Warehouse zoning method and apparatus, and device and warehousing system

Abstract

A warehouse zoning method and a warehousing system. The warehouse zoning method comprises: on the basis of a first quantity and the workloads of tasks to be executed that correspond to each operation point, dividing a plurality of physical aisles into a plurality of target sub-aisles, such that the number of target sub-aisles is the first quantity, and when one physical aisle comprises at least two target sub-aisles, a first difference between the workloads of the tasks to be executed that correspond to any two target sub-aisles in the same physical aisle is less than the average value of the workloads of the tasks to be executed, and the sum of the workloads of the tasks to be executed that correspond to any two target sub-aisles in the same physical aisle is greater than the average value of the workloads of the tasks to be executed, wherein operation points in the target sub-aisles are contiguous and belong to the same physical aisle.

Description

Warehouse partitioning method, device, equipment and warehouse system

[0001] The present application claims priority to the Chinese patent application No. 202411377187.7, filed on September 27, 2024, and entitled "Warehouse partitioning method, device, equipment and warehouse system", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of intelligent warehousing, in particular to a warehouse partitioning method, device, equipment and warehouse system. BACKGROUND

[0003] Intelligent warehousing usually needs to realize the automation of goods storage, picking and carrying through robots and other automated equipment.

[0004] However, in some existing warehouse automation scenarios, when robots perform carrying operations according to tasks, the number of tasks in the fixed warehouse area corresponding to each robot is not balanced, which leads to waste of robot resources and low efficiency of whole warehouse carrying. SUMMARY

[0005] Therefore, the present application proposes a warehouse partitioning method, device, equipment and warehouse system to improve the efficiency of warehouse carrying.

[0006] In a first aspect, the present application provides a warehouse partitioning method, which is applied to a warehouse system including a plurality of physical aisles, and the method comprises:

[0007] obtaining a first number of robots in a library area in a usable state;

[0008] counting a to-be-executed task load corresponding to each operation point in the library area, the operation point including spatial position information;

[0009] dividing the plurality of physical aisles into a plurality of target sub-aisles according to the first number and the to-be-executed task load corresponding to each operation point, so that the number of target sub-aisles is the first number, and when one physical aisle includes at least two target sub-aisles, a first difference between the to-be-executed task loads corresponding to any two target sub-aisles in the same physical aisle is less than a to-be-executed task load average, and a sum of the to-be-executed task loads corresponding to any two target sub-aisles in the same physical aisle is greater than the to-be-executed task load average, wherein the operation points in the target sub-aisles are continuous and belong to the same physical aisle, and the to-be-executed task load average is a ratio between a total to-be-executed task load in the library area and the first number.

[0010] In some embodiments, when there is only one target sub-tunnel in one physical tunnel, a total task load to be executed in the physical tunnel is less than twice of the average task load.

[0011] In some embodiments, the task load to be executed is a number of tasks to be executed or a time cost of tasks to be executed.

[0012] In some embodiments, the task load to be executed includes the time cost of tasks to be executed, and the statistics of the task load to be executed corresponding to each operation point in the warehouse area includes:

[0013] determining an execution order of at least one task to be executed corresponding to the operation point;

[0014] calculating the time cost of tasks to be executed corresponding to each operation point according to the height of each task to be executed and the execution order.

[0015] In some embodiments, the division of the plurality of physical tunnels into a plurality of target sub-tunnels according to the first number and the task load to be executed corresponding to each operation point includes:

[0016] converting a two-dimensional plane corresponding to the plurality of physical tunnels into a one-dimensional sequence, wherein each operation point in the one-dimensional sequence includes physical tunnel identification and index information of the operation point;

[0017] dividing the one-dimensional sequence into at least two set schemes according to the task load to be executed corresponding to each operation point, each set scheme including the first number of sets, wherein the operation points in each set in each set scheme are continuous and belong to the same physical tunnel;

[0018] determining a target scheme in the at least two set schemes according to an optimization target, the target scheme being used to indicate the division of the plurality of physical tunnels into the plurality of target sub-tunnels.

[0019] In some embodiments, the optimization target is to minimize a two-norm cumulative sum of a second difference value corresponding to the set scheme, wherein the second difference value is a difference between a total task load of each set in the set scheme and the average task load.

[0020] In some embodiments, the determination of the target scheme in the at least two set schemes according to the optimization target includes:

[0021] calculating a second difference value between a total task load of each set in the set scheme and the average task load;

[0022] obtaining a cumulative sum by accumulating the second difference value corresponding to each set in the set scheme.

[0023] determining the set scheme with the minimum accumulated sum as the target scheme.

[0024] In some embodiments, the dividing the plurality of physical aisles into a plurality of target sub-aisles according to the first number and the to-be-executed task load corresponding to each operation point comprises:

[0025] dividing the plurality of physical aisles into a plurality of sub-aisles according to each operation point;

[0026] merging the divided plurality of sub-aisles into the plurality of target sub-aisles according to the first number and the to-be-executed task load corresponding to each operation point, so that the number of the target sub-aisles is the first number, wherein the operation points in the target sub-aisle are continuous and belong to the same physical aisle.

[0027] In some embodiments, after the dividing the plurality of physical aisles into a plurality of target sub-aisles according to the first number and the to-be-executed task load corresponding to each operation point, the method further comprises:

[0028] allocating one robot in each target sub-aisle, so that the robot performs the picking and placing task in the corresponding target sub-aisle.

[0029] In a second aspect, the application further provides a warehouse partitioning device, which is applied to a warehouse system comprising a plurality of physical aisles, and the device comprises:

[0030] an acquisition module configured to acquire a first number of robots in a warehouse area in a usable state;

[0031] a statistics module configured to count a to-be-executed task load corresponding to each operation point in the warehouse area, the operation point comprising spatial position information;

[0032] a division module configured to divide the plurality of physical aisles into a plurality of target sub-aisles according to the first number and the to-be-executed task load corresponding to each operation point, so that the number of the target sub-aisles is the first number, and when a physical aisle comprises at least two target sub-aisles, a first difference between the to-be-executed task loads corresponding to any two target sub-aisles in the same physical aisle is less than a to-be-executed task load average, and a sum of the to-be-executed task loads corresponding to any two target sub-aisles in the same physical aisle is greater than the to-be-executed task load average, wherein the operation points in the target sub-aisle are continuous and belong to the same physical aisle, and the to-be-executed task load average is a ratio between a total to-be-executed task load in the warehouse area and the first number.

[0033] In a third aspect, the present application provides an electronic device, comprising:

[0034] at least one processor; and

[0035] a memory connected with the at least one processor in communication; wherein,

[0036] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method provided in the first aspect and any one of the embodiments of the first aspect.

[0037] In a fourth aspect, the present application provides a warehouse system, comprising a robot, an electronic device as described in the third aspect above, and a plurality of rows of shelves arranged in a warehouse area, wherein two rows of the shelves form a physical aisle, the electronic device is configured to control the robot to perform a carrying operation in the physical aisle, and the robot moves in the physical aisle and carries goods in the shelves on both sides of the physical aisle.

[0038] In a fifth aspect, the present application provides a computer-readable storage medium, and the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by a processor to implement the method provided in the first aspect and any one of the embodiments of the first aspect.

[0039] In a sixth aspect, the present application provides a computer program product, comprising a computer program / instruction, and the computer program / instruction is executed by a processor to implement the method provided in the first aspect and any one of the embodiments of the first aspect.

[0040] By the warehouse partitioning method, device, equipment and warehouse system provided in the present application, a plurality of physical aisles are reasonably and dynamically divided into a plurality of target sub-aisles, so that the task load of each target sub-aisle is more balanced, thereby the robot can effectively avoid long-distance taking and placing of bins by the robot itself and interference between moving routes of the robots when performing a warehouse task, the number of tasks allocated to each robot is balanced, the carrying operation efficiency of the robot is improved, and the order fulfillment time is shortened.

[0041] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings, which form a part of the present application, are intended to provide further understanding of the present application, and the illustrative embodiments of the present application and their description serve the purpose of explanations. In the drawings:

[0043] Fig. 1 is a flowchart of a warehouse partitioning method according to an embodiment of the present application;

[0044] Fig. 2 is a schematic diagram of a warehouse partitioning scenario according to an embodiment of the present application;

[0045] Fig. 3 is a flowchart of a method for dividing a plurality of target sub-aisles according to an embodiment of the present application;

[0046] Fig. 4 is a schematic diagram of a warehouse partitioning apparatus according to an embodiment of the present application;

[0047] Fig. 5 is a schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0048] For the purposes of the present application, the technical solutions and advantages thereof are more clearly understood, the technical solutions of the present application will be described in detail below with reference to the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0049] In a warehouse system, automated equipment such as robots can be used to perform automatic operations such as storage, picking, and carrying of goods. The warehouse system includes at least a robot and a plurality of shelves arranged in a warehouse area. A physical aisle is formed between two shelves, and the robot moves in the physical aisle and carries goods from the shelves on both sides of the physical aisle. The physical aisle includes a plurality of operation points for the robot to carry goods. Each shelf is designed as multiple layers and multiple columns, and each layer of the shelf can store multiple columns of goods to be carried. Each operation point corresponds to two columns of goods on the two shelves, and the robot is used to move to the operation point to move the goods on the upper storage position to the lower buffer position to complete the carrying operation.

[0050] Based on this, the present application provides a warehouse partitioning method, apparatus, device, and warehouse system to dynamically partition the physical aisle and balance the number of tasks allocated to each robot, thereby improving the carrying efficiency of the robot.

[0051] Fig. 1 is a flowchart of a warehouse partitioning method according to an embodiment of the present application, which is applied to the above-mentioned application scenario of the warehouse system. As shown in Fig. 1, the method of the present embodiment includes the following steps 110-130.

[0052] Step 110: Obtain a first number of robots in the warehouse area that are in a usable state;

[0053] Specifically, in actual application, the robots in the warehouse system warehouse area will inevitably be in the state of charging or maintenance, resulting in that these robots are unavailable in a certain period of time, therefore, the first quantity of available robots in the target period is obtained when the warehouse is dynamically partitioned according to the to-be-executed tasks, and the robots that cannot be used in the target period are excluded, so that the warehouse partition is more reasonable, and the subsequent allocation of warehouse tasks is more reasonable.

[0054] The target period can be the current time, for example, the first quantity of available robots at the current time is obtained, so as to partition the warehouse in real time, and then allocate tasks to the robots. Alternatively, the target period can be an interval period at a preset frequency, for example, the first quantity of available robots is dynamically obtained at a preset frequency, so as to dynamically partition the warehouse at a preset frequency. Alternatively, the target period can also be a future period, for example, the first quantity of available robots in a future period is obtained according to the robot maintenance or charging plan, so as to make the warehouse partition in advance.

[0055] Step 120, counting the to-be-executed task load corresponding to each operation point in the warehouse area;

[0056] Specifically, each operation point includes spatial position information, which is used to mark the spatial position of itself in the warehouse physical lane. Each operation point in the present application can correspond to a to-be-executed task load. For example, when the operation point corresponds to a to-be-executed task (i.e. there is a goods to be transported) on the shelf column, the to-be-executed task load corresponding to the operation point is calculated according to the to-be-executed task of the operation point, or when the operation point corresponds to no to-be-executed task on the shelf column, the to-be-executed task load corresponding to the operation point is determined as 0, or the operation point has no to-be-executed task load.

[0057] The to-be-executed task load is the to-be-executed task quantity or the to-be-executed task time cost in the operation point. The to-be-executed task quantity can be understood as the number of all tasks that need to be completed by the robot in the current operation point. The to-be-executed task time cost can be understood as the time required by the robot to complete all tasks in the current operation point. If the to-be-executed task load is the to-be-executed task quantity, counting the to-be-executed task load corresponding to each operation point in the warehouse area is to count the number of all to-be-executed tasks corresponding to each operation point in the warehouse area. If the to-be-executed task load is the to-be-executed task time cost, the step of counting the to-be-executed task load corresponding to each operation point in the warehouse area includes: determining the execution order of at least one to-be-executed task corresponding to the operation point, and then calculating the to-be-executed task time cost corresponding to each operation point according to the height of each to-be-executed task and the execution order.

[0058] And, as new storage tasks are constantly put in and old storage tasks are constantly executed, the application can dynamically count the task load corresponding to each operating point in the warehouse area according to the preset frequency, so that the subsequent allocation of the storage partition and the storage task is more reasonable.

[0059] Step 130, according to the first quantity and the task load to be executed corresponding to each operating point, the plurality of physical lanes are divided into a plurality of target sub-lanes;

[0060] Specifically, when dividing all physical lanes in the warehouse area, the number of physical lanes to be divided is equal to the first quantity of robots in the warehouse area in a usable state, so that the number of target sub-lanes obtained is the first quantity, and each target sub-lane corresponds to a robot to execute the task in the target sub-lane.

[0061] And, when dividing the physical lanes, the spatial position information of the operating points also needs to be considered, so that the operating points in the target sub-lane are continuous and belong to the same physical lane. This is because each target sub-lane corresponds to a robot, and when a physical lane is divided into a plurality of target sub-lanes, a plurality of robots in the physical lane need to execute the box moving task in parallel, and the task routes of the robots do not interfere with each other and can be dynamically adjusted. Further, the target sub-lane belongs to the same physical lane, that is, the robot does not need to cross the lane when executing the task corresponding to the target sub-lane, which is beneficial to improve the task execution efficiency.

[0062] The above determines the number of target sub-lanes to be divided and the position requirement of the operating points in the target sub-lane. Under the position requirement and the first quantity requirement, in order to more reasonably "group" the operating points in the physical lane, the task load to be executed between the target sub-lanes also needs to be "as balanced as possible". Among them, the task load to be executed of each operating point in the target sub-lane includes the total task load to be executed of the corresponding positions on the shelves on both sides of the physical lane corresponding to the operating point.

[0063] For the above "balanced" task load to be executed, the application measures whether the task load to be executed between the target sub-lanes is "as balanced as possible" according to the average of the task load to be executed. The average of the task load to be executed is the ratio between the total task load to be executed in the warehouse area and the first quantity.

[0064] When a physical lane includes at least two target sub-lanes, in order to ensure that the task load to be executed between the target sub-lanes is "as balanced as possible", the first difference between the task load to be executed corresponding to any two target sub-lanes in the same physical lane is less than the average of the task load to be executed, and the sum of the task load to be executed corresponding to any two target sub-lanes in the same physical lane is greater than the average of the task load to be executed.

[0065] It can be understood that if the first difference between the task load corresponding to any two target sub-aisles in the same physical aisle is not less than the average of the task load to be executed, or the sum of the task load corresponding to any two target sub-aisles in the same physical aisle is not greater than the average of the task load to be executed, then the task load to be executed between each target sub-aisle in the same physical aisle will be very different.

[0066] In a specific embodiment as shown in FIG. 2, for example, there are three rows of shelves in the warehouse area, and the two opposite shelves in the three rows of shelves form two physical aisles, namely "physical aisle 1" and "physical aisle 2", and each physical aisle includes operation points corresponding to each goods on the two sides of the shelves, such as "A1...J1, A2...J2" shown in the figure. As shown in FIG. 2, the task load to be executed corresponding to each operation point is as follows: the task load to be executed of operation point "A1" is "1", the task load to be executed of operation point "A2" is "8", and so on. The first number of robots in the warehouse area in a usable state is "5", that is, the two physical aisles need to be divided into five target sub-aisles, and the total task load of all operation points in the two physical aisles is "100", so the average of the task load to be executed is "20". In "division scheme X", the division method belongs to the existing average division method according to the length of the physical aisle. In "physical aisle 1", the task load to be executed of the first target sub-aisle to the third target sub-aisle is "3", "13", and "36" respectively, and the first difference between the task load to be executed corresponding to the first target sub-aisle and the third target sub-aisle is "33", and the first difference between the task load to be executed corresponding to the second target sub-aisle and the third target sub-aisle is "23", both of which are greater than the average of the task load to be executed "20", and the sum of the task load to be executed corresponding to the first target sub-aisle and the second target sub-aisle is "16", which is less than the average of the task load to be executed "20", which is an "unbalanced" performance of the task load allocation. In "division scheme Y" and "division scheme Z", there is no above-mentioned situation, which can be regarded as a relatively "balanced" task load allocation.

[0067] In addition, when there is only one target sub-aisle in a physical aisle, the total task load to be executed in the physical aisle is less than twice the average of the task load to be executed. It can be understood that if the total task load to be executed in a physical aisle is not less than twice the average of the task load to be executed, then this physical aisle should be divided into at least two target sub-aisles to achieve "balanced" task load allocation in the warehouse area.

[0068] The reason for separating the case of including only one target sub-passage from the case of including multiple target sub-passages in one physical passage is that the operation points in one target sub-passage must be continuous and belong to the same physical passage, so as to improve the task execution efficiency of the robot. For example, in the specific embodiment shown in FIG. 2, the operation point A1 in the physical passage 1 and the operation point A2 in the physical passage 2 will not be combined in the same target sub-passage, and therefore the task load to be executed of the operation point A1 and the operation point A2 will not be combined for consideration when assigning the warehouse task.

[0069] Further specifically, as shown in FIG. 3, the multiple physical passages are divided into multiple target sub-passages according to the first quantity and the task load to be executed corresponding to each operation point, including steps 310-330.

[0070] Step 310, converting the two-dimensional plane corresponding to the multiple physical passages into a one-dimensional sequence;

[0071] Specifically, the physical passages in the two-dimensional plane are connected head to tail to convert the physical passages into a one-dimensional sequence. The one-dimensional sequence includes the operation points in the physical passages, and each operation point includes a physical passage identifier for representing each physical passage, and index information of the operation point for identifying the operation point itself, which can be, for example, an identification number of the operation point.

[0072] Step 320, dividing the one-dimensional sequence into at least two collection schemes according to the task load to be executed corresponding to each operation point;

[0073] Specifically, as mentioned above, at least two assignment results can be obtained when the warehouse is partitioned, and each assignment result includes the first quantity of target sub-passages. One assignment result corresponds to one collection scheme, and one target sub-passage corresponds to one collection, that is, each collection scheme includes the first quantity of collections. According to the physical passage identifier, the index information of the operation point, and the value of the first quantity, the operation points in the one-dimensional sequence are assigned into the first quantity of collections, so that the operation points in each target sub-passage are continuous and belong to the same physical passage.

[0074] Step 330, determining a target scheme in the at least two collection schemes according to an optimization target;

[0075] Specifically, by formulating an optimization target, one of the plurality of set schemes obtained can be determined as an optimal target scheme for indicating the division of the plurality of physical tunnels into a plurality of target sub-tunnels. The optimization target is to minimize the sum of the second differences of the second norms of the set schemes. The second difference is the difference between the total task load of each set in a set scheme and the average task load. The sum of the second norms of the second differences can be understood as the sum of the second norms of the second differences of each set in a set scheme. And determining the target scheme from the at least two set schemes according to the optimization target can be understood as: among the at least two set schemes, the one with the smallest sum of the second norms of the second differences is determined as the target scheme.

[0076] As described above, the division of the one-dimensional sequence can result in at least two set schemes, and each set scheme includes a first number of sets. When the one with the smallest sum of the second norms of the second differences is determined as the target scheme, it can be specifically: first, calculate the second difference between the total task load of each set in each set scheme and the average task load, which is an absolute value, then accumulate the second difference corresponding to each set to obtain the sum of each set scheme, and finally determine the set scheme with the smallest sum from the at least two set schemes as the target scheme.

[0077] As another specific embodiment shown in FIG. 2, “division scheme Y” and “division scheme Z” are two of the plurality of set schemes, one target sub-tunnel represents a set in a set scheme, and the average task load is “20”. In “division scheme Y”, the total task load of each set in the set scheme is “10”, “24”, “18”, “32”, and “16”, respectively, and the sum of the second differences of the set scheme is “32”. In “division scheme Z”, the total task load of each set in the set scheme is “16”, “18”, “18”, “24”, and “24”, respectively, and the sum of the second differences of the set scheme is “16”. It can be seen that the sum of the second differences of “division scheme Z” is smaller than that of “division scheme Y”, so “division scheme Z” is a better set scheme than “division scheme Y”. And, compared with other division schemes that meet the division number and operation point position requirements but are not shown, the sum of “division scheme Z” is the smallest, so “division scheme Z” is the target scheme.

[0078] In one specific embodiment, the above steps can be implemented by using a dynamic programming algorithm (DP). The problem handled by dynamic programming is a multi-stage decision problem, starting from an initial state, through the selection of intermediate stage decisions, to reach the end state. The specific framework of the dynamic programming algorithm includes the steps of defining the state, initialization and state transition equation, which can be specifically set as:

[0079] In the step of defining the state, dp[n][j] is defined, where n is the first quantity, and j is used to represent the division position in the one-dimensional sequence. As described above, the one-dimensional sequence is composed of "operation points", so the elements of the one-dimensional sequence are "operation points", and dp[n][j] represents the minimum value of the cumulative sum of the second difference norm corresponding to the division of the first j elements of the one-dimensional sequence into n sets.

[0080] In the initialization step, dp[n][j] is initialized as dp[1][j], and for all elements j, dp[1][j] represents the second difference norm value of the set of the first j elements as a set, that is:

[0081] dp[1][j] = (nums[:j] - averageNum)**2 (Formula 1).

[0082] Where nums[:j] represents the load of the tasks to be executed in the set, averageNum represents the average load of the tasks to be executed, and **2 represents the power operation.

[0083] In the state transition step, the equation is defined as:

[0084] dp[n][j] = min{dp[n-1][j-i] + cost(j-i, j) | n-1 <= i <= j} (Formula 2).

[0085] Where i represents the number of elements crossed from the state (dp[n-1][j-i]) to the current state (dp[n][j]), cost(j-i, j) represents the transition cost or cost from position j-i to position j, min{} represents the minimum value of the cumulative second difference norm, and the value of the end state can be obtained according to the state transition equation, that is, a target scheme is determined among multiple target schemes.

[0086] Here, the specific embodiment shown in FIG. 2 is used to summarize the warehouse partitioning process and results in this application.

[0087] Under the conditions of satisfying "the number of target sub-aisles is the first number" and "operation points in the target sub-aisle are continuous and belong to the same physical aisle", a plurality of schemes including "division scheme X", "division scheme Y", "division scheme Z", etc. can be obtained. Under the further conditions of satisfying "the first difference between the task load to be executed corresponding to any two target sub-aisles in the same physical aisle is less than the average of the task load to be executed, and the sum of the task load to be executed corresponding to any two target sub-aisles in the same physical aisle is greater than the average of the task load to be executed", "division scheme X" is excluded, and a plurality of schemes satisfying the above conditions, such as "division scheme Y" and "division scheme Z", are left, so that the storage system can partition the physical aisle according to the division scheme Y or the division scheme Z. Further, under the condition of "determining the set scheme with the minimum cumulative sum among the at least two set schemes as the target scheme", "division scheme Z" can be determined as the target scheme.

[0088] For the above step 130, in another implementation, the plurality of physical aisles can be first divided into a plurality of sub-aisles according to each operation point, and then the plurality of divided sub-aisles are merged into a plurality of target sub-aisles according to the first number and the task load to be executed corresponding to each operation point, so that the number of target sub-aisles is the first number. Among them, the operation points in the target sub-aisle are continuous and belong to the same physical aisle. Specifically, the specific steps and principles of the process of "merging the plurality of divided sub-aisles into a plurality of target sub-aisles according to the first number and the task load to be executed corresponding to each operation point" can be referred to the description in steps 310-330, which will not be repeated here.

[0089] In addition, after step 130 is executed, a step of assigning a robot in each target sub-aisle can also be performed, so that the robot performs the picking and placing task in the corresponding target sub-aisle.

[0090] By the storage partitioning method provided in the present application, the plurality of physical aisles is reasonably divided into a plurality of target sub-aisles, so that the task load to be executed in each target sub-aisle is more balanced, thereby effectively avoiding the long-distance picking and placing of goods by the robot itself and the interference between the moving routes of the robots when the robot performs the storage task, balancing the storage tasks allocated to each robot, and improving the carrying operation efficiency of the robot.

[0091] FIG. 4 is a structural schematic diagram of a storage partitioning device provided in an embodiment of the present application. As shown in FIG. 4, the device of the present embodiment comprises an acquisition module 410, a statistical module 420 and a division module 430.

[0092] The acquisition module 410 is configured to acquire the first number of robots in the warehouse area in a usable state.

[0093] The statistical module 420 is configured to count a to-be-executed task load corresponding to each operation point in the warehouse area, wherein the operation point comprises spatial position information.

[0094] The division module 430 is configured to divide the plurality of physical aisles into a plurality of target sub-aisles according to the first quantity and the to-be-executed task load corresponding to each operation point, so that the quantity of the target sub-aisles is the first quantity, and when one physical aisle comprises at least two target sub-aisles, a first difference between the to-be-executed task loads corresponding to any two target sub-aisles in the same physical aisle is less than the to-be-executed task load average, and a sum of the to-be-executed task loads corresponding to any two target sub-aisles in the same physical aisle is greater than the to-be-executed task load average, wherein the operation points in the target sub-aisles are continuous and belong to the same physical aisle, and the to-be-executed task load average is a ratio between the total to-be-executed task load in the warehouse area and the first quantity.

[0095] FIG. 5 is a structural schematic diagram of an electronic device according to an embodiment of the present application. As shown in FIG. 5, the electronic device 500 according to the embodiment of the present application can include a memory 501 and a processor 502.

[0096] The processor 502 can be a central processing unit (CPU) or other forms of processing units having data processing and / or instruction execution capabilities, and can control other components in the electronic device 500 to perform desired functions.

[0097] The memory 501 can include one or more computer program products, which can include various forms of computer readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory can include, for example, random access memory (RAM), cache memory, and / or the like. The non-volatile memory can include, for example, read-only memory (ROM), hard disk, flash memory, and / or the like. One or more computer program instructions can be stored in the computer readable storage media, and the processor 502 can run the program instructions to implement the various embodiment methods of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, and the like can also be stored in the computer readable storage media.

[0098] In one example, the electronic device 500 can further include an input device 503 and an output device 504, which are interconnected through a bus system and / or other forms of connection mechanism (not shown).

[0099] The input device 503 can include, for example, a keyboard, a mouse, and / or the like.

[0100] The output device 504 can output various information, including the determined distance information, direction information, etc., to the outside. The output device 504 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0101] Of course, for simplicity, only some of the components in the electronic device 500 related to the present application are shown in FIG. 5, and components such as buses, input / output interfaces, and the like are omitted. In addition, the electronic device 500 can include any other appropriate components according to the specific application.

[0102] The present application also proposes a warehousing system, comprising a shelf, a warehousing aisle arranged beside the shelf, a robot for performing a handling operation on goods in the shelf in the warehousing aisle, and the above-mentioned electronic device for controlling the robot to perform the handling operation.

[0103] Other preferred embodiments, specific descriptions, technical problems that can be solved, and effects that can be brought by the warehousing partition device, the electronic device, and the warehousing system disclosed in the present application are the same as those of the above-mentioned warehousing partition method, and will not be described here again. In addition, the present application also provides a computer readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, cause the processor to perform the steps of the methods according to various embodiments of the present application described in the above "Exemplary Method" section of the specification.

[0104] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0105] In addition to the above methods, devices, equipment and media, the present application also provides a computer program product comprising computer program instructions, which, when executed by a processor, cause the processor to perform the steps of the methods according to various embodiments of the present application described in the above "Exemplary Method" section of the specification.

[0106] The computer program product can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, etc., and conventional procedural programming languages, such as the "C" programming language, or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server.

[0107] The above describes the preferred embodiments of the present application in detail, but the present application is not limited to the specific details of the above-described embodiments. Various simple modifications can be made to the technical solutions of the present application within the scope of the technical concept of the present application, and these simple modifications all belong to the protection scope of the present application.

[0108] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again in the present application.

[0109] In addition, various different embodiments of the present application can also be combined in any appropriate manner, as long as it does not deviate from the idea of the present application, and it should also be considered as disclosed in the present application.

Claims

1. A method of warehousing partitioning, characterized by, The method is applied to a warehouse system comprising a plurality of physical aisles, and the method comprises: obtaining a first quantity of robots in a usable state in a warehouse area; counting a to-be-executed task load corresponding to each operation point in the warehouse area, the operation point comprising spatial position information; dividing the plurality of physical aisles into a plurality of target sub-aisles according to the first quantity and the to-be-executed task load corresponding to each operation point, so that the quantity of the target sub-aisles is the first quantity, and when at least two target sub-aisles are included in one physical aisle, a first difference between the to-be-executed task loads corresponding to any two target sub-aisles in the same physical aisle is less than a to-be-executed task load average, and a sum of the to-be-executed task loads corresponding to any two target sub-aisles in the same physical aisle is greater than the to-be-executed task load average, wherein the operation points in the target sub-aisles are continuous and belong to the same physical aisle, and the to-be-executed task load average is a ratio between a total to-be-executed task load in the warehouse area and the first quantity.

2. The method of claim 1, wherein, When there is only one target sub-aisle in one physical aisle, a total to-be-executed task load in the physical aisle is less than twice the to-be-executed task load average.

3. The method of claim 1, wherein, The to-be-executed task load is a to-be-executed task quantity or a to-be-executed task time cost.

4. The method of claim 3, wherein, The to-be-executed task load comprises the to-be-executed task time cost, and the counting of the to-be-executed task load corresponding to each operation point in the warehouse area comprises: determining an execution order of at least one to-be-executed task corresponding to an operation point; calculating the to-be-executed task time cost corresponding to each operation point according to the height of each to-be-executed task and the execution order.

5. The method of claim 1, wherein, The dividing of the plurality of physical aisles into the plurality of target sub-aisles according to the first quantity and the to-be-executed task load corresponding to each operation point comprises: converting a two-dimensional plane corresponding to the plurality of physical aisles into a one-dimensional sequence, wherein the each operation point in the one-dimensional sequence comprises physical aisle identification and index information of the operation point; dividing the one-dimensional sequence into at least two set schemes according to the to-be-executed task load corresponding to each operation point, each set scheme comprising the first quantity of sets, wherein the operation points in each set in each set scheme are continuous and belong to the same physical aisle; determining a target scheme in the at least two set schemes according to an optimization target, the target scheme being used to indicate that the plurality of physical aisles are divided into the plurality of target sub-aisles.

6. The method of claim 5, wherein, The optimization target is to minimize a two-norm cumulative sum of a second difference value corresponding to the set scheme, wherein the second difference value is a difference between a total to-be-executed task load of each set in the set scheme and the to-be-executed task load average.

7. The method according to claim 5 or 6, characterized in that, The determining of the target scheme in the at least two set schemes according to the optimization target comprises: calculating the second difference value between the total to-be-executed task load of each set in the set scheme and the to-be-executed task load average; obtaining the cumulative sum by accumulating the second difference value corresponding to each set in the set scheme. determine the set scheme with the minimum accumulated sum as the target scheme.

8. The method of claim 1, wherein, The dividing the multiple physical aisles into multiple target sub-aisles according to the first quantity and the to-be-executed task load corresponding to each operation point comprises: dividing the multiple physical aisles into multiple sub-aisles according to each operation point; merging the divided multiple sub-aisles into the multiple target sub-aisles according to the first quantity and the to-be-executed task load corresponding to each operation point, so that the number of the target sub-aisles is the first quantity, wherein the operation points in the target sub-aisle are continuous and belong to the same physical aisle.

9. The method according to any one of claims 1 to 8, characterized in that, After the multiple physical aisles are divided into multiple target sub-aisles according to the first quantity and the to-be-executed task load corresponding to each operation point, the method further comprises: allocating one robot in each target sub-aisle, so that the robot performs the picking and placing task in the corresponding target sub-aisle.

10. A warehousing partitioning device, characterized by The device is applied to a warehouse system, and the warehouse system comprises multiple physical aisles, and the device comprises: an acquisition module configured to acquire a first quantity of robots in a warehouse area in a usable state; a statistics module configured to count to-be-executed task loads corresponding to each operation point in the warehouse area, the operation point comprising spatial position information; a division module configured to divide the multiple physical aisles into multiple target sub-aisles according to the first quantity and the to-be-executed task load corresponding to each operation point, so that the number of the target sub-aisles is the first quantity, and when one physical aisle comprises at least two target sub-aisles, a first difference between the to-be-executed task loads corresponding to any two target sub-aisles in the same physical aisle is less than a to-be-executed task load average, and a sum of the to-be-executed task loads corresponding to any two target sub-aisles in the same physical aisle is greater than the to-be-executed task load average, wherein the operation points in the target sub-aisle are continuous and belong to the same physical aisle, and the to-be-executed task load average is a ratio between a total to-be-executed task load in the warehouse area and the first quantity.

11. An electronic device, comprising: comprise: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method in any one of claims 1-9.

12. A warehousing system characterized by, The system comprises a robot, an electronic device as claimed in claim 11, and multiple columns of shelves arranged in a warehouse area, wherein opposite two columns of the shelves form a physical aisle, the electronic device is configured to control the robot to perform a carrying operation in the physical aisle, and the robot moves in the physical aisle and carries goods in the shelves on both sides of the physical aisle.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the method in any one of claims 1-9 is implemented.

14. A computer program product comprising a computer program which, when executed by a processor, implements the method of any of claims 1-9.

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