Lane layout method and apparatus, electronic device, and storage medium

Abstract

Embodiments of the present application provide a lane layout method and apparatus, an electronic device, and a storage medium. The method comprises: obtaining region distribution information of a warehouse region to be laid out and a goods taking and placing rule; on the basis of the location of a storage region and the locations of obstacles, determining storage positions in the storage region and storage positions in an obstacle region which is located between two obstacles and does not belong to any storage region; for each obstacle region, according to a lane layout rule that matches the goods taking and placing rule, performing lane layout on a target adjacent storage position of the obstacle region and at least one storage position in the obstacle region, and obtaining a first type of laid out lanes. By using the method provided in the embodiments of the present application, the utilization rate of the storage space of a warehouse can be improved.

Description

Lane layout method, device, electronic device and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 25, 2023, with application number 202311242869.2 and invention name “A tunnel layout method, device, electronic device and storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of warehousing and logistics technology, and in particular to a lane layout method, device, electronic equipment and storage medium. Background Art

[0003] In the field of warehousing and logistics, warehouses often use dense storage to improve space utilization. Aisle storage is a type of dense storage layout. As shown in Figure 1, a warehouse area using aisle storage includes at least a storage area for goods and aisles for people or mobile robots to walk.

[0004] In the relevant aisle layout method, as shown in Figure 1, multiple storage locations can be set up in the storage area, and each row of adjacent storage locations is determined as an aisle. That is, each aisle is composed of multiple storage locations in a row, and people or mobile robots can enter and exit the aisle through the channel and pick up and place goods in the aisle according to the aisle entry and exit route.

[0005] However, warehouses often contain obstacles such as load-bearing columns, and some obstacles may be separated by obstruction zones. For example, in Figure 2, there is an obstruction zone a between obstacles 1 and 2. Therefore, applying existing aisle layout methods will render these obstruction zones unusable for storing goods, resulting in low warehouse storage space utilization. In other words, using existing aisle layout methods results in low space utilization in areas outside of aisles.

[0006] Summary of the Invention

[0007] The purpose of the embodiments of the present application is to provide a lane layout method, device, electronic device, and storage medium to improve the utilization rate of warehouse storage space. The specific technical solution is as follows:

[0008] In a first aspect, an embodiment of the present application provides a lane layout method, the method comprising:

[0009] Obtaining regional distribution information and cargo placement rules for the warehouse area to be laid out; wherein the regional distribution information includes: aisle locations, storage area locations, and obstacle locations;

[0010] Determining, based on the storage area position and the obstacle position, each storage location in the storage area and each storage location in an obstacle area between two obstacles and not belonging to any of the storage areas;

[0011] For each obstacle area, according to the lane layout rule that matches the cargo placement rule, a lane layout is performed for the target adjacent storage location of the obstacle area and at least one storage location in the obstacle area to obtain a first-category lane layout;

[0012] Among them, the target adjacent storage locations of each obstacle area include: in the adjacent storage area located on the designated side of the obstacle area, the storage locations adjacent to the obstacle area and arranged in the arrangement direction of the storage locations in the obstacle area; the shape of the first type of lane includes: at least one of a concave shape, an L shape and a U shape.

[0013] Optionally, in a specific implementation, for each obstacle area, performing a lane layout for the target adjacent storage location of the obstacle area and at least one storage location in the obstacle area according to a lane layout rule that matches the cargo pick-up and placement rule, to obtain the first type of lanes laid out, includes:

[0014] When the cargo placement rule is first-in-first-out, for each obstacle area, a lane layout is performed for the target adjacent storage location of the obstacle area and each storage location in the obstacle area according to the lane layout rule of the first type of shape, to obtain a first type of lane layout; wherein the first type of shape includes: a concave shape;

[0015] When the cargo retrieval rule is first-in-last-out, for each obstacle area, the target adjacent storage locations in the obstacle area and each storage location in the obstacle area are laid out according to the lane layout rules of the second type of shape to obtain the first type of lane layout; wherein the second type of shape includes: U-shape and / or L-shape.

[0016] Optionally, in a specific implementation, performing lane layout for the target adjacent storage location in the obstacle area and each storage location in the obstacle area according to the lane layout rule of the first type of shape to obtain the laid out first type of lanes includes:

[0017] Determine any storage location adjacent to the passage position among the target adjacent storage locations in the obstacle area as the target tunnel head;

[0018] Determine the storage location adjacent to the channel position, except for the target lane head, among the target adjacent storage locations as the target lane tail;

[0019] Among the target adjacent storage locations and the storage locations in the obstacle area, determine the target storage locations that connect the target lane head and the target lane tail and meet the cargo picking and placing rules to obtain the first type of concave lanes in the layout; wherein the target storage locations include at least one storage location in the obstacle area.

[0020] Optionally, in a specific implementation, performing lane layout for the target adjacent storage location in the obstacle area and each storage location in the obstacle area according to the lane layout rule of the second type of shape to obtain the laid out first type of lanes includes:

[0021] Determine any storage location adjacent to the passage position among the target adjacent storage locations in the obstacle area as the target tunnel head;

[0022] Determine any storage location among the storage locations in the obstacle area as the target lane end;

[0023] Among the target adjacent storage locations and the storage locations in the specified direction starting from the target lane tail in the obstacle area, determine the target storage locations that connect the target lane head and the target lane tail and meet the goods picking and placing rules, and obtain the U-shaped or L-shaped first-class lane laid out; wherein, the target storage locations include: all storage locations in the specified direction; the specified direction is: the direction from the target lane tail to the obstacle farthest from the target lane head in the obstacle area.

[0024] Optionally, in a specific implementation, determining any one of the storage locations in the obstacle area as the target lane end includes:

[0025] Determine, among the storage locations in the obstacle area, the storage location that is adjacent to the obstacle in the obstacle area and closest to the target lane head as the target lane tail; wherein the shape of the obtained first type lane is U-shaped;

[0026] or,

[0027] Among the storage locations in the obstacle area, the storage location that is adjacent to the obstacle in the obstacle area and farthest from the target lane head is determined as the target lane tail; wherein the shape of the obtained first type lane is L-shaped.

[0028] Optionally, in a specific implementation, determining, among the storage locations in the obstacle area, the storage location that is adjacent to the obstacle in the obstacle area and closest to the target lane head as the target lane tail, includes:

[0029] If the number of storage locations in the obstacle area is less than or equal to the specified number, then the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and closest to the target lane head is determined as the target lane tail;

[0030] The method further comprises:

[0031] If the number of storage locations in the obstacle area is greater than the specified number, then the storage locations in the obstacle area that are separated from the obstacle closest to the target tunnel head by a target number of storage locations are determined as the tail end of the target tunnel; wherein the target number is: the difference between the number of storage locations and the specified number, and the shape of the first type of tunnel obtained is U-shaped or L-shaped.

[0032] Optionally, in a specific implementation, the method further includes:

[0033] For each storage area, based on the cargo picking and placing rules and the channel positions, each storage location in the storage area that is not determined as a target storage location is divided into lanes to obtain the laid-out second-category lanes.

[0034] Optionally, in a specific implementation, the goods taking and placing rule is first-in-first-out;

[0035] For each storage area, based on the cargo placement rule and the channel position, each storage location in the storage area that is not determined as a target storage location is divided into lanes to obtain each second-type lane laid out, including:

[0036] For each storage area, if the target adjacent storage location exists in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations that does not include the target adjacent storage location is divided into the same lane, thereby obtaining the second-type lanes in the layout;

[0037] For each storage area, if the target adjacent storage location does not exist in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations is divided into the same lane to obtain the second-type lanes laid out.

[0038] Optionally, in a specific implementation, the goods taking and placing rule is first-in-last-out, and there is an idle storage space in the target adjacent storage space that is not divided into the target storage space;

[0039] For each storage area, based on the cargo placement rule and the channel position, each storage location in the storage area that is not determined as a target storage location is divided into lanes to obtain each second-type lane laid out, including:

[0040] For each storage area, if there is a target adjacent storage location in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; the vacant storage location and a group of storage locations adjacent to the vacant storage location are divided into the same L-shaped lane, and each group of storage locations that does not include the target adjacent storage location is divided into the same lane, thereby obtaining the second-type lanes in the layout;

[0041] For each storage area, if the target adjacent storage location does not exist in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations is divided into the same lane to obtain the second-type lanes laid out.

[0042] In a second aspect, an embodiment of the present application provides a lane layout device, the device comprising:

[0043] An information acquisition module is used to obtain regional distribution information of the warehouse area to be laid out and cargo pick-up and placement rules; wherein the regional distribution information includes: aisle location, storage area location and obstacle location;

[0044] a storage location determination module, configured to determine, based on the storage area location and the obstacle location, each storage location located in the storage area and each storage location in the obstacle area that is between two obstacles and does not belong to any of the storage areas;

[0045] A lane layout module is configured to perform a lane layout for each obstacle area and at least one storage location in the obstacle area according to a lane layout rule that matches the cargo placement and retrieval rule, thereby obtaining a first-category lane layout; wherein the target adjacent storage locations of each obstacle area include: storage locations in an adjacent storage area located on a designated side of the obstacle area, adjacent to the obstacle area and arranged in the same direction as the storage locations in the obstacle area; and the shape of the first-category lane includes: at least one of a concave shape, an L shape, and a U shape.

[0046] Optionally, in a specific implementation, the lane layout module includes:

[0047] A first layout submodule is configured to, when the cargo placement rule is first-in-first-out, perform a lane layout for each obstacle area according to a lane layout rule of a first type of shape, for the target adjacent storage location in the obstacle area and each storage location in the obstacle area, thereby obtaining a first type of lane layout; wherein the first type of shape includes a concave shape;

[0048] The second layout submodule is used to, when the cargo retrieval rule is first-in-last-out, for each obstacle area, perform a lane layout for the target adjacent storage locations in the obstacle area and the various storage locations in the obstacle area according to the lane layout rules of the second type of shape, to obtain the first type of lane layout; wherein the second type of shape includes: U-shape and / or L-shape.

[0049] Optionally, in a specific implementation, the first layout submodule is specifically configured to:

[0050] Determine any storage location adjacent to the passage position among the target adjacent storage locations in the obstacle area as the target tunnel head;

[0051] Determine the storage location adjacent to the channel position, except for the target lane head, among the target adjacent storage locations as the target lane tail;

[0052] Among the target adjacent storage locations and the storage locations in the obstacle area, determine the target storage locations that connect the target lane head and the target lane tail and meet the cargo picking and placing rules to obtain the first type of concave lanes in the layout; wherein the target storage locations include at least one storage location in the obstacle area.

[0053] Optionally, in a specific implementation, the second layout submodule includes:

[0054] a tunnel head determining unit, configured to determine any storage location adjacent to the passage position among target adjacent storage locations in the obstacle area as a target tunnel head;

[0055] a lane end determination unit, configured to determine any one of the storage locations in the obstacle area as a target lane end;

[0056] A lane determination unit is used to determine, among the target adjacent storage locations and the storage locations in the obstacle area in a specified direction starting from the target lane tail, the target storage locations that connect the target lane head and the target lane tail and meet the goods picking and placing rules, to obtain the U-shaped or L-shaped first-class lanes in the layout; wherein the target storage locations include: all storage locations in the specified direction; the specified direction is: the direction from the target lane tail to the obstacle farthest from the target lane head in the obstacle area.

[0057] Optionally, in a specific implementation, the lane end determination unit includes:

[0058] A first determining subunit is configured to determine, among the storage locations in the obstacle area, a storage location that is adjacent to the obstacle in the obstacle area and closest to the target lane head as a target lane tail; wherein the shape of the obtained first type of lane is U-shaped;

[0059] or,

[0060] The second determining subunit is used to determine the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and farthest from the target lane head as the target lane tail; wherein the shape of the obtained first type lane is L-shaped.

[0061] Optionally, in a specific implementation, the first determining subunit is specifically configured to:

[0062] If the number of storage locations in the obstacle area is less than or equal to the specified number, then the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and closest to the target lane head is determined as the target lane tail;

[0063] The device further comprises:

[0064] A lane end determination module is configured to determine, if the number of storage locations in the obstacle area is greater than a specified number, the storage location in the obstacle area that is separated from the obstacle closest to the target lane head by a target number of storage locations as the target lane end; wherein the target number is: the difference between the number of storage locations and the specified number, and the shape of the first type of lane obtained is U-shaped or L-shaped.

[0065] Optionally, in a specific implementation, the device further includes:

[0066] The lane division module is used to divide each storage area into lanes based on the cargo picking and placing rules and the channel positions, and obtain the second-type lanes in the layout.

[0067] Optionally, in a specific implementation, the goods taking and placing rule is first-in-first-out;

[0068] The lane division module is specifically used for:

[0069] For each storage area, if the target adjacent storage location exists in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations that does not include the target adjacent storage location is divided into the same lane, thereby obtaining the second-type lanes in the layout;

[0070] For each storage area, if the target adjacent storage location does not exist in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations is divided into the same lane to obtain the second-type lanes laid out.

[0071] Optionally, in a specific implementation, the goods taking and placing rule is first-in-last-out, and there is an idle storage space in the target adjacent storage space that is not divided into the target storage space;

[0072] The lane division module is specifically used for:

[0073] For each storage area, if there is a target adjacent storage location in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; the vacant storage location and a group of storage locations adjacent to the vacant storage location are divided into the same L-shaped lane, and each group of storage locations that does not include the target adjacent storage location is divided into the same lane, thereby obtaining the second-type lanes in the layout;

[0074] For each storage area, if the target adjacent storage location does not exist in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations is divided into the same lane to obtain the second-type lanes laid out.

[0075] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0076] Memory for storing computer programs;

[0077] The processor is configured to implement any of the above-mentioned lane layout methods when executing a program stored in the memory.

[0078] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements any of the above-mentioned lane layout methods.

[0079] In a fifth aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-described lane layout methods.

[0080] Beneficial effects of the embodiments of the present application:

[0081] As can be seen from the above, by applying the solution provided in the embodiment of the present application, when laying out the aisles in the warehouse area to be laid out, the storage locations in the obstacle area located between two obstacles and not belonging to any storage area can be determined, and then, the storage locations in the obstacle area can be arranged into the aisles using the storage locations in the storage area adjacent to the obstacle area. That is, in the above-mentioned warehouse area, the aisles including the storage locations in the obstacle area located between two obstacles and not belonging to any storage area can be laid out, so that the obstacle area can also be used to store goods, thereby improving the utilization rate of the warehouse storage space. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0083] FIG1 is a schematic diagram of the regional distribution of a warehouse area provided in an embodiment of the present application;

[0084] FIG2 is a schematic diagram of an obstacle area provided in an embodiment of the present application;

[0085] FIG3 is a schematic diagram of a flow chart of a lane layout method provided in an embodiment of the present application;

[0086] FIG4 is a schematic diagram of a lane layout provided in an embodiment of the present application;

[0087] FIG5( a ) is a schematic diagram of a first concave-shaped tunnel section provided in an embodiment of the present application;

[0088] FIG5( b ) is a schematic diagram of a second concave-shaped tunnel section provided in an embodiment of the present application;

[0089] FIG6( a ) is a schematic diagram of a U-shaped lane provided in an embodiment of the present application;

[0090] FIG6( b ) is a schematic diagram of an L-shaped lane provided in an embodiment of the present application;

[0091] FIG6( c ) is a schematic diagram of another lane layout provided in an embodiment of the present application;

[0092] FIG7 is a schematic structural diagram of a lane layout device provided in an embodiment of the present application;

[0093] FIG8 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0094] To make the objectives, technical solutions, and advantages of this application more clearly understood, the present application is further described below with reference to the accompanying drawings and examples. It is apparent that the described examples are only a portion of the embodiments of this application, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the examples in this application are intended to fall within the scope of protection of this application.

[0095] Existing aisle layout methods can set up multiple storage locations within a storage area, with each row of adjacent locations defined as an aisle. People or mobile robots can enter and exit the aisles through these aisles, retrieving and placing goods within them according to the aisle entry and exit routes. However, warehouses often contain obstacles such as load-bearing columns, and some obstacles may have obstruction zones between them. Applying existing aisle layout methods makes it impossible to store goods in these obstruction zones, resulting in low warehouse storage space utilization.

[0096] In order to solve the above problems, an embodiment of the present application provides a lane layout method.

[0097] Among them, this method can be applied to various scenarios that require lane layout, for example, the scenario of lane layout for warehouse areas with obstacles such as load-bearing columns. In addition, the execution subjects of the embodiments of the present application can be various electronic devices with data processing functions, such as mobile phones, laptops, desktop computers, etc., hereinafter referred to as electronic devices. In addition, the electronic device can be an independent electronic device, or it can be a device cluster composed of multiple electronic devices. Based on this, the embodiments of the present application do not limit the specific application scenarios and execution subjects of the method. That is to say, in the field of warehousing and logistics, when warehouse intensive storage is adopted, this method can be used to carry out lane layout of the warehouse, so as to realize the use of obstacle areas between obstacles in the warehouse for goods storage, thereby improving the utilization rate of warehouse storage space.

[0098] An embodiment of the present application provides a lane layout method, which may include the following steps:

[0099] Obtaining regional distribution information and cargo placement rules for the warehouse area to be laid out; wherein the regional distribution information includes: aisle locations, storage area locations, and obstacle locations;

[0100] Determining, based on the storage area position and the obstacle position, each storage location in the storage area and each storage location in an obstacle area between two obstacles and not belonging to any of the storage areas;

[0101] For each obstacle area, according to the lane layout rule that matches the cargo placement rule, a lane layout is performed for the target adjacent storage location of the obstacle area and at least one storage location in the obstacle area to obtain a first-category lane layout;

[0102] Among them, the target adjacent storage locations of each obstacle area include: in the adjacent storage area located on the designated side of the obstacle area, the storage locations adjacent to the obstacle area and arranged in the arrangement direction of the storage locations in the obstacle area; the shape of the first type of lane includes: at least one of a concave shape, an L shape and a U shape.

[0103] As can be seen from the above, by applying the solution provided in the embodiment of the present application, when laying out the aisles in the warehouse area to be laid out, the storage locations in the obstacle area located between two obstacles and not belonging to any storage area can be determined, and then, the storage locations in the obstacle area can be arranged into the aisles using the storage locations in the storage area adjacent to the obstacle area. That is, in the above-mentioned warehouse area, the aisles including the storage locations in the obstacle area located between two obstacles and not belonging to any storage area can be laid out, so that the obstacle area can also be used to store goods, thereby improving the utilization rate of the warehouse storage space.

[0104] Below, in conjunction with the accompanying drawings, a tunnel layout method provided in an embodiment of the present application is described in detail.

[0105] FIG3 is a flow chart of a lane layout method provided in an embodiment of the present application. As shown in FIG3 , the method may include the following steps S301 - S303 .

[0106] S301: Obtaining the regional distribution information and cargo picking and placing rules of the warehouse area to be laid out.

[0107] The area distribution information includes: channel location, storage area location and obstacle location.

[0108] The so-called warehouse area to be laid out is a warehouse area that needs to be laid out with lanes to implement lane-based storage and retrieval of goods. This warehouse area can be a warehouse area that has never had a lane layout, or a warehouse area that has had a lane layout but needs to be re-laid out due to reasons such as the previous lane layout being unreasonable. Both are reasonable.

[0109] When performing aisle layout for a warehouse area to be laid out, the area distribution information such as the aisle location, storage area location, and obstacle location of the warehouse area to be laid out, as well as the cargo picking and placing rules of the warehouse area to be laid out, can be obtained first.

[0110] Alternatively, those skilled in the art may annotate the warehouse area's floor plan with information such as the aisle locations, storage area locations, and obstacle locations. Furthermore, when performing lane layout for the warehouse area, the electronic device may obtain the floor plan with the annotated information and, based on the floor plan, determine the warehouse area's floor plan with information such as the aisle locations, storage area locations, and obstacle locations.

[0111] Optionally, an image acquisition device can be set up in the warehouse area to be laid out to capture scene images of the warehouse system to be laid out, so that the electronic device can obtain one or more scene images that can cover the entire area of ​​the warehouse area to be laid out, and perform area recognition on the scene image to determine areas such as the channel area, storage area, and obstacle area of ​​the warehouse area to be laid out. Then, based on the above recognition results, the area distribution information such as the channel position, storage area position, and obstacle position of the warehouse area to be laid out is determined.

[0112] Of course, the electronic device can also obtain the regional distribution information of the warehouse area to be arranged through other means. For example, the electronic device can obtain and display a plan view of the warehouse area to be arranged. Those skilled in the art can mark the regional distribution information such as the aisle location, storage area location, and obstacle location of the warehouse area to be arranged on the plan view displayed by the electronic device by touching the screen, clicking with a mouse, etc., so that the electronic device can obtain the regional distribution information obtained based on the above-mentioned human operation. This is all reasonable.

[0113] The cargo retrieval and placement rules can be first-in, first-out or first-in, last-out, and the cargo retrieval and placement rules are for the entire warehouse area to be laid out. That is, the cargo retrieval and placement rules for each lane in the warehouse area to be laid out are the same, either first-in, first-out or first-in, last-out. The cargo retrieval and placement rules for the warehouse area to be laid out can be determined by those skilled in the art based on actual application conditions, such as the frequency of entry and exit of the goods to be stored, the storage duration of the goods to be stored, etc., and are not specifically limited in the embodiments of this application.

[0114] When the goods retrieval rule is the first-in-first-out rule, for each lane, goods are usually placed in the lane in the order from the end of the lane to the beginning of the lane; and goods are taken out of the lane in the order from the end of the lane to the beginning of the lane.

[0115] For example, for the aisle consisting of storage location A, storage location B, storage location C, storage location D and storage location E shown in Figure 1, if the goods picking and placing rule is the first-in-first-out rule, the head of the aisle is storage location A, and the tail of the aisle is storage location E, then for this aisle, when storing goods, a person or a mobile robot enters the aisle from storage location A, first places the goods in storage location E, then places the goods in storage location D, storage location C and storage location B in sequence, and finally places the goods in storage location A; and when taking out goods, a person or a mobile robot enters the aisle from storage location E, first takes out the goods in storage location E, then takes out the goods in storage location D, storage location C and storage location B in sequence, and finally takes out the goods in storage location A.

[0116] When the goods retrieval rule is the first-in-last-out rule, for each lane, goods are usually placed in the lane in the order from the end of the lane to the beginning of the lane; and goods are taken out of the lane in the order from the beginning of the lane to the end of the lane.

[0117] For example, for the aisle consisting of storage location A, storage location B, storage location C, storage location D and storage location E shown in Figure 1, if the goods picking and placing rule is the first-in-last-out rule, the head of the aisle is storage location A, and the end of the aisle is storage location E, then for this aisle, when storing goods, a person or a mobile robot enters the aisle from storage location A, first places the goods in storage location E, then places the goods in storage location D, storage location C and storage location B in turn, and finally places the goods in storage location A; and when taking out goods, a person or a mobile robot still enters the aisle from storage location A, first takes out the goods in storage location A, then takes out the goods in storage location B, storage location C and storage location D in turn, and finally takes out the goods in storage location E.

[0118] To sum up, in this application, the so-called tunnel head is: in the process of storing goods in the tunnel, each time a person or mobile robot enters the tunnel from the passage, the first storage location that a person or mobile robot arrives at is also the last storage location used to store goods, that is, the tunnel head is adjacent to the passage; correspondingly, the so-called tunnel tail is: in the process of storing goods in the tunnel, the first storage location used to store goods, and when the goods picking and placing rule is first-in-first-out, the tunnel tail is adjacent to the passage, and when the goods picking and placing rule is first-in-last-out, the tunnel tail may be adjacent to the passage or not.

[0119] The so-called storage location being adjacent to the passage means that the storage location and the passage are connected, and a person or a mobile robot can directly enter the storage location adjacent to the passage through the passage without passing through other areas.

[0120] S302: Determine, based on the storage area location and the obstacle location, each storage location in the storage area and each storage location in the obstacle area that is between two obstacles and does not belong to any storage area.

[0121] After obtaining the area distribution information such as the aisle location, storage area location and obstacle location of the warehouse area to be laid out, the various storage locations located in the storage area can be determined based on the storage area location; further, the obstacle area location located between two obstacles and not belonging to any storage area can be determined based on the storage area location and the obstacle location, and the various storage locations in the obstacle area can be determined.

[0122] Usually, for the warehouse area to be laid out, the cargo information such as the type of goods and cargo size to be stored in the warehouse area can be known in advance. Then, based on the above cargo information, the storage requirements such as temperature, humidity, shelf type, etc. of the warehouse area, as well as the storage location information such as the size of each storage location in the warehouse area can be determined.

[0123] In this way, the storage area in the warehouse area to be laid out is a planned area specifically for setting up storage locations. Therefore, after obtaining the regional distribution information of the warehouse area to be laid out, the storage area in the warehouse area to be laid out can be directly determined based on the location of the storage area. Then, based on the storage location information such as the storage location size determined above, the storage area can be divided into storage locations to determine the various storage locations in the storage area.

[0124] In addition, for obstacles in the warehouse area to be laid out, the electronic device can determine two adjacent obstacles based on the obtained obstacle positions. The so-called two adjacent obstacles refer to two obstacles that are located in the same straight line and there are no other obstacles between them. Then, the area between the two adjacent obstacles is determined. Since the electronic device simultaneously obtains the storage area positions in the warehouse area to be laid out, for each two adjacent obstacles, the electronic device can determine whether the area between the two adjacent obstacles has an overlapping area with the storage area based on the above-mentioned storage area positions, and determine whether the area between the two adjacent obstacles has an overlapping area with the channel. If the area between the two adjacent obstacles does not have an overlapping area with all storage areas and channels, then the area between the two adjacent obstacles is the obstacle area.

[0125] That is to say, in this application, the so-called obstacle area is an area located between two obstacles, which does not belong to any storage area and does not belong to a passage.

[0126] For example, as shown in Figure 2, there is an obstacle area a between the longitudinally adjacent obstacles 1 and 2, the area between the laterally adjacent obstacles 1 and 3 belongs to the storage area, not the obstacle area, the area between the adjacent obstacles 3 and obstacles in the inclined direction belongs to the storage area, not the obstacle area, and the area between the longitudinally adjacent obstacles 2 and 4 belongs to the passage, not the obstacle area.

[0127] Taking the obstacle area shown in FIG2 as an example, it can be seen that for the obstacle area, due to the obstruction of the obstacles, a person or a mobile robot cannot directly enter the obstacle area through the passage without passing through the storage area.

[0128] Thus, in this application, with respect to obstacles in a warehouse area to be laid out, after obtaining the regional distribution information of the warehouse area to be laid out, the obstacle area can be first determined based on the regional distribution information. Furthermore, in order to utilize the determined obstacle area for goods storage to improve the utilization rate of the warehouse storage space, the obstacle area can be further divided into storage locations based on the determined storage location information such as the storage location size to determine the individual storage locations within the obstacle area.

[0129] Optionally, in a specific implementation, the length and width of the storage location are known, and then the storage locations located in the storage area and the obstacle area can be determined based on the length and width of the storage location, the storage area position and the obstacle area position.

[0130] For example, the length and width of the storage location can both be 1 meter. According to the location of the storage area, the storage area can be determined as a rectangular area with a length of 4 meters and a width of 3 meters. Then, 4 columns of storage locations can be set along the length of the storage area, and 3 rows of storage locations can be set along the width of the storage area, thereby determining 12 storage locations in the storage area.

[0131] For example, the length and width of the storage location can both be 1 meter. According to the position of the obstacle area, the obstacle area can be determined as a rectangular area with a length of 4 meters and a width of 1 meter. Then, 4 columns of storage locations can be set along the length of the obstacle area, and 1 row of storage locations can be set along the width of the obstacle area, thereby determining 4 storage locations in the storage area.

[0132] Optionally, when determining the storage locations in the storage area and the obstacle area, the storage locations in the obstacle area may be aligned with the storage locations in the storage area. That is, for each storage location in the obstacle area and the storage area, the horizontal coordinate or vertical coordinate of the center point of each two adjacent storage locations may be the same.

[0133] Optionally, in a specific implementation, the size information of the goods and the carrier information of the goods may be obtained, and the size of the storage space may be determined based on the size information of the goods and the carrier information of the goods.

[0134] Optionally, the size of the storage location may be larger than the size of the goods and the size of the mobile robot that transports the goods, so that the mobile robot can more conveniently take and place the goods from the storage location.

[0135] S303: For each obstacle area, according to the lane layout rule that matches the cargo picking and placing rule, a lane layout is performed for the target adjacent storage location of the obstacle area and at least one storage location in the obstacle area to obtain the first type of lanes.

[0136] Among them, the target adjacent storage locations of each obstacle area may include: in the adjacent storage area located on the designated side of the obstacle area, the various storage locations adjacent to the obstacle area and arranged according to the arrangement direction of the various storage locations in the obstacle area; the shape of the first type of lane may include: at least one of: concave, L-shaped and U-shaped.

[0137] In this application, the so-called lane layout refers to: determining, within each storage location in the storage area and obstacle area, a target lane head and a target lane tail belonging to the same lane, as well as a target storage location connecting the target lane head and the target lane tail, dividing the target lane head, target lane tail, and target storage location into storage locations within the same lane, and obtaining a lane that starts from the target lane head, passes through each of the target storage locations in sequence, and ends at the target lane tail. Each first-category lane in the layout includes a storage location located in the obstacle area.

[0138] Since storing goods in lanes requires a person or mobile robot to access the head of each lane through passages in the warehouse area, the head of the lane is typically a storage location adjacent to a lane in the warehouse area. When retrieving goods from a lane, a person or mobile robot must access the head or tail of each lane through passages in the warehouse area. Therefore, the tail of a lane may also be adjacent to a lane in the warehouse area. However, due to obstacles, there are typically no storage locations adjacent to a lane in the obstacle area. However, for each obstacle area, within the adjacent storage areas of the obstacle area, storage locations adjacent to the obstacle area and arranged in the same direction as the storage locations in the obstacle area typically have storage locations adjacent to a lane. Therefore, the storage locations in the obstacle area can be connected to the lane by utilizing the storage locations adjacent to the lane in the adjacent storage areas of the obstacle area, allowing a person or mobile robot to enter the obstacle area through the passage, thereby enabling the storage locations in the obstacle area to be arranged in the lane for retrieving and placing goods.

[0139] Generally, depending on the location of the obstacle area, there may be one or two adjacent storage areas in the obstacle area. Therefore, the designated side may be set first, thereby determining the target adjacent storage location in the adjacent storage area on the designated side of the obstacle area.

[0140] Therefore, after determining the storage areas and the storage locations in the obstacle areas, for each obstacle area, the storage locations in the adjacent storage area located on the designated side of the obstacle area, which are adjacent to the obstacle area and arranged in the arrangement direction of the storage locations in the obstacle area, can be determined as the target adjacent storage locations of the obstacle area.

[0141] For example, as shown in FIG4 , for the obstacle area in FIG4 , the adjacent storage area to the right of the obstacle area, that is, a column of storage locations adjacent to the obstacle area in storage area 2, can be determined as the target adjacent storage locations for the obstacle area. In other words, the leftmost column of storage locations in storage area 2 is determined as the target adjacent storage locations for the obstacle area.

[0142] Then, for each obstacle area, a lane layout can be performed based on the lane layout rules that match the cargo access rules. The target adjacent storage location in the obstacle area and at least one storage location in the obstacle area can be connected to the lane layout, thereby obtaining a first-class lane layout. In the first-class lane, the storage locations in the obstacle area can be connected to the lane through the target adjacent storage location in the obstacle area, allowing people or mobile robots to enter the obstacle area through the lane and the target adjacent storage location in the first-class lane.

[0143] That is to say, for the first type of alley, a person or a mobile robot can enter the above-mentioned target adjacent storage location through the channel, and then enter the storage location in the obstacle area from the above-mentioned target adjacent storage location; accordingly, after entering the storage location in the obstacle area, it can return to the above-mentioned adjacent target storage location from the storage location in the obstacle area, and enter the channel from the above-mentioned target adjacent storage location, thus leaving the above-mentioned first type of alley.

[0144] As can be seen above, for each obstacle area, the target adjacent storage locations in the obstacle area can be used to connect the passageway with the storage locations in the obstacle area, so that the storage in the obstacle area can be arranged in the aisle. However, according to the above-mentioned first-in-first-out and first-in-last-out rules for goods retrieval and placement, when arranging the aisles, it is necessary to consider the storage locations adjacent to the aisle among the target adjacent storage locations in the obstacle area. In other words, when arranging the aisles, it is necessary to consider not only different rules for goods retrieval and placement, but also the different requirements for whether the aisle head and aisle tail need to be adjacent to the aisle, but also the positional relationship between the target adjacent storage locations in the obstacle area and the aisle.

[0145] Based on this, in the present application, in the above step S303, for each obstacle area, the target adjacent storage location of the obstacle area and at least one storage location in the obstacle area are laid out in aisle according to the aisle layout rules that match the goods picking and placing rules. The essence of this is: for each obstacle area, the target adjacent storage location of the obstacle area and at least one storage location in the obstacle area are laid out in aisle according to the aisle layout rules that match the goods picking and placing rules based on the channel position of the warehouse area to be laid out.

[0146] The shape of the first type of lanes may include at least one of a concave shape, an L shape and a U shape.

[0147] For example, the lane composed of the various storage locations passed by the various arrows connecting the lane head 1 and the lane tail 1 in Figure 4 is a concave lane. As shown in Figures 5(a) and 5(b), the concave lane in Figure 4 can be composed of a first concave lane segment as shown in Figure 5(a) and a second concave lane segment as shown in Figure 5(b). For the concave lane in Figure 4 above, a person or a mobile robot can start from the lane head 1, follow the arrow direction, and pass through the obstacle area and each storage location in the leftmost column of storage locations in the storage area 2 (i.e., the target adjacent storage location) in turn, and move to the lane tail 1; correspondingly, a person or a mobile robot can start from the lane tail 1, follow the direction opposite to the arrow direction, and pass through the obstacle area and each storage location in the leftmost column of storage locations in the storage area 2 in turn, and move to the lane head 1.

[0148] For example, a U-shaped lane can be shown as FIG6(a). Among them, the lane composed of the various storage locations passed by the various arrows connecting the lane head 2 and the lane tail 2 in FIG6(a) is a U-shaped lane. Among them, for the U-shaped lane in FIG6(a) above, in the U-shaped lane, the various storage locations located in the same column as the lane tail 2 are storage locations in the obstacle area, and the various storage locations located in the same column as the lane head 2 are target adjacent storage locations. In this way, a person or a mobile robot can start from the lane head 2, and move to the lane tail 2 by passing through the target adjacent storage locations and the various storage locations in the obstacle area in sequence along the direction opposite to the direction of the arrow; correspondingly, a person or a mobile robot can start from the lane tail 2, and move to the lane head 2 by passing through the various storage locations in the target adjacent storage locations in the obstacle area in sequence along the direction of the arrow.

[0149] For example, an L-shaped lane can be shown in Figure 6(b). The lane composed of the various storage locations passed by the arrows connecting the lane head 3 and the lane tail 3 in Figure 6(b) is the L-shaped lane. For the L-shaped lane in Figure 6(b) above, in the L-shaped lane, the lane tail 3 is a storage location in the obstacle area, and the storage locations in the same column as the lane head 3 are target adjacent storage locations. In this way, a person or a mobile robot can start from the lane head 3, and move to the lane tail 3 by passing through the target adjacent storage locations and the storage locations in the obstacle area in sequence along the direction opposite to the arrow direction; correspondingly, a person or a mobile robot can start from the lane tail 3, and move to the lane head 3 by passing through the obstacle area and the storage locations in the target adjacent storage locations in sequence along the arrow direction.

[0150] In summary, in the above step S303, performing lane layout on the target adjacent storage location of the obstacle area and at least one storage location in the obstacle area is: performing lane layout on at least one storage location among the target adjacent storage locations of the obstacle area and at least one storage location in the obstacle area.

[0151] That is, for each obstacle area, the first-class lanes generated by the layout include: at least one storage location among the target adjacent storage locations of the obstacle area and at least one storage location in the obstacle area. For each obstacle area, the first-class lanes generated by the layout may include all storage locations in the obstacle area, or only some of the storage locations in the obstacle area.

[0152] Furthermore, Figures 4, 6(a), and 6(b) show that when the first-category lane is concave, both the lane head and lane tail can be adjacent to the passageway; when the first-category lane is L-shaped or U-shaped, the lane tail does not need to be adjacent to the passageway. However, the first-in-first-out (FIFO) cargo access and placement rule requires that both the lane head and lane tail of each lane be adjacent to the passageway, while the first-in-last-out (FIFO) cargo access and placement rule requires that both the lane head and lane tail of each lane be adjacent to the passageway. Therefore, considering that different cargo access and placement rules have different requirements for whether the lane head and lane tail of a lane are adjacent to the passageway, different lane shapes can be selected for the lane layout of the first-category lane according to different cargo access and placement rules.

[0153] Among them, for the first-in-first-out cargo picking and placing rule, concave lanes are selected for the first-category lane layout; and for the first-in-last-out cargo picking and placing rule, U-shaped and / or L-shaped lanes are selected for the first-category lane layout.

[0154] Optionally, in a specific implementation, the above step S303 may include the following steps 11-12.

[0155] Step 11: When the goods retrieval rule is first-in-first-out, for each obstacle area, according to the lane layout rule of the first type of shape, the target adjacent storage location of the obstacle area and each storage location in the obstacle area are laid out to obtain the laid out first type of lanes.

[0156] Among them, the first type of shapes includes: concave shapes.

[0157] In this specific implementation, when the first-in, first-out (FIFO) rule is used for retrieval and placement of goods, it is generally required that goods be removed from the lanes in the order in which they were placed. Furthermore, for each lane, when placing goods in that lane, it is generally necessary to pass through the passageway to the lane head, then enter the lane from the lane head, and place goods in the lane in the order from the lane tail to the lane head. When removing goods from the lane, it is generally necessary to pass through the passageway to the lane tail, then enter the lane from the lane tail, and remove goods in the order from the lane tail to the lane head. Therefore, when the first-in, first-out (FIFO) rule is used for retrieval and placement of goods, it is generally required that the two storage locations at the lane head and lane tail of each lane are adjacent to the passageway.

[0158] As shown in Figures 4, 6(a), and 6(b), when the first-category lane is concave, both the lane head and lane tail can be adjacent to the passageway. When the first-category lane is L-shaped or U-shaped, the lane tail does not need to be adjacent to the passageway. Thus, when the cargo access rule is first-in, first-out, for each obstacle area, the lane layout can be performed for the target adjacent storage locations in the obstacle area and for each storage location within the obstacle area according to the concave lane layout rule, resulting in the first-category lane layout.

[0159] That is to say, the first-in-first-out rule for picking and placing goods requires that the head and tail of each lane are adjacent to the passage. The head and tail of the concave lane can be the storage locations adjacent to the passage in the storage area respectively. Therefore, in order to meet the requirements of the above-mentioned first-in-first-out rule for picking and placing goods, when laying out the lanes, the lane shape adopted is concave, and the head and tail of the concave lanes are the storage locations adjacent to the passage in the target adjacent storage locations in the obstacle area respectively.

[0160] Optionally, in a specific implementation, in the above step 11, according to the tunnel layout rules of the first type of shape, the target adjacent storage locations in the obstacle area and the various storage locations in the obstacle area are laid out to obtain the laid out first type of tunnels, which may include the following steps 21-23.

[0161] Step 21: Determine any storage location adjacent to the channel position among the target adjacent storage locations in the obstacle area as the target tunnel head.

[0162] Step 22: Determine the storage location adjacent to the channel position, except the target lane head, as the target lane tail.

[0163] Step 23: Among the target adjacent storage locations and the storage locations in the obstacle area, determine the target storage locations that connect the target lane head and the target lane tail and meet the cargo picking and placing rules, and obtain the first type of concave lanes in the layout.

[0164] The target storage locations include at least one storage location in the obstacle area.

[0165] In this specific implementation, when the goods placement rule is first-in-first-out, the lane layout is performed for each obstacle area according to the concave lane layout rule to obtain the first type of concave lane.

[0166] Among them, for each obstacle area, when the target adjacent storage locations of the obstacle area and the various storage locations in the obstacle area are laid out in accordance with the lane layout rules of the first type of shape, any storage location adjacent to the channel position among the target adjacent storage locations of the obstacle area can be first determined as the target lane head; then, the storage locations adjacent to the channel position other than the target lane head among the target adjacent storage locations can be determined as the target lane tail; finally, the target storage locations that connect the target lane head and the target lane tail and meet the cargo picking and placing rules can be determined among the target adjacent storage locations and the various storage locations in the obstacle area to obtain the first type of concave-shaped lane that is laid out.

[0167] That is, for each obstacle area, first determine the target adjacent storage locations in that obstacle area that are adjacent to the passageway. Then, select one of these adjacent storage locations as the target laneway head, and select one of the remaining adjacent storage locations as the target laneway tail. Considering that there are usually two adjacent storage locations in the target adjacent storage locations of an obstacle area, these two adjacent storage locations can be used as the target laneway head and target laneway tail, respectively. The target laneway head and target laneway tail belong to the same first-class lane in the layout.

[0168] For each obstacle area, after determining the above-mentioned target tunnel head and target tunnel tail, the storage location adjacent to the target tunnel head can be first selected from each storage location in the obstacle area and the target adjacent storage locations other than the above-mentioned target tunnel head and target tunnel tail as the first target storage location; then, starting from the first target storage location, the target storage location adjacent to the previous target storage location is selected from each storage location that has not been selected in the obstacle area and the target adjacent storage locations, until the last target storage location adjacent to the target tunnel tail is selected, so that the above-mentioned target tunnel head, each selected target storage location and the target tunnel tail constitute the first type of concave-shaped tunnel in the layout.

[0169] In the above lane layout process, two adjacent storage locations are located in the same row or column.

[0170] For example, as shown in FIG4 , after determining that the leftmost column of storage locations in storage area 2 is the target adjacent storage location in the obstacle area, the top storage location in the target adjacent storage locations can be used as the target lane head, that is, lane head 1 can be used as the target lane head, and the bottom storage location in the target adjacent storage locations can be used as the target lane tail, that is, lane tail 1 can be used as the target lane tail. Afterwards, first, among the target adjacent storage locations, the adjacent storage location below lane head 1 is selected as the first target storage location; then, in the obstacle area, the adjacent storage location to the left of the first target storage location is selected as the second target storage location; then, in the obstacle area, the adjacent storage location below the second target storage location is selected as the third target adjacent storage location. In this way, selection is carried out in sequence until the adjacent storage location above lane tail 1 in the target adjacent storage locations is selected as the last target storage location. Then, lane head 1, the 13 selected target storage locations, and lane tail 1 constitute the first type of concave-shaped lanes in the layout.

[0171] Optionally, the channels in the warehouse area to be laid out may include channels for placing goods and channels for taking out goods, and when the goods placement rule is the first-in-first-out rule, for each lane, when placing goods in the lane, it is usually necessary to pass through the channel for placing goods to reach the lane head, and then enter the lane from the lane head, and place the goods in the lane in the order from the lane tail to the lane head; when taking out goods in the lane, it is usually necessary to pass through the channel for taking out goods to reach the lane tail, and then enter the lane from the lane tail, and take out the goods in the lane in the order from the lane tail to the lane head.

[0172] In this way, when the cargo retrieval rule is the first-in-first-out rule, and the above-mentioned channels include channels for placing cargo and channels for taking out cargo, for each obstacle area, when determining the target aisle head and the target aisle tail, the target adjacent storage locations in the obstacle area that are located at the edge of the adjacent storage area and adjacent to the position of placing the cargo channel can be determined as the target aisle head; and the target adjacent storage locations that are located at the edge of the adjacent storage area and adjacent to the position of taking out the cargo channel, except for the target aisle head, can be determined as the target aisle tail belonging to the same aisle as the target aisle head.

[0173] For example, as shown in FIG4 , for the obstacle area in FIG4 , the target adjacent storage location of the obstacle area may be a column of storage locations adjacent to the obstacle area in storage area 2. That is, for the obstacle area in FIG4 , the target adjacent storage location of the obstacle area may be the leftmost column of storage locations in storage area 2. Furthermore, when determining the target lane head and the target lane tail, the storage location in the column of storage locations adjacent to the obstacle area in storage area 2, which is located at the edge of storage area 2 and adjacent to the position of placing the cargo channel, that is, lane head 1, may be determined as the target lane head; and the storage location in the column of storage locations adjacent to the obstacle area in storage area 2, excluding lane head 1, which is located at the edge of storage area 2 and adjacent to the position of taking out the cargo channel, that is, lane tail 1, may be determined as the target lane tail belonging to the same lane as lane head 1.

[0174] Furthermore, according to the concave lane layout rules, the first concave lane segment shown in Figure 5(a) and the second concave lane segment shown in Figure 5(b) can be superimposed and combined, so as to determine the target storage locations that are connected to the target lane head and the target lane tail and meet the cargo picking and placing rules in the target adjacent storage locations and the various storage locations in the obstacle area, and obtain the first type of lanes laid out.

[0175] As shown in Figure 5(a), when determining the first type of laneway according to the concave laneway layout rule, each combination of the first type of concave laneway segment will lose a storage space located at the position indicated by the letter x. As shown in Figure 5(b), when determining the first type of laneway according to the concave laneway layout rule, combining the second type of concave laneway segment will not lose a storage space. Furthermore, when determining the first type of laneway according to the concave laneway layout rule, to improve storage space utilization, as many second type of concave laneway segments as possible can be combined.

[0176] For example, with respect to the obstacle area in FIG4 , as shown in FIG4 , storage location 1 is an unused lost storage location. As shown in FIG4 , after determining the tunnel head 1 and tunnel tail 1 belonging to the same tunnel, the first-category tunnels corresponding to the tunnel head 1 and tunnel tail 1 arranged according to the concave-shaped tunnel layout rule can be composed of the storage locations passed by the arrows connecting the tunnel head 1 and tunnel tail 1 in FIG4 . The directions indicated by the arrows can be used to indicate the order of picking up and placing goods in the first-category tunnel. It can be seen that when determining the first-category tunnels corresponding to the tunnel head 1 and tunnel tail 1 according to the concave-shaped tunnel layout rule, storage location 1 was lost.

[0177] When placing or removing goods in the concave lane shown in Figure 4, the goods are placed or removed in the order opposite to the directions indicated by the arrows. That is, when placing goods, they are placed first in the lane end 1 and last in the lane start 1. When removing goods, the goods placed in the lane end 1 are removed first and last in the lane start 1.

[0178] Step 12: When the cargo retrieval rule is first-in-last-out, for each obstacle area, according to the lane layout rule of the second type of shape, the target adjacent storage location of the obstacle area and each storage location in the obstacle area are laid out to obtain the first type of lanes.

[0179] The second type of shape includes: U-shape and / or L-shape.

[0180] In this specific implementation, when the first-in, last-out (FIFO) rule is used for retrieval, goods are typically removed from the lanes in the reverse order of their placement. Furthermore, for each lane, placing goods in that lane typically requires passing through a passageway to the lane head, then entering the lane from the lane head, and placing goods in the lane in the order from the lane tail to the lane head. When removing goods from that lane, typically, passing through a passageway to the lane head, then entering the lane from the lane head, and removing goods in the order from the lane head to the lane tail. Therefore, when the first-in, last-out (FIFO) rule is used for retrieval, the storage location at the lane head of each lane is typically required to be adjacent to the passageway.

[0181] According to the lanes shown in Figures 6(a) and 6(b), and the above description of the concave-shaped first-category lanes, when the goods picking and placing rule is first-in-last-out, for each obstacle area, the target adjacent storage locations in the obstacle area and the various storage locations in the obstacle area can be laid out according to the U-shaped and / or L-shaped lane layout rules to obtain the first-category lanes. When the goods picking and placing rule is first-in-last-out, the first-category lanes obtained by the layout are U-shaped lanes or L-shaped lanes.

[0182] That is, the first-in-last-out (FIFO) cargo retrieval rule requires that the head of each lane be adjacent to the passageway, while the heads of U-shaped and L-shaped lanes can be storage locations adjacent to the passageway in the storage area. Therefore, to meet the requirements of the first-in-last-out (FIFO) cargo retrieval rule, when laying out lanes, the lane shape used can be U-shaped, L-shaped, or partially U-shaped and partially L-shaped. Furthermore, the heads of the U-shaped and / or L-shaped lanes are the target adjacent storage locations in the obstacle area that are adjacent to the passageway. In order to ensure that storage locations in the obstacle area exist in the first type of lanes laid out, the heads of the U-shaped and / or L-shaped lanes are storage locations in the obstacle area.

[0183] Optionally, in a specific implementation, in the above step 12, according to the lane layout rules of the second type of shape, the target adjacent storage locations in the obstacle area and the various storage locations in the obstacle area are laid out to obtain the laid out first type of lanes, which may include the following steps 31-33.

[0184] Step 31: Determine any storage location adjacent to the passage position among the target adjacent storage locations in the obstacle area as the target tunnel head.

[0185] Step 32: Determine any storage location among the storage locations in the obstacle area as the target lane end.

[0186] In this specific implementation, when the cargo picking and placing rule is first-in-last-out, the lane layout is performed for each obstacle area according to the U-shaped or L-shaped lane layout rule to obtain a U-shaped first-class lane or an L-shaped first-class lane.

[0187] For each obstacle area, when performing lane layout for the target adjacent storage locations of the obstacle area and the individual storage locations within the obstacle area according to the lane layout rules for the second type of shape, any storage location adjacent to the passage position in the target adjacent storage locations of the obstacle area can be determined as the target lane head; then, any storage location among the individual storage locations in the obstacle area can be determined as the target lane tail. The target lane head and target lane tail belong to the same first type of lane being laid out.

[0188] Optionally, in a specific implementation, the above step 122 of determining any storage location among the storage locations in the obstacle area as the target lane end may include the following step 41.

[0189] Step 41: Among the storage locations in the obstacle area, the storage location that is adjacent to the obstacle in the obstacle area and closest to the target lane head is determined as the target lane tail.

[0190] The shape of the first type of lane obtained is U-shaped.

[0191] In this specific implementation method, for each obstacle area, when the target adjacent storage location of the obstacle area and each storage location in the obstacle area are laid out in accordance with the U-shaped tunnel layout rule, any storage location adjacent to the channel position among the target adjacent storage locations of the obstacle area can be determined as the target tunnel head; and among the various storage locations in the obstacle area, the storage location adjacent to the obstacle in the obstacle area and closest to the target tunnel head can be determined as the target tunnel tail.

[0192] For example, as shown in FIG6(c), for the obstacle area in FIG6(c), when the first type of alleys are laid out according to the U-shaped alley layout rule, a column of storage locations in the adjacent storage area on the left side of the obstacle area, which is adjacent to the obstacle area and arranged according to the arrangement direction of each storage location in the obstacle area, can be first determined as the target adjacent storage locations of the obstacle area. That is, the rightmost column of storage locations in the adjacent storage area on the left side of the obstacle area can be used as the target adjacent storage location of the obstacle area; then, among the target adjacent storage locations of the obstacle area, the storage location located at the top and adjacent to the channel position is determined as the target alley head, and among the storage locations in the obstacle area, the storage location A adjacent to the obstacle in the obstacle area and closest to the target alley head is determined as the target alley tail. As shown in Figure 6(c), among the storage locations in the obstacle area, there are two storage locations adjacent to the obstacle in the obstacle area, and among the two storage locations, storage location A is not only adjacent to the obstacle but also closest to the target tunnel head. Therefore, storage location A is determined as the target tunnel tail.

[0193] However, when there are a large number of storage locations in the obstacle area, applying this specific implementation method to determine the end of the target lane may result in too many storage locations in the obstacle area in the first-class lanes obtained by the layout, resulting in low efficiency in taking out and placing goods in the first-class lanes, which cannot meet the efficiency requirements of taking and placing goods.

[0194] Therefore, optionally, in a specific implementation, the above step 41 may include the following step 411.

[0195] Step 51: If the number of storage locations in the obstacle area is less than or equal to the specified number, then the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and closest to the target lane head is determined as the target lane tail.

[0196] In this specific implementation, those skilled in the art can determine the above-mentioned specified number based on the efficiency requirements of cargo picking and placing. If the number of storage locations in the obstacle area is less than or equal to the above-mentioned specified number, then the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and closest to the target aisle head can be directly determined as the target aisle tail.

[0197] Corresponding to the above step 51, in this specific implementation, a lane layout method provided in an embodiment of the present application may further include the following step 52.

[0198] Step 52: If the number of storage locations in the obstacle area is greater than the specified number, then the storage location in the obstacle area that is separated from the obstacle closest to the target lane head by the target number of storage locations is determined as the target lane tail.

[0199] The target quantity is the difference between the storage quantity and the specified quantity, and the shape of the first-type lane obtained is U-shaped or L-shaped.

[0200] When the number of storage locations in the obstacle area exceeds the specified number, if the storage location adjacent to the obstacle in the obstacle area and closest to the target lane head is determined as the target lane tail, the number of storage locations within the obstacle area in the first-class lanes obtained by layout will exceed the specified number, which may result in the cargo retrieval efficiency of the first-class lanes obtained by layout failing to meet the cargo retrieval efficiency requirements. Therefore, in this case, the difference between the number of storage locations in the obstacle area and the specified number can be determined as the target number, and the storage location in the obstacle area that is separated from the obstacle closest to the target lane head by the target number of storage locations is determined as the target lane tail.

[0201] That is to say, when the number of storage locations in the obstacle area is greater than the specified number, the difference between the number of storage locations in the obstacle area and the specified number can be calculated first to obtain the target number; then, in the obstacle area, determine the storage location that is adjacent to the obstacle in the obstacle area and closest to the target tunnel head; then, determine the storage location that is separated from the above-mentioned closest storage location by the target number of storage locations, and the storage location finally determined is the target tunnel end.

[0202] Among them, assuming that the number of storage locations in the obstacle area is M, the specified number is N, and M>N, then the target number is MN; if starting from the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and closest to the target tunnel head, the storage locations in the obstacle area are numbered in turn, and the starting number is 1, and the number difference between adjacent storage locations is 1, then the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and closest to the target tunnel head is numbered 1, and then, the number of the storage locations that are separated from the storage location numbered 1 by the above target number (MN) is: 1+(MN)+1, that is, the number of the storage location finally determined as the end of the target tunnel is 2+MN.

[0203] For example, as shown in Figure 6(b), assume the number of storage locations in the obstacle area is M = 3, and the specified number N = 2. Since 3 > 2, there is a target number MN = 3 - 2 = 1. The storage locations in the same column as lane end 3 are the storage locations in the obstacle area, and, from top to bottom, the storage locations in the obstacle area are numbered 1, 2, and 3. The number of the storage location ultimately determined as the target lane end is 2 + MN = 2 + 3 - 2 = 3, meaning that the storage location ultimately determined as the target lane end is the storage location numbered 3 in the obstacle area. In other words, lane end 3 in Figure 6(b) is determined as the target lane end. At this point, the first type of lane resulting from the layout is an L-shaped lane.

[0204] Among them, if among all the storage locations in the obstacle area, the storage location that is separated from the obstacle closest to the target tunnel head by a target number of storage locations is the storage location that is adjacent to the obstacle in the obstacle area and is farthest from the target tunnel head among all the storage locations in the obstacle area, then the shape of the first type of tunnel finally obtained will be L-shaped.

[0205] In other words, if the storage location determined as the tail end of the target lane among the storage locations in the obstacle area is the storage location that is adjacent to the obstacle in the obstacle area and farthest from the head of the target lane, then the first type of lane ultimately obtained by the layout is an L-shaped lane. For example, the L-shaped lane is shown in Figure 6(b).

[0206] If among all the storage locations in the obstacle area, the storage location that is separated from the obstacle closest to the target tunnel head by a target number of storage locations is not among all the storage locations in the obstacle area, the storage location that is adjacent to the obstacle in the obstacle area and is farthest from the target tunnel head, then the shape of the first type of tunnel finally obtained will be U-shaped.

[0207] That is to say, if the storage location determined as the end of the target tunnel among the various storage locations in the obstacle area is not the storage location adjacent to the obstacle in the obstacle area and farthest from the head of the target tunnel among the various storage locations in the obstacle area, then the first type of tunnel finally obtained by the layout will be a U-shaped tunnel.

[0208] Based on this, by applying this specific implementation method, when there are a large number of storage locations in the obstacle area, it is possible to avoid having a large number of storage locations in the obstacle area in the first lane obtained by the layout, thereby making the cargo picking and placing efficiency of the first type of lane obtained by the layout meet the efficiency requirements of cargo picking and placing.

[0209] Optionally, in a specific implementation, the above step 122, determining any storage location among the storage locations in the obstacle area as the target lane end, may include the following step 42.

[0210] Step 42: Among the storage locations in the obstacle area, the storage location that is adjacent to the obstacle in the obstacle area and farthest from the target lane head is determined as the target lane tail.

[0211] The shape of the first type of lane obtained is L-shaped.

[0212] In this specific implementation method, for each obstacle area, when the target adjacent storage location of the obstacle area and each storage location in the obstacle area are laid out in accordance with the L-shaped tunnel layout rule, any storage location among the target adjacent storage locations of the obstacle area that is adjacent to the channel position can be determined as the target tunnel head; and among the various storage locations in the obstacle area, the storage location that is adjacent to the obstacle in the obstacle area and is farthest from the target tunnel head can be determined as the target tunnel tail.

[0213] For example, as shown in FIG6(b), the area where the storage locations in the same column as the lane tail 3 are located is the obstacle area, and the storage locations in the same column as the lane tail 3 are the various storage locations in the obstacle area. In this way, for the obstacle area in FIG6(b), when laying out the first type of lanes according to the L-shaped lane layout rule, the adjacent row of storage locations on the left side of the obstacle area can be first determined as the target adjacent storage locations of the obstacle area; then, among the target adjacent storage locations in the obstacle area, the storage location at the top and adjacent to the channel position is determined as the target lane head, that is, the lane head 3 is determined as the target lane head, and among the various storage locations in the obstacle area, the storage location adjacent to the obstacle in the obstacle area and farthest from the target lane head is determined as the target lane tail, that is, the lane tail 3 is determined as the target lane tail. As shown in FIG6(b), among the storage locations in the obstacle area, there are two storage locations adjacent to the obstacle in the obstacle area, and the lane tail 3 among the two storage locations is not only adjacent to the obstacle but also the farthest from the target lane head. Therefore, the lane tail 3 is determined as the target lane tail.

[0214] Step 33: Among the target adjacent storage locations and the storage locations in the obstacle area in the specified direction starting from the target lane end, determine the target storage locations that connect the target lane head and the target lane end and meet the cargo picking and placing rules, and obtain the U-shaped or L-shaped first-class lanes laid out.

[0215] The target storage locations include all storage locations in a specified direction; the specified direction is the direction from the end of the target lane to the obstacle in the obstacle area that is farthest from the beginning of the target lane.

[0216] For each obstacle area, after determining the target lane head and target lane tail, the specified direction can be determined first. The specified direction can be the direction from the target lane tail to the obstacle farthest from the target lane head in the obstacle area. Thus, the target storage locations can include all storage locations in the obstacle area in the specified direction starting from the target lane tail, as well as some or all storage locations in the target adjacent storage locations. In this way, after determining the target lane head and target lane tail, the target storage locations that connect the target lane head and target lane tail and meet the cargo placement rules can be determined among the target adjacent storage locations and the storage locations in the obstacle area in the specified direction starting from the target lane tail, thereby obtaining the U-shaped or L-shaped first-class lanes.

[0217] For example, as shown in Figure 6(c), for the obstacle area in Figure 6(c), when laying out the first-type lanes according to the lane layout rules for the second-type shape, the rightmost column of storage locations in the adjacent storage area to the left of the obstacle area can be first determined as the target adjacent storage locations for the obstacle area. Then, the topmost storage location adjacent to the passageway position in the target adjacent storage locations in the obstacle area is determined as the target lane head. Among the storage locations in the obstacle area, the storage location A that is adjacent to the obstacle in the obstacle area and closest to the target lane head is determined as the target lane tail. The obstacle farthest from the target lane head in the obstacle area is the obstacle located below location A. Therefore, the designated direction is from location A to the obstacle located below location A—that is, the designated direction is downward. In this way, the target storage locations can include all storage locations in the obstacle area located below location A, as well as the first, second, and third storage locations located below the target lane head among the target adjacent storage locations. In this way, the above-mentioned target storage locations can connect the target lane head and the storage location A as the target lane tail, thereby obtaining a U-shaped lane as shown in Figure 6(c) as the first type of lane obtained by the layout.

[0218] Optionally, in a specific implementation, the lane layout method provided in the embodiment of the present application may further include the following step 61.

[0219] Step 61: For each storage area, based on the goods picking and placing rules and the channel positions, each storage location in the storage area that is not determined as a target storage location is divided into lanes to obtain the laid-out second-category lanes.

[0220] In this specific implementation, after the first-class lanes corresponding to the various obstacle areas are laid out, there may still be some storage locations in the storage area that have not been determined as target storage locations. Therefore, for each storage area, the storage locations in the storage area that have not been determined as target storage locations can be divided into lanes based on the cargo picking and placing rules and channel positions, thereby obtaining the laid-out second-class lanes.

[0221] That is to say, after the first-class lanes are laid out for each obstacle area, there may still be some storage locations in the storage area that are not laid out in any lane. Therefore, for each storage area, the storage locations in the storage area that are not laid out in any lane can be divided into lanes based on the goods picking and placing rules and channel positions, thereby obtaining the laid-out second-class lanes.

[0222] Optionally, in a specific implementation, the rules for picking up and placing goods may be first-in-first-out; the above step 61 may include the following steps 71-72.

[0223] Step 71: For each storage area, if there is a target adjacent storage location in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations that does not include the target adjacent storage location is divided into the same lane to obtain the second-type lanes laid out.

[0224] Step 72: For each storage area, if there is no target adjacent storage location in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations is divided into the same lane to obtain the second-type lanes in the layout.

[0225] In this specific implementation, when the goods picking and placing rule is the first-in-first-out rule, for each storage area, if there is a target adjacent storage location in the storage area, the various storage locations in the storage area can be divided into multiple groups of storage locations according to the arrangement direction, and each group of storage locations that does not include the target adjacent storage location can be divided into the same lane to obtain the second-type lanes laid out.

[0226] Among them, the above-mentioned target adjacent storage locations refer to: target adjacent storage locations in the obstacle area, that is, when the goods picking and placing rule is the first-in-first-out rule, for each storage area, if there is a target adjacent storage location in the obstacle area in the storage area, then for the storage locations in the storage area that are not arranged in any aisle, first divide the above-mentioned storage locations that are not arranged in any aisle into multiple groups according to the arrangement direction of the storage locations in the obstacle area, and for each group of storage locations obtained by division, if the group of storage locations does not include a target adjacent storage location in a certain obstacle area, then the group of storage locations can be divided into the same aisle. Since the target adjacent storage locations of the obstacle area are usually adjacent to the obstacle area on the designated side, for each group of storage locations obtained by the above division, if the group of storage locations is located on the designated side of a certain obstacle area and is adjacent to the obstacle area, then the group of storage locations cannot be arranged as a second-class lane. On the contrary, if the group of storage locations is not adjacent to any obstacle area, or is adjacent to a certain obstacle area but not located on the designated side of the obstacle area, then the group of storage locations is divided into the same lane and is thus arranged as a second-class lane.

[0227] Illustratively, by applying this specific implementation method to divide the storage locations in the storage area 2 in FIG. 4 that are not determined as target storage locations into lanes, five second-category lanes indicated by the numbers ae in FIG. 4 can be obtained.

[0228] Correspondingly, if there is no target adjacent storage location in the obstacle area in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction of the storage locations in the obstacle area; and each group of storage locations is divided into the same lane to obtain the second-type lanes laid out.

[0229] Optionally, in a specific implementation, the goods picking and placing rule may be first-in-last-out, and there are vacant storage spaces in the target adjacent storage spaces that are not divided into target storage spaces; the above step 61 may include the following steps 81-82.

[0230] Step 81: For each storage area, if there is a target adjacent storage location in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; the idle storage locations and a group of storage locations adjacent to the idle storage locations are divided into the same L-shaped lane, and each group of storage locations that does not include the target adjacent storage locations is divided into the same lane, thereby obtaining the second-type lanes laid out.

[0231] In this specific implementation, when the goods picking and placing rule is the first-in-last-out rule, for each storage area, if there is a target adjacent storage location in the storage area, and there is an idle storage location in the target adjacent storage location in the storage area that is not divided into a target storage location, then the various storage locations in the storage area can be divided into multiple groups of storage locations according to the arrangement direction; the idle storage locations and a group of storage locations adjacent to the idle storage locations are divided into the same L-shaped alley, and each group of storage locations that does not include the target adjacent storage locations is divided into the same alley, thereby obtaining the laid out second-type alleys.

[0232] The target adjacent storage locations are target adjacent storage locations in the obstacle area. The vacant storage locations in the target adjacent storage locations that are not classified as target storage locations refer to the storage locations in the target adjacent storage locations in the obstacle area that are not allocated to the first-class lanes when the first-class lanes are allocated to the obstacle area.

[0233] For example, as shown in Figure 6(c), the storage location to the left of the obstacle below storage location A is the target adjacent storage location in the obstacle area in Figure 6(c), which is not arranged in the first type of lane in Figure 6(c) (the U-shaped lane in Figure 6(c)). In other words, the storage location to the left of the obstacle below storage location A is an idle storage location in the target adjacent storage location that is not classified as a target storage location. Based on this, the idle storage location and a group of storage locations adjacent to the idle storage location are classified into the same L-shaped lane, and the resulting second type of lane can be the L-shaped lane shown in Figure 6(c).

[0234] Optionally, in a specific implementation, the arrangement direction may be perpendicular to the arrangement direction of the channel, and the division into multiple groups of storage locations according to the arrangement direction may be to divide each column of storage locations arranged perpendicular to the channel into one group of storage locations.

[0235] Step 82: For each storage area, if there is no target adjacent storage location in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations is divided into the same lane to obtain the second-type lanes in the layout.

[0236] For each storage area, if there is no target adjacent storage location in the storage area, the storage locations in the storage area can be divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations is divided into the same lane to obtain the second type lanes of the layout.

[0237] Based on this, by applying the solution provided in the embodiment of the present application, when arranging the aisles of the warehouse area to be laid out, the storage spaces in the storage area adjacent to the obstacle area can be used to layout the storage spaces in the obstacle area into the aisles, so that the obstacle area can also store goods, thereby improving the utilization rate of the warehouse storage space.

[0238] That is to say, by applying the solution provided in the embodiment of the present application, when laying out the aisles in the warehouse area to be laid out, the storage locations in the obstacle area that is located between two obstacles and does not belong to any storage area can be determined. Furthermore, in the above-mentioned warehouse area, aisles including storage locations in the obstacle area that is located between two obstacles and does not belong to any storage area can be laid out, so that the obstacle area can also be used to store goods, thereby improving the utilization rate of the warehouse storage space.

[0239] In addition, in some cases, the electronic device can implement the above-mentioned lane layout method by responding to the control instructions of the staff. Exemplarily, the process of the electronic device implementing the above-mentioned lane layout method by responding to the control instructions of the staff is as follows:

[0240] Step 1: The staff can send an information acquisition instruction about the warehouse area to be laid out to the electronic device. The electronic device can receive the information acquisition instruction and, in response to the information acquisition instruction, acquire and display the regional distribution information and cargo picking and placing rules of the warehouse area to be laid out, so that the user can view the regional distribution information and cargo picking and placing rules of the warehouse area to be laid out.

[0241] Step 2: When the staff checks the regional distribution information of the warehouse area to be laid out, they can set the storage location size and the distance between each two adjacent storage locations according to their own needs, thereby sending a storage location division instruction including the storage location size and the distance between each two adjacent storage locations to the electronic device.

[0242] The electronic device can receive the storage location division instruction and, in response to the storage location division instruction, determine, based on the storage area location and the obstacle location, each storage location within the storage area and each storage location within the obstacle area between two obstacles and not belonging to any storage area, thereby obtaining each storage location within the warehouse area to be laid out. Furthermore, the electronic device can overlay and display the determined storage locations within the displayed regional distribution information of the warehouse area to be laid out.

[0243] Step 3: When the staff checks the various storage locations superimposed on the regional distribution information of the warehouse area to be laid out, they can determine the target aisle head in the target adjacent storage locations in the obstacle area for each obstacle area based on the goods picking and placing rules and the channel position, and determine the target aisle tail that belongs to the same aisle as the target aisle head in the target adjacent storage locations other than the target aisle head and in each storage location in the obstacle area, and determine each target storage location that belongs to the same aisle as the target aisle head and the target aisle tail and meets the goods picking and placing rules in the target adjacent storage locations and each storage location in the obstacle area.

[0244] In this way, the staff can send a first-class lane division instruction including the above-mentioned target lane head, target lane tail and each target storage location to the electronic device. Therefore, after receiving the above-mentioned first-class lane division instruction, the electronic device can divide the above-mentioned target lane head, target lane tail and each target storage location into the first-class lane and store them.

[0245] Step 4: After the first-type lanes are laid out, the staff can further divide the storage locations in each storage area that have not been identified as target storage locations into lanes based on the goods picking and placing rules and channel locations, thereby determining the storage locations included in each second-type lane.

[0246] In this way, the staff can send a second-class lane division instruction including the storage locations included in each second-class lane to the electronic device. Therefore, after receiving the above-mentioned second-class lane division instruction, the electronic device can divide each second-class lane according to the storage locations included in each second-class lane and store them.

[0247] Based on this, when laying out the aisles in the warehouse area to be laid out, human-computer interaction can be used to utilize the storage spaces in the storage area adjacent to the obstacle area to layout the storage spaces in the obstacle area into the aisles, so that goods can also be stored in the obstacle area, thereby improving the utilization rate of the warehouse storage space.

[0248] Corresponding to the tunnel layout method provided in the above-mentioned embodiment of the present application, the embodiment of the present application also provides a tunnel layout device.

[0249] FIG7 is a schematic diagram of the structure of a lane layout device provided in an embodiment of the present application. As shown in FIG7 , the lane layout device may include the following modules:

[0250] Information acquisition module 701, used to obtain regional distribution information and cargo placement rules of the warehouse area to be laid out; wherein the regional distribution information includes: aisle location, storage area location and obstacle location;

[0251] a storage location determination module 702 for determining, based on the storage area location and the obstacle location, each storage location in the storage area and each storage location in the obstacle area between two obstacles and not belonging to any of the storage areas;

[0252] The lane layout module 703 is used to perform a lane layout for each obstacle area and at least one storage location in the obstacle area according to a lane layout rule that matches the cargo retrieval and placement rule, thereby obtaining a first-type lane layout; wherein the target adjacent storage locations of each obstacle area include: in an adjacent storage area located on a designated side of the obstacle area, each storage location adjacent to the obstacle area and arranged in the arrangement direction of each storage location in the obstacle area; the shape of the first-type lane includes: at least one of a concave shape, an L shape, and a U shape.

[0253] As can be seen from the above, by applying the solution provided in the embodiment of the present application, when laying out the aisles in the warehouse area to be laid out, the storage locations in the obstacle area located between two obstacles and not belonging to any storage area can be determined, and then, the storage locations in the obstacle area can be arranged into the aisles using the storage locations in the storage area adjacent to the obstacle area. That is, in the above-mentioned warehouse area, the aisles including the storage locations in the obstacle area located between two obstacles and not belonging to any storage area can be laid out, so that the obstacle area can also be used to store goods, thereby improving the utilization rate of the warehouse storage space.

[0254] Optionally, in a specific implementation, the lane layout module includes:

[0255] A first layout submodule is configured to, when the cargo placement rule is first-in-first-out, perform a lane layout for each obstacle area according to a lane layout rule of a first type of shape, for the target adjacent storage location in the obstacle area and each storage location in the obstacle area, thereby obtaining a first type of lane layout; wherein the first type of shape includes a concave shape;

[0256] The second layout submodule is used to, when the cargo retrieval rule is first-in-last-out, for each obstacle area, perform a lane layout for the target adjacent storage locations in the obstacle area and the various storage locations in the obstacle area according to the lane layout rules of the second type of shape, to obtain the first type of lane layout; wherein the second type of shape includes: U-shape and / or L-shape.

[0257] Optionally, in a specific implementation, the first layout submodule is specifically configured to:

[0258] Determine any storage location adjacent to the passage position among the target adjacent storage locations in the obstacle area as the target tunnel head;

[0259] Determine the storage location adjacent to the channel position, except for the target lane head, among the target adjacent storage locations as the target lane tail;

[0260] Among the target adjacent storage locations and the storage locations in the obstacle area, determine the target storage locations that connect the target lane head and the target lane tail and meet the cargo picking and placing rules to obtain the first type of concave lanes in the layout; wherein the target storage locations include at least one storage location in the obstacle area.

[0261] Optionally, in a specific implementation, the second layout submodule includes:

[0262] a tunnel head determining unit, configured to determine any storage location adjacent to the passage position among target adjacent storage locations in the obstacle area as a target tunnel head;

[0263] a lane end determination unit, configured to determine any one of the storage locations in the obstacle area as a target lane end;

[0264] A lane determination unit is used to determine, among the target adjacent storage locations and the storage locations in the obstacle area in a specified direction starting from the target lane tail, the target storage locations that connect the target lane head and the target lane tail and meet the goods picking and placing rules, to obtain the U-shaped or L-shaped first-class lanes in the layout; wherein the target storage locations include: all storage locations in the specified direction; the specified direction is: the direction from the target lane tail to the obstacle farthest from the target lane head in the obstacle area.

[0265] Optionally, in a specific implementation, the lane end determination unit includes:

[0266] A first determining subunit is configured to determine, among the storage locations in the obstacle area, a storage location that is adjacent to the obstacle in the obstacle area and closest to the target lane head as a target lane tail; wherein the shape of the obtained first type of lane is U-shaped;

[0267] or,

[0268] The second determining subunit is used to determine the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and farthest from the target lane head as the target lane tail; wherein the shape of the obtained first type lane is L-shaped.

[0269] Optionally, in a specific implementation, the first determining subunit is specifically configured to:

[0270] If the number of storage locations in the obstacle area is less than or equal to the specified number, then the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and closest to the target lane head is determined as the target lane tail;

[0271] The device further comprises:

[0272] A lane end determination module is configured to determine, if the number of storage locations in the obstacle area is greater than a specified number, the storage location in the obstacle area that is separated from the obstacle closest to the target lane head by a target number of storage locations as the target lane end; wherein the target number is: the difference between the number of storage locations and the specified number, and the shape of the first type of lane obtained is U-shaped or L-shaped.

[0273] Optionally, in a specific implementation, the device further includes:

[0274] The lane division module is used to divide each storage area into lanes based on the cargo picking and placing rules and the channel positions, and obtain the second-type lanes in the layout.

[0275] Optionally, in a specific implementation, the cargo retrieval rule is first-in-first-out; and the lane division module is specifically configured to:

[0276] For each storage area, if the target adjacent storage location exists in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations that does not include the target adjacent storage location is divided into the same lane, thereby obtaining the second-type lanes in the layout;

[0277] For each storage area, if the target adjacent storage location does not exist in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations is divided into the same lane to obtain the second-type lanes laid out.

[0278] Optionally, in a specific implementation, the goods taking and placing rule is first-in-last-out, and there is an idle storage space in the target adjacent storage space that is not divided into the target storage space;

[0279] The lane division module is specifically used for:

[0280] For each storage area, if there is a target adjacent storage location in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; the vacant storage location and a group of storage locations adjacent to the vacant storage location are divided into the same L-shaped lane, and each group of storage locations that does not include the target adjacent storage location is divided into the same lane, thereby obtaining the second-type lanes in the layout;

[0281] For each storage area, if the target adjacent storage location does not exist in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations is divided into the same lane to obtain the second-type lanes laid out.

[0282] The embodiment of the present application further provides an electronic device, as shown in FIG8 , comprising:

[0283] Memory 801, used for storing computer programs;

[0284] The processor 802 is configured to implement the steps of any lane layout method provided in the embodiments of the present application when executing the program stored in the memory 801 .

[0285] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 802, the communication interface, and the memory 801 communicate with each other via the communication bus.

[0286] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0287] The communication interface is used for communication between the above electronic device and other devices.

[0288] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0289] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0290] In another embodiment provided in the present application, a computer-readable storage medium is further provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of any of the above-mentioned lane layout methods are implemented.

[0291] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the lane layout methods in the above embodiments.

[0292] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), etc.

[0293] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0294] Each embodiment in this specification is described in a related manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences between the other embodiments. In particular, since the apparatus embodiments, electronic device embodiments, computer-readable storage medium embodiments, and computer program product embodiments are generally similar to the method embodiments, their descriptions are relatively simple. For related portions, reference can be made to the descriptions of the method embodiments.

[0295] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A lane layout method, characterized in that: The method comprises: Obtaining the regional distribution information and cargo picking and placing rules of the warehouse area to be laid out; wherein the regional distribution information includes: channel location, storage area location and obstacle location; Determine, according to the storage area position and the obstacle position, each storage location in the storage area and each storage location in the obstacle area that is between two obstacles and does not belong to any of the storage areas; For each obstacle area, according to the lane layout rule matching the cargo picking and placing rule, a lane layout is performed for the target adjacent storage location of the obstacle area and at least one storage location in the obstacle area to obtain the first type of lanes laid out; Among them, the target adjacent storage locations of each obstacle area include: in the adjacent storage area located on the designated side of the obstacle area, the storage locations adjacent to the obstacle area and arranged according to the arrangement direction of the storage locations in the obstacle area; the shape of the first type of lane includes: at least one of a concave shape, an L shape and a U shape.

2. The method according to claim 1, characterized in that: For each obstacle area, according to the lane layout rule matching the cargo picking and placing rule, lane layout is performed for the target adjacent storage location of the obstacle area and at least one storage location in the obstacle area to obtain the first type of lanes laid out, including: When the cargo picking and placing rule is first-in-first-out, for each obstacle area, according to the lane layout rule of the first type of shape, the lane layout of the target adjacent storage location of the obstacle area and each storage location in the obstacle area is performed to obtain the first type of lane layout; wherein the first type of shape includes: a concave shape; When the cargo picking and placing rule is first-in-last-out, for each obstacle area, the target adjacent storage locations in the obstacle area and each storage location in the obstacle area are laid out in accordance with the lane layout rule of the second type of shape to obtain the laid out first type of lane; wherein the second type of shape includes: U-shape, and / or, L-shape.

3. The method according to claim 2, characterized in that The method of performing lane layout for the target adjacent storage location in the obstacle area and each storage location in the obstacle area according to the lane layout rule of the first type of shape to obtain the first type of lane layout includes: Determine any storage location adjacent to the passage position among the target adjacent storage locations in the obstacle area as the target tunnel head; Determine the storage location adjacent to the channel position, except for the target lane head, as the target lane tail; Among the target adjacent storage locations and the storage locations in the obstacle area, the target storage locations that are connected to the target lane head and the target lane tail and satisfy the goods picking and placing rules are determined to obtain the first type of concave-shaped lanes in the layout; wherein the target storage locations include at least one storage location in the obstacle area.

4. The method according to claim 2, characterized in that: The method of performing lane layout for the target adjacent storage location in the obstacle area and each storage location in the obstacle area according to the lane layout rule of the second type of shape to obtain the first type of lane layout includes: Determine any storage location adjacent to the passage position among the target adjacent storage locations in the obstacle area as the target tunnel head; Determine any storage location among the storage locations in the obstacle area as the target lane end; Among the target adjacent storage locations and the storage locations in the specified direction starting from the target lane tail in the obstacle area, the target storage locations that connect the target lane head and the target lane tail and satisfy the goods picking and placing rules are determined to obtain the U-shaped or L-shaped first-class lanes laid out; wherein the target storage locations include: all storage locations in the specified direction; the specified direction is: from the target lane tail to the obstacle in the obstacle area that is farthest from the target lane head. The direction of the obstacle.

5. The method according to claim 4, characterized in that The step of determining any one of the storage locations in the obstacle area as the target lane end includes: Among the storage locations in the obstacle area, the storage location that is adjacent to the obstacle in the obstacle area and closest to the target lane head is determined as the target lane tail; wherein the shape of the first type of lane obtained is U-shaped; or, Among the storage locations in the obstacle area, the storage location that is adjacent to the obstacle in the obstacle area and farthest from the target lane head is determined as the target lane tail; wherein the shape of the obtained first type lane is L-shaped.

6. The method according to claim 5, characterized in that The step of determining, among the storage locations in the obstacle area, a storage location adjacent to the obstacle in the obstacle area and closest to the target lane head as the target lane tail includes: If the number of storage locations in the obstacle area is less than or equal to the specified number, then the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and closest to the target lane head is determined as the target lane tail; The method further comprises: If the number of storage locations in the obstacle area is greater than the specified number, then among the storage locations in the obstacle area, the storage locations that are separated from the obstacle closest to the target tunnel head by a target number of storage locations are determined as the tail of the target tunnel; wherein the target number is: the difference between the number of storage locations and the specified number, and the shape of the first type of tunnel obtained is U-shaped, or L-shaped.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: For each storage area, based on the cargo picking and placing rules and the channel positions, lane division is performed on each storage location in the storage area that has not been determined as a target storage location, so as to obtain each second-category lane that is laid out.

8. The method according to claim 7, characterized in that The rules for picking and placing goods are first-in-first-out; For each storage area, based on the cargo picking and placing rules and the channel positions, each storage location in the storage area that is not determined as a target storage location is divided into lanes to obtain each second-type lane that is laid out, including: For each storage area, if the target adjacent storage location exists in the storage area, the storage locations in the storage area are divided into a plurality of groups of storage locations according to the arrangement direction; and each group of storage locations that does not include the target adjacent storage location is divided into the same lane to obtain the second-type lanes of the layout; For each storage area, if the target adjacent storage location does not exist in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations is divided into the same lane to obtain the laid out second-type lanes.

9. The method according to claim 7, characterized in that: The cargo picking and placing rule is first-in-last-out, and there are vacant storage spaces in the target adjacent storage spaces that are not classified as target storage spaces; For each storage area, based on the cargo picking and placing rules and the channel positions, each storage location in the storage area that is not determined as a target storage location is divided into lanes to obtain each second-type lane that is laid out, including: For each storage area, if there is a target adjacent storage location in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; the idle storage location and a group of storage locations adjacent to the idle storage location are divided into the same L-shaped lane, and each group of storage locations that does not include the target adjacent storage location is divided into the same lane, so as to obtain the second-type lanes of the layout; For each storage area, if the target adjacent storage location does not exist in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations is divided into the same lane to obtain the laid out second-type lanes.

10. A tunnel layout device, characterized in that: The device comprises: An information acquisition module is used to acquire the regional distribution information and cargo picking and placing rules of the warehouse area to be laid out; wherein the regional distribution information includes: channel location, storage area location and obstacle location; A storage location determination module, configured to determine, according to the storage area location and the obstacle location, each storage location in the storage area and each storage location in the obstacle area that is between two obstacles and does not belong to any of the storage areas; A lane layout module is used to perform lane layout for each obstacle area and at least one storage location in the obstacle area according to a lane layout rule that matches the cargo placement rule, so as to obtain a first-type lane layout; wherein the target adjacent storage location of each obstacle area includes: in an adjacent storage area located on a designated side of the obstacle area, each storage location adjacent to the obstacle area and arranged in the arrangement direction of each storage location in the obstacle area; the shape of the first-type lane includes: at least one of a concave shape, an L shape and a U shape.

11. The device according to claim 10, characterized in that The lane layout module includes: The first layout submodule is used for, when the cargo picking and placing rule is first-in-first-out, for each obstacle area, performing a lane layout for the target adjacent storage locations of the obstacle area and each storage location in the obstacle area according to the lane layout rule of the first type of shape, to obtain the first type of lane layout; wherein the first type of shape includes: a concave shape; The second layout submodule is used to, when the cargo picking and placing rule is first-in-last-out, for each obstacle area, perform a lane layout for the target adjacent storage locations in the obstacle area and each storage location in the obstacle area according to the aisle layout rule of the second type of shape, so as to obtain the laid out first type of aisles; wherein the second type of shape includes: U-shape, and / or, L-shape.

12. The device according to claim 11, characterized in that The first layout submodule is specifically used for: Determine any storage location adjacent to the passage position among the target adjacent storage locations in the obstacle area as the target tunnel head; Determine the storage location adjacent to the channel position, except for the target lane head, as the target lane tail; Among the target adjacent storage locations and the storage locations in the obstacle area, the target storage locations that are connected to the target lane head and the target lane tail and satisfy the goods picking and placing rules are determined to obtain the first type of concave-shaped lanes in the layout; wherein the target storage locations include at least one storage location in the obstacle area.

13. The device according to claim 11, characterized in that The second layout submodule includes: A tunnel head determination unit, used for determining any storage position adjacent to the passage position in the target adjacent storage position of the obstacle area as a target tunnel head; A lane end determination unit, used for determining any storage location among the storage locations in the obstacle area as a target lane end; A lane determination unit is used to determine, among the target adjacent storage locations and the storage locations in the obstacle area in a specified direction starting from the target lane tail, the target storage locations that connect the target lane head and the target lane tail and satisfy the goods picking and placing rules, to obtain the U-shaped or L-shaped first-class lanes laid out; wherein the target storage locations include: all storage locations in the specified direction; the specified direction is: the direction from the target lane tail to the obstacle farthest from the target lane head in the obstacle area.

14. The device according to claim 13, characterized in that The lane end determination unit comprises: A first determination subunit is used to determine, among the storage locations in the obstacle area, the storage location that is adjacent to the obstacle in the obstacle area and closest to the target lane head as the target lane tail; wherein the shape of the first type of lane obtained is U-shaped; or, The second determining subunit is used to select, among the storage locations in the obstacle area, the storage locations that are adjacent to and away from the obstacles in the obstacle area. The storage position farthest from the target lane head is determined as the target lane tail; wherein the shape of the first type of lane obtained is L-shaped.

15. The device according to claim 14, characterized in that The first determining subunit is specifically used for: If the number of storage locations in the obstacle area is less than or equal to the specified number, then the storage location in the obstacle area that is adjacent to the obstacle in the obstacle area and closest to the target lane head is determined as the target lane tail; The device also includes: The lane end determination module is used to determine the storage locations in the obstacle area that are separated from the obstacle head by a target number of storage locations as the target lane end if the number of storage locations in the obstacle area is greater than a specified number; wherein the target number is: the difference between the number of storage locations and the specified number, and the shape of the first type of lane obtained is U-shaped, or L-shaped.

16. The device according to any one of claims 10 to 15, characterized in that: The device also includes: The lane division module is used to divide the storage locations in each storage area that are not determined as target storage locations into lanes based on the goods picking and placing rules and the channel positions, so as to obtain the second-class lanes that are laid out.

17. The device according to claim 16, characterized in that The cargo picking and placing rule is first-in-first-out; the lane division module is specifically used for: For each storage area, if the target adjacent storage location exists in the storage area, the storage locations in the storage area are divided into a plurality of groups of storage locations according to the arrangement direction; and each group of storage locations that does not include the target adjacent storage location is divided into the same lane to obtain the second-type lanes of the layout; For each storage area, if the target adjacent storage location does not exist in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations is divided into the same lane to obtain the laid out second-type lanes.

18. The device according to claim 16, characterized in that The cargo picking and placing rule is first-in-last-out, and there are vacant storage spaces in the target adjacent storage spaces that are not divided into target storage spaces; the lane division module is specifically used for: For each storage area, if there is a target adjacent storage location in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; the idle storage location and a group of storage locations adjacent to the idle storage location are divided into the same L-shaped lane, and each group of storage locations that does not include the target adjacent storage location is divided into the same lane, so as to obtain the second-type lanes of the layout; For each storage area, if the target adjacent storage location does not exist in the storage area, the storage locations in the storage area are divided into multiple groups of storage locations according to the arrangement direction; and each group of storage locations is divided into the same lane to obtain the laid out second-type lanes.

19. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-9 when executing a program stored in a memory.

20. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

21. A computer program product comprising instructions, characterized in that When the computer program product is executed on a computer, the computer is enabled to execute the method according to any one of claims 1 to 9.

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