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

Abstract

A robot-based warehouse sorting method and apparatus, and a storage medium. The method comprises: for storage containers (1-7) located at storage spaces (A-C), on the basis of storage space information of the storage spaces and container information of the storage containers, acquiring storage containers of which the storage space information does not match the container information; for a mismatched storage container, from among storage spaces other than matched storage spaces, selecting a target storage space of which the storage space information matches the container information of the storage container, and generating a homing task for carrying the storage container from a source storage space to the target storage space; and issuing the homing task to a robot control system, such that the robot control system dispatches a robot to execute the homing task, so as to perform homing and warehouse sorting achieving that the container information of the storage containers matches the storage space information of the storage spaces where the storage containers are located.

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] Sorting is a method of organizing items, including placing items into containers and arranging the containers into storage areas. Sorting makes it easier to organize items and containers, 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] Summary of the Invention

[0006] The present application provides a robot-based warehouse organization method, device, and storage medium to improve the degree of automation of warehouse organization.

[0007] 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, for a storage container located at a warehouse location, based on the warehouse location information of the warehouse location and the container information of the storage container, obtaining a target storage container whose warehouse location information does not match the container information; for the target storage container, from warehouse locations other than the matched warehouse locations, screening out the target warehouse location whose warehouse location information matches the container information of the target storage container, and generating a homing task for transporting the target storage container from the source warehouse location to the target warehouse location; sending the homing task to the robot control system, so that the robot control system schedules the robot to execute the homing task to perform homing warehouse sorting, so that the container information of the storage container matches the warehouse location information of the warehouse location where the storage container is located.

[0008] Optionally, obtaining the target storage container whose location information does not match the container information includes: obtaining a location whose location information does not match the container information, and using the storage container located at the location as the target storage container whose location information does not match the container information.

[0009] Optionally, for the target storage container, the target storage container whose storage location information matches the container information of the target storage container is screened out from the storage locations other than the matched storage locations, including: determining, based on the container information of each target storage container, a candidate storage location of the target storage container from the storage locations other than the matched storage locations, the storage location information of the candidate storage location matches the container information of the target storage container, and determining the target storage location based on a first distance between the candidate storage location and a set position, and a second distance between the candidate storage location and the target storage container.

[0010] Optionally, the target bin is determined based on the first distance between the candidate bin and the set position, and the second distance between the candidate bin and the target storage container, including: calculating the first distance between the candidate bin and the set position, setting the priority of the candidate bin according to the first distance, the closer the first distance between the candidate bin and the set position, the higher the priority of the candidate bin; calculating the second distance between the target storage container and the candidate bin, adjusting the priority of the candidate bin according to the second distance, the closer the second distance between the target storage container and the candidate bin, the higher the priority of the candidate bin; and selecting the candidate bin with the highest priority as the target bin.

[0011] Optionally, the generation of a homing task for transporting the target storage container from the source location to the target location includes: for each target storage container, generating a sorting task for the target storage container for transporting the target storage container from the source location to the target location, the sorting task carries the storage container information of the target storage container, the source location information of the source location where the target storage container is currently located, and the target location information of the target location, and each sorting task generated for each target storage container is used as a homing task.

[0012] Optionally, the described method of treating each warehouse handling task generated for each target storage container as a homing task further includes: based on the information carried by each warehouse handling task, constructing the warehouse handling tasks with correlation in each warehouse handling task into a chain task, and when the link length of the chain task is greater than the link length threshold, splitting the chain task into multiple sub-links not greater than the link length threshold to obtain grouped warehouse handling tasks, wherein one sub-link corresponds to a grouped warehouse handling task, and treating each grouped warehouse handling task and the chain task not greater than the link length threshold as a homing task.

[0013] Optionally, based on the information carried by each warehouse handling task, the warehouse handling tasks that are related in each warehouse handling task are constructed into chain tasks, including: for each warehouse handling task, if the target location information carried in the warehouse handling task is the source location information carried in another warehouse handling task, then the other warehouse handling task is used as a subsequent task adjacent to the warehouse handling task, and a task sequence including the warehouse handling task and the other warehouse handling task is obtained, and all task sequences with intersections are merged to obtain a merged task sequence as a chain task.

[0014] Optionally, the warehouse information includes: at least one of warehouse heat information and warehouse category information, wherein the warehouse heat information is used to characterize the efficiency of the storage container located in the warehouse being picked up and delivered to the set target location by the robot, and the warehouse category information is used to characterize the category attributes of the warehouse.

[0015] Optionally, the container information includes: at least one of: container heat information and container category information, wherein the container heat information is used to represent the item heat of the items stored in the storage container, and the item heat is used to characterize the frequency of items entering and leaving the warehouse, and the container category information is used to represent the category attributes of the storage container.

[0016] Optionally, obtaining the target storage container whose location information does not match the container information includes: obtaining at least one of the container heat information and container category information of the storage containers located in each location, and at least one of the location heat information and location category information of the location where each storage container is located, and filtering out the storage containers and locations whose container information does not match the location information according to the set matching principles.

[0017] Optionally, the matching principle includes: at least one of the warehouse heat information and the warehouse category information matches at least one of the container heat information and the container category information.

[0018] Optionally, according to the set matching principle, storage containers and warehouse locations whose container information does not match the warehouse location information are screened out, including: for the storage containers located in each warehouse location, judging whether the container temperature of the storage container and the warehouse temperature of the warehouse location where the storage container is located meet the set temperature expectations; if so, the storage container is determined to match the warehouse location where the storage container is located; otherwise, the storage container is determined to not match the warehouse location where the storage container is located, and the storage container and the warehouse location where the storage container is located are screened out.

[0019] Optionally, the storage location heat is divided into at least one level according to the robot's pick-and-place efficiency, and the higher the efficiency, the higher the level.

[0020] Optionally, the item heat is divided into at least one level according to the frequency of items stored in the storage container entering and leaving the storage, and the higher the frequency, the higher the level.

[0021] Optionally, the container temperature is the highest temperature level of the items stored in the storage container.

[0022] Optionally, the determination of whether the container temperature of the storage container and the bin temperature of the bin where the storage container is located meet the set temperature expectations includes: determining whether the level difference between the container temperature level of the storage container and the bin temperature level of the bin where the storage container is located is less than a set level threshold; if so, determining that the storage container matches the bin where the storage container is located; otherwise, determining that the storage container does not match the bin where the storage container is located, and filtering out the storage container and the bin where the storage container is located.

[0023] Optionally, the bin category information includes more than one bin category, and the container category information includes more than one container category.

[0024] Optionally, the method filters out storage containers and locations whose container information does not match the location information according to the set matching principle, including: for the storage containers located in each location, judging whether the container category of the storage container and the location category of the location where the storage container is located meet the set category expectations; if so, judging that the storage container matches the location where the storage container is located; otherwise, judging that the storage container does not match the location where the storage container is located, and filtering out the storage container and the location where the storage container is located.

[0025] Optionally, the method filters out storage containers and locations whose container information does not match the location information according to the set matching principle, including: for the storage containers located in each location, judging whether the container category of the storage container and the location heat of the location where the storage container is located meet the set first expectation; if so, judging that the storage container matches the location where the storage container is located; otherwise, judging that the storage container does not match the location where the storage container is located, and filtering out the storage container and the location where the storage container is located.

[0026] Optionally, the method of filtering out storage containers and storage locations whose container information does not match the location information according to the set matching principle includes: for the storage containers located in each location, determining whether the container temperature of the storage container and the location category of the location where the storage container is located meet the set second expectation; if so, determining that the storage container matches the location where the storage container is located; otherwise, determining that the storage container does not match the location where the storage container is located, and filtering out the storage container and the location where the storage container is located.

[0027] Optionally, the homing task is sent to the robot control system so that the robot control system schedules the robot to perform the homing task, including: the robot control system responds to the homing task from the client side, schedules and instructs the robot, so that the robot performs the homing operation of the storage container according to the storage container information, source warehouse information, and target warehouse information carried by the homing task.

[0028] The second aspect of the present application provides a robot-based warehouse sorting device, which includes: a screening module for obtaining, for a storage container located at a warehouse, a target storage container whose warehouse information does not match the container information based on the warehouse information of the warehouse and the container information of the storage container; a homing task generation module for screening, for a target storage container, a target warehouse whose warehouse information matches the container information of the target storage container from warehouses other than matched warehouses, and generating a homing task for transporting the target storage container from a source warehouse to a target warehouse, and sending the homing task to the robot control system so that the robot control system schedules the robot to execute the homing task to perform homing sorting so that the container information of the storage container matches the warehouse information of the warehouse where the storage container is located.

[0029] 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.

[0030] 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.

[0031] This application is based on a robot-based warehouse sorting method, which realizes the homing and sorting of carrier-level items through homing warehouse sorting. Since the container information reflects the characteristics of the storage container and the warehouse location information reflects the characteristics of the warehouse location, the container information and warehouse location information are used to screen out unmatched storage containers and warehouse locations, and generate homing tasks, so that the container information of the storage container is automatically matched with the warehouse location information of the warehouse location where the storage container is located. In this way, storage containers with specific characteristics are sorted to warehouse locations with specific characteristics, thereby improving the efficiency of warehouse sorting and improving the degree of automation of warehouse sorting. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] FIG1 is a schematic diagram of the embodiment of the present application before and after the storage arrangement.

[0033] FIG2 is a flow chart of a method for organizing a library in a homing manner according to an embodiment of the present application.

[0034] FIG3 is a flow chart of a vehicle-level library sorting algorithm according to an embodiment of the present application.

[0035] Figure 4 is a schematic diagram of the distribution of storage locations and containers before stowing.

[0036] Figure 5 is a schematic diagram of the splitting of the retrieval task.

[0037] FIG6 is a flow chart of a robot-based warehouse organization method provided in an embodiment of the present application.

[0038] FIG. 7 shows an example of identical articles scattered and stored in different storage containers before and after being sorted.

[0039] FIG8 is a flow chart of a classification and storage method according to an embodiment of the present application.

[0040] FIG9 is a flow chart of an inventory-level sorting algorithm.

[0041] FIG10 is a schematic diagram of classification in the inventory-level sorting algorithm.

[0042] FIG11 is a schematic diagram of a robot-based warehouse sorting device according to an embodiment of the present application.

[0043] FIG12 is another schematic diagram of a robot-based warehouse sorting device according to an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical means and advantages of this application more clear, this application is further described in detail below with reference to the accompanying drawings.

[0045] To facilitate understanding of this application, the following uses a warehouse business application scenario as an example for explanation. The following describes the technical terms involved in the warehouse business.

[0046] 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.

[0047] Robot Control System (RCS): It is used to receive tasks issued by the intelligent warehouse management system and send related instructions to the robots to complete the tasks.

[0048] 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.

[0049] 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.

[0050] Distribution position: a grid located in the distribution section, one grid is a distribution position.

[0051] Storage container: A container used to store items in a warehouse, such as a box.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] Container category information: used to represent the category attributes of the storage container. The category attributes can be described according to the set dimension information, including but not limited to the attributes of the storage container itself, the attributes of the items stored in the storage container, etc.

[0056] Position heat information: This information indicates how efficiently robots can retrieve and place containers located in a position and deliver them to their designated destinations. Warehouse robots have varying retrieval efficiencies for different positions on the shelves. Based on the efficiency of robots in retrieving and delivering containers to their designated destinations, the positions on the shelves are classified into heat levels. High-heat positions are more efficient at retrieving and placing containers, while low-heat positions are less efficient. For example, position heat levels are defined, from highest to lowest, as Position Heat A, Position Heat B, and Position Heat C.

[0057] Bin category information: used to characterize the category attributes of the bin, which can be described according to the set dimensional information, including but not limited to the functional attributes of the bin, the attributes of the storage containers stored, the attributes of the stored items, etc.

[0058] The embodiment of the present application performs a return and storage sorting process on the storage containers located at any bin. Return and storage sorting is a carrier-level sorting process used to sort the storage containers to different bins.

[0059] 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 that are closer to designated locations, such as workstations. This can shorten the time it takes for robots to transport storage containers from the locations to the workstations during subsequent outbound operations. Relocation and sorting is a method of sorting out storage containers in locations to address the above issues. This allows containers of different temperatures to be sorted into locations with corresponding temperatures, while hot storage containers can be placed as close to workstations as possible, improving outbound efficiency.

[0060] FIG1 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 FIG1 , 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.

[0061] FIG2 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 FIG2 , the method includes steps 201 to 205 .

[0062] In step 201 , 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.

[0063] 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.

[0064] 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.

[0065] In step 202 , 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.

[0066] As an example, according to a set matching principle, storage containers and / or storage locations whose container heat information does not match the location heat information are screened out.

[0067] For example, location heat information is categorized into at least one level based on the robot's efficiency in placing and retrieving storage containers in different locations. Higher efficiency levels are assigned higher levels. Item heat is categorized into at least one level based on the frequency of item entry and exit. Higher frequency levels are assigned higher levels. The container heat level is the highest item heat level of the items stored in the container.

[0068] For the storage containers located in each bin, if the container temperature of the storage container and the bin temperature of the bin where the storage container is located meet the set temperature expectation, then the storage container is determined to match the bin where the storage container is located. Otherwise, the storage container is determined to not match the bin where the storage container is located, and the storage container and the bin where the storage container is located are screened out to perform automatic storage so that the container temperature and the bin temperature match. As an example, it is determined whether the level difference between the container temperature level of the storage container and the bin temperature level of the bin where the storage container is located is less than a set level threshold. If so, then the storage container is determined to match the bin where the storage container is located. Otherwise, then the storage container is determined to not match the bin where the storage container is located.

[0069] In step 203, 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.

[0070] FIG3 is a flow chart of a carrier-level inventory management algorithm according to an embodiment of the present application. Referring to FIG3 , the carrier-level inventory management algorithm includes steps 3031 to 3036 .

[0071] In step 3031, 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.

[0072] In step 3032, 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.

[0073] 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.

[0074] In step 3033, the first distance between each candidate location and the 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.

[0075] In step 3034, 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 the higher priority is preferentially selected as the target location for the storage container, and a stowage task is generated for moving the storage container from the current source location to the target location. As an example, the stowage task carries the storage container information, the source location information of the storage container's current location, and the target location information of the target location.

[0076] 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.

[0077] In step 3035, return to step 3032 and execute until a storage task is generated for each storage container that does not match the bin heat.

[0078] 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.

[0079] 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 3036 is executed.

[0080] In step 3036, 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 to group the chain tasks to obtain grouped warehouse handling tasks, where one sub-link corresponds to a grouped warehouse handling task. Otherwise, the chain task is output.

[0081] Each group storage task and the chain tasks that are not greater than the link length threshold are regarded as homing tasks.

[0082] For example, Figure 4 is a schematic diagram of the distribution of storage locations and containers before sorting. As shown in Figure 4, according to the logic of sorting, if task grouping is not performed, six handling tasks need to be performed to complete the sorting process. The six handling tasks are shown in Figure 4. 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, according to the preset link length threshold (assuming it is 3), decompose a long task link into two groups of short task links, as shown in Figure 5, and execute them in batches by group, so that the task execution granularity is smaller and easier to manage.

[0083] As an example, a chained task is constructed as follows.

[0084] 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.

[0085] For example, for the situation in Figure 4, 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 56 are combined. 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.

[0086] In step 204, 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.

[0087] In step 205 , 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 by each storage sorting task in the homing task.

[0088] 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.

[0089] It should be understood that the embodiments of the present application are not limited to automatic warehousing that matches container temperature and warehouse temperature, but can also be at least one of automatic warehousing that matches container temperature and warehouse category, automatic warehousing that matches container category and warehouse temperature, and automatic warehousing that matches container category and warehouse category.

[0090] The following method can be used to filter out storage containers whose container information does not match the storage location information.

[0091] For the storage containers located in each bin, if the container category of the storage container and the bin category of the bin where the storage container is located meet the set category expectations, the storage container is determined to match the bin where the storage container is located; otherwise, the storage container is determined to not match the bin where the storage container is located, and the storage container and the bin where the storage container is located are screened out to perform automatic warehousing so that the container category and the bin category match.

[0092] For the storage containers located in each bin, if the container category of the storage container and the bin heat of the bin where the storage container is located meet the set first expectation, the storage container is determined to match the bin where the storage container is located; otherwise, the storage container is determined to not match the bin where the storage container is located, and the storage container and the bin where the storage container is located are screened out to perform automatic warehousing so that the container category and bin heat match.

[0093] For the storage containers located in each bin, if the container temperature of the storage container and the bin category of the bin where the storage container is located meet the set second expectation, the storage container is determined to match the bin where the storage container is located; otherwise, the storage container is determined to not match the bin where the storage container is located, and the storage container and the bin where the storage container is located are screened out to perform automatic warehousing so that the container temperature and the bin category match.

[0094] The applicant also discovered that during warehouse management operations, the basic attribute information and operational status of items in the warehouse are typically matched with preset warehouse storage conditions. The space occupied by each item is determined based on the basic attribute information, and the storage space capacity is determined based on the item quantity and space information. Warehouse spaces belonging to the warehouse space type are identified as candidate warehouse spaces based on the item's warehouse space type. Warehouse space types include: hot-selling warehouse space, slow-moving 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. The storage method for the items to be sorted is determined based on the current storage information and the candidate warehouse spaces.

[0095] 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.

[0096] In view of this, an embodiment of the present application further provides a robot-based warehouse sorting method for classifying and sorting items scattered and stored in various storage containers.

[0097] FIG6 is a flow chart of a robot-based warehouse sorting method according to an embodiment of the present application. Referring to FIG6 , the method includes: on a client side for warehouse business processing, classifying and sorting items stored in first storage containers in the warehouse, wherein the classifying and sorting includes steps 601 to 603.

[0098] In step 601, the utilization rate of each type of article stored in each first storage container is obtained.

[0099] 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.

[0100] 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 at least one of the specifications, models, or brands differing. An item's category refers to the classification of an item according to set information. This 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.

[0101] As another example, the utilization rate of any item stored in any designated first storage container may be obtained.

[0102] In step 602, based on the acquired utilization rate, a low-utilization storage container for any type of items is determined.

[0103] In step 603, based on the low-utilization storage container, a classification task is generated for classifying and arranging the various 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.

[0104] The embodiment of the present application utilizes information about the various types of items stored in a storage container to obtain the utilization rate of each type of item in the storage container, thereby screening out storage containers with low utilization rates. Furthermore, by executing the generated classification tasks, the items are classified and sorted. Given that this embodiment adopts a classification and sorting approach, for each first storage container that stores multiple or multiple categories of items, the same items or items of the same type are sorted and organized into one or more second storage containers. This is equivalent to sorting by box or container, which can reduce the use of storage containers, facilitate inventory management, and improve the efficiency of subsequent warehousing and outbound operations.

[0105] As shown in Figure 7, 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 in the storage containers more reasonable.

[0106] FIG8 is a flow chart of a classification and storage method according to an embodiment of the present application. Referring to FIG8 , the method includes steps 801 to 807 .

[0107] In step 801 , for each storage container, the intelligent warehouse management system determines the utilization rate of each type of article stored in the storage container.

[0108] 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:

[0109] 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.

[0110] In this way, the utilization rate of each type of article in its current storage container can be obtained.

[0111] For example, in FIG7 , 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 .

[0112] In step 802 , the intelligent warehouse management system uses the calculated utilization rate to determine a low-utilization storage container for each type of item.

[0113] As an example, according to each utilization rate η calculated 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.

[0114] In step 803, the intelligent warehouse management system counts the number of low-utilization storage containers for each category of items.

[0115] 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.

[0116] In step 804, 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.

[0117] 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.

[0118] 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.

[0119] FIG9 is a flow chart of an inventory-level inventory management algorithm. Referring to FIG9 , the inventory-level inventory management algorithm includes steps 9041 to 9044 .

[0120] In step 9041, 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, the number of stored items, and the item mixing strategy. For example, when certain items or categories of items are allowed to be mixed, the same type or category of items 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.

[0121] In step 9042, 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.

[0122] 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.

[0123] In step 9043, 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.

[0124] 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.

[0125] In step 9044, 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.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] Figure 10 is a schematic diagram of classification within the inventory-level sorting algorithm. As shown in Figure 10 , 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 9042 and 9043 are optional steps that can be adjusted based on actual circumstances. For example, item mixing and item popularity are not considered.

[0130] Another example of step 804 is to generate a storage task for each type of target storage items to organize 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.

[0131] 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.

[0132] 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.

[0133] 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 warehouse sorting tasks as there are turnover containers, and these warehouse sorting tasks constitute classification tasks.

[0134] 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.

[0135] 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.

[0136] It should be understood that the two examples of step 804 are not mutually exclusive and can be performed either or both.

[0137] In step 805, 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.

[0138] 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.

[0139] In step 806, after receiving the outbound task completion message, the intelligent warehouse management system generates 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, such as a warehouse.

[0140] In step 807 , the dispatched robot executes the instruction from the RCS and moves the turnover container into the warehouse.

[0141] 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.

[0142] 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.

[0143] The classification and storage unit is used to classify and store the same articles or articles of the same type stored in the first storage containers.

[0144] The return and storage unit is used to return and store the storage containers located at any bin so that the container information of the storage container matches the bin information of the bin where the storage container is located.

[0145] The classification and storage unit includes: a first screening module and a classification task generating module.

[0146] The first screening module is used to obtain the utilization rate of each type of article stored in each first storage container, and determine a low-utilization storage container for any type of article based on the obtained utilization rate.

[0147] A classification task generation module is used to generate a classification task for classifying and arranging various types of 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 same items or items of the same type stored in the low-utilization storage container are classified and arranged into the same second storage container or more than two second storage containers.

[0148] The homing and storage unit includes: a second screening module and a homing task generating module.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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 inventory management method, characterized in that, The method includes: On the client side for warehouse business processing, For the storage containers located at the storage positions, according to the storage position information of the storage positions and the container information of the storage containers, obtain the target storage containers whose storage position information does not match the container information; For the target storage containers, from the storage positions other than the already matched storage positions, screen out the target storage positions whose storage position information matches the container information of the target storage containers, and generate a relocation task for relocating the target storage containers from the source storage position to the target storage position; Send the relocation task to the robot control system, so that the robot control system schedules the robot to execute the relocation task for relocation and inventory management, so that the container information of the storage container matches the storage position information of the storage position where the storage container is located.

2. The library management method according to claim 1, wherein The obtaining of the target storage containers whose storage position information does not match the container information includes: Obtain the storage positions whose storage position information does not match the container information, and use the storage containers located at these storage positions as the target storage containers whose storage position information does not match the container information; For the target storage containers, the screening out of the target storage positions whose storage position information matches the container information of the target storage containers from the storage positions other than the already matched storage positions includes: According to the container information of each target storage container, determine the candidate storage positions of the target storage container from the storage positions other than the already matched storage positions, and the storage position information of the candidate storage positions matches the container information of the target storage container, Determine the target storage position according to the first distance between the candidate storage position and the set position and the second distance between the candidate storage position and the target storage container.

3. The library management method according to claim 2, characterized in that, The determining of the target storage position according to the first distance between the candidate storage position and the set position and the second distance between the candidate storage position and the target storage container includes: Calculate the first distance between the candidate storage position and the set position, and set the priority of the candidate storage position according to the proximity of the first distance. The closer the first distance between the candidate storage position and the set position, the higher the priority of the candidate storage position, Calculate the second distance between the target storage container and the candidate storage position, and adjust the priority of the candidate storage position according to the proximity of the second distance. The closer the second distance between the target storage container and the candidate storage position, the higher the priority of the candidate storage position, Select the candidate storage position with the highest priority as the target storage position.

4. The library management method according to claim 2, characterized in that The generating of the relocation task for relocating the target storage container from the source storage position to the target storage position includes: For each target storage container, generate an inventory management task for relocating the target storage container from the source storage position to the target storage position. The inventory management task carries the container information of the target storage container, the source storage position information of the source storage position where the target storage container is currently located, and the target storage position information of the target storage position, Use the inventory management tasks generated for each target storage container as the relocation tasks.

5. The library management method according to claim 4, wherein The using of the inventory management tasks generated for each target storage container as the relocation tasks further includes: Based on the information carried by each inventory management task, construct the inventory management tasks with relevance among the inventory management tasks into chained tasks, In the case where the link length of the chained task is greater than the link length threshold, split the chained task into multiple sub-links not greater than the link length threshold to obtain the grouped library management tasks, where one sub-link corresponds to one grouped library management task. Take each grouped library management task and the chained task not greater than the link length threshold as the homing tasks.

6. The library management method according to claim 5, wherein The constructing the chained tasks from the library management tasks with relevance among the library management tasks based on the information carried by each library management task includes: For each library management task, if the target storage location information carried in this library management task is the source storage location information carried in another library management task, then take this another library management task as the subsequent task adjacent to this library management task to obtain a task sequence including this library management task and this another library management task. Merge all the task sequences with intersections to obtain the merged task sequence as the chained task.

7. The library management method according to any one of claims 1 to 6, characterized in that The storage location information includes at least one of storage location heat information and storage location category information, where the storage location heat information is used to characterize the efficiency degree of the storage container at the storage location being picked up, placed, and delivered to the set target location, and the storage location category information is used to characterize the category attribute of the storage location; The container information includes at least one of container heat information and container category information, where the container heat information is used to characterize the item heat of the items stored in the storage container, and this item heat is used to characterize the frequency level of item inbound and outbound, and the container category information is used to characterize the category attribute of the storage container; The obtaining the target storage container with mismatched storage location information and container information includes: Obtain at least one of the container heat information and container category information of the storage containers located at each storage location, and at least one of the storage location heat information and storage location category information of the storage locations where each storage container is located. According to the set matching principle, screen out the storage containers and storage locations with mismatched container information and storage location information.

8. The library management method according to claim 7, wherein The matching principle includes: At least one of the storage location heat information and storage location category information matches at least one of the container heat information and container category information.

9. The library management method according to claim 8, wherein, According to the set matching principle, screening out the storage containers and storage locations with mismatched container information and storage location information includes: For the storage containers located at each storage location, Judge whether the container heat of this storage container and the storage location heat of the storage location where this storage container is located meet the set heat expectation. If so, determine that this storage container matches the storage location where this storage container is located. Otherwise, determine that this storage container does not match the storage location where this storage container is located, and screen out this storage container and the storage location where this storage container is located.

10. The library management method according to claim 9, characterized in that The storage location heat is divided into at least one level according to the efficiency of the robot picking up, placing, and delivering to the set target location, and the higher the efficiency, the higher the level; The item heat is divided into at least one level according to the inbound and outbound frequency of the items stored in the storage container, and the higher the frequency, the higher the level; The container heat is the level of the highest item heat of the items stored in the storage container. Determining whether the container temperature of the storage container and the temperature of the storage location where the storage container is located meet a set temperature expectation includes: Determining whether the difference in temperature levels between the temperature level of the storage container and the temperature level of the storage location where the storage container is located is less than a set level threshold; If so, determining that the storage container matches the storage location where the storage container is located; Otherwise, determining that the storage container does not match the storage location where the storage container is located, and screening out the storage container and the storage location where the storage container is located.

11. The inventory management method according to claim 8, characterized in that: The storage location category information includes more than one storage location category, and the container category information includes more than one container category. Screening out storage containers and storage locations where the container information and the storage location information do not match according to the set matching principle includes: For the storage containers located in each storage location, Determining whether the container category of the storage container and the storage location category of the storage location where the storage container is located meet the set category expectation; If so, determining that the storage container matches the storage location where the storage container is located; Otherwise, determining that the storage container does not match the storage location where the storage container is located, and screening out the storage container and the storage location where the storage container is located.

12. The library management method according to claim 8, wherein Screening out storage containers and storage locations where the container information and the storage location information do not match according to the set matching principle includes: For the storage containers located in each storage location, Determining whether the container category of the storage container and the temperature of the storage location where the storage container is located meet the set first expectation; If so, determining that the storage container matches the storage location where the storage container is located; Otherwise, determining that the storage container does not match the storage location where the storage container is located, and screening out the storage container and the storage location where the storage container is located.

13. The library management method according to claim 8, wherein Screening out storage containers and storage locations where the container information and the storage location information do not match according to the set matching principle includes: For the storage containers located in each storage location, Determining whether the container temperature of the storage container and the storage location category of the storage location where the storage container is located meet the set second expectation; If so, determining that the storage container matches the storage location where the storage container is located; Otherwise, determining that the storage container does not match the storage location where the storage container is located, and screening out the storage container and the storage location where the storage container is located.

14. The library management method according to any one of claims 4 to 6, characterized in that, Sending the homing task to the robot control system so that the robot control system schedules the robot to execute the homing task includes: The robot control system responds to the homing task from the client side, schedules and commands the robot, so that the robot performs the homing operation of the storage container according to the storage container information, the source storage location information, and the target storage location information carried by the homing task.

15. A robot-based warehouse management device, characterized in that, The device includes: A screening module, configured to, for the storage containers located at the storage locations, obtain target storage containers where the storage location information and the container information do not match according to the storage location information of the storage location and the container information of the storage container. The homing task generation module is used to screen out target storage positions whose storage position information matches the container information of the target storage container from the storage positions other than the already matched storage positions for the target storage container, and generate a homing task for moving the target storage container from the source storage position to the target storage position, and send the homing task to the robot control system, so that the robot control system schedules the robot to execute the homing task for homing inventory management, so that the container information of the storage container matches the storage position information of the storage position where the storage container is located.

16. A robot-based inventory management device, comprising a memory and a processor, the memory storing a computer program, the processor being configured to execute the computer program to implement the robot-based inventory management method according to any one of claims 1 to 14.

17. A computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the robot-based inventory management method according to any one of claims 1 to 14 is implemented.

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