Robot-based warehouse organization method and apparatus, and storage medium

Abstract

A robot-based warehouse organization method and apparatus, and a storage medium. The method comprises: on a client side used for warehouse service processing, performing classification-based warehouse organization on articles (A, B, C) which are dispersedly stored in first storage containers in a warehouse, wherein the classification-based warehouse organization comprises: acquiring utilization rates of the first storage containers; on the basis of the acquired utilization rates, determining a low-utilization-rate storage container; and on the basis of the low-utilization-rate storage container, generating a classification task used for classifying and organizing, in a second storage container, articles stored in the low-utilization-rate storage container, and issuing the classification task to a robot control system, such that the robot control system schedules a robot to execute the classification task.

Description

A robot-based warehouse organization method, device, and storage medium Technical Field

[0001] The present application relates to the field of warehousing and logistics, and in particular, to a robot-based warehouse sorting method, device, and storage medium. Background Art

[0002] In warehouse management, after a period of inbound and outbound operations, the items in the warehouse gradually become messy. This is not only detrimental to warehouse management, but also affects subsequent inbound and outbound operations. Therefore, sorting the items in the warehouse has become an important part of warehousing logistics.

[0003] Warehouse sorting is a method of organizing items, including storing them in containers and organizing the containers used to store them. This method makes the storage of items and containers more logical, facilitating warehouse management and improving the efficiency of subsequent inbound and outbound operations.

[0004] Manual inventory management is a common method of inventory management, which involves manually sorting items and then adjusting the inventory. This method is prone to errors, has high labor costs, and is inefficient.

[0005] Another approach combines manual labor with robotic storage. For example, first, a human operator screens items awaiting storage in the storage system and generates an outbound task. Then, a robot is controlled to carry the items awaiting storage to a workstation. The operator binds a turnover container to a distribution location and, following the prompts on the workstation client, distributes the items awaiting storage to the corresponding turnover container. Finally, the storage system generates an inbound task to restock the items in the turnover container. This approach still requires human operators to screen and distribute the items awaiting storage, and the level of automation in storage is low.

[0006] Summary of the Invention

[0007] The present application provides a robot-based warehouse organization method, device, and storage medium to improve the degree of automation of warehouse organization.

[0008] The first aspect of the present application provides a robot-based warehouse sorting method, which includes: on the client side used for warehouse business processing, classifying and sorting items stored in each first storage container in the warehouse, wherein the classification and sorting includes: obtaining the utilization rate of each first storage container; determining a low-utilization storage container based on the obtained utilization rate; based on the low-utilization storage container, generating a classification task for classifying and arranging the items stored in the low-utilization storage container into a second storage container, and sending the classification task to the robot control system, so that the robot control system schedules the robot to perform the classification task.

[0009] Optionally, obtaining the utilization rate of each first storage container includes: obtaining the utilization rate of each category of items stored in each first storage container according to the category of the items stored in the first storage container.

[0010] Optionally, determining low-utilization storage containers according to the obtained utilization rates includes: determining low-utilization storage containers for various types of items according to the obtained utilization rates.

[0011] Optionally, based on the low-utilization storage container, a classification task is generated for classifying and arranging the items stored in the low-utilization storage container into a second storage container, including: based on the category of the items stored in the low-utilization storage container, determining at least one category of target storage items, allocating a second storage container to each category of target storage items, and generating a storage task for arranging the target storage items of that category into the second storage container.

[0012] Optionally, obtaining the utilization rate of each first storage container includes: for each first storage container, counting the number of items stored in the first storage container to obtain the utilization rate of the first storage container.

[0013] Optionally, determining the low-utilization storage container according to the acquired utilization rate includes: determining a first storage container, in which the number of stored items is less than a first quantity threshold, as the low-utilization storage container.

[0014] Optionally, based on the low-utilization storage container, a classification task is generated for classifying and arranging the items stored in the low-utilization storage container into a second storage container, including: taking the items stored in the low-utilization storage container as target storage items, allocating a second storage container to the target storage items, and generating a storage task for arranging the target storage items into the second storage container, so that the items stored in the low-utilization storage container are emptied.

[0015] Optionally, determining a first storage container whose number of stored items is less than a first quantity threshold as a low-utilization storage container further includes: for a first storage container whose number of stored items is not less than the first quantity threshold, determining whether the category of the items stored in the first storage container is a set category; if so, determining the first storage container as a low-utilization storage container.

[0016] Optionally, allocating a second storage container to the target storage items includes: setting the priority of the low-utilization storage container according to the number of stored items, wherein the fewer the number of stored items, the higher the priority of the low-utilization storage container, and allocating the second storage container to each low-utilization storage container in order of the priority of the low-utilization storage container from high to low.

[0017] Optionally, the method of allocating a second storage container to the target storage items and generating a storage task for sorting the target storage items into the second storage container includes: determining at least one category of target storage items according to the category of the target storage items; allocating a second storage container to each category of target storage items, and generating a storage task for sorting the target storage items of that category into the second storage container.

[0018] Optionally, the determining of at least one category of target warehouse items includes: for each low-utilization storage container, obtaining item information of each category of items stored in the low-utilization storage container, the item information at least including item heat information used to characterize the frequency of items entering and leaving the warehouse, and clustering the items stored in each low-utilization storage container according to the item heat information to obtain at least one category of clustered items as the target warehouse items.

[0019] Optionally, allocating a second storage container to each type of target warehouse items includes: allocating a second storage container to each type of target warehouse items according to the storage capacity of the second storage container and an item mixing strategy.

[0020] Optionally, the item information also includes packaging specification information of the item; after obtaining the item information of each type of item stored in the low-utilization storage container, the method further includes: obtaining low-utilization storage container information of the low-utilization storage container, and the low-utilization storage container information at least includes the quantity of each type of item stored and the item mixing strategy.

[0021] Optionally, the method of allocating a second storage container to each type of target warehouse items based on the holding capacity of the second storage container and the item mixing strategy includes: splitting the at least one type of clustered items according to the item mixing strategy, so that the clustered items that are allowed to be mixed are split into the same group, and the clustered items that are not allowed to be mixed are split into different groups, to obtain at least one group of first-grouped items; splitting each first-grouped item for a second time according to the packaging specification information of the item, the volume of the second storage container, and the holding rate of the second storage container to obtain at least one group of second-grouped items; and determining the number of second storage containers for accommodating each second-grouped item according to the number of groups of the second-grouped items.

[0022] Optionally, the determining of at least one category of target storage items includes: for each category of items stored in low-utilization storage containers, counting the number of low-utilization storage containers for this category of items, and marking this category of items as target storage items when the number of low-utilization storage containers reaches a set quantity threshold, or when the ratio of the number of low-utilization storage containers to the total number of storage containers containing this category of items reaches a set ratio threshold.

[0023] Optionally, the allocation of a second storage container for each type of target warehouse items includes: for each type of target warehouse items, obtaining the item information of the target warehouse items of this type and the low-utilization storage container information of the target warehouse items of this type, wherein the item information includes the packaging specification information of the target warehouse items of this type, and the low-utilization storage container information includes the number of target warehouse items of this type stored in the low-utilization storage container; based on the packaging specification information of the target warehouse items of this type and the number of target warehouse items of this type stored in the low-utilization storage container, according to the volume of the second storage container and the capacity of the second storage container, the number of second storage containers for storing the target warehouse items of this type is determined; wherein, the warehouse task carries the item information of the target warehouse items of this type.

[0024] Optionally, after determining the number of second storage containers for storing this type of target warehousing items, the method further includes: merging the second storage containers of each type of target warehousing items according to the item mixing strategy; the warehousing task also carries item information of target warehousing items that are allowed to be placed in the same second storage container.

[0025] Optionally, obtaining the utilization rate of each type of items stored in each first storage container includes: for each first storage container, based on the volume and quantity of each type of items stored in the first storage container, calculating the utilization rate of the first storage container, where the utilization rate is: the ratio of the product of the volume of a single item of the type and the quantity of the item of the type to the volume of the first storage container.

[0026] Optionally, determining low-utilization storage containers for each type of item based on the acquired utilization rate includes: for the utilization rate of each type of item in any first storage container, determining whether the utilization rate is less than a set utilization rate threshold; if so, marking the first storage container as a low-utilization storage container for this type of item.

[0027] Optionally, the robot control system schedules the robot to perform the classification task, including: the robot control system responds to each sorting task, schedules the robot to transport the low-utilization storage container where the target sorting item is located to the first target location for classification, and distributes the target sorting item in the low-utilization storage container to the second storage container according to the item information carried in the sorting task, and returns the sorting task completion message to the client side after the sorting task is completed.

[0028] Optionally, the method further includes: the client side sends a task to the robot control system in response to the completion message of the warehouse sorting task, so that the robot control system schedules the robot to transport the second storage container to a second target location for storing items.

[0029] Optionally, the method further includes: returning and organizing the storage containers located at any warehouse so that the container temperature information of the storage container matches the warehouse temperature information of the warehouse where the storage container is located, wherein the warehouse temperature information is used to characterize the efficiency of the storage container located at the warehouse being picked up and placed by the robot. The higher the efficiency, the higher the warehouse temperature. The container temperature information is used to represent the highest item temperature of the items stored in the storage container. The item temperature is used to characterize the frequency of the item entering and leaving the warehouse. The higher the frequency, the higher the item temperature.

[0030] Optionally, the retrieval includes: for a storage container that does not match the warehouse location heat, or a warehouse location that does not match the container heat, obtaining the storage container information of the storage container and the warehouse location information of the warehouse location, wherein the storage container information includes the container heat information, and the warehouse location information includes the warehouse location heat information; determining a candidate warehouse location for the storage container based on the container heat information of the storage container, the warehouse location heat information of the candidate warehouse location matches the container heat information of the storage container; calculating a first distance between the candidate warehouse location and the workstation; setting a priority of the candidate warehouse location according to the first distance; the closer the first distance between the candidate warehouse location and the workstation, the higher the priority of the candidate warehouse location. Calculate the second distance between the storage container and the candidate location, and adjust the priority of the candidate location according to the second distance. The closer the second distance between the storage container and the candidate location, the higher the priority of the candidate location. Select the candidate location with the highest priority as the target location for the storage container, and generate a warehouse handling task for transporting the storage container from the source location to the target location. Send the warehouse handling task to the robot control system so that the robot control system dispatches the robot to perform the warehouse handling task.

[0031] Optionally, the homing and sorting of warehouses further includes: determining whether the link length of the warehouse sorting task is greater than a set link length threshold; if so, splitting the link of the warehouse sorting task into multiple sub-links not greater than the link length threshold to obtain group warehouse sorting tasks, wherein one sub-link corresponds to a group warehouse sorting task, and each group warehouse sorting task is executed separately.

[0032] Optionally, the storage containers that do not match the warehouse location heat or the warehouse locations that do not match the container heat are determined as follows: obtain the container heat information of the storage containers located in each warehouse location and the warehouse location heat information of each storage container, and filter out the storage containers or warehouse locations whose container heat information does not match the warehouse location heat information.

[0033] The second aspect of the present application provides a robot-based warehouse sorting device, which includes: a first screening module, used to obtain the utilization rate of each first storage container in the warehouse, and determine the low-utilization storage container based on the obtained utilization rate; a classification task generation module, used to generate a classification task for classifying and arranging the items stored in the low-utilization storage container into a second storage container based on the low-utilization storage container, and send the classification task to the robot control system, so that the robot control system schedules the robot to perform the classification task.

[0034] A third aspect of the present application provides a robot-based warehouse sorting device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to implement the robot-based warehouse sorting method as described above.

[0035] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the robot-based warehouse sorting method as described above is implemented.

[0036] This application is based on a robot-based warehouse sorting method, which realizes the classification and organization of inventory-level items through classification and sorting. It classifies and stores scattered items stored in different storage containers, reduces the use of storage containers, makes the space utilization of the warehouse more reasonable, and has a smaller granularity of item classification, which facilitates warehouse management and improves the efficiency of inbound and outbound operations. This application can automatically screen relatively scattered items and generate corresponding warehouse sorting tasks without the need for manual judgment, saving labor costs and having a lower error rate. In addition, when executing the warehouse sorting task of item classification, the storage container capacity and item volume are matched, which can maximize the release of empty storage containers while maximizing the use of non-empty storage containers. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] FIG1 is a flow chart of a robot-based warehouse organization method provided in an embodiment of the present application.

[0038] FIG. 2 shows an example of identical articles scattered and stored in different storage containers before and after being sorted.

[0039] FIG3 is a flow chart of a classification and storage method according to an embodiment of the present application.

[0040] FIG4 is a flow chart of an inventory-level sorting algorithm.

[0041] FIG5 is a schematic diagram of classification in the inventory-level sorting algorithm.

[0042] FIG6 is a schematic diagram of the embodiment of the present application before and after the storage is sorted.

[0043] FIG7 is a flow chart of a method for organizing a library in a homing manner according to an embodiment of the present application.

[0044] FIG8 is a flow chart of a vehicle-level library sorting algorithm according to an embodiment of the present application.

[0045] Figure 9 is a schematic diagram of the distribution of storage locations and containers before stowing.

[0046] FIG10 is a schematic diagram of splitting the task of returning to the warehouse.

[0047] FIG11 is a schematic diagram of a robot-based warehouse sorting device according to an embodiment of the present application.

[0048] FIG12 is another schematic diagram of a robot-based warehouse sorting device according to an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical means and advantages of this application clearer, the application is further described in detail below with reference to the accompanying drawings.

[0050] The applicant discovered that during warehouse management operations, the basic attribute information and operating status of items in the warehouse are usually matched with preset warehouse storage conditions. The space information occupied by a single item is determined based on the basic attribute information of the item, and the storage space amount of the item is determined based on the quantity information and space information of the item. Based on the warehouse space type of the item, warehouse space belonging to that warehouse space type is determined as an alternative warehouse space, where warehouse space types include: hot-selling warehouse space, slow-selling warehouse space, expired warehouse space, defective warehouse space, seasonal warehouse space, out-of-season warehouse space, gift warehouse space, aged warehouse space, and near-expiry warehouse space; based on the current storage information and the alternative warehouse space, the storage method for the items to be sorted is determined.

[0051] The aforementioned warehouse organization method, which divides warehouse space into different types and then categorizes and organizes items based on the matching of item attributes and quantities with the assigned space type, has a high granularity. Warehouse space types and item attributes have a one-to-many matching relationship. While items can be organized into the same space, the items organized into that space remain disorganized. This is especially true when a certain space type corresponds to a large number of items, making it difficult to effectively improve the efficiency of subsequent inbound and outbound operations.

[0052] In view of this, an embodiment of the present application provides a robot-based storage method for classifying and storing items scattered in various storage containers.

[0053] Figure 1 is a flow chart of a robot-based warehouse sorting method according to an embodiment of the present application. Referring to Figure 1 , the method includes: on a client side for warehouse business processing, sorting and sorting items stored in first storage containers in the warehouse, wherein the sorting and sorting includes steps 101 to 103.

[0054] In step 101, the utilization rate of each first storage container is obtained.

[0055] In this step, when the same items or items of the same type are stored in different first storage containers, the utilization rate of each type of item stored in each first storage container is obtained according to the category of the items stored in the first storage container. The utilization rate is obtained by calculating the proportion of the storage container space occupied by each type of item based on the volume and quantity of each type of item stored in the storage container.

[0056] Given that using item volume information in practical applications cannot accurately represent storage container utilization, for example, highly compactable items have different storage container utilization rates than less compactable items, the utilization rate of any first storage container can also be calculated by counting the number of items stored in the container. For example, if the first storage container stores item A with a count of N1 and item B with a count of N2, the total number of stored items is the sum of N1 and N2. In other words, the total number of items stored in the first storage container is the utilization rate of the first storage container.

[0057] It should be understood that "identical items" generally refer to items with identical specified information, for example, items with identical specifications, models, identification information, brands, and names. Items of the same type generally refer to items with partially identical specified information, for example, items with the same name but different specifications, models, or brands. An item category refers to the classification of items according to set information. The set information can be the same as or different from the specified information. Thus, identical items can belong to the same or different categories, and items of the same type can belong to the same or different categories. As another example, the utilization rate of any item stored in any designated first storage container can be obtained.

[0058] In step 102, a low-utilization storage container is determined based on the acquired utilization.

[0059] As an example, based on the obtained utilization rates, low-utilization storage containers for various types of items are determined.

[0060] As another example, a first storage container whose counted number of items is less than a set first quantity threshold is determined to be a low-utilization storage container and is thus the storage container to be emptied. For a first storage container whose number of items is not less than the set first quantity threshold, a determination is made as to whether the category of the items stored in the first storage container is a set category. If so, the first storage container is determined to be a low-utilization storage container. For example, if the first storage container stores summer clothing, since summer clothing occupies less volume than winter clothing, even if the number of items is large, the utilization rate is low. Therefore, such a first storage container can be designated as a low-utilization storage container to help reduce storage container occupancy.

[0061] In step 103, based on the low-utilization storage container, a classification task is generated for classifying and arranging the items stored in the low-utilization storage container into a second storage container, and the classification task is sent to the robot control system, so that the robot control system schedules the robot to perform the classification task. The classification task causes the items stored in the low-utilization storage container to be classified and arranged into the same second storage container or more than two second storage containers.

[0062] As an example, based on the categories of items stored in low-utilization storage containers, at least one category of target storage items is determined, and a second storage container is allocated to each category of target storage items. For each allocated second storage container, a storage task is generated for sorting the target storage items of that category into the second storage container, so as to classify the various types of items stored in low-utilization storage containers into different storage containers.

[0063] As another example, the items stored in a low-utilization storage container are taken as target storage items, a second storage container is allocated to the target storage item, and a storage task is generated for the allocated second storage container to sort the target storage items stored in the low-utilization storage container into the second storage container, so that the items stored in the low-utilization storage container are emptied. It should be understood that the items stored in a low-utilization storage container can be regarded as a category of target storage items to quickly empty the low-utilization storage container, thereby quickly reducing the storage container's occupancy. The items stored in the low-utilization storage container can also be determined as multiple categories of target storage items according to the category of the target storage items, so that the items can be classified at the same time as the low-utilization storage container is emptied.

[0064] For any type of target storage items, the various types of items stored in the low-utilization storage container can be classified into different storage containers according to one of the above examples, or the priority of the low-utilization storage container can be set according to the number of stored items, wherein the fewer the number of stored items, the higher the priority of the low-utilization storage container, and the items stored in each low-utilization storage container can be used as the target storage items in descending order of the priority of the low-utilization storage container, or a second storage container can be allocated to each low-utilization storage container in turn to quickly process the low-utilization storage container and improve storage efficiency.

[0065] The embodiment of the present application utilizes information about the items stored in storage containers to obtain the utilization rate of the storage containers, thereby screening out low-utilization storage containers, and then implementing the classification and storage of items through the execution of the generated classification tasks. Given that this embodiment adopts the classification and storage method, for each first storage container that stores multiple or multiple categories of items, the same items or items of the same type are classified and sorted into one or more second storage containers, which is equivalent to box storage or container storage. This can not only reduce the use of storage containers, but also facilitate inventory management and improve the efficiency of subsequent warehousing and outbound operations.

[0066] To facilitate understanding of the present application, the following description will be given by taking an example of classifying and merging items scattered in various storage containers in a warehouse business application scenario.

[0067] The following explains the technical terms involved in warehouse operations.

[0068] Intelligent Warehouse Management System (IWMS): An application used to online control and track the logistics process of warehouse operations. It is a client used for warehouse business processing.

[0069] Robot Control System (RCS): It is used to receive tasks issued by the intelligent warehouse management system and issue related instructions to the robots to complete the tasks.

[0070] Warehouse robots: Automated robots that perform cargo handling, sorting, and transportation within warehouses. Common warehouse robots include lurking robots and pick-and-place robots. AGVs (Automated Guided Vehicles) are a type of lurking robot used for shelf handling. CTUs (Container Transfer Units) are a type of pick-and-place robot that can directly retrieve, place, and transport storage containers (such as bins) within a warehouse.

[0071] Distribution unit: A frame structure containing multiple grids. For example, the frame structure can be a wall structure, in which case it is called a distribution wall. It is used to temporarily store turnover containers during warehouse operations. Each grid is usually equipped with an electronic tag to guide item sorting. The distribution unit is usually used in conjunction with a workstation.

[0072] Distribution position: a grid located in the distribution section, one grid is a distribution position.

[0073] Storage container: A container used to store items in a warehouse, such as a box.

[0074] A turnover container is essentially a storage container. For purposes of distinction, the container storing items in the warehouse is referred to as a storage container, equivalent to the first storage container. The storage container bound to the distribution location is referred to as a turnover container, equivalent to the second storage container. In the embodiment of this application, the turnover container is bound to the distribution location and is used to classify and store items sorted from the storage container. When the turnover container is full or has no more items to be placed, the turnover container is removed from the distribution location and returned to the warehouse, whereupon the turnover container becomes a storage container.

[0075] Item popularity information: This information represents the frequency of an item's entry and exit. The higher the entry and exit frequency, the higher the item's popularity. For example, items are classified into popularity levels based on their entry and exit frequency. Items with high popularity levels are frequently entered and exited, while items with low popularity levels are less frequently entered and exited. For example, item popularity can be defined from high to low as Item Popularity A, Item Popularity B, and Item Popularity C.

[0076] Container heat information: This represents the heat of items stored in a storage container. For example, the heat of the hottest item in the container can be used as the heat of the container. Alternatively, the heat of the container can be calculated using a predefined method, such as the average or weighted heat of multiple item categories.

[0077] Bin heat information: This information indicates the efficiency with which robots can access and place containers in a bin. For warehouse robots, the efficiency of accessing and placing containers in different bins on a shelf varies. Based on the robot's access efficiency, bins on the shelf are classified into heat levels. High-heat bins have higher efficiency for robot access and placement, while low-heat bins have lower efficiency. For example, bin heat levels are defined from highest to lowest as bin heat A, bin heat B, and bin heat C.

[0078] As shown in Figure 2, item A represents Category A items or A items, item B represents Category B items or B items, and item C represents Category C items or C items. Before categorization and sorting, items A, B, and C were stored in separate storage containers. Each item was scattered and the contents of each container were also chaotic. Categorization and sorting make the distribution of items within the storage containers more reasonable.

[0079] FIG3 is a flow chart of a classification and storage method according to an embodiment of the present application. Referring to FIG3 , the method includes steps 301 to 307 .

[0080] In step 301 , for each storage container, the intelligent warehouse management system determines the utilization rate of each type of article stored in the storage container.

[0081] As an example, based on the volume and quantity of each type of items stored in the storage container, the utilization rate of each type of items in the storage container is calculated, which can be expressed mathematically as follows:

[0082] Among them, η ij is the utilization rate of item j in storage container i, V i is the volume of storage container i, R ij is the volume of a single item j in storage container i, N ij is the number of item j in storage container i.

[0083] In this way, the utilization rate of each type of article in its current storage container can be obtained.

[0084] For example, in Figure 2, the utilization rate η of item A in the storage container 1 can be obtained. 1A , the utilization rate η of item B in storage container 1 1B , the utilization rate η of item A in storage container 2 2A , the utilization rate η of item B in storage container 2 2B , the utilization rate η of item C in storage container 2 2C , the utilization rate η of item B in storage container 3 3B , the utilization rate η of item C in storage container 3 3C , the utilization rate η of item C in the storage container 4 4C .

[0085] In step 302 , the intelligent warehouse management system uses the calculated utilization rate to determine a low-utilization storage container for each type of item.

[0086] As an example, according to each calculated utilization η ij, determine whether the utilization rate is less than the set utilization rate threshold. If so, it means that the storage container i corresponding to the utilization rate is a low-utilization storage container for the item j corresponding to the utilization rate, and mark the storage container i as a low-utilization storage container for the item j, for example, denoted as L ij , thereby, the storage containers to be sorted can be screened out.

[0087] In step 303, the intelligent warehouse management system counts the number of low-utilization storage containers for each category of items.

[0088] If the number of low-utilization storage containers reaches the set quantity threshold, or the ratio of the number of low-utilization storage containers to the total number of storage containers containing this type of items reaches the set ratio threshold, it means that the distribution of this type of items in the warehouse is relatively scattered, and this type of items will be marked as target items for storage, thereby screening out the items to be stored.

[0089] In step 304, based on the screened low-utilization storage containers, a classification task is generated for classifying and organizing the various items stored in the low-utilization storage containers into turnover containers, and the classification task is sent to the robot control system, so that the robot control system schedules the robot and instructs the robot to move the screened low-utilization storage containers to the workstation.

[0090] As an example, the intelligent warehouse management system adopts an inventory-level sorting algorithm to sort items stored in low-utilization storage containers into different turnover containers. It calculates which items can be sorted into turnover containers based on the capacity of the turnover containers and the item mixing strategy, and generates sorting tasks according to the turnover container dimensions. All sorting tasks constitute classification tasks.

[0091] In order to facilitate the management of storage items in and out of the warehouse, an outbound task can also be generated, that is, the items are expected to be sorted into turnover containers as an outbound task.

[0092] FIG4 is a flow chart of an inventory-level inventory management algorithm. Referring to FIG4 , the inventory-level inventory management algorithm includes steps 4041 to 4044 .

[0093] In step 4041, for the filtered low-utilization storage containers, the item information of each type of items stored therein and the low-utilization storage container information are obtained, wherein the item information includes: item identification information such as item name, item packaging specification information, and item heat information; the low-utilization storage container information includes: item identification information of the items stored in the low-utilization storage container such as item name, quantity of stored items, and item mixing strategy. For example, when certain items or categories of items are allowed to be mixed, items of the same type or category are preferentially sorted into the same turnover container. At this time, if the turnover container still has remaining space, it supports the items that are allowed to be mixed to continue to be sorted into the turnover container; in addition, the turnover container information is also obtained, including the turnover container volume and the turnover container capacity.

[0094] In step 4042, the items stored in all low-utilization storage containers are clustered according to the item heat information to obtain at least one type of clustered items to determine the target storage items.

[0095] As an example, items with popularity information A are clustered as one type of items, items with popularity information B are clustered as another type of items, and items with popularity information C are clustered as yet another type of items.

[0096] In step 4043, each type of clustered items is split according to the item mixing strategy, so that clustered items that are allowed to be mixed are split into the same group, and clustered items that are not allowed to be mixed are split into different groups, thereby obtaining different first grouped items.

[0097] As an example, clustered items that are allowed to be mixed are divided into one group, and clustered items that are not allowed to be mixed are divided into different groups.

[0098] In step 4044, the different first grouped items are split a second time according to the packaging specifications of the items, the volume of the turnover container, and the accommodating rate of the turnover container to obtain at least one group of second grouped items.

[0099] As an example, for each item in the first group, the number of items that each turnover container can accommodate and the number of turnover containers required are calculated based on the packaging specifications of the items, the volume of the turnover container, and the capacity of the turnover container. One turnover container represents a second group, and the number of turnover containers is the number of the second group. A sorting task is generated for all items that are allowed to be placed in the same turnover container. This task carries the item information of the items that are allowed to be placed in the same turnover container, that is, the item information of the items in the second group. It can be seen that there are as many sorting tasks as there are turnover containers, and these sorting tasks constitute the classification tasks. In this way, when generating tasks, the maximum number of items that each turnover container can accommodate can be calculated based on the volume of the items and the capacity of the turnover container, and a dispatching task corresponding to each turnover container is generated according to this number, so that each turnover container is filled as much as possible, reducing the use of storage containers, and thus completing the sorting with as few turnover containers as possible.

[0100] The aforementioned inventory-level sorting algorithm takes into account the capacity constraints of turnover containers. Specifically, when sorting items from multiple storage containers into a single turnover container, the total volume of items sorted into that turnover container cannot exceed the container's capacity. The aforementioned inventory-level sorting algorithm also takes into account mixed placement restrictions. When certain items or categories of items are allowed to be mixed, items with the same attributes are prioritized for sorting into the same turnover container. At this point, if there is still space in the turnover container, items that are allowed to be mixed are allowed to continue to be sorted into that turnover container. This inventory-level sorting algorithm achieves the goal of completing sorting using the fewest possible turnover containers.

[0101] Through the execution of the classification task, the same articles or articles of the same type stored in the low-utilization storage containers are classified and sorted into the same turnover container or two or more turnover containers.

[0102] Figure 5 is a schematic diagram of classification within the inventory-level sorting algorithm. As shown in Figure 5 , all items stored in low-utilization storage containers are clustered, split, and then re-split, ultimately forming a second group of items. It should be understood that steps 4042 and 4043 are optional steps that can be adjusted based on actual circumstances. For example, item mixing and item popularity may not be considered.

[0103] Another example of step 304 is to generate a storage task for each type of target storage items for sorting the target storage items into a second storage container, and send the task to the robot control system, so that the robot control system schedules the robot and instructs the robot to move the storage containers where the target storage items are located to the workstation.

[0104] As an example, the intelligent warehouse management system adopts an inventory-level sorting algorithm for sorting target items into different turnover containers to generate sorting tasks according to the turnover container dimension, and all sorting tasks constitute classification tasks.

[0105] In order to facilitate the management of storage items in and out of the warehouse, an outbound task can also be generated, that is, the items are expected to be sorted into turnover containers as an outbound task.

[0106] In the inventory-level sorting algorithm of this example: for each type of target sorting items, obtain the item information of the target sorting items of this type and the low-utilization storage container information of the target sorting items of this type, wherein the item information includes item identification information and item packaging specification information, and the low-utilization storage container information includes the number of target sorting items of this type stored in the low-utilization storage container, and may also include item identification information of each type of item stored in the low-utilization storage container, and the number of each type of item stored; based on the obtained packaging specification information of the target sorting items of this type and the number of target sorting items of this type stored in the low-utilization storage container of this type of target sorting items, determine the number of turnover containers used to store the target sorting items of this type according to the volume of the turnover container and the capacity of the turnover container; for each determined turnover container, generate a sorting task for arranging the target sorting items of this type into the turnover container, and the task carries the item information of the target sorting items of this type. In this way, there will be as many storage tasks as there are turnover containers, and these storage tasks constitute classification tasks.

[0107] Through the execution of the classification task, the same target storage items or the same type of target storage items are classified and sorted into the same turnover container or two or more turnover containers.

[0108] In order to reduce the number of turnover containers, when the target storage items are of multiple categories, the turnover containers can be merged according to the item mixing strategy. Afterwards, a storage task is generated for the merged turnover containers. The task carries the item information of the target storage items that are allowed to be placed in the same turnover container.

[0109] It should be understood that the two examples of step 304 are not mutually exclusive and can be performed either or both.

[0110] In step 305, after the storage containers or low-utilization storage containers containing the target warehouse items are transported to the first target location for classification, such as a workstation, the turnover container is bound to the distribution position, and according to the prompts on the workstation client interface, the target warehouse items are taken out of the storage container and placed in the turnover container of the corresponding distribution position, or the items are taken out from the low-utilization storage containers and placed in the turnover container of the corresponding distribution position.

[0111] As an example, the operator obtains the outbound task from the workstation client, and according to the prompts on the workstation client interface, takes the target items out of the storage container and places them into the turnover container at the corresponding distribution position, or takes the items out of each low-utilization storage container and places them into the turnover container at the corresponding distribution position, and returns the outbound task completion message to the intelligent warehouse management system.

[0112] In step 306, after receiving the message that the outbound task is completed, the intelligent warehouse management system generates a task for the robot control system to dispatch the robot to transport the turnover container, i.e., the second storage container, to the second target location for storing items, such as a warehouse, for example, an inbound task, and sends it to the RCS, so that the RCS dispatches the robot and instructs the robot to move the turnover container to the second target location for storing items.

[0113] In step 307 , the dispatched robot executes the instruction from the RCS and moves the turnover container into the warehouse.

[0114] This application realizes the automation of classification through the automatic screening and automatic task generation of target storage items or low-utilization storage containers, reduces the misclassification caused by manual operation, and improves work efficiency. The embodiment of the present application not only takes into account the classification granularity and space utilization in storage, but also takes into account the labor cost, and uses as much system automation as possible and as little human participation as possible to complete storage. Box storage is an automated storage process. The storage tasks are automatically generated by the system. The robot transports the storage containers that need to be sorted to the workstation. The operator only needs to distribute the items to the distribution wall for sorting according to the system prompts. The robot then transports the sorted turnover containers to the warehouse, which helps to reduce manual misoperation.

[0115] The embodiment of the present application also includes the storage container at any location to be sorted and sorted. The sorting and sorting belongs to the carrier-level sorting and is used to sort the storage containers to different locations.

[0116] To maximize the efficiency of outbound storage containers in the warehouse, hot storage containers are shipped out more frequently and should be placed on hot shelf locations for easy access by robots. At the same time, hot storage containers should be placed on shelf locations close to workstations to shorten the time it takes for robots to transport the containers from the locations to the workstations during subsequent outbound operations. Relocation and sorting addresses these issues by organizing storage containers on the locations so that containers of different temperatures can be sorted into locations with corresponding temperatures. At the same time, hot storage containers can be placed as close to workstations as possible, improving outbound efficiency.

[0117] FIG6 is a schematic diagram of the storage arrangement according to an embodiment of the present application. In the figure, positions A, B, and C represent the heat levels of the positions, and the A, B, and C contained in each storage container represent the heat levels of the storage container. The heat levels are defined as A, B, and C from high to low. As shown in FIG6 , before sorting, storage containers of different heat levels are scattered in different positions. Some storage containers with higher temperatures are stored in positions that are farther away from the workstation and have lower temperatures, such as storage container 2 and storage container 3. Some storage containers with lower temperatures are stored in positions that are closer to the workstation and have higher temperatures, such as storage container 4 and storage container 6. This storage method of storage containers is very inefficient for subsequent robots to perform outbound operations. After the storage arrangement is performed, the storage containers of different heat levels are returned to the positions of the corresponding temperatures.

[0118] FIG7 is a flow chart of a method for organizing a library in a designated location according to an embodiment of the present application. Referring to FIG7 , the method includes steps 701 to 705 .

[0119] In step 701, the intelligent warehouse management system obtains container temperature information of each storage container and temperature information of the warehouse where each storage container is located.

[0120] Given that robots have different efficiencies in picking and placing containers at different locations on the shelves, the shelves are divided into heat levels based on the robots' efficiency. For high-heat locations, robots are more efficient in picking and placing containers, while for low-heat locations, robots are less efficient in picking and placing containers. Thus, the heat level of the location characterizes the efficiency of the robots in picking and placing containers at the location. The location heat information can be pre-determined and stored in the intelligent warehouse management system. As an example, the location heat levels are defined from high to low as location heat A, location heat B, and location heat C.

[0121] Storage container popularity information uses the highest popularity of the items stored in the container as the container's popularity. Item popularity is categorized by the frequency of entry and exit. High-popularity items are frequently entered and exited, while low-popularity items are less frequently entered and exited. For example, item popularity, from highest to lowest, is defined as item A, item B, and item C.

[0122] In step 702 , the intelligent warehouse management system screens storage containers and / or storage locations in the warehouse whose storage container temperatures do not match the storage location temperatures.

[0123] For example, location heat information is divided into at least one level based on the robot's efficiency in picking and placing storage containers located in different locations. The higher the efficiency, the higher the level. Item heat is divided into at least one level based on the frequency of item entry and exit. The higher the frequency, the higher the level. The container heat level is the highest item heat level of the items stored in the storage container. For storage containers located in each location, it is determined whether the level difference between the container heat level of the storage container and the location heat level of the location where the storage container is located is less than a set level threshold. If so, the storage container is determined to match the location where the storage container is located. Otherwise, the storage container is determined to not match the location where the storage container is located.

[0124] In step 703, a carrier-level warehouse sorting algorithm is used to match target storage locations for storage containers that do not match the location heat, and a homing task is generated and issued. The homing task is a task of transporting each storage container from the source location to the target location.

[0125] FIG8 is a flow chart of a carrier-level inventory sorting algorithm according to an embodiment of the present application. Referring to FIG8 , the carrier-level inventory sorting algorithm includes steps 8031 ​​to 8036 .

[0126] In step 8031, for each storage container that does not match the warehouse heat, or each warehouse that does not match the container heat, the storage container information of the storage container and the warehouse information of the warehouse are obtained, wherein the storage container information includes: storage container identification information such as container number, and container heat information, and the warehouse information includes: warehouse identification information such as warehouse number, warehouse heat information, and warehouse location information.

[0127] In step 8032, for each storage container that does not match the bin heat, a candidate bin is matched with the storage container based on the container heat information of the storage container.

[0128] As an example, among the storage bins other than the matched storage bins, the storage bins whose storage heat information is the same as the container heat information of the storage container are taken as candidate storage bins for the storage container.

[0129] In step 8033, the first distance between each candidate location and a set position, such as a workstation, is calculated, and the priority of the candidate location is set according to the first distance. The closer the first distance between the candidate location and the workstation, the higher the priority of the candidate location, and there may be candidate locations with the same priority.

[0130] In step 8034, the second distance between the storage container and the candidate location is calculated, and the priority of the candidate location is adjusted according to the second distance. The closer the second distance between the storage container and the candidate location, the higher the priority of the candidate location. The candidate location with a high priority is preferentially selected as the target location of the storage container, and a warehouse handling task is generated for transporting the storage container from the current source location to the target location. The warehouse handling task carries the storage container information, the source location information, and the target location information.

[0131] As an example, for candidate storage locations with the same priority determined according to the first distance, the closer the candidate storage location is to the storage container, the higher its priority. The candidate storage location with a higher priority is preferentially selected as the target storage location for the storage container. If there are multiple target storage locations, one of them is randomly selected as the target storage location.

[0132] In step 8035, return to step 8032 and execute until a storage task is generated for each storage container that does not match the bin heat.

[0133] In this way, a storage task is generated for each storage container that does not match the warehouse temperature, or each warehouse that does not match the container temperature, and these storage tasks form a return task.

[0134] During the storage container sorting process, the following situation occurs: assuming that storage container A in bin C needs to be sorted into bin A, but at this time there is storage container B in bin A, and storage container B needs to be sorted into bin B, and there is storage container C in bin B, and storage container C needs to be sorted into bin C. The above situation is called a chain task. When the link of the chain task is long, it will increase the complexity of the warehouse sorting and affect the in-and-out operations. In this embodiment, the link length of the chain task is limited. When the link length reaches the set link length threshold, the chain task is split into multiple sub-chain tasks for execution. Therefore, step 8036 is executed.

[0135] In step 8036, based on the information carried by the warehouse handling tasks, the warehouse handling tasks that are related among the warehouse handling tasks are constructed into chain tasks, and it is determined whether the link length of each chain task is greater than the set link length threshold. If so, it means that the link of the chain task is longer, and the link of the chain task is split into multiple sub-links that are not greater than the link length threshold, so as to group the chain tasks and obtain grouped warehouse handling tasks, where one sub-link corresponds to a grouped warehouse handling task. Otherwise, the chain task is output.

[0136] Each group storage task and the chain tasks that are not greater than the link length threshold are regarded as homing tasks.

[0137] For example, Figure 9 is a schematic diagram of the distribution of warehouse locations and containers before sorting. As shown in Figure 9, according to the logic of sorting warehouses in their respective locations, if task grouping is not performed, 6 handling tasks need to be performed to complete the sorting process. The 6 handling tasks are shown in Figure 9. When the task link is long, it is not conducive to task management, especially when the task needs to be interrupted or ended. Perform task grouping, and decompose a long task link into two groups of short task links according to the preset link length threshold (assuming it is 3), as shown in Figure 10, and execute them in batches by group, so that the task execution granularity is smaller and easier to manage.

[0138] As an example, a chained task is constructed as follows.

[0139] For each warehouse sorting task, if the target location information carried in the warehouse sorting task is the source location information carried in another warehouse sorting task, it means that there is a storage container that needs to be returned to the source location. Then the other warehouse sorting task is taken as the subsequent task adjacent to the warehouse sorting task, and a task sequence including the warehouse sorting task and the other warehouse sorting task is obtained. In this way, several task sequences can be obtained, and the task sequences with intersections are merged to obtain the merged task sequence as a chain task.

[0140] For example, for the situation in Figure 9, warehouse sorting tasks 1 to 6 are generated respectively, among which warehouse sorting task 1 and warehouse sorting task 2 become a task sequence 12, warehouse sorting task 2 and warehouse sorting task 3 become a task sequence 23, warehouse sorting task 3 and warehouse sorting task 4 become a task sequence 34, warehouse sorting task 4 and warehouse sorting task 5 become a task sequence 45, and warehouse sorting task 5 and warehouse sorting task 6 become a task sequence 56; task sequence 12 and task sequence 23 have an intersection 2, and after merging, task sequence 123 is obtained, and task sequence 23 and Task sequence 34 has an intersection 3, and after merging, they obtain task sequence 234. Task sequence 34 and task sequence 45 have an intersection 4, and after merging, they obtain task sequence 345. Task sequence 45 and task sequence 56 have an intersection 5, and after merging, they obtain task sequence 456. Task sequence 123 and task sequence 345 have an intersection 3, and after merging, they obtain task sequence 12345. Task sequence 12345 and task sequence 456 have an intersection 45, and after merging, they obtain task sequence 123456. This task sequence is a chain task.

[0141] In step 704, the RCS receives the homing task sent from the intelligent warehouse management system, dispatches the robot, and instructs the robot to move the storage container from the source location to the target location.

[0142] In step 705 , the robot moves the storage container from the source location to the target location according to the storage container information, source location information, and target location information carried in the homing task, so as to perform a homing operation of the storage container.

[0143] The homing storage method provided in this embodiment utilizes a vehicle-level storage algorithm to sort storage containers of varying temperatures into corresponding bins, improving robot pick-and-place efficiency. It also places hotter storage containers as close to the workstation as possible, improving the efficiency of subsequent outbound operations. The homing storage method provided in this embodiment can automatically screen storage containers, automatically generate storage tasks, and complete storage, saving labor costs and reducing error rates.

[0144] Figure 11 is a schematic diagram of a robot-based warehouse sorting device according to an embodiment of the present application. As shown in Figure 11, the device includes: a classification warehouse sorting unit and a homing warehouse sorting unit.

[0145] The classification and storage unit is used to classify and store the items stored in the first storage containers, and classify and organize the same items or items of the same type into one or more second storage containers.

[0146] The retrieval unit is used to retrieve and sort the storage containers located at any bin so that the container temperature information of the storage container matches the bin temperature information of the bin where the storage container is located.

[0147] The classification and storage unit includes: a first screening module and a classification task generating module.

[0148] The first screening module is used to obtain the utilization rate of each first storage container in the warehouse, and determine the low-utilization storage container according to the obtained utilization rate.

[0149] A classification task generation module is used to generate a classification task for classifying and arranging the items stored in the low-utilization storage container into a second storage container based on the low-utilization storage container, and to send the classification task to the robot control system so that the robot control system schedules the robot to perform the classification task, so that the items stored in the low-utilization storage container are classified and arranged into the same second storage container or more than two second storage containers.

[0150] The homing and storage unit includes: a second screening module and a homing task generating module.

[0151] The second screening module is used to obtain the storage container information of the storage container and the bin information of the bin for a storage container that does not match the bin heat or a bin that does not match the container heat.

[0152] The homing task generation module is used to screen out the target warehouse whose warehouse heat information matches the container heat information of the storage container from the warehouses other than the matched warehouses for the storage containers that do not match the warehouse heat information, and generate a homing task for transporting the storage container from the source warehouse to the target warehouse. The homing task is sent to the robot control system so that the robot control system schedules the robot to perform the homing task to return the storage container located in any warehouse to the warehouse so that the container heat information of the storage container matches the warehouse heat information of the warehouse where the storage container is located.

[0153] Figure 12 is another schematic diagram of a robot-based warehouse sorting device according to an embodiment of the present application. As shown in Figure 12 , the device includes a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to implement the robot-based warehouse sorting method described in the embodiment of the present application.

[0154] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0155] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0156] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the robot-based warehouse sorting method described in the embodiment of the present application is implemented.

[0157] As for the apparatus / network-side device / storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0158] In this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0159] The above descriptions are merely some embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A robot-based warehouse management method, characterized in that The method includes: On the client side for warehouse business processing, classify and organize the items scattered in each first storage container in the warehouse, wherein, classifying and organizing includes: Obtain the utilization rate of each first storage container; Determine the low-utilization storage containers according to the obtained utilization rate; Based on the low-utilization storage containers, generate a classification task for classifying and organizing the items stored in the low-utilization storage containers into a second storage container, and send the classification task to the robot control system so that the robot control system schedules the robot to execute the classification task.

2. The library management method according to claim 1, characterized in that, The obtaining the utilization rate of each first storage container includes: According to the categories of the items stored in the first storage container, obtain the utilization rate of each type of item stored in the first storage container in the first storage container; The determining the low-utilization storage containers according to the obtained utilization rate includes: Determine the low-utilization storage containers for each type of item according to the obtained utilization rate; The generating a classification task for classifying and organizing the items stored in the low-utilization storage containers into a second storage container based on the low-utilization storage containers includes: Based on the categories of the items stored in the low-utilization storage containers, determine at least one type of target items for organizing, Allocate a second storage container for each type of target items for organizing, and generate an organizing task for organizing the type of target items into the second storage container.

3. The library management method according to claim 1, wherein, The obtaining the utilization rate of each first storage container includes: For each first storage container, count the number of items stored in the first storage container to obtain the utilization rate of the first storage container; The determining the low-utilization storage containers according to the obtained utilization rate includes: Determine the first storage containers with the number of items stored less than the first quantity threshold as low-utilization storage containers; The generating a classification task for classifying and organizing the items stored in the low-utilization storage containers into a second storage container based on the low-utilization storage containers includes: Take the items stored in the low-utilization storage containers as target items for organizing, Allocate a second storage container for the target items for organizing, and generate an organizing task for organizing the target items into the second storage container so that the items stored in the low-utilization storage containers are emptied.

4. The library management method according to claim 3, characterized in that The determining the first storage containers with the number of items stored less than the first quantity threshold as low-utilization storage containers further includes: For the first storage containers with the number of items stored not less than the first quantity threshold, determine whether the category of the items stored in the first storage container is the set category. If so, determine the first storage container as a low-utilization storage container; The allocating a second storage container for the target items for organizing includes: Set the priority of the low-utilization storage containers according to the number of items stored, wherein the fewer the number of items stored, the higher the priority of the low-utilization storage container, Allocate a second storage container for each low-utilization storage container in order from the highest priority to the lowest priority of the low-utilization storage containers.

5. The library management method according to claim 4, characterized in that, The allocating a second storage container for the target items for organizing and generating an organizing task for organizing the target items into the second storage container includes: Determine at least one category of target items to be sorted according to the category of items in the storage bins; Allocate a second storage container for each category of target items to be sorted, and generate a sorting task for sorting the target items of this category into the second storage container.

6. The library management method according to claim 2 or 5, characterized in that The determination of at least one category of target items to be sorted includes: For each low-utilization storage container, obtain the item information of various items stored in the low-utilization storage container, where the item information at least includes item popularity information for characterizing the high or low frequency of item inbound and outbound; Cluster the items stored in each low-utilization storage container according to the item popularity information to obtain at least one category of clustered items as the target items to be sorted; The allocation of a second storage container for each category of target items to be sorted includes: Allocate a second storage container for each category of target items to be sorted according to the capacity of the second storage container and the item mixing strategy.

7. The library management method according to claim 6, characterized in that, The item information further includes the packaging specification information of the item; After obtaining the item information of various items stored in the low-utilization storage container, the method further includes: Obtain the information of the low-utilization storage container, where the information of the low-utilization storage container at least includes the quantity of various items stored and the item mixing strategy; The allocation of a second storage container for each category of target items to be sorted according to the capacity of the second storage container and the item mixing strategy includes: Split the at least one category of clustered items according to the item mixing strategy, so that the clustered items allowed to be mixed are split into the same group, and the clustered items not allowed to be mixed are split into different groups, to obtain at least one group of first grouped items; Perform a secondary split on each group of first grouped items according to the packaging specification information of the item, the volume of the second storage container, and the accommodation rate of the second storage container, to obtain at least one group of second grouped items; Determine the quantity of second storage containers for storing each group of second grouped items according to the grouping quantity of the second grouped items.

8. The library management method according to claim 2 or 5, characterized in that The determination of at least one category of target items to be sorted includes: For various items stored in the low-utilization storage container, Count the quantity of low-utilization storage containers for this category of items; In the case where the quantity of low-utilization storage containers reaches a set quantity threshold, or the ratio of the quantity of low-utilization storage containers to the total quantity of storage containers where this category of items is located reaches a set ratio threshold, mark this category of items as target items to be sorted.

9. The library management method according to claim 2 or 5, characterized in that The allocation of a second storage container for each category of target items to be sorted includes: For each category of target items to be sorted, obtain the item information of this category of target items and the information of the low-utilization storage container of this category of target items, where the item information includes the packaging specification information of this category of target items, and the information of the low-utilization storage container includes the quantity of this category of target items stored in the low-utilization storage container; Based on the packaging specification information of this category of target items and the quantity of this category of target items stored in the low-utilization storage container, determine the quantity of second storage containers for storing this category of target items according to the volume of the second storage container and the accommodation rate of the second storage container; Among them, the inventory management task carries the item information of the target inventory management items of this type.

10. The library management method according to claim 9, characterized in that, After determining the quantity of the second storage containers for storing the target inventory management items of this type, the method further includes: Merging the second storage containers of the target inventory management items of various types according to the item mixing strategy; The inventory management task also carries the item information of the target inventory management items that are allowed to be placed in the same second storage container.

11. The library management method according to claim 2, wherein The obtaining of the utilization rate of the various items stored in each first storage container in this first storage container includes: For each first storage container, According to the volume and quantity of the various items stored in this first storage container, calculating the utilization rate of this type of item in this first storage container, and the utilization rate is: the ratio of the product of the volume of a single item of this type of item and the quantity of this type of item to the volume of this first storage container; The determining of the low-utilization storage containers for the various items according to the obtained utilization rate includes: For the utilization rate of the various items in any first storage container, Judging whether this utilization rate is less than the set utilization rate threshold, and if so, marking this first storage container as the low-utilization storage container for this type of item.

12. The library management method according to claim 1, wherein The making the robot control system schedule the robot to execute the classification task includes: The robot control system responds to each inventory management task, schedules the robot to transport the low-utilization storage container where the target inventory management item is located to the first target position for classification, and distributes the target inventory management items in the low-utilization storage container to the second storage container according to the item information carried in the inventory management task, and after the inventory management task is completed, returns an inventory management task end message to the client side; The method further includes: The client side responds to the inventory management task end message and sends a task to the robot control system for making the robot control system schedule the robot to transport the second storage container to the second target position for storing items.

13. A robot-based warehouse management device, characterized in that, The device includes: A first screening module, configured to obtain the utilization rate of each first storage container in the warehouse, and determine the low-utilization storage containers according to the obtained utilization rate; A classification task generation module, configured to generate a classification task for classifying and organizing the items stored in the low-utilization storage containers into the second storage containers based on the low-utilization storage containers, and send this classification task to the robot control system, so that the robot control system schedules the robot to execute the classification task.

14. A robot-based inventory management device, including a memory and a processor, the memory stores a computer program, and the processor is configured to execute the computer program to implement the robot-based inventory management method according to any one of claims 1 to 12.

15. A computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, it implements the robot-based inventory management method according to any one of claims 1 to 12.

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