Seeding control method, seeding system, and workstation

Abstract

The present disclosure relates to the technical field of intelligent warehousing. Disclosed are a seeding control method, a seeding system, and a workstation. The method comprises: in response to a movable carrier reaching a parking area of a target workstation, acquiring goods information of seeding-pending goods on the movable carrier; on the basis of the goods information of the seeding-pending goods, determining seeding information of seeding positions on a seeding wall of the target workstation; on the basis of the seeding information, determining the seeding quantities of the seeding-pending goods required on the seeding positions, and seeding the seeding-pending goods to seeding-pending containers on the seeding positions according to the seeding quantities corresponding to the seeding positions; and in the seeding process, acquiring the seeding states of the seeding positions on the seeding wall, and generating a first transfer instruction on the basis of the seeding states of the seeding positions, wherein the first transfer instruction is used for instructing the target workstation to transfer seeding-completed containers to a target carrier.

Description

Sowing control method, sowing system and workstation

[0001] This application claims priority to Chinese patent application No. 202311504829.0 filed on November 13, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The embodiments of the present disclosure relate to the field of intelligent warehousing technology, and more particularly to a sowing control method, a sowing system, and a workstation. Background Art

[0003] With the rapid development of the logistics industry and the continuous improvement of intelligence, the efficiency of cargo flow continues to improve. For example, in the field of smart warehousing, multiple orders can be aggregated for batch picking and then seeded into individual delivery orders. This allows the goods to be evenly distributed throughout the warehouse, and picking only needs to be carried out in a single warehouse, improving picking efficiency.

[0004] When goods are shipped out of the warehouse or put on shelves, users usually sort the goods by type and quantity to ensure that the types and quantities of goods meet the requirements of each order. However, this method mainly relies on manual labor, and when the number of goods is large, the picking efficiency is relatively low and the cost is relatively high.

[0005] Summary of the Invention

[0006] The embodiments of the present disclosure provide a sowing control method, a sowing system, and a workstation.

[0007] According to a first aspect of an embodiment of the present disclosure, a sowing control method is provided, which is applied to a control device, and the method includes: first, in response to a movable carrier arriving at a docking area of ​​a target workstation, obtaining cargo information of the cargo to be sown on the movable carrier. Secondly, based on the cargo information of the cargo to be sown, determining the sowing information of each sowing position on the sowing wall of the target workstation; wherein the sowing information of the sowing position includes the sowing quantity of the cargo to be sown at the sowing position. Then, based on the sowing information, determining the sowing quantity of the cargo to be sown required at each sowing position, sowing the cargo to be sown to the container to be sown on the sowing position according to the sowing quantity corresponding to the sowing position. Finally, during the sowing process, obtaining the sowing status of each sowing position on the sowing wall, and generating a first transfer instruction based on the sowing status of the sowing position; wherein the first transfer instruction is used to instruct the target workstation to transfer the sown container that has completed sowing to the target carrier.

[0008] According to a second aspect of an embodiment of the present disclosure, a sowing system is provided, which includes a target workstation, a movable carrier, a handling robot, a target carrier, and a control device. The target workstation includes a sowing wall with multiple sowing positions and a first container pick-and-place device, and the sowing positions are used to place containers to be sown. The movable carrier is used to place the goods to be sown. The handling robot is used to transport the movable carrier with the goods to be sown to the docking area of ​​the target workstation. The target carrier is used to place the sown containers that have completed sowing. The control device is configured to: in response to the movable carrier arriving at the docking area of ​​the target workstation, obtain cargo information of the goods to be sown on the movable carrier; based on the cargo information of the goods to be sown, determine the sowing information of each sowing position on the sowing wall of the target workstation; wherein the sowing information of the sowing position includes the sowing quantity of the goods to be sown at the sowing position; based on the sowing information, generate an output instruction; during the sowing process, obtain the sowing status of each sowing position on the sowing wall, and generate a first transfer instruction based on the sowing status of the sowing position. The target workstation is configured to: obtain an output instruction, and output the sowing quantity of the goods to be sown at each sowing position according to the output instruction, so that the user can sow the goods to be sown into the containers to be sown at the sowing positions according to the sowing quantity corresponding to the sowing positions; obtain a first transfer instruction, and transfer the sown containers that have completed sowing to the target carrier according to the first transfer instruction.

[0009] According to a third aspect of an embodiment of the present disclosure, a workstation is provided, which includes a sowing wall and a first container pick-up and placement device. The sowing wall includes a plurality of sowing positions and an output device provided at each sowing position, wherein the sowing position is used to place containers to be sown; the output device is configured to output the sowing quantity of the goods to be sown at the sowing position corresponding to the output device, so that the user can sow the goods to be sown into the containers to be sown at the sowing position according to the sowing quantity corresponding to the sowing position. The first container pick-up and placement device is configured to obtain a first transfer instruction during the process of sowing the goods to be sown, and based on the first transfer instruction, transfer the sown container that has completed sowing at the sowing position to the target carrier; wherein the first transfer instruction is generated according to the sowing status of each sowing position on the sowing wall.

[0010] According to the fourth aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: one or more processors; and a memory configured to store one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the sowing control method according to any one of the above items.

[0011] According to a fifth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the sowing control method according to any one of the above items is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present disclosure. In addition, the same reference symbols are used to represent the same components throughout the drawings. In the drawings:

[0013] FIG1 shows a schematic diagram of a seeding system provided by an embodiment of the present disclosure;

[0014] FIG2 shows a schematic structural diagram of a target workstation provided by an embodiment of the present disclosure;

[0015] FIG3 shows a schematic diagram of a sowing control method provided by an embodiment of the present disclosure;

[0016] FIG4 shows a schematic diagram of another sowing control method provided by an embodiment of the present disclosure;

[0017] FIG5 shows a schematic diagram of another sowing control method provided by an embodiment of the present disclosure;

[0018] FIG6 shows a schematic diagram of a docking area of ​​a target workstation provided by an embodiment of the present disclosure;

[0019] FIG7 shows a schematic diagram of another sowing control method provided by an embodiment of the present disclosure;

[0020] FIG8 shows a schematic diagram of another sowing control method provided by an embodiment of the present disclosure;

[0021] FIG9 shows a schematic diagram of another sowing control method provided by an embodiment of the present disclosure;

[0022] FIG10 shows a schematic diagram of another seeding system provided by an embodiment of the present disclosure;

[0023] FIG11 is a schematic diagram showing another sowing control method provided by an embodiment of the present disclosure;

[0024] FIG12 shows a schematic diagram of another seeding system provided by an embodiment of the present disclosure;

[0025] FIG13 shows a schematic diagram of a workstation provided by an embodiment of the present disclosure;

[0026] FIG14 shows a schematic diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0028] Typically, to improve the efficiency of goods shipped out of the warehouse, a seeding wall with multiple seeding positions can be used to seed the goods required for an order. Users can seed the goods into containers on the seeding wall corresponding to the order requirements. For example, if an order includes goods to be delivered to multiple stores, users can classify the goods according to the goods needs of each store and seed the goods for each store into containers on the seeding wall in different seeding positions. This way, the containers in the seeded seeding positions can be directly transported to the corresponding store's processing station during transportation.

[0029] However, during the sowing process, users need to determine the type and quantity of goods to be sown at each sowing position on the sowing wall, and need to manually move the container on the sowing position after completing the sowing at a sowing position. This process takes a lot of time and requires a lot of manpower costs, and the efficiency of picking goods is relatively low.

[0030] To address the above-mentioned issues, the present invention discloses a sowing control method, sowing system, and workstation. In response to a movable carrier arriving at a docking area at a target workstation, the method obtains cargo information of the cargo to be sown on the movable carrier. Based on the cargo information, the method determines the sowing information for each sowing position on the sowing wall of the target workstation. Based on the sowing information, the method determines the sowing quantity of the cargo to be sown at each sowing position, sowing the cargo to be sown into the sowing containers at the sowing positions according to the sowing quantity corresponding to the sowing position. During the sowing process, the method obtains the sowing status of each sowing position on the sowing wall, and based on the sowing status of the sowing position, generates a first transfer instruction to instruct the target workstation to transfer the sown containers that have completed sowing to the target carrier. By applying the technical solutions of the present invention, the method can, on the one hand, facilitate sowing for users by determining the sowing quantity of the cargo to be sown at each sowing position, allowing users to sow the cargo to be sown into the sowing containers at the sowing positions according to the sowing quantity. On the other hand, the target workstation can be used to transfer containers on the sowing wall without the need for manual container replacement, thereby improving the sowing efficiency of the cargo. Therefore, the sowing system provided by the embodiment of the present disclosure can improve the degree of automation of sowing, provide convenience for users to sow, thereby improving sowing efficiency and saving labor costs.

[0031] The seeding system provided by the embodiments of the present disclosure will be described below with reference to the accompanying drawings.

[0032] Figure 1 is a schematic diagram of a sowing system provided by an embodiment of the present disclosure. As shown in Figure 1, the sowing system 100 includes a handling robot 10, a movable carrier 20, a target carrier 30, a target workstation 40, and a control device (not shown in Figure 1).

[0033] In some examples, the transport robot 10 may be an automatic transport device or a carrier transport device, and may be used to transport a movable carrier 20, such as transporting the movable carrier 20 carrying goods to be sown to a docking area of ​​a target workstation 40, or moving the movable carrier 20 away from the docking area of ​​the target workstation 40. The goods to be sown are goods that need to be sown according to the order.

[0034] Exemplarily, the transport robot 10 may be an automatic guided vehicle. The transport robot 10 may move to the bottom of the movable carrier 20 and then lift the movable carrier 20 upward, thereby supporting the movable carrier 20 for movement.

[0035] In some embodiments, the movable carrier 20 may include multiple storage locations for placing containers 21 of goods to be sown. The storage locations may be rectangular storage spaces, and the multiple storage locations on the movable carrier 20 may be neatly arranged along the length, width and height directions of the movable carrier 20.

[0036] In some embodiments, the movable carrier 20 may include at least one layer of partitions, which separate the movable carrier 20 into at least two layers. Each layer of partitions of the movable carrier 20 is provided with at least one storage location, and each storage location can accommodate at least one container 21.

[0037] It should be noted that the container 21 in this embodiment can be a supporting product specially designed for the movable carrier 20, or it can be an ordinary cargo box (also called a material box), or it can be the packaging of goods, and the present disclosed embodiment does not limit this.

[0038] In some embodiments, the target carrier 30 may include multiple storage locations for placing seeded containers 31 that have completed sowing. Similar to the storage locations of the movable carrier 20, the storage locations of the target carrier 30 may also be rectangular storage spaces. The multiple storage locations on the target carrier 30 may be neatly arranged along the length, width, and height directions of the target carrier 30.

[0039] Exemplarily, the target carrier 30 may also include at least one partition, which separates the target carrier 30 into at least two layers. Each partition of the target carrier 30 is provided with at least one storage location, and each storage location can accommodate at least one seeded container 31 .

[0040] In some embodiments, the sowing system 100 may further include a cargo information input device, which may be used to identify cargo on the movable carrier 20 .

[0041] Exemplarily, the cargo information input device may be a tablet computer, a display device, a scanning device, etc. The display device may be a device with both identification and display functions, such as a camera, and the scanning device may be a device with scanning functions, such as a scanner, a barcode scanner, or a handheld terminal. Users may use the cargo information input device to identify the cargo to be sown, such as by scanning the cargo label on the cargo to be sown with the scanning device to obtain cargo information, such as the cargo name and quantity.

[0042] In some examples, the cargo information input device can be installed in a fixed position so as to have a defined recognition range. When the movable carrier 20 is moved into the recognition range of the cargo information input device, such as the scanning range of a scanning device, the cargo information input device can automatically scan the cargo to be sown on the movable carrier 20 to obtain cargo information of the cargo to be sown on the movable carrier 20.

[0043] In other examples, the user may also pick up the cargo information input device to identify the cargo to be sown on the movable carrier 20, or the user may pick up the cargo to be sown on the movable carrier 20 and place it within the identification range of the cargo information input device to scan the cargo to be sown on the movable carrier 20. This embodiment does not specifically limit this.

[0044] For example, in order to facilitate identification of the goods to be sown, the goods information input device can be set in a position adjacent to the movable carrier 20, such as a fixed position in the docking area of ​​the target workstation 40.

[0045] As a device for processing cargo seeding tasks in a warehouse or logistics center, the target workstation 40 can provide a work area for users to seed cargo into corresponding containers according to order requirements.

[0046] Exemplarily, the target workstation 40 includes a seeding wall 50 having multiple seeding positions 51 and a first container placement device 60. Each seeding position 51 can accommodate a seeding container 70 for storing the product to be seeded. In other words, the user can seed the product to be seeded from the movable carrier 20 into the seeding container 70 at the seeding position 51 that requires the product according to the order.

[0047] In some embodiments, each sowing position 51 is provided with an output device 52, which may be a display screen, an electronic tag, a speaker, a projection device, etc. The output device 52 is used to output the sowing quantity of the product to be sown at the corresponding sowing position 51. For example, when a user sows at the sowing position, the product to be sown can be sown into the sowing container 70 at the sowing position 51 corresponding to the output device 52 according to the sowing quantity output by the output device 52.

[0048] In some embodiments, the target workstation 40 may be provided with an output device 52 , which may output the sowing quantity of the to-be-sown goods on each sowing position 51 of the sowing wall 50 of the target workstation 40 .

[0049] For example, the plurality of sowing positions 51 on the sowing wall 50 can be neatly arranged along the length, width, and height directions. When all the goods to be sown required by the sowing container 70 at a sowing position 51 are placed, the sowing position 51 where the sowing container 70 is located is completed, and at this time, the sowing container 70 is called the sown container 31.

[0050] In some embodiments, the seeded container 31 may be a matching product specially designed for the target carrier 30 and the seeding position 51 , and can be placed on the storage position of the target carrier 30 or on the seeding position 51 .

[0051] In some embodiments, the docking area of ​​the target workstation 40 is provided on either or both sides of the seed wall 50 of the target workstation 40. That is, the docking area of ​​the target workstation 40 may include one or more docking positions. FIG. 1 illustrates a schematic diagram of two docking positions corresponding to one target workstation 40. It can be seen that each docking position in the docking area of ​​the target workstation 40 accommodates a movable vehicle 20.

[0052] As shown in FIG. 1 , the seed wall 50 of the target workstation 40 is disposed on one side of the target workstation 40 , and the target carrier 30 may be placed on the other side of the target workstation 40 away from the seed wall 50 .

[0053] In some examples, when sowing is completed at the sowing position 51 on the sowing wall 50 , the control device may control the first container picking and placing device 60 of the target workstation 40 to remove the sown container 31 on the sowing position 51 and place it on the target carrier 30 .

[0054] For example, the first container picking and placing device 60 can be a robotic arm, a suction cup, etc. Taking the suction cup as an example, the first container picking and placing device 60 can use air pressure to suck the seeded container 31 and transfer it to the target carrier 30. When the seeded container 31 is moved to the storage position on the target carrier 30, the seeded container 31 can be released and placed on the storage position of the target carrier 30.

[0055] In some embodiments, the target carrier 30 can be a shelf, and it can be a single-sided shelf or a multi-sided shelf. Each side can be provided with multiple storage locations. When the storage locations on one side are all occupied, the seeded containers can be placed on other sides. For example, the target carrier 30 can be rotated by the handling robot 10, or the user can manually rotate the target carrier 30 to rotate it.

[0056] It should be noted that the multiple sowing positions 51 on the sowing wall 50 can be arranged on one layer or on multiple layers, which is not limited in this embodiment.

[0057] In some examples, the control device is a device or tool used to monitor, operate and adjust the transport robot 10, the target workstation 40 and the cargo information input device, etc., which can be used to control and manage various parameters, functions and operations of the transport robot 10, the target workstation 40 and the cargo information input device.

[0058] For example, the control device can be coupled to the transport robot 10 and the target workstation 40, respectively, to control the operations of the transport robot 10 and the target workstation 40. For example, the control device can control the movement of the transport robot 10 and the transport operation of the movable carrier 20, and can also control the target workstation 40 to perform a sowing task, etc. For another example, the control device can also be coupled to a cargo information input device to obtain cargo information identified by the cargo information input device.

[0059] In some examples, the control device may be a server or a terminal device, or a device deployed with a warehouse management system (WMS) or a robot management system (RMS). The terminal device may include at least one of a personal computer, a laptop computer, a smartphone, a tablet computer, and a portable wearable device; the server may include a standalone server or a server cluster consisting of multiple servers, which is not limited in the present disclosure.

[0060] In some examples, the control device is communicatively connected to the transport device 10 and the target workstation 40 for data communication. For example, the control device can be communicatively connected to the transport device 10 and the target workstation 40 via a local area network (LAN), a wireless local area network (WLAN), or other networks.

[0061] In some embodiments, the control device may send a transport instruction to the transport robot 10 . Upon receiving the transport instruction, the transport robot 10 transports the movable carrier 20 to the docking area of ​​the target workstation 40 according to the transport instruction.

[0062] In some embodiments, after the transport robot 10 transports the movable carrier 20 to the docking area of ​​the target workstation 40, the target workstation 40 can obtain cargo information of the goods to be sown on the movable carrier in response to the movable carrier arriving at the docking area of ​​the target workstation 40, and based on the cargo information of the goods to be sown, determine the sowing information of each sowing position 51 on the sowing wall 50 of the target workstation 40, and the sowing information includes the sowing quantity of the goods to be sown at each sowing position 51.

[0063] Then, the control device generates an output instruction based on the sowing information and sends the output instruction to the target workstation 40. The target workstation 40 can obtain the output instruction and, based on the output instruction, output the sowing quantity of the goods to be sown at each sowing position 51. For example, the electronic tag of each sowing position 51 can be controlled to display the sowing quantity of the goods to be sown at each sowing position 51, or the speaker of the target workstation 40 can be controlled to play the sowing quantity of the goods to be sown at each sowing position 51, so that the user can sow the goods to be sown into the sowing container at the sowing position 51 according to the sowing quantity corresponding to the sowing position 51.

[0064] In some embodiments, during the sowing process, the control device can obtain the sowing status of each sowing position 51 on the sowing wall 50, such as whether sowing has started, whether sowing is in progress, the content and quantity of the sown goods, whether sowing is completed, etc., and based on the sowing status of the sowing position 51, generate a first transfer instruction, and send the first transfer instruction to the target workstation 40. The target workstation 40 can obtain the first transfer instruction and transfer the sown container 31 that has completed sowing to the target carrier 30 according to the first transfer instruction.

[0065] For example, when the target workstation 40 obtains the first transfer instruction, the first container picking and placing device 60 can be used to transfer the seeded container 31 that has completed seeding to the target carrier 30 .

[0066] It should be noted that the seeding system 100 may include multiple workstations, each of which may be used to perform a seeding task. The target workstation is any one of the multiple workstations.

[0067] FIG2 is a schematic diagram of the structure of a target workstation provided by an embodiment of the present disclosure. The structure and function of the target workstation 40 will be described below with reference to FIG2 .

[0068] As shown in FIG2 , the target workstation 40 includes a sowing wall 50 and a first container picking and placing device 60 . The sowing wall 50 includes a plurality of sowing positions 51 and an electronic tag 52 disposed at each sowing position 51 .

[0069] In some examples, the seeding positions 51 on the seeding wall 50 can be flexibly designed in terms of number of layers, height, and number of storage positions according to the scenario and needs, and can be fixed on the ground or designed to be movable. This is not limited in the embodiments of the present disclosure.

[0070] In some embodiments, the sowing positions 51 on the sowing wall 50 can be arranged into one or more layers, each layer including at least one sowing position 51 , and a container 70 to be sown can be placed on each sowing position 51 , and the container 70 to be sown is used to place the goods to be sown.

[0071] It should be noted that when setting up electronic tags 52, each seeding position 51 can correspond to one electronic tag 52, or multiple seeding positions 51 can correspond to one electronic tag. For example, an electronic tag 52 can be set between two adjacent seeding positions 51, or an electronic tag can be set at the front or rear of a layer of seeding positions 51. This embodiment of the present disclosure does not specifically limit this. Figure 2 illustrates the example of one seeding position 51 corresponding to one electronic tag 52.

[0072] In some embodiments, the electronic tag 52 is coupled to a control device, which sends a display instruction to the electronic tag 52 on each sowing position 51 based on the goods to be sown on the movable carrier 20. After receiving the display instruction, the electronic tag 52 can display the sowing quantity of the goods to be sown at the sowing position 51 corresponding to the electronic tag 52 according to the display instruction, so that the user can sow the goods to be sown on the movable carrier 20 into the sowing container 70 on the sowing position 51 according to the sowing quantity corresponding to the sowing position 51.

[0073] In some embodiments, the first container placement device 60 is coupled to a control device. When all the goods to be sown required by the container 70 to be sown at the sowing position 51 are placed in the container 70 to be sown, the sowing position 51 where the container 70 to be sown is located is completed. The first container placement device 60 moves horizontally and / or vertically to the sowing position 51 where sowing is completed, and removes the container 70 to be sown from the sowing position 51.

[0074] For example, during the sowing process of the goods to be sown, the control device can generate a first transfer instruction based on the sowing status of each sowing position 51 on the sowing wall 50, and send the first transfer instruction to the first container picking and placing device 60. The first container picking and placing device 60 transfers the sown container that has completed sowing on the sowing position 51 to the target carrier according to the first transfer instruction.

[0075] In some embodiments, after the first container picking and placing device 60 takes away the container to be sown 70 that has completed sowing on the sowing position 51 (such as transferring it to the target carrier), the first container picking and placing device 60 can also place a new container to be sown on the idle sowing position 51 by moving horizontally and / or vertically.

[0076] For example, a new container to be sown can be placed on a target carrier or on another carrier (such as a movable carrier). Alternatively, a carrier specifically for placing new containers to be sown that have not been sown can be docked on one side of the target workstation 40. The first container pick-up and placement device 60 can remove a new container to be sown from the carrier and place it on the sowing position 51 by moving horizontally and / or vertically. The new container to be sown can be an empty container or a non-empty container.

[0077] For another example, the target carrier can be used to place containers that have been planted, and can also be used to place new containers to be planted. For example, when there is only one target carrier, some of the storage locations on the target carrier are used to place containers that have been planted, and another portion of the storage locations are used to place new containers to be planted; or, when there are multiple target carriers (such as two), one target carrier is used to place containers that have been planted, and the other target carrier is used to place new containers to be planted. This disclosed embodiment is not limited to this.

[0078] In some embodiments, the target workstation 40 may be provided with a buffer location (not shown in FIG. 2 ) that can be used to temporarily store containers. For example, the buffer location can be used to store a container 70 to be sown, a sown container 31, or an empty container that has not been sown. After a sown container 31 has been transferred to the target carrier 30, the empty container can be removed from the buffer location by the first container placement device 60 of the target workstation 40 and placed in the original sowing location of the sown container 31.

[0079] It should be noted that the above-mentioned method of setting an electronic tag on each sowing position of the sowing wall of the target workstation to display the sowing quantity of the goods to be sown at the sowing position is only an exemplary description. According to actual conditions, the electronic tag can also be set at any position of the target workstation or any position of the sowing wall, and the output device of the target workstation can be other devices besides the electronic tag, such as a display device, a projection device, a speaker, etc.

[0080] In order to explain the sowing control method provided by the present disclosure in detail, the sowing control method provided by the embodiment of the present disclosure is described in detail below with reference to the accompanying drawings.

[0081] FIG3 is a schematic diagram of a sowing control method provided by an embodiment of the present disclosure, which can be applied to the control device in the above embodiment. As shown in FIG3 , the method includes steps 310 to 340 as shown below.

[0082] Step 310 : In response to the movable carrier arriving at the docking area of ​​the target workstation, obtain cargo information of the cargo to be sown on the movable carrier.

[0083] Among them, the movable carrier can be used to place the goods to be sown.

[0084] For example, a movable carrier can be used to hold a single type of goods to be sown, or multiple types of goods to be sown. The movable carrier can be moved from a goods storage area to the target workstation by a transport robot, or by a user. The goods to be sown can be items, packages, stock keeping units (SKUs), etc.

[0085] In some examples, the cargo information of the goods to be sown refers to the cargo information of the goods to be sown placed on the movable carrier, and may include the cargo name and quantity of the goods to be sown, and may also include cargo parameters of the goods to be sown, such as size, weight, etc. The goods to be sown are the goods required for the order to be processed.

[0086] In some embodiments, the movable carrier can be docked in a docking area at the target workstation. The docking area can be located on any one or more sides of the target workstation. A user can walk to the docking area at the target workstation, pick up the cargo to be sown from the movable carrier, and then identify or sow it. As shown in FIG1 , the docking area at the target workstation 40 can be located near the target workstation 40, and one or more docking positions can be provided within the docking area, each of which can be used to accommodate a movable carrier 20.

[0087] In some embodiments, the above step 310 may include: when the movable carrier arrives at the docking area of ​​the target workstation, determining the cargo information of the goods to be sown on the movable carrier based on the task information of each task to be sown in the sowing system; or, when the movable carrier arrives at the docking area of ​​the target workstation, in response to the cargo information input device's identification operation of the goods to be sown on the movable carrier, obtaining the cargo information of the goods to be sown.

[0088] For example, the control device may assign a sowing task to each workstation based on the cargo information of all cargo to be sown and the operating status of each workstation. The task information of the sowing task may include cargo information of the cargo to be sown. The control device may then dispatch a transport robot to transport a movable carrier carrying the cargo to be sown to a target workstation. When the control device detects that the movable carrier has arrived at the docking area of ​​the target workstation, the control device may determine the cargo information of the cargo to be sown on the movable carrier corresponding to the target workstation based on the task information of all sowing tasks.

[0089] In some embodiments, the task information for the to-be-sown task may also include vehicle information of the movable vehicle on which the to-be-sown cargo is placed. Thus, when the control device detects that the movable vehicle has arrived at the docking area of ​​the target workstation, it can directly determine the cargo information of the to-be-sown cargo placed on the movable vehicle based on the vehicle information of the movable vehicle.

[0090] In some examples, a cargo information input device may also be provided in the docking area of ​​the target workstation. This cargo information input device can be used to identify the cargo to be sown on the movable carrier. The device may be a tablet computer, a display device, a scanning device, etc. The display device may be a device with both identification and display functions, such as a camera, and the scanning device may be a device with scanning functions, such as a scanner, a barcode scanner, or a handheld terminal.

[0091] For example, when the movable carrier arrives at the docking area of ​​the target workstation, the user can use a cargo information input device, such as a scanning device, to scan the cargo to be sown on the movable carrier. The control device can respond to the scanning operation, obtain the cargo identification of the cargo to be sown, and obtain the cargo information of the cargo to be sown on the movable carrier based on the cargo identification, such as the cargo name and cargo quantity, as well as cargo parameters, etc.

[0092] For another example, when the movable carrier arrives at the docking area of ​​the target workstation, the movable carrier can be moved automatically or by the user to the recognition range of the cargo information input device, so that the cargo information input device can automatically identify the cargo to be sown on the movable carrier, thereby obtaining the cargo information of the cargo to be sown on the movable carrier.

[0093] Through the above method, the control device can obtain the cargo information of the cargo to be sown on the movable carrier when detecting that the movable carrier arrives at the docking area of ​​the target workstation, thereby providing information support for the subsequent sowing of the cargo to be sown.

[0094] FIG4 is a schematic diagram of another sowing control method provided by an embodiment of the present disclosure. As shown in FIG4 , in order to determine the goods to be sown and transport the goods to be sown to the docking area of ​​the target workstation, before step 310, the method further includes steps 410 to 420 as shown below.

[0095] Step 410: Obtain pending orders.

[0096] Among them, the pending orders include cargo information of multiple types of cargo.

[0097] For example, a pending order may be a collection of goods ordered by an ordering user, which may include multiple goods, as well as the name and quantity of each good, and order information such as the time of order placement and the account from which the order was placed. When the user completes an order online, the control device may obtain the order information in real time and determine the pending order based on the order information, including information such as the name of the ordered goods, the quantity ordered, and the requested delivery time.

[0098] Step 420 : determining the cargo to be sown at the target workstation based on the cargo information of the multiple cargoes, and generating a transport instruction based on the cargo to be sown at the target workstation.

[0099] The transport instruction is used to instruct the transport robot to transport the movable carrier carrying the goods to be sown to the docking area of ​​the target workstation.

[0100] In some examples, after obtaining a pending order, the control device can determine the goods to be picked and the quantity of the goods based on the goods information in the pending order. Based on the goods and their quantity, the control device can then determine the goods to be sown from among the multiple goods. For example, based on the goods to be picked and the quantity of the goods, the goods with the largest quantity can be selected as the goods to be sown. In this case, the goods to be sown first are the goods with the largest quantity among the ordered goods.

[0101] Based on this, after the user places an order, the control device can determine the goods to be sown according to the pending orders, and schedule the sowing order of the goods. It can optimize the sowing process of the goods to a certain extent and improve the subsequent sowing efficiency.

[0102] In the above method, in order to facilitate the acquisition of cargo information of the cargo to be sown on the movable carrier, in some embodiments, the cargo information input device can be fixedly set in the docking area of ​​the target workstation, such as a fixing device can be set in the docking area, and the cargo information input device can be installed on the fixing device. When the movable carrier moves to the docking area of ​​the target workstation, the user can take the cargo on the movable carrier and place it within the identifiable range of the cargo information input device for identification.

[0103] Fig. 5 is a schematic diagram of another sowing control method provided by an embodiment of the present disclosure. As shown in Fig. 5, the above step 420 may include steps 510 to 520 as shown below.

[0104] Step 510: Determine the relevance of the multiple goods based on the goods information of the multiple goods.

[0105] The cargo information of the multiple cargoes may include the cargo name, cargo type, attributes, historical purchase quantity, purchase time, etc. of each cargo in the multiple cargoes.

[0106] In some examples, there are certain patterns in users' orders. For example, users often order related goods at the same time, such as shampoo and conditioner. Therefore, in order to improve the efficiency of goods seeding, the correlation between multiple goods can be determined, and then the goods to be seeded can be determined based on the correlation between multiple goods.

[0107] In some examples, the degree of association between any two different items in the multiple goods can be determined based on the product name and historical purchase quantity of each item in the multiple goods. For example, for goods A and B, the degree of association between goods A and B can be calculated using the formula: association = number of goods A and B purchased simultaneously / total sales quantity of goods A.

[0108] In other examples, the correlation between goods can also be determined directly based on their attributes. For example, if two goods are both kitchen cleaning supplies, the correlation between the two goods can be determined based on their attribute correlation. The attribute correlation between the goods can be customized based on, for example, the type of goods and the degree of correlation between the two goods.

[0109] Step 520 : Based on the correlation of the multiple goods, at least two goods with correlation greater than a correlation threshold among the multiple goods are determined as goods to be sown at the target workstation.

[0110] In some examples, the association threshold can be set by the user based on actual needs and the type of goods. For example, the association threshold can be set to 80% or 90%. The association thresholds for different goods can be the same or different, and this embodiment does not specifically limit this.

[0111] For example, based on the correlation between multiple goods, two or more goods with a correlation greater than a correlation threshold can be determined as goods to be sown at the target workstation. For example, when the correlation threshold between goods type A and goods type B is 80%, if the correlation between goods 1 belonging to goods type A and goods 2 belonging to goods type B is 85%, then goods 1 and goods 2 can be determined as goods to be sown.

[0112] Through the above method, multiple goods with strong correlation in type can be placed on one workstation for sowing according to order information and goods types, so that the sowing requirements of each workstation are the same or similar, reducing the situation where one type of goods to be sown only needs to be sown on a smaller number of sowing positions at the workstation, thereby improving the overall sowing efficiency of the workstation.

[0113] In some examples, when sowing, if the working area provided by the target workstation is larger, it can support multiple users to sow at the same time. Therefore, in some embodiments, the movable vehicle can include at least a first vehicle and a second vehicle, and the goods to be sown at the target workstation include at least a first goods to be sown and a second goods to be sown.

[0114] Figure 6 is a schematic diagram of a docking area of ​​a target workstation provided by an embodiment of the present disclosure. As shown in Figure 6, the docking area of ​​the target workstation has two movable carriers docked therein, namely a first carrier 610 and a second carrier 620.

[0115] In some examples, the first carrier 610 and the second carrier 620 may have the same structure and may be used to place different cargoes to be sown. For example, the first carrier may be used to place a first cargo to be sown 611, i.e., cargo A; the second carrier may be used to place a second cargo to be sown 621, i.e., cargo B. The first cargo to be sown and the second cargo to be sown may be two related cargoes.

[0116] Based on this, in some embodiments, generating a transport instruction based on the goods to be sown at the target workstation in the above step 420 includes: generating a first transport instruction based on the first goods to be sown, and generating a second transport instruction based on the second goods to be sown.

[0117] The first transport instruction is used to instruct the transport robot to transport the first carrier carrying the first cargo to be sown to one side of the docking area of ​​the target workstation. The second transport instruction is used to instruct the transport robot to transport the second carrier carrying the second cargo to be sown to the other side of the docking area of ​​the target workstation.

[0118] For example, in a cargo storage area, cargo is stored by category on corresponding carriers. Thus, a first carrier may store a first cargo to be sown, and a second carrier may store a second cargo to be sown. In some examples, a robot or a user may place the first cargo to be sown on the first carrier, and the second cargo to be sown on the second carrier.

[0119] In some examples, the control device can generate a first transport instruction based on the first seed to be sown on the first carrier, and send the first transport instruction to the transport robot. When the transport robot receives the first transport instruction, it can travel to the location of the first carrier and transport the first carrier to one side of the docking area of ​​the target workstation. For example, as shown in FIG6 , the transport robot can transport the first carrier to the left side of the docking area. At the same time, the control device can generate a second transport instruction based on the second seed to be sown on the second carrier, and send the second transport instruction to the transport robot. When the transport robot receives the second transport instruction, it can travel to the location of the second carrier and transport the second carrier to the other side of the docking area of ​​the target workstation. For example, as shown in FIG6 , the transport robot can transport the second carrier to the right side of the docking area.

[0120] In some examples, the transport robot used to transport the first carrier (such as referred to as the first robot) and the transport robot used to transport the second carrier (such as referred to as the second robot) can be the same transport robot or different transport robots.

[0121] For example, when the first robot and the second robot are the same robot, after the first robot (or the second robot) moves the first carrier from the cargo storage area to the docking area of ​​the target workstation, it can move the second carrier from the cargo storage area to the docking area of ​​the target workstation. For another example, when the first robot and the second robot are different robots, the first robot and the second robot can move the first carrier and the second carrier to the docking area of ​​the target workstation simultaneously or sequentially. This is not limited in the present embodiment.

[0122] It should be noted that the first robot used to carry the first carrier and the second robot used to carry the second carrier are idle transfer robots among the multiple transfer robots. For example, when it is necessary to carry the first carrier and the second carrier simultaneously, the first robot and the second robot are different transfer robots. If the second carrier is carried after the first carrier, and the first robot is idle after carrying the first carrier, the first robot can continue to carry the second carrier. In other words, the second robot carrying the second carrier can be the same transfer robot as the first robot carrying the first carrier.

[0123] FIG7 is a schematic diagram of another sowing control method provided by some embodiments of the present disclosure. As shown in FIG7 , the control device may further perform the following step 710 or step 720 .

[0124] Step 710: Before starting to sow the first cargo to be sown on the sowing wall of the target workstation, send a second transport instruction to the transport robot to transport the second carrier to the other side of the docking area of ​​the target workstation and sow the second cargo to be sown on the second carrier.

[0125] Step 720, when sowing the first cargo to be sown on the sowing wall of the target workstation, send a second transport instruction to the transport robot to transport the second carrier to the other side of the docking area of ​​the target workstation and sow the second cargo to be sown on the second carrier.

[0126] In some examples, when the target workstation provides a larger work area, it may be possible to simultaneously sow the first cargo to be sown on the first carrier and the second cargo to be sown on the second carrier. Therefore, before sowing the first cargo to be sown on the sowing wall of the target workstation, the control device may send a second transport instruction to the transport robot, causing the transport robot to transport the second carrier to the other side of the docking area of ​​the target workstation and, upon completing sowing of the first cargo to be sown on the first carrier, continue sowing the second cargo to be sown on the second carrier.

[0127] In other examples, when sowing the first cargo to be sown on the sowing wall of the target workstation, the control device may also send a second transport instruction to the transport robot, so that the transport robot can transport the second carrier to the other side of the docking area of ​​the target workstation, and when the sowing of the first cargo to be sown on the first carrier is completed, the second cargo to be sown on the second carrier is sown, or, while the first cargo to be sown on the first carrier is sown, other users sow the second cargo to be sown on the second carrier.

[0128] In some embodiments, the timing at which the control device sends the second transport instruction to the transport robot can be determined by the control device based on the idleness of all transport robots. For example, when all transport robots are in an active state, the control device waits until an idle transport robot becomes available, and then sends the second transport instruction to the idle transport robot. This allows the idle transport robot to transport the second carrier to the other side of the docking area of ​​the target workstation according to the second transport instruction, so as to sow the second cargo to be sown on the second carrier.

[0129] In some embodiments, for a first commodity to be sown on a first carrier and a second commodity to be sown on a second carrier, once all the first commodities required for sowing at the sowing locations on the sowing wall have been sown, there is no need to sow the first commodity again. At this point, the control device can generate a third transport instruction and send the third transport instruction to the transport robot, instructing the transport robot to move the first carrier carrying the first commodity away from the target workstation. For example, the first carrier can be moved to a cargo storage area to place the next commodity to be sown.

[0130] It should be noted that the above-mentioned transport robot also refers to an idle transport robot, and does not specifically refer to a certain transport robot.

[0131] In order to improve the sowing efficiency, in some embodiments, the control device can also determine the goods to be sown corresponding to the target sowing position with the least number of types of goods to be sown based on the number of types of goods to be sown corresponding to each sowing position on the sowing wall, determine the movable carrier for placing the goods to be sown corresponding to the target sowing position, and generate a carrier transport instruction based on the movable carrier.

[0132] Among them, the carrier transport instruction is used to instruct the transport robot to transport the movable carrier containing the goods to be sown corresponding to the target sowing position to the docking area of ​​the target workstation.

[0133] In some examples, each sowing position on the sowing wall of the target workstation may require one or more types of goods to be sown. To prioritize sowing at the sowing position with the least number of goods, the control device can determine the target sowing position with the least number of goods to be sown, and the goods to be sown corresponding to the target sowing position, based on the number of goods to be sown corresponding to each sowing position on the sowing wall. The control device can then generate a carrier transport instruction based on the movable carrier that holds the goods to be sown corresponding to the target sowing position, so that the transport robot can transport the movable carrier that holds the goods to be sown corresponding to the target sowing position to the docking area of ​​the target workstation.

[0134] Therefore, in the subsequent sowing process, the user can give priority to sowing the sowing position with the least number of cargo types, so that the sowing can be completed as soon as possible. Then, the control device can control the target workstation to replace the sowing container of the sowing position where sowing is completed, thereby improving the sowing efficiency of the sowing position.

[0135] Step 320 : Based on the cargo information of the cargo to be sown, determine the sowing information of each sowing position on the sowing wall of the target workstation.

[0136] The sowing information of the sowing position includes the sowing quantity of the goods to be sown at the sowing position.

[0137] In some examples, based on cargo information, such as cargo name and quantity, of the cargo to be sown on the movable carrier, the control device can determine sowing information for each sowing location on the sowing wall of the target workstation. For example, the quantity of cargo to be sown at each sowing location can be determined. Thus, the sowing tasks for the cargo to be sown on the movable carrier can be broken down and assigned to each sowing location, facilitating subsequent sowing at each location.

[0138] In some embodiments, the sowing quantity of the goods to be sown at each sowing position can be pre-allocated by the control device according to the order information.

[0139] For example, each container to be sown placed at each sowing position on the sowing wall of the target workstation may correspond to an order. Based on this, when determining the quantity of goods to be sown at each sowing position, the control device may bind the container to be sown with an order based on the order information, taking one order of each user as a unit, and determine the sowing quantity of the container to be sown at each sowing position according to the goods to be sown ordered by the user and their quantity, and obtain the sowing quantity of the goods to be sown at each sowing position.

[0140] In some examples, the orders corresponding to the containers to be sown at each sowing location can be the same or different. That is, each container to be sown at a sowing location can correspond to a separate order, or containers to be sown at multiple sowing locations can correspond to the same order. For example, if the order requires a small quantity of goods that can be accommodated by a single container to be sown, the order can be associated with the container to be sown at the single sowing location. If the order requires a large quantity of goods that cannot be accommodated by a single container to be sown, the order can be associated with multiple containers to be sown at the single sowing location. When all of the containers to be sown have been sown, the order is considered complete.

[0141] Step 330 : Based on the sowing information, the sowing quantity of the goods to be sown required at each sowing position is determined, sowing the goods to be sown into the sowing containers at the sowing positions according to the sowing quantity corresponding to the sowing positions.

[0142] For example, after determining the sowing information, the control device can determine the sowing quantity of the goods to be sown required at each sowing position based on the sowing information, and control the target workstation to output the sowing quantity of the goods to be sown required at each sowing position, so that the sowing device or user of the target workstation can sow the goods to be sown into the sowing container on the sowing position according to the sowing quantity corresponding to the sowing position.

[0143] In some embodiments, after determining the sowing quantity of the goods to be sown at each sowing position, the control device can generate a display instruction and send the display instruction to the target workstation, so that the output devices on each sowing position of the sowing wall of the target workstation, such as electronic tags, display devices, etc., display the sowing quantity of the goods to be sown at the corresponding sowing position according to the display instruction.

[0144] For example, there are a total of 10 sowing positions on the sowing wall of the target workstation, and these 10 sowing positions are arranged on one layer. If the sowing quantities of the goods A to be sown on these 10 sowing positions are 1, 2, 3, 2, 1, 2, 5, 0, 0, and 1 respectively, the control device can generate a display instruction, which may include the identification information of the sowing wall of the target workstation, the identification information of each sowing position on the sowing wall, and the sowing quantity of the goods A to be sown on each sowing position.

[0145] Upon receiving the display instruction, the target workstation can parse the display instruction, determine the sowing quantity of the goods to be sown at each sowing position, and control the electronic tags on each sowing position to display the corresponding sowing quantity. For example, for the 10 sowing positions in the above example, the electronic tags on these 10 sowing positions can display A:1, A:2, A:3, A:2, A:1, A:2, A:5, A:0, A:0, A:1, where A is the goods identifier of the goods to be sown and the quantity indicates the number of goods to be sown at that sowing position.

[0146] In order to facilitate the user to sow the goods to be sown according to the sowing quantity corresponding to the sowing position, the target workstation can be provided with an output device for outputting the sowing quantity corresponding to the goods to be sown. For example, the output device can be a display device, an electronic label, a projection device, a speaker, etc.

[0147] Depending on the type of the output device, the output device can be set at any location such as the target workstation, the seeding wall of the target workstation, and the seeding position on the seeding wall of the target workstation, and the number of the output device can be one or more.

[0148] Exemplarily, the output device can be set at the target workstation, which can be a display device, a speaker, a projection device, etc., which can be used to display the sowing quantity of the goods to be sown on all sowing positions of the sowing wall of the target workstation, or the output device can also be set on the sowing wall to output the sowing quantity of the goods to be sown on all sowing positions of the sowing wall.

[0149] For another example, the output device can also be set at the sowing position, such as setting an output device for each sowing position, and each output device outputs the sowing quantity of the goods to be sown at the corresponding sowing position, or an output device can be set for multiple sowing positions, such as setting an output device for each layer of sowing positions, so that the output device can display the sowing quantity of the goods to be sown at all sowing positions on that layer of sowing positions.

[0150] FIG8 is a schematic diagram of another sowing control method provided by an embodiment of the present disclosure. As shown in FIG8 , the above step 330 may include steps 810 to 830 as shown below.

[0151] Step 810: Determine the total quantity of the goods to be sown on the sowing wall and the quantity of the goods to be sown at each sowing position of the sowing wall based on the sowing information.

[0152] In some examples, based on the sowing information, the control device can extract the total quantity of goods to be sown on the sowing wall, as well as the quantity of goods to be sown at each sowing position, so as to determine how many goods to be sown are needed in the sowing wall, which sowing positions need to sow the goods to be sown, how much goods to be sown need to be sown, and which sowing positions do not need to sow the goods to be sown.

[0153] Step 820: Control the display device of the target workstation to display the total quantity of the goods to be sown on the sowing wall.

[0154] The display device may be a device with a display function on the target workstation, or may be a device with a display function disposed in the area where the target workstation is located.

[0155] For example, the control device may send a display instruction to the display device so that the display device may display the total number of goods to be sown on the sowing wall.

[0156] In some embodiments, the display device may also be used to display working information of the target workstation, such as the running time of the target workstation, the sowing status of each sowing position, etc.

[0157] Step 830: When the sowing quantity of the goods to be sown at the sowing position is greater than zero, control the output device to output the sowing quantity of the goods to be sown at the sowing position.

[0158] In some examples, when the sowing quantity of the product to be sown at a sowing location is greater than zero, it indicates that the sowing location needs to be sown with the product to be sown. Therefore, to facilitate sowing by the user, the control device can generate an output instruction so that the output device of the target workstation outputs the sowing quantity of the product to be sown at the sowing location. For example, the control device can generate a display instruction to control the electronic label on the sowing location of the target workstation to light up and display the sowing quantity of the product to be sown at the sowing location according to the display instruction; or the control device can generate a voice instruction so that the speaker of the target workstation plays the sowing quantity of the product to be sown at each sowing location according to the voice instruction.

[0159] It should be noted that the sowing quantity of the goods to be sown at the sowing position output by the output device serves as a sowing prompt, which can help the user sow the goods to be sown according to the sowing quantity.

[0160] In some examples, when the sowing quantity of the goods to be sown at the sowing position is zero, it means that the sowing position does not need to sow the goods to be sown. Therefore, in order to reduce the interference to the user caused by the output of information by the output device, the output device can be controlled not to output the sowing quantity of the goods to be sown at the sowing position. For example, the electronic label on the sowing position can be controlled to remain off, or the speaker of the target workstation can be controlled not to broadcast the sowing quantity of the goods to be sown at the sowing position.

[0161] For example, taking the output device as an electronic tag, when it is determined that the number of sowings of the goods to be sown at the sowing position is zero, the control device may not send an instruction to the electronic tag on the sowing position to keep it in the off state, or it may send an off instruction to the electronic tag on the sowing position to change the electronic tag on the sowing position from the lit state to the off state, or continue to maintain the off state.

[0162] Through the above method, the output device can be controlled to output the sowing quantity of each sowing position where the goods to be sown need to be sown, according to the sowing quantity of the goods to be sown at each sowing position. The output device at each sowing position where the goods to be sown do not need to be sown is in a silent state, providing the user with instruction information on sowing the goods to be sown, thereby facilitating the user's sowing and improving the sowing efficiency.

[0163] In some examples, during sowing, a user can manually sow the goods to be sown on a movable carrier at each sowing position on the sowing wall, or an automatic sowing device can sow the goods to be sown on the movable carrier at each sowing position on the sowing wall. The automatic sowing device can have a visual perception system and / or an audio perception system, etc., and can identify the goods to be sown and the sowing quantity output by the output device, and can sow the goods to be sown at the corresponding sowing positions according to the sowing quantity.

[0164] For example, the automatic sowing device may be a sowing robot, which sows the goods to be sown on the movable carrier to each sowing position on the sowing wall. The sowing robot has a visual perception system and a sound perception system, etc., which can identify the goods to be sown and the sowing quantity output by the output device, and can sow the goods to be sown to the corresponding sowing position according to the sowing quantity. For another example, the automatic sowing device may also be a robotic arm set at the target workstation, which can transport the picked goods to be sown to the sowing wall and deliver them to the container to be sown on the corresponding sowing position. The embodiment of the present disclosure does not limit the specific structure of the automatic sowing device. It should be noted that the embodiment of the present disclosure is illustratively described using manual sowing as an example.

[0165] In some embodiments, the target workstation can be used to sow a variety of goods to be sown. When sowing, each type of goods to be sown can be sown in sequence according to the type of goods to be sown.

[0166] For example, assuming that the goods to be sown at the target workstation include first goods to be sown and second goods to be sown, in order to improve sowing efficiency, the sowing direction of sowing the first goods to be sown on the sowing wall is a first direction, and the sowing direction of sowing the second goods to be sown on the sowing wall is a second direction, and the first direction and the second direction are different.

[0167] For example, taking the first direction as from left to right, the second direction as from right to left, the first cargo to be sown is cargo A, and the second cargo to be sown is cargo B, cargo A is placed on the first carrier on one side of the target workstation, and cargo B is placed on the second carrier on the other side of the target workstation. Then the user can sow cargo A from left to right, and after sowing cargo A, sow cargo B from right to left until all cargo B is sown.

[0168] In some embodiments, two users may sow the goods A from left to right and the goods B from right to left, respectively, to improve the sowing efficiency of the goods.

[0169] It should be noted that the above-mentioned first direction and second direction are for exemplary purposes only. According to actual sowing requirements, the first direction may also be from right to left, and the second direction may also be from left to right.

[0170] When there are multiple layers of sowing positions on the sowing wall, the first direction can also be a zigzag sowing direction in which the first layer is from left to right, the second layer is from right to left, and so on. The second direction can be a zigzag sowing direction in which the first layer is from right to left, the second layer is from left to right, and so on. The embodiments of the present disclosure do not make specific limitations on this.

[0171] Step 340 : During the sowing process, the sowing status of each sowing position on the sowing wall is obtained, and a first transfer instruction is generated based on the sowing status of the sowing position.

[0172] The first transfer instruction is used to instruct the target workstation to transfer the seeded container that has completed seeding to the target carrier. For example, the first transfer instruction may include information about the target workstation, information about the seeding location on the seeding wall of the target workstation that has completed seeding, and information about the seeded container at the seeding location that has completed seeding.

[0173] In some examples, during the sowing process, the control device can monitor the sowing status of each sowing position on the sowing wall in real time, such as whether sowing has started, the quantity of goods to be sown, and whether sowing is completed, etc., and then determine the sowing position where sowing has been completed and the sown container on the sowing position based on the sowing status of each sowing position, generate a first transfer instruction, and send the first transfer instruction to the target workstation, so that the target workstation can transfer the sown container that has completed sowing to the target carrier.

[0174] For example, when the target workstation receives the first transfer instruction, the first container picking and placing device can be controlled to move horizontally and / or vertically to reach the sowing position where the sown container that has completed sowing is located, and pick up the sown container that has completed sowing and transfer it to an empty storage position of the target carrier.

[0175] In this way, the sowing of goods based on the target workstation can be achieved, and the entire sowing process, such as sowing the goods to be sown into the containers to be sown on the sowing position and transferring the sown containers that have completed sowing to the target carrier, is more automated, so it can improve the sowing efficiency of goods and reduce sowing costs.

[0176] FIG9 is a schematic diagram of another sowing control method provided by an embodiment of the present disclosure. As shown in FIG9 , obtaining the sowing status of each sowing position on the sowing wall in step 340 may include steps 910 and 920 as shown below.

[0177] Step 910: In response to a sowing completion operation triggered when the user completes sowing any kind of goods to be sown at the sowing position, it is determined that the sowing of any kind of goods to be sown at the sowing position is completed; or, in response to a detection device detecting that the sowing of any kind of goods to be sown at the sowing position is completed, it is determined that the sowing of any kind of goods to be sown at the sowing position is completed.

[0178] The target workstation can be used to sow a variety of goods to be sown, and the user can sow each of the goods to be sown in sequence.

[0179] In some examples, during the sowing process, the control device can monitor the sowing status of each sowing position in real time. For example, each sowing position can be provided with a control button. When a user completes sowing any type of commodity to be sown at a sowing position, they can press the control button on that sowing position to trigger a sowing completion operation. In response to the sowing completion operation, the control device determines that the commodity to be sown at the sowing position that triggered the sowing completion operation is complete at that sowing position. The completion of sowing any type of commodity to be sown at a sowing position means that all of the commodity required for that type of commodity to be sown at that sowing position has been placed in the sowing container at that sowing position.

[0180] In some embodiments, each sowing position may be provided with a detection device that can detect information about goods placed in a container to be sown at the sowing position, such as a goods identification, goods quantity, and goods weight, and transmit the goods information to a control device, so that the control device can determine whether sowing has been completed at the corresponding sowing position based on the received goods information. When it is determined that sowing of any type of goods to be sown at the sowing position has been completed, sowing of any type of goods to be sown at the sowing position is determined to be completed.

[0181] Step 920: When the sowing of all the goods to be sown at the sowing position is completed, the sowing state of the sowing position is determined to be a sowing completion state.

[0182] In some examples, based on whether each sowing position has completed the sowing of each commodity to be sown, it can be further determined whether each sowing position has completed the sowing of all commodities to be sown.

[0183] For example, when there are two types of goods to be sown, namely, goods A and goods B, the control device can monitor the sowing status of each sowing position in turn to determine whether each sowing position has completed sowing of goods A and goods B. If a sowing position has completed sowing of goods A and goods B, it is considered that sowing at this sowing position has been completed, and the sowing status of the sowing position can be updated to the sowing completed state.

[0184] In some examples, when all the sowing positions on the sowing wall have completed the sowing of all the goods to be sown, it is indicated that the sowing status of the sowing wall is a sowing completion status.

[0185] Therefore, the sowing status of each sowing position can be determined through the control buttons or detection devices of each sowing position on the sowing wall, and based on this, it can be judged whether each sowing position has completed the sowing of one type of goods to be sown, and whether the sowing of all goods to be sown has been completed, thereby realizing the sowing monitoring of each sowing position.

[0186] In order to facilitate the synchronization of the sowing status of each sowing position, in some embodiments, step 910 may include: when any kind of goods to be sown are sown at the sowing position, in response to the sowing completion operation triggered by the user on the sowing control device of the sowing position, or in response to the sowing completion operation triggered by the user on the control corresponding to the sowing position on the display screen of the electronic device, it is determined that the sowing of any kind of goods to be sown at the sowing position is completed.

[0187] That is, during the sowing process, if the sowing of a certain commodity to be sown is completed at a certain sowing position, for example, the quantity of commodity A to be sown required at sowing position 1 is 3, then when the user places 3 commodities to be sown into the sowing container on sowing position 1, the sowing of commodity A to be sown at sowing position 1 is completed. At this time, the user can trigger the sowing completion operation through the sowing control device on sowing position 1, such as the sowing button, sowing display, etc. If a sowing button is provided on each sowing position, the user can press the sowing button on the sowing position to trigger the sowing completion operation at the sowing position.

[0188] For example, a user can control the target workstation via an electronic device. For example, the electronic device may have a display screen that displays information about each sowing location and operational controls for each sowing location, such as a control for viewing the product to be sown, a control for setting the sowing quantity, and a control for setting the sowing status. When a sowing location completes sowing any type of product to be sown, such as when sowing location 1 completes sowing of product A, the user can set the sowing status control corresponding to sowing location 1 on the electronic device's display screen, such as changing "sowing in progress" to "sowing completed," to trigger the sowing completion operation.

[0189] When receiving the sowing completion operation, the control device can synchronously understand the sowing status of the sowing position, such as determining that the sowing of the to-be-sown goods A on the sowing position 1 that triggered the sowing completion operation is completed.

[0190] In some embodiments, the control device may further control the output device of the target workstation to stop displaying the sowing quantity of any one of the to-be-sown commodities at the sowing location when the sowing of the commodity to be sown is completed. For example, when the control device determines that the user has completed sowing commodity A at sowing location 1, the control device may generate a stop display instruction and send the stop display instruction to the target workstation, causing the target workstation to control the electronic tag on sowing location 1 to turn off.

[0191] In some embodiments, the control device can also control the output device of the target workstation to play the sowing quantity of other goods to be sown at the above sowing position when any one kind of goods to be sown is sown at the above sowing position, so that the user can sow other goods to be sown to the above sowing position according to the sowing quantity.

[0192] For example, when the control device detects that one type of goods A to be sown has been sown at sowing position 1, it can generate a playback control instruction and send the playback control instruction to the target workstation, so that the target workstation controls the speaker to start playing the sowing quantity of another type of goods B to be sown required at sowing position 1.

[0193] In some embodiments, after the output device stops outputting the sowing quantity of the commodity to be sown at each sowing position, the control device may, in response to the movable carrier carrying the next commodity to be sown arriving at the docking area of ​​the target workstation, obtain cargo information of the next commodity to be sown, and determine the sowing information of each sowing position on the sowing wall of the target workstation based on the cargo information of the next commodity to be sown. The sowing information of the sowing position may include the sowing quantity of the next commodity to be sown at the sowing position, and then, based on the sowing information, the sowing quantity of the next commodity to be sown at each sowing position is determined, so that the user can sow the next commodity to be sown based on the sowing quantity of the next commodity to be sown at each sowing position.

[0194] In some embodiments, the above step 340 may include: when the sowing status of all sowing positions on the sowing wall is in the sowing completion state, generating a first transfer instruction to control the first container picking and placing device of the target workstation to transfer the sown containers on each sowing position on the sowing wall to the target carrier.

[0195] The first container picking and placing device of the target workstation may be a device such as a robotic arm or a suction cup that has the function of picking up the seeded container.

[0196] In some examples, when all sowing positions on the sowing wall of the target workstation have completed the sowing of all the goods to be sown, the sowing status of all sowing positions is the sowing completion status. At this time, sowing is no longer required on the sowing wall. Therefore, the control device can generate a first transfer instruction, and the target workstation can receive the first transfer instruction and, according to the first transfer instruction, control the first container picking and placing device to transfer the sown containers on each sowing position on the sowing wall to the target carrier so that the new containers to be sown can be sown.

[0197] In some examples, the target vehicle may be located at a target workstation or a vehicle storage area. For example, to save space and facilitate the movement of other robots within the sowing area, the target vehicle is typically placed in the corresponding vehicle storage area. When the sown container needs to be moved, the transport robot needs to move the target vehicle to the working range of the target workstation.

[0198] Therefore, in some embodiments, the control device can also generate a first carrier transport instruction when the sowing status of all sowing positions on the sowing wall is updated to the sowing completion status, or generate a first carrier transport instruction before the sowing status of all sowing positions on the sowing wall is updated to the sowing completion status.

[0199] The first carrier transport instruction is used to instruct the transport robot to transport the target carrier to the transfer area of ​​the target workstation, and the transfer area and the seeding wall are respectively located on both sides of the target workstation.

[0200] FIG10 is a schematic diagram of another seeding system according to an embodiment of the present disclosure. As shown in FIG10 , a transfer area 1010 and a seeding wall 50 are located at the front and rear sides of a target workstation 40, respectively. A target vehicle 30 is docked in the transfer area 1010. The target vehicle 30 can include a vehicle located at the target workstation or a vehicle located in a vehicle storage area.

[0201] In some examples, the control device may generate a first carrier transport instruction when the sowing status of all sowing positions on the sowing wall is updated to the sowing completed state. Alternatively, to reduce the waiting time of the target workstation, the first carrier transport instruction may be generated before the sowing status of all sowing positions on the sowing wall is updated to the sowing completed state. The first carrier transport instruction may include an identifier of the transport robot, a starting position and a destination position of the target carrier, and a travel route for transporting the target carrier.

[0202] After the control device sends the first carrier transport instruction to the corresponding transport robot, the transport robot can respond to the first carrier transport instruction, travel to the starting position of the target carrier, and transport the target carrier to the transfer area 1010 of the target workstation, so that the container picking and placing device of the target workstation can transfer the sown container that has completed sowing to the target carrier 30.

[0203] In the above method, when it is necessary to transfer the seeded container, the control device will dispatch an idle transport robot to transport the target carrier to the transfer area of ​​the target workstation. Therefore, during the entire seeding process, the transfer area is only occupied for a short period of time. In order to save space, the transfer area can be released at other times.

[0204] In some examples, if the sowing status of all sowing positions on the sowing wall is updated to the sowing completion status before the sowing containers of all sowing positions on the sowing wall are transferred, it will cause the sowing containers on some sowing positions whose sowing status was updated to the sowing completion status very early to wait for a long time before being transferred, causing the sowing position to be occupied for a long time and the sowing efficiency to be low.

[0205] In order to reduce the waiting time of the seeded container, in some embodiments, step 340 can also be implemented by the following method: when the seeding status of any seeding position on the seeding wall is the seeding completion state, a first transfer instruction is generated to control the first container picking and placing device of the target workstation to transfer the seeded container on any seeding position to the target carrier.

[0206] For example, if the sowing status of sowing position 2 at any sowing position on the sowing wall is updated to the sowing completed state at time t1, the control device can generate a first transfer instruction at time t1, causing the first container pick-and-place device at the target workstation to transfer the sown container at sowing position 2 to the target carrier without waiting for the sowing status of other sowing positions to also be updated to the sowing completed state. This can improve the efficiency of container replacement at the target workstation, thereby improving overall sowing efficiency.

[0207] In some embodiments, the number of seeded containers that the target carrier can store is limited, and some containers may have already been stored on the target carrier before it is transported to the transfer area of ​​the target workstation. In order to ensure that the seeded containers can be safely placed on the target carrier, the control device can also generate a second transfer instruction when the target carrier does not meet the container placement conditions.

[0208] In some examples, the target workstation may have multiple cache locations, some of which may have containers (e.g., containers to be seeded or already seeded) placed in them. These cache locations with containers placed in them are referred to as non-free cache locations. Other cache locations may not have containers placed in them. These cache locations without containers placed in them are referred to as free cache locations. When at least one cache location is stored in the multiple cache locations and the target carrier does not meet the container placement conditions, the control device may generate a second transfer instruction.

[0209] The second transfer instruction instructs the first container placement device to transfer a seeded container from any seeding location to the first cache location of the target workstation. The first cache location of the target workstation refers to any unoccupied cache location among the multiple cache locations of the target workstation. The container placement condition refers to the conditions that must be met for the seeded container to be placed on the target carrier. The container placement condition may include the target carrier being transported to the transfer area of ​​the target workstation and the existence of an unoccupied storage location on the target carrier.

[0210] For example, before transferring the seeded container to the target carrier, the control device can determine whether the target carrier meets the container placement conditions. For example, the control device can obtain the position and storage status of the target carrier uploaded by the user through the electronic device to determine whether the target carrier meets the container placement conditions, that is, to determine whether the target carrier has been transported to the transfer area of ​​the target workstation and whether there is an idle storage position on the target carrier. If it is determined that the target carrier has been transported to the transfer area of ​​the target workstation and there is an idle storage position on the target carrier, it is determined that the target carrier meets the container placement conditions, and the control device can send a first transfer instruction to the target workstation to transfer the seeded container to the idle storage position of the target carrier.

[0211] On the contrary, if the target carrier is not transported to the transfer area of ​​the target workstation, or there is no free storage position on the target carrier, it is determined that the target carrier does not meet the container placement conditions, and the control device can send a second transfer instruction to the target workstation, so that the target workstation transfers the seeded container to the first cache position of the target workstation.

[0212] In order to facilitate the continuation of the sowing task, in some embodiments, the control device can also control the first container picking and placing device to place the container on the second cache position or the movable carrier on the vacant sowing position corresponding to the sown container after the first container picking and placing device transfers the sown container on the sowing position to the target carrier or the first cache position.

[0213] The second cache position is a cache position different from the first cache position, and a container is placed on the second cache position. The container on the second cache position can be a new unsown container (such as an empty container), or the container on the second cache position can also be a container for goods to be sown.

[0214] In some examples, a movable carrier may be equipped with multiple containers. When a transport robot transports the movable carrier to a target workstation, a first container placement device at the target workstation moves the containers to a second cache location at the target workstation. Alternatively, the first container placement device may directly move the containers on the movable carrier to an unoccupied sowing location on a sowing wall. For example, the movable carrier may be a target carrier. When the movable carrier is a target carrier, the containers moved to the unoccupied sowing location by the first container placement device may be unsown containers or containers of unsown goods corresponding to the target workstation to be sown. This disclosure is not limited to this.

[0215] That is to say, after the seeded container on the seeding wall is transferred away, the seeding position where the seeded container was originally located becomes idle. At this time, in order to continue seeding, the control device can send instructions to the target workstation, so that the target workstation uses the first container picking and placing device to place the container on the second cache position or the movable carrier on the idle seeding position corresponding to the seeded container.

[0216] In order to improve the efficiency of container replacement, in some embodiments, the control device can also control the second container picking and placing device of the target workstation to place the container on the second cache position or the movable carrier on the vacant sowing position corresponding to the sown container when the first container picking and placing device transfers the sown container on the sowing position to the target carrier or the first cache position.

[0217] The first container taking and placing device is different from the second container taking and placing device.

[0218] In some examples, at the same time, the control device can control the first container picking and placing device of the target workstation to transfer the sown container on the sowing position to the target carrier or the first cache position. The first container picking and placing device is in working state. At this time, the second container picking and placing device can place the container on the second cache position or the movable carrier on the vacant sowing position corresponding to the sown container. In this way, the target workstation does not need to wait for the first container picking and placing device to complete the container picking operation. The two container picking and placing devices simultaneously perform the container picking and changing operations, thereby improving the efficiency of container replacement.

[0219] In some embodiments, when the first container picking and placing device transfers the seeded container on the seeding position to the target carrier or the first cache position, if the first container picking and placing device is in an idle state, the control device can also control the first container picking and placing device to place the container on the second cache position or the movable carrier on the idle seeding position corresponding to the seeded container.

[0220] FIG11 is a schematic diagram of another sowing control method provided by an embodiment of the present disclosure. As shown in FIG11 , after the target workstation transfers the sown container to the target carrier, the method further includes steps 1110 to 1140 as shown below.

[0221] Step 1110: Based on the pending orders and the pending goods, determine the goods information of the unsown goods.

[0222] In some examples, after completing the sowing of the goods to be sown at all sowing positions, the control device can continue to determine the cargo information of the unsown goods that have not yet been sown based on the pending orders, such as the cargo name and cargo quantity of the unsown goods, and order information related to the unsown goods.

[0223] Step 1120: Determine a next workstation for sowing the unsown cargo based on the cargo information of the unsown cargo.

[0224] For example, based on the cargo information of the unplanted cargo, the control device may determine the cargo to be planted at each workstation, and determine the workstation where the cargo to be planted is the unplanted cargo as the next workstation.

[0225] Step 1130: Based on the next workstation, generate a second carrier transport instruction, where the second carrier transport instruction is used to instruct the transport robot to transport the target carrier from the transfer area of ​​the target workstation to the transfer area of ​​the next workstation.

[0226] For example, the control device can generate a second carrier handling instruction based on the location of the transfer area of ​​the next workstation, and call an idle handling robot to transport the target carrier from the transfer area of ​​the target workstation to the transfer area of ​​the next workstation according to the second carrier handling instruction.

[0227] Step 1140: After the target carrier is transported to the transfer area of ​​the next workstation, generate a third transfer instruction.

[0228] Among them, the third transfer instruction is used to instruct the next workstation to transfer the target container on the target carrier to the vacant sowing position of the sowing wall of the next workstation, sow the unsown goods at the next workstation, and the target container is the container for sowing the unsown goods.

[0229] In some examples, after the target carrier is transported to the transfer area of ​​the next workstation, the control device can generate a third transfer instruction and send the third transfer instruction to the next workstation, so that the next workstation transfers the target container on the target carrier to the vacant sowing position of the sowing wall of the next workstation, so that the user can continue to sow the unsown goods at the next workstation, so that the target container on the target carrier completes the sowing of all goods to be sown.

[0230] Through the above method, the control device can schedule the target container to be transferred between different workstations based on the pending orders, so as to achieve the sowing of all the to-be-sown goods required by the target container, improve the automation level of the sowing process, and thus improve the sowing efficiency.

[0231] After the target workstation transfers the seeded container to the target carrier, in some embodiments, if there are no unseeded items in the pending orders, indicating that seeding has been completed for all orders, the control device may generate a third carrier transport instruction. The third carrier transport instruction is used to instruct the transport robot to perform a removal process on the target carrier.

[0232] That is to say, after the target workstation transfers the seeded container that has completed sowing to the target carrier, the control device will determine whether the container on the target carrier needs to continue sowing based on the order information, etc. If not, the goods on the target carrier can be directly shipped out.

[0233] In summary, according to the sowing control method provided by the embodiment of the present disclosure, in response to the movable carrier arriving at the docking area of ​​the target workstation, the cargo information of the cargo to be sown on the movable carrier can be obtained, and based on the cargo information of the cargo to be sown, the sowing information of each sowing position on the sowing wall of the target workstation can be determined, wherein the sowing information of the sowing position includes the sowing quantity of the cargo to be sown at the sowing position, and based on the sowing information, the sowing quantity of the cargo to be sown at each sowing position is determined, and the cargo to be sown is sown to the container to be sown on the sowing position according to the sowing quantity corresponding to the sowing position, during the sowing process, the sowing status of each sowing position on the sowing wall is obtained, and based on the sowing status of the sowing position, a first transfer instruction is generated; the first transfer instruction is used to instruct the target workstation to transfer the sown container that has completed sowing to the target carrier.

[0234] By applying this solution, the sowing quantity of the goods to be sown at each sowing position can be determined, and the user can be provided with a prompt of the sowing quantity of the goods to be sown, which facilitates the user to sow the goods to be sown into the sowing containers on the sowing positions; at the same time, the target workstation can be used to realize the transfer of containers on the sowing wall, without the need for manual participation in changing boxes, so the sowing efficiency of the goods can be improved.

[0235] FIG12 is a schematic diagram of another sowing system provided by an embodiment of the present disclosure. As shown in FIG12 , the sowing system 1200 may include a transfer robot 10 , a movable carrier 20 , a target carrier 30 , a target workstation 40 , and a control device 1210 .

[0236] Among them, the target workstation 40 includes a sowing wall with multiple sowing positions and a first container picking and placing device, the sowing positions are used to place containers to be sown; the movable carrier 20 is used to place goods to be sown; the transport robot 10 is used to transport the movable carrier 20 with goods to be sown to the docking area of ​​the target workstation 40, and the docking area can be set at any position close to the target workstation 40; the target carrier 30 is used to place the sown containers that have completed sowing.

[0237] The control device 1210 is configured to: in response to the movable carrier 20 arriving at the docking area of ​​the target workstation 40, obtain cargo information of the cargo to be sown on the movable carrier 20; determine sowing information for each sowing position on the sowing wall of the target workstation 40 based on the cargo information of the cargo to be sown, wherein the sowing information of the sowing position includes the sowing quantity of the cargo to be sown at the sowing position; and generate an output instruction based on the sowing information. The cargo information of the cargo to be sown may include the cargo name and cargo quantity of the cargo to be sown placed on the movable carrier 20.

[0238] The target workstation 40 is configured to obtain an output instruction and output the sowing quantity of the goods to be sown at each sowing position according to the output instruction, so that the user can sow the goods to be sown into the sowing containers at the sowing positions according to the sowing quantity corresponding to the sowing positions.

[0239] During the sowing process, the control device 1210 can obtain the sowing status of each sowing position on the sowing wall, and generate a first transfer instruction based on the sowing status of the sowing position; the target workstation 40 can obtain the first transfer instruction and transfer the sown container that has completed sowing to the target carrier 30 according to the first transfer instruction.

[0240] In some embodiments, the control device 1210 is configured to: when the movable carrier 20 arrives at the docking area of ​​the target workstation 40, determine the cargo information of the goods to be sown on the movable carrier 20 based on the task information of each task to be sown in the sowing system, and the task information of the task to be sown includes the cargo information of the goods to be sown; or, when the movable carrier 20 arrives at the docking area of ​​the target workstation 40, obtain the cargo information of the goods to be sown in response to the identification operation of the cargo information input device on the goods to be sown on the movable carrier 20.

[0241] In some embodiments, in response to the movable carrier 20 arriving at the docking area of ​​the target workstation 40, before obtaining the cargo information of the cargo to be sown on the movable carrier 20, the control device 1210 is also configured to: obtain a pending order, the pending order including cargo information of multiple cargoes; based on the cargo information of multiple cargoes, determine the cargo to be sown of the target workstation 40, and generate a transport instruction based on the cargo to be sown of the target workstation 40; the transport instruction is used to instruct the transport robot 10 to transport the movable carrier 20 on which the cargo to be sown is placed to the docking area of ​​the target workstation 40.

[0242] In some embodiments, the control device 1210 is configured to: determine the correlation between multiple goods based on the goods information of the multiple goods; and based on the correlation between the multiple goods, determine at least two goods in the multiple goods whose correlation is greater than the correlation threshold as the goods to be sown in the target workstation 40.

[0243] The cargo information of the multiple cargoes may include the cargo name, cargo type, attributes, historical purchase quantity, purchase time, etc. of each cargo in the multiple cargoes.

[0244] In some embodiments, the movable carrier 20 includes at least a first carrier and a second carrier, and the goods to be sown at the target workstation 40 include at least a first cargo to be sown and a second cargo to be sown; the control device 1210 is configured to: generate a first transport instruction based on the first cargo to be sown, and the first transport instruction is used to instruct the transport robot 10 to transport the first carrier on which the first cargo to be sown is placed to one side of the docking area of ​​the target workstation 40; generate a second transport instruction based on the second cargo to be sown, and the second transport instruction is used to instruct the transport robot 10 to transport the second carrier on which the second cargo to be sown is placed to the other side of the docking area of ​​the target workstation 40.

[0245] In some embodiments, the control device 1210 is further configured to: before starting to sow the first cargo to be sown on the sowing wall of the target workstation 40, send a second transport instruction to the transport robot 10 to transport the second carrier to the other side of the docking area of ​​the target workstation 40, and sow the second cargo to be sown on the second carrier; or, when sowing the first cargo to be sown on the sowing wall of the target workstation 40, send a second transport instruction to the transport robot 10 to transport the second carrier to the other side of the docking area of ​​the target workstation 40, and sow the second cargo to be sown on the second carrier.

[0246] In some embodiments, the sowing direction for sowing the first to-be-sown goods on the sowing wall is a first direction, and the sowing direction for sowing the second to-be-sown goods on the sowing wall is a second direction, and the first direction and the second direction are different.

[0247] For example, the first direction is from left to right, and the second direction is from right to left. User 1 can sow the first commodity to be sown from left to right on the sowing wall, and user 2 can sow the second commodity to be sown from right to left on the sowing wall.

[0248] In some embodiments, the control device 1210 is further configured to: determine the goods to be sown corresponding to the target sowing position with the least number of types of goods to be sown based on the number of types of goods to be sown corresponding to each sowing position on the sowing wall; determine the movable carrier 20 for placing the goods to be sown corresponding to the target sowing position, and generate a carrier transport instruction based on the movable carrier 20; the carrier transport instruction is used to instruct the transport robot 10 to transport the movable carrier 20 for placing the goods to be sown corresponding to the target sowing position to the docking area of ​​the target workstation 40.

[0249] In some embodiments, the target workstation is provided with an output device, which is used to output the sowing quantity corresponding to the goods to be sown, and the control device 1210 is configured to: determine the total sowing quantity of the goods to be sown on the sowing wall and the sowing quantity at each sowing position on the sowing wall based on the sowing information; control the display device of the target workstation 40 to display the total sowing quantity of the goods to be sown on the sowing wall; when the sowing quantity of the goods to be sown at the sowing position is greater than zero, control the output device to output the sowing quantity of the goods to be sown at the sowing position.

[0250] In some embodiments, the control device 1210 is configured to: determine that the sowing of any kind of goods to be sown at the sowing position is completed in response to a sowing completion operation triggered when the user completes sowing any kind of goods to be sown at the sowing position; or, determine that the sowing of any kind of goods to be sown at the sowing position is completed in response to the detection device detecting that the sowing of any kind of goods to be sown at the sowing position is completed; when the sowing of all the goods to be sown at the sowing position is completed, determine that the sowing status of the sowing position is a sowing completion status.

[0251] In some embodiments, the control device 1210 is configured to: when any one of the goods to be sown is sown at the sowing position, determine that the sowing of any one of the goods to be sown at the sowing position is completed in response to a sowing completion operation triggered by the user on the sowing control device at the sowing position, or in response to a sowing completion operation triggered by the user on the control corresponding to the sowing position on the display screen of the electronic device.

[0252] In some embodiments, the control device 1210 is configured to: when the sowing status of all sowing positions on the sowing wall is in the sowing completion state, generate a first transfer instruction to control the first container picking and placing device of the target workstation 40 to transfer the sown containers on each sowing position on the sowing wall to the target carrier 30.

[0253] In some embodiments, the control device 1210 is further configured to: generate a first carrier transport instruction when the sowing status of all sowing positions on the sowing wall is updated to the sowing completion status; or generate a first carrier transport instruction before the sowing status of all sowing positions on the sowing wall is updated to the sowing completion status; wherein the first carrier transport instruction is used to instruct the transport robot 10 to transport the target carrier 30 to the transfer area of ​​the target workstation 40, the transfer area and the sowing wall are respectively located on both sides of the target workstation 40, and the target carrier 30 includes a carrier located at the target workstation 40 or a carrier located in the carrier storage area.

[0254] In some embodiments, the control device 1210 is configured to: when the sowing status of any sowing position on the sowing wall is the sowing completion state, generate a first transfer instruction to control the first container picking and placing device of the target workstation 40 to transfer the sown container on any sowing position to the target carrier 30.

[0255] In some embodiments, the control device 1210 is further configured to: generate a second transfer instruction when the target carrier 30 does not meet the container placement conditions; the second transfer instruction is used to instruct the first container picking and placing device to transfer the seeded container on any seeding position to the first cache position of the target workstation 40.

[0256] In some embodiments, the control device 1210 is further configured to: after the first container picking and placing device transfers the seeded container on the seeding position to the target carrier 30 or the first cache position, control the first container picking and placing device to place the container on the second cache position or the movable carrier 20 on the vacant seeding position corresponding to the seeded container.

[0257] In some embodiments, the control device 1210 is further configured to: when the first container picking and placing device transfers the seeded container on the seeding position to the target carrier 30 or the first cache position, control the second container picking and placing device of the target workstation 40 to place the container on the second cache position or the movable carrier 20 on the vacant seeding position corresponding to the seeded container; wherein the first container picking and placing device is different from the second container picking and placing device, and the first container picking and placing device and the second container picking and placing device can be two different robotic arms or suction cup devices, etc.

[0258] In some embodiments, after the target workstation 40 transfers the seeded container that has completed seeding to the target carrier 30, the control device 1210 is further configured to: determine the cargo information of the unsown cargo based on the pending orders and the cargo to be sown; determine the next workstation for sowing the unsown cargo based on the cargo information of the unsown cargo; generate a second carrier transport instruction based on the next workstation, and the second carrier transport instruction is used to instruct the transport robot 10 to transport the target carrier 30 from the transfer area of ​​the target workstation 40 to the transfer area of ​​the next workstation; after the target carrier 30 is transported to the transfer area of ​​the next workstation, generate a third transfer instruction; the third transfer instruction is used to instruct the next workstation to transfer the target container on the target carrier 30 to the vacant sowing position of the sowing wall of the next workstation, so as to sow the unsown cargo at the next workstation, and the target container is the container for sowing the unsown cargo.

[0259] In some embodiments, after the target workstation 40 transfers the seeded container that has completed seeding to the target carrier 30, the control device 1210 is also configured to: generate a third carrier handling instruction when there is no unseeded goods in the pending order, and the third carrier handling instruction is used to instruct the handling robot 10 to perform outbound processing on the goods on the target carrier 30.

[0260] It should be noted that the above-mentioned transport robots 10 all refer to transport robots in an idle state, and do not refer to a specific transport robot.

[0261] In addition, the specific details of each component in the above-mentioned seeding system have been described in detail in the implementation method part. The details of the undisclosed scheme can be found in the implementation method part, and thus will not be repeated here.

[0262] FIG13 is a schematic diagram of a workstation according to an embodiment of the present disclosure. As shown in FIG13 , the workstation 1300 may be the target workstation shown in FIG1 and FIG2 . The workstation 1300 may include a seed wall 1310 and a first container placement device 1320 .

[0263] Among them, the sowing wall 1310 can include multiple sowing positions and output devices arranged at each sowing position. The sowing position is used to place the container to be sown, and the output device is configured to output the sowing quantity of the goods to be sown at the sowing position corresponding to the output device, so that the user can sow the goods to be sown into the container to be sown on the sowing position according to the sowing quantity corresponding to the sowing position.

[0264] The first container picking and placing device 1320 is configured to obtain a first transfer instruction during the process of sowing the goods to be sown, and based on the first transfer instruction, transfer the sown container that has completed sowing at the sowing position to the target carrier; wherein the first transfer instruction is generated according to the sowing status of each sowing position on the sowing wall 1310.

[0265] In some embodiments, the workstation 1300 also includes a docking area, which is located on both sides of the sowing wall 1310. The goods to be sown include a first cargo to be sown and a second cargo to be sown. The first carrier for placing the first cargo to be sown is docked at the docking area on one side of the sowing wall 1310, and the second carrier for placing the second cargo to be sown is docked at the docking area on the other side of the sowing wall 1310.

[0266] In some embodiments, the sowing direction of sowing the first to-be-sown goods on the sowing wall 1310 is a first direction, and the sowing direction of sowing the second to-be-sown goods on the sowing wall 1310 is a second direction, and the first direction and the second direction are different.

[0267] In some embodiments, the workstation 1300 includes a first cache location, and the first container retrieval device 1320 is configured to obtain a second transfer instruction and transfer a seeded container on any seeding location to the first cache location of the workstation 1300 according to the second transfer instruction.

[0268] In some embodiments, the workstation 1300 also includes a second cache position, and the first container picking and placing device 1320 is further configured to place the container on the second cache position or the movable carrier on the idle sowing position corresponding to the sown container after the first container picking and placing device 1320 transfers the sown container on the sowing position to the target carrier or the first cache position.

[0269] In some embodiments, the workstation 1300 also includes a second container picking and placing device 1330. The first container picking and placing device 1320 is different from the second container picking and placing device 1330. The second container picking and placing device 1330 is also configured to: when the first container picking and placing device 1320 transfers the seeded container on the seeding position to the target carrier or the first cache position, place the container on the second cache position or the movable carrier on the idle seeding position corresponding to the seeded container.

[0270] In some embodiments, the seeding positions of the seed wall 1310 are arranged in one or more layers. For example, in the target workstation 40 shown in FIG2 , the seed wall is arranged in a multi-layer structure, with four seeding positions arranged in each layer.

[0271] For example, the seeding wall 1310 may be provided as a layer, and the seeding positions of one layer may be provided on a movable mechanism, and may be moved up, down, left, and right through the movable mechanism.

[0272] The specific details of each component in the above workstation have been described in detail in the implementation method part. The details of the undisclosed scheme can be found in the implementation method part, so they will not be repeated here.

[0273] FIG14 is a schematic diagram of an electronic device provided by an embodiment of the present disclosure. The specific embodiment of the present disclosure does not limit the specific implementation of the electronic device.

[0274] As shown in FIG14 , the electronic device may be a control device such as a server, etc. Specifically, the electronic device may include a processor 1402 , a communications interface 1404 , a memory 1406 , and a communication bus 1408 .

[0275] Processor 1402, communication interface 1404, and memory 1406 communicate with each other via communication bus 1408. Communication interface 1404 is used to communicate with other devices, such as clients or other server network elements. Processor 1402 is used to execute program 1410, which may specifically perform the steps described in the aforementioned embodiment of the seeding control method.

[0276] Specifically, the program 1410 may include program code including computer-executable instructions.

[0277] Processor 1402 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure. The one or more processors included in an electronic device may be processors of the same type, such as one or more CPUs, or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0278] The memory 1406 is used to store the program 1410. The memory 1406 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0279] Program 1410 can be specifically called by processor 1402 to enable the electronic device to execute the steps in the above-mentioned sowing control method.

[0280] An embodiment of the present disclosure further provides a computer-readable storage medium storing at least one executable instruction. When the executable instruction is executed on an electronic device / seeding system, the electronic device / seeding system executes the seeding control method in any of the above method embodiments.

[0281] The executable instructions can be specifically used to enable the electronic device / seeding system to execute the steps in the above-mentioned seeding control method.

[0282] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present disclosure are not directed to any particular programming language.

[0283] In the description provided herein, numerous specific details are described. However, it is understood that embodiments of the present disclosure can be practiced without these specific details. Similarly, in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present disclosure, various features of the embodiments of the present disclosure are sometimes grouped together into a single embodiment, figure, or description thereof. The claims that follow the detailed description are hereby expressly incorporated into the detailed description, with each claim itself serving as a separate embodiment of the present disclosure.

[0284] Those skilled in the art will appreciate that the modules in the devices of the embodiments can be adaptively changed and installed in one or more devices different from the embodiments. The modules, units, or components in the embodiments can be combined into one module, unit, or component, and furthermore, they can be divided into multiple submodules, subunits, or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0285] It should be noted that the above embodiments illustrate rather than limit the present disclosure, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present disclosure may be implemented by means of hardware comprising several different elements and by means of appropriately programmed computers. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments should not be understood as limiting the order of execution unless otherwise specified.

Claims

1. A sowing control method, applied to a control device, the method comprising: In response to the movable carrier arriving at the docking area of ​​the target workstation, obtaining cargo information of the cargo to be sown on the movable carrier; Based on the cargo information of the cargo to be sown, determining the sowing information of each sowing position on the sowing wall of the target workstation; wherein the sowing information of the sowing position includes the sowing quantity of the cargo to be sown at the sowing position; Based on the sowing information, determining the sowing quantity of the goods to be sown required at each sowing position, sowing the goods to be sown into the sowing containers at the sowing positions according to the sowing quantity corresponding to the sowing positions; During the sowing process, the sowing status of each sowing position on the sowing wall is obtained, and based on the sowing status of the sowing position, a first transfer instruction is generated; wherein the first transfer instruction is used to instruct the target workstation to transfer the sown container that has completed sowing to the target carrier.

2. The method according to claim 1, wherein: In response to the movable carrier arriving at the docking area of ​​the target workstation, obtaining cargo information of the cargo to be sown on the movable carrier includes: When the movable carrier arrives at the docking area of ​​the target workstation, the cargo information of the cargo to be sown on the movable carrier is determined according to the task information of each task to be sown in the sowing system; wherein the task information of the task to be sown includes the cargo information of the cargo to be sown; or, When the movable carrier arrives at the docking area of ​​the target workstation, in response to the identification operation of the cargo information input device on the cargo to be sown on the movable carrier, the cargo information of the cargo to be sown is acquired.

3. The method according to claim 1, wherein: In response to the movable carrier arriving at the docking area of ​​the target workstation, before obtaining cargo information of the cargo to be sown on the movable carrier, the method further includes: Obtaining pending orders; the pending orders include cargo information of multiple cargoes; Based on the cargo information of the multiple cargoes, the cargo to be sown at the target workstation is determined, and based on the cargo to be sown at the target workstation, a transport instruction is generated; wherein the transport instruction is used to instruct a transport robot to transport the movable carrier on which the cargo to be sown is placed to the docking area of ​​the target workstation.

4. The method according to claim 3, wherein: The step of determining the goods to be sown at the target workstation based on the goods information of the multiple goods includes: Determining, based on the cargo information of the multiple cargoes, a degree of association between the multiple cargoes; Based on the correlation of the multiple goods, at least two goods among the multiple goods whose correlation is greater than a correlation threshold are determined as the goods to be sown of the target workstation.

5. The method according to claim 4, wherein: The movable carrier includes at least a first carrier and a second carrier, and the goods to be sown at the target workstation include at least a first goods to be sown and a second goods to be sown; The step of generating a transport instruction based on the goods to be sown at the target workstation includes: Generate a first transport instruction based on the first cargo to be sown, the first transport instruction being used to instruct the transport robot to transport the first carrier on which the first cargo to be sown is placed to one side of the docking area of ​​the target workstation; A second transport instruction is generated based on the second cargo to be sown, and the second transport instruction is used to instruct the transport robot to transport the second carrier carrying the second cargo to be sown to the other side of the docking area of ​​the target workstation.

6. The method according to claim 5, further comprising: Before sowing the first cargo to be sown on the sowing wall of the target workstation, sending the second transport instruction to the transport robot to transport the second carrier to the other side of the docking area of ​​the target workstation and sowing the second cargo to be sown on the second carrier; or When sowing the first cargo to be sown on the sowing wall of the target workstation, the second transport instruction is sent to the transport robot to transport the second carrier to the other side of the docking area of ​​the target workstation and sow the second cargo to be sown on the second carrier.

7. The method according to claim 5, wherein: The sowing direction of the first cargo to be sown is a first direction, and the sowing direction of the second cargo to be sown is a second direction; the first direction and the second direction are different.

8. The method according to claim 1, further comprising: According to the number of types of goods to be sown corresponding to each sowing position on the sowing wall, determine the goods to be sown corresponding to the target sowing position with the least number of types of goods to be sown; Determine a movable carrier for placing the goods to be sown corresponding to the target sowing position, and generate a carrier transport instruction based on the movable carrier; the carrier transport instruction is used to instruct a transport robot to transport the movable carrier for placing the goods to be sown corresponding to the target sowing position to the docking area of ​​the target workstation.

9. The method according to claim 1, wherein: The target workstation is provided with an output device, and the output device is used to output the sowing quantity corresponding to the goods to be sown; the sowing quantity of the goods to be sown required at each sowing position is determined based on the sowing information, including: Based on the sowing information, determine the total sowing quantity of the goods to be sown on the sowing wall, and the sowing quantity at each sowing position of the sowing wall; Control the display device of the target workstation to display the total sowing quantity of the goods to be sown on the sowing wall; When the sowing quantity of the goods to be sown at the sowing position is greater than zero, the output device is controlled to output the sowing quantity of the goods to be sown at the sowing position.

10. The method according to any one of claims 1 to 9, wherein: The obtaining of the sowing status of each sowing position on the sowing wall includes: In response to a sowing completion operation triggered by a user when the user has sown any one of the goods to be sown at the sowing position, it is determined that the sowing of any one of the goods to be sown at the sowing position is completed; or, in response to a detection device detecting that the sowing of any one of the goods to be sown at the sowing position is completed, it is determined that the sowing of any one of the goods to be sown at the sowing position is completed; When the sowing of all the goods to be sown at the sowing position is completed, the sowing state of the sowing position is determined to be a sowing completion state.

11. The method according to claim 10, wherein: In response to a sowing completion operation triggered by a user when the user has sown any one of the goods to be sown at the sowing position, determining that the sowing of any one of the goods to be sown at the sowing position is completed includes: When any one of the goods to be sown at the sowing position is sown, in response to a sowing completion operation triggered by a user on a sowing control device at the sowing position, or in response to a sowing completion operation triggered by a user on a control corresponding to the sowing position on a display screen of an electronic device, it is determined that the sowing of any one of the goods to be sown at the sowing position is completed.

12. The method according to claim 10, wherein: The step of generating the first transfer instruction based on the seeding state of the seeding bit includes: When the sowing status of all the sowing positions on the sowing wall is the sowing completion status, the first transfer instruction is generated to control the first container picking and placing device of the target workstation to transfer the sown containers on each of the sowing positions on the sowing wall to the target carrier.

13. The method according to claim 12, further comprising: When the sowing status of all the sowing positions on the sowing wall is updated to the sowing completion status, generating a first carrier transport instruction; or, Before the sowing status of all the sowing positions on the sowing wall is updated to the sowing completion status, generating the first carrier transport instruction; Among them, the first carrier transport instruction is used to instruct the transport robot to transport the target carrier to the transfer area of ​​the target workstation, the transfer area and the seeding wall are respectively located on both sides of the target workstation, and the target carrier includes a carrier located at the target workstation or a carrier located in the carrier storage area.

14. The method according to claim 10, wherein: The step of generating a first transfer instruction based on the sowing state of the sowing position comprises: When the sowing state of any sowing position on the sowing wall is the sowing completion state, the first transfer instruction is generated to control the first container picking and placing device of the target workstation to transfer the sown container on the any sowing position to the target carrier.

15. The method according to claim 14, further comprising: When the target carrier does not meet the container placement condition, generating a second transfer instruction; The second transfer instruction is used to instruct the first container picking and placing device to transfer the seeded container on any seeding position to the first cache position of the target workstation.

16. The method according to claim 15, further comprising: After the first container placing device transfers the seeded container on the seeding position to the target carrier or the first cache position, the first container placing device is controlled to place the container on the second cache position or the movable carrier on the vacant seeding position corresponding to the seeded container.

17. The method according to claim 15, further comprising: When the first container picking and placing device transfers the seeded container on the seeding position to the target carrier or the first cache position, the second container picking and placing device of the target workstation is controlled to place the container on the second cache position or the movable carrier on the vacant seeding position corresponding to the seeded container; wherein the first container picking and placing device is different from the second container picking and placing device.

18. The method according to any one of claims 1 to 9, wherein: After the target workstation transfers the seeded container after seeding to the target carrier, the method further includes: Determining cargo information of unplanted cargo based on the pending orders and the cargo to be planted; determining a next workstation for sowing the unsown cargo based on cargo information of the unsown cargo; Based on the next workstation, a second carrier transport instruction is generated; wherein the second carrier transport instruction is used to instruct the transport robot to transport the target carrier from the transfer area of ​​the target workstation to the transfer area of ​​the next workstation; After the target carrier is transported to the transfer area of ​​the next workstation, a third transfer instruction is generated; wherein the third transfer instruction is used to instruct the next workstation to transfer the target container on the target carrier to an empty sowing position on the sowing wall of the next workstation, so as to sow the unsown goods at the next workstation, and the target container is the container into which the unsown goods are to be sown.

19. The method according to any one of claims 1 to 9, wherein: After the target workstation transfers the seeded container after seeding to the target carrier, the method further includes: In the case that there is no unplanted goods in the pending order, a third carrier transport instruction is generated, and the third carrier transport instruction is used to instruct the transport robot to perform outbound processing on the goods on the target carrier.

20. A sowing system comprising: A target workstation, the target workstation comprising a sowing wall having a plurality of sowing positions and a first container placing and retrieving device, the sowing positions being used to place containers to be sown; A movable carrier for placing the goods to be sown; A transport robot, used for transporting the movable carrier on which the goods to be sown are placed to a docking area of ​​the target workstation; A target carrier for placing the seeded containers after seeding; The control device is configured to: In response to the movable carrier arriving at the docking area of ​​the target workstation, obtaining cargo information of the cargo to be sown on the movable carrier; Based on the cargo information of the cargo to be sown, determining the sowing information of each sowing position on the sowing wall of the target workstation; wherein the sowing information of the sowing position includes the sowing quantity of the cargo to be sown at the sowing position; Based on the seeding information, generating output instructions; During the sowing process, the sowing status of each sowing position on the sowing wall is obtained, and based on the sowing status of the sowing position, a first transfer instruction is generated; The target workstation is configured to: obtain the output instruction, and output the sowing quantity of the goods to be sown at each sowing position according to the output instruction, so that the user sows the goods to be sown into the sowing container at the sowing position according to the sowing quantity corresponding to the sowing position; The first transfer instruction is obtained, and according to the first transfer instruction, the seeded container that has completed seeding is transferred to the target carrier.

21. The system of claim 20, wherein: The control device is configured to: When the movable carrier arrives at the docking area of ​​the target workstation, the cargo information of the cargo to be sown on the movable carrier is determined according to the task information of each task to be sown in the sowing system, wherein the task information of the task to be sown includes the cargo information of the cargo to be sown; or, When the movable carrier arrives at the docking area of ​​the target workstation, in response to the identification operation of the cargo information input device on the cargo to be sown on the movable carrier, the cargo information of the cargo to be sown is acquired.

22. The system of claim 20, wherein: The control device is also configured to: Obtaining a pending order, wherein the pending order includes cargo information of multiple cargoes; Based on the cargo information of the multiple cargoes, the cargo to be sown at the target workstation is determined, and based on the cargo to be sown at the target workstation, a transport instruction is generated; the transport instruction is used to instruct a transport robot to transport the movable carrier placing the cargo to be sown to the docking area of ​​the target workstation.

23. The system of claim 22, wherein: The control device is configured to: Determining, based on the cargo information of the multiple cargoes, a degree of association between the multiple cargoes; Based on the correlation of the multiple goods, at least two goods among the multiple goods whose correlation is greater than a correlation threshold are determined as the goods to be sown of the target workstation.

24. The system of claim 23, wherein: The movable carrier includes at least a first carrier and a second carrier, and the goods to be sown at the target workstation include at least a first goods to be sown and a second goods to be sown; the control device is configured as follows: Generate a first transport instruction based on the first cargo to be sown, the first transport instruction being used to instruct the transport robot to transport the first carrier on which the first cargo to be sown is placed to one side of the docking area of ​​the target workstation; A second transport instruction is generated based on the second cargo to be sown, and the second transport instruction is used to instruct the transport robot to transport the second carrier carrying the second cargo to be sown to the other side of the docking area of ​​the target workstation.

25. The system according to claim 24, wherein the control device is further configured to: Before sowing the first to-be-sown goods on the sowing wall of the target workstation, the second transport instruction is sent to the transport robot to transport the second carrier to the other side of the docking area of ​​the target workstation, and The second cargo to be sown is sown; or, When sowing the first cargo to be sown on the sowing wall of the target workstation, the second transport instruction is sent to the transport robot to transport the second carrier to the other side of the docking area of ​​the target workstation and sow the second cargo to be sown on the second carrier.

26. The system of claim 24, wherein: The sowing direction for sowing the first to-be-sown cargo on the sowing wall is a first direction, and the sowing direction for sowing the second to-be-sown cargo on the sowing wall is a second direction; the first direction and the second direction are different.

27. The system according to claim 20, wherein the control device is further configured to: According to the number of types of goods to be sown corresponding to each sowing position on the sowing wall, determine the goods to be sown corresponding to the target sowing position with the least number of types of goods to be sown; Determine a movable carrier for placing the goods to be sown corresponding to the target sowing position, and generate a carrier transport instruction based on the movable carrier; the carrier transport instruction is used to instruct a transport robot to transport the movable carrier for placing the goods to be sown corresponding to the target sowing position to the docking area of ​​the target workstation.

28. The system of claim 20, wherein: The target workstation is provided with an output device, and the output device is used to output the sowing quantity corresponding to the goods to be sown; the control device is configured as follows: Based on the sowing information, determine the total sowing quantity of the goods to be sown on the sowing wall, and the sowing quantity at each sowing position of the sowing wall; Control the display device of the target workstation to display the total sowing quantity of the goods to be sown on the sowing wall; When the sowing quantity of the goods to be sown at the sowing position is greater than zero, the output device is controlled to output the sowing quantity of the goods to be sown at the sowing position.

29. The system according to any one of claims 20 to 28, wherein: The control device is configured to: In response to a sowing completion operation triggered by a user when the user has sown any one of the goods to be sown at the sowing position, it is determined that the sowing of any one of the goods to be sown at the sowing position is completed; or, in response to a detection device detecting that the sowing of any one of the goods to be sown at the sowing position is completed, it is determined that the sowing of any one of the goods to be sown at the sowing position is completed; When the sowing of all the goods to be sown at the sowing position is completed, the sowing state of the sowing position is determined to be a sowing completion state.

30. The system of claim 29, wherein: The control device is configured to: When any one of the goods to be sown at the sowing position is sown, in response to a sowing completion operation triggered by a user on a sowing control device at the sowing position, or in response to a sowing completion operation triggered by a user on a control corresponding to the sowing position on a display screen of an electronic device, it is determined that the sowing of any one of the goods to be sown at the sowing position is completed.

31. The system of claim 29, wherein: The control device is configured to: When the sowing status of all the sowing positions on the sowing wall is the sowing completion status, the first transfer instruction is generated to control the first container picking and placing device of the target workstation to transfer the sown containers on each of the sowing positions on the sowing wall to the target carrier.

32. The system according to claim 31, wherein the control device is further configured to: When the sowing status of all the sowing positions on the sowing wall is updated to the sowing completion status, a first carrier transport instruction is generated; or, Before the sowing status of all the sowing positions on the sowing wall is updated to the sowing completion status, generating the first carrier transport instruction; in, The first carrier transport instruction is used to instruct the transport robot to transport the target carrier to the transfer area of ​​the target workstation, the transfer area and the seeding wall are respectively located on both sides of the target workstation, and the target carrier includes a carrier located at the target workstation or a carrier located in the carrier storage area.

33. The system of claim 29, wherein: The control device is configured to: When the sowing state of any sowing position on the sowing wall is the sowing completion state, the first transfer instruction is generated to control the first container picking and placing device of the target workstation to transfer the sown container on the any sowing position to the target carrier.

34. The system according to claim 33, wherein the control device is further configured to: When the target carrier does not meet the container placement condition, a second transfer instruction is generated; the second transfer instruction is used to instruct the first container placement device to transfer the seeded container on any seeding position to the first cache position of the target workstation.

35. The system according to claim 34, wherein the control device is further configured to: After the first container placing device transfers the seeded container on the seeding position to the target carrier or the first cache position, the first container placing device is controlled to place the container on the second cache position or the movable carrier on the vacant seeding position corresponding to the seeded container.

36. The system according to claim 34, wherein the control device is further configured to: When the first container picking and placing device transfers the seeded container on the seeding position to the target carrier or the first cache position, the second container picking and placing device of the target workstation is controlled to place the container on the second cache position or the movable carrier on the vacant seeding position corresponding to the seeded container; wherein the first container picking and placing device is different from the second container picking and placing device.

37. The system according to any one of claims 20 to 28, wherein the control device is further configured to: Determining cargo information of unplanted cargo based on the pending orders and the cargo to be planted; determining a next workstation for sowing the unsown cargo based on cargo information of the unsown cargo; Based on the next workstation, generating a second carrier transport instruction, the second carrier transport instruction is used to instruct the transport robot to transport the target carrier from the transfer area of ​​the target workstation to the transfer area of ​​the next workstation; After the target carrier is transported to the transfer area of ​​the next workstation, a third transfer instruction is generated; the third transfer instruction is used to instruct the next workstation to transfer the target container on the target carrier to an empty sowing position on the sowing wall of the next workstation, so as to sow the unsown goods at the next workstation, and the target container is the container into which the unsown goods need to be sown.

38. The system according to any one of claims 20-28, wherein the control device is further configured to: In the case that there is no unplanted goods in the pending order, a third carrier transport instruction is generated, and the third carrier transport instruction is used to instruct the transport robot to perform outbound processing on the goods on the target carrier.

39. A workstation comprising: A sowing wall, comprising a plurality of sowing positions and output devices arranged at each sowing position, wherein the sowing positions are used to place containers to be sown; The output device is configured to output the sowing quantity of the goods to be sown at the sowing position corresponding to the output device, so that the user sows the goods to be sown into the sowing container on the sowing position according to the sowing quantity corresponding to the sowing position; The first container picking and placing device is configured to obtain a first transfer instruction during the process of sowing the goods to be sown, and based on the first transfer instruction, transfer the sown container that has completed sowing at the sowing position to the target carrier; wherein the first transfer instruction is generated according to the sowing status of each sowing position on the sowing wall.

40. The workstation of claim 39, wherein: The workstation also includes a docking area, which is located on both sides of the sowing wall. The goods to be sown include a first goods to be sown and a second goods to be sown. A first carrier for placing the first goods to be sown is docked at the docking area on one side of the sowing wall, and a second carrier for placing the second goods to be sown is docked at the docking area on the other side of the sowing wall.

41. The workstation of claim 40, wherein: The sowing direction for sowing the first to-be-sown cargo on the sowing wall is a first direction, and the sowing direction for sowing the second to-be-sown cargo on the sowing wall is a second direction; the first direction and the second direction are different.

42. The workstation of claim 39, wherein: The workstation includes a first cache location, and the first container picking and placing device is configured as follows: A second transfer instruction is obtained, and according to the second transfer instruction, a seeded container on any seeding position is transferred to the first cache position of the workstation.

43. The workstation of claim 42, wherein: The workstation further includes a second cache location, and the first container picking and placing device is further configured as follows: After the first container placing device transfers the seeded container on the seeding position to the target carrier or the first cache position, the container on the second cache position or the movable carrier is placed on the idle seeding position corresponding to the seeded container.

44. The workstation of claim 43, wherein: The workstation further comprises a second container picking and placing device, the first container picking and placing device being different from the second container picking and placing device, and the second container picking and placing device being further configured as: When the first container placing device transfers the seeded container on the seeding position to the target carrier or the first cache position, the container on the second cache position or the movable carrier is placed on the vacant seeding position corresponding to the seeded container.

45. A workstation according to any one of claims 39 to 44, wherein: The sowing positions of the sowing wall are arranged in one or more layers.

46. ​​An electronic device comprising: one or more processors; A memory configured to: store one or more programs; Wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the sowing control method according to any one of claims 1-19.

47. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the sowing control method according to any one of claims 1-19.

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