CN112396369A

CN112396369A - Method, apparatus, electronic device and computer readable medium for merging containers

Info

Publication number: CN112396369A
Application number: CN202011186804.7A
Authority: CN
Inventors: 郭瑞
Original assignee: Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Beijing Kuangshi Robot Technology Co Ltd
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2021-02-23

Abstract

The invention provides a method, a device, an electronic device and a computer readable medium for merging containers, wherein the method comprises the following steps: determining a plurality of containers to be merged in a predetermined storage area; each container to be merged corresponds to a related goods number, and the goods number is the number of the goods placed in the container; determining container merging information for merging the multiple containers to be merged based on the target merging parameters; the target merge parameter comprises at least one of: the goods number, the goods department information to which the goods number belongs, the order number of the goods represented by the goods number and the selection frequency item between the goods number; scheduling the containers to be merged to a merging station according to a preset scheduling mode and the container merging information, and merging the containers to be merged at the merging station.

Description

Method, apparatus, electronic device and computer readable medium for merging containers

Technical Field

The present invention relates to the field of data processing technologies, and in particular, to a method and an apparatus for merging containers, an electronic device, and a computer-readable medium.

Background

As the industries are more and more concerned about the reasonable utilization of land resources, the intensive storage technology is increasingly receiving wide attention. On one hand, each industry requires to improve the space utilization rate and generate greater efficiency in a limited space; on the other hand, various industries are also required to improve automation rate and meet demands at low cost and high efficiency.

The dense storage generally refers to a storage system that realizes continuous storage of goods on a shelf depth by using a special storage and taking mode or a shelf structure to maximize storage density. For dense warehousing, capacity needs to be increased in the same warehouse area to save space resources. On one hand, the space resource is saved, the channel is saved, the storage density is improved, and the tunnel of the tunnel serves a plurality of depths; on the other hand, the device can be developed in the height direction. And the automatic vertical warehouse of the shuttle car has the two aspects, so that the storage volume is greatly increased.

However, the space-saving purpose is achieved, which often causes the problems of less operation channels, low operation efficiency and more complex operation. The storage operation can bring a plurality of containers which are not full of the capacity of the whole container in the process of warehousing and ex-warehouse loop. The containers occupy a large number of storage positions, so that the actual volume rate of the container type dense warehouse is reduced, and the actual stored goods are reduced. To save the library space eventually, some containers need to be merged. In the existing container merging information, container merging is mainly realized in a manual mode, the method is low in merging speed and merging efficiency, and great difficulty is brought to container merging aiming at a special structure of dense storage.

Disclosure of Invention

In view of the above, the present invention provides a method, an apparatus, an electronic device and a computer readable medium for merging containers, so as to alleviate the technical problems of low merging efficiency of container merging information and difficulty in implementation in dense warehousing areas.

In a first aspect, an embodiment of the present invention provides a method for merging containers, including: determining a plurality of containers to be merged in a predetermined storage area; wherein, the goods placed in each container to be merged contain corresponding goods numbers; determining container merging information for merging the multiple containers to be merged based on the target merging parameters; the target merge parameter comprises at least one of: the goods code, the goods classification information of the goods represented by the goods code, the order number of the goods represented by the goods code, the heat value of the goods represented by the goods code and the picking frequency item between the goods represented by the goods code, wherein the picking frequency item represents the probability that the goods belong to the same order; and scheduling the containers to be merged to a merging station according to a preset scheduling mode and the container merging information, and merging the containers to be merged at the merging station.

Further, determining container merging information for merging the plurality of containers to be merged based on the target merging parameter includes: obtaining a container grouping parameter, wherein the container grouping parameter comprises at least one of: the type number of the goods numbers of the goods placed in the container, the number content of each kind of goods numbers and the number of the boxes stacked in the container; splitting the plurality of containers to be merged into a plurality of container sets according to the container grouping parameters; and respectively matching each container set according to the target merging parameters to obtain the container merging information.

Further, splitting the plurality of containers to be merged into a plurality of container sets according to the container grouping parameter includes: screening a plurality of first containers from the plurality of containers to be merged to obtain a first container set; the number of the first container sets is at least one, the type number of the goods numbers of the goods placed in the first containers contained in each first container set is smaller than a first preset number, the number contents of the goods numbers of the goods placed in the first containers of the same first container set are the same, and the number of boxes stacked by the first containers in each first container set is smaller than a second preset number; screening a plurality of second containers in other containers except the plurality of first containers in the plurality of containers to be merged to obtain a second container set; the type number of the goods numbers of the goods placed in each second container is smaller than a first preset number, and the number of the boxes stacked in each second container is smaller than the maximum number of the boxes which can be accommodated in a half container.

Further, matching each container set according to the target merging parameters, respectively, and obtaining the container merging information includes: matching the plurality of first containers in each first container set according to the goods numbers in the target merging parameters to obtain a first matching result, and matching the plurality of second containers in the second container set according to the target merging parameters to obtain a second matching result; and determining the container merging information according to the first matching result and the second matching result.

Further, matching the plurality of second containers in the second container set according to the target merging parameter, and obtaining a second matching result includes: determining at least one container matching parameter based on the target merging parameter, and determining the priority of each container matching parameter, wherein the priority is used for indicating the matching sequence of each container matching parameter in the process of matching a plurality of second containers; the container matching parameters include at least one of: goods codes, goods classification information and selection frequent items, order times and selection frequent items of the goods and heat values of the goods; and matching the plurality of second containers in the second container set according to the priority of the container matching parameters to obtain a second matching result.

Further, matching the plurality of second containers in the second container set according to the priority of the container matching parameters includes: matching first containers in the second container set, wherein the goods numbers of the goods placed in the first containers are the same; matching second containers in a first intermediate container set, wherein the first intermediate container set comprises other containers except the first containers in the second container set, the goods classification information of goods placed in the second containers is the same, and the value of the selected frequent items of the goods is the highest; matching a third type of container in a second intermediate container set, wherein the second intermediate container set comprises other containers except the second type of container in the first intermediate container set, the goods placed in the third type of container belong to the same order frequency, and the value of the selected frequent items of the goods is the highest; and matching a fourth type of container in a third intermediate container set, wherein the third intermediate container set comprises other containers except the third type of container in the second intermediate container set, and the difference of the heat value corresponding to the goods placed in the fourth type of container is minimum.

Further, before matching each container set according to the target merging parameters, the method further includes: determining the number of containers contained in each container set to obtain a first number; acquiring the maximum number of containers capable of being combined within preset container combination time to obtain a second number; determining the number of containers to be merged finally according to the first number and the second number; and respectively matching the containers in each container set by combining the number of the final containers to be merged and the target merging parameters to obtain container merging information.

Further, screening a plurality of first containers from the plurality of containers to be merged to obtain a first container set, including: screening containers with the types and the number of the goods codes of the placed goods smaller than the first preset number from the multiple containers to be combined; and screening containers with the number of the stacked boxes smaller than a second preset number in the screened containers by using a greedy algorithm to serve as the plurality of first containers, so as to obtain the first container set.

Further, the preset scheduling mode is a periodic scheduling mode; the scheduling of the plurality of containers to be merged to a merging station according to a preset scheduling mode and the container merging information comprises: determining a target task set corresponding to each scheduling period according to the container merging information; the target task set comprises containers to be scheduled to the joint-trusting site in each scheduling period; and scheduling the containers to be merged to a merging station according to any target set corresponding to each scheduling period.

Further, determining the target task set corresponding to each scheduling cycle according to the container merging information includes: determining a target container in the containers to be merged, wherein the target container is used for representing an accessible ex-warehouse container in each scheduling period; and determining a target task set corresponding to each scheduling period according to the target container and the container merging information.

Further, determining the target task set corresponding to each scheduling cycle according to the target container and the container merging information includes: determining a target container matched with the ex-warehouse container in each scheduling period in the target container according to the container merging information to obtain a first matched container group, and determining a first task set according to the first matched container group; determining a target container matched with the container which is being delivered from the warehouse in each scheduling period in the target container according to the container merging information, and determining target containers which are matched with each other in the target container to obtain a second matched container group; sequencing the matching container groups according to the estimated time of the containers in the second matching container group to obtain a second task set, wherein the estimated time is the estimated time of the target container conveyed to the closing and trusting site; and merging the first task set and the second task set to obtain the target task set.

Further, the scheduling the multiple containers to be merged to the merging station according to any set of targets corresponding to the scheduling periods includes: acquiring a working state of a robot for executing merging operation on containers to be merged and acquiring a working state of a warehouse outlet for executing warehouse-out operation on the containers to be merged; and controlling the robot to schedule the containers to be merged according to the working state of the robot and the working state of the warehouse outlet.

Further, the controlling the robot to schedule the containers to be merged according to the working state of the robot and the working state of the warehouse outlet includes: when the warehouse-out port is determined not to be occupied, controlling the robot to convey the containers to be merged to the warehouse-out port, and dispatching the containers to be merged to a closing station for closing operation; and when the warehouse outlet is determined not to be occupied, controlling the robot to convey the containers to be merged to a buffer area.

Further, the method further comprises: after the container to be merged is conveyed to the warehouse outlet for executing warehouse outlet operation on the container to be merged, sending an update message to the robot, wherein the update message is used for instructing the robot to update the working state of the warehouse outlet.

In a second aspect, an embodiment of the present invention further provides an apparatus for merging containers, including: a first determination unit configured to determine a plurality of containers to be merged in a predetermined stock area; wherein, the goods placed in each container to be merged contain corresponding goods numbers; a second determining unit, configured to determine, based on the target merging parameter, container merging information for merging the multiple containers to be merged; the target merge parameter comprises at least one of: the goods code, the goods classification information of the goods represented by the goods code, the order number of the goods represented by the goods code, the heat value of the goods represented by the goods code and the picking frequency item between the goods represented by the goods code, wherein the picking frequency item represents the probability that the goods belong to the same order; and the scheduling unit is used for scheduling the containers to be merged to a merging station according to a preset scheduling mode and the container merging information, and merging the containers to be merged at the merging station.

In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method in any one of the above first aspects when executing the computer program.

In a fourth aspect, the present invention provides a computer readable medium having a non-volatile program code executable by a processor, the program code causing the processor to perform the steps of the method of any one of the above fourth aspects.

In the embodiment of the invention, firstly, a plurality of containers to be merged in a predetermined storage area are determined; then, determining container merging information for merging a plurality of containers to be merged based on the target merging parameters; and finally, scheduling the containers to be merged to a merging station according to a preset scheduling mode and the container merging information, and merging the containers to be merged at the merging station. As can be seen from the above description, in the embodiment of the present application, a manner of merging containers based on target merging parameters is adopted, so that the speed and efficiency of container merging can be improved, and a manner of scheduling containers to be merged to a merging station for merging processing is adopted, so that an automatic scheduling manner in a dense warehousing area can be realized, and further, the technical problems that the existing container merging information merging efficiency is low and implementation in the dense warehousing area is difficult are solved.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic diagram of an electronic device according to an embodiment of the invention;

FIG. 2 is a flow diagram of a method of merging containers according to an embodiment of the present invention;

fig. 3 is a schematic view of an apparatus for unitizing containers in accordance with an embodiment of the present invention.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1:

first, an electronic device 100 for implementing an embodiment of the present invention, which may be used to run the method of merging containers of embodiments of the present invention, is described with reference to fig. 1.

As shown in FIG. 1, electronic device 100 includes one or more processors 102, one or more memories 104, an input device 106, an output device 108, and a data acquisition device 110, which are interconnected via a bus system 112 and/or other form of connection mechanism (not shown). It should be noted that the components and structure of the electronic device 100 shown in fig. 1 are exemplary only, and not limiting, and the electronic device may have other components and structures as desired.

The processor 102 may be implemented in at least one hardware form of a Digital Signal Processor (DSP), a Field-Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), and an asic (application Specific Integrated circuit), and the processor 102 may be a Central Processing Unit (CPU) or other form of Processing Unit having data Processing capability and/or instruction execution capability, and may control other components in the electronic device 100 to perform desired functions.

The memory 104 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. On which one or more computer program instructions may be stored that may be executed by processor 102 to implement client-side functionality (implemented by the processor) and/or other desired functionality in embodiments of the invention described below. Various applications and various data, such as various data used and/or generated by the applications, may also be stored in the computer-readable storage medium.

The input device 106 may be a device used by a user to input instructions and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like.

The output device 108 may output various information (e.g., images or sounds) to the outside (e.g., a user), and may include one or more of a display, a speaker, and the like.

The data acquisition device 110 is configured to acquire a working state of the robot and a working state of the warehouse outlet in a predetermined warehousing area, schedule the containers to be merged to a merging station according to the working states and container merging information in a preset scheduling manner, and merge the containers to be merged at the merging station.

Example 2:

in accordance with an embodiment of the present invention, there is provided an embodiment of a method of merging containers, it is noted that the steps illustrated in the flowchart of the figure may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.

Fig. 2 is a flow chart of a method of merging containers according to an embodiment of the present invention, as shown in fig. 2, the method comprising the steps of:

step S202, determining a plurality of containers to be combined in a preset storage area; wherein the goods placed in each container to be merged contain a corresponding goods number.

In this embodiment of the present application, the predetermined storage area may be a dense storage area, and may also be other storage areas, and the container may be a device for placing goods, such as a tray, and this is not particularly limited in this embodiment of the present application.

In the embodiment of the application, each container to be merged is preset with a corresponding container number pallet _ id. The items placed in the container to be merged also contain the corresponding item number SKU _ id.

The item number is used to characterize the number of items (e.g., Stock Keeping units, SKUs for short) placed in the container. Within the predetermined warehousing area, each container may be used to place items belonging to one or more item number SKUs.

In the embodiment of the present application, a plurality of containers to be merged in the predetermined stock area may be determined according to the item numbers (for example, the number of kinds and the content of the number) of the items placed in the containers. For example, a container corresponding to one or two kinds of goods numbers within a predetermined stock area is determined as a container to be merged.

Step S204, determining container merging information for merging the multiple containers to be merged based on the target merging parameters; the target merge parameter comprises at least one of: the goods code, the goods classification information of the goods represented by the goods code, the order number of the goods represented by the goods code, the heat value of the goods represented by the goods code and the picking frequency item between the goods represented by the goods code, wherein the picking frequency item represents the probability that the goods belong to the same order.

In the embodiment of the present application, the item classification information may be understood as whether the item represented by the item number is a clothing category or a fresh category. The goods classification information can also be understood as the goods department information to which the goods belong, and the goods classification information of the goods represented by the goods numbers is different, so that the goods department information to which the goods belong is different. In the storage order, the order may be counted according to order frequency, which may be understood as the order frequency to which the goods placed in the containers to be combined belong. The pick-frequent item represents the probability that items placed on a plurality of containers to be merged belong to the same order.

Step S206, dispatching the containers to be merged to a merging station according to a preset dispatching mode and the container merging information, and merging the containers to be merged at the merging station.

It should be noted that, in the embodiment of the present application, the preset scheduling manner may be a periodic scheduling manner. The periodic scheduling mode includes a plurality of scheduling periods, and a plurality of containers to be merged may be scheduled to a merging station for merging operation according to the plurality of scheduling periods and the container merging information.

The storage area is densely stored in multiple layers, each layer comprises multiple lanes, and goods on the shelf depth of each lane are continuously stored, so that the storage density is increased. The shelves may be moved through aisles to lifts or other outlets.

For container merging information, two problems need to be solved: first, container merging information; second, how to perform merging operation on containers according to container merging information, i.e. if multiple containers are to be merged, how to ensure that these containers continuously enter the merging station so that the station completes the merging task without hindrance. Based on this, the embodiment of the present application provides a solution for merging containers, which enables a warehouse to save the warehouse space as much as possible within a specified time, and also considers the future warehouse-out efficiency, and the method will be described below with reference to specific embodiments.

In an optional embodiment, in step S204, determining container merging information for merging the multiple containers to be merged based on the target merging parameter specifically includes the following processes:

step S2041, obtaining a container grouping parameter, wherein the container grouping parameter includes at least one of: the type number of the goods numbers of the goods placed in the container, the number content of the goods numbers of the goods placed in the container, and the number of the boxes stacked in the container.

In the embodiment of the application, the item numbers with the same number content are classified into the item numbers of the same type, and the item numbers of the type correspond to the same items. The number content of the item number is content information for indicating an item attribute of the corresponding item. Goods may be stacked in the container by boxes, and the number of boxes stacked in the above-mentioned container is therefore to be understood as the number of boxes in the container for placing goods.

Step S2042, splitting the multiple containers to be merged into multiple container sets according to the container grouping parameter.

In this embodiment of the present application, after obtaining the container grouping parameter, the containers to be merged may be grouped to obtain a plurality of container sets, where the plurality of container sets include: at least one first set of containers, and a second set of containers. The goods codes of the goods placed in the containers in each first container set are the same, and different first container sets correspond to different types of goods codes. The containers in the second container set are other containers to be merged except the containers in the at least one first container set.

Step S2043, matching each container set according to the target merging parameters respectively to obtain the container merging information.

After multiple container sets are obtained, each container set may be matched. For example, each first set of containers is matched, and the second set of containers is matched. It should be noted that, when matching the first container set and the second container set, the target merging parameter may not be the same, and will be described in detail in the following embodiments.

In an optional embodiment, in step S2042, the splitting the multiple containers to be merged into multiple container sets according to the container grouping parameter includes the following processes:

firstly, screening a plurality of first containers from the plurality of containers to be merged to obtain a first container set; the number of the first container sets is at least one, the type number of the goods numbers of the goods placed in the first containers contained in each first container set is smaller than a first preset number, the number contents of the goods numbers of the goods placed in the first containers of the same first container set are the same, and the number of boxes stacked by the first containers in each first container set is smaller than a second preset number.

In this embodiment of the application, first, the containers with the number of the goods codes of the placed goods smaller than the first preset number may be screened from the multiple containers to be merged, so that the related information of the containers with the number of the kinds corresponding to the goods numbers larger than or equal to the first preset number in the multiple containers to be merged is deleted. The first preset number may be 2, and in addition, other numbers may be selected according to actual needs, which is not specifically limited in this embodiment of the application. Then, a container with the number of the stacked boxes smaller than a second preset number is screened from the screened containers by a greedy algorithm to serve as the plurality of first containers, so that a first container set is obtained.

That is, in the embodiment of the present application, containers to be combined, in which the number of the containers corresponds to the same kind of goods and the number of the stacked boxes is less than the second preset number, may be screened out as a first container set.

It should be noted that, in this embodiment of the application, the second preset number may be a numerical value preset by a user, and the user may set the second preset number according to actual needs.

Secondly, screening a plurality of second containers from other containers except the plurality of first containers in the plurality of containers to be merged to obtain a second container set; the type number of the goods numbers of the goods placed in each second container is smaller than a first preset number, and the number of the boxes stacked in each second container is smaller than the maximum number of the boxes which can be accommodated in a half container.

In the embodiment of the application, after a plurality of first containers are obtained by filtering in a plurality of containers to be combined, a plurality of second containers are screened in the rest containers to be combined. Wherein the second container satisfies the following condition: the type number of the goods number corresponding to each second container is smaller than a first preset number, for example, the type number of the goods number corresponding to each second container is smaller than 2; the number of boxes palletised by each second container is less than the maximum number of boxes that can be accommodated by half of its container, i.e. the number of boxes palletised by each second container does not exceed the maximum number of boxes that can be accommodated by half of a container cut vertically. Wherein, half a container is that close hold in the palm the code wheel and cut the container vertically, namely the goods that a kind of SKU corresponds occupy half a container at most under overlooking the container.

And finally, respectively matching the containers in the first container set and the second container set according to the target merging parameters to obtain the container merging information.

In this embodiment of the present application, after the first container set and the second container set are obtained, containers in the first container set may be matched according to the target merging parameter, and containers in the second container set may be matched, so as to determine container merging information according to a matching result.

Specifically, in this embodiment of the present application, a plurality of first containers in the first container set may be matched according to the item numbers in the target merging parameters to obtain a first matching result, and a plurality of second containers in the second container set may be matched according to the target merging parameters to obtain a second matching result; and then determining container merging information according to the first matching result and the second matching result.

In an optional embodiment, matching the plurality of second containers in the second container set according to the target merging parameter to obtain a second matching result includes the following processes:

firstly, determining at least one container matching parameter based on the target merging parameter, and determining the priority of each container matching parameter, wherein the priority is used for indicating the matching sequence of each container matching parameter in the process of matching a plurality of second containers; the container matching parameters include at least one of: goods code, goods classification information and selection frequent items, order frequency and selection frequent items of the goods and heat value of the goods.

Secondly, matching a plurality of second containers in the second container set according to the priority of the container matching parameters to obtain a second matching result.

It should be noted that, in the embodiment of the present application, when matching the plurality of second containers in the second container set according to the target merging parameter, the second containers may be preferentially merged according to the item numbers, and then the remaining containers in the second containers are merged according to the order of the item classification information, the order wave number, and the heat value to which the SKUs belong.

In the embodiment of the present application, the purpose of matching the containers in the second container set according to the target merging parameters is that the probability that the goods placed in the second container after matching belong to one order is high, and at this time, the second containers meeting the above conditions may be merged into one container, so that the workload of ex-warehouse is reduced as much as possible, and the efficiency of ex-warehouse is improved.

In an alternative embodiment, the steps of: matching a plurality of second containers in the second container set according to the priority of each container matching parameter comprises the following processes:

(1) and matching the first type of containers in the second container set to obtain a first sub-matching result, wherein the goods numbers of the goods placed in the first type of containers are the same.

In the embodiment of the present application, it may be determined whether the first type container having the above-described characteristics in the second container set is present. And if so, matching the first type of container to obtain a first sub-matching result.

For example, if two candidate containers with the following characteristics are included in the second set of containers: and matching the two candidate containers if the goods codes of the placed goods are the same, excluding the related information of the two candidate containers from the second container set, controlling the number of the remaining containers of the second container set to be reduced by 2, continuously judging that the second container set comprises the two candidate containers with the characteristics until the second container set does not comprise the two candidate containers with the characteristics, and continuously executing the subsequent steps.

(2) The second type of containers in the first intermediate container set are matched, the first intermediate container set comprises other containers except the first type of containers in the second container set, the goods classification information of goods placed in the second type of containers is the same, and the numerical value of the selected frequent items of the goods is the highest.

In this embodiment, after the relevant information of the first type container is removed from the second container set, a first intermediate container set is obtained. And then, matching the second type of container in the first intermediate container set to obtain a second sub-matching result.

Specifically, if two candidate containers with the following characteristics are contained in the first set of intermediate containers: and determining the two candidate containers as second type containers and matching the two candidate containers to obtain a second sub-matching result if the goods classification information of the goods placed in the two candidate containers is the same and the picking frequency between the two candidate containers is high. Then, the related information of the two candidate containers is excluded from the first intermediate container set, the number of the remaining containers of the first intermediate container set is controlled to be reduced by 2, the second type of container with the characteristics is continuously judged to be contained in the first intermediate container set until the second type of container with the characteristics is not contained in the first intermediate container set, and the subsequent steps are continuously executed.

(3) The third type of container in the second intermediate container set is matched, the second intermediate container set comprises other containers except the second type of container in the first intermediate container set, the goods placed in the third type of container belong to the same order frequency, and the numerical value of the selected frequent items of the goods is the highest.

In this embodiment, after the related information of the second type container is removed from the first intermediate container set, a second intermediate container set is obtained. If a container with the following characteristics is contained in the second set of intermediate containers: the items placed in the containers belong to the same order wave, and the numerical value of the frequently-selected items between the two candidate containers is the highest, then the two candidate containers can be subjected to matching processing. Then, the related information of the two candidate containers is excluded from the second intermediate container set, the number of the remaining containers in the second intermediate container set is controlled to be reduced by 2, the third type of container with the above characteristics is continuously judged to be contained in the second intermediate container set until the third type of container with the above characteristics is not contained in the second intermediate container set, and the subsequent steps are continuously executed.

(4) Matching a fourth type of container in a third intermediate container set, wherein the third intermediate container set comprises other containers except the third type of container in the second intermediate container set, and the difference of the heat value corresponding to the goods placed in the fourth type of container is minimum. Wherein the heat value is understood as the total demand for items placed in the container over a fixed period of time divided by the total inventory of such items.

In this embodiment of the present application, after the related information of the third type container is removed from the second intermediate container set, a third intermediate container set is obtained. Next, two candidate containers with similar heat degrees can be selected for matching, the related information of the two candidate containers is deleted from the third intermediate container set, the number of the remaining containers in the third intermediate container set is controlled to be reduced by 2, and the two candidate containers with similar heat degrees in the third intermediate container set are continuously judged for matching until the matching is finished, so that a fourth sub-matching result is obtained.

(5) And determining the first sub-matching result, the second sub-matching result, the third sub-matching result and the fourth sub-matching result as the second matching result.

In the embodiment of the present application, after the first sub-matching result, the second sub-matching result, the third sub-matching result, and the fourth sub-matching result are obtained in the above-described manner, the first sub-matching result, the second sub-matching result, the third sub-matching result, and the fourth sub-matching result may be determined as the second matching result.

In an optional embodiment of the present application, before the container sets are respectively matched according to the target merging parameters, the number of containers included in each container set may also be determined, so as to obtain a first number; then, acquiring the maximum number of containers which can be combined within the preset container combination time to obtain a second number; finally, determining the number of containers to be merged finally according to the first number and the second number; and respectively matching the containers in each container set by combining the final number of the containers to be merged and the target merging parameters to obtain the container merging information.

Specifically, in the embodiment of the present application, the number of containers included in each container set may be summed to obtain the first number N1, where N1 may also be understood as a containable candidate container set size. Next, the maximum number N2 of containers that can be merged in the time period is calculated according to the preset container merging time, and then the final number N of containers to be merged is obtained according to the first number N1 and the second number N2, where N is min (N1, N2).

In this embodiment of the present application, after determining container merging information for merging the multiple containers to be merged based on the target merging parameter, the multiple containers to be merged may be scheduled to a merging site according to a preset scheduling manner and the container merging information, and the merging site merges the containers to be merged, specifically including the following processes:

step S2061, determining a target task set corresponding to each scheduling cycle according to the container merging information; the target task set comprises containers to be scheduled to the joint-trusting site in each scheduling period;

step S2062, scheduling the multiple containers to be merged to the merging station according to any set of targets corresponding to each scheduling cycle.

In the embodiment of the application, empty containers (namely, empty containers after combination) are arranged on two sides of a combining and supporting station (robot or manual work), original containers (namely, containers to be combined) are arranged on one side of the combining and supporting station, and the original containers only enter from one fixed lifting machine communicated with the combining and supporting station to ensure that an inner container line is smooth. Since the containers to be merged may be located on different floors of the predetermined warehousing area, first, a target task set is determined, in which container information of the merged tasks to be performed and an order of the containers of the merged tasks to be performed are included. After the target task set is determined, the multiple containers to be merged may be scheduled to the merging site according to any target set corresponding to each scheduling period, for example, an execution order of the elevator may be determined according to any target set corresponding to each scheduling period, so that the elevator extracts the corresponding containers to be merged according to the execution order and transmits the containers to be merged to a designated area, for example, to a corresponding warehouse outlet IO and a cache area. After the container to be merged is transmitted to the output port IO, the container to be merged may be transmitted to the merging site to perform the container merging operation.

In an optional embodiment, the step S2061 of determining the target task set corresponding to each scheduling period according to the container merging information includes the following processes:

firstly, determining a target container in the containers to be merged, wherein the target container is used for representing an accessible ex-warehouse container in each scheduling period;

and then, determining a target task set corresponding to each scheduling period according to the target container and the container merging information.

Specifically, a target container, which is matched with a container that has been ex-warehouse in each scheduling period, in the target container may be determined according to the container merging information, so as to obtain a first matching container group, and a first task set may be determined according to the first matching container group; determining a target container matched with the container which is being delivered from the warehouse in each scheduling period in the target container according to the container merging information, and determining target containers which are matched with each other in the target container to obtain a second matched container group; sequencing the matching container groups according to the estimated time of the containers in the second matching container group to obtain a second task set, wherein the estimated time is the estimated time of the target container conveyed to the closing and trusting site; and merging the first task set and the second task set to obtain the target task set.

Specifically, in the embodiment of the present application, a container to be merged, which is capable of performing an ex-warehouse task without hindrance, i.e., a target container, is first determined among a plurality of containers to be merged. Then, determining an estimated time of each target container, wherein the estimated time is an estimated time ETA of the target container to be transported to the order station, and obtaining X: { (Px, Tx) }, wherein Tx is the estimated time, Tx-1 + Tup + Tx2, Tx1 is the time when the nearest trolley reaches the position of the target container, Tup is the time of lifting the target container, and Tx2 is the time of transporting the target container to the warehouse outlet IO port.

Next, the task order is orchestrated for X to get the absolute order task J1 (i.e., the target task set described above) and the remaining tasks J2. Suppose, for the current scheduling period, the de-warehousing container is denoted as Y: { Py }, and the out-of-warehouse container is denoted as Z: { (Pz, Tz) }, the determination of the absolute sequential task J1 and the remaining tasks J2 is described as follows:

i) adding the container task matched with Y in X into J1 according to the container merging information S, wherein the smaller Tx is, the more the task is in front; and sorting the container tasks (namely, the first matched container group) which are determined in the X and matched with the Y according to the container merging information S and the estimated time of the container X to obtain a first task set. Wherein, the container merging information S can be expressed as: s { (P1, P2), (P2k-1, P2k) }.

ii) matching the containers matched with Z in the X according to the container merging information S, and matching the containers which can be matched with each other in the X according to the container merging information S to obtain a second matched container group, wherein the second matched container group can be expressed as: and A { (Pa, Ta, Sa, Pb, Tb, Sb, Tc ═ max (Ta, Tb)) }, wherein Pa and Pb are container combinations, Sa and Sb are task states, matched container groups (namely, a second matched container group) are obtained according to Tc in a descending order, a second task set is obtained according to a first matched container group in the sequence, and then the second task set is added into the first task set to obtain a target task set.

Iii) the remaining out of stock container tasks and available movement in X hinder the container tasks from joining to J2. The movement-obstructing container is a container that cannot be taken out of the warehouse without any obstacle.

After the target task set is obtained, tasks in the target task set can be tried to be executed in sequence, and if the tasks can be executed, the estimated arrival time Pk-Tk is recorded.

And ii) if the target task set has no idle trolleys after being executed, calculating the priority sequence of the task trolley pairs by combining the idle trolleys, and executing the task trolley pairs in sequence, and if the task of the ex-warehouse container is successfully executed, recording the estimated arrival time Pk-Tk.

In an alternative embodiment of the present application, the steps of: the scheduling of the multiple containers to be merged to the merging station according to any set of targets corresponding to each scheduling cycle comprises the following processes:

firstly, the working state of a robot for executing the merging operation on the container to be merged and the working state of a warehouse outlet for executing the warehouse-out operation on the container to be merged are obtained.

And then, judging whether the warehouse-out port is occupied or not according to the working state of the robot and the working state of the warehouse-out port.

Specifically, in this embodiment of the application, whether the container to be merged directly goes to the IO port or the cache region may be determined according to the working state of the robot and the working state of the IO at the warehouse exit.

And secondly, when the warehouse-out port is determined not to be occupied, controlling the robot to convey the containers to be merged to the warehouse-out port so as to dispatch the containers to be merged to a closing station for closing operation. After the container to be merged is conveyed to the ex-warehouse outlet for executing ex-warehouse operation on the container to be merged, sending an update message to the robot, wherein the update message is used for instructing the robot to update the occupancy state information of the ex-warehouse outlet.

And finally, when the warehouse-out port is determined not to be occupied, controlling the robot to convey the containers to be merged to a buffer area. After the robot arrives at the cache region, whether the robot can directly go to the IO port or not can be judged according to the working state of the robot and the working state of the IO of the warehouse outlet.

The above-mentioned closing procedure is described as follows:

and determining a support combination task according to the container combination information, wherein the support combination task comprises a specified container to be combined, estimated time and an IO port occupied by the container to be combined.

Assigning a closed-trusting task sequence according to the closed-trusting task: vector < jobdescribes the designated container to be merged and the IO port occupied by the container to be merged. When the containers specify the above, IO ports corresponding to the two containers need to be calculated, and the containers corresponding to the IO ports are updated.

And determining the current entrust task, and taking the task from the head of the entrust task sequence as the current task if the current task is empty.

And inquiring whether the current IO port can be occupied or not according to the working state of the robot and the working state of the IO of the warehouse-out port, and removing the cache region when the current IO port can not be occupied. And when the container to be merged reaches the IO port, canceling the state occupied by the IO port corresponding to the current merging task, and updating the container corresponding to each IO port. And when the containers to be merged all arrive, starting to execute the closing and supporting action, and setting the current closing and supporting task to be empty.

Example 3:

the embodiment of the present invention further provides a container merging device, which is mainly used for executing the method for merging containers provided in the foregoing description of the embodiment of the present invention, and the following provides a detailed description of the container merging device provided in the embodiment of the present invention.

Fig. 3 is a schematic view of an apparatus for merging containers according to an embodiment of the present invention, as shown in fig. 3, the apparatus for merging containers mainly includes:

a first determination unit 10 for determining a plurality of containers to be merged within a predetermined stock area; wherein, the goods placed in each container to be merged contain corresponding goods numbers;

a second determining unit 20, configured to determine container merging information for merging the multiple containers to be merged based on the target merging parameter; the target merge parameter comprises at least one of: the goods code, the goods classification information of the goods represented by the goods code, the order number of the goods represented by the goods code, the heat value of the goods represented by the goods code and the picking frequency item between the goods represented by the goods code, wherein the picking frequency item represents the probability that the goods belong to the same order;

the scheduling unit 30 is configured to schedule the multiple containers to be merged to a merging station according to a preset scheduling manner and the container merging information, and merge the containers to be merged at the merging station.

Optionally, the second determining unit is configured to: determining container merging information for merging the plurality of containers to be merged based on the target merging parameter includes: obtaining a container grouping parameter, wherein the container grouping parameter comprises at least one of: the type number of the goods numbers of the goods placed in the container, the number content of each kind of goods numbers and the number of the boxes stacked in the container; splitting the plurality of containers to be merged into a plurality of container sets according to the container grouping parameters; and respectively matching each container set according to the target merging parameters to obtain the container merging information.

Optionally, the second determining unit is further configured to: screening a plurality of first containers from the plurality of containers to be merged to obtain a first container set; the number of the first container sets is at least one, the type number of the goods numbers of the goods placed in the first containers contained in each first container set is smaller than a first preset number, the number contents of the goods numbers of the goods placed in the first containers of the same first container set are the same, and the number of boxes stacked by the first containers in each first container set is smaller than a second preset number; screening a plurality of second containers in other containers except the plurality of first containers in the plurality of containers to be merged to obtain a second container set; the type number of the goods numbers of the goods placed in each second container is smaller than a first preset number, and the number of the boxes stacked in each second container is smaller than the maximum number of the boxes which can be accommodated in a half container.

Optionally, the second determining unit is further configured to: matching the plurality of first containers in each first container set according to the goods numbers in the target merging parameters to obtain a first matching result, and matching the plurality of second containers in the second container set according to the target merging parameters to obtain a second matching result; and determining the container merging information according to the first matching result and the second matching result.

Optionally, the second determining unit is further configured to: determining at least one container matching parameter based on the target merging parameter, and determining the priority of each container matching parameter, wherein the priority is used for indicating the matching sequence of each container matching parameter in the process of matching a plurality of second containers; the container matching parameters include at least one of: goods codes, goods classification information and selection frequent items, order times and selection frequent items of the goods and heat values of the goods; and matching the plurality of second containers in the second container set according to the priority of the container matching parameters to obtain a second matching result.

Optionally, the second determining unit is further configured to: matching first containers in the second container set, wherein the goods numbers of the goods placed in the first containers are the same; matching second containers in a first intermediate container set, wherein the first intermediate container set comprises other containers except the first containers in the second container set, the goods classification information of goods placed in the second containers is the same, and the value of the selected frequent items of the goods is the highest; matching a third type of container in a second intermediate container set, wherein the second intermediate container set comprises other containers except the second type of container in the first intermediate container set, the goods placed in the third type of container belong to the same order frequency, and the value of the selected frequent items of the goods is the highest; and matching a fourth type of container in a third intermediate container set, wherein the third intermediate container set comprises other containers except the third type of container in the second intermediate container set, and the difference of the heat value corresponding to the goods placed in the fourth type of container is minimum.

Optionally, the apparatus is further configured to: before each container set is respectively matched according to the target merging parameters, determining the number of containers contained in each container set to obtain a first number; acquiring the maximum number of containers capable of being combined within preset container combination time to obtain a second number; determining the number of containers to be merged finally according to the first number and the second number; and respectively matching the containers in each container set by combining the number of the final containers to be merged and the target merging parameters to obtain container merging information.

Optionally, the second determining unit is further configured to: screening containers with the number of the goods codes of the placed goods smaller than the first preset number from the multiple containers to be merged; and screening containers with the number of the stacked boxes smaller than a second preset number in the screened containers by using a greedy algorithm to serve as the plurality of first containers, so as to obtain the first container set.

Optionally, the scheduling unit is configured to: the scheduling of the plurality of containers to be merged to a merging station according to a preset scheduling mode and the container merging information comprises: determining a target task set corresponding to each scheduling period according to the container merging information; the target task set comprises containers to be scheduled to the joint-trusting site in each scheduling period; and scheduling the containers to be merged to a merging station according to any target set corresponding to each scheduling period.

Optionally, the scheduling unit is further configured to: determining a target container in the containers to be merged, wherein the target container is used for representing an accessible ex-warehouse container in each scheduling period; and determining a target task set corresponding to each scheduling period according to the target container and the container merging information.

Optionally, the scheduling unit is further configured to: determining a target container matched with the ex-warehouse container in each scheduling period in the target container according to the container merging information to obtain a first matched container group, and determining a first task set according to the first matched container group; determining a target container matched with the container which is being delivered from the warehouse in each scheduling period in the target container according to the container merging information, and determining target containers which are matched with each other in the target container to obtain a second matched container group; sequencing the matching container groups according to the estimated time of the containers in the second matching container group to obtain a second task set, wherein the estimated time is the estimated time of the target container conveyed to the closing and trusting site; and merging the first task set and the second task set to obtain the target task set.

Optionally, the scheduling unit is further configured to: acquiring a working state of a robot for executing merging operation on containers to be merged and acquiring a working state of a warehouse outlet for executing warehouse-out operation on the containers to be merged; and controlling the robot to schedule the containers to be merged according to the working state of the robot and the working state of the warehouse outlet.

Optionally, the scheduling unit is further configured to: when the warehouse-out port is determined not to be occupied, controlling the robot to convey the containers to be merged to the warehouse-out port, and dispatching the containers to be merged to a closing station for closing operation; and when the warehouse outlet is determined not to be occupied, controlling the robot to convey the containers to be merged to a buffer area.

Optionally, the apparatus is further configured to: after the container to be merged is conveyed to the warehouse outlet for executing warehouse outlet operation on the container to be merged, sending an update message to the robot, wherein the update message is used for instructing the robot to update the working state of the warehouse outlet.

The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments.

In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method of merging containers, comprising:

determining a plurality of containers to be merged in a predetermined storage area; wherein, the goods placed in each container to be merged contain corresponding goods numbers;

determining container merging information for merging the multiple containers to be merged based on the target merging parameters; the target merge parameter comprises at least one of: the method comprises the steps of obtaining goods codes, goods classification information of goods represented by the goods codes, order times of the goods represented by the goods codes, a heat value of the goods represented by the goods codes and a frequently-selected item between the goods represented by the goods codes, wherein the frequently-selected item represents the probability that the goods belong to the same order;

and scheduling the containers to be merged to a merging station according to a preset scheduling mode and the container merging information, and merging the containers to be merged at the merging station.

2. The method of claim 1, wherein determining container merging information for merging the plurality of containers to be merged based on a target merging parameter comprises:

obtaining a container grouping parameter, wherein the container grouping parameter comprises at least one of: the type number of the goods numbers of the goods placed in the container, the number content of the goods numbers of the goods placed in the container and the number of the boxes stacked in the container;

splitting the plurality of containers to be merged into a plurality of container sets according to the container grouping parameters;

and respectively matching each container set according to the target merging parameters to obtain the container merging information.

3. The method of claim 2, wherein splitting the plurality of containers to be merged into a plurality of container sets according to the container grouping parameter comprises:

screening a plurality of first containers from the plurality of containers to be merged to obtain a first container set; the number of the first container sets is at least one, the type number of the goods numbers of the goods placed in the first containers contained in each first container set is smaller than a first preset number, the number contents of the goods numbers of the goods placed in the first containers of the same first container set are the same, and the number of boxes stacked by the first containers in each first container set is smaller than a second preset number;

screening a plurality of second containers in other containers except the plurality of first containers in the plurality of containers to be merged to obtain a second container set; the type number of the goods numbers of the goods placed in each second container is smaller than a first preset number, and the number of the boxes stacked in each second container is smaller than the maximum number of the boxes which can be accommodated in a half container.

4. The method according to claim 3, wherein the matching each container set according to the target merging parameter to obtain the container merging information comprises:

matching the plurality of first containers in each first container set according to the goods numbers in the target merging parameters to obtain a first matching result, and matching the plurality of second containers in the second container set according to the target merging parameters to obtain a second matching result;

and determining the container merging information according to the first matching result and the second matching result.

5. The method of claim 4, wherein matching the plurality of second containers in the second container set according to the target merge parameter, and obtaining a second matching result comprises:

determining at least one container matching parameter based on the target merging parameter, and determining the priority of each container matching parameter, wherein the priority is used for indicating the matching sequence of each container matching parameter in the process of matching a plurality of second containers; the container matching parameters include at least one of: goods codes, goods classification information and selection frequent items, order times and selection frequent items of the goods and heat values of the goods;

and matching the plurality of second containers in the second container set according to the priority of the container matching parameters to obtain a second matching result.

6. The method of claim 5, wherein matching a plurality of second containers in the second set of containers according to the priority of the respective container matching parameter comprises:

matching first containers in the second container set, wherein the goods numbers of the goods placed in the first containers are the same;

matching second containers in a first intermediate container set, wherein the first intermediate container set comprises other containers except the first containers in the second container set, the goods classification information of goods placed in the second containers is the same, and the value of the selected frequent items of the goods is the highest;

matching a third type of container in a second intermediate container set, wherein the second intermediate container set comprises other containers except the second type of container in the first intermediate container set, the goods placed in the third type of container belong to the same order frequency, and the value of the selected frequent items of the goods is the highest;

and matching a fourth type of container in a third intermediate container set, wherein the third intermediate container set comprises other containers except the third type of container in the second intermediate container set, and the difference of the heat value corresponding to the goods placed in the fourth type of container is minimum.

7. The method according to any of claims 2-6, wherein prior to matching each of the container sets separately according to the target merge parameters, the method further comprises:

determining the number of containers contained in each container set to obtain a first number;

acquiring the maximum number of containers capable of being combined within preset container combination time to obtain a second number;

determining the number of containers to be merged finally according to the first number and the second number; and respectively matching the containers in each container set by combining the number of the final containers to be merged and the target merging parameters to obtain container merging information.

8. The method of any of claims 3-6, wherein screening the plurality of containers to be merged for a plurality of first containers comprises:

screening containers with the types and the number of the goods codes of the placed goods smaller than the first preset number from the multiple containers to be combined;

and screening containers with the number of the stacked boxes smaller than a second preset number in the screened containers by using a greedy algorithm to serve as the plurality of first containers, so as to obtain the first container set.

9. The method according to any one of claims 1-6, wherein the predetermined scheduling is a periodic scheduling;

the scheduling of the plurality of containers to be merged to the merging station according to the preset scheduling mode and the container merging information includes:

determining a target task set corresponding to each scheduling period according to the container merging information; the target task set comprises containers to be scheduled to the joint-trusting site in each scheduling period;

and scheduling the containers to be merged to a merging station according to any target set corresponding to each scheduling period.

10. The method of claim 9, wherein determining the target task set corresponding to each scheduling period according to the container merge information comprises:

determining a target container in the containers to be merged, wherein the target container is used for representing an accessible ex-warehouse container in each scheduling period;

and determining a target task set corresponding to each scheduling period according to the target container and the container merging information.

11. The method of claim 10, wherein determining the target task set corresponding to each scheduling period according to the target container and the container merging information comprises:

determining a target container matched with the ex-warehouse container in each scheduling period in the target container according to the container merging information to obtain a first matched container group, and determining a first task set according to the first matched container group;

determining a target container matched with the container which is being delivered from the warehouse in each scheduling period in the target container according to the container merging information, and determining target containers which are matched with each other in the target container to obtain a second matched container group; sequencing the matching container groups according to the estimated time of the containers in the second matching container group to obtain a second task set, wherein the estimated time is the estimated time of the target container conveyed to the closing and trusting site;

and merging the first task set and the second task set to obtain the target task set.

12. The method according to claim 9, wherein scheduling the plurality of containers to be merged to a merging station according to any set of targets corresponding to the respective scheduling periods comprises:

acquiring a working state of a robot for executing merging operation on containers to be merged and acquiring a working state of a warehouse outlet for executing warehouse-out operation on the containers to be merged;

and controlling the robot to schedule the containers to be merged according to the working state of the robot and the working state of the warehouse outlet.

13. The method according to claim 12, wherein the controlling the robot to schedule the plurality of containers to be merged according to the working state of the robot and the working state of the warehouse outlet comprises:

when the warehouse-out port is determined not to be occupied, controlling the robot to convey the containers to be merged to the warehouse-out port, and dispatching the containers to be merged to a closing station for closing operation;

and when the warehouse outlet is determined not to be occupied, controlling the robot to convey the containers to be merged to a buffer area.

14. The method of claim 13, further comprising:

after the container to be merged is conveyed to the warehouse outlet for executing warehouse outlet operation on the container to be merged, sending an update message to the robot, wherein the update message is used for instructing the robot to update the working state of the warehouse outlet.

15. An apparatus for unitizing containers, comprising:

a first determination unit configured to determine a plurality of containers to be merged in a predetermined stock area; wherein, the goods placed in each container to be merged contain corresponding goods numbers;

a second determining unit, configured to determine, based on the target merging parameter, container merging information for merging the multiple containers to be merged; the target merge parameter comprises at least one of: the method comprises the steps of obtaining goods codes, goods classification information of goods represented by the goods codes, order times of the goods represented by the goods codes, a heat value of the goods represented by the goods codes and a frequently-selected item between the goods represented by the goods codes, wherein the frequently-selected item represents the probability that the goods belong to the same order;

and the scheduling unit is used for scheduling the containers to be merged to a merging station according to a preset scheduling mode and the container merging information, and merging the containers to be merged at the merging station.

16. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any of the preceding claims 1 to 14 are implemented when the computer program is executed by the processor.

17. A computer-readable medium having non-volatile program code executable by a processor, characterized in that the program code causes the processor to perform the steps of the method of any of the preceding claims 1 to 14.