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

Abstract

The application provides a method, device and system for storing goods in a dense warehouse. The dense warehouse includes multi-layer sub-warehouses, and the roadways in each layer of sub-bins continuously store the carrier with goods, and the carrier is moved by a shuttle car ; When the goods palletizing of the first carrier is completed, the 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; wherein, the roadway information includes the roadway type, the depth of the roadway and the The type of cargo that occupies the goods; the lanes in the candidate lane set have priority; determine the target sub-bin according to the priority of the lanes in the candidate lane set corresponding to each sub-bin, and dispatch the first carrier to the target sub-bin; when the first load When the object arrives at the target sub-bin, the target aisle is determined based on the candidate aisle set corresponding to the target sub-bin; the first carrier is put into storage on the cargo position of the target aisle. The present application can alleviate the occurrence of too many obstacles to the carrier, and provide effective guarantee for the subsequent delivery of the carrier.

Description

Method, device and system for storing goods in dense warehouse

technical field

The present application relates to the technical field of warehousing and logistics, in particular to a method, device and system for storing goods in dense warehouses.

Background technique

Intensive storage refers to a storage system that uses special access methods or shelf structures to achieve continuous storage of goods on the shelf depth and maximize storage density. For intensive storage, it is necessary to increase capacity in the same warehouse area to save space resources. To save space resources, on the one hand, it can save the shuttle bus passage and increase the depth of the roadway; on the other hand, it can increase the height and form multiple sub-warehouses (also called warehouse floors, each floor is regarded as a sub-warehouse). The goods in intensive storage are usually stacked onto pallets or boxes before entering the warehouse, and then go through the shuttle car and elevator for outbound and inbound operations.

However, while saving space, problems such as fewer operating channels and more complex operations in intensive storage often affect operating efficiency. For example, during the outbound operation, the target pallet may be in the inner position of the aisle, so there is an obstructed pallet when outbound, and the obstructed pallet needs to be moved to other aisles first. If there are many pallets hindering the delivery process, the delivery efficiency will be poor.

Contents of the invention

In view of this, the purpose of this application is to provide a method, device and system for storing goods in dense warehouses, which can alleviate the occurrence of excessive obstacles to the carrier, and provide effective guarantee for the subsequent delivery of the carrier.

In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

In the first aspect, the embodiment of the present application provides a method for storing goods in a dense warehouse. The dense warehouse includes multi-layer sub-warehouses, and the roadway cargo spaces in each layer of sub-warehouses continuously store the carriers with goods, and the carriers pass through the shuttle The vehicle moves; the method includes: when the goods palletizing of the first carrier is completed, determining the candidate aisle set of the first carrier based on the aisle information of each sub-bin and the cargo information of the first carrier; wherein, the aisle information includes the aisle type , the depth of the lanes and the cargo type of the occupied goods; the lanes in the candidate lane set have corresponding priorities; determine the target sub-bin according to the priority of the lanes in the candidate lane set corresponding to each sub-bin, and dispatch the first carrier to the target sub-bin ; When the first carrier arrives at the target sub-bin, determine the target aisle based on the set of candidate aisles corresponding to the target sub-bin; put the first carrier into storage on the cargo position of the target aisle.

Further, the step of determining the candidate aisle set of the first carrier based on the aisle information of each sub-bin and the cargo information of the first carrier includes: determining the first type of aisle in each sub-bin according to the aisle information of each sub-bin; Wherein, the first type of aisle includes: leave one aisle and leave multiple aisles; there is only one empty cargo space in the one-way aisle, and the cargo type on the adjacent position of the empty cargo space is the same as the cargo of the first carrier. The type is the same, and the cargo type of at least one of the occupied cargo spaces other than the adjacent one is different from the cargo type of the first carrier; there are multiple empty cargo spaces with multiple lanes, and The type of goods in the occupied cargo space is the same as the type of goods in the first carrier; add the first type of lane in each sub-bin to the set of candidate lanes corresponding to the sub-bin, and set the priority of the first type of lane is the highest.

Further, the step of determining the candidate aisle set of the first carrier based on the aisle information of each sub-bin and the cargo information of the first carrier further includes: determining the second type of aisle in each sub-bin based on the aisle information of each sub-bin ;The second type of aisle includes: single-exit empty aisle, double-exit single-sku aisle, double-exit empty aisle and multi-sku aisle; among them, the double-exit single-sku aisle means that the types of goods on the occupied cargo space are all of the same type and there are empty goods The multi-sku laneway is a laneway with multiple types of goods on the occupied goods and multiple empty cargo spaces; add the second type of laneway in each sub-warehouse to the corresponding sub-warehouse A set of candidate roadways, and set the priority of the second type of roadway as the second highest.

Further, the above-mentioned step of determining the target sub-bin according to the priority of the lanes in the candidate lane set corresponding to each sub-bin includes: checking whether the first type of lane exists in the candidate lane set corresponding to each sub-bin; Select the target sub-bin from the sub-bins in the roadway; if it does not exist, estimate the cargo information of the carrier dispatched to each sub-bin within a specified time in the future, and based on the cargo information of the carrier in each sub-bin and the second sub-bin of each sub-bin Class roadway, determine the target sub-bin.

Further, the above-mentioned step of selecting a target sub-bin from the sub-bins containing the first type of aisle includes: selecting the target sub-bin from the sub-bins containing the first type of aisle according to the distribution ratio balance mechanism of the same type of goods; or, based on the predetermined The preset matching principle of sku heat and roadway site distance selects the target sub-bin from the sub-bins containing the first type of roadway; among them, the preset matching principle of sku heat and roadway site distance includes: the carrier with the greater sku heat corresponds to The smaller the roadway site distance of the matching roadway, the sku heat is used to represent the probability that the goods on the carrier are picked per unit time.

Further, the above-mentioned step of estimating the cargo information of the carriers dispatched to each sub-warehouse within a specified time in the future includes: counting the cargo information of the carriers that are moving and not assigned to the cargo space; The number of carriers corresponding to each cargo type; based on the statistical cargo information of the carriers and the estimated number of carriers corresponding to each cargo type, estimate the cargo information of the carriers dispatched to each sub-warehouse within a specified time in the future .

Further, the above-mentioned step of determining the target roadway based on the candidate roadway set corresponding to the target sub-bin includes: obtaining the candidate roadway set corresponding to the target sub-bin; if the first type of roadway exists in the candidate roadway set corresponding to the target sub-bin, corresponding Select the target roadway from the first type of roadway; if the first type of roadway does not exist in the candidate roadway set corresponding to the target sub-bin, select the target roadway based on the second type of roadway corresponding to the target sub-bin.

Further, the above-mentioned step of selecting a target lane from the first type of lanes corresponding to the target sub-bin includes: if there are multiple first-type lanes corresponding to the target sub-bin, based on the preset matching principle of sku heat and roadway site distance, from The first type of roadway corresponding to the target sub-bin selects the target roadway; among them, the preset sku heat and roadway site distance matching principle includes: the carrier with the greater sku heat corresponds to the smaller the roadway site distance of the matching roadway, and the sku heat is used for It represents the probability that the goods on the carrier are picked per unit time.

Further, the above-mentioned step of selecting a target lane based on the second type of lane 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 within a specified time in the future; if The number of carriers corresponding to the cargo type of the first carrier is less than the maximum value of the aisle depth of the target sub-bin, and checking whether there is a first undetermined aisle in the second type of aisle corresponding to the target sub-bin, wherein the The first to-be-determined roadway is a single-port empty roadway or a double-port, single-sku roadway; if there is the first to-be-determined roadway, a target roadway is selected from the first to-be-determined roadway based on the matching principle of the sku heat and roadway site distance.

The above-mentioned step of selecting a target aisle from the first undetermined aisle based on the matching principle of the sku heat and the distance from the aisle site includes: according to the number of empty goods in each aisle in the first undetermined aisle and the first carrying capacity The number of bodies determines the second undetermined aisle; wherein, the difference between the number of empty goods in the second undetermined aisle and the number of carriers corresponding to the cargo type of the first carrier is equal to 0 or equal to 1; based on the sku heat and According to the roadway site distance matching principle, a target roadway is selected from the second pending roadway.

Further, the step of selecting the target aisle based on the second type of aisle corresponding to the above-mentioned target sub-warehouse includes: determining the carrier corresponding to the cargo type of the first carrier according to the cargo information of the carrier dispatched to the target sub-bin within a specified time in the future Number; if the number of carriers corresponding to the cargo type of the first carrier is greater than or equal to the maximum value of the roadway depth of the target sub-bin, based on the principle of matching the sku heat and the distance from the roadway site, select the roadway depth from the second type of roadway corresponding to the target sub-bin The largest single-hole empty roadway or the double-hole empty roadway with the largest roadway depth is used as the target roadway.

Further, the above-mentioned step of selecting the target lane based on the second type of lane corresponding to the target sub-bin also includes: determining the cargo of the first carrier according to the cargo information of the carrier dispatched to the target sub-bin within a specified time in the future The number of carriers corresponding to the type;

If the number of carriers corresponding to the cargo type of the first carrier is less than the maximum value of the roadway depth of the target sub-bin, select the third undetermined roadway from the second type of roadway in the target sub-bin; wherein, the roadway in the third undetermined roadway includes double At least one of empty roadway, single empty roadway or double-mouthed single sku roadway, and the roadway depth of the undetermined roadway is greater than or equal to the number of carriers corresponding to the cargo type of the first carrier; based on the matching principle of sku heat and roadway site distance , select the roadway with the smallest roadway depth from the third undetermined roadway set as the target roadway.

Further, the step of selecting the target aisle based on the second type of aisle corresponding to the target sub-warehouse further includes: if the total number of cargo types corresponding to the dense warehouse is greater than a set threshold, and the cargo type of the first carrier corresponds to The number of carriers is 1, and the lanes are selected from the second-type lanes corresponding to the target sub-bin according to the preset priority selection order; wherein, the priority selection order is: double-mouthed empty lanes, two cargo types Double-entry aisle, single-entry aisle with one type of cargo, single-exit empty aisle, double-exit single-sku aisle, and aisle with more than two types of cargo; based on the principle of matching the sku heat and the distance from the aisle site, select from the selected aisles The roadway with the smallest depth is taken as the target roadway.

Further, the above-mentioned matching principle of sku heat and roadway station distance includes: according to the cargo information of the carriers dispatched to the target sub-bin within a specified time in the future, determine the SKU heat and the number of carriers corresponding to each cargo type, wherein the SKU heat is equal to The ratio of the total number of orders corresponding to the type of goods to the total number of stocks; based on the sku heat corresponding to each type of goods and the number of carriers corresponding to each type of goods, determine the heat measurement value of each type of goods; wherein, The heat measurement value is used to characterize the outbound ranking of the goods of this type of goods; for each of the sites, the distance of each lane is determined based on the distance between the lanes corresponding to the site and the site; wherein, the The roadway distance is the normalized distance, the closer the distance between the roadway and the site, the smaller the roadway distance; , as the lane matching the carrier.

Further, based on the SKU heat corresponding to each of the cargo types and the number of carriers corresponding to each of the cargo types, the step of determining the thermal value of each of the cargo types includes: based on the order of the SKU heat from high to low Sorting each of the cargo types; determining the heat value of each of the cargo types based on the sorting results of each of the cargo types and the number of carriers corresponding to each of the cargo types.

In the second aspect, the embodiment of the present application also provides a cargo storage device for a dense warehouse. The dense warehouse includes multi-layer sub-warehouses, and the roadway cargo positions in each layer of sub-bins continuously store the carrier with goods, and the carrier passes through the shuttle. The vehicle moves; the device includes: a candidate aisle set determination module, used to determine the candidate aisle set of the first carrier based on the aisle information of each sub-bin and the cargo information of the first carrier when the cargo palletizing of the first carrier is completed ; Wherein, the roadway information includes the type of roadway, the depth of the roadway and the cargo type of the occupied goods; the roadways in the candidate roadway set have priority; The stage determines the target sub-bin, and dispatches the first carrier to the target sub-bin; the target roadway determination module is used to determine the target roadway based on the candidate roadway set corresponding to the target sub-bin when the first carrier arrives at the target sub-bin; The module is used for putting the first carrier into storage on the cargo position of the target roadway.

In the third aspect, the embodiment of the present application also provides a goods storage system for a dense warehouse. The system includes: a server, at least one hoist, and at least one shuttle; the server is respectively connected to the hoist and the shuttle; the server is used to execute The method described in the first aspect above.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the steps of any one of the methods in the above-mentioned first aspect are executed.

The embodiment of the present application provides a method, device and system for storing goods in a dense warehouse, in which the candidate aisle set is determined based on the aisle information of each of the sub-bins and the cargo information of the carrier, and according to the corresponding The priority of the roadways in the candidate roadway set determines the target sub-bin, which can make the sub-bin allocated by the carrier more reasonable. The current actual situation of the carrier determines a more reasonable target roadway, improves the rationality of storage, alleviates excessive obstacles to the emergence of the carrier, and provides an effective guarantee for the subsequent delivery of the carrier.

Other features and advantages of the present application will be set forth in the following description, or some of the features and advantages can be deduced or unambiguously determined from the description, or can be known by implementing the above-mentioned techniques of the present disclosure.

In order to make the above-mentioned purpose, features and advantages of the present application more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the specific embodiments or prior art. Obviously, the accompanying drawings in the following description The drawings are some implementations of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

Fig. 1 shows a schematic diagram of intensive storage of a simple pallet shuttle in the prior art;

FIG. 2 shows a schematic structural diagram of an electronic device provided by an embodiment of the present application;

FIG. 3 shows a flow chart of a method for storing goods in a dense warehouse provided by an embodiment of the present application;

FIG. 4 shows a flowchart of a method for determining a candidate roadway set provided by an embodiment of the present application;

Fig. 5 shows a flow chart of a method for determining a target sub-bin provided by an embodiment of the present application;

FIG. 6 shows a flow chart of a method for estimating cargo information provided by an embodiment of the present application;

FIG. 7 shows a flowchart of a method for determining a target lane based on a set of candidate lanes corresponding to a target sub-bin provided by an embodiment of the present application;

Fig. 8 shows a structural block diagram of a cargo storage device in a dense warehouse provided by an embodiment of the present application;

Fig. 9 shows a structural block diagram of another kind of cargo storage device in a dense warehouse provided by the embodiment of the present application;

Fig. 10 shows a structural block diagram of a goods storage system for a dense warehouse provided by an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. the embodiment. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

The carrier in the embodiment of the present application refers to the equipment for carrying goods. The device can be a pallet, a material box, or a device with a shelf structure. The bottom of the carrier is adapted to the shuttle car, and the shuttle car can carry Carrier, and move the carrier to the target position. The embodiment of the present invention does not limit the specific structure of the carrier, which can be selected according to actual needs. Referring to the schematic diagram of a simple pallet shuttle intensive storage shown in Figure 1, the carrier in the intensive storage is illustrated by taking pallets as an example, where the intensive storage (or warehouse) can include multi-layer sub-warehouses (the figure is a top view, Only one layer of sub-bins is shown), each layer of sub-bins contains multiple lanes, and the sub-bins shown in the figure include multiple 1×6 lanes and multiple 1×1 lanes, that is, lanes with a depth of 6 and 1 , each aisle has one aisle opening (in practical applications, some aisles may also have two aisle openings), the position of the circle in the figure is the aisle storage space without pallets, and the box with crossed slashes is the The goods are palletized, and the goods are stored continuously on the depth of each lane, thereby increasing the storage density. When warehousing, the shuttle car can move the pallet along the operation channel (the area where the dotted line is located in the figure) to the cargo position in the roadway, and then complete the warehousing operation of the goods. When leaving the warehouse, the shuttle car moves to the designated storage space according to the order to lift the pallet out of the aisle, and lifts the pallet to the elevator (the first elevator or the second elevator in the figure) or other exits (the first elevator in the figure) not shown).

There are usually many types of goods in dense storage. The goods on each pallet are often the same type of goods, but the types of goods on different pallets may be different. Since the pallets are stored continuously on the roadway, when the order requires the target pallet to be out of the warehouse, However, the target pallet may not be at the entrance of the roadway, and the blocking pallet in front of the target pallet needs to be moved to other roadways. If there are many blocking pallets, the delivery efficiency will be low, and the operating power consumption of the shuttle will be high. Based on this, the embodiment of the present application provides a method, device and system for storing goods in a dense warehouse. This technology can improve the rationality of the storage, alleviate the occurrence of too many obstacles to the carrier, and provide effective support for the subsequent delivery of the carrier. protection. For ease of understanding, the following describes the embodiments of the present application in detail.

Embodiment one:

First, an example electronic device 200 for implementing the method, device and system for storing goods in a dense warehouse according to the embodiment of the present application will be described with reference to FIG. 2 .

As shown in FIG. 2 , a schematic structural diagram of an electronic device, the 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 acquisition device 210. These components pass A bus system 212 and/or other form of connection mechanism (not shown) interconnects. It should be noted that the components and structure of the electronic device 200 shown in FIG. 2 are only exemplary rather than limiting. According to needs, the electronic device may have some components shown in FIG. 2 or may have components not shown in FIG. other components and structures.

The processor 202 may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 200 to perform desired functions.

The storage device 204 may include one or more computer program products, and the computer program products 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). The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, and the like. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 202 may execute the program instructions to implement the client functions (implemented by the processor) in the embodiments of the present application described below and/or other desired functionality. Various application programs and various data, such as various data used and/or generated by the application programs, 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, a mouse, a microphone, and a touch screen.

The output device 208 may output various information (eg, images or sounds) to the outside (eg, a user), and may include one or more of a display, a speaker, and the like.

The image acquisition device 210 can capture images desired by the user (such as photos, videos, etc.), and store the captured images in the storage device 204 for use by other components.

Exemplarily, the electronic equipment used to implement a method, device, and system for storing goods in a dense warehouse according to an embodiment of the present application may be implemented as a terminal such as a server, a smart phone, a tablet computer, or a computer.

Embodiment two:

This embodiment provides a flow chart of a method for storing goods in a dense warehouse. The dense warehouse includes multi-layer sub-warehouses, and the roadway cargo spaces in each layer of sub-bins continuously store the carriers with goods, and the carriers pass through the shuttle car. Mobile; the carrier can be a pallet, or other containers such as boxes or shelves that are used to store goods and can be transported by shuttle vehicles. Referring to Figure 3, the above method specifically includes the following steps:

Step S302, when the palletizing of the first carrier is completed, a candidate aisle set for the first carrier is determined based on the aisle information of each sub-bin and the cargo information of the first carrier.

When goods are put into storage, it is first necessary to stack multiple goods of the same type or related types on a carrier. Different types of related goods can be regarded as the same type of goods, and usually these goods will be Simultaneous outbound and inbound. The palletized carrier is transported to the cargo space of the target roadway by the shuttle car to complete the storage. Therefore, when the goods palletizing of the first carrier is completed, the goods information of the first carrier is also determined, and the goods information may include information such as the type of goods and the quantity of goods corresponding to the type of goods.

The above roadway information includes roadway type (such as double-mouth roadway and single-hole roadway), roadway depth and cargo type of occupied goods; determine the candidate roadway set of the first carrier based on the roadway information of each sub-warehouse and the cargo information of the first carrier There are many ways, which are not specifically limited here. In order to facilitate the distinction of various lanes, priority can be set for the lanes. Based on this, the above candidate lane sets include lanes with different priorities. There may be one or more lanes with the same priority. Usually, the higher the priority, the easier it is to Be the ultimate goal alleyway.

During specific implementation, the form of the candidate roadway set of the above-mentioned first carrier can be: the first candidate roadway set corresponding to the first sub-bin, the second candidate roadway set corresponding to the second sub-bin, ..., the Nth sub-bin corresponding The Nth candidate laneway set of . The lanes in the first candidate lane set, the second candidate lane set, . . . , the Nth candidate lane set are marked with priorities. For example: the lanes with the highest priority in the first candidate lane set are the 10th and 17th lanes, and the secondary priority lanes are the 5th, 7th, and 20th lanes; the highest priority lanes in the second candidate lane set are empty (that is, there is no lane with the highest priority), and the lanes with sub-priority are the 15th lane, the 17th lane, and the 30th lane.

In step S304, the target sub-bin is determined according to the priority of the lanes in the candidate lane set corresponding to each sub-bin, and the first carrier is dispatched to the target sub-bin.

Since the roadways in the candidate roadway set above can be roadways in different sub-bins, and correspondingly have different priorities, therefore, it is possible to comprehensively consider the roadways with different priorities in multiple different sub-bins, and select from multiple sub-bins according to certain rules Select one of the sub-bins as the target sub-bin. The specific rules can be based on the same type of cargo distribution proportional balance mechanism, or can also be the preset matching principle of sku heat and roadway site distance, or random allocation based on candidate roadway sets, that is, randomly select a roadway from the candidate roadway set, the The sub-warehouse to which the roadway belongs is the target sub-warehouse, which realizes the balanced and dispersed storage of the same type of goods among various sub-warehouses. After the target sub-bin is determined, the first carrier is dispatched to the target sub-bin. If the location of the target sub-bin is not the ground sub-bin, the shuttle car with the first carrier placed on it can also be transported to the target sub-bin through the elevator. .

Step S306, when the first carrier arrives at the target sub-bin, determine the target aisle based on the candidate aisle set corresponding to the target sub-bin.

Here, the candidate lane set corresponding to the target sub-bin may be directly determined based on the candidate lane set of the first carrier, that is, the lane corresponding to the target sub-bin is found from the candidate lane set of the first carrier. Alternatively, the candidate aisle set corresponding to the target sub-bin may also be re-determined based on the current aisle information of the target sub-bin and the cargo information of the first carrier. Similarly, the lanes in the candidate lane set have corresponding priorities.

When the first carrier arrives at the target sub-bin, a lane is selected as the target lane from the set of candidate lanes corresponding to the target sub-bin according to certain rules. The rules here can include a variety of implementation forms, such as: based on the preset matching principle of sku heat and roadway station distance, or considering the screening principle determined by the estimated cargo information within a certain period of time in the future, no specific limitations are made here .

In step S308, the first carrier is put into storage on the goods position of the target lane.

After determining the target aisle, put the first carrier into the storage space of the target aisle, that is, transport the first carrier to the storage space in the target aisle by the shuttle car, because the storage space in the dense warehouse aisle For continuous storage, if the target lane already has goods occupying some lanes, the first carrier body will place the goods that are adjacent to the outermost side to achieve continuous storage of goods; if the target lane is empty, the first carrier body will be placed in the target lane The innermost cargo space.

The goods storage method of the dense warehouse provided in the embodiment of the present application determines the candidate aisle set based on the aisle information of each of the sub-bins and the cargo information of the carrier, and according to the priority of the aisles in the candidate aisle set corresponding to each of the sub-bins Determining the target sub-storage at the same level can make the sub-storage allocated by the carrier more reasonable. At the same time, when the carrier reaches the target sub-storage, and then allocate the cargo space in the roadway, it can be based on the current actual situation of the target sub-storage and the carrier. , to determine a more reasonable target roadway, improve the rationality of storage, alleviate the occurrence of excessive obstacles to the carrier, and provide effective guarantee for the subsequent delivery of the carrier.

In order to simply and reasonably determine the candidate aisle set of the first carrier, the above step S302 (determine the candidate aisle set of the first carrier based on the aisle information of each sub-bin and the cargo information of the first carrier) can refer to Figure 4 The steps in the flow chart of the candidate roadway set determination method shown in the figure are realized:

Step S402, according to the laneway information of each sub-warehouse, determine the first type of laneway in each sub-bin; wherein, the first type of laneway includes: leave one laneway and leave many laneways; wherein, the empty cargo space of the one-wayway is only One, and the cargo type on the adjacent position of the empty cargo space is the same as the cargo type of the first carrier, and at least one of the occupied cargo spaces other than the adjacent cargo space has a cargo type that is the same as that of the first carrier. The cargo types of the first carrier are different; there are multiple empty cargo spaces with multiple lanes, and the cargo types of the occupied cargo spaces are all the same as the cargo types of the first carrier.

The above roadway information includes the roadway type, the depth of the roadway and the cargo type of the occupied goods. According to the laneway information of each sub-warehouse, find out whether there is the first type of laneway, that is, the above-mentioned one-way lane and multiple-way lanes, wherein there is only one empty cargo space in the one-way lane, and the adjacent position of the empty cargo space (that is, the outermost The cargo type on the occupied cargo space) is the same as the cargo type of the first carrier, and the cargo type of at least one cargo space in the occupied cargo space other than the adjacent one is different from the cargo type of the first carrier; For example: the cargo type of the first carrier is sku1, the laneway depth of the first lane is 6, the cargo space farthest from the roadway entrance is the first cargo space (or abbreviated as cargo space 1), and the distance from the roadway entrance is the closest The cargo space (that is, the cargo space at the entrance of the roadway) is the sixth cargo space (or abbreviated as cargo space 6), if the first five cargo spaces in the first lane are all occupied, and the cargo type of the fifth cargo space is also sku1, at least one cargo type in the 1st to 4th cargo slots is other than sku1, then the first aisle is regarded as a one-way aisle. There are multiple empty cargo spaces on the left-over aisle, and the cargo types in the occupied cargo spaces are all the same as the cargo types of the first carrier; "plurality" in the embodiments of the present invention refers to two or more than two numbers. Continuing from the previous example, if the depth of the first aisle is 6, and the types of goods in cargo slots 1-4 are all sku1, then the first aisle is a left-over aisle. Of course, if only cargo space 1 is occupied in the first aisle, and the cargo type is sku1, this aisle also belongs to the left-over aisle.

Step S404, adding the first type of roadway in each sub-bin to the candidate roadway set corresponding to the sub-bin, and setting the priority of the first type of roadway as the highest.

For each sub-bin, according to the roadway information of the sub-bin, find out whether there is a first-type roadway, add the found first-type roadway to the candidate roadway set corresponding to the sub-bin, and set the priority of this type of roadway to the highest . The above-mentioned leave-one lanes and stay-more lanes are the first type of lanes, which have the highest priority and are most likely to be selected as the target lanes of the first carrier. This optimal method can avoid excessive roadway overhead to a certain extent. For example, if the depth of the first roadway is 6, and the types of goods on cargo positions 1-5 are the same as those of the first carrier, suppose are all sku1, then the first lane does not belong to the lane with the highest priority above, so the possibility of the first carrier being parked in the first lane is very small, and the lane opening of the first lane will not be occupied. In this case, the target roadway of the first carrier is the second roadway belonging to the above-mentioned first type of roadway. And the roadway opening of the first roadway can continue to be left blank for other bearing bodies to use. When sku1 needs to be out of the warehouse, you can choose the carrier on the fifth cargo space from the first aisle, or choose the first carrier from the second aisle, which improves the efficiency of the warehouse to a certain extent.

There are relatively few qualified roadways found through the above method of determining the candidate roadway set, and sometimes there may even be no roadways of the first type above, that is, the roadway with the highest priority is not found, which requires further expansion of the candidate roadway set range of data, find a suboptimal roadway and add it to the candidate roadway set, therefore, the above method for determining the candidate roadway set may also include the following steps S406-S408:

Step S406, determine the second type of roadway in each sub-bin based on the roadway information of each sub-bin; the second type of roadway includes: single-port empty roadway, double-port single-sku roadway, double-port empty roadway and multi-sku roadway; wherein, double-port A single-sku aisle is a double-port aisle with the same type of goods on the occupied cargo space and there are empty cargo spaces; a multi-sku aisle is an aisle with multiple types of goods on the occupied goods and multiple empty cargo spaces .

According to the laneway information of each sub-warehouse, find out whether there is an empty laneway, such as a single-mouth empty laneway or a double-mouth empty laneway, or a relatively empty laneway, that is, a double-mouth single-sku laneway. This kind of laneway can also be regarded as a single-mouth laneway Empty alleyway. For example, the depth of aisle XD4 in sub-warehouse PS1 is 6, and the occupied storage space is the storage space 1-2, and the cargo type on the storage space 1-2 is sku2, and the storage space 3-6 of the aisle is null. Then the roadway XD4 in the sub-bin PS1 can be determined as the second type of roadway.

Considering the actual occupancy of the lane, there is also a multi-sku lane, which is a lane with multiple types of goods on the occupied goods and multiple empty cargo spaces. Because there are many types of goods on the multi-sku laneway, if the first carrier is placed in the laneway, one of the goods of multiple types may be required to be out of the warehouse due to the order demand, causing the first carrier to become an obstacle carrier. Therefore, the actual In the application, the multi-sku laneway can be considered as the last laneway.

Step S408, adding the second type of roadway in each sub-bin to the candidate roadway set corresponding to the sub-bin, and setting the priority of the second type of roadway as the second highest.

For each sub-bin, according to the roadway information of the sub-bin and the cargo information of the first carrier, it is searched whether there is a second-type roadway, and the found second-type roadway is added to the candidate roadway set corresponding to the sub-bin, and the The priority of class roadway is set to the second highest.

In order to more reasonably determine the target sub-bin that the first carrier to be put into the warehouse should enter, the above step S304 (the step of determining the target sub-bin according to the priority of the lanes in the candidate lanes set corresponding to each sub-bin), can refer to Fig. Steps in the flow chart of the target sub-bin determination method shown in 5 are realized:

Step S502, checking whether the first type of roadway exists in the candidate roadway set corresponding to each sub-bin. If it exists, execute step S504; if it does not exist, execute step S506;

Through the above method of determining the candidate roadway set of the first carrier, the candidate roadway set corresponding to each sub-bin can be determined, and then judge whether there is the first type of roadway in the candidate roadway set corresponding to each sub-bin, that is, the highest priority laneway.

Step S504, selecting a target sub-bin from the sub-bins containing the first type of aisle.

There are many ways to select the target sub-bin from the sub-bins containing the first type of aisle, and the following are the two preferred ways:

Method 1: Select the target sub-storage from the sub-storages containing the first type of aisle according to the balanced mechanism of the distribution ratio of the same type of goods. For example, the goods in the first carrier are sku2, and the distribution of sku2 in each sub-warehouse is: sub-warehouse PS1: 100 pieces, sub-warehouse PS2: 110 pieces, sub-warehouse PS3: 50 pieces, sub-warehouse PS4: 90 pieces, Relatively speaking, the amount of sku2 in sub-warehouse PS3 is the least. In order to achieve a balanced distribution ratio among sub-warehouses, sub-warehouse PS3 can be determined as the target sub-warehouse. That is, in the case that each sub-bin includes the first type of laneway, referring to the quantity of goods in the first carrier stored in each sub-bin, based on the same type of goods distribution ratio balance mechanism, the first carrier is allocated to the sub-bins. Bin PS3.

Method 2: Based on the preset matching principle of sku heat and roadway site distance, select the target sub-bin from the sub-bins containing the first type of roadway; among them, the preset matching principle of sku heat and roadway site distance includes: the greater the sku heat The smaller the distance between the roadway sites of the matching roadway corresponding to the carrier, the sku heat is used to represent the probability that the goods on the carrier will be picked per unit time, that is, the expected value of the number of times the goods on the carrier will be picked in the future (estimated value ).

That is to say, based on the matching principle of sku heat and roadway station distance, find the most suitable first-type roadway from multiple first-type roadways, and then use the sub-bin where the most suitable first-type roadway is located as the target sub-bin.

The above-mentioned SKU popularity and roadway site distance matching principles specifically include the following:

(1) According to the cargo information of the carrier dispatched to the target sub-warehouse within a specified time in the future, determine the sku popularity and the number of carriers corresponding to each cargo type, where the sku popularity is equal to the total order quantity corresponding to the cargo type (also The ratio of the total demand) to the total inventory; that is, the hotness of sku _i is equal to the ratio of the total order number total_demand _i of the sku _i to the total inventory total_storage _i .

For example, if the goods in the first carrier are sku1, the total number of orders is 50, and the total inventory is 100, then the popularity of the first carrier, namely sku1, is 50/100=0.5. Generally speaking, the total inventory will be greater than the total order, that is to say, the sku popularity is a number between 0-1.

(2) Based on the SKU heat corresponding to each cargo type and the number of carriers corresponding to each cargo type, determine the heat measurement value of each cargo type; wherein, the heat measurement value is used to represent the delivery schedule of the cargo of this cargo type bit;

For example: sort each cargo type based on the order of sku heat from high to low; determine the heat value of each cargo type based on the sorting results of each cargo type and the number of carriers corresponding to each cargo type.

In order to reflect the sorting of different types of goods, when the sku popularity is sorted from high to low, the higher the ranking of the sku, the lower the ranking value of the corresponding popularity. Example: Use A, B, and C to represent the goods corresponding to three different types of goods, estimate the number of pallets and orders for each type of goods in the future, and obtain A, B, and C based on the above calculation formula of sku popularity Based on the ranking of popularity of A, B, and C from high to low, the ranking values of popularity of A, B, and C are obtained. Assumption: A heat value is 0.1, a total of 2 torr; B heat value is 0.2, a total of 3 torr; C heat value is 0.3, a total of 5 torr. Sort the popularity of A, B, and C according to the heat value, and get the heat ranking values of A, B, and C as f(C)=1, f (B)=2, and f(A)=3. In order to make the heat measurement value reflect this sorting, you can assign the heat measurement value of each cargo type to a value between 0 and 1 in the order of the heat ranking value from small to large, and the smaller the heat ranking value, the heat measurement value smaller. Then the heat measurement values of A, B, and C can be velocity(C)=0, velocity(B)=0.5, and velocity(A)=1.

Or, introduce sorting parameters to determine the heat measurement value. The sorting parameter corresponding to the goods with the heat ranking value of 1 is 0. Starting from the goods with the heat ranking value of 2, the sorting parameters of each goods are the carrying capacity of the previous goods. Continuing from the previous example, C, which ranks first, has the highest popularity, and the corresponding sorting parameter of C is 0; B, which is ranked second, is the second most popular, and the sorting parameter corresponding to B is the number of trays that are ranked first, that is, B corresponds to The sorting parameter of A is 5; and the sorting parameter corresponding to the third ranked A is the sum of the number of pallets sorted first and the number of pallets sorted second, that is, the sorting parameter corresponding to A is 8; then A, B, and C are measured by heat Values can be velocity(C)=0/10, velocity(B)=5/10, velocity(A)=8/10.

(3) For each of the sites, the laneway distance of each laneway is determined based on the distance between the laneway corresponding to the site and the site; wherein, the laneway distance is a normalized distance, and the closer the distance between the laneway and the site is , the smaller the roadway distance;

In the embodiment of the present invention, the roadway corresponding to each site can be determined first, and all roadways are sorted according to the distance from the site, and the distance of the roadway after normalization processing is obtained as a value between 0 and 1, and 0 means that the distance from the site is the closest The laneway, 1 means the laneway farthest from the site.

(4) For each carrier, the roadway corresponding to the distance from the roadway closest to the heat measure value corresponding to the cargo type of the carrier is taken as the roadway matching the carrier.

Assuming that there is a bearer with a heat measure value of 0.5, the laneway with a distance of 0.5 from the site is taken as the laneway matching the bearer. If there is no lane with 0.5, the lane closest to 0.5 will be used as the lane that matches the carrier. Continuing from the previous example, the temperature measurement values of A, B, and C can be velocity(C)=0/10=0, velocity(B)=5/10=0.5, velocity(A)=8/10=0.8; The roadway with a distance of 0-0.5 to the roadway corresponding to option C, the roadway with a distance of 0.5-0.8 to the roadway corresponding to choice B, and the roadway with a distance of 0.8-1 to the roadway corresponding to choice A.

The purpose of the above principle is: the higher the popularity of the SKU, the closer the distance between the roadway and the site will be, so as to achieve the purpose of high throughput.

Step S506: Estimate the cargo information of the carriers dispatched to each sub-bin within a specified time in the future, and determine the target sub-bin based on the cargo information of the carriers in each sub-bin and the second-type lanes of each sub-bin.

Considering that the inbound and outbound of goods in the warehouse is a dynamic and ever-changing process, in order to achieve better warehousing effect and minimize obstacles when the goods are outbound, the above-mentioned first category does not exist in each sub-warehouse In the roadway, it is possible to estimate the cargo information of the carriers dispatched to each sub-warehouse within a specified time in the future, estimate which goods will be stored in which sub-warehouses, and then based on the cargo information of the carriers in each sub-warehouse and each The second type of roadway of the sub-bin, determine the target sub-bin.

The above step S506 (the step of estimating the cargo information dispatched to the carrier of each sub-bin within a specified time in the future) can be realized by referring to the steps in the flow chart of the method for estimating cargo information shown in FIG. 6 :

Step S602, collecting statistics on the cargo information of the moving carrier.

In practical applications, the inbound and outbound of goods is a dynamic process, and there will always be some carriers with goods in the process of moving, for example, the carriers in the elevator, in order to facilitate the prediction For the cargo information of the carriers dispatched to each sub-warehouse within a certain period of time, the cargo information of the carriers that are currently moving and not assigned to the cargo space must be counted first. The cargo information includes the cargo type and cargo quantity.

Step S604, estimating the number of carriers corresponding to each type of cargo based on the cargo to be allocated.

The goods to be assigned to the carrier are also the goods that need to be put into storage. How many pieces of each type of goods can be placed in a carrier is fixed. Therefore, based on the goods to be allocated to the carrier, it can be estimated that each type of goods corresponds to number of carriers.

Step S606, based on the calculated cargo information of the carriers and the estimated number of carriers corresponding to each cargo type, estimate the cargo information of the carriers dispatched to each sub-bin within a specified time in the future.

In order to minimize the obstacles when the goods leave the warehouse, improve the operating efficiency of the shuttle car, and achieve the maximum warehouse throughput, the embodiment of the present application also provides a flow chart of a method for determining the target roadway based on the candidate roadway set corresponding to the target sub-warehouse. Referring to shown in Figure 7, the method comprises the following steps:

Step S702, obtaining the candidate roadway set corresponding to the target sub-bin.

Here, the candidate roadway set corresponding to the target sub-bin can be directly determined based on the above-mentioned candidate roadway set of the first carrier and is composed of the roadways in the target sub-bin, or it can be based on the current roadway information of the target sub-bin and the cargo information of the first carrier to re-determine the set of candidate lanes. Since the distribution of goods in the warehouse may have changed during the process of transporting the first carrier to the target sub-warehouse, in order to screen out suitable candidate lanes more accurately, the current laneway information of the target sub-bin can be reacquired, and The candidate aisle set is re-determined based on the current aisle information of the target sub-bin and the cargo information of the first carrier. The specific process is similar to the flow of the aforementioned method for determining the candidate roadway set, and will not be repeated here.

Step S704, if there is a first-type laneway in the candidate laneway set corresponding to the target sub-bin, select the target laneway from the first-type laneway corresponding to the target sub-bin.

Specifically, if there are multiple first-type roadways, based on the preset matching principle of sku heat and roadway site distance, select the target roadway from the first type of roadway; wherein, the preset sku heat and roadway site distance matching principle is as described above , which will not be repeated here.

In practical applications, if there is the above-mentioned first-type laneway, that is, the laneway with the highest priority, in the target sub-bin, the laneway in the first-type laneway is preferred as the target laneway. In order to better select the target roadway, when there are multiple first-type roadways in the target sub-bin, the target roadway can be selected from the first-type roadway based on the above-mentioned matching principle of sku heat and roadway site distance. In this way, the same type of goods can be stored more centrally.

Step S706, if the first type of roadway does not exist in the set of candidate roadways corresponding to the target sub-bin, select the target roadway based on the second type of roadway corresponding to the target sub-bin.

There are many ways to select the target roadway based on the second type of roadway corresponding to the target sub-bin, and several preferred implementation modes are listed below:

Method 1: Determine 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 within a specified time in the future; if the number of carriers corresponding to the cargo type of the first carrier is less than The maximum value of the roadway depth of the target sub-bin, check whether there is a first undetermined roadway in the second type of roadway corresponding to the target sub-bin, wherein, the first undetermined roadway is a single-port empty roadway or a double-port single-sku roadway; if there is For the above-mentioned first undetermined lane, based on the above-mentioned principle of matching the sku heat and the distance of the lane site, select the target lane from the first undetermined lane.

In practical applications, a double-port aisle can have at most 2 SKUs that can be directly out of the warehouse, and a single-port aisle can have at most 1 SKU that can directly go out of the warehouse, and a single-port empty aisle and a dual-port single-sku aisle can be regarded as having one aisle. The empty roadway, so it is the preferred choice in the second type of roadway.

Based on the matching principle of sku heat and roadway site distance, the step of selecting a target roadway from the first undetermined roadway may include: determining the second undetermined roadway according to the number of empty goods in each roadway in the first undetermined roadway and the number of first carriers; , the difference between the number of empty goods in the second to-be-determined roadway and the number of carriers corresponding to the cargo type of the first carrier is equal to 0 or equal to 1; Select the target roadway. This method of selecting the target lane can achieve that when different types of goods share the same lane, the types of goods on the lane are the least, thereby reducing the occurrence of obstacles to a certain extent.

Method 2: Determine 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 within a specified time in the future. There are two more cases here:

(1) If the number of carriers corresponding to the cargo type of the first carrier is greater than or equal to the maximum value of the roadway depth of the target sub-bin, based on the principle of matching the SKU heat and the distance from the roadway site, select the roadway from the second type of roadway corresponding to the target sub-bin The single-hole empty roadway with the largest depth or the double-hole empty roadway with the largest depth is used as the target roadway.

For example, according to the cargo information of the carrier dispatched to the target sub-warehouse within a specified time in the future (such as 5 minutes), the determined number of carriers corresponding to the cargo type of the first carrier is m1, and the maximum value of the roadway depth of the target sub-bin is d, if m1>d, or m1=d, based on the matching principle of sku heat and roadway station distance, select the single-mouth empty roadway with the largest roadway depth or the double-mouth empty roadway with the largest roadway depth as the target roadway from the second type of roadway.

In view of the estimated number of carriers corresponding to a certain type of goods, a new roadway with the largest depth is opened as the target roadway. In this way, the target roadway will become the first type of subsequent carriers for this type of goods In the roadway, the subsequent carrier will be placed in the target roadway first, and the same kind of goods will be stored in a centralized manner to reduce the occupation and consumption of the roadway entrance.

(2) If the number of carriers corresponding to the cargo type of the first carrier is less than the maximum value of the aisle depth of the target sub-bin, select the third undetermined aisle from the second type of aisle; wherein, the aisles in the third undetermined aisle include double-port At least one of empty roadway, single-mouth empty roadway or double-mouth single-sku roadway, and the roadway depth of the undetermined roadway is greater than or equal to the number of carriers corresponding to the cargo type of the first carrier; based on the above-mentioned matching principle of sku heat and roadway station distance , select the roadway with the smallest roadway depth from the third undetermined roadway set as the target roadway.

Continuing from the previous example, m1<d, select the roadway with d>m2 from the second type of roadway as the first undetermined roadway, and then select the roadway with the smallest roadway depth from the first undetermined roadway based on the matching principle of sku heat and roadway station distance as target lane.

In addition to the above-mentioned method of determining the target lane, considering that in some intensive storage, there are usually obstacles due to many types of goods, in order to minimize the impact caused by obstacles, this embodiment of the present invention optimizes this. The above-mentioned target-based The step of selecting the target aisle for the second type of aisle corresponding to the sub-warehouse also includes: if the total number of cargo types corresponding to the dense warehouse is greater than the set threshold, and the number of carriers corresponding to the cargo type of the first carrier is 1, according to the preset The priority selection order selects the laneway from the second type of laneway corresponding to the target sub-bin; based on the principle of matching the sku heat and the distance from the laneway site, select the laneway with the smallest laneway depth as the target laneway from the selected laneways. Among them, the order of priority selection is: double-exit empty aisle, double-exit aisle with two cargo types, single-exit aisle with one cargo type, single-exit empty aisle, double-exit single-sku aisle, and aisle with more than two cargo types. Under this priority selection order, double-entry empty aisles are selected first. If there are no double-entry empty aisles, then double-entry aisles with two cargo types are selected, and so on, until the target aisle is selected.

Based on the above selection method of the target roadway, the following is an example of a pallet as the carrier. Assume that the depth of the roadway is represented by m, the pallet that arrives at the target sub-warehouse is P1, and the goods on it are sku1. It is estimated that it will arrive at the target sub-warehouse within 10 minutes There are n pallets of sku1 in the pallet. Then the selection process of the target lane is as follows:

(1) Based on the first type of roadway mechanism

If the first type of aisle exists in the set of candidate aisles of the target sub-warehouse, that is, sku1 is stored in this aisle, and the adjacent position where sku1 is stored is empty, then the first type of aisle is preferentially selected as the target aisle, and the pallet P1 to In this adjacent location, if there are multiple first-type lanes, a target lane can be randomly selected, or the target lane can be selected from multiple first-type lanes based on the above-mentioned matching principle of sku heat and laneway site distance.

In this example, based on the above-mentioned matching principle of sku heat and roadway site distance, the roadway whose normalized roadway distance value is close to the measured value of sku heat of P1 is specifically selected as the target roadway.

(2) Based on the second type of roadway mechanism

If the first type of roadway does not exist in the candidate roadway set of the target sub-bin, then select the target roadway from the second type of roadway, specifically as follows:

If there is a single-exit empty aisle or a dual-exit single-sku aisle, and m-n is equal to 0 or 1, based on the above-mentioned principle of matching the sku heat and the distance from the aisle site, select the target aisle from the single-exit empty aisle or the dual-exit single-sku aisle;

Furthermore, in this embodiment, the target lane can also be selected according to the estimated total number of pallets of sku1. In order to better measure the total number of pallets of sku1, the estimated total number of pallets of sku1 can be compared with the number of the deepest aisle, and the obtained ratio is expressed in PTD. If PTD is greater than or equal to 1, it means that one aisle cannot accommodate sku1. For all pallets, check whether there is a single or double empty aisle with the largest depth (maximum aisle depth) in the second type of aisle. Laneway or Double Empty Laneway to select the target laneway.

In specific applications, the specific roadway selection method can be determined according to the number of types of goods stored in the dense warehouse and the number of carriers corresponding to each type of goods. There are many types of goods, and the number of carriers corresponding to each type of goods In relatively few dense warehouses, there may be a large number of cargo types with only one carrier, and this kind of carrier is more likely to become an obstacle. Based on this, it can also be determined according to the type of cargo of the current carrier. The possibility of the carrier becoming an obstructive support, if the possibility is high, it can be regarded as an obstructive support, otherwise it can be regarded as a non-obstructive support. Based on this, when the carrier arrives at the target sub-bin, it can first be judged whether the carrier is a blocking holder.

Continuing from the previous example, if the pallet P1 is not an obstacle, it is judged whether there is a double empty aisle with m-n≥0 in the second type of aisle of the target sub-bin. The number of pallets n needs to be greater than or equal to 0. If there is such a double-mouthed empty roadway, based on the above-mentioned principle of matching the sku heat and the roadway site distance, select the roadway with the smallest roadway depth from this double-mouthed empty roadway as the target roadway;

If there is no double-port empty aisle that meets the above requirements, judge whether there is a single-port empty aisle or a dual-port single-sku aisle with m-n≥0 in the second type of aisle of the target sub-bin. Roadway, based on the above-mentioned sku heat and roadway station distance matching principle, select the roadway with the smallest roadway depth as the target roadway from this single-mouth empty roadway or double-mouth single-sku roadway;

If the pallet P1 is a blocking pallet, then: determine whether there is a remaining lane with the shortest lane depth in the second type of lane of the target sub-bin, and if so, use this lane as the target lane.

The selection method of the above-mentioned target lane can be based on the type of goods on the carrier and the type of goods on the occupied space on the candidate lane, the type of goods on the bearer that may arrive at the target sub-warehouse in the future, and the distance between the lane and the station. Select the optimal target roadway to reduce the possibility of the carrier and the carrier reaching the target sub-bin within a certain period of time, called obstacles, as much as possible, so as to improve the efficiency of the subsequent carrier out of the warehouse and save the cost of the shuttle car. power consumption.

Embodiment three:

Based on the above-mentioned method embodiments, the embodiment of the present application also provides a cargo storage device for dense warehouses. The dense warehouses include multi-layer sub-warehouses, and the roadway cargo positions in each layer of sub-bins continuously store the carriers with goods. The carrier Move by a shuttle; see Figure 8, the device includes:

The candidate aisle set determination module 81 is used to determine the candidate aisle set of the first carrier based on the aisle information of each sub-bin and the cargo information of the first carrier when the cargo palletizing of the first carrier is completed; wherein, the aisle information Including the type of roadway, the depth of the roadway and the cargo type of the occupied goods; the roadways in the candidate roadway set have corresponding priorities; the target sub-bin determination module 82 is used to determine the priority of the roadways in the candidate roadway set corresponding to each sub-bin. warehouse, and dispatch the first carrier to the target sub-bin; the target roadway determination module 83 is used to determine the target roadway based on the candidate roadway set corresponding to the target sub-bin when the first carrier arrives at the target sub-bin; the storage module 84, It is used to put the first carrier into storage on the cargo position of the target lane.

The cargo storage device for a dense warehouse provided in the embodiment of the present application can determine the candidate lane set based on the lane information of each of the sub-bins and the cargo information of the carrier; and according to the lanes in the set of candidate lanes corresponding to each of the sub-bins The priority of determining the target sub-bin can make the sub-bin allocated by the carrier more reasonable. At the same time, by assigning the cargo space in the roadway when the carrier reaches the target sub-bin, it can be based on the current relationship between the target sub-bin and the carrier. According to the actual situation, a more reasonable target roadway is determined to improve the rationality of storage, alleviate the occurrence of excessive obstacles to the carrier, and provide an effective guarantee for the subsequent delivery of the carrier.

In another embodiment, the above-mentioned goods storage device of the dense warehouse includes a candidate aisle set determination module 91 , a target sub-warehouse determination module 92 , a target aisle determination module 93 and a storage module 94 similar to the above embodiments. Referring to shown in Figure 9, the above-mentioned candidate roadway set determination module 91 includes: a roadway determination module 911, which is used to determine the first type of roadway in each sub-bin according to the roadway information of each sub-bin; wherein, the first type of roadway includes: Leave one lane and leave multiple lanes; there is only one empty cargo space in the one lane, and the type of goods on the adjacent positions of the empty cargo space is the same as that of the first carrier, except for the adjacent positions The cargo type of at least one of the occupied storage spaces is different from the cargo type of the first carrier; there are multiple empty cargo spaces in the multi-lane, and the cargo types of the occupied cargo spaces are all different from those of the first carrier. The cargo type of the first carrier is the same; the roadway adding module 912 is used to add the first type of roadway in each sub-bin to the candidate roadway set corresponding to the sub-bin, and set the priority of the first type of roadway to be the highest.

In one embodiment, the above-mentioned roadway determination module 911 is also used to determine the second type of roadway in each sub-bin based on the roadway information of each sub-bin; the second type of roadway includes: single-port empty roadway, double-port single-sku roadway, Double-port empty aisle and multi-sku aisle; among them, dual-port single-sku aisle refers to the double-port aisle with the same type of goods on the occupied cargo space and there is an empty cargo space, and multi-sku aisle refers to the cargo type on the occupied cargo There are multiple roadways with multiple empty cargo spaces; the above-mentioned roadway adding module 912 is also used to add the second type of roadway in each sub-bin to the corresponding candidate roadway set of the sub-bin, and set the second type of roadway has the second highest priority.

In one embodiment, the above-mentioned target sub-bin determination module 92 also includes: a roadway inspection module 921, configured to check whether the first type of roadway exists in the candidate roadway set corresponding to each sub-bin; The first type of laneway, select the target sub-bin from the sub-bins containing the first type of laneway; if it does not exist, estimate the cargo information of the carrier dispatched to each sub-bin within a specified time in the future, and based on the carrier of each sub-bin The cargo information and the second-type lanes of each sub-warehouse are used to determine the target sub-bin.

In one embodiment, the above-mentioned sub-bin selection module 922 is also used to: select the target sub-bin from the sub-bins containing the first type of aisle according to the balanced mechanism of the distribution ratio of goods of the same type; or, based on the preset SKU heat and The roadway site distance matching principle selects the target sub-bin from the sub-bins containing the first type of roadway; among them, the preset sku heat and roadway site distance matching principle includes: the roadway site corresponding to the matching roadway corresponding to the carrier with the greater sku heat The smaller the distance, the sku heat is used to represent the probability that the goods on the carrier are picked per unit time.

In one embodiment, the above-mentioned sub-bin selection module 922 is also used to: count the cargo information of carriers that are moving and have not been assigned cargo slots; estimate the carrier corresponding to each cargo type based on the cargo of the carrier to be allocated Number: based on the statistics of the cargo information of the carrier and the estimated number of carriers corresponding to each cargo type, estimate the cargo information of the carriers dispatched to each sub-warehouse within a specified time in the future.

In one embodiment, the above-mentioned target laneway determination module 93 is configured to: acquire the set of candidate laneways corresponding to the target sub-bin; Select the target roadway among the roadways; if the first type of roadway does not exist in the candidate roadway set corresponding to the target sub-bin, select the target roadway based on the second type of roadway corresponding to the target sub-bin.

In one embodiment, the above-mentioned target roadway determination module 93 is also used for: if there are multiple first-type roadways, based on the preset matching principle of sku heat and roadway station distance, select a target roadway from the first-type roadway; wherein, The preset matching principle of sku heat and roadway site distance includes: the smaller the sku heat carrier, the smaller the roadway site distance corresponding to the matching roadway.

In one embodiment, the target lane determination module 93 is further configured to: determine 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 within a specified time in the future; If the number of carriers corresponding to the cargo type of the first carrier is less than the maximum value of the aisle depth of the target sub-bin, check whether there is a first undetermined aisle in the second type of aisle corresponding to the target sub-bin, wherein the The first to-be-determined roadway is a single-mouth empty roadway or a double-mouth, single-sku roadway; if there is the first to-be-determined roadway, the target roadway is selected from the first to-be-determined roadway based on the principle of matching the sku heat and roadway site distance. For example: determine the second undetermined aisle according to the number of empty goods in each aisle in the first undetermined aisle and the number of the first carrier; The difference between the number of carriers corresponding to the cargo type of the object is equal to 0 or equal to 1; based on the matching principle of the sku heat and the distance from the roadway site, the target roadway is selected from the second undetermined roadway.

In one embodiment, the above-mentioned target laneway determination module 93 is also used to: determine 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 within a specified time in the future; The number of carriers corresponding to the cargo type of a carrier is greater than or equal to the maximum value of the roadway depth of the target sub-bin. Based on the matching principle of SKU heat and roadway station distance, select the single-mouth space with the largest roadway depth from the second type of roadway corresponding to the target sub-bin. The roadway or the double-mouthed empty roadway with the largest depth of the roadway is used as the target roadway.

In one embodiment, the target lane determination module 93 is further configured to: determine the carrier corresponding to the cargo type of the first carrier according to the cargo information of the carrier dispatched to the target sub-bin within a specified time in the future number; if the number of carriers corresponding to the cargo type of the first carrier is less than the maximum value of the roadway depth of the target sub-bin, select the third undetermined roadway from the second type of roadway in the target sub-bin; wherein, the roadway in the first undetermined roadway Including at least one of double-mouth empty roadways, single-mouth empty roadways, or double-mouth single-sku roadways, and the roadway depth of the undetermined roadway is greater than or equal to the number of carriers corresponding to the cargo type of the first carrier; based on the sku heat and the distance from the roadway site According to the matching principle, the roadway with the smallest roadway depth is selected from the third undetermined roadway set as the target roadway.

In an implementation manner, the matching principle of the sku heat and the roadway site distance is as described above, and will not be repeated here.

The implementation principle and technical effects of the device provided in this embodiment are the same as those in the second embodiment above. For brief description, for the part not mentioned in this embodiment, you can refer to the corresponding content in the second embodiment above.

Embodiment four:

Based on the above-mentioned method embodiment and device embodiment, the embodiment of the present application also provides a cargo storage system for a dense warehouse, as shown in FIG. ; The server 10 is respectively connected to the hoist 11 and the shuttle 12 in communication; the server 10 is used to execute the method described in the second embodiment above.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system described above can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

Further, this embodiment also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by the processing device, the steps of any one of the methods provided in the above-mentioned embodiment 2 are executed, or, When the computer program is run by the processing device, the steps of any one of the methods provided in the second embodiment above are executed.

The computer program product of a method, device, and system for storing goods in a dense warehouse provided in an embodiment of the present application includes a computer-readable storage medium storing program codes, and the instructions included in the program codes can be used to implement the preceding methods. The specific implementation of the method described in the example can refer to the method embodiment, and will not be repeated here.

If the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

Finally, it should be noted that: the above-described embodiments are only specific implementations of the application, used to illustrate the technical solutions of the application, rather than limiting it, and the scope of protection of the application is not limited thereto, although referring to the aforementioned The embodiment has described this application in detail, and those of ordinary skill in the art should understand that any person familiar with this technical field can still modify the technical solutions described in the foregoing embodiments within the technical scope disclosed in this application Changes can be easily imagined, or equivalent replacements can be made to some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the application, and should be covered by this application. within the scope of protection. Therefore, the protection scope of the present application should be determined by 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,

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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