CN113044454B

CN113044454B - Method for controlling goods taking of carrying equipment and related device

Info

Publication number: CN113044454B
Application number: CN201911379668.0A
Authority: CN
Inventors: 孙祎; 胡义伟
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2019-12-27
Filing date: 2019-12-27
Publication date: 2022-12-20
Anticipated expiration: 2039-12-27
Also published as: CN113044454A

Abstract

The present disclosure provides a method and a related device for controlling a handling device to pick up goods, wherein the method comprises the following steps: acquiring the current number of the carrying equipment waiting for taking goods at each goods outlet of at least one goods outlet of the vertical warehouse; determining whether the carrying equipment waiting for taking goods needs to be distributed to each goods outlet according to the current number of the carrying equipment waiting for taking goods at each goods outlet and the target number of the carrying equipment set for the goods outlet; and if so, controlling the carrying equipment in the idle state to move to the goods outlet to wait for goods taking. Through the method for controlling the carrying equipment to take the goods, which is provided by the embodiment of the disclosure, the carrying equipment can be distributed in advance for the goods outlet to wait for taking the goods before the goods is discharged from the goods outlet of the vertical warehouse, so that after the goods is discharged from the goods outlet of the vertical warehouse, the carrying equipment can timely carry the goods container to a target workstation, the situation that goods are stacked at the goods outlet of the vertical warehouse is avoided, and the efficiency of goods transportation is improved.

Description

Method for controlling goods taking of carrying equipment and related device

Technical Field

The disclosure relates to the technical field of logistics storage, in particular to a method and a related device for controlling carrying equipment to take goods.

Background

In the field of logistics storage, goods are usually stored in a stereoscopic warehouse, which is simply referred to as a vertical warehouse, in order to improve the space utilization rate of the warehouse. After the delivery from the vertical warehouse, the cargo containers containing the cargo are transported to the target workstation for processing by a transporting robot in charge of transporting the cargo or a transporting device such as an unmanned forklift in charge of transporting the cargo, for example, the transporting device transports the cargo containers to a sorting station to complete the sorting operation.

Generally, after the goods are delivered from the delivery port of the vertical warehouse, the handling device is controlled to move to the delivery port to take the goods container, and the transportation of the goods container is completed. However, because the speed of the handling equipment is fixed, when the handling equipment is far away from the goods outlet, the handling equipment cannot timely move to the goods outlet, the goods outlet of the vertical warehouse continuously delivers the goods, the goods are stacked at the goods outlet, the further delivery is influenced, the goods cannot be timely conveyed to the destination, and the goods transportation efficiency is reduced.

Disclosure of Invention

The embodiment of the disclosure at least provides a method for controlling a carrying device to take goods and a related device.

In a first aspect, an embodiment of the present disclosure provides a method for controlling a handling apparatus to pick up goods, where the method includes:

acquiring the current number of carrying devices waiting for taking goods at each goods outlet of at least one goods outlet of the vertical warehouse, wherein the carrying devices are used for carrying goods containers sent out from the corresponding goods outlet;

determining whether the carrying equipment waiting for taking goods needs to be distributed to the goods outlet or not according to the current number of the carrying equipment waiting for taking goods at each goods outlet and the target number of the carrying equipment arranged for the goods outlet;

and if so, controlling the carrying equipment in the idle state to move to the goods outlet to wait for goods taking.

In an alternative embodiment, the target quantity corresponding to each shipment port is determined according to one or more of the following information:

the corresponding delivery speed of each delivery port;

the carrying time from each goods outlet to the delivery destination corresponding to the goods outlet;

the longest time for the carrying equipment to reach the goods outlet;

the cargo handling priority of each shipment port;

and the total scheduling number of the handling equipment corresponding to the vertical warehouse.

In an alternative embodiment, the obtaining a current number of handling apparatuses waiting to pick up at each of at least one outlet of the vertical warehouse includes:

determining the current number of the carrying equipment waiting for taking goods at each shipment port according to the carrying equipment scheduling record of each shipment port; alternatively, the first and second electrodes may be,

and acquiring the monitoring video sent by the monitoring equipment arranged at each delivery port, and determining the current number of the carrying equipment waiting for delivery at the delivery port based on the monitoring video.

In an alternative embodiment, determining whether the transporting equipment waiting for picking needs to be allocated to the shipment port according to the current number of the transporting equipment waiting for picking at each shipment port and the target number of the transporting equipment set for the shipment port includes:

and if the current quantity is smaller than the target quantity, determining that the carrying equipment waiting for taking goods needs to be distributed to the goods outlet.

and determining whether the carrying equipment waiting for taking the goods needs to be distributed to the shipment port or not according to the current number of the carrying equipment waiting for taking the goods at each shipment port, the target number of the carrying equipment set for the shipment port and the goods carrying priority corresponding to each shipment port.

In an optional embodiment, determining whether the transporting device waiting for picking up needs to be allocated to each of the shipment ports according to the current number of the transporting devices waiting for picking up at each of the shipment ports, the target number of the transporting devices set for the shipment port, and the cargo transporting priority corresponding to each of the shipment ports includes:

and for each goods outlet, if the current quantity corresponding to the goods outlet is smaller than the target quantity and other goods outlets with higher goods carrying priority than the goods outlet do not exist, determining that the carrying equipment in the idle state at present needs to be allocated to the goods outlet to wait for goods taking.

acquiring corresponding target outlets of which the current quantity is smaller than the target quantity;

and determining whether the carrying equipment in the idle state needs to be allocated to the target outlet to wait for taking the goods according to the ratio of the current quantity corresponding to each target outlet to the target quantity and the goods carrying priority corresponding to each target outlet.

In an alternative embodiment, before obtaining the current number of the handling apparatuses waiting for picking at each of the at least one shipment port of the vertical warehouse, the method further comprises:

it is detected that there is currently an idle handling device.

In a second aspect, an embodiment of the present disclosure further provides an apparatus for controlling a handling device to take goods, where the apparatus includes: the device comprises a current quantity acquisition module, a determination module and a control module;

the current quantity obtaining module is configured to obtain the current quantity of the carrying equipment waiting for goods taking at each of at least one goods outlet of the vertical warehouse, wherein the carrying equipment is used for carrying the goods containers sent out from the corresponding goods outlet;

the determining module is configured to determine whether the transporting equipment waiting for picking is required to be allocated to the shipment port according to the current number of the transporting equipment waiting for picking at each shipment port and the target number of the transporting equipment set for the shipment port;

and the control module is configured to control the carrying equipment in the idle state to move to the goods outlet to wait for goods taking if the carrying equipment is in the idle state.

In an alternative embodiment, the apparatus further comprises: a target quantity determination module configured to determine the target quantity for each shipment port based on one or more of the following information:

the corresponding delivery speed of each delivery port;

the carrying time from each shipment port to the delivery destination corresponding to the shipment port;

the longest time for the carrying equipment to reach the goods outlet;

the cargo handling priority of each shipment port;

and the total scheduling quantity of the handling equipment corresponding to the vertical warehouse.

In an alternative embodiment, the current number obtaining module, when obtaining the current number of the handling apparatuses waiting for picking at each of the at least one shipment port of the vertical warehouse, is configured to:

determining the current number of the carrying equipment waiting for taking goods at the delivery port according to the carrying equipment scheduling record aiming at each delivery port; alternatively, the first and second electrodes may be,

In an alternative embodiment, the determining module, when determining whether a handling device waiting for picking needs to be allocated to the shipment port, is configured to:

and if the current quantity is smaller than the target quantity, determining that the carrying equipment waiting for goods taking needs to be allocated to the goods outlet.

In an alternative embodiment, the determining module, when determining whether a handling device waiting for picking is to be allocated to the shipment port, is configured to:

In an optional embodiment, the apparatus further comprises: a detection module;

the detection module is configured to detect that there is currently an idle handling device.

In a third aspect, an embodiment of the present disclosure further provides a system for controlling a handling apparatus to pick up goods, where the system includes: the remote control device is in communication connection with the carrying equipment; the remote control device is configured to control the handling apparatus to wait for a pickup based on the method described in the first aspect or any one of the possible embodiments of the first aspect.

In a fourth aspect, an embodiment of the present disclosure further provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, the processor and the memory communicate with each other via the bus when the electronic device is running, and the machine-readable instructions, when executed by the processor, perform the steps of the method for controlling a handling device to pick up goods as described in the first aspect or any one of the possible implementation manners of the first aspect.

In a fifth aspect, the disclosed embodiments further provide a computer-readable storage medium, where a computer program is stored, where the computer program, when executed by a processor, performs the steps of the method for controlling a handling apparatus to pick up goods described in the first aspect, or any one of the possible implementation manners of the first aspect.

The embodiment of the disclosure provides a method and a related device for controlling a carrying device to pick up goods, wherein the method comprises the following steps: acquiring the current number of carrying equipment waiting for goods taking at each goods outlet of at least one goods outlet of the vertical warehouse, wherein the carrying equipment is used for carrying goods containers sent from the corresponding goods outlet; determining whether the carrying equipment waiting for taking goods needs to be distributed to each goods outlet according to the current number of the carrying equipment waiting for taking goods at each goods outlet and the target number of the carrying equipment set for the goods outlet; and if so, controlling the carrying equipment in the idle state to move to the goods outlet to wait for goods taking. Through the method for controlling the carrying equipment to take the goods, which is provided by the embodiment of the disclosure, the carrying equipment can be distributed in advance for the goods outlet to wait for taking the goods before the goods is delivered from the goods outlet of the vertical warehouse, so that after the goods is delivered from the goods outlet of the vertical warehouse, the carrying equipment can timely carry the goods container to the target workstation, the goods accumulation at the goods outlet of the vertical warehouse is avoided, and the efficiency of goods transportation is improved.

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

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly described below, and the drawings herein incorporated in and forming a part of the specification illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It is appreciated that the following drawings depict only certain embodiments of the disclosure and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.

Fig. 1 is a flowchart illustrating a method for controlling a handling apparatus to pick up goods according to an embodiment of the disclosure;

fig. 2 is a flowchart illustrating a specific method for determining that a handling device waiting for picking needs to be allocated to a shipment port in a method for controlling a handling device to pick goods according to an embodiment of the present disclosure;

fig. 3 shows a schematic structural diagram of an apparatus for controlling a handling device to take goods according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram illustrating a system for controlling a handling apparatus to pick up goods according to an embodiment of the disclosure;

fig. 5 shows a schematic diagram of an electronic device provided by an embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. The components of the embodiments of the present disclosure, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.

Through research discovery, after the shipment of the shipment mouth in the upright storehouse, control haulage equipment removes and gets the goods container to shipment mouth department, when haulage equipment is far away from shipment mouth, because haulage equipment's speed is fixed, can cause haulage equipment can't in time remove shipment mouth department, and the shipment mouth in the upright storehouse constantly goes out goods, and the goods is piled up to appear in shipment mouth, influences further shipment, also can cause the goods can't in time carry the destination, has reduced cargo transportation's efficiency.

Based on the research, the present disclosure provides a method and a related apparatus for controlling a carrying device to pick up goods, wherein the method includes: acquiring the current number of carrying devices waiting for taking goods at each goods outlet of at least one goods outlet of the vertical warehouse, wherein the carrying devices are used for carrying goods containers sent out from the corresponding goods outlet; determining whether the carrying equipment waiting for taking goods needs to be distributed to each goods outlet according to the current number of the carrying equipment waiting for taking goods at each goods outlet and the target number of the carrying equipment set for the goods outlet; if yes, controlling the carrying equipment in the idle state to move to the goods outlet to wait for taking the goods. Through the method for controlling the carrying equipment to take goods, the carrying equipment can be distributed to the goods outlet of the vertical warehouse before the goods are delivered from the vertical warehouse, so that after the goods are delivered from the vertical warehouse, the carrying equipment can timely carry the goods container to the target workstation, the situation that the goods are stacked at the goods outlet of the vertical warehouse is avoided, and the task processing efficiency of the target workstation is improved.

The above-mentioned drawbacks are the results of the inventor after practical and careful study, and therefore, the discovery process of the above-mentioned problems and the solutions proposed by the present disclosure to the above-mentioned problems should be the contribution of the inventor in the process of the present disclosure.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

For the convenience of understanding the embodiments of the present disclosure, a method for controlling the picking of the carrying device disclosed in the embodiments of the present disclosure will be described in detail first.

Example one

The embodiment of the disclosure provides a method for controlling a carrying device to take goods, which can be applied to a scene of goods delivery from a vertical warehouse, wherein the vertical warehouse is provided with at least one goods delivery port, and by the method for controlling the carrying device to take goods provided by the embodiment of the disclosure, the carrying device in an idle state at present can be controlled to move to the goods delivery port to queue for each goods delivery port of the vertical warehouse before the goods delivery from the vertical warehouse, wherein the number of the carrying devices corresponding to each goods delivery port is a preset target number, so that after the goods delivery from the vertical warehouse, the carrying device can timely carry goods containers for storing the goods to a target workstation, the goods containers are prevented from being stacked at the goods delivery ports, and the task processing efficiency of the target workstation is improved.

In specific implementation, the cargo container can be a material box, and the corresponding carrying equipment can be a carrying robot; the goods container can also be a tray, and the corresponding carrying equipment can be an unmanned forklift. For example, before the goods are delivered from the vertical warehouse, the carrying robot is controlled to queue at least one delivery port included in the vertical warehouse, and after the goods are delivered from each delivery port of the vertical warehouse, the carrying robot can timely carry the material box to the target workstation.

In specific implementation, the carrying equipment can be allocated to each shipment port according to the corresponding priority of each shipment port or/and the number of the carrying equipment in the vertical warehouse. Taking the example of allocating the carrying equipment to each shipment port according to the priority level and the number of the carrying equipment corresponding to each shipment port in the vertical warehouse as an example for explanation, if the number of the shipment ports corresponding to the vertical warehouse is 3, the first shipment port, the second shipment port and the third shipment port are included, and if the priority level corresponding to the first shipment port is one, the number of the corresponding carrying equipment is 2; the priority corresponding to the second goods outlet is two, and the number of the corresponding carrying equipment is 2; the priority corresponding to the third goods outlet is three, the number of the corresponding carrying devices is 1, and the preset target number is 3; analysis shows that the priority corresponding to the first outlet is higher than that of the second outlet, the priority corresponding to the second outlet is higher than that of the third outlet, and the number of the handling devices corresponding to the third outlet is the minimum, so that the handling devices can be allocated to the third outlet first, the handling devices currently in an idle state are controlled to move to the third outlet, and then the handling devices are allocated to each outlet in sequence according to the priority corresponding to each outlet, namely the handling devices are allocated to the first outlet, then the handling devices are allocated to the second outlet, and finally the handling devices are allocated to the third outlet until the number of the handling devices corresponding to each outlet is 3.

In specific implementation, a time period for executing the method for controlling the transportation device to pick up the goods provided by the embodiment of the present disclosure may be determined according to a shipment time period corresponding to the standing library, for example, if the shipment time period of the standing library per day is from 8. Alternatively, the method of controlling the transport apparatus to pick up the product may be executed when an execution request is received, and the method of controlling the transport apparatus to pick up the product may be stopped when a stop request is received, wherein a controller may be provided at the parking position, and the execution request and the stop request may be transmitted to a server that executes the method through the controller.

Referring to fig. 1, a flowchart of a method for controlling a handling apparatus to pick up goods according to an embodiment of the present disclosure is shown, where the method may be applied to a server, and the method includes steps S101 to S103, where:

s101, acquiring the current number of the carrying equipment waiting for taking goods at each goods outlet of at least one goods outlet of the vertical warehouse, wherein the carrying equipment is used for carrying the goods containers sent from the corresponding goods outlet.

In the embodiment of the disclosure, the current number of the handling devices waiting for picking up goods at each goods outlet of at least one goods outlet of the standing warehouse can be obtained before the first goods outlet of the standing warehouse every day; the current number of the carrying equipment waiting for taking goods at each goods outlet of the at least one goods outlet of the vertical warehouse can be obtained in real time in the goods outlet time period of the vertical warehouse.

For example, if the time period for the delivery from the stand is 8 to 18, the current number of the handling apparatuses waiting for the delivery at each delivery outlet of the at least one delivery outlet of the stand may be acquired before the delivery from the stand, that is, before 8; or, within the time period from 8; or after the vertical warehouse receives the shipment instruction for the first time in the same day, the current number of the carrying equipment waiting for taking the shipment at each shipment outlet of the at least one shipment outlet of the vertical warehouse is obtained before the vertical warehouse takes the shipment based on the shipment instruction.

In one possible embodiment, obtaining a current number of handling devices waiting to be picked at each of at least one of the outlets of the vertical includes:

determining the current number of the carrying equipment waiting for goods taking at each delivery port according to the carrying equipment scheduling record aiming at each delivery port; alternatively, the first and second electrodes may be,

In the embodiment of the present disclosure, the transportation device scheduling record of the shipment port includes the number of times of the transportation device allocated by the server for the shipment port and the number of times of the transportation device leaving the shipment port. Specifically, the server may determine the current number of the transporting devices waiting for picking up at the shipment port according to the transporting device scheduling record of each shipment port, that is, the server determines the current number of the transporting devices waiting for picking up corresponding to the shipment port according to the number of times of the transporting devices allocated to the shipment port and the number of times of the transporting devices leaving the shipment port.

In the embodiment of the present disclosure, each monitoring device is connected to the server, and the monitoring device may be a device capable of acquiring an image, for example, a video camera, a pan-tilt, a camera, and the like. Illustratively, the monitoring device a corresponding to the shipment port a sends the acquired image of the shipment port a to the server, and the server determines the current number of the transporting devices waiting for taking the shipment at the shipment port a based on the received image.

S102, determining whether the carrying equipment waiting for taking the goods needs to be distributed to the shipment port or not according to the current number of the carrying equipment waiting for taking the goods at each shipment port and the target number of the carrying equipment set for the shipment port.

In the embodiment of the disclosure, when the current number of the carrying devices waiting for taking goods at each goods outlet is less than the target number of the carrying devices arranged for the goods outlet, the carrying devices waiting for taking goods are allocated for the goods outlet; and when the current number of the carrying equipment waiting for taking the goods at each goods outlet is equal to the target number of the carrying equipment set for the goods outlet, stopping distributing the carrying equipment waiting for taking the goods for the goods outlet.

In one possible embodiment, the target number corresponding to each shipment port is determined based on one or more of the following information:

the corresponding delivery speed of each delivery port;

the longest time for the carrying equipment to reach the goods outlet;

the cargo handling priority of each shipment port;

In this embodiment of the present disclosure, the information for determining the number of targets corresponding to each shipment port may further include: the area of the corresponding region of each goods outlet, or the total area of the corresponding warehouse, etc. The target number of each goods outlet corresponding to the vertical warehouse can be the same or different. For example, if the number of the outlets corresponding to the warehouse is 3, that is, the first outlet, the second outlet, and the third outlet, the target numbers of the first outlet, the second outlet, and the third outlet may all be set to 5, or the target number of the first outlet may be determined to be 5, the target number of the second outlet may be determined to be 3, and the target number of the third outlet may be determined to be 6.

For example, the number of objects corresponding to each shipment port is the same, and in a specific implementation, one kind of information may be selected to determine the number of objects corresponding to each shipment port. For example, the target quantity corresponding to each shipment port may be determined only according to the shipment speed corresponding to each shipment port. For example, if the shipment speed corresponding to each shipment port is fast, the target number corresponding to each shipment port may be set to be large, for example, 5, and if the shipment speed corresponding to each shipment port is slow, the target number corresponding to each shipment port may be set to be small, for example, 3.

The same number of objects corresponding to each shipment port is taken as an example for explanation, and in specific implementation, various kinds of information can be selected to determine the number of objects corresponding to each shipment port. For example, the target quantity corresponding to each shipment port may be determined according to the shipment speed corresponding to each shipment port and the transportation time length from each shipment port to the delivery destination corresponding to the shipment port. For example, if the shipment speed corresponding to each shipment port is fast, and the transportation time from each shipment port to the shipment destination corresponding to the shipment port is long, the target number corresponding to each shipment port may be set to be larger, for example, 10; if the shipment speed corresponding to each shipment port is fast and the carrying time from each shipment port to the delivery destination corresponding to the shipment port is short, the target number corresponding to each shipment port may be set to be small, for example, 8; if the shipment speed corresponding to each shipment port is slow and the carrying time from each shipment port to the delivery destination corresponding to the shipment port is long, the target number corresponding to each shipment port may be set to be small, for example, 7; if the shipment speed corresponding to each shipment port is slow and the transportation time from each shipment port to the delivery destination corresponding to the shipment port is short, the target number corresponding to each shipment port may be set to be small, for example, 5.

In a specific implementation, if the information for determining the number of the objects corresponding to each shipment port is plural, a weight may be set for each information, and the number of the objects corresponding to each shipment port may be determined based on the weight of each information. For example, the information for determining the number of targets corresponding to each shipment port includes: the delivery speed corresponding to each delivery port, the carrying time from each delivery port to the delivery destination corresponding to the delivery port, and the longest time for the carrying equipment to reach the delivery port; the weight of the shipment speed corresponding to each shipment port may be set to 0.5, the weight of the carrying time period from each shipment port to the delivery destination corresponding to the shipment port may be set to 0.3, and the weight of the maximum time period for the carrying apparatus to reach the shipment port may be set to 0.2. The above method for setting the weight for each piece of information is only an exemplary illustration. In specific implementation, the method for determining the target number corresponding to each shipment outlet based on the selected multiple pieces of information may be determined according to actual situations, and this is not specifically limited in the embodiments of the present disclosure.

In specific implementation, the information for determining the number of the objects corresponding to each shipment port and the number of the objects corresponding to each shipment port may be determined according to actual conditions, and the embodiment of the disclosure is only an exemplary illustration and is not limited to this.

In one possible embodiment, determining whether the transporting equipment waiting for picking needs to be allocated to each outlet according to the current number of the transporting equipment waiting for picking at each outlet and the target number of the transporting equipment set for the outlet includes:

and if the current quantity is less than the target quantity, determining that the carrying equipment waiting for taking the goods needs to be distributed to the goods outlet.

In the embodiment of the disclosure, for each shipment port corresponding to the vertical warehouse, whether to allocate a carrying device waiting for taking the goods to the shipment port may be determined according to the current number and the target number of the carrying devices. In specific implementation, the handling equipment can be allocated to the shipment ports according to the current number or/and the target number corresponding to each shipment port.

For example, the process of allocating a handling device waiting for taking goods to each shipment port may be: and preferentially distributing the carrying equipment for the shipment port with the smallest number until the number of the carrying equipment corresponding to the shipment port is equal to the target number, and then distributing the carrying equipment for the shipment port with the second smallest number until the number of the carrying equipment corresponding to each shipment port is equal to the target number. Alternatively, the process of allocating the handling equipment waiting for picking up goods to each goods outlet may also be as follows: if the current number corresponding to the goods outlet is different, the carrying equipment is preferentially distributed to the goods outlet with the least current number, if the current number corresponding to the goods outlet is the same, the carrying equipment can be randomly distributed to the goods outlet until the number of the carrying equipment corresponding to each goods outlet is equal to the target number.

For example, if the number of the outlets corresponding to the vertical warehouse is 3, that is, the first outlet, the second outlet, and the third outlet, the target number of the handling devices corresponding to each outlet is determined to be 5, the current number of the handling devices corresponding to the first outlet is 2, the current number of the handling devices corresponding to the second outlet is 3, and the current number of the handling devices corresponding to the third outlet is 4. The process of allocating a handling device waiting for picking up goods to each shipment port may be: and allocating the carrying equipment for the first shipment port until the number of the carrying equipment at the first shipment port is the target number, namely, until the number of the carrying equipment at the first shipment port is 5, then allocating the carrying equipment for the second shipment port until the number of the carrying equipment at the second shipment port is 5, and finally allocating the carrying equipment for the third shipment port until the number of the carrying equipment at the third shipment port is 5.

Alternatively, as described in the foregoing embodiments, the process of allocating the handling device waiting for picking up the goods to each of the shipment ports may be: preferentially distributing the carrying equipment for the shipment ports with a smaller current number, namely distributing a carrying equipment for the first shipment port, wherein at this time, the number of the carrying equipment corresponding to the first shipment port is 3, the current number of the carrying equipment corresponding to the second shipment port is 3, and the current number of the carrying equipment corresponding to the third shipment port is 4, then distributing the carrying equipment for the first shipment port and the second shipment port randomly, for example, distributing a carrying equipment for the second shipment port first, distributing a carrying equipment for the first shipment port, at this time, distributing robots for the first shipment port, the second shipment port and the third shipment port randomly until the current numbers of the carrying equipment corresponding to the first shipment port, the second shipment port and the third shipment port are 5, and stopping distribution.

In the embodiment of the present disclosure, the cargo handling priority corresponding to each shipment port may be determined based on the urgency of the cargo sent by each shipment port, for example, if the cargo corresponding to the first shipment port is an emergency cargo, the cargo handling priority corresponding to the first shipment port is the first; if the goods corresponding to the second goods outlet are urgent goods, the goods handling priority corresponding to the second goods outlet is the second; and if the goods corresponding to the third goods outlet are the common goods, the goods carrying priority corresponding to the third goods outlet is the third.

In one possible embodiment, determining whether the transporting device waiting for picking up needs to be allocated to each shipment port according to the current number of the transporting devices waiting for picking up at each shipment port, the target number of the transporting devices set for the shipment port, and the cargo transporting priority corresponding to each shipment port includes:

and for each goods outlet, if the current quantity corresponding to the goods outlet is less than the target quantity and other goods outlets with higher goods carrying priority than the goods outlet do not exist, determining that the carrying equipment in the idle state at present needs to be distributed to the goods outlet to wait for goods taking.

In the embodiment of the disclosure, the carrying equipment can be allocated to each shipment port according to the cargo carrying priority corresponding to each shipment port. Illustratively, the process of allocating a handling device waiting for picking to each shipment outlet may be: and preferentially distributing the conveying equipment for the outlet with the highest cargo conveying priority until the number of the conveying equipment corresponding to the outlet is equal to the target number, and then distributing the conveying equipment for the outlet with the second highest cargo conveying priority until the number of the conveying equipment corresponding to each outlet is equal to the target number.

For example, if the number of the outlets corresponding to the warehouse is 3, that is, the first outlet, the second outlet, and the third outlet, the target number of the handling equipment corresponding to each outlet is determined to be 5, the current number of the handling equipment corresponding to the first outlet is 2, the current number of the handling equipment corresponding to the second outlet is 3, and the current number of the handling equipment corresponding to the third outlet is 4, where the priority of the first outlet for carrying the cargo is first, the priority of the second outlet for carrying the cargo is third, the priority of the third outlet for carrying the cargo is second, the priority of the first outlet for carrying the cargo is higher than that of the third outlet, and the priority of the third outlet for carrying the cargo is higher than that of the second outlet. The process of allocating a handling device waiting for picking up goods to each shipment port may be: for each goods outlet, the target quantity of the carrying equipment corresponding to the first goods outlet is smaller than the target quantity, and the goods carrying priority of the first goods outlet is highest, namely, other goods outlets with the corresponding goods carrying priority higher than that of the first goods outlet do not exist, so that the carrying equipment is preferentially distributed for the first goods outlet until the current quantity corresponding to the first goods outlet is equal to the target quantity. And then distributing the carrying equipment for the third goods outlet until the current number corresponding to the third goods outlet is equal to the target number. And finally, distributing the carrying equipment for the second goods outlet until the current number corresponding to the second goods outlet is equal to the target number.

In a possible implementation, referring to a flowchart of a specific method for determining a need to allocate, to a shipment port, a carrier waiting for pickup to a shipment port in a method for controlling pickup of a carrier shown in fig. 2, specifically, determining whether a carrier waiting for pickup needs to be allocated to the shipment port according to a current number of carriers waiting for pickup at each shipment port, a target number of carriers set for the shipment port, and a cargo handling priority corresponding to each shipment port, includes:

s201, acquiring corresponding target outlets with the current quantity smaller than the target quantity;

s202, determining whether the conveying equipment in the idle state needs to be allocated to the target shipment port to wait for taking the goods according to the ratio of the current quantity corresponding to each target shipment port to the target quantity and the cargo conveying priority corresponding to each target shipment port.

In the embodiment of the present disclosure, when the ratio of the current quantity corresponding to each target shipment port to the target quantity is different, it may be determined whether the handling device currently in the idle state needs to be allocated to the shipment port to wait for taking the shipment according to the ratio of the current quantity corresponding to each target shipment port to the target quantity.

For example, if the ratio of the current quantity corresponding to the target shipment port to the target quantity is minimum, it is determined that the handling equipment in the idle state needs to be allocated to the target shipment port to wait for pickup; and if the ratio of the current quantity corresponding to the target shipment port to the target quantity is not the minimum value, determining that the carrying equipment in the idle state is not required to be allocated to the target shipment port to wait for taking the goods. After the carrying equipment is allocated to the target goods outlets, the ratio of the current quantity corresponding to each target goods outlet to the target quantity is determined again, and the step of obtaining each target goods outlet with the corresponding current quantity smaller than the target quantity is repeated until the current quantity of the carrying equipment corresponding to each target goods outlet is equal to the target quantity.

In the embodiment of the present disclosure, when the ratio of the current quantity corresponding to each target shipment port to the target quantity is the same, it may be determined whether the transportation device currently in the idle state needs to be allocated to the shipment port to wait for the pickup according to the cargo transportation priority corresponding to each target shipment port.

For example, if the ratio of the current quantity to the target quantity corresponding to the first target shipment port is the same as the ratio of the current quantity to the target quantity corresponding to the second target shipment port, and the ratio of the current quantity to the target quantity corresponding to the first target shipment port and the second shipment port is the minimum, it is determined whether the transportation device currently in the idle state needs to be allocated to the shipment port to wait for picking up goods according to the cargo transportation priority corresponding to the first target shipment port and the second target shipment port. If the cargo carrying priority of the first target shipment port is higher than that of the second target shipment port, determining that carrying equipment in an idle state at present needs to be allocated to the target shipment port to wait for goods taking aiming at the first target shipment port; and aiming at the second target delivery port, determining that the carrying equipment which is in the idle state at present does not need to be allocated to the target delivery port to wait for taking the goods.

For example, if the number of the outlets corresponding to the vertical warehouse is 3, that is, the first outlet, the second outlet, and the third outlet, the current number of the handling devices corresponding to each outlet is 2, the target number corresponding to the handling device of the first outlet is determined to be 4, the target number corresponding to the handling device of the second outlet is determined to be 5, and the target number corresponding to the handling device of the third outlet is determined to be 6, it can be known that the current numbers corresponding to the first outlet, the second outlet, and the third outlet are all smaller than the target number, and therefore the first outlet, the second outlet, and the third outlet are all target outlets; the ratio of the current quantity corresponding to the first goods outlet to the target quantity is 1/2, the ratio of the current quantity corresponding to the second goods outlet to the target quantity is 2/5, the ratio of the current quantity corresponding to the third goods outlet to the target quantity is 1/3, namely the ratio of the current quantity corresponding to the first goods outlet to the target quantity is larger than that of the second goods outlet, and the ratio of the current quantity corresponding to the second goods outlet to the target quantity is larger than that of the third goods outlet, aiming at the first goods outlet, it is determined that the carrying equipment in an idle state at present does not need to be distributed to the target goods outlet to wait for goods taking; aiming at the second delivery port, determining that the carrying equipment which is in the idle state at present does not need to be distributed to the target delivery port to wait for taking the goods; and determining that the carrying equipment in the idle state at present needs to be allocated to the target delivery port to wait for taking the goods for the third delivery port.

Continuing to explain the above embodiment, after the third shipment port is allocated with the handling device, the target shipment port is re-determined, and it can be known through analysis that the target shipment port is the first shipment port, the second shipment port, and the third shipment port, at this time, the ratio 1/2 of the current quantity corresponding to the first shipment port to the target quantity, the ratio 2/5 of the current quantity corresponding to the second shipment port to the target quantity, and the ratio 1/2 of the current quantity corresponding to the third shipment port to the target quantity, it is determined that the handling device currently in an idle state needs to be allocated to the second shipment port to wait for shipment.

After the carrying equipment is allocated to the second shipment port, the target shipment port is re-determined, and analysis shows that the target shipment ports are the first shipment port, the second shipment port, and the third shipment port, at this time, the ratio 1/2 of the current quantity corresponding to the first shipment port to the target quantity, the ratio 3/5 of the current quantity corresponding to the second shipment port to the target quantity, and the ratio 1/2 of the current quantity corresponding to the third shipment port to the target quantity, at this time, the ratio of the current quantity corresponding to the first shipment port and the third shipment port to the target quantity is the same, and if the carrying priority of the goods corresponding to the first shipment port is higher than that of the third shipment port, it is determined that the carrying equipment currently in an idle state needs to be allocated to the first shipment port to wait for taking the goods.

And repeating the step of obtaining the corresponding target outlets with the current quantity smaller than the target quantity until the current quantity corresponding to each outlet is equal to the target quantity.

In the embodiment of the present disclosure, the grade corresponding to the target shipment port may also be determined according to the ratio of the current quantity corresponding to the target shipment port to the target quantity, and whether the transportation device currently in an idle state needs to be allocated to the target shipment port to wait for pickup is determined according to the grade corresponding to each target shipment port and the cargo transportation priority corresponding to each target shipment port. Wherein, the grade corresponding to the target shipment port can be determined based on the preset ratio range. For example, the ratio of 0-1/3 is determined as a first grade (including 1/3), the ratio of 1/3-2/3 is determined as a second grade (excluding 1/3, including 2/3), the ratio of 2/3-1 (excluding 2/3 and 1) is determined as a third grade, and if the ratio of the current quantity corresponding to the target outlet a to the target quantity is 1/4, the grade corresponding to the target outlet is the first grade. The grade division corresponding to the target shipment port can be set according to actual conditions, and this is not specifically limited in the embodiment of the present disclosure.

For example, if the number of the outlets corresponding to the vertical warehouse is 3, that is, the current number of the handling devices corresponding to each outlet is 2, the target number corresponding to the handling device of the first outlet is determined to be 4, the target number corresponding to the handling device of the second outlet is determined to be 5, and the target number corresponding to the handling device of the third outlet is determined to be 6. If the ratio of 0 to 1/3 is determined as the first rank (including 1/3), the ratio of 1/3 to 2/3 is determined as the second rank (excluding 1/3, including 2/3), and the ratio of 2/3 to 1 (excluding 2/3 and 1) is determined as the third rank. The current quantity corresponding to the first goods outlet, the second goods outlet and the third goods outlet is smaller than the target quantity, so that the first goods outlet, the second goods outlet and the third goods outlet are all target goods outlets; the ratio of the current quantity corresponding to the first goods outlet to the target quantity is 1/2, the ratio of the current quantity corresponding to the second goods outlet to the target quantity is 2/5, and the ratio of the current quantity corresponding to the third goods outlet to the target quantity is 1/3. And analysis shows that the first goods outlet belongs to the second grade, the second goods outlet belongs to the second grade, and the third goods outlet belongs to the first grade, and then the carrying equipment which is in the idle state at present is determined to be allocated to the third goods outlet to wait for goods taking.

Continuing to explain the above embodiment, after the third shipment port is allocated with the handling device, the target shipment port is determined again, and the analysis shows that the target shipment port is the first shipment port, the second shipment port, and the third shipment port, and at this time, the ratio of the current quantity corresponding to the first shipment port to the target quantity is 1/2, the ratio of the current quantity corresponding to the second shipment port to the target quantity is 2/5, and the ratio of the current quantity corresponding to the third shipment port to the target quantity is 1/2. The analysis shows that the first goods outlet, the second goods outlet and the third goods outlet all belong to the second grade, so that the target goods outlets of the distribution and transportation equipment can be determined according to the goods transportation priority corresponding to each target goods outlet. And if the cargo carrying priority corresponding to the first goods outlet is first, the cargo carrying priority corresponding to the second goods outlet is third, and the cargo carrying priority corresponding to the third goods outlet is second, namely the cargo carrying priority corresponding to the first goods outlet is higher than that of the third goods outlet, and the cargo carrying priority corresponding to the third goods outlet is higher than that of the second goods outlet, determining that the carrying equipment in the idle state at present needs to be allocated to the first goods outlet to wait for goods taking.

And repeating the step of obtaining the corresponding target shipment outlets with the current quantity smaller than the target quantity until the current quantity corresponding to each shipment outlet is equal to the target quantity.

Receiving the above step S102, the method for controlling the carrying device to pick up the goods provided by the embodiment of the present disclosure further includes step S103.

And S103, if yes, controlling the carrying equipment in the idle state to move to the goods outlet to wait for goods taking.

In the embodiment of the disclosure, for each target shipment port, if the carrying equipment currently in an idle state needs to be allocated to the target shipment port to wait for taking the goods, the carrying equipment currently in the idle state is controlled to move to the shipment port to wait for taking the goods; and if the carrying equipment in the idle state at present does not need to be distributed to the target goods outlet to wait for goods taking, determining other target goods outlets except the target goods outlet in each target goods outlet. For example, if each target shipment port includes target shipment port a and target shipment port B. And for the target shipment port A, if the carrying equipment in the idle state at present is not required to be allocated to the target shipment port A to wait for taking the goods, determining whether the carrying equipment in the idle state at present is required to be allocated to the target shipment port B to wait for taking the goods.

In one possible embodiment, before obtaining the current number of the handling apparatuses waiting for picking at each of the at least one shipment port of the vertical warehouse, the method further includes:

and S104, detecting that the idle conveying equipment exists currently.

In the embodiment of the present disclosure, when it is detected that there is currently an idle transportation device, the current number of the transportation devices waiting for picking at each of the at least one shipment port of the vertical warehouse is obtained. And if detecting that no idle carrying equipment exists currently, not acquiring the current number of the carrying equipment waiting for taking goods at each goods outlet of at least one goods outlet of the vertical warehouse.

The method for controlling the carrying equipment to take goods provided by the embodiment of the disclosure comprises the steps of obtaining the current number of the carrying equipment waiting for taking goods at each goods outlet of at least one goods outlet of a vertical warehouse, wherein the carrying equipment is used for carrying goods containers sent from the corresponding goods outlet; determining whether the carrying equipment waiting for taking goods needs to be distributed to each goods outlet according to the current number of the carrying equipment waiting for taking goods at each goods outlet and the target number of the carrying equipment set for the goods outlet; and if so, controlling the carrying equipment in the idle state to move to the goods outlet to wait for goods taking. Through the method for controlling the carrying equipment to take the goods, the carrying equipment can be well distributed for the goods outlet to wait for taking the goods before the goods is discharged from the goods outlet of the vertical warehouse, so that after the goods is discharged from the goods outlet of the vertical warehouse, the carrying equipment can timely carry the goods container to the target workstation, the condition that the goods are stacked at the goods outlet of the vertical warehouse is avoided, and the efficiency of goods transportation is improved.

It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.

Based on the same inventive concept, the embodiment of the present disclosure further provides a device for controlling a carrying device to pick goods, which corresponds to the method for controlling the carrying device to pick goods, and since the principle of solving the problem of the device in the embodiment of the present disclosure is similar to the method for controlling the carrying device to pick goods in the embodiment of the present disclosure, the implementation of the device may refer to the implementation of the method, and repeated details are omitted.

Example two

Referring to fig. 3, a schematic structural diagram of an apparatus for controlling a handling device to pick up goods according to a second embodiment of the present disclosure is shown, where the apparatus includes: a current number obtaining module 301, a determining module 302 and a control module 303; wherein the content of the first and second substances,

the current quantity obtaining module 301 is configured to obtain a current quantity of the handling equipment waiting for picking at each of at least one shipment port of the vertical warehouse, where the handling equipment is used for handling the cargo containers sent from the corresponding shipment port;

the determining module 302 is configured to determine whether the transporting equipment waiting for picking up needs to be allocated to each of the shipment ports according to the current number of the transporting equipment waiting for picking up at each of the shipment ports and the target number of the transporting equipment set for the shipment port;

the control module 303 is configured to, if yes, control the handling apparatus currently in the idle state to move to the shipment port to wait for the shipment.

In a possible embodiment, the apparatus further comprises: a target quantity determination module configured to determine the target quantity corresponding to each shipment outlet based on one or more of the following information:

the corresponding delivery speed of each delivery port;

the longest time for the carrying equipment to reach the goods outlet;

the cargo handling priority of each shipment outlet;

In one possible embodiment, the current number obtaining module 301, when obtaining the current number of the handling apparatuses waiting to pick up at each of the at least one shipment outlet of the vertical warehouse, is configured to:

In one possible embodiment, the determining module 302, when determining whether a handling device waiting for picking needs to be allocated to the shipment port, is configured to:

In a possible embodiment, the apparatus further includes: a detection module 304;

the detection module 304 is configured to detect that there is currently an idle handling device.

In some embodiments, the functions of the apparatus provided in the embodiments of the present disclosure or the included templates may be used to execute the method described in the above method embodiments, and specific implementation thereof may refer to the description of the above method embodiments, and for brevity, no further description is provided here.

EXAMPLE III

Based on the same inventive concept, an embodiment of the present disclosure provides a system for controlling a carrying apparatus to pick up goods, and as shown in fig. 4, is a schematic structural diagram of a system for controlling a carrying apparatus to pick up goods provided in a third embodiment of the present disclosure, where the system includes: at least one handling apparatus 401 and a remote control device 402, wherein the remote control device 402 is connected with the handling apparatus 401 in a communication way; the remote control device 402 is configured to control the handling apparatus 401 to wait for picking up goods according to the method of the first embodiment.

The remote control device in the embodiments of the present disclosure may be any device having a processor, such as a server. The system for controlling the carrying equipment to take the goods provided by the embodiment of the disclosure has the same technical characteristics as the system for controlling the carrying equipment to take the goods provided by the first embodiment of the disclosure, so that the same technical problems can be solved, and the same technical effects can be achieved.

Example four

Based on the same technical concept, the embodiment of the disclosure also provides an electronic device. Referring to fig. 5, a schematic structural diagram of an electronic device 500 provided in the embodiment of the present disclosure includes a processor 501, a memory 502, and a bus 503. The memory 502 is used for storing execution instructions and includes a memory 5021 and an external memory 5022; the memory 5021 is also referred to as an internal memory, and is used for temporarily storing operation data in the processor 501 and data exchanged with an external storage 5022 such as a hard disk, the processor 501 exchanges data with the external storage 5022 through the memory 5021, and when the electronic device 500 operates, the processor 501 communicates with the storage 502 through the bus 503, so that the processor 501 executes the following instructions:

acquiring the current number of carrying equipment waiting for goods taking at each goods outlet of at least one goods outlet of the vertical warehouse, wherein the carrying equipment is used for carrying goods containers sent from the corresponding goods outlet;

determining whether the carrying equipment waiting for taking goods needs to be distributed to the shipment port or not according to the current number of the carrying equipment waiting for taking goods at each shipment port and the target number of the carrying equipment set for the shipment port;

if yes, controlling the carrying equipment in the idle state to move to the goods outlet to wait for taking the goods.

In one possible design, the instructions that may be executed by processor 501 further include:

determining the target quantity corresponding to each shipment port according to one or more of the following information:

the corresponding delivery speed of each delivery port;

the cargo handling priority of each shipment port;

the acquiring the current number of the carrying equipment waiting for taking goods at each goods outlet of at least one goods outlet of the vertical warehouse comprises the following steps:

determining the current number of the carrying equipment waiting for taking goods at the delivery port according to the carrying equipment scheduling record aiming at each delivery port; alternatively, the first and second liquid crystal display panels may be,

determining whether the carrying equipment waiting for taking the goods needs to be distributed to the shipment port according to the current number of the carrying equipment waiting for taking the goods at each shipment port and the target number of the carrying equipment set for the shipment port, wherein the method comprises the following steps:

according to the current number of the carrying devices waiting for taking goods at each goods outlet, the target number of the carrying devices arranged for the goods outlet and the goods carrying priority corresponding to each goods outlet, whether the carrying devices waiting for taking goods need to be distributed to the goods outlet is determined, and the method comprises the following steps:

before acquiring the current number of the handling equipment waiting for taking goods at each goods outlet of at least one goods outlet of the vertical warehouse, the method further comprises the following steps:

it is detected that there is currently an idle handling device.

EXAMPLE five

The disclosed embodiment also provides a computer readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program performs the steps of the method for controlling a handling apparatus to pick up goods described in the above method embodiments. The storage medium may be a volatile or non-volatile computer-readable storage medium.

The computer program product for controlling the method for picking up goods by the transporting device provided by the embodiment of the present disclosure includes a computer readable storage medium storing a program code, where instructions included in the program code may be used to execute steps of the method for controlling the transporting device to pick up goods described in the above method embodiment, which may be referred to in the above method embodiment specifically, and are not described herein again.

The embodiments of the present disclosure also provide a computer program, which when executed by a processor implements any one of the methods of the foregoing embodiments. The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.

It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working process of the system and the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and details are not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the units into only one type of logical function may be implemented in other ways, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. 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 disclosure 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 disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several 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 disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present disclosure, which are used for illustrating the technical solutions of the present disclosure and not for limiting the same, and the scope of the present disclosure is not limited thereto, and although the present disclosure 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 of the technical solutions described in the foregoing embodiments or equivalent technical features thereof within the technical scope of the present disclosure; such modifications, changes and substitutions do not depart from the spirit and scope of the embodiments disclosed herein, and they should be construed as being included therein. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A method of controlling a handling apparatus to pick up goods, the method comprising:

determining whether the carrying equipment waiting for goods taking needs to be distributed to each goods outlet according to the current number of the carrying equipment waiting for goods taking at each goods outlet, the target number of the carrying equipment arranged for the goods outlet and the goods carrying priority corresponding to each goods outlet;

2. The method of claim 1, wherein the target quantity for each shipment port is determined based on one or more of the following information:

the corresponding delivery speed of each delivery port;

the longest time for the carrying equipment to reach the goods outlet;

the cargo handling priority of each shipment outlet;

3. The method of claim 1, wherein obtaining the current number of handling devices waiting to pick at each of the at least one outlets of the vertical includes:

4. The method of claim 1, wherein determining whether the transporting equipment waiting for picking needs to be allocated to each shipment port according to the current number of the transporting equipment waiting for picking at each shipment port, the target number of the transporting equipment set for the shipment port, and the cargo transporting priority corresponding to each shipment port comprises:

5. The method of claim 1, wherein determining whether the transporting equipment waiting for picking needs to be allocated to each shipment port according to the current number of the transporting equipment waiting for picking at each shipment port, the target number of the transporting equipment set for the shipment port, and the cargo transporting priority corresponding to each shipment port comprises:

6. The method of claim 1, wherein determining whether a handling device waiting for pick-up needs to be allocated to each of the outlets according to the current number of handling devices waiting for pick-up at each of the outlets, the target number of handling devices set for the outlet, and the cargo handling priority corresponding to each outlet comprises:

7. The method of claim 1, wherein obtaining the current number of handling devices waiting to pick at each of the at least one outlets of the vertical further comprises:

it is detected that there is currently an idle handling device.

8. An apparatus for controlling a handling device to pick up goods, the apparatus comprising: the device comprises a current quantity acquisition module, a determination module and a control module;

the determining module is configured to determine whether the transporting equipment waiting for picking up needs to be allocated to the shipment port according to the current number of the transporting equipment waiting for picking up at each shipment port, the target number of the transporting equipment set for the shipment port and the cargo transporting priority corresponding to each shipment port;

and the control module is configured to control the carrying equipment in the idle state to move to the goods outlet to wait for goods taking if the control module is in the idle state.

9. The apparatus of claim 8, further comprising: a target quantity determination module configured to determine the target quantity for each shipment outlet based on one or more of the following information:

the corresponding delivery speed of each delivery port;

the longest time for the carrying equipment to reach the goods outlet;

the cargo handling priority of each shipment outlet;

10. The apparatus of claim 8, wherein the current quantity acquisition module, when acquiring the current quantity of handling equipment waiting to pick up at each of the at least one shipment port of the stand, is configured to:

11. The apparatus of claim 8, wherein the determination module, in determining whether handling equipment waiting for pick-up needs to be allocated for the shipment port, is configured to:

12. The apparatus of claim 8, wherein the determining module, in determining whether a handling device waiting for pick-up needs to be allocated for the shipment port, is configured to:

13. The apparatus of claim 8, wherein the determining module, in determining whether a handling device waiting for pick-up needs to be allocated for the shipment port, is configured to:

and determining whether the carrying equipment in the idle state at present needs to be allocated to the target outlet to wait for taking the goods or not according to the ratio of the current quantity corresponding to each target outlet to the target quantity and the goods carrying priority corresponding to each target outlet.

14. The apparatus of claim 8, further comprising: a detection module;

15. A system for controlling the pick-up of a handling apparatus, the system comprising: the remote control device is in communication connection with the carrying equipment; the remote control device is configured to control the handling apparatus to wait for a pick-up of goods based on the method according to any one of claims 1-7.

16. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine readable instructions when executed by the processor performing the steps of the method of controlling the retrieval of a carrier of any of claims 1 to 7.

17. A computer-readable storage medium, having stored thereon a computer program for executing the steps of the method for controlling the pick-up of a carrier device according to any one of claims 1 to 7 when executed by a processor.