefore, when at least one task needs to be processed, the system first determines the wanted packages corresponding to the at least one task, assigns the at least one task to a robot based on the logical zone corresponding to each wanted package and the area attributes of each robot, and has the corresponding robot execute the assigned task to complete the at least one task. Setting area attributes for the robots in advance and assigning robots to tasks based on the area attributes and the logical zone corresponding to the package corresponding to the task increases the flexibility of task allocation. At the same time, matching area attributes with logical zones effectively reduces the robot's travel distance, thereby avoiding, for example, the robot performing tasks across logical areas, thereby improving task processing efficiency. [Brief explanation of the drawings]

[0024] The following drawings, which are incorporated in and constitute a part of this specification, illustrate preferred embodiments of the present application and, together with the description, serve to explain the principles of the present application.

[0025] [Figure 1] FIG. 1 is a diagram illustrating an application scenario of the task allocation method provided in the embodiment of the present application. [Figure 2] FIG. 2 is a flowchart of a task allocation method provided in one embodiment of the present application. [Figure 3] FIG. 3 is a schematic diagram of the logical zone situation of a warehouse provided in one embodiment of the present application. [Figure 4] FIG. 4 is a schematic diagram of a warehouse logical zone situation provided in another embodiment of the present application. [Figure 5] FIG. 5 is a flowchart of a task allocation method provided in another embodiment of the present application. [Figure 6]FIG. 6 is a flowchart of a task allocation method provided in another embodiment of the present application. [Figure 7] FIG. 7 is a schematic diagram of logical zoning in the embodiment shown in FIG. 6 of the present application. [Figure 8] FIG. 8 is a flowchart of a task allocation method provided in another embodiment of the present application. [Figure 9] FIG. 9 is a flowchart of a task allocation method provided in another embodiment of the present application. [Figure 10] FIG. 10 is a flowchart of step S904 in the embodiment shown in FIG. 9 of the present application. [Figure 11] FIG. 11 is a flowchart of a task allocation method provided in another embodiment of the present application. [Figure 12] FIG. 12 is a structural diagram of a task allocation device provided in one embodiment of the present application. [Figure 13] FIG. 13 is a structural schematic diagram of a task allocation device provided in one embodiment of the present application. [Figure 14] FIG. 14 is a structural schematic diagram of a warehouse system provided in one embodiment of the present application.

[0026] While the above drawings illustrate clear examples of the present invention, the following description is more detailed. These drawings and written description are not intended to limit the scope of the present invention in any way, but rather to explain the concept to those skilled in the art by reference to specific examples. DETAILED DESCRIPTION OF THE INVENTION

[0027] 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 all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application as set forth in the claims.

[0028] The following specific examples will be used to describe in detail the technical scheme of the present application and how it 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 described in detail in conjunction with the drawings.

[0029] The application scenarios of the present embodiment will be described below.

[0030] FIG. 1 illustrates an application scenario of the task allocation method provided in the present embodiment. As shown in FIG. 1, the task allocation method provided in the present embodiment is executed by a task allocation device. The task allocation device is a scheduling device for a warehouse system and may take the form of a computer or a server. As warehouse storage volume gradually increases, the warehouse footprint of a warehouse system 100 also increases. To facilitate management, the warehouse is divided into multiple physical areas 110 for zone management. One or more robots 120 are assigned to each physical area 110 to transport items in that physical area 110. FIG. 1 illustrates an example in which there are three physical areas 110, each of which is assigned to one robot 120. When the scheduling device 130 of the warehouse system 100 receives an order, such as a shipping order or a picking order, if the order has a large task volume, the scheduling device 130 divides the order into multiple tasks and assigns a robot to each task corresponding to the order. When assigning a task, the task assignment is based on the physical area 110 corresponding to the robot 120, and the cargo for the task corresponding to each physical area 110 must be transported by the robot 120 corresponding to that physical area 110 to carry out the order.

[0031] The above task allocation method is limited by the physical area 110, and therefore has low flexibility in task allocation. If most of the cargo corresponding to a task is stored in a single physical area 110, and all of the robots 120 in that physical area 110 are being used for other tasks, or if there are only a few robots 120 available for the task, the time required to complete the task will be long, resulting in a decrease in task processing efficiency.

[0032] To increase the flexibility of task allocation and the efficiency of task processing, the main concept of the task allocation method provided in this embodiment is as follows: By zoning the warehouse of the warehouse system using a logical zone method, zoning can be performed as needed, increasing the flexibility of zoning. In addition, area attributes are set for each robot in advance to indicate one or more logical zones corresponding to that robot. After determining each wanted item corresponding to a task, one or more robots with matching area attributes are assigned to the task based on the logical zone corresponding to each wanted item and the area attributes of each robot. The two elements of logical zones and area attributes increase the flexibility of task allocation and improve the efficiency of task processing.

[0033] FIG. 2 is a flowchart of a task allocation method provided in one embodiment of the present application. As shown in FIG. 2, the task allocation method is applied to a warehouse system. A warehouse in the warehouse system includes multiple logical zones, and each logical zone consists of one or more physical areas. The task allocation method is executed by a task allocation device. The task allocation method provided in this embodiment includes the following steps:

[0034] Step S201: Determine each ordered parcel corresponding to at least one task.

[0035] At least one task may be part or all of the tasks of an order received by the warehouse system. The order may be an outbound order or a picking order. In the case of an outbound order, each corresponding package must be transported from each warehouse location to the outside of the warehouse, for example, to a package delivery port. In the case of a picking order, some or all of the items stored in each corresponding package must be picked until the quantity of items corresponding to the order is met, and then each picked item must be packed and shipped. A wanted package is a package corresponding to the at least one task.

[0036] Specifically, first, one or more tasks are determined, and then each ordered item is determined based on the task requirements of the one or more tasks.

[0037] Furthermore, the dispatchable parcels are determined based on the items and quantities stored in each parcel stored in the warehouse system and the task requirement of the at least one task.

[0038] As an example, assume that packages 1 to 5 are placed in warehouse locations 1 to 5 in a warehouse system, that packages 1 to 5 store 2, 4, 5, 6, and 3 units of item A, respectively, and that the task request for at least one task is 10 units of item A. In this case, the dispatched packages are determined to be package 2 stored in location 2 and package 4 stored in location 4, or package 1 stored in location 1, package 3 stored in location 3, and package 5 stored in location 5.

[0039] Specifically, when each package is stored in the warehouse, the scheduling device of the warehouse system updates the stored storage record based on the items stored in the package, the item quantity, and the location where the package is stored, thereby determining each dispatched package that satisfies the task requirement based on the storage record and the task requirement of at least one task.

[0040] Furthermore, based on the corresponding target items in the task request of at least one task, each candidate baggage in which the target items are stored is screened, and each wanted baggage is determined based on the requested quantity of the target items in the task request of at least one task, the quantity of the target items in each candidate baggage, and the location of each candidate baggage, so that the total number of wanted bags determined is as small as possible and the locations of the wanted bags are as close as possible, thereby reducing the number of baggage pick-ups and travel distances of the robot and improving task processing efficiency.

[0041] For example, assume the following: The warehouse system includes two racks, rack H1 and rack H2, each with five rows and ten locations per row. The task requirement for at least one task is 100 pieces of clothing C. The warehouse system has five containers storing clothing C, named containers B1 to B5. The quantities of clothing C stored in containers B1 to B5 are 16, 50, 40, 45, and 15, respectively. Containers B1 to B5 are located at locations 22, 35, and 44 on rack H1, and locations 11 and 56 on rack H2, respectively. Note that the first digit of the location number indicates the row on which the location is located, and the second digit indicates the column on which the location is located; for example, location 22 indicates a location in the second column of the second row. In this case, by determining that the ordered cargo is containers B1 to B3, the containers are concentrated on rack H1, and the robot does not need to move to rack H1 and rack H2 separately when picking up cargo, thereby reducing the number of travel routes for the robot.

[0042] Step S202: Determine each target robot to perform the at least one task based on the logical zone corresponding to each of the wanted packages and the area attribute of each robot.

[0043] The area attribute is used to represent one or more logical zones corresponding to the robot.

[0044] The warehouse of the warehouse system of the present application is divided into areas using logical zones. In some embodiments, the logical zones are a type of variable zone, and the physical area corresponding to each logical zone can be changed based on, for example, the current inventory status or order requirements.

[0045] For example, Fig. 3 is a schematic diagram of the logical zone status of a warehouse provided in one embodiment of the present application, and Fig. 4 is a schematic diagram of the logical zone status of a warehouse provided in another embodiment of the present application. Both Fig. 3 and Fig. 4 correspond to the same warehouse. As can be seen from Fig. 3 and Fig. 4, the warehouse includes a total of eight physical areas W1 to W8. In Fig. 3, the warehouse is divided into three logical zones indicated by dotted lines, and in Fig. 4, warehouse 300 is divided into two logical zones indicated by dotted lines.

[0046] In some embodiments, when the total task amount of at least one task is small, the number of target robots may be one.

[0047] When matching robots to tasks in a warehouse system zoned using logical zones, i.e., when determining each target robot that will perform at least one task, the target robot that will perform at least one task is determined based on the logical zone in which each wanted item is located and the area attributes of each robot.

[0048] Specifically, a robot whose area attributes include a logical zone corresponding to at least one wanted item is determined as the target robot, and the target robot executes tasks corresponding to each wanted item in the logical zone in which the wanted item is located, which corresponds to the area attributes.

[0049] Optionally, the step of determining each target robot to perform the at least one task based on the logical zone corresponding to each of the wanted luggage and the area attributes of each robot includes the steps of determining the logical zone corresponding to each of the wanted luggage as a target area, and determining each target robot to perform the at least one task from among the robots whose area attributes include the target area.

[0050] An area attribute including a target area may be understood to mean that the area attribute includes at least one logical zone within the target area.

[0051] Specifically, the logical zones corresponding to each wanted package are aggregated to obtain one or more target areas.

[0052] Furthermore, at least one target with an area attribute area may be determined as candidate robots, and one or more target robots for executing at least one task may be determined from among the candidate robots.

[0053] Specifically, one or more target robots are selected from each candidate robot based on the logical zone corresponding to the area attribute of each candidate robot, the number of empty shelves in the temporary storage rack of each candidate robot, and the total quantity of wanted cargo.

[0054] Specifically, the area attributes of the robot are set in advance based on the status of the logical zone of the warehouse system.

[0055] As an example, consider a warehouse in a warehouse system that includes two logical zones: logical zone L1 and logical zone L2. An order received by the warehouse system is divided into multiple tasks. The currently required parcels corresponding to the tasks that need to be processed are five parcels in logical zone L1 and eight parcels in logical zone L2. The warehouse system includes five robots: robots R1 to R5. The robots whose area attribute includes logical zone L1 are robots R1 to R3, and the robots whose area attribute includes logical zone L2 are robots R3 to R5. Robot R3 can process the tasks corresponding to logical zones L1 and L2. Each of robots R1 to R5 has five temporary storage racks, and the available rack levels for robots R1 to R5, i.e., the number of rack levels available for storing parcels, are 3, 2, 4, 4, and 3. In the above scenario, when assigning robots to the current task, the target robots are robots R1 to R4. Robots R1 and R2 are used to process the five packages in logical zone L1, and robots R3 and R4 are used to process the eight packages in logical zone L2.

[0056] Step S203: Based on the storage space corresponding to each of the wanted packages, a task to be performed by each of the target robots is determined, and the target robot performs at least one of the tasks.

[0057] The storage space is the space on the racks in the warehouse where the ordered cargo is stored, and is also called a location.

[0058] Specifically, after determining each wanted item corresponding to at least one task, the system identifies the storage space or location corresponding to each wanted item based on the item ID of each wanted item. After obtaining the storage space corresponding to each wanted item, the system plans the tasks to be performed for each target robot based on the location of each storage space so that the storage spaces for the wanted items corresponding to the tasks to be performed by each target robot are concentrated as much as possible or the distance between the storage spaces for the wanted items is as short as possible. This reduces the route or distance traveled by the target robot when performing the corresponding task to be performed, improving task processing efficiency.

[0059] Furthermore, the task to be performed by each target robot is determined based on the current position of each target robot, the number of vacant shelves in the temporary storage rack, and the storage space for each ordered item.

[0060] In some embodiments, wanted packages may be stored in multiple logical zones, and in this case, when determining the tasks to be performed for each target robot, the logical zones included in the area attributes of the target robot are taken into consideration to determine the tasks to be performed for each target robot, so that the target robot processes one or more wanted packages stored in the logical zones included in its area attributes.

[0061] As an example, let us consider a warehouse system that includes five logical zones, L21 to L25. The logical zones associated with each wanted item are L22, L23, and L25. Logical zone L22 contains nine wanted items, logical zone L23 contains eight wanted items, and logical zone L25 contains three wanted items. The target robots are robots R21 to R28. Table 1 shows the correspondence between the area attributes of the target robots and their logical zones. The logical zones included in the area attributes of each target robot are shown in Table 1. The number of vacant shelves in the temporary storage racks of robots R21 to R28 are 2, 3, 2, 3, 3, 2, 4, and 5, respectively. In this case, the nine wanted items in logical zone L22 are processed by R21 to R24, the eight wanted items in logical zone L23 are processed by R25 to R27, and the three wanted items in logical zone L25 are processed by R28. The specific assignment of tasks to be performed by each target robot is based on the number of empty shelves in the temporary storage rack.

[0062] [Table 1]

[0063] The task allocation method provided in the present embodiment is targeted at a warehouse system including multiple logical zones, each of which includes one or more physical zones. The warehouse of the warehouse system is divided into multiple flexible areas using the logical zone approach. When at least one task needs to be processed, the system first identifies each wanted item corresponding to the at least one task, then assigns the at least one task to a robot based on the logical zone corresponding to each wanted item and the area attributes of each robot. The assigned task is then performed by the corresponding robot to complete the at least one task. By setting area attributes for the robot in advance and assigning the robot to a task based on the area attributes and the logical zone corresponding to the item corresponding to the task, the flexibility of task allocation is enhanced. At the same time, matching the area attributes with the logical zones effectively reduces the robot's travel distance, thereby, for example, preventing the robot from performing tasks across logical areas, thereby improving task processing efficiency.

[0064] Optionally, Figure 5 is a flowchart of a task allocation method provided in another embodiment of the present application, which is based on the embodiment shown in Figure 2, and adds the following steps before step S201, i.e., before determining each ordered shipment corresponding to at least one task:

[0065] Step S501: An order is received.

[0066] The order may be sent by a customer and retrieved via an order entry device, or retrieved by scanning a two-dimensional code on a customer order form with a portable electronic device. The order may be a shipping order or a picking order. In the case of a shipping order, the specified item is to be shipped. In the case of a picking order, the specified quantity of the specified item is to be shipped.

[0067] Step S502: Determine at least one task based on the order.

[0068] The sum of the task requirements of the at least one task matches the order requirement of the order.

[0069] Specifically, after receiving an order, the task allocation device or scheduling device performs information extraction on the order to obtain an order requirement of the order, and then determines one or more tasks based on the order requirement of the order.

[0070] Furthermore, if the order is a picking order, at least one task may be determined based on each item corresponding to the order. For example, the order may be divided based on the type, storage attribute, required quantity, etc. of each item to obtain each task.

[0071] For example, if an order is for shipping 100 pieces of clothing C5, 50 pieces of clothing C6, and 200 pairs of shoes X5, and the storage attributes of clothing C5 and clothing C6 are both the first attribute, and items with the same storage attribute may be stored together in one container, the order can be divided into two tasks: one task for shipping 100 pieces of clothing C5 and 50 pieces of clothing C6, and another task for shipping 200 pairs of shoes X5.

[0072] Step S503: Determine one or more target consoles based on the task requirements of the at least one task, the logical zones corresponding to each console, and the luggage storage status of each logical zone.

[0073] In the logical zone corresponding to the one or more target consoles, luggage that satisfies the task requirements of the at least one task is stored. The luggage storage status of the logical zone may include luggage stored in each location of the logical zone, and may further include items and their quantities stored in the luggage stored in each location.

[0074] In some embodiments, one console corresponds to one or more logical zones, and one logical zone corresponds to one or more consoles.

[0075] Specifically, after determining at least one task, it is necessary to determine a target console for processing the at least one task. If luggage that satisfies all task requirements of at least one task is stored in one or more logical zones corresponding to a certain console, the console is preferentially determined as the target console. That is, by preferentially selecting as the target console the console with the fewest number of consoles and whose luggage storage situation in the corresponding logical zone satisfies the task requirements of the at least one task, the number of target consoles can be reduced, thereby avoiding occupying too many consoles and affecting the processing of other tasks.

[0076] Correspondingly, step S201 specifically determines, according to the task requirements of the at least one task, each wanted item of the at least one task in a logical zone corresponding to the target console.

[0077] Specifically, after determining the target console, each ordered cargo is determined in the logical zone corresponding to the one or more target consoles based on the task request of the at least one task.

[0078] Furthermore, if the order is a picking order, i.e., the task is a picking task, each ordered item is determined based on the location in the logical zone corresponding to the target operation console where each item containing the item requested by the task is stored and the quantity of the item stored in each item, so that the locations of each ordered item are as close as possible and the total number of ordered items is as small as possible.

[0079] As an example, consider a warehouse in a warehouse system that includes three logical zones and two operation consoles. The task request for at least one task is the delivery of 120 pieces of clothing C31 and 100 pieces of clothing C32. The logical zones are L31 to L33, with logical zones L31 and L32 corresponding to operation console O31, and logical zone L33 corresponding to operation console O32. Logical zone L31 stores three packages containing 100 pieces of clothing C31, 50 pieces of clothing C32, and 36 pieces of clothing C31, respectively. Logical zone L32 stores two packages containing 67 pieces of clothing C31 and 86 pieces of clothing C32, respectively. Logical zone L33 stores one package containing 100 pieces of clothing C31 and 15 pieces of clothing C32. The quantities of clothing items C31 and C32 stored in logical zones L31 and L32, which are logical zones corresponding to operation console O31, satisfy the task requirements of the above task, so operation console O31 can be determined as the target operation console, and the wanted luggage can be the three luggage items stored in logical zone L31 and the luggage containing 86 pieces of clothing items C32 stored in logical zone L32.

[0080] Figure 6 is a flowchart of a task allocation method provided in another embodiment of the present application. The task allocation method provided in this embodiment is based on the embodiment shown in Figure 2, with steps S202 and S203 further subdivided, and with a step of dividing the logical zones and a step of setting the area attributes of the robot added after step S201. As shown in Figure 6, the task allocation method provided in this embodiment includes the following steps:

[0081] Step S601: Determine each ordered shipment corresponding to at least one task.

[0082] Specifically, if the task request of at least one task is a luggage request or a container request, i.e., if each luggage or container needs to be processed, each corresponding luggage or container in the task request is determined as each ordered luggage.

[0083] Specifically, if the task requirement of at least one task is an item requirement, each dispatched package that satisfies the task requirement is determined based on the storage status of the warehouse of the warehouse system. Typically, the item is placed in a package or a container, and the package or the container is placed in a corresponding storage space or location of the warehouse.

[0084] Step S602: Divide each physical area of ​​the warehouse according to the location of the storage space of each of the wanted packages corresponding to the at least one task, and determine each logical zone of the warehouse system.

[0085] Specifically, after determining each wanted item, the location or storage space of each wanted item is identified based on the item ID, and then each physical area of ​​the warehouse is divided into logical zones based on the location of the storage space or location of each wanted item, i.e., based on the distribution status of each wanted item. The item ID may be in the form of a two-dimensional code, barcode, serial number, etc., and is used to uniquely identify each item.

[0086] Furthermore, the principle for dividing each physical area based on the location of the storage space for each wanted item is to divide wanted items that are close to each other into the same logical zone or as few logical zones as possible.

[0087] For example, FIG. 7 is a schematic diagram of logical zone division in the embodiment shown in FIG. 6 of the present application. As shown in FIG. 7, the warehouse of the warehousing system includes five physical areas RW1 to RW5. Wanted packages are indicated by black squares, and the detailed distribution situation is as shown in FIG. 7, where each physical area of ​​the warehouse can be divided into three logical areas, RL1, RL2, and RL3. The specific division results are shown in FIG. 7.

[0088] Step S603: Based on each logical zone, the area attribute of each robot is set.

[0089] Specifically, the total number of robots that can be used to transport luggage in the warehouse system is fixed, and after obtaining each logical zone, area attributes can be set for each robot based on factors such as the occupied area of ​​each logical zone, its location, and the quantity of corresponding storage space or location.

[0090] In some embodiments, the area attributes may include non-changeable attributes and changeable attributes, and may include numeric setting type attributes and switch setting type attributes.

[0091] Specifically, the area attribute may include a first attribute that is unchangeable to indicate a logical area that the robot corresponds to throughout its life cycle, and may further include a second attribute that is changeable to indicate a designated logical area that corresponds to the robot. Both the first attribute and the second attribute are of a numeric setting type. The area attribute may further include a third attribute that is of a switch setting type to indicate whether the robot can cross logical zones during one operational period.

[0092] When assigning target robots to wanted packages corresponding to each logical zone, robots whose first attribute includes the logical zone are considered first, followed by robots whose second attribute includes the logical zone, and then robots whose third attribute can span logical zones. Target robots for logical zones corresponding to wanted packages are determined in the order of the first attribute, second attribute, and third attribute.

[0093] Step S604: The logical zone corresponding to each of the ordered packages is determined as the target area.

[0094] Specifically, the logical zones corresponding to each wanted package are aggregated to obtain one or more target areas.

[0095] For example, each target area may be determined using a traverse method. Specifically, first, a logical zone corresponding to the first wanted item is obtained, and that logical zone is determined as one of the target areas. Then, a logical zone corresponding to the second wanted item is obtained, and if that logical zone is different from any of the previously obtained logical zones, that logical zone is determined as one of the target areas. This process continues until all wanted items have been traversed.

[0096] Step S605: Obtain the operating status of each robot whose area attribute includes the target area.

[0097] The operating state includes an order-accepting state and an order-unaccepting state. In the order-accepting state, at least one level of the robot's temporary storage rack is empty and the order-accepting attribute is "acceptable." In the order-unaccepting state, the robot's order-accepting attribute is "unacceptable," or all levels of the temporary storage rack are occupied, for example, by packages for other tasks.

[0098] Specifically, the robot detects the storage status of each level of the temporary storage rack, and the operating status of the robot can be identified based on the order acceptance attributes of the robot and the storage status of each level of the temporary storage rack.

[0099] Step S606: Based on the task amount of the at least one task and the task priority of the at least one task, each target robot that will execute the at least one task is determined from among the robots whose area attributes include the target area and whose operating status is in an order-accepting state.

[0100] The task priority is determined based on the deadline of the order corresponding to the task or the deadline of the task itself, and the closer the deadline, the higher the task priority of the task.

[0101] Specifically, a division attribute of at least one task is determined based on the task amount and the task priority of the at least one task. The division attribute is used to indicate whether the at least one task is allowed to be executed by lot division. Execution by lot division means that the at least one task is divided into at least two lots, and after each target robot for the at least one task is determined, each target robot first executes the task of the first lot, and after the robot transports the task of the first lot to the corresponding operation console or target operation console, it executes the task of the second lot, and so on.

[0102] In some embodiments, the division attribute of a task having a task priority higher than a predetermined level may be set to prohibit execution by lot division.

[0103] Furthermore, the remaining execution time of at least one task may be identified based on the deadline of the at least one task, and the division attribute of the at least one task may be determined based on the remaining execution time and the task amount of the at least one task.

[0104] Specifically, based on the division attribute of the at least one task, target robots that will execute the at least one task are determined from among robots whose area attributes include the target area and whose operating status is in a state where they can accept orders.

[0105] Specifically, when the division attribute prohibits execution by lot division, based on the quantity of ordered cargo corresponding to each target area, each target robot that will execute the at least one task is determined from among each robot whose area attribute includes the target area and whose operating status is in a state where it can accept orders, and each determined target robot is made to transport each ordered cargo in one lot to the corresponding operation console.

[0106] Furthermore, when the division attribute indicates that execution is permitted by lot division, the remaining execution time of at least one task is determined based on the deadline of the at least one task, and at least one task is divided based on the remaining execution time and the task amount of the at least one task to obtain the task amount corresponding to each lot. Then, for each lot, one or more robots whose area attribute includes each target area corresponding to the lot and whose operating status is in an order-accepting state are determined as target robots corresponding to the lot based on each target area corresponding to the lot and each ordered cargo corresponding to each target area, and the task corresponding to the lot is processed by the target robot corresponding to the lot.

[0107] Step S607: Determine the tasks to be performed by each of the target robots based on the aisle to which the storage space corresponding to each of the requested luggage belongs, so that the number of aisles corresponding to the requested luggage that are crossed in the tasks to be performed by each of the target robots is less than a predetermined value.

[0108] The predetermined value may be 3, 5 or other values, and by setting the predetermined value, the robot will traverse fewer aisles when picking up each corresponding ordered baggage, thereby reducing the robot's travel distance and improving baggage handling efficiency.

[0109] Specifically, if one target robot crosses too many aisles during one operation period, i.e., the period during which it goes to pick up one or more corresponding wanted packages, the robot's travel distance will become long. Therefore, when assigning wanted packages to each target robot, the aisle to which the storage space or location where each wanted package is located belongs is taken into consideration, and wanted packages corresponding to the same aisle or as few aisles as possible are preferentially assigned to one target robot.

[0110] In this embodiment, after determining each wanted item for a task, the warehouse's physical zones are divided based on the location of each wanted item's storage space to obtain each logical zone. According to the above method, the logical zoning results vary depending on the task, enabling a dynamic zoning plan based on the task, increasing the zoning flexibility of the warehouse system. By assigning area attributes to each robot in the warehouse system based on the zoning status of the logical zones, the robot is assigned to a task based on the target area where the wanted item is located, the operating status of each robot whose area attribute includes the target area, the task volume, and the task priority. This matches the robot with the logical area corresponding to the task, thereby reducing the robot's travel distance when performing the task. Furthermore, by assigning a task to each robot based on the aisle to which the wanted item's storage space belongs, the robot is prevented from having to cross multiple aisles to pick up the wanted item corresponding to the task, further reducing the robot's travel distance and improving task processing efficiency.

[0111] Optionally, Figure 8 is a flowchart of a task allocation method provided in another embodiment of the present application. In this embodiment, a first zone attribute is set for each logical zone. The first zone attribute is used to represent the predetermined number of robots allowed to work in the logical zone at the same time. As shown in Figure 8, this embodiment is based on the task allocation method provided in any of the above embodiments. After determining the tasks to be performed by each target robot, the task allocation method further includes the following steps:

[0112] Step S801: The number of tasks performed by robots working in each logical zone corresponding to the ordered cargo is acquired.

[0113] Specifically, since the warehouse system may receive different orders within the same time period and may execute multiple orders simultaneously, there may be robots working in one or more logical zones corresponding to the at least one task before the at least one task is executed. Therefore, it is necessary to count the number of robots working in each logical zone corresponding to the at least one task, i.e., the number of tasks in each logical zone corresponding to the wanted cargo.

[0114] In some embodiments, the number of operations may be zero.

[0115] In some embodiments, step S801 may be performed after determining each wanted shipment that corresponds to at least one task.

[0116] Step S802: For each logical zone corresponding to wanted cargo, if the sum of the total number of target robots corresponding to the logical zone and the number of tasks is greater than a predetermined number corresponding to the first zone attribute of the logical zone, a first-class robot and a second-class robot are determined from among the target robots.

[0117] The sum of the number of the first class robots and the number of tasks is equal to the predetermined number, and the second class robots are the remaining target robots excluding the first class robots.

[0118] Specifically, if the sum of the number of robots working in a certain logical zone, i.e., the number of tasks, and the total number of target robots is greater than the maximum number of robots allowed to work in that logical zone, i.e., the above-mentioned predetermined number, it is necessary to group the target robots. In other words, the target robots are divided into first-class robots and second-class robots, and they are allowed to work simultaneously in the same logical zone. Number of robots It is necessary to avoid having too many, which makes collisions more likely to occur.

[0119] Step S803: Control the first type robot to execute the corresponding task to be executed.

[0120] Specifically, after dividing the target robots into groups, the first-class robots first execute the corresponding tasks that need to be executed.

[0121] Step S804: When it is detected that the first number of robots in the logical zone have left the logical zone, the first number of second-class robots are controlled to move to the logical zone and perform the corresponding tasks to be performed.

[0122] The first quantity is the number of robots that have left the detected logical zone, and may be the first type of robot or the robots currently performing the above-mentioned tasks, i.e., robots performing other tasks within the logical zone. The first quantity may be 1.

[0123] After controlling the first-class robot to execute the corresponding task to be executed, i.e., while the first-class robot is executing the corresponding task to be executed, the system detects in real time whether there are any robots in the logical zone that have left the logical zone, and if so, controls the same number of second-class robots as the robots that have left the logical zone to move into the logical zone and execute the corresponding task to be executed, thereby ensuring safety and improving task processing efficiency.

[0124] FIG. 9 is a flowchart of a task allocation method provided in another embodiment of the present application. In this embodiment, the area attribute of the robot includes a first attribute. The first attribute represents the logical zone to which the robot belongs throughout its life cycle, and the first attribute is an immutable attribute. The task allocation method provided in this embodiment is based on the embodiment shown in FIG. 2 and further subdivides step S202. As shown in FIG. 9, the task allocation method provided in this embodiment includes the following steps:

[0125] Step S901: Determine each ordered shipment corresponding to at least one task.

[0126] Step S902: The logical zone corresponding to each of the ordered packages is determined as the target area.

[0127] Step S903: The operating status of each first robot whose first attribute is the target area is acquired.

[0128] The first attribute can be set when the robot is initialized and cannot be changed after it is set. The first attribute is used to represent the logical zone to which the robot belongs from start to finish and typically covers only one logical zone. In some embodiments, the first attribute may correspond to multiple logical zones.

[0129] If the logical zone of the warehouse system changes, by retaining the ID of the old logical zone, each robot whose first attribute is the old logical zone can be associated with a new logical zone that uses the ID of the old logical zone.

[0130] Specifically, after determining each target area, the first attribute of the robot is screened based on the ID of the target area to obtain each first robot whose first attribute is at least one logical zone in the target area, and then the operating status of each first robot is obtained.

[0131] Step S904: Based on the operating state of each of the first robots and the task amount of the at least one task, each target robot that will execute the at least one task is determined.

[0132] Specifically, based on the operating status of each first robot, the order capacity of each first robot, i.e., the number of available shelves in the temporary storage rack, is identified, and based on the task capacity of the at least one task, the order capacity of each first robot, and the logical zone corresponding to the first attribute of each first robot, each target robot for executing the at least one task is determined.

[0133] Step S905: Based on the storage space corresponding to each of the wanted packages, a task to be performed by each of the target robots is determined, and the target robot performs at least one of the tasks.

[0134] The storage space is a space for storing luggage in a logical zone.

[0135] Specifically, after determining each target robot, for each target robot whose first attribute corresponds to the same logical zone, the tasks to be performed for each target robot are determined based on the storage space corresponding to each wanted item in that logical zone.

[0136] In this embodiment, a first attribute is set for each robot during initialization, thereby determining the corresponding logical zone for each robot throughout its life cycle, and when allocating tasks, the first attribute is given priority in determining the target robot, thereby achieving zone management and improving efficiency in package handling. Furthermore, when allocating wanted packages to each logical zone, the storage space for each wanted package is taken into consideration, and specific tasks to be performed by the target robot corresponding to that logical zone are allocated. This allows wanted packages to be processed by each target robot to be concentrated as much as possible, further reducing the routes that the robots must travel during work, thereby improving package handling efficiency.

[0137] Optionally, Figure 10 is a flowchart of step S904 in the embodiment shown in Figure 9 of the present application, in which the area attribute of the robot further includes a second attribute, which is used to represent one or more logical zones to which the robot belongs, and which is a changeable attribute. As shown in Figure 10, step S904 includes the following steps:

[0138] Step S9041: Based on the task volume of the at least one task, it is determined whether the first total order acceptance volume of each first robot whose operating state is in an order acceptance state is smaller than the task volume of the at least one task.

[0139] Specifically, the order acceptance capacity of each first robot is calculated to obtain a first total order acceptance capacity, and whether the first total order acceptance capacity is smaller than the task capacity of the at least one task is determined. If it is not smaller, target robots are selected from each first robot, and tasks to be performed for each target robot are determined based on the storage space corresponding to each wanted baggage, and the at least one task is performed.

[0140] Step S9042: If it is smaller, obtain the task priority of the at least one task.

[0141] Task priority is determined based on the priority or deadline of the order to which the task belongs, or based on the deadline of the task itself, with the closer the deadline, the higher the priority.

[0142] In some embodiments, the task priority includes five levels, for example, first priority to fifth priority.

[0143] Specifically, if the first total order volume is smaller than the task volume of at least one task, i.e., if each first robot cannot pick up each ordered item in one go, it is necessary to assign a target robot to the at least one task taking into account task priority.

[0144] Step S9043: If the task priority is higher than a predetermined priority, each first robot whose operating status is in a state where it can accept an order is determined to be the first target robot, and the operating status of each second robot whose second attribute includes the target area is obtained.

[0145] The predetermined priority may be a higher priority, for example, the third priority, etc. The second attribute is a changeable attribute, and in subsequent operations, the second attribute of the robot can be changed or updated depending on the operation status of each logical zone.

[0146] Specifically, the second attribute of the robot is used to set each logical zone in which the robot can work, and a range of values ​​of the second attribute of the robot can be used to represent a set of each logical zone in which the robot can work. The currently set value of the second attribute of the robot is used to represent one or more logical zones in which the robot can work at the moment.

[0147] For example, if the logical zones included in the second attribute of robot R91 are logical zone 91 to logical zone 95, the adjustment of the value of the second attribute indicates that robot R91 can perform any one or more tasks in logical zone 91 to logical zone 95, that is, the range of the value of the second attribute of robot R91 is logical zone 91 to logical zone 95, for example, 91 to 95. For example, if the second attributes of robot R91 are 93 and 95, it indicates that robot R91 can currently process orders corresponding to logical zone 93 and logical zone 95.

[0148] Specifically, when the task priority is high, i.e., when at least one task is urgent, first, each first robot whose operating status is in a state where it can accept orders is determined as a target robot, i.e., a first target robot, and at the same time, each second robot whose second attribute includes or corresponds to at least one logical zone in the target area is obtained, and the operating status of each second robot is obtained.

[0149] Step S9044: Based on the task volume of the at least one task and the first total order acceptance volume, at least one second robot whose operating state is in a state where it can accept orders is determined as a second target robot, and the at least one task is carried out by each of the first target robot and the second target robot.

[0150] The first target robot and the second target robot are both the target robots described above.

[0151] Specifically, based on a second total order acceptance volume remaining after subtracting the first total order acceptance volume from the task volume of at least one task, the order acceptance volume of each second robot that is in an order acceptance state, and the logical zone corresponding to the second attribute of each second robot, a second target robot is determined from among the second robots, and the at least one task is carried out by each of the first target robot and the second target robot.

[0152] By setting the second attribute of the robot, the area attribute of the robot can be increased, and at the same time, the flexibility of task allocation in the warehouse system can be improved.

[0153] Optionally, FIG. 11 is a flowchart of a task allocation method provided in another embodiment of the present application. In this embodiment, the area attribute of the robot further includes a third attribute. The third attribute is used to represent a logical zone that can be spanned during the operation period of one robot stroke. This embodiment is based on the embodiment shown in FIG. 10 and targets a situation in which the second total order acceptance volume of each of the first target robot and the second target robot is smaller than the task volume of at least one task. The second total order acceptance volume is the sum of the first total order acceptance volume and the order acceptance capacity of each of the second target robots. As shown in FIG. 11, when the second total order acceptance volume of each of the first target robot and the second target robot is smaller than the task volume of the at least one task, the task allocation method further includes the following steps:

[0154] Step S1101: Obtain the operating status of each third robot whose third attribute includes the target area.

[0155] The third attribute is one of the changeable attributes and is used to indicate whether the robot is allowed to cross multiple logical zones during a single work period, such as during baggage removal, and the logical zones that the robot is allowed to cross. The third attribute is a switch setting type; for example, a value of 0 indicates that crossing multiple zones is prohibited, and a value of 1 indicates that crossing multiple zones is allowed. When the third attribute is a switch setting type, the logical zones that the robot can cross can be determined based on the first and second attributes. The third attribute may also be a numeric setting type so that each logical zone that the robot can cross can be clearly indicated.

[0156] As an example, take a warehouse system that includes three logical zones, logical zones L001-L003. If the first attribute of robot R11 is L002, the second attribute is L003, and the third attribute is 0, it means that robot R11 can perform tasks corresponding to logical zone L002 or L003 in one work period, and if the third attribute of robot R11 is 1, it means that robot R11 can perform tasks corresponding to logical zones L002 and L003 in one work period.

[0157] Specifically, if the second total order capacity corresponding to each of the first target robot and the second target robot still cannot satisfy the task capacity of at least one task, the third attribute of the robot needs to be considered. Specifically, each third robot whose third attribute includes at least one logical zone corresponding to the target area is obtained, and the operating status of each third robot is obtained.

[0158] Step S1102: Based on the second total order acceptance volume and the task volume, at least one third target robot is determined from among the third robots whose operating status is in a state where they can accept orders, and the at least one task is carried out by each of the first target robot, second target robot, and third target robot.

[0159] The first target robot, the second target robot, and the third target robot are all the target robots described above.

[0160] Specifically, at least one third target robot is determined from among the third robots whose operating state is in a state where they can accept orders, based on the remaining task volume obtained by subtracting the second total order acceptance volume from the task volume of at least one task and the logical zone related to or including the third attribute of each third robot, and thereby the at least one task is carried out by each of the first target robot, the second target robot, and the third target robot.

[0161] By assigning a third attribute to a robot, the robot's area attributes are expanded and the warehouse system's task allocation flexibility is increased. Furthermore, the target robot is determined based on the order of the first attribute, the second attribute, and the third attribute, which increases the rationality and science of task allocation and improves the scheduling efficiency and cargo handling efficiency of the warehouse system.

[0162] 12 is a structural schematic diagram of a task allocation device provided in one embodiment of the present application. As shown in FIG. 12, the device is applied to a warehouse system, where the warehouse of the warehouse system includes multiple logical zones, and each logical zone includes one or more physical areas. The device includes a cargo determination module 1210, a robot determination module 1220, and a task determination module 1230.

[0163] The luggage determination module 1210 is used to determine each wanted luggage corresponding to at least one task. The robot determination module 1220 is used to determine each target robot based on a logical zone corresponding to each wanted luggage and an area attribute of each robot. The area attribute is used to represent a logical zone corresponding to the robot. The task determination module 1230 is used to determine a task to be performed by each target robot based on a storage space corresponding to each wanted luggage, and to have the target robot perform the at least one task. The storage space is a space for storing luggage in a logical zone.

[0164] Optionally, the robot determination module 1220 includes a target area determination unit for determining a logical zone corresponding to each of the wanted luggage as a target area, and a robot determination unit for determining each target robot that will perform the at least one task from among each robot whose area attribute includes the target area.

[0165] Optionally, the robot determination unit includes a robot state acquisition subunit for acquiring the operating state of each robot whose area attribute includes the target area, and a robot determination subunit for determining, based on the task amount of the at least one task and the task priority of the at least one task, each target robot to perform the at least one task from among each robot whose area attribute includes the target area and whose operating state is in an order-accepting state.

[0166] Optionally, the area attribute includes a first attribute, the first attribute is used to represent a logical zone to which the robot belongs throughout its life cycle, and the first attribute is an immutable attribute, and the robot determination unit includes a first state acquisition subunit for acquiring an operating state of each first robot whose first attribute is the target area, and a first robot determination subunit for determining each target robot that will perform the at least one task based on the operating state of each first robot and the task amount of the at least one task.

[0167] Optionally, the area attribute further includes a second attribute, which is used to represent one or more logical zones to which the robot belongs, and which is a changeable attribute. The first robot determination subunit specifically determines, based on the task volume of the at least one task, whether a first total order acceptance volume of each first robot whose operating state is in an order-accepting state is smaller than the task volume of the at least one task; if smaller, obtains the task priority of the at least one task; if the task priority is higher than a predetermined priority, determines each first robot whose operating state is in an order-accepting state as a first target robot; obtains the operating status of each second robot whose second attribute includes the target area; and, based on the task volume of the at least one task and the first total order acceptance volume, determines at least one second robot whose operating state is in an order-accepting state as a second target robot, so as to have each of the first target robots and the second target robots perform the at least one task.

[0168] Optionally, the area attribute further includes a third attribute, which is used to represent a logical zone that can be spanned during the operating period of one stroke of the robot, and when the second total order acceptance volume of each of the first target robot and the second target robot is smaller than the task volume of the at least one task, the robot determination unit further includes a third robot determination subunit that obtains the operating status of each third robot whose third attribute includes the target area, and determines at least one third target robot from among the third robots whose operating status is in a state where they can accept orders based on the second total order acceptance volume and the task volume, and causes each of the first target robot, the second target robot, and the third target robot to perform the at least one task.

[0169] Optionally, the logical zone includes a first zone attribute, which is used to represent a predetermined number of robots allowed to work in the logical zone at the same time, and the device further includes: a task number acquisition module for acquiring the number of tasks of robots working in each logical zone corresponding to wanted cargo; a robot classification module for, for each logical zone corresponding to wanted cargo, when the sum of the total number of target robots corresponding to the logical zone and the task number exceeds a predetermined number corresponding to the first zone attribute of the logical zone, determining from the target robots a number of first-class robots whose sum with the task number equals the predetermined number, and a number of second-class robots which are the remaining target robots excluding the first-class robots; a first-class robot control module for controlling the first-class robots to perform corresponding tasks to be performed; and a second-class robot control module for, when it is detected that a first number of robots in the logical zone have left the logical zone, controlling the first number of class second robots to move to the logical zone and perform corresponding tasks to be performed.

[0170] Optionally, the apparatus further includes a logical zoning module for dividing each physical area of ​​the warehouse based on the location of a storage space for each of the wanted packages corresponding to the at least one task, to determine each logical zone of the warehouse system, and an area attribute setting module for setting an area attribute of each robot based on each logical zone.

[0171] Optionally, the task determination module 1230 is specifically used to determine the tasks to be performed by each of the target robots based on the aisle to which the storage space corresponding to each of the wanted luggage belongs, so that the number of aisles crossed by the wanted luggage in the tasks to be performed by each of the target robots is less than a predetermined value.

[0172] Optionally, the device further includes a task division module for receiving an order and determining at least one task based on the order before determining each wanted luggage corresponding to at least one task, and an operation console determination module for determining one or more target operation consoles based on the task requirements of the at least one task, logical zones corresponding to each operation console, and luggage storage status of each logical zone, wherein luggage that meets the task requirements of the at least one task is stored in the logical zones corresponding to the target operation console, and the luggage determination module is specifically used to determine each wanted luggage of the at least one task in the logical zone corresponding to the target operation console based on the task requirements of the at least one task.

[0173] The task allocation device provided in the embodiments of the present application can implement the task allocation method provided in any of the embodiments of the present application, and has corresponding function modules for implementing the method, thereby achieving beneficial effects.

[0174] 13 is a structural diagram of a task allocation device provided in one embodiment of the present application. As shown in FIG. 13, the task allocation device includes a memory 1310, a processor 1320, and a computer program.

[0175] The computer program is stored in the memory 1310 and is configured to be executed by the processor 1320 to implement the task allocation method provided in any one of the embodiments corresponding to Figures 2, 5, 6, and 8 to 11 of the present application.

[0176] The memory 1310 and the processor 1320 are connected via a bus 1330 .

[0177] The relevant explanations can be understood by referring to the relevant descriptions and effects corresponding to the steps in Figures 2, 5, 6, and 8 to 11, and therefore will not be repeated here.

[0178] 14 is a structural schematic diagram of a warehouse system provided in one embodiment of the present application. As shown in FIG. 14, the warehouse system includes a warehouse including multiple logical zones 1410, a robot 1420, and a task allocation device 1430.

[0179] The task assignment device 1430 is the task assignment device provided in the embodiment shown in FIG. 13 of the present application. Each logical zone 1410 includes one or more physical areas and is used to store cargo. Physical areas are indicated by solid lines in Figure 14.

[0180] In some embodiments, the warehouse system further includes equipment such as platforms, unloaders, elevators, and conveyor lines.

[0181] A computer-readable storage medium provided in one embodiment of the present application stores a computer program, which is executed by a processor to realize a task allocation method provided in any one of the embodiments corresponding to Figures 2, 5, 6, and 8 to 11 of the present application.

[0182] 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.

[0183] The present application 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 task allocation 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 task allocation device to perform the task allocation method provided in each of the above embodiments.

[0184] It should be understood that the devices and methods disclosed in the embodiments provided herein may be realized in other forms. For example, the device embodiments described above are merely illustrative, and the division of modules described above is a division of a type of logical function. In actual implementation, other division methods may be used. 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.

[0185] 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.

[0186] Furthermore, each functional module in each embodiment of the present application may be integrated into one processing unit, each module may exist physically independent, or two or more modules may be integrated into one 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.

[0187] 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 described in each embodiment of the present application.

[0188] The processor may be a central processing unit (CPU), other general-purpose processor, digital signal processor (DSP), application specific integrated circuit (ASIC), 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 herein may be embodied and executed directly in a processor in hardware, or may be executed and implemented using a combination of hardware and software modules in a processor.

[0189] 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.

[0190] The bus is ISA (Industry Standard Architecture) bus, PCI (Peripheral Component Interconnect) Interconnect ) bus, or EISA (Extended Industry Standard Architecture) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For convenience of illustration, the buses in the drawings of this application are not limited to having only one bus or one type of bus.

[0191] 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.

[0192] 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.

[0193] 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 performed. The storage medium may include various media capable of storing program code, such as ROM, RAM, magnetic disk, optical disk, etc.

[0194] Finally, it should be noted that the above examples are used only to explain the technical scheme of the present application and are not intended to be limiting. Furthermore, although the present application 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 may be further modified or some or all of the technical features may be replaced with equivalents. 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 application.

Claims

1. A task allocation method applied to a warehouse system, wherein a warehouse of the warehouse system includes a plurality of robots and a plurality of logical zones, each robot having an area attribute set thereon to represent a logical zone in which the robot can perform a task, each logical zone including one or more physical areas and being a changeable zone, the method comprising: determining wanted shipments corresponding to at least one target task; determining each target robot to perform the at least one goal task based on a logical zone corresponding to the wanted cargo and an area attribute of the robot; determining a task to be performed by each of the target robots based on a storage space corresponding to the wanted baggage, and causing the target robots to perform the at least one task; The storage space is a space for storing luggage in the logical zone. Task assignment method.

2. determining each target robot to perform the at least one target task based on a logical zone corresponding to the wanted cargo and an area attribute of the robot, determining a logical zone corresponding to the wanted baggage as a target area; determining target robots that will perform the at least one target task from among the robots whose area attributes include the target area; The task allocation method of claim 1 .

3. The step of determining each target robot that will perform the at least one goal task from among each robot whose area attribute includes the goal area includes: acquiring an operating status of each robot whose area attribute includes the target area; and determining, based on the task amount of the at least one target task and the task priority of the at least one target task, target robots that execute the at least one target task from among the robots whose area attributes include the target area and whose operating states are in an order-accepting state. The task allocation method according to claim 2 .

4. the area attribute includes a first attribute, the first attribute is used to represent a logical zone to which the robot belongs throughout its life cycle, and the first attribute is an immutable attribute; The step of determining each target robot that will perform the at least one goal task from among each robot whose area attribute includes the goal area includes: acquiring an operating state of each first robot whose first attribute is the target area; determining each target robot that will execute the at least one goal task based on an operating state of each first robot and a task amount of the at least one goal task; The task allocation method according to claim 2 .

5. the area attribute further includes a second attribute, the second attribute being used to represent one or more logical zones to which the robot belongs, the second attribute being a changeable attribute; The step of determining each target robot that will execute the at least one target task based on the operating state of each first robot and the task amount of the at least one target task includes: determining whether a first total order acceptance volume of each first robot whose operating state is an order acceptance state is smaller than the task volume of the at least one target task based on the task volume of the at least one target task; If so, obtaining the task priority of the at least one target task; When the task priority is higher than a predetermined priority, determining each first robot whose operating state is in a state where it can accept an order as a first target robot, and acquiring the operating state of each second robot whose second attribute includes the target area; determining at least one second robot whose operating state is in a state where it can accept orders as a second target robot based on the task volume of the at least one target task and a first total order acceptance volume, and causing each of the first target robot and the second target robot to perform the at least one target task. The task allocation method according to claim 4 .

6. The area attribute further includes a third attribute, the third attribute being used to represent a logical zone that the robot can span in an operating period of one stroke, and when a second total order acceptance volume of each of the first target robot and the second target robot is smaller than the task volume of the at least one target task, the method further comprises: acquiring an operating state of each third robot whose third attribute includes the target area; determining at least one third target robot from among the third robots whose operating states are in a state where they can accept orders based on the second total order acceptance volume and the task volume, and causing each of the first target robot, the second target robot, and the third target robot to perform the at least one target task; The task allocation method of claim 5 .

7. The logical zone includes a first zone attribute, the first zone attribute being used to represent a predetermined number of robots allowed to work in the logical zone at the same time, and the method further comprises: obtaining the number of robots working within each logical zone corresponding to the wanted baggage; For each logical zone corresponding to wanted cargo, if the sum of the total number of target robots corresponding to the logical zone and the number of tasks is greater than a predetermined number corresponding to the first zone attribute of the logical zone, determining from among the target robots a number of first class robots whose sum with the number of tasks is equal to the predetermined number, and second class robots which are the remaining target robots excluding the first class robots; controlling the first type robot to execute the corresponding task to be executed; When detecting that a first number of robots in the logical zone have left the logical zone, the first number of second-class robots are controlled to move to the logical zone and execute corresponding tasks to be executed. The task allocation method according to any one of claims 1 to 6.

8. Dividing an area of ​​the warehouse based on the location of a storage space for the wanted package corresponding to the at least one target task to determine each logical zone of the warehouse system; and setting an area attribute of each robot based on each logical zone. The task allocation method according to any one of claims 1 to 6.

9. The step of determining a task to be performed by each of the target robots based on a storage space corresponding to the wanted baggage includes: determining a task to be performed by each of the target robots based on an aisle to which a storage space corresponding to the wanted baggage belongs, and making the number of aisles corresponding to the wanted baggage that are crossed in the task to be performed by each of the target robots smaller than a predetermined value; The task allocation method according to any one of claims 1 to 6.

10. a memory and at least one processor; The memory stores computer-executable instructions; The task allocation method according to any one of claims 1 to 6 is performed by the at least one processor by causing the at least one processor to execute computer-executable instructions stored in the memory. Task allocation equipment.

11. A task allocation method applied to a warehouse system, wherein a warehouse of the warehouse system includes a robot and a plurality of zones, the robot has an area attribute set to represent a zone in which the robot can perform a task, the method comprising: determining wanted shipments corresponding to at least one target task; determining each target robot to perform the at least one goal task based on a zone corresponding to the wanted cargo and an area attribute of the robot; determining a task to be performed by each of the target robots based on a storage space corresponding to the wanted baggage, and causing the target robots to perform the at least one task; The storage space is a space for storing luggage in a zone, The step of determining each target robot to perform the at least one target task based on the zone corresponding to the wanted cargo and the area attribute of the robot, determining a zone corresponding to the wanted baggage as a target area; determining target robots that will perform the at least one target task from among the robots whose area attributes include the target area; The step of determining each target robot that will perform the at least one goal task from among each robot whose area attribute includes the goal area includes: acquiring an operating status of each robot whose area attribute includes the target area; and determining, based on the task amount of the at least one target task and the task priority of the at least one target task, target robots that execute the at least one target task from among the robots whose area attributes include the target area and whose operating states are in an order-accepting state. Task assignment method.

12. A task allocation method applied to a warehouse system, wherein a warehouse of the warehouse system includes a robot and a plurality of zones, the robot has an area attribute set to represent a zone in which the robot can perform a task, the method comprising: determining wanted shipments corresponding to at least one target task; determining each target robot to perform the at least one goal task based on a zone corresponding to the wanted cargo and an area attribute of the robot; determining a task to be performed by each of the target robots based on a storage space corresponding to the wanted baggage, and causing the target robots to perform the at least one task; The storage space is a space for storing luggage in a zone, The step of determining each target robot to perform the at least one target task based on the zone corresponding to the wanted cargo and the area attribute of the robot, determining a zone corresponding to the wanted baggage as a target area; determining target robots that will perform the at least one target task from among the robots whose area attributes include the target area; the area attribute includes a first attribute, the first attribute is used to represent a zone to which the robot belongs throughout its life cycle, and the first attribute is an immutable attribute; The step of determining each target robot that will perform the at least one goal task from among each robot whose area attribute includes the goal area includes: acquiring an operating state of each first robot whose first attribute is the target area; determining each target robot that will execute the at least one goal task based on an operating state of each first robot and a task amount of the at least one goal task; Task assignment method.

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