CN113525978B - Goods warehouse-in method, device and system for dense warehouse - Google Patents

Goods warehouse-in method, device and system for dense warehouse Download PDF

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CN113525978B
CN113525978B CN202010293292.8A CN202010293292A CN113525978B CN 113525978 B CN113525978 B CN 113525978B CN 202010293292 A CN202010293292 A CN 202010293292A CN 113525978 B CN113525978 B CN 113525978B
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roadway
bin
sub
cargo
target
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CN113525978A (en
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郭瑞
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Beijing Kuangshi Robot Technology Co Ltd
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Beijing Kuangshi Robot Technology Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/0492Storage devices mechanical with cars adapted to travel in storage aisles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/137Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)

Abstract

The application provides a goods warehousing method, device and system of a dense warehouse, wherein the dense warehouse comprises multiple layers of sub-warehouses, roadway goods positions in each layer of sub-warehouses continuously store a carrier with goods, and the carrier moves through a shuttle; when the cargo stacking of the first carrier is completed, determining a candidate roadway set of the first carrier based on roadway information of each sub-bin and cargo information of the first carrier; the roadway information comprises roadway types, roadway depths and cargo types of occupied cargoes; the roadways in the candidate roadway set are correspondingly provided with priorities; determining a target sub-bin according to the priority of the laneways in the candidate laneway set corresponding to each sub-bin, and dispatching the first bearing body to the target sub-bin; when the first bearing body reaches the target sub-bin, determining a target roadway based on a candidate roadway set corresponding to the target sub-bin; and warehousing the first bearing body onto a cargo space of the target roadway. The method and the device can relieve excessive occurrence of the supporting body, and provide effective guarantee for subsequent delivery of the supporting body.

Description

Goods warehouse-in method, device and system for dense warehouse
Technical Field
The application relates to the technical field of warehouse logistics, in particular to a method, a device and a system for warehousing goods of a dense warehouse.
Background
The dense storage is a storage system which utilizes a special storage and taking mode or a goods shelf structure to realize continuous storage of goods on the depth of the goods shelf and maximize storage density. For dense warehousing, it is necessary to increase capacity in the same warehouse area to save space resources. Space resources are saved, on one hand, shuttle channels can be saved, and the depth of a roadway is increased; on the other hand, the height is increased to form a plurality of sub-bins (also called warehouse floors, each of which is regarded as a sub-bin). Goods in dense storage are usually piled up to trays or containers before being put in storage, and the goods are put out of the storage and put in the storage through a shuttle car and a lifter.
However, the space is saved, and meanwhile, the problems of fewer operation channels, more complex operation and the like in the intensive warehouse often affect the operation efficiency. For example, during the process of delivering, the target tray may be located in a relatively inner cargo space of the roadway, so that the target tray is blocked during delivering, and the target tray needs to be moved to other roadways first. If more blocking trays are needed in the process of delivery, the delivery efficiency is poor.
Disclosure of Invention
In view of the above, the present application aims to provide a method, a device and a system for warehousing goods in a dense warehouse, which can relieve excessive obstruction to the occurrence of carriers and provide effective guarantee for the subsequent shipment of carriers.
In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:
in a first aspect, an embodiment of the present application provides a method for loading goods into a dense warehouse, where the dense warehouse includes multiple layers of sub-bins, and roadway goods locations in each layer of sub-bins continuously store a carrier with goods, and the carrier moves through a shuttle; the method comprises the following steps: when the cargo stacking of the first carrier is completed, determining a candidate roadway set of the first carrier based on roadway information of each sub-bin and cargo information of the first carrier; the roadway information comprises roadway types, roadway depths and cargo types of occupied cargoes; the roadways in the candidate roadway set are correspondingly provided with priorities; determining a target sub-bin according to the priority of the laneways in the candidate laneway set corresponding to each sub-bin, and dispatching the first bearing body to the target sub-bin; when the first bearing body reaches the target sub-bin, determining a target roadway based on a candidate roadway set corresponding to the target sub-bin; and warehousing the first bearing body onto a cargo space of the target roadway.
Further, the step of determining the candidate roadway set of the first carrier based on the roadway information of each sub-bin and the cargo information of the first carrier includes: determining a first class roadway in each sub-bin according to roadway information of each sub-bin; wherein, the first class tunnel includes: leaving one roadway and leaving multiple roadways; the empty cargo space of the reserved roadway is only one, the cargo type at the adjacent position of the empty cargo space is the same as the cargo type of the first bearing body, and the cargo type of at least one cargo space in the occupied cargo space except the adjacent position is different from the cargo type of the first bearing body; the number of empty cargo spaces in the multi-roadway is multiple, and the types of the cargo spaces occupied are the same as those of the first carrier; and adding the first class roadway in each sub-bin into a candidate roadway set corresponding to the sub-bin, and setting the priority of the first class roadway to be the highest.
Further, the step of determining the candidate roadway set of the first carrier based on the roadway information of each sub-bin and the cargo information of the first carrier further includes: determining a second class roadway in each sub-bin based on roadway information of each sub-bin; the second class of lanes comprises: single-mouth empty roadway, double-mouth single-sku roadway, double-mouth empty roadway and multi-sku roadway; the double-port single-sky roadway is a double-port roadway with the same type of goods on the occupied goods space and empty goods space; the multi-sky roadway is a roadway with a plurality of types of cargoes on occupied cargoes and a plurality of empty cargo spaces; and adding the second class roadway in each sub-bin to the candidate roadway set corresponding to the sub-bin, and setting the priority of the second class roadway as the next highest.
Further, the step of determining the target sub-bin according to the priority of the laneway in the candidate laneway set corresponding to each sub-bin includes: checking whether first class roadways exist in candidate roadway sets corresponding to all sub-bins; selecting a target sub-bin from sub-bins containing lanes of the first type, if any; if the load information does not exist, the load information of the load bearing bodies which are dispatched to each sub-bin in the appointed time in the future is estimated, and the target sub-bin is determined according to the load information of the load bearing bodies of each sub-bin and the second class roadway of each sub-bin.
Further, the step of selecting the target sub-bin from the sub-bins containing the first class of lanes includes: selecting a target sub-bin from sub-bins containing first class roadways according to a cargo allocation proportion balancing mechanism of the same class; or selecting a target sub-bin from sub-bins containing the first class of roadways based on a preset sku heat and roadway site distance matching principle; the preset sky heat and roadway site distance matching principle comprises the following steps: the larger the sku heat is, the smaller the roadway site distance of the matched roadway corresponding to the carrier is, and the sku heat is used for representing the probability that goods on the carrier are picked in unit time.
Further, the step of predicting cargo information of the carriers dispatched to each sub-bin in the future designated time includes: counting the goods information of the carrier which is moving and is not allocated with the goods space; estimating the number of carriers corresponding to each cargo type based on the cargoes of the carriers to be distributed; based on the counted cargo information of the carriers and the estimated number of the carriers corresponding to each cargo type, the cargo information of the carriers dispatched to each sub-bin in the future appointed time is estimated.
Further, the step of determining the target roadway based on the candidate roadway set corresponding to the target sub-bin includes: acquiring a candidate roadway set corresponding to a target sub-bin; if the candidate roadways corresponding to the target sub-bin are concentrated to form first-class roadways, selecting the target roadway from the first-class roadways corresponding to the target sub-bin; and if the first type of roadway does not exist in the candidate roadway set corresponding to the target sub-bin, selecting the target roadway based on the second type of roadway corresponding to the target sub-bin.
Further, the step of selecting the target roadway from the first type roadway corresponding to the target sub-bin includes: if the first class roadway corresponding to the target sub-bin is multiple, selecting a target roadway from the first class roadway corresponding to the target sub-bin based on a preset sku heat and roadway site distance matching principle; the preset sky heat and roadway site distance matching principle comprises the following steps: the larger the sku heat is, the smaller the roadway site distance of the matched roadway corresponding to the carrier is, and the sku heat is used for representing the probability that goods on the carrier are picked in unit time.
Further, the step of selecting the target roadway based on the second class roadway includes: determining the number of carriers corresponding to the cargo type of the first carrier according to the cargo information of the carriers dispatched to the target sub-bin in the future appointed time; if the number of the carriers corresponding to the cargo type of the first carrier is smaller than the maximum value of the roadway depth of the target sub-bin, checking whether a first waiting roadway exists in a second type roadway corresponding to the target sub-bin, wherein the first waiting roadway is a single-port empty roadway or a double-port single-sky roadway; and if the first waiting roadway exists, selecting a target roadway from the first waiting roadway based on the principle of matching the sku heat with the roadway site distance.
The step of selecting the target roadway from the first waiting roadway based on the sku heat and roadway site distance matching principle comprises the following steps: determining a second waiting roadway according to the empty cargo level number of each roadway in the first waiting roadway and the number of the first bearing bodies; wherein the difference between the empty cargo level number of the second undetermined roadway and the number of the carriers corresponding to the cargo type of the first carrier is equal to 0 or equal to 1; and selecting a target roadway from the second waiting roadway based on the principle of matching the sky heat with the roadway site distance.
Further, the step of selecting the target roadway based on the second class roadway corresponding to the target sub-bin includes: determining the number of carriers corresponding to the cargo type of the first carrier according to the cargo information of the carriers dispatched to the target sub-bin in the future appointed time; if the number of the carriers corresponding to the cargo type of the first carrier is larger than or equal to the maximum value of the roadway depth of the target sub-bin, selecting a single-port empty roadway with the maximum roadway depth or a double-port empty roadway with the maximum roadway depth from the second type of roadway corresponding to the target sub-bin as the target roadway based on the principle of matching the sky heat and the roadway site distance.
Further, the step of selecting the target roadway based on the second class roadway corresponding to the target sub-bin further includes: determining the number of carriers corresponding to the cargo type of the first carrier according to the cargo information of the carriers dispatched to the target sub-bin in the future appointed time;
if the number of the carriers corresponding to the cargo type of the first carrier is smaller than the maximum value of the roadway depth of the target sub-bin, selecting a third roadway to be determined from the second type of roadway of the target sub-bin; the roadway in the third undetermined roadway comprises at least one of a double-mouth empty roadway, a single-mouth empty roadway or a double-mouth single-skin roadway, and the roadway depth of the undetermined roadway is larger than or equal to the number of carriers corresponding to the cargo type of the first carrier; based on the principle of matching the sky heat and the roadway site distance, selecting a roadway with the smallest roadway depth from the third waiting roadway set as a target roadway.
Further, the step of selecting the target roadway based on the second class roadway corresponding to the target sub-bin further comprises: if the total number of the goods types corresponding to the dense warehouse is larger than a set threshold value, and the number of the carriers corresponding to the goods types of the first carrier is 1, selecting a roadway from the second type of roadway corresponding to the target sub-warehouse according to a preset priority selection sequence; wherein, the priority selection sequence is as follows: a double-mouth empty roadway, a double-mouth roadway with two cargo types, a single-mouth roadway with one cargo type, a single-mouth empty roadway, a double-mouth single-sky roadway and a roadway with more than two cargo types; and selecting a roadway with the smallest roadway depth from the selected roadways as a target roadway based on the principle of matching the sky heat and the roadway site distance.
Further, the principle of matching the sku heat with the roadway site distance comprises the following steps: according to the cargo information of the carriers dispatched to the target sub-bin in the future appointed time, determining the sku heat and the number of the carriers corresponding to each cargo type, wherein the sku heat is equal to the ratio of the total order number and the total stock number corresponding to the cargo type; determining a heat measurement value of each cargo type based on the sku heat corresponding to each cargo type and the number of supporting bodies corresponding to each cargo type; wherein the heat metric value is used for representing the ex-warehouse arrangement of the goods type; for each station, determining the roadway distance of each roadway based on the distance from the roadway corresponding to the station; the roadway distance is normalized, and the closer the distance between the roadway and the station is, the smaller the roadway distance is; for each carrier, the lane corresponding to the lane distance closest to the heat measurement value corresponding to the cargo type of the carrier is used as the lane matched with the carrier.
Further, the step of determining a heat metric value of each cargo type based on the sku heat corresponding to each cargo type and the number of carriers corresponding to each cargo type includes: ranking each of said cargo types based on a high to low order of sku heat; and determining the heat measurement value of each cargo type based on the sequencing result of each cargo type and the number of the bearing bodies corresponding to each cargo type.
In a second aspect, an embodiment of the present application further provides a cargo warehousing device of a dense warehouse, where the dense warehouse includes multiple layers of sub-bins, and roadway cargo positions in each layer of sub-bins continuously store a carrier with cargo, and the carrier moves through a shuttle; the device comprises: the candidate roadway set determining module is used for determining a candidate roadway set of the first bearing body based on roadway information of each sub-bin and cargo information of the first bearing body when cargo stacking of the first bearing body is completed; the roadway information comprises roadway types, roadway depths and cargo types of occupied cargoes; the roadways in the candidate roadway set are correspondingly provided with priorities; the target sub-bin determining module is used for determining a target sub-bin according to the priority of the laneway in the candidate laneway set corresponding to each sub-bin and dispatching the first bearing body to the target sub-bin; the target roadway determining module is used for determining a target roadway based on a candidate roadway set corresponding to the target sub-bin when the first bearing body reaches the target sub-bin; and the warehousing module is used for warehousing the first bearing body to the goods space of the target roadway.
In a third aspect, an embodiment of the present application further provides a cargo warehousing system of a dense warehouse, where the system includes: the system comprises a server, at least one elevator and at least one shuttle; the server is respectively in communication connection with the hoisting machine and the shuttle; the server is configured to perform the method according to the first aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having a computer program stored thereon, which when executed by a processor performs the steps of the method of any of the first aspects described above.
The embodiment of the application provides a goods warehouse-in method, device and system of a dense warehouse, wherein a candidate roadway set is determined based on roadway information of each sub-warehouse and goods information of a carrier, and a target sub-warehouse is determined according to priorities of roadways in the candidate roadway set corresponding to each sub-warehouse, so that the sub-warehouse distributed by the carrier can be more reasonable.
Additional features and advantages of the application will be set forth in the description which follows, or in part will be obvious from the description, or may be learned by practice of the techniques of the disclosure.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed 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 application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic diagram of a simple pallet shuttle dense warehouse in the prior art;
fig. 2 shows a schematic structural diagram of an electronic device according to an embodiment of the present application;
FIG. 3 is a flow chart of a method for warehousing goods in a dense warehouse according to an embodiment of the present application;
FIG. 4 shows a flowchart of a candidate roadway set determination method provided by an embodiment of the present application;
FIG. 5 shows a flowchart of a method for determining a target sub-bin according to an embodiment of the present application;
FIG. 6 is a flow chart illustrating a method for predicting cargo information according to an embodiment of the present application;
FIG. 7 is a flowchart of a method for determining a target roadway based on a candidate roadway set corresponding to a target sub-bin according to an embodiment of the present application;
fig. 8 is a block diagram of a cargo warehouse entry device of a dense warehouse according to an embodiment of the present application;
FIG. 9 is a block diagram of another embodiment of a warehouse entry device for a dense warehouse;
fig. 10 shows a block diagram of a cargo warehousing system of a dense warehouse according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the present application 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 application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The carrier in this embodiment refers to a device for carrying goods, which may be a tray, a bin, or a device with a shelf structure, etc., where the bottom of the carrier is adapted to a shuttle, and the shuttle may carry the carrier and move the carrier to a destination position. Referring to a schematic diagram of a simple pallet shuttle dense warehouse shown in fig. 1, a pallet is taken as an example for illustration of a carrier in the dense warehouse (or a warehouse), wherein the dense warehouse (or warehouse) may include multiple layers of sub-warehouses (the diagram is a top view, only one layer of sub-warehouses is shown), each layer of sub-warehouses includes multiple roadways, the diagram includes multiple roadway with the depth of 1×6 and multiple roadway with the depth of 1×1, namely, each roadway has one roadway opening (in practical application, some roadways may also have two roadway openings), the position of a circle in the diagram is a roadway cargo space without the pallet, a square frame with cross oblique lines is the pallet with cargo, and the cargo is continuously stored on the depth of each roadway, thereby increasing the storage density. During warehouse entry, the shuttle car can drive the tray to move to the goods position of the roadway along the operation channel (the area where the dotted line is positioned in the figure), so that the warehouse entry operation of goods is completed. During the warehouse-out, the shuttle is moved to a designated goods position according to the warehouse-out instruction to carry the tray out of the roadway, and the tray is carried to a lifter (a first lifter or a second lifter in the figure) or other warehouse-out ports (not shown in the figure).
The goods in the intensive warehouse are usually more in types, the goods on each tray are often the same type of goods, and the goods on different trays can be different in types, and because the trays are continuously stored on the roadway, when an order requires the target tray to be delivered out of the warehouse, the target tray can not be at the roadway opening, the obstructing tray in front of the target tray needs to be moved to other roadways, if the obstructing tray is more, the delivery efficiency is lower, and the operation power consumption of the shuttle is also larger. Based on the above, the embodiment of the application provides a goods warehouse-in method, device and system of a dense warehouse, which can promote the rationality of warehouse-in, relieve excessive obstruction of the occurrence of a carrier, and provide effective guarantee for the subsequent warehouse-out of the carrier. For ease of understanding, embodiments of the present application are described in detail below.
Embodiment one:
first, an example electronic device 200 for implementing the method, apparatus, and system for warehousing goods for a dense warehouse of an embodiment of the present application is described with reference to fig. 2.
As shown in fig. 2, an electronic device 200 includes one or more processors 202, one or more storage devices 204, an input device 206, an output device 208, and an image capture device 210, which are interconnected by a bus system 212 and/or other forms of connection mechanisms (not shown). It should be noted that the components and structures of the electronic device 200 shown in fig. 2 are exemplary only and not limiting, and that the electronic device may have some of the components shown in fig. 2 or may have other components and structures not shown in fig. 2, as desired.
The processor 202 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device 200 to perform desired functions.
The storage 204 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) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that may be executed by the processor 202 to implement client functions and/or other desired functions in embodiments of the present application as 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 206 may be a device used by a user to input instructions and may include one or more of a keyboard, mouse, microphone, touch screen, and the like.
The output device 208 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 image capture device 210 may take images (e.g., photographs, videos, etc.) desired by the user and store the taken images in the storage device 204 for use by other components.
For example, an example electronic device for implementing a method, apparatus and system for warehousing goods in a dense warehouse according to embodiments of the present application may be implemented on a terminal such as a server, smart phone, tablet, computer, etc.
Embodiment two:
the embodiment provides a flow chart of a goods warehousing method of a dense warehouse, wherein the dense warehouse comprises multiple layers of sub-warehouses, a roadway goods position in each layer of sub-warehouses continuously stores a carrier with goods, and the carrier moves through a shuttle; the carrier may be a tray, or other container such as a box or shelf for storing goods and being transported by a shuttle, and referring to fig. 3, the method specifically includes the steps of:
Step S302, when the cargo stacking of the first carrier is completed, a candidate roadway set of the first carrier is determined based on the roadway information of each sub-bin and the cargo information of the first carrier.
When the goods are put in storage, a plurality of goods of the same type or different types with relevance are firstly piled on one carrier, the goods of the different types with relevance can be regarded as the goods of the same type, and generally, the goods can be put out of storage and put in storage at the same time. And conveying the piled carriers to a cargo space of a target tunnel through a shuttle car to finish warehousing. Therefore, when the stacking of the cargos of the first carrier is completed, the cargos information of the first carrier is determined, and the cargos information can include information such as the cargos type, the number of cargos corresponding to the cargos type and the like.
The roadway information comprises roadway types (such as double-port roadway and single-port roadway), roadway depth and cargo types of occupied cargoes; the manner of determining the candidate roadway set of the first carrier based on the roadway information of each sub-bin and the cargo information of the first carrier is not particularly limited herein. To facilitate the differentiation of the individual lanes, the lanes may be prioritized, based on which the candidate set includes lanes of different priorities, and one or more lanes of the same priority may be selected, and generally, the higher the priority, the easier it is to be the final target lane.
In a specific implementation, the candidate roadway set of the first carrier may be in the form of: the first candidate roadway set corresponding to the first sub-bin, the second candidate roadway set corresponding to the second sub-bin, … … and the N candidate roadway set corresponding to the N sub-bin. The lanes in the first candidate lane set, the second candidate lane set, … … and the Nth candidate lane set are marked with priorities. For example: the lanes with the highest priority in the first candidate lane set are a 10 th lane and a 17 th lane, and the lanes with the secondary priority are a 5 th lane, a 7 th lane and a 20 th lane; the highest priority lane in the second candidate lane set is empty (i.e., there is no highest priority lane), and the second priority lanes are the 15 th lane, the 17 th lane and the 30 th lane.
Step S304, determining a target sub-bin according to the priority of the laneways in the candidate laneway set corresponding to each sub-bin, and dispatching the first bearing body to the target sub-bin.
Because the roadways in the candidate roadway set can be roadways in different sub-cabins and correspond to different priorities, comprehensive consideration can be carried out on the roadways with different priorities in a plurality of different sub-cabins, and one of the plurality of sub-cabins is selected as a target sub-cabin according to a certain rule. The specific rule can be according to the equilibrium mechanism of the distribution proportion of the same type of goods, or can also be a preset sku heat and roadway site distance matching principle, or can be based on the random distribution of candidate roadway sets, namely, a roadway is randomly selected from the candidate roadway sets, and the sub-bin to which the roadway belongs is a target sub-bin, so that the equilibrium and scattered storage of the same type of goods among the sub-bins is realized. After the target sub-bin is determined, the first bearing body is dispatched to the target sub-bin, and if the position of the target sub-bin is not the ground sub-bin, the shuttle on which the first bearing body is placed can be conveyed to the target sub-bin through the lifter.
Step S306, when the first bearing body reaches the target sub-bin, determining a target roadway based on the candidate roadway set corresponding to the target sub-bin.
The candidate roadway set corresponding to the target sub-bin can be directly determined based on the candidate roadway set of the first bearing body, namely, the roadway corresponding to the target sub-bin is found out from the candidate roadway set of the first bearing body. Or, the candidate roadway set corresponding to the target sub-bin can be determined again based on the current roadway information of the target sub-bin and the cargo information of the first carrier. Likewise, the lanes in the candidate lane set correspond to priorities.
When the first bearing body reaches the target sub-bin, selecting a roadway from the candidate roadway sets corresponding to the target sub-bin according to a certain rule as a target roadway. The rules herein may include a variety of implementations, such as: the screening principle determined based on the preset sku heat and roadway site distance matching principle or by considering the cargo information in a predicted future certain time period is not particularly limited herein.
Step S308, the first bearing body is put in storage to the goods space of the target roadway.
After the target roadway is determined, the first bearing body is put in storage on the goods space of the target roadway, namely, the first bearing body is conveyed to the goods space in the target roadway through a shuttle, because the goods space in the dense warehouse roadway is continuously stored, if the target roadway has goods occupying some roadways, the first bearing body can be placed adjacent to the goods at the outermost side, and the goods are continuously stored; if the target roadway is an empty roadway, the first bearing body can be placed at the innermost goods position of the target roadway.
According to the goods warehousing method for the dense warehouse, the candidate roadway sets are determined based on the roadway information of each sub-warehouse and the goods information of the supporting body, the target sub-warehouse is determined according to the priority of the roadway in the candidate roadway set corresponding to each sub-warehouse, the sub-warehouse distributed by the supporting body can be more reasonable, meanwhile, when the supporting body reaches the target sub-warehouse, the roadway goods positions are distributed again, the more reasonable target roadway can be determined based on the current actual conditions of the target sub-warehouse and the supporting body, the warehousing rationality is improved, excessive occurrence of the supporting body is relieved, and effective guarantee is provided for the follow-up warehouse discharging of the supporting body.
In order to simply and reasonably determine the candidate roadway set of the first carrier, the step S302 (determining the candidate roadway set of the first carrier based on the roadway information of each sub-bin and the cargo information of the first carrier) may be implemented with reference to the steps in the flowchart of the candidate roadway set determining method shown in fig. 4:
step S402, determining a first type roadway in each sub-bin according to roadway information of each sub-bin; wherein, the first class tunnel includes: leaving one roadway and leaving multiple roadways; wherein, the empty cargo space of the left roadway is only one, the cargo type on the adjacent position of the empty cargo space is the same as the cargo type of the first bearing body, and the cargo type of at least one cargo space in the occupied cargo space except the adjacent position is different from the cargo type of the first bearing body; the number of empty cargo spaces in the reserved multiple tunnels is multiple, and the types of the cargo spaces occupied by the empty cargo spaces are the same as those of the first bearing body.
The roadway information comprises roadway types, roadway depth and cargo types of occupied cargoes, wherein the roadway types comprise: double-mouth roadway, single-mouth roadway, etc. Searching whether a first type of roadway exists or not according to roadway information of each sub-bin, namely the one-reserved roadway and the multi-reserved roadway, wherein the empty goods space of the one-reserved roadway is only one, the goods type on the adjacent position (namely the outermost occupied goods space) of the empty goods space is the same as the goods type of the first bearing body, and the goods type of at least one goods space in the occupied goods space except the adjacent position is different from the goods type of the first bearing body; for example: the cargo type of the first supporting body is sku1, the roadway depth of the first roadway is 6, the cargo space farthest from the roadway opening is the 1 st cargo space (or simply referred to as cargo space 1), the cargo space nearest to the roadway opening (namely, the cargo space at the roadway opening) is the 6 th cargo space (or simply referred to as cargo space 6), if the first 5 cargo spaces of the first roadway are occupied, the cargo type of the 5 th cargo space is sku1, and the cargo type of at least one cargo space in the 1 st to 4 th cargo spaces is other than sku1, the first roadway is regarded as a reserved roadway. A plurality of empty cargo spaces are arranged on the multi-roadway, and the cargo types of the occupied cargo spaces are the same as the cargo types of the first bearing bodies; the term "plurality" in the embodiments of the present invention refers to two and more than two numbers. Continuing the previous example, if the roadway depth of the first roadway is 6 and the cargo types of the cargo positions 1-4 are sku1, the first roadway is a reserved multi-roadway. Of course, if the first lane is occupied with only cargo space 1 and the cargo type is sku1, the lane also belongs to the stay multiple lane.
Step S404, adding the first class roadway in each sub-bin to the candidate roadway set corresponding to the sub-bin, and setting the priority of the first class roadway to be the highest.
For each sub-bin, searching whether a first type of roadway exists according to roadway information of the sub-bin, adding the searched first type of roadway into a candidate roadway set corresponding to the sub-bin, and setting the priority of the type of roadway to be highest. The remaining one roadway and the remaining multiple roadways are used as first type roadways, the priority of the remaining one roadway and the remaining multiple roadways is highest, and the remaining one roadway and the remaining multiple roadways are most likely to be selected as target roadways of the first bearing body. This preference can avoid to some extent excessive overhead of the roadway opening, for example: if the roadway depth of the first roadway is 6 and the cargo types on cargo positions 1-5 are the same as the cargo type of the first supporting body, and if the cargo types are sku1, the first roadway does not belong to the roadway with the highest priority, so that the first supporting body is very small in possibility of being parked to the first roadway and further does not occupy the roadway mouth of the first roadway, and if the target roadway of the first supporting body is the second roadway belonging to the first type roadway under the condition. The roadway mouth of the first roadway can be kept empty for other supporting bodies to use. When the sku1 is required to be delivered, the supporting body on the 5 th cargo space can be selected from the first roadway, and the first supporting body can also be selected from the second roadway, so that the delivery efficiency is improved to a certain extent.
The number of the roadways meeting the conditions found by the candidate roadway set determining method is relatively small, and sometimes even the situation that the first type roadway is not found is caused, namely, the roadway with the highest priority is not found, so that the data range in the candidate roadway set needs to be further enlarged, and the suboptimal roadway is found and added into the candidate roadway set, therefore, the candidate roadway set determining method can further comprise the following steps of S406-S408:
step S406, determining a second class roadway in each sub-bin based on roadway information of each sub-bin; the second class of lanes comprises: single-mouth empty roadway, double-mouth single-sku roadway, double-mouth empty roadway and multi-sku roadway; the double-port single-sky roadway is a double-port roadway with the same type of goods on the occupied goods space and empty goods space; the multiple sky lanes are lanes with multiple types of the occupied goods and multiple empty goods spaces.
According to the roadway information of each sub-bin, searching whether an empty roadway exists, such as a single-port empty roadway or a double-port empty roadway, or a relatively empty roadway, namely a double-port single-sky roadway, and the roadway can be regarded as a single-port empty roadway. For example, the depth of the lane XD4 in the sub-bin PS1 is 6, wherein the occupied cargo space is 1-2 cargo space, the cargo types on the cargo space 1-2 are each sku2, and the cargo space 3-6 of the lane is empty. The lane XD4 in the sub-bin PS1 may be determined as the second type lane.
In consideration of the actual occupation situation of the roadway, there is also a multi-sky roadway, wherein the roadway is a roadway with a plurality of types of goods on occupied goods and a plurality of empty goods spaces. Because the multiple sku lanes have more types of goods, if the first carrier is put into the lane, the first carrier becomes an obstructing carrier because the order needs to take out one of the multiple types of goods, so that in practical application, the multiple sku lanes can be used as the last considered lane.
Step S408, adding the second class roadway in each sub-bin to the candidate roadway set corresponding to the sub-bin, and setting the priority of the second class roadway as the next highest.
For each sub-bin, searching whether a second type of roadway exists according to roadway information of the sub-bin and cargo information of the first bearing body, adding the searched second type of roadway into a candidate roadway set corresponding to the sub-bin, and setting the priority of the type of roadway to be next highest.
In order to more reasonably determine the target sub-bin into which the first carrier to be put should enter, step S304 (the step of determining the target sub-bin according to the priority of the lane in the candidate lane set corresponding to each sub-bin) may be implemented with reference to the steps in the flowchart of the target sub-bin determining method shown in fig. 5:
Step S502, checking whether first class roadways exist in the candidate roadway sets corresponding to the sub-bins. If so, step S504 is performed; if not, execute step S506;
by the method for determining the candidate roadway set of the first bearing body, the candidate roadway set corresponding to each sub-bin can be determined, and whether the first type roadway, namely the roadway with the highest priority, exists in the candidate roadway set corresponding to each sub-bin is further judged.
Step S504, selecting a target sub-bin from sub-bins containing the first class of roadways.
There are various ways of selecting a target sub-bin from sub-bins containing a first class of lanes, the following are preferred:
mode one: and selecting a target sub-bin from sub-bins containing the first class of roadways according to the same cargo allocation proportion balancing mechanism. For example, the cargo in the first carrier is sku2, and the distribution of sku2 in each sub-bin is: sub-bin PS1:100 sub-bins PS2:110, sub-bin PS3:50 sub-bins PS4: the sub-bin PS3 can be determined as the target sub-bin for the purpose of achieving a balanced sub-bin allocation ratio with 90 pieces, relatively minimal amount of sku2 in sub-bin PS3. That is, in the case that each sub-bin includes a first type of lane, referring to the number of cargoes in the first carrier stored in each sub-bin, the first carrier is allocated to the sub-bin PS3 based on the same type of cargo allocation proportion balancing mechanism.
Mode two: selecting a target sub-bin from sub-bins containing first class roadways based on a preset sku heat and roadway site distance matching principle; the preset sky heat and roadway site distance matching principle comprises the following steps: the larger the sku heat is, the smaller the roadway site distance of the matching roadway corresponding to the carrier is, and the sku heat is used for representing the probability that the goods on the carrier are picked in unit time, namely the expected value (estimated value) of the picking times of the goods of the carrier in a future period of time.
That is, based on the principle of matching the sky heat with the roadway site distance, the most suitable first type roadway is found from the plurality of first type roadways, and then the sub-bin where the most suitable first type roadway is located is used as the target sub-bin.
The principle of matching the sky heat and the roadway site distance specifically comprises the following contents:
(1) According to the cargo information of the carriers dispatched to the target sub-bin in the future appointed time, determining the sku heat and the number of the carriers corresponding to each cargo type, wherein the sku heat is equal to the ratio of the total order number (also called total demand) and the total stock number corresponding to the cargo type; i.e. sky i Heat hot is equal to the sku i Total order count total_demand i And total stock numbertotal_storage i Ratio of
Figure 451183DEST_PATH_IMAGE002
For example, the first carrier has a cargo of sku1, a total order number of 50 and a total stock number of 100, and then the first carrier, i.e., sku1, has a heat of 50/100=0.5. Typically, the total stock number will be greater than the total order number, i.e., a number between 0 and 1 for the sku heat.
(2) Determining a heat measurement value of each cargo type based on the sku heat corresponding to each cargo type and the number of supporting bodies corresponding to each cargo type; wherein the heat metric value is used to characterize the shipment ranking of the cargo type;
for example: ranking each of said cargo types based on a high to low order of sku heat; and determining the heat measurement value of each cargo type based on the sequencing result of each cargo type and the number of the supporting bodies corresponding to each cargo type.
In order to embody the ordering of different cargo types, when the sku heat is ordered from high to low, the heat ordering value corresponding to the sku with the earlier ordering is lower. Examples: a, B, C is used for representing goods corresponding to three different goods types, the number of trays and the number of orders of each goods type for a period of time in the future are estimated, the heat of A, B, C is obtained based on the calculation formula of the sku heat, and the heat ranking value of A, B, C is obtained based on the ranking of A, B, C from high to low. Assume that: a has a heat value of 0.1, which is 2 Torr in total; the heat value B is 0.2 and 3 Torr total; c has a heat value of 0.3 and total 5 Torr. The heat ranking was performed on A, B, C by heat value, resulting in A, B, C heat ranking values of f (C) =1, f (B) =2, f (a) =3. In order to enable the heat metric values to represent the ranking, the heat metric values of the cargo types can be sequentially given to values between 0 and 1 according to the order of the heat ranking values from small to large, and the smaller the heat ranking value is, the smaller the heat metric value is. The A, B, C heat metric value may be magnitude (C) =0, magnitude (B) =0.5, magnitude (a) =1.
Or, determining a heat measurement value in a mode of introducing the ordering parameters, wherein the ordering parameter corresponding to the goods with the heat ordering value of 1 is 0, and starting from the goods with the heat ordering value of 2, the ordering parameter of each good is the sum of the supporting bodies of the goods ordered in front of the goods; continuing the previous example, the highest C heat degree of the first sequencing is given to the sequencing parameter corresponding to C as 0; the second heat degree B of the second sorting is given to the trays with the first sorting parameters corresponding to B, namely the sorting parameters corresponding to B are 5; and the sorting parameter corresponding to A of the third sorting is the sum of the number of trays of the first sorting and the number of trays of the second sorting, namely, the sorting parameter corresponding to A is 8; the A, B, C heat metric value may be magnitude (C) =0/10, magnitude (B) =5/10, magnitude (a) =8/10.
(3) For each station, determining the roadway distance of each roadway based on the distance from the roadway corresponding to the station; the roadway distance is normalized, and the closer the distance between the roadway and the station is, the smaller the roadway distance is;
in the embodiment of the invention, the lanes corresponding to each station can be determined first, all lanes are ordered according to the distances from the station, the normalized lane distances are obtained to be values between 0 and 1, 0 means the lane closest to the station, and 1 means the lane farthest from the station.
(4) For each carrier, the lane corresponding to the lane distance closest to the heat measurement value corresponding to the cargo type of the carrier is used as the lane matched with the carrier.
Assuming that the heat measurement value of one supporting body is 0.5, a roadway with the roadway distance from the station being 0.5 is taken as a roadway matched with the supporting body. If there is no lane of 0.5, the lane closest to 0.5 is taken as the lane matching the carrier. Continuing with the previous example, A, B, C heat metrics may be magnitude (C) =0/10=0, magnitude (B) =5/10=0.5, magnitude (a) =8/10=0.8; the lane distance from 0-0.5 to lane corresponding to choice C, the lane distance from 0.5-0.8 to lane corresponding to choice B, and the lane distance from 0.8-1 to lane corresponding to choice A.
The principle of the above principle is as follows: the higher the heat of the sku is, the closer the distance between the roadway and the station is matched with the sku, so that the aim of high throughput can be achieved.
Step S506, predicting cargo information of the carriers dispatched to each sub-bin in the future appointed time, and determining a target sub-bin according to the cargo information of the carriers of each sub-bin and the second class roadway of each sub-bin.
Considering that the warehouse-in and warehouse-out of the goods in the warehouse is a dynamic and continuously-changing process, in order to achieve a better warehouse-in effect, the barriers are reduced as much as possible when the goods are delivered, when the first class of roadways do not exist in each sub-warehouse, the goods information of the carrier scheduled to each sub-warehouse in the future appointed time can be estimated, which goods are to be put in which sub-warehouses are estimated, and then the target sub-warehouse is determined according to the goods information of the carrier of each sub-warehouse and the second class of roadways of each sub-warehouse.
The step S506 (the step of predicting the cargo information of the carrier scheduled to each sub-bin in the future specified time) may be implemented with reference to the steps in the flowchart of the method for predicting cargo information shown in fig. 6:
step S602, statistics of cargo information of the moving carrier are performed.
In practical application, the warehouse entry and the warehouse exit of the goods are a dynamic change process, and there are always some carriers with goods placed in the moving process, for example, carriers in a lifter, so as to conveniently estimate the goods information of the carriers scheduled to each sub-warehouse in the appointed time in the future, firstly, the goods information of the carriers which are currently moving and are not distributed in the goods space is counted, and the goods information includes the goods types and the goods quantity.
In step S604, the number of carriers corresponding to each cargo type is estimated based on the cargoes of the carriers to be allocated.
The goods to be distributed on the carriers, namely the goods to be put in storage, can be placed in one carrier in a fixed number, so that the number of the carriers corresponding to each type of goods can be estimated based on the goods to be distributed on the carriers.
Step S606, based on the counted cargo information of the carriers and the estimated number of carriers corresponding to each cargo type, the cargo information of the carriers dispatched to each sub-bin in the future appointed time is estimated.
In order to reduce the obstruction of goods when leaving the warehouse as much as possible, improve the operation efficiency of the shuttle car and realize the maximum warehouse throughput, the embodiment of the application also provides a flowchart of a method for determining a target roadway based on a candidate roadway set corresponding to a target sub-warehouse, as shown in fig. 7, the method comprises the following steps:
step S702, a candidate roadway set corresponding to a target sub-bin is obtained.
The candidate roadway set corresponding to the target sub-bin can be a roadway set which is directly determined based on the candidate roadway set of the first bearing body and consists of the roadways in the target sub-bin, or can be a candidate roadway set which is redetermined based on the current roadway information of the target sub-bin and the cargo information of the first bearing body. Because the distribution of the goods in the warehouse may have changed in the process of conveying the first carrier to the target sub-warehouse, in order to more accurately screen out suitable candidate roadways, the current roadway information of the target sub-warehouse can be acquired again, and the candidate roadway set is determined again based on the current roadway information of the target sub-warehouse and the goods information of the first carrier. The specific process is similar to the process of the candidate roadway set determination method, and is not described herein.
Step S704, if the candidate roadways corresponding to the target sub-bin are concentrated to have the first type roadway, selecting the target roadway from the first type roadway corresponding to the target sub-bin.
Specifically, if the number of the first type of roadways is multiple, selecting a target roadway from the first type of roadways based on a preset sky heat and roadway site distance matching principle; the principle of matching the preset sku heat with the roadway site distance is as described above, and is not repeated here.
In practical application, if the first type of roadway exists in the target sub-bin, that is, the roadway with the highest priority, the roadway in the first type of roadway is preferably selected as the target roadway. In order to better select the target roadway, when the first-type roadway in the target sub-bin is a plurality of roadways, the target roadway can be selected from the first-type roadways based on the above-mentioned sku heat and roadway site distance matching principle. This way, the same type of goods can be stored more intensively.
Step S706, if the candidate roadway set corresponding to the target sub-bin does not have the first type roadway, selecting the target roadway based on the second type roadway corresponding to the target sub-bin.
The above-mentioned modes for selecting the target roadway based on the second class roadway corresponding to the target sub-bin are various, and the following preferred embodiments are listed:
Mode one: determining the number of carriers corresponding to the cargo type of the first carrier according to the cargo information of the carriers dispatched to the target sub-bin in the future appointed time; if the number of the carriers corresponding to the cargo type of the first carrier is smaller than the maximum value of the roadway depth of the target sub-bin, checking whether a first waiting roadway exists in a second type roadway corresponding to the target sub-bin, wherein the first waiting roadway is a single-port empty roadway or a double-port single-sku roadway; and if the first waiting roadway exists, selecting a target roadway from the first waiting roadway based on the sky heat and roadway site distance matching principle.
In practical application, at most 2 skus can be directly delivered from a double-mouth roadway, at most 1 sku can be directly delivered from a single-mouth roadway, and a single-mouth empty roadway and a double-mouth single sku roadway can be regarded as empty roadways with one roadway mouth, so that the two-mouth empty roadway and the double-mouth single sku roadway are preferably selected from the second type of roadways.
Based on the principle of matching the sky heat with the roadway site distance, the step of selecting the target roadway from the first waiting roadway may include: determining a second waiting roadway according to the empty cargo level number of each roadway in the first waiting roadway and the number of the first bearing bodies; wherein the difference between the empty cargo level number of the second undetermined roadway and the number of the carriers corresponding to the cargo type of the first carrier is equal to 0 or equal to 1; and selecting a target roadway from the second waiting roadway based on the principle of matching the sky heat and the roadway site distance. The mode of selecting the target roadway can achieve the aim that when different cargo types share the same roadway, the types of the cargo types on the roadway are minimum, and then the occurrence of obstruction is reduced to a certain extent.
Mode two: and determining the number of the carriers corresponding to the cargo type of the first carrier according to the cargo information of the carriers dispatched to the target sub-bin in the appointed time in the future. There are two more cases:
(1) If the number of the carriers corresponding to the cargo type of the first carrier is larger than or equal to the maximum value of the roadway depth of the target sub-bin, selecting a single-port empty roadway with the maximum roadway depth or a double-port empty roadway with the maximum roadway depth from the second type of roadway corresponding to the target sub-bin as the target roadway based on the principle of matching the sky heat and the roadway site distance.
For example, according to the cargo information of the carriers scheduled to the target sub-bin in the specified time (e.g. 5 minutes), the number of carriers corresponding to the determined cargo type of the first carrier is m1, the maximum value of the roadway depth of the target sub-bin is d, if m1> d, or m1=d, and based on the principle that the sky heat is matched with the roadway site distance, a single-port empty roadway with the maximum roadway depth or a double-port empty roadway with the maximum roadway depth is selected from the second type of roadway as the target roadway.
Aiming at the situation that a plurality of estimated supporting bodies corresponding to certain goods are arranged, a roadway with the largest depth is newly opened and is used as a target roadway, in this way, the target roadway becomes a first type roadway of a subsequent supporting body of the goods, the subsequent supporting body is firstly placed into the target roadway, the similar goods are stored in a concentrated mode to a certain extent, and occupation consumption of roadway ports is reduced.
(2) If the number of the carriers corresponding to the cargo type of the first carrier is smaller than the maximum value of the roadway depth of the target sub-bin, selecting a third roadway to be determined from the second type of roadway; the roadway in the third undetermined roadway comprises at least one of a double-mouth empty roadway, a single-mouth empty roadway or a double-mouth single-skin roadway, and the roadway depth of the undetermined roadway is larger than or equal to the number of carriers corresponding to the cargo type of the first carrier; based on the sky heat and roadway site distance matching principle, selecting a roadway with the smallest roadway depth from the third set of roadways to be determined as a target roadway.
Continuing the previous example, m1< d, selecting a roadway with d > m2 from the second type of roadways as a first waiting roadway, and then selecting a roadway with the smallest roadway depth from the first waiting roadway as a target roadway based on the principle of matching the sky heat with the roadway site distance.
In addition to the above manner of determining the target roadway, in consideration of the fact that in some dense storage, because of more types of goods, there is generally a blocking situation, in order to minimize the influence caused by blocking, the embodiment of the present invention optimizes this, and the step of selecting the target roadway based on the second type roadway corresponding to the target sub-bin further includes: if the total number of the goods types corresponding to the dense warehouse is larger than a set threshold value, and the number of the carriers corresponding to the goods types of the first carrier is 1, selecting the tunnel from the second class of tunnels corresponding to the target sub-warehouse according to a preset priority selection sequence; based on the principle of matching the sky heat and the roadway site distance, selecting a roadway with the smallest roadway depth from the selected roadways as a target roadway. Wherein, the priority selection sequence is: a double-mouth empty roadway, a double-mouth roadway with two cargo types, a single-mouth roadway with one cargo type, a single-mouth empty roadway, a double-mouth single-sky roadway and a roadway with more than two cargo types. Under the priority selection sequence, the double-mouth empty roadway is preferentially selected, if the double-mouth empty roadway is not available, the double-mouth roadway with two cargo types is selected, and the like until the target roadway is selected.
Based on the selection mode of the target roadway, the following description will take a supporting body as an example, and assume that the roadway depth is represented by m, the trays reaching the target sub-bin are P1, the upper goods are sku1, and n trays reaching the target sub-bin within 10 minutes are estimated to be sku 1. The selection process of the target roadway is as follows:
(1) Roadway mechanism based on first class
If there is a first type of tunnel in the candidate tunnel set of the target sub-bin, that is, the tunnel stores sku1, and the adjacent position of the stock space storing sku1 is empty, the first type of tunnel is preferentially selected as the target tunnel, the tray P1 is placed to the adjacent position, if there are multiple first type of tunnels, one target tunnel can be randomly selected, or the target tunnel can be selected from multiple first type of tunnels based on the principle that the sku heat is matched with the tunnel site distance.
In this example, according to the principle of matching the sky heat with the roadway site distance, a roadway with a normalized roadway distance value close to the sky heat measurement value of P1 is specifically selected as the target roadway.
(2) Based on a second class roadway mechanism
If the first class roadway does not exist in the candidate roadway set of the target sub-bin, selecting the target roadway from the second class roadway, wherein the target roadway can be specifically as follows:
If a single-port empty roadway or a double-port single-sku roadway exists, and m-n is equal to 0 or 1, selecting a target roadway from the single-port empty roadway or the double-port single-sku roadway based on the principle that the sku heat is matched with the roadway site distance;
furthermore, the embodiment may further select the target lane according to the estimated total number of trays of the sku 1. In order to better measure the total number of trays of the sku1, the estimated total number of trays of the sku1 and the deepest roadway number can be compared, the obtained ratio is expressed by PTD, if the PTD is larger than or equal to 1, it is indicated that one roadway accommodates all trays of the sku1, whether a single-mouth empty roadway or a double-mouth empty roadway with the maximum Depth (maximum roadway Depth) exists in the second type of roadway is checked, and if so, a target roadway is selected from the single-mouth empty roadway or the double-mouth empty roadway with the maximum Depth based on the principle of matching the sku heat and the roadway site distance.
In a specific application, a specific roadway selection mode can be determined according to the number of the goods types stored in the dense warehouse and the number of the carriers corresponding to each goods type, for the dense warehouse with more goods types and fewer carriers corresponding to each goods type, a situation that a large number of goods types only have one carrier is likely to exist, and the possibility that one carrier becomes a blocking tray is relatively high, based on the fact, the possibility that the carrier becomes the blocking tray can be determined according to the goods type of the current carrier, if the possibility is high, the blocking tray can be considered, and otherwise, the blocking tray is considered to be a non-blocking tray. Based on this, when the carrier reaches the target sub-bin, it can be determined whether the carrier is a blocking tray.
Continuing the former example, if the tray P1 is not an obstruction tray, judging whether a double-mouth empty roadway with m-n being more than or equal to 0 exists in a second type roadway of the target sub-bin, subtracting the estimated total tray number n of the sku1 from the roadway depth m of the double-mouth empty roadway to be more than or equal to 0, and if the double-mouth empty roadway exists, selecting a roadway with the minimum roadway depth from the double-mouth empty roadway as the target roadway based on the matching principle of the sku heat and the roadway site distance;
if the double-mouth empty roadway does not meet the requirements, judging whether a single-mouth empty roadway or a double-mouth single-sky roadway with m-n being more than or equal to 0 exists in the second type roadway of the target sub-bin, and if the single-mouth empty roadway or the double-mouth single-sky roadway exists, selecting a roadway with the minimum roadway depth from the single-mouth empty roadway or the double-mouth single-sky roadway as a target roadway based on the principle of matching the heat degree of the sky with the roadway site distance;
if tray P1 is a blocking tray, then: judging whether a remaining roadway with the shortest roadway depth exists in the second type roadway of the target sub-bin, and taking the roadway as the target roadway if the remaining roadway with the shortest roadway depth exists.
The selection mode of the target roadway can select the optimal target roadway according to the type of the goods on the supporting body, the type of the goods on the occupied goods space on the candidate roadway, the type of the goods on the supporting body possibly reaching the target sub-warehouse in a future period of time and the distance between the roadway and the station, so that the possibility of blocking the supporting body and the supporting body reaching the target sub-warehouse in the future period of time is reduced as much as possible, the delivery efficiency of the subsequent supporting body is improved, and the power consumption of the shuttle is saved.
Embodiment III:
based on the method embodiment, the embodiment of the application also provides a goods warehouse-in device of the dense warehouse, wherein the dense warehouse comprises multiple layers of sub-warehouses, and the roadway goods positions in each layer of sub-warehouses continuously store a carrier with goods, and the carrier moves through a shuttle; referring to fig. 8, the apparatus includes:
the candidate roadway set determining module 81 is configured to determine, when stacking of the cargo of the first carrier is completed, a candidate roadway set of the first carrier based on roadway information of each sub-bin and cargo information of the first carrier; the roadway information comprises roadway types, roadway depths and cargo types of occupied cargoes; the roadways in the candidate roadway set are correspondingly provided with priorities; a target sub-bin determining module 82, configured to determine a target sub-bin according to priorities of lanes in the candidate lane set corresponding to each sub-bin, and schedule the first carrier to the target sub-bin; a target roadway determining module 83, configured to determine a target roadway based on a candidate roadway set corresponding to the target sub-bin when the first carrier reaches the target sub-bin; the warehouse entry module 84 is configured to warehouse the first carrier onto a cargo space of the target roadway.
According to the goods warehouse entering device of the dense warehouse, the candidate roadway sets can be determined based on the roadway information of each sub-warehouse and the goods information of the supporting body; and the target sub-bin is determined according to the priority of the laneway in the candidate laneway set corresponding to each sub-bin, so that the sub-bin allocated by the carrier is more reasonable, meanwhile, the laneway cargo space is allocated again when the carrier reaches the target sub-bin, the more reasonable target laneway can be determined based on the current actual conditions of the target sub-bin and the carrier, the rationality of warehousing is improved, the occurrence of excessive carrier blocking is relieved, and effective guarantee is provided for the subsequent shipment of the carrier.
In another implementation, the cargo warehousing device of the dense warehouse includes a candidate roadway set determination module 91, a target sub-warehouse determination module 92, a target roadway determination module 93, and a warehousing module 94 similar to the above embodiments. Referring to fig. 9, the candidate roadway set determining module 91 includes: the roadway determining module 911 is configured to determine a first type roadway in each sub-bin according to roadway information of each sub-bin; wherein, the first class tunnel includes: leaving one roadway and leaving multiple roadways; the empty cargo space of the reserved roadway is only one, the cargo type at the adjacent position of the empty cargo space is the same as that of the first bearing body, and the cargo type of at least one cargo space in the occupied cargo space except the adjacent position is different from that of the first bearing body; the number of empty cargo spaces in the multi-roadway is multiple, and the types of the cargo spaces occupied are the same as those of the first carrier; the lane adding module 912 is configured to add the first type lanes in each sub-bin to the candidate lane set corresponding to the sub-bin, and set the priority of the first type lane to be the highest.
In one embodiment, the lane determining module 911 is further configured to determine a second type lane in each sub-bin based on lane information of each sub-bin; the second class of lanes comprises: single-mouth empty roadway, double-mouth single-sku roadway, double-mouth empty roadway and multi-sku roadway; the double-port single-sky roadway is a double-port roadway with the same type of goods on occupied goods and empty goods, the multiple-port single-sky roadway is a roadway with multiple types of goods on occupied goods and multiple empty goods; the above-mentioned roadway adding module 912 is further configured to add the second type roadway in each sub-bin to the candidate roadway set corresponding to the sub-bin, and set the priority of the second type roadway to be next highest.
In one embodiment, the target sub-bin determination module 92 further includes: the roadway checking module 921 is used for checking whether first-type roadways exist in the candidate roadway sets corresponding to the sub-bins; a sub-bin selection module 922 for selecting a target sub-bin from sub-bins containing the first type of roadway if the first type of roadway exists; if the load information does not exist, the load information of the load bearing bodies which are dispatched to each sub-bin in the appointed time in the future is estimated, and the target sub-bin is determined according to the load information of the load bearing bodies of each sub-bin and the second class roadway of each sub-bin.
In one embodiment, the sub-bin selection module 922 is further configured to: selecting a target sub-bin from sub-bins containing first class roadways according to a cargo allocation proportion balancing mechanism of the same class; or selecting a target sub-bin from sub-bins containing the first class of roadways based on a preset sku heat and roadway site distance matching principle; the preset sky heat and roadway site distance matching principle comprises the following steps: the larger the sku heat is, the smaller the roadway site distance of the matched roadway corresponding to the carrier is, and the sku heat is used for representing the probability that goods on the carrier are picked in unit time.
In one embodiment, the sub-bin selection module 922 is further configured to: counting the goods information of the carrier which is moving and is not allocated with the goods space; estimating the number of carriers corresponding to each cargo type based on the cargoes of the carriers to be distributed; based on the counted cargo information of the carriers and the estimated number of the carriers corresponding to each cargo type, the cargo information of the carriers dispatched to each sub-bin in the future appointed time is estimated.
In one embodiment, the target roadway determining module 93 is configured to: acquiring a candidate roadway set corresponding to a target sub-bin; if the candidate roadways corresponding to the target sub-bin are concentrated to form first-class roadways, selecting the target roadway from the first-class roadways corresponding to the target sub-bin; and if the first type of roadway does not exist in the candidate roadway set corresponding to the target sub-bin, selecting the target roadway based on the second type of roadway corresponding to the target sub-bin.
In one embodiment, the target roadway determining module 93 is further configured to: if the first type of roadway is multiple, selecting a target roadway from the first type of roadway based on a preset sku heat and roadway site distance matching principle; the preset sky heat and roadway site distance matching principle comprises the following steps: the smaller the sku heat is, the smaller the roadway site distance of the matched roadway corresponding to the supporting body is.
In one embodiment, the target roadway determining module 93 is further configured to: determining the number of carriers corresponding to the cargo type of the first carrier according to the cargo information of the carriers dispatched to the target sub-bin in the future appointed time; if the number of the carriers corresponding to the cargo type of the first carrier is smaller than the maximum value of the roadway depth of the target sub-bin, checking whether a first waiting roadway exists in a second type roadway corresponding to the target sub-bin, wherein the first waiting roadway is a single-port empty roadway or a double-port single-sky roadway; and if the first waiting roadway exists, selecting a target roadway from the first waiting roadway based on the principle of matching the sku heat with the roadway site distance. For example: determining a second waiting roadway according to the empty cargo level number of each roadway in the first waiting roadway and the number of the first bearing bodies; wherein the difference between the empty cargo level number of the second undetermined roadway and the number of the carriers corresponding to the cargo type of the first carrier is equal to 0 or equal to 1; and selecting a target roadway from the second waiting roadway based on the principle of matching the sky heat with the roadway site distance.
In one embodiment, the target roadway determining module 93 is further configured to: determining the number of carriers corresponding to the cargo type of the first carrier according to the cargo information of the carriers dispatched to the target sub-bin in the future appointed time; if the number of the carriers corresponding to the cargo type of the first carrier is larger than or equal to the maximum value of the roadway depth of the target sub-bin, selecting a single-port empty roadway with the maximum roadway depth or a double-port empty roadway with the maximum roadway depth from the second type of roadway corresponding to the target sub-bin as the target roadway based on the principle of matching the sky heat and the roadway site distance.
In one embodiment, the target roadway determining module 93 is further configured to: determining the number of carriers corresponding to the cargo type of the first carrier according to the cargo information of the carriers dispatched to the target sub-bin in the future appointed time; if the number of the carriers corresponding to the cargo type of the first carrier is smaller than the maximum value of the roadway depth of the target sub-bin, selecting a third roadway to be determined from the second type of roadway of the target sub-bin; the roadway in the first pending roadway comprises at least one of a double-mouth empty roadway, a single-mouth empty roadway or a double-mouth single-sky roadway, and the roadway depth of the pending roadway is larger than or equal to the number of carriers corresponding to the cargo type of the first carrier; based on the principle of matching the sky heat and the roadway site distance, selecting a roadway with the smallest roadway depth from the third waiting roadway set as a target roadway.
In an embodiment, the principle of matching the sku heat with the roadway site distance is as described above, and will not be described herein.
The device provided in this embodiment has the same implementation principle and technical effects as those of the foregoing embodiment, and for brevity, reference may be made to the corresponding contents of the second embodiment.
Embodiment four:
based on the method embodiment and the device embodiment, the embodiment of the application also provides a goods warehouse entry system of the dense warehouse, as shown in fig. 10, the system comprises: a server 10, at least one hoist 11 and at least one shuttle 12; the server 10 is respectively in communication connection with the hoisting machine 11 and the shuttle 12; the server 10 is configured to perform the method described in the second embodiment.
It will be clear to those skilled in the art that, for convenience and brevity of description, reference may be made to the corresponding process in the foregoing method embodiment for the specific working process of the above-described system, which is not described herein again.
Further, the present embodiment also provides a computer readable storage medium, on which a computer program is stored, which when being processed by a device performs the steps of any one of the methods provided in the second embodiment, or which when being processed by a device performs the steps of any one of the methods provided in the second embodiment.
The computer program product of the method, the device and the system for warehousing goods in a dense warehouse provided in the embodiments of the present application includes a computer readable storage medium storing program codes, and the instructions included in the program codes may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment and will not be repeated herein.
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 computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present application, and are not intended to limit the scope of the present application, but the present application is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, the present application is not limited thereto. Any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or make equivalent substitutions for some of the technical features within the technical scope of the disclosure of the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (17)

1. The method for loading the cargoes into the warehouse of the dense warehouse is characterized in that the dense warehouse comprises multiple layers of sub-warehouses, and roadway cargo positions in each layer of sub-warehouses continuously store a carrier with the cargoes, and the carrier moves through a shuttle; the method comprises the following steps:
When the cargo stacking of the first carrier is completed, determining a candidate roadway set of the first carrier based on the roadway information of each sub-bin and the cargo information of the first carrier; the roadway information comprises roadway types, roadway depths and cargo types of occupied cargoes; the roadways in the candidate roadway set are correspondingly provided with priorities;
determining a target sub-bin according to the priority of the laneways in the candidate laneway set corresponding to each sub-bin, and dispatching the first bearing body to the target sub-bin;
when the first bearing body reaches the target sub-bin, determining a target roadway based on a candidate roadway set corresponding to the target sub-bin;
warehousing the first bearing body onto a cargo space of the target roadway;
the step of determining the candidate roadway set of the first bearing body based on the roadway information of each sub-bin and the cargo information of the first bearing body comprises the following steps:
determining a first class roadway in each sub-bin according to roadway information of each sub-bin; wherein, the first class roadway comprises: leaving one roadway and leaving multiple roadways; the empty cargo space of the reserved roadway is only one, the cargo type at the adjacent position of the empty cargo space is the same as the cargo type of the first bearing body, and the cargo type of at least one cargo space in the occupied cargo space except the adjacent position is different from the cargo type of the first bearing body; the number of empty cargo spaces in the multi-roadway is multiple, and the types of the cargo spaces occupied are the same as those of the first carrier;
And adding the first class roadway in each sub-bin to a candidate roadway set corresponding to the sub-bin, and setting the priority of the first class roadway to be the highest.
2. The method of claim 1, wherein the step of determining a candidate roadway set for the first carrier based on roadway information for each of the sub-bins and cargo information for the first carrier further comprises:
determining a second class roadway in each sub-bin based on roadway information of each sub-bin; the second class of lanes comprises: single-mouth empty roadway, double-mouth single-sku roadway, double-mouth empty roadway and multi-sku roadway; the double-port single-sky roadway is a double-port roadway with the same type of goods on the occupied goods space and empty goods space; the multi-sky roadway is a roadway with a plurality of types of cargoes on occupied cargoes and a plurality of empty cargo spaces;
and adding the second class roadway in each sub-bin to a candidate roadway set corresponding to the sub-bin, and setting the priority of the second class roadway as the next highest.
3. The method of claim 2, wherein the step of determining the target sub-bin according to the priorities of the lanes in the candidate lane set corresponding to each of the sub-bins comprises:
Checking whether the first class roadway exists in the candidate roadway sets corresponding to the sub-bins;
selecting a target sub-bin from sub-bins containing the first class of lanes, if any;
and if the load information does not exist, predicting the load information of the carrier dispatched to each sub-bin in the appointed time in the future, and determining a target sub-bin according to the load information of the carrier of each sub-bin and the second class roadway of each sub-bin.
4. A method according to claim 3, wherein the step of selecting a target sub-bin from sub-bins containing lanes of the first type comprises:
selecting a target sub-bin from sub-bins containing the first class of roadways according to a cargo allocation proportion balancing mechanism of the same class; or alternatively, the process may be performed,
selecting a target sub-bin from sub-bins containing the first class of roadways based on a preset sku heat and roadway station distance matching principle; the preset sku heat and roadway station distance matching principle comprises the following steps: the larger the sku heat is, the smaller the roadway site distance of the matched roadway corresponding to the carrier is, and the sku heat is used for representing the probability that goods on the carrier are picked in unit time.
5. A method according to claim 3, wherein the step of predicting cargo information for the carrier scheduled to each of said sub-bins for a specified future time comprises:
Counting the goods information of the carrier which is moving and is not allocated with the goods space;
estimating the number of carriers corresponding to each cargo type based on the cargoes of the carriers to be distributed;
and estimating the cargo information of the carriers dispatched to each sub-bin in the future appointed time based on the counted cargo information of the carriers and the estimated number of the carriers corresponding to each cargo type.
6. The method of claim 2, wherein the step of determining the target lane based on the set of candidate lanes for the target sub-bin comprises:
acquiring a candidate roadway set corresponding to the target sub-bin;
if the first class of roadways exist in the candidate roadway set corresponding to the target sub-bin, selecting a target roadway from the first class of roadways corresponding to the target sub-bin;
and if the first class roadway does not exist in the candidate roadway set corresponding to the target sub-bin, selecting a target roadway based on the second class roadway corresponding to the target sub-bin.
7. The method of claim 6, wherein the step of selecting a target lane from a first class of lanes corresponding to the target sub-bin comprises:
if the number of the first class roadways corresponding to the target sub-bin is multiple, selecting a target roadway from the first class roadway corresponding to the target sub-bin based on a preset sku heat and roadway site distance matching principle; the preset sku heat and roadway station distance matching principle comprises the following steps: the larger the sku heat is, the smaller the roadway site distance of the matched roadway corresponding to the carrier is, and the sku heat is used for representing the probability that goods on the carrier are picked in unit time.
8. The method of claim 7, wherein the step of selecting a target lane based on a second type lane corresponding to the target sub-bin comprises:
determining the number of carriers corresponding to the cargo type of the first carrier according to the cargo information of the carriers dispatched to the target sub-bin in the future appointed time;
if the number of the carriers corresponding to the cargo type of the first carrier is smaller than the maximum value of the roadway depth of the target sub-bin, checking whether a first waiting roadway exists in a second type roadway corresponding to the target sub-bin, wherein the first waiting roadway is a single-port empty roadway or a double-port single-sky roadway;
and if the first waiting roadway exists, selecting a target roadway from the first waiting roadway based on the principle of matching the sku heat with the roadway site distance.
9. The method of claim 8, wherein selecting a target lane from the first pending lane based on the sku heat and lane site distance matching principle comprises:
determining a second waiting roadway according to the empty cargo level number of each roadway in the first waiting roadway and the number of the first bearing bodies; wherein the difference between the empty cargo level number of the second undetermined roadway and the number of the carriers corresponding to the cargo type of the first carrier is equal to 0 or equal to 1;
And selecting a target roadway from the second waiting roadway based on the principle of matching the sky heat with the roadway site distance.
10. The method of claim 7, wherein the step of selecting a target lane based on a second type lane corresponding to the target sub-bin comprises:
determining the number of carriers corresponding to the cargo type of the first carrier according to the cargo information of the carriers dispatched to the target sub-bin in the future appointed time;
and if the number of the carriers corresponding to the cargo type of the first carrier is larger than or equal to the maximum roadway depth value of the target sub-bin, selecting a single-port empty roadway with the maximum roadway depth or a double-port empty roadway with the maximum roadway depth from the second type roadway corresponding to the target sub-bin as a target roadway based on the principle of matching the sky heat and the roadway site distance.
11. The method of claim 7, wherein the step of selecting a target lane based on a second type lane corresponding to the target sub-bin further comprises:
determining the number of carriers corresponding to the cargo type of the first carrier according to the cargo information of the carriers dispatched to the target sub-bin in the future appointed time;
If the number of the carriers corresponding to the cargo type of the first carrier is smaller than the maximum value of the roadway depth of the target sub-bin, selecting a third waiting roadway from the second class roadway of the target sub-bin; the roadway in the third undetermined roadway comprises at least one of a double-mouth empty roadway, a single-mouth empty roadway or a double-mouth single-sky roadway, and the roadway depth of the undetermined roadway is larger than or equal to the number of carriers corresponding to the cargo type of the first carrier;
and selecting a roadway with the smallest roadway depth from the third pending roadway as a target roadway based on the sku heat and roadway site distance matching principle.
12. The method of claim 11, wherein the step of selecting a target lane based on the second type lane corresponding to the target sub-bin further comprises:
if the total number of the goods types corresponding to the dense warehouse is larger than a set threshold value, and the number of the carriers corresponding to the goods types of the first carrier is 1, selecting a roadway from the second type of roadway corresponding to the target sub-warehouse according to a preset priority selection sequence; wherein, the priority selection sequence is as follows: a double-mouth empty roadway, a double-mouth roadway with two cargo types, a single-mouth roadway with one cargo type, a single-mouth empty roadway, a double-mouth single-sky roadway and a roadway with more than two cargo types;
And selecting a roadway with the smallest roadway depth from the selected roadways as a target roadway based on the principle of matching the sky heat and the roadway site distance.
13. Method according to any one of claims 4, 7-12, wherein the sku heat and roadway site distance matching principle comprises:
according to the cargo information of the carriers dispatched to the target sub-bin in the future appointed time, determining the sku heat and the number of the carriers corresponding to each cargo type, wherein the sku heat is equal to the ratio of the total order number and the total stock number corresponding to the cargo type;
determining a heat measurement value of each cargo type based on the sku heat corresponding to each cargo type and the number of supporting bodies corresponding to each cargo type; wherein the heat metric value is used for representing the ex-warehouse arrangement of the goods type;
for each station, determining the roadway distance of each roadway based on the distance from the roadway corresponding to the station; the roadway distance is normalized, and the closer the distance between the roadway and the station is, the smaller the roadway distance is;
for each carrier, the lane corresponding to the lane distance closest to the heat measurement value corresponding to the cargo type of the carrier is used as the lane matched with the carrier.
14. The method of claim 13, wherein the step of determining a heat metric value for each of the cargo types based on a sku heat corresponding to each of the cargo types and a number of carriers corresponding to each of the cargo types comprises:
ranking each of said cargo types based on a high to low order of sku heat;
and determining the heat measurement value of each cargo type based on the sequencing result of each cargo type and the number of the bearing bodies corresponding to each cargo type.
15. The goods warehouse-in device of the dense warehouse is characterized in that the dense warehouse comprises multiple layers of sub-warehouses, roadway goods positions in each layer of sub-warehouses continuously store a carrier with goods, and the carrier moves through a shuttle; the device comprises:
the candidate roadway set determining module is used for determining a candidate roadway set of the first bearing body based on roadway information of each sub-bin and cargo information of the first bearing body when cargo stacking of the first bearing body is completed; the roadway information comprises roadway types, roadway depths and cargo types of occupied cargoes; the roadways in the candidate roadway set are correspondingly provided with priorities;
The target sub-bin determining module is used for determining a target sub-bin according to the priority of the laneway in the candidate laneway set corresponding to each sub-bin and dispatching the first bearing body to the target sub-bin;
the target roadway determining module is used for determining a target roadway based on a candidate roadway set corresponding to the target sub-bin when the first bearing body reaches the target sub-bin;
the warehousing module is used for warehousing the first bearing body to the goods space of the target roadway;
the candidate roadway set determining module comprises:
the roadway determining module is used for determining first type roadways in each sub-bin according to roadway information of each sub-bin; wherein, the first class roadway comprises: leaving one roadway and leaving multiple roadways; the empty cargo space of the reserved roadway is only one, the cargo type at the adjacent position of the empty cargo space is the same as the cargo type of the first bearing body, and the cargo type of at least one cargo space in the occupied cargo space except the adjacent position is different from the cargo type of the first bearing body; the number of empty cargo spaces in the multi-roadway is multiple, and the types of the cargo spaces occupied are the same as those of the first carrier;
And the roadway adding module is used for adding the first type roadway in each sub-bin to the candidate roadway set corresponding to the sub-bin, and setting the priority of the first type roadway to be the highest.
16. A system for warehousing goods in a dense warehouse, the system comprising: the system comprises a server, at least one elevator and at least one shuttle;
the server is respectively in communication connection with the lifting machine and the shuttle;
the server is adapted to perform the method of any of the preceding claims 1 to 14.
17. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor performs the steps of the method of any of the preceding claims 1 to 14.
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