CN115258482A

CN115258482A - Warehouse-out control method, electronic device, readable storage medium and warehouse-out system

Info

Publication number: CN115258482A
Application number: CN202210772412.1A
Authority: CN
Inventors: 郭瑞
Original assignee: Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Beijing Kuangshi Robot Technology Co Ltd
Priority date: 2022-06-30
Filing date: 2022-06-30
Publication date: 2022-11-01

Abstract

The application provides a warehouse-out control method, an electronic device, a readable storage medium and a warehouse-out system, wherein the method comprises the following steps: acquiring dependency relationship data corresponding to each container group to be delivered out of the warehouse currently, wherein each container group to be delivered out of the warehouse comprises one or more containers to be delivered out of the warehouse; the dependency relationship data is determined based on other containers which need to be depended on when the containers to be exported in the container group to be exported are exported; determining whether each container group to be ex-warehouse can be ex-warehouse or not according to the dependency relationship data; and executing the ex-warehouse operation of the container group capable of being ex-warehouse.

Description

Warehouse-out control method, electronic device, readable storage medium and warehouse-out system

Technical Field

The application relates to the technical field of warehousing management, in particular to a warehouse-out control method, electronic equipment, a readable storage medium and a warehouse-out system.

Background

When the articles are stored in the warehouse, the delivery sequence of the subsequent articles is not known, so that the articles needing to be delivered out of the warehouse firstly are not placed at a position convenient to take, and the articles to be delivered out of the warehouse later are placed at a deeper position. When the articles are taken out of the warehouse, some inevitable articles can be shielded by other articles, and the required articles need to be taken out after the shielding articles are moved out to other positions; the ex-warehouse mode greatly influences the ex-warehouse efficiency.

Disclosure of Invention

The application aims to provide a warehouse-out control method, an electronic device, a readable storage medium and a warehouse-out system, and solve the problem of low warehouse-out efficiency.

In a first aspect, an embodiment of the present application provides a method for controlling ex-warehouse, including: acquiring dependency relationship data corresponding to each container group to be delivered out of the warehouse currently, wherein each container group to be delivered out of the warehouse comprises one or more containers to be delivered out of the warehouse; the dependency relationship data is determined based on other containers which need to be depended on when the containers to be exported in the container group to be exported are exported; determining whether each container group to be ex-warehouse can be ex-warehouse or not according to the dependency relationship data; the container groups capable of being delivered from the warehouse comprise first container groups and/or second container groups, the first container groups have a dependency relationship with each other, and containers to be delivered from the warehouse in each first container group are independent of other containers in the warehouse except for each first container group; containers to be delivered from the second container group do not need to depend on any other containers except the second container group when delivered from the warehouse; and executing the ex-warehouse operation of the ex-warehouse container group.

In an optional embodiment, the dependency relationship data of the container group to be exported is characterized by a dependency chain; determining whether each container group to be ex-warehouse can be ex-warehouse according to the dependency relationship data, wherein the determining comprises the following steps: determining a container group to be ex-warehouse which does not need to depend on any other container except the container group of the container group according to the dependency relationship data and taking the container group as a container group capable of ex-warehouse; and for any current container group except the container group capable of ex-warehouse, determining whether the current container group can be ex-warehouse or not based on the dependency relationship data of each container group to be ex-warehouse on the dependency chain corresponding to the current container group or the container group to be ex-warehouse to which each container to be ex-warehouse on the dependency chain corresponding to the container group to be ex-warehouse belongs.

In an optional embodiment, the dependency chain corresponding to the current container group is composed of a container group to be exported; correspondingly, for any current container group except the container group capable of ex-warehouse, determining whether the current container group is capable of ex-warehouse based on each container group to be ex-warehouse on the dependency chain corresponding to the current container group, including: aiming at any current container group, identifying the ith dependency chain of the current container group, wherein i is a positive integer which is greater than or equal to 1 and less than or equal to the total number of the dependency chains of the current container group; if the jth container group to be ex-warehoused on the ith dependency chain does not depend on other containers except the jth container group during ex-warehouse, determining that the current container group cannot be ex-warehouse, wherein j is a positive integer which is greater than or equal to 1 and less than or equal to the total number of the container groups on the ith dependency chain; and if the jth container group to be ex-warehouse on the ith dependency chain depends on other containers during ex-warehouse, determining whether the current container group can be ex-warehouse or not according to each container group to be ex-warehouse on the dependency chain corresponding to the jth container group to be ex-warehouse.

In an optional embodiment, the determining, according to each container group to be ex-warehoused on the dependency chain corresponding to the jth container group to be ex-warehoused, whether the current container group is ex-warehoused includes: if any one to-be-ex-warehouse container group on the dependency chain corresponding to the jth to-be-ex-warehouse container group is in a determined state, or if any one container group on the dependency chain corresponding to the jth to-be-ex-warehouse container group belongs to an annular dependency and the current container group does not belong to the annular dependency, determining that the current container group cannot be ex-warehouse; the determining state is used for representing whether the container group to be delivered can be delivered; otherwise, updating the dependency chain corresponding to the jth container group to be ex-warehoused, and determining whether the jth container to be ex-warehoused can be ex-warehoused or not according to the updated dependency chain.

In an optional embodiment, the updating the dependency chain corresponding to the jth container group to be ex-warehoused, and determining whether the jth container to be ex-warehoused can be ex-warehoused according to the updated dependency chain includes: if any container group to be ex-warehouse on the dependency chain corresponding to the jth container group to be ex-warehouse belongs to one container group in the temporary annular dependency of the current record, adding all the container groups to be ex-warehouse on the ith dependency chain into the temporary annular dependency of the current record; the ring dependency means that the container groups forming the ring dependency chain are mutually dependent, and the container groups forming the ring dependency are independent of other container groups except the container groups forming the ring dependency, and the initial state of the temporary ring dependency only comprises the current container group; otherwise, adding the container group to be delivered from the storage on the dependency chain corresponding to the jth container group to be delivered from the storage into the ith dependency chain; and after the identification of all the dependency chains of the current container group is completed, determining that all the container groups to be ex-warehoused in the temporary annular dependency can be ex-warehoused.

In an optional embodiment, the dependency chain corresponding to the current container group is formed by containers to be ex-warehouse; the determining, for any current container group except the container group capable of ex-warehouse, whether the current container group is capable of ex-warehouse based on dependency relationship data of a container group to be ex-warehouse to which each container to be ex-warehouse belongs on a dependency chain corresponding to the container group to be ex-warehouse includes: aiming at any current container group, identifying the ith dependency chain of the current container group, wherein i is a positive integer which is greater than or equal to 1 and less than or equal to the total number of the dependency chains of the current container group; if each container to be ex-warehouse in the container group to be ex-warehouse where the jth container to be ex-warehouse is located on the ith dependency chain does not depend on other containers except the container group where the jth container is located, determining that the current container group cannot be ex-warehouse, wherein j is a positive integer which is greater than equal to 1 and less than or equal to the total number of the container groups on the ith dependency chain; if at least one container to be ex-warehouse in the container group to be ex-warehouse where the jth container to be ex-warehouse is located on the ith dependency chain depends on other containers, determining the qualitative label of the current container group according to each container to be ex-warehouse on the dependency chain corresponding to the container group to be ex-warehouse where the jth container to be ex-warehouse is located.

In an optional embodiment, each container group to be ex-warehouse corresponds to at least one dependency chain, and each dependency chain comprises at least one container to be ex-warehouse or a container group to be ex-warehouse; the identifying, for any of the current container groups, an ith dependency chain of the current container group includes: identifying the ith dependency chain of the current container group according to the container group to be ex-warehouse which is depended by each current container group or the sequence of the number of the containers to be ex-warehouse from less to more; and/or, for any current container group, identifying the ith dependency chain according to the sequence from the tail end to the head end of the ith dependency chain.

In an alternative embodiment, the performing the ex-warehouse operation of the ex-warehouse container group includes: sorting the plurality of groups of container groups capable of being delivered according to the transportation cost required by the container groups capable of being delivered to the warehouse, so as to obtain a sorting result, wherein the transportation cost required by the container groups capable of being delivered to the warehouse represents the time spent for transporting the containers in the container groups capable of being delivered to the warehouse or the number of tasks required to be executed; and sequentially controlling the plurality of groups of container groups capable of being delivered according to the sequencing result from small to large in the required carrying cost of each container group capable of being delivered.

In an optional embodiment, the sequentially controlling the ex-warehouse of the plurality of sets of containers according to the sorting result in the order of the transportation cost required by each ex-warehouse container set from a small one to a large one includes: controlling a transport vehicle to transport each container to be delivered from the container group capable of being delivered to the warehouse to a corresponding cache storage position from the current warehouse position; and if the current container to be delivered is the container to be delivered in the container group which can be delivered and is sequenced in the head, controlling the current container to be delivered to deliver.

In an optional embodiment, the sequentially controlling the ex-warehouse of the plurality of sets of containers according to the sorting result in the order of the transportation cost required by each ex-warehouse container set from a small one to a large one, further includes: if the current container to be ex-warehouse is not the container to be ex-warehouse in the container group which can be ex-warehouse and is sorted in the head, judging whether the container group which can be ex-warehouse and is sorted in the head has the container to be ex-warehouse which is already ex-warehouse or not; if the container group which is sorted at the head and can be taken out does not have the container to be taken out, judging whether all containers to be taken out in the container group which can be taken out and is located by the container to be taken out are carried to the corresponding cache storage position or not; and if all the containers to be ex-warehouse in the container group which can be ex-warehouse and is provided with the containers to be ex-warehouse currently are carried to the corresponding cache storage positions, controlling all the containers to be ex-warehouse in the container group which can be ex-warehouse and is provided with the containers to be ex-warehouse currently.

In an alternative embodiment, the performing the ex-warehouse operation of the ex-warehouse container group includes: controlling a transport vehicle to transport the container to be delivered out of the container group capable of being delivered out of the warehouse to a target cache storage position corresponding to a target hoisting machine for delivering the container to be delivered out of the warehouse from the position of the container to be delivered out of the warehouse; and controlling the target hoister to move the container to be delivered out of the warehouse from the target cache storage to an exit layer of the warehouse so as to deliver the container to be delivered out of the warehouse.

In an alternative embodiment, the target hoist for the out-of-warehouse container is determined by the following procedure: calculating the distance cost from each container to be delivered to each available hoisting machine according to the position information of the position of the container to be delivered in the container group capable of being delivered and the position information of the currently available hoisting machine; and allocating the hoisting machines for each container to be delivered from the warehouse in the container group capable of being delivered from the warehouse according to the distance cost and the number of the available hoisting machines.

In an alternative embodiment, the method further comprises: and if the number of the containers to be delivered from the warehouse which are required to be transported currently is smaller than a first threshold value, re-acquiring the dependency relationship data of each container group in the warehouse to update the container groups which are required to be delivered from the warehouse and can be delivered from the warehouse, wherein the first threshold value is determined according to the transportation capacity of the transport vehicles in the warehouse.

In a second aspect, an embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the method described above.

In a third aspect, the present application provides a computer-readable storage medium, on which a computer program or computer instructions are stored, and when the computer program or the computer instructions are executed by a processor, the method described above is implemented.

In a fourth aspect, the present application provides a computer program product comprising a computer program or computer instructions, which when executed by a processor, implement the method described above.

In a fifth aspect, an embodiment of the present application provides a warehouse-out system, including: a transport vehicle, a hoist and a warehouse control system; the warehouse control system is used for controlling the transport vehicle and the hoister to execute the warehouse-out operation of the container group to be subjected to warehouse-out according to the warehouse-out control method;

the transport vehicle is used for carrying each container to be discharged from the warehouse in the group of containers to be discharged from the warehouse to the cache storage position corresponding to the elevator under the control of the warehouse control system;

and the hoister is used for displacing all containers to be discharged from the warehouse group to the warehouse outlet layer from the cache storage under the control of the warehouse control system.

The beneficial effects of the embodiment of the application are that: before the container groups need to be delivered out of the warehouse, one or more groups of container groups capable of being delivered out of the warehouse can be determined based on dependency relationship data among the container groups, the containers capable of being delivered out of the warehouse determined based on the dependency relationship data are mutually dependent, and the first container groups of the plurality of groups of containers except for the first container groups are not dependent. On the other hand, the container which is determined based on the dependency relationship data and can be exported is a second container group which does not depend on other container groups, and when the second container group is controlled to be exported, the container group can be moved out under the condition that other container groups are not moved, so that the efficiency of moving out the second container group is higher, and the ex-warehouse efficiency of the container group is improved.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a warehouse provided in an embodiment of the present application;

fig. 2 is a schematic view of an operating environment of a ex-warehouse system according to an embodiment of the present application;

fig. 3 is a schematic block diagram of an electronic device according to an embodiment of the present application;

fig. 4 is a flowchart of a ex-warehouse control method according to an embodiment of the present application;

FIG. 5a is a schematic diagram of a container display layer according to an embodiment of the present application;

FIG. 5b is a schematic view of another display of a container at a storage level according to an embodiment of the present application;

FIG. 6 is a schematic flow chart diagram illustrating step 320 of a ex-warehouse control method according to an embodiment of the present application;

FIG. 7 is a schematic flow chart diagram illustrating step 322 of a ex-warehouse control method according to an embodiment of the present application;

FIG. 8 is a schematic flow chart diagram illustrating step 330 of a ex-warehouse control method according to an embodiment of the present application;

FIG. 9 is a schematic illustration of a further display of a layer of storage locations for a container according to an embodiment of the present application;

fig. 10 is a schematic flowchart of the ex-warehouse logic of the ex-warehouse control method according to the embodiment of the present application;

FIG. 11 is a schematic flow chart diagram illustrating step 330 of a ex-warehouse control method according to an embodiment of the present application;

fig. 12 is a schematic functional block diagram of a warehouse exit control device according to an embodiment of the present application.

Detailed Description

The technical solution in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

In order to reduce the area requirement and improve the space utilization, the existing warehousing technology also considers that less area is used for storing more goods, so as to achieve greater efficiency in the limited space. Furthermore, the automatic rate in the warehousing technology can be improved, so that the replacement efficiency of the articles in the warehouse can be improved, and the utilization rate of the warehouse can also be improved.

Based on the above requirements, an intensive storage warehouse has appeared, such as a shuttle warehouse (specifically, a four-way shuttle, a two-way shuttle, etc.), the shuttle warehouse can save channels and improve storage density on the one hand, a roadway can have a plurality of depths, and on the other hand, the shuttle warehouse can be developed in the height direction and can comprise a plurality of storage layers, so that the storage volume is greatly increased, and the purpose of saving space resources is achieved.

However, the dense storage warehouse as an independent automatic warehouse for picking up the warehouse may cause certain difficulties. When the whole warehouse is delivered, the warehouse is required to be delivered according to a certain group sequence during warehouse delivery, wherein the group sequence refers to that containers without other container groups are arranged between any two containers in the warehouse delivery container sequence group. That is, after one container group is delivered, the next container group can be delivered. Such a completely serial job has relatively high ex-warehouse efficiency, and cannot satisfy the requirement of high throughput efficiency.

The inventor of the present application has learned that the requirement of achieving high throughput efficiency in a dense storage warehouse has certain difficulties. The main body is as follows: (1) Due to intensive storage inside the warehouse, the obstruction relationship formed between the containers can cause obstruction to be formed between the container groups; (2) There is no buffer storage inside the warehouse to help with the sorting operation, or to store containers that form a barrier; (3) A plurality of floors exist in a general four-way shuttle warehouse, so that the dispatching is more complicated; (4) In some more complex scenarios, disconnecting the warehouse exit from the elevator also requires a four-way shuttle interface.

Based on the problem of insufficient throughput efficiency, the application provides a warehouse-out control method, which can enable a plurality of groups of container groups to be in parallel warehouse-out and improve warehouse-out efficiency. The ex-warehouse control method provided by the application is described by some embodiments.

To facilitate understanding of the present embodiment, an operating environment for executing the ex-warehouse control method disclosed in the embodiments of the present application will be described first.

As shown in fig. 1, fig. 1 shows a schematic diagram of a dense storage warehouse. The warehouse 100 may include a plurality of lanes 110, where a lane 110 may be a storage space made up of warehouse locations. Each lane 110 may have a depth, and the depth of a lane 110 may represent the number of consecutive bin bits in a lane 110. Each lane may include one or two lane crossings. In one example, as shown in fig. 1, a lane 110 selected by the dashed box includes three bin bits 111, and thus, the depth of the lane 110 is 3. The storage space 111 may be used for placing articles or containers for loading articles, for example, the containers may be pallets, bins, or other containers capable of loading goods.

Warehouse 100 may include one or more other configurations of aisles 130, conveyor belts (not shown), outlets (first outlet 121 and second outlet 122 are shown in fig. 1), and the like, in addition to lanes 110.

Warehouse 100 may include one or more levels of warehouse space, and fig. 1 is a schematic top view of warehouse 100 illustrating one level of warehouse space. When warehouse 100 includes multiple levels of warehouse locations, containers may be moved by elevator 220 in front of the different levels.

As shown in fig. 1, the elevator 220 may be located at the docking port 140 of the different levels of the depot level. The elevator 220 may also be connected to the first outlet 121. The elevator 220 can retrieve the container from the first outlet 121.

In the example shown in fig. 1, a second outlet 122 may also be included. The second outlet 122 may not be directly connected to the elevator 220, and when a container needs to be taken out of the second outlet 122, the transport vehicle 210 is required to move the container from another position to the second outlet 122. The warehouse 100 may also include more outlets based on different needs, for example, the warehouse 100 may also include more outlets. The number of outlets of the warehouse 100 is not limited in the embodiments of the present application.

Containers in the warehouse 100 may be removed from the warehouse through the ex-warehouse system 200, and external containers may be stored in the warehouse 100 through the ex-warehouse system 200. As shown in fig. 2, the ex-warehouse system 200 may include a transport vehicle 210, a hoist 220, and a warehouse control system.

The warehouse control system may be used in the ex-warehouse control method provided in the following embodiment, and controls the transport vehicle and the elevator to perform the ex-warehouse operation of the container group to be ex-warehouse.

Illustratively, the warehouse control system may be a logic system running on the electronic device 230, which may be implemented by a computer program.

The electronics 230 may control the transport vehicle 210 and the hoist 220 when executing the warehouse control system. For example, the transporter 210 may perform corresponding actions based on instructions received from the electronic device 230. The elevator 220 may also perform corresponding actions based on instructions received from the electronic device 230.

The transport vehicle 210 is configured to transport each container to be discharged from the warehouse group to the cache storage location corresponding to the elevator from the warehouse location under the control of the warehouse control system. Illustratively, a transporter 210 (not shown in FIG. 1, but shown with reference to FIG. 2) may shuttle within the roadway 110 to obtain containers at each bay 111 in the roadway 110. The transport vehicle 210 may store containers entering from the entrance of the warehouse 100 in the storage space 111 in the roadway 110. The transport vehicle 210 may also move the container at the storage location 111 out to a buffer storage location of the elevator 220, which may be a receiving port of the elevator 220 or a waiting location of the elevator 220.

The transport vehicle 210 may enter the roadway from the roadway opening to access containers at various locations in the roadway.

In this embodiment, the transportation vehicle 210 takes the container closest to the road junction in the roadway 110. For example, if one lane 110 is five deep and five bays have containers stored therein, the vehicle 210 can only access the container in the first bay at the roadway opening of the lane 110. For example, if a third depot inside the road junction needs to be accessed, the containers in the two depots in front of the road junction need to be removed first to access the containers in the third depot.

Illustratively, the transport vehicle 210 may be a four-way shuttle vehicle and the warehouse 100 may be a four-way shuttle vehicle warehouse.

The elevator 220 is configured to move each container to be discharged from the group of containers to be discharged from the storage from the buffer storage to the warehouse exit floor under the control of the warehouse control system. The elevator 220 may move the acquired containers between different depot levels. In one example, the elevator 220 may also be coupled to an exit of one of the warehouses 100, and the elevator 220 may also move containers of different levels to the exit. In one example, the elevator 220 may also access the entrance of one of the warehouses 100, and the elevator 220 may also move the containers at the entrance to a different bay level.

Illustratively, the electronic device 230 may be a Programmable Logic Controller (PLC).

The electronic device 230 may include a memory 231, a processor 232. It will be understood by those of ordinary skill in the art that the structure shown in fig. 3 is merely exemplary and is not intended to limit the structure of the electronic device 230. For example, electronic device 230 may also include more or fewer components than shown in FIG. 3, or have a different configuration than shown in FIG. 3.

The aforementioned elements of the memory 231 and the processor 232 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor 232 described above is used to execute executable modules stored in memory.

The Memory 231 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 231 is used for storing a program, and the processor 232 executes the program after receiving an execution instruction, and the method executed by the electronic device 230 defined by the process disclosed in any embodiment of the present application may be applied to the processor 232, or implemented by the processor 232.

The processor 232 may be an integrated circuit chip having signal processing capabilities. The Processor 232 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The electronic device 230 in this embodiment may be configured to perform each step in each method provided in this embodiment. The implementation process of the ex-warehouse control method is described in detail by several embodiments.

Please refer to fig. 4, which is a flowchart illustrating a ex-warehouse control method according to an embodiment of the present application. The ex-warehouse control method may be applied to the electronic device 230 shown in fig. 3. The ex-warehouse control method provided by the embodiment can comprise the following steps:

step 310, acquiring dependency relationship data corresponding to each container group to be exported of the warehouse currently needing to be exported;

step 320, determining whether each container group to be ex-warehouse can be ex-warehouse according to the dependency relationship data;

in step 330, a warehouse-out operation of the container group capable of warehouse-out is performed.

In some alternative embodiments, step 310 may be implemented by:

each container group to be delivered comprises one or more containers to be delivered; the dependency relationship data is determined based on other containers which need to be depended on when each container to be ex-warehouse in the container group to be ex-warehouse is ex-warehouse.

In the case of a roadway in a warehouse, a plurality of containers can be stored in one roadway, and if the roadway has only one roadway opening, the transport vehicle can only take the container from the position close to the roadway opening to the position far away from the roadway opening, that is, if the container far from the roadway opening needs to be taken, the container can only be taken after other containers closer to the roadway opening are taken out of the roadway. The dependence of the containers in the roadway is therefore: the containers further from the road junction depend on all containers closer to the road junction than they are.

Each container group includes one or more containers in each of which items may be placed. In one example, if a Stock Keeping Unit (SKU) includes multiple items to be placed in multiple containers, the multiple containers may be divided into one container. In another example, if multiple containers with multiple loaded items can be placed in one container, and therefore the multiple containers need to be taken out of the warehouse together for subsequent merging processing, the multiple containers can be divided into a container group.

Of course, the containers may be divided into a group of containers based on other requirements, for example, a plurality of items can form a sales package, and the container loaded with the plurality of items may be divided into a group of containers.

Prior to removing a bank, other containers that obstruct the containers in the bank must be removed. The dependency data is used to represent other container groups that the container group depends on.

If each container in any container group is placed at a storage position nearest to a road junction in a roadway, or other articles are not stored between the storage position stored in the container and the road junction, each container of the container group does not depend on other containers, and the dependency relationship data of the container group is empty.

In one example, as shown in FIG. 5a, which FIG. 5a shows a display in one level of a library site, four sets of containers A, B, C, D are shown in FIG. 5a, each comprising the following containers: a1, A2, A3, A4 and A5; b1, B2, B3, B4; c1, C2, C3, C4, C5; d1 and D2.

In the first group of containers a, the container A1 has no dependent container, and the dependent container of the container A2 includes: b1; the dependent container of the container A3 includes: c3; the dependent containers of container A4 include: d1 and D2; the dependent containers of container A5 include: d1, D2 and A4. In some implementations, the dependency chains of the container group can be formed by containers, and the first group of containers includes four dependency chains, respectively: b1; c3; D1-D2; D1-D2-A4. However, since the container A4 and the container A5 are the same group of containers, the container A4 and the container A5 are delivered together at the time of delivery, and therefore the container A4 does not substantially obstruct the container A5, and therefore the dependency chain of the container A5 may be: D1-D2. This first set of containers can also be understood as comprising only three dependency chains, respectively: b1; c3; D1-D2. In some implementations, the dependency chains of a container group may be composed of a container group, the first group of container groups including three dependency chains, each dependency chain including only one container group, respectively: b; c; D-A. However, since the container A4 and the container A5 are the same container group, the container A4 and the container A5 are delivered together at the time of delivery, and therefore the container A4 does not substantially obstruct the container A5, and therefore the dependency chain of the container A5 may include only one container group D. This first set of containers can also be understood as comprising only three dependency chains, respectively: b; c; D.

in the second group B of containers, container B1 has no dependent containers; the dependent container of the container B2 includes: a1; the dependent containers of the container B3 include: a1 and B2; the dependent container of the container B4 includes: a1, B2 and B3. Considering B2, B3, B4 belong to the same group of containers, the second group of containers includes a dependency chain: A1. if the dependency chain is formed as a group of containers, the second group of containers may include a dependency chain or may include a group of containers A.

In the third group of containers C, the dependent containers of container C1 include: b1 and A2; the dependent containers of container C2 include: c3 and A3; container C3 is container independent; the dependent containers of container C4 include: b1, A2 and C1; the dependent containers of container C5 include: c3, A3 and C2. This third group of containers, without taking into account the encumbrance of the containers of this group, comprises two dependency chains, respectively: B1-A2; A3. if the dependency chain is formed by a container group, the third group of containers includes two dependency chains, which are: B-A; A.

in the fourth group of containers D, container D1 has no dependent containers, and the dependent containers of container D2 include only: D1. thus, this fourth group of containers does not rely on chains.

In an actual warehouse, the depth of the roadway may be deeper than the depth of the roadway shown in fig. 5a, the furnishing of each container group may be more cluttered, and the dependency chain included in each container group may be more complex than that of each container group shown in fig. 5 a. Of course, in an actual warehouse, a roadway may have two roadway crossings, and the paths for taking containers at the warehouse location may be different, and therefore, the dependency chains included in each group of containers may be simpler than those of each group of containers shown in fig. 5 a.

Alternatively, the dependency data may include only the container group other than the container group in which the dependency data is located.

In some alternative embodiments, step 320 may be implemented by:

the container groups capable of being ex-warehouse comprise a first container group and/or a second container group, the first container groups have a dependency relationship with each other, and containers to be ex-warehouse in each first container group are not dependent on other containers except for each first container group in the warehouse when being ex-warehouse; the containers to be delivered from the second container group do not need to depend on any other containers except the second container group when delivering.

Alternatively, the set of ex-warehouse containers may be free of one or more sets of containers that are chain dependent. Taking fig. 5a as an example, the dependency relationship data of the fourth group of containers does not include a dependency chain. The fourth group of containers may be selected as the ex-warehouse group of containers.

Alternatively, the container group capable of being ex-warehouse can also be a container in which only the container group is included in the dependency chain.

Alternatively, the ex-warehouse container group may also be a plurality of interdependent ring-dependent container groups. Taking fig. 5b as an example, in the example shown in fig. 5b, each container in the fourth group of containers is ex-warehouse, the original warehouse location of the container C4 and the container C5 is changed to be empty, the fourth group of containers is not included in the dependency chain of the first group of containers, and the first group of containers, the second group of containers, and the third group of containers are dependent on each other, so that the first group of containers, the second group of containers, and the third group of containers may be determined to be circular dependent, and the first group of containers, the second group of containers, and the third group of containers may be taken as ex-warehouse container groups.

Of course, depending on the complexity of the warehouse environment, the number of container groups in a ring-type dependency may be more or less.

In some alternative embodiments, step 330 may be implemented by:

alternatively, if the warehouse storing the containers includes only one layer of storage positions, the containers on the storage positions may be transported to the exit of the warehouse by a transport vehicle, or to a cache storage position of the warehouse.

Alternatively, if the warehouse for storing the containers only comprises a plurality of storeroom levels, the containers on the storerooms can be transported to the connecting port of the elevator by the transport vehicle, and then the containers are transported to the outlet of the warehouse by the elevator; or the container on the warehouse location can be transported to the connection port of the elevator by the transport vehicle, then the container is transported to the connection port of the outlet layer of the warehouse by the elevator, and then the container is transported to the outlet of the warehouse by the transport vehicle; alternatively, the container on the depot is transported by the transport vehicle to a receiving port of the hoist or a waiting position of the hoist, and the hoist is waited to transport the container to another place.

In this embodiment, when there are multiple groups of container groups in the parallel ex-warehouse process, one ex-warehouse sequence may be maintained, that is, the process of taking out the containers from the warehouse location may be performed in parallel, and ex-warehouse from the outlet needs to be performed according to the agreed sequence. For example, other groups of containers may be taken out of the storage space, but not out of the outlet, before one group of groups of containers is not completely out of the outlet.

Illustratively, the current maintenance sequence is to control the other container groups to be discharged from the outlet after the container group sorted at the head is discharged. If the currently shipped container is a container in the first ordered group of containers, the current container may be shipped to the exit of the warehouse to enable the container to be shipped from the exit. If the currently transported container is not the container sorted in the first container group, the currently transported container may be transported to the cache storage location, and after the container sorted in the first container group is discharged, other container groups are controlled to be discharged from the outlet.

Through the process, one or more groups of container groups can be determined based on the relation between the container groups before the container groups are required to be delivered, so that the container groups requiring the groups can be delivered, the container groups are not limited to a group of container groups to be delivered independently, the parallel delivery of the multiple groups of container groups can be realized, and the delivery efficiency of the container groups can be improved. Furthermore, the order of the containers discharged from the outlet can be limited, so that the containers in a plurality of groups can be prevented from being discharged from the outlet alternately, the order of the groups can be maintained better, and the container groups can be prevented from being disordered.

The container groups selected as container groups out-storable may be of two types, e.g. there is interdependence between a plurality of first container groups independent of other container groups and a relatively independent second container group independent of other container groups. A second, relatively independent group of containers that is not dependent on other groups of containers may be screened before the first group of containers is screened from containers that may have relatively complex dependencies. Thus, as shown in FIG. 6, step 320 may include step 321 and step 322.

Step 321, according to the dependency relationship data, determining a container group to be ex-warehouse which does not need to depend on any other container except the container group of the container group to be ex-warehouse, and using the container group as a container group capable of ex-warehouse.

The container set that can be exported as determined in step 321 is the second container set, and each container in the second container set is independent of other containers in the second container set.

Step 322, for any current container group except the container group capable of ex-warehouse, based on the dependency relationship data of each container group to be ex-warehouse on the dependency chain corresponding to the current container group or the container group to be ex-warehouse belonging to each container to be ex-warehouse on the dependency chain corresponding to the container group to be ex-warehouse, determining whether the current container group can be ex-warehouse.

The container groups that can be exported based on the determination in step 322 are the first container groups mentioned above, the first container groups of each group are interdependent, and the first container groups of each group are independent of the other container groups stored in the warehouse except for the first container groups.

The dependency chain corresponding to the current container group may be composed of a container group to be ex-warehoused, as shown in fig. 7, step 322 may include: step 3221 to step 3223.

At step 3221, the ith dependency chain of the current container group is identified.

Step 3222, if the jth container group to be ex-warehoused on the ith dependency chain does not depend on other containers except the jth container group during ex-warehousing, it is determined that the current container group cannot be ex-warehoused.

Step 3223, if the jth container group to be ex-warehoused on the ith dependency chain depends on other containers during ex-warehouse, determining whether the current container group can be ex-warehouse according to each container group to be ex-warehouse on the dependency chain corresponding to the jth container group to be ex-warehouse.

In some possible embodiments, the step 3221 may be implemented as follows:

wherein i is a positive integer greater than or equal to 1 and less than or equal to the total number of dependency chains of the current container group. Taking the first group of container groups shown in fig. 5a as the current container group as an example, the first group of container groups includes three dependency chains: b; c; D. then in this example, i can take on values of 1, 2, and 3. Taking the first group of container groups shown in fig. 5a as the current container group as an example, the second group of container groups includes two dependency chains: A. then i can only take the value 1 in this example.

When the current container group is identified through steps 3221 to 3223, the container group or the number of containers depended on by each container group to be exported may be selected from as few as many as possible for identification.

For example, if the dependency chain of the container group is composed of a container group, the container group that needs to be identified in steps 3221 to 3223 includes a container group M and a container group N, and if the number of container groups that the container group M depends on is 7 and the number of container groups that the container group N depends on is 5, the container group N may be first regarded as the current container group, and each dependency chain in the container group N may be identified in steps 3221 to 3223.

For another example, if the dependency chain of the container group is composed of containers, the container group that needs to be identified in steps 3221 to 3223 includes a container group P and a container group Q, and if the number of containers depended on by the container group P is 10 and the number of containers depended on by the container group Q is 8, the container group Q may be first regarded as the current container group, and each dependency chain in the container group Q may be identified in steps 3221 to 3223.

Alternatively, the identification may be made from as few as many dependent chains contained in each container group.

For example, taking four container groups shown in fig. 5a as an example, the fourth container group has no dependency chain, the second container group only includes one dependency chain, the third container group includes two dependency chains, and the first container group includes three dependency chains, then the ordering result of the four container groups may be: a fourth group of containers, a second group of containers, a third group of containers and a first group of containers.

The container groups may be identified in the order of the fourth group of containers, the second group of containers, the third group of containers, and the first group of containers.

By identifying the container groups with fewer dependence chains, fewer container groups to be ex-warehoused or fewer containers to be ex-warehoused, the obstruction of the container groups is relatively less, so the difficulty in moving out the warehouse location is relatively lower, the container groups with fewer dependence chains or shorter dependence chains can be preferentially screened out to be used as the container groups capable of ex-warehoused, and the time spent in ex-warehoused can be reduced. In addition, after the container group is removed, the obstruction to other subsequent container groups can be reduced, so that the length of the dependency chain of the subsequent container groups is reduced. For example, as shown in fig. 5a, if the fourth group of containers is selected as the container group that can be ex-warehouse, since the dependency relationship data of the fourth group of containers is empty and there is no dependency chain, the time taken to move out the fourth group of containers is less than that of the other three groups of containers; in addition, the dependency chain of the first group of containers may also be shortened after the fourth group of containers is removed.

In order to facilitate recording of the identification process for each container group, a plurality of variables may be set before identification for recording the identification process of the dependency chain for each container group. Illustratively, a first variable stack for recording dependency chains to be identified in the current container group; the second variable circle is used for recording a second variable circle which comprises the current container group and is to form a ring dependency; a third variable traced for recording container groups that have been visited during the traversal. Before traversing the current container group, writing all dependency chains of the current container group into the first variable stack, wherein the initial value of the second variable circle only comprises the current container group.

Alternatively, traversing each container group on the ith dependency chain may proceed by traversing the top container group first and then traversing the bottom container group. Wherein the bottom group of containers is dependent on the top group of containers. In one example, if the ith dependency chain is: G-H-J-K, the container group J, the container group H and the container group G can be traversed in sequence.

In some possible embodiments, the step 3222 may be implemented by:

optionally, in order to facilitate identification of the ex-warehouse container group and avoid repeated identification, it may be determined that qualitative labels are set for the ex-warehouse container group, where the qualitative labels include the first label and the second label. The first label is used for identifying that the container group can not be delivered, and the second label is used for identifying that the container group can be delivered. For example, in the process from step 3221 to step 3223, when it is determined that some container groups can be ex-warehouse, a second tag may be set for the container group.

Wherein j is a positive integer greater than or equal to 1 and less than or equal to the total number of groups of container groups on the ith dependency chain.

As can be understood from the display relationship shown in fig. 5a, when the current container group is the first group of container groups, and the value of the current i is 3, because the fourth group of container groups D has no dependency chain, the first group of container groups cannot be used as container groups that can be ex-warehouse. A qualitative label may also be provided for the first group of containers, the qualitative label being determined to be the first label.

In the identification process for the ith dependency chain of the current container group, the ith dependency chain may be identified in an order from the tail end to the head end of the ith dependency chain.

Taking the example shown in fig. 5a as an example, if the current container group is the third group container group C, the end of the first dependency chain in the third group container group is a, and the value of the current i is 1, the container group a may be identified first, and then the container group B may be identified.

In some possible embodiments, the step 3223 may be implemented as follows:

optionally, if any one of the container groups in the dependency chain of the jth container group to be ex-warehoused is in a determined state, it indicates that the container group is not qualified with the current container group, and cannot form a ring dependency with the current container group, and it is determined that the current container group cannot be ex-warehoused.

For example, if the qualitative tag of one of the container groups in the dependency chain of the jth container group to be ex-warehoused is the first tag, it indicates that the container group cannot be ex-warehoused, and since the current container group is directly dependent on any one of the container groups in the dependency chain of the jth container group to be ex-warehoused, the current container group cannot be ex-warehoused.

For example, if the qualitative tag of one of the container groups in the dependency chain of the jth container group to be ex-warehoused is the second tag, it indicates that the container group can be ex-warehoused, but the current container group is not qualified as being ex-warehoused, it indicates that the current container group and one of the container groups in the dependency chain of the jth container group to be ex-warehoused are not in the same ring dependency, and the current container group cannot be ex-warehoused.

Optionally, if any one of the container groups in the dependency chain of the jth container group to be ex-warehoused belongs to a ring dependency and the current container group does not belong to the ring dependency, it indicates that the container group cannot form a ring dependency with the current container group, and it is determined that the current container group cannot be ex-warehoused.

Next, through a process, it is described that step 3223 identifies the jth container group to be ex-warehoused to determine whether the current container group can be ex-warehoused, where the step 3223 may include the following process:

and a, identifying each container group on the dependency chain of the jth container group to be exported.

The dependency chains contained in the dependency relationship data of the jth container group to be exported can be read in sequence.

And b, if any one of the container groups on the dependency chain of the jth container group to be ex-warehouse is in a determined state, determining that the current container group cannot be ex-warehouse.

Optionally, a qualitative label may be set for the current group of containers for convenience of recording, and the qualitative expression may be the first label.

Optionally, the determining the status may include that the group of containers is provided with a qualitative label, which may be the first label or the second label.

Optionally, the determined state may also be a container group that does not belong to the container group in each to-be-ex-warehouse container group that needs to be ex-warehouse currently.

And c, if any one container group on the dependency chain of the jth container group to be ex-warehoused is one container group in the annular dependency and the current container group does not belong to one container group in the annular dependency, determining that the current container group cannot be ex-warehoused.

If the current container group already determines that any container group on the dependency chain of the j-th container group to be ex-warehoused cannot belong to the same annular dependency, the current container group can be determined as being incapable of being ex-warehoused. For convenience of recording, a qualitative label, which is the first label, may be set for the current group of containers.

And d, if any one container group to be ex-warehouse on the dependency chain corresponding to the jth container group to be out-warehouse belongs to one container group in the temporary annular dependency of the current record, adding all the container groups to be out-warehouse on the ith dependency chain into the temporary annular dependency of the current record.

The ring dependency means that the container groups forming the ring dependency chain are dependent on each other, and the container groups forming the ring dependency do not depend on other container groups than the container groups forming the ring dependency.

The initial state of the temporary ring dependency comprises only the current container group.

And recording the temporary annular dependency by using a second variable circle, wherein if the second variable circle currently records any container group on the dependency chain of the jth container group to be exported, the second variable circle indicates that all container groups on the ith dependency chain may form an annular dependency with the current container group, and all container groups to be exported on the ith dependency chain can be recorded in the second variable circle.

And e, if not, adding the container group on the dependency chain of the jth container group to be exported into the ith dependency chain to form a new dependency chain of the current container group.

If one container group on the dependency chain of the jth out-of-store container group does not satisfy any of the conditions in step b, step c and step d, the container group on the dependency chain of the jth out-of-store container group can be added into the ith dependency chain to form a new dependency chain of the current container group, and the dependency chain is recorded in the first variable stack.

The identification of the dependency data of the container group on the ith dependency chain of the current container group can be completed through steps a-e, the identification of all dependency chains in the current container group can be completed through the flow from step 3221 to step 3223, after the identification of all dependency data of the current container group is completed, the container group recorded in the second variable circle is determined as the container group which can be ex-warehouse, and the container group recorded in the second variable circle is determined as the first container group.

When the current container group is determined as a container group of the un-exportable container group in steps a-e or any one of steps 3221 to 3223, the identification of the dependency chain in the current container group and the dependency data of the container group on the dependency chain may be ended, and the content recorded in the temporary ring dependency may be cleared.

Through the above identification process of the dependency chain in the current container group, the multiple groups of container groups which are in annular dependency in the groups of container groups needing to be delivered out of the warehouse can be determined according to the dependency relationship data of the groups of container groups. The multiple groups of container groups which depend on the ring synchronously enter the ex-warehouse process, so that the waiting time required by each group of container groups for ex-warehouse can be reduced, and the ex-warehouse efficiency of the container groups is improved.

The dependency chain corresponding to the current container group may be formed by containers to be ex-warehoused, and step 322 may include: aiming at any current container group, identifying the ith dependency chain of the current container group, wherein i is a positive integer which is greater than or equal to 1 and less than or equal to the total number of the dependency chains of the current container group; if each container to be ex-warehouse in the container group to be ex-warehouse where the jth container to be ex-warehouse on the ith dependency chain is not dependent on other containers except the container group where the jth container to be ex-warehouse is located, determining that the current container group cannot be ex-warehouse, wherein j is a positive integer which is more than or equal to 1 and less than or equal to the total number of the container groups on the ith dependency chain; if at least one container to be ex-warehoused in the container group to be ex-warehoused where the jth container to be ex-warehoused is located on the ith dependency chain depends on other containers, the qualitative label of the current container group is determined according to each container to be ex-warehoused on the dependency chain corresponding to the container group to be ex-warehoused where the jth container to be ex-warehoused is located.

The process of step 322 may refer to the description in step 3221 to step 3223, which is not described herein again.

Since each group of containers is presented in groups, if the sequential delivery is disturbed during delivery, the containers in each group may be mixed to increase the work of subsequent workers, and therefore, after the delivery-enabled group of containers is determined based on step 320, the containers to be delivered of each delivery-enabled group of containers may be taken from the storage location by the transportation vehicle in parallel, and then the taken containers to be delivered are delivered based on the group sequence. Based on the requirement, the groups can be sorted before the container groups capable of being exported are exported. Thus, as shown in fig. 8, step 330 may include: step 331 and step 332.

And 331, sorting the plurality of groups of container groups capable of being delivered according to the transportation cost required by the delivery of the container groups capable of being delivered, so as to obtain a sorting result.

And step 332, sequentially controlling the plurality of container groups capable of being delivered according to the sequence of the transportation cost required by each container group capable of being delivered from the warehouse from less to more according to the sequencing result.

In some alternative embodiments, the step 331 may be implemented by:

the handling cost required for the ex-warehouse container group described above represents the length of time it takes to handle the containers in the ex-warehouse container group or the number of tasks that need to be performed.

For example, the required transportation cost may be expressed as the number of times the container group is required to transport the container, and the transportation cost may also be expressed as the time required for transporting the container group out of the warehouse.

Alternatively, the number of tasks required to be performed may represent the number of times a container needs to be handled by the ex-warehouse group of containers, which may represent the number of times a container needs to be handled by a container in the ex-warehouse group of containers and a container on which each container in the ex-warehouse group of containers depends.

The time required for transporting the ex-warehouse container group to the warehouse may include a sum of a time required for transporting each container of the ex-warehouse container group to the cache storage location and a time required for transporting a container dependent on each container of the ex-warehouse container group to the cache storage location.

Optionally, the multiple sets of ex-warehouse containers are sorted using a greedy algorithm to obtain a sorting result.

The greedy algorithm can screen out a container group which can be taken out of the warehouse at the initial first position according to a set standard, and then superpose container groups which can be taken out of the warehouse at the subsequent sequence positions according to the set standard.

Alternatively, the set of containers may be shipped from a warehouse with a minimum number of containers.

Taking the example shown in fig. 5b as an example, if the first group to the third group of containers are currently selected as container groups capable of being ex-warehouse, the number of times of transporting containers of the first group of containers may be five containers to be ex-warehouse plus two dependent containers; the number of times of carrying the containers required by the second group of containers can be four containers to be delivered from the warehouse and one dependent container; the required number of containers to be handled by the third group of containers may be five containers to be delivered plus three dependent containers. In the example shown in fig. 5b, the second group of containers may be the initial first-in ex-warehouse container group with the least number of containers to be handled.

Alternatively, a group of ex-warehouse capable containers with the least number of required container handling times required for removing each group can be used as an initial first ex-warehouse capable container group; then the group with the least number of containers to be removed from the rest groups of containers which can be taken out of the warehouse is used as the second order; by analogy, sorting a plurality of container groups capable of being delivered from the warehouse to obtain a first sorting.

If the containers to be delivered from the front container group do not form the obstruction of the subsequent container group capable of delivering from the warehouse, the dependent containers in the front container group are not counted as the required container conveying times required by the subsequent container group.

In the example shown in fig. 5b, the second group of containers may be used as the initial first container group to be delivered with the least number of containers required to be handled. As shown in fig. 9, since the second group of containers is at the head, the containers in the second group of containers and the dependent containers of the second group of containers no longer count the number of required containers to be handled as a subsequent group of containers. The first group of containers requires four containers to be ex-warehouse and one dependent container to be handled, and the third group of containers requires five containers to be ex-warehouse and two dependent containers to be handled. The first group of containers is ordered second and the third group of containers is ordered third.

Alternatively, the setting criterion may be that the time required for the delivery of the delivery-enabled container group is minimized.

Optionally, the multiple sets of container groups capable of being exported may be sorted according to multiple set criteria to obtain multiple initial sorting results.

And then calculating the total time length required by the container groups capable of being delivered from the warehouse to complete the warehouse delivery and the waiting time length required by the container groups to complete under each sorting result based on the plurality of initial sorting results. And determining the final sequencing result based on the total time length required for ex-warehouse and the waiting time length required for finishing the ex-warehouse of each container group capable of ex-warehouse.

The waiting time required for the container group capable of being delivered out of the warehouse to complete the delivery out of the warehouse can represent the interval time between the delivery position of the first container to be delivered out of the warehouse and the delivery position of the last container to be delivered out of the warehouse.

Optionally, a plurality of initial sorting results can be obtained from a plurality of container groups capable of being ex-warehouse according to a permutation and combination mode; and then calculating the total time length required by the container groups capable of being delivered from the warehouse to complete the warehouse delivery and the waiting time length required by the container groups to complete under each sorting result based on the plurality of initial sorting results. And determining the final sorting result based on the total time length required for the warehouse-in and warehouse-out and the waiting time length required for the completion of each container group.

Alternatively, the sorting result with the shortest waiting time and the shorter total time required for ex-warehouse of each group of ex-warehouse containers can be selected as the final sorting result.

By sequencing the container groups which can be exported from the warehouse, the warehouse-out of the container groups which can be exported from the warehouse can be completed through relatively fewer actions. Further, due to the fact that the waiting time required by each group of container groups is considered, the purpose that the container groups capable of being delivered from each group can be delivered from the warehouse in less time can be achieved, and therefore the delivery efficiency of the container groups capable of being delivered from the warehouse is improved. Furthermore, the containers to be discharged from the warehouse of each group are sequenced, so that the transportation capacity of a hoist or a transport vehicle is smaller, and the dynamic balance of the workload of each warehouse level layer can be realized.

In some embodiments, step 332 may be implemented as follows:

alternatively, all the containers to be ex-warehouse in the first container group which can be ex-warehouse are already ex-warehouse, and then the containers to be ex-warehouse in other container groups which can be ex-warehouse are controlled to be ex-warehouse. Before the container group sorted at the first position is discharged, the containers of other container groups that can be discharged may be first transported to the corresponding buffer storage position to wait.

For example, the transport vehicle may be controlled to take the current container to be delivered from the storage position of each container to be delivered of the container group capable of being delivered, and transport the container to be delivered to the corresponding cache storage position; and if the current container to be delivered is the container to be delivered in the container group which can be delivered and is sequenced in the head, controlling the current container to be delivered to deliver.

In an optional embodiment, if the current container to be ex-warehouse is not the container to be ex-warehouse in the first container group that can be ex-warehouse, the current container to be ex-warehouse may wait at the cache storage position until all containers in the first container group that can be ex-warehouse have been ex-warehouse.

Through the

above steps

331 and 332, it is possible to carry out shipment based on a container group with a smaller transportation cost, and it is possible to reduce the hindrance to the subsequent container group that can be shipped out after the preceding container group is removed, so that it is possible to increase the cost required for the entire shipment of the container group that can be shipped out, and to improve the shipment efficiency of the container group that can be shipped out.

In another alternative embodiment, the sorting result used for controlling the ex-warehouse can be adjusted adaptively. As shown in fig. 10, the control flow may be as follows:

and step J1, judging that the current container to be delivered is a container to be delivered in the container group which can be delivered and is sequenced in the first place. And if the current container to be ex-warehouse is the container to be ex-warehouse in the container group which can be ex-warehouse and is sorted in the first position, executing the step J5. And if the current container to be ex-warehouse is not the container to be ex-warehouse in the container group which can be ex-warehouse and is sorted in the first position, executing the step J2. And step J2, judging whether the container group which is sorted at the head and can be ex-warehouse has a container to be ex-warehouse which is already ex-warehouse. If the container group which is currently sorted at the head and can be ex-warehouse does not have the ex-warehouse containers to be ex-warehouse, executing the step J3. If the container group which can be ex-warehouse and is currently sorted at the first position has the ex-warehouse containers to be ex-warehouse, the current ex-warehouse container waits at the cache storage position. And step J3, judging whether all the containers to be delivered out of the container group where the containers to be delivered out of the warehouse are located are carried to the corresponding cache storage positions or not. And if all the containers to be ex-warehouse in the container group which can be ex-warehouse and is located by the current container to be ex-warehouse are carried to the corresponding cache storage positions, executing the step J4. If the corresponding cache storage position where the container to be delivered is not carried exists in the container group capable of being delivered where the container to be delivered exists, the container to be delivered waits at the corresponding cache storage position. And step J4, controlling all containers to be delivered out of the warehouse in the container group which can be delivered out of the warehouse and is provided with the current container to be delivered out of the warehouse. And step J5, controlling the current container to be delivered out of the warehouse.

If the current container to be delivered is the container to be delivered at the exit floor of the warehouse, the container can be directly transferred to the exit by the transport vehicle. If the current container to be delivered is a container to be delivered on other layers of the warehouse, the container can be transported to an outlet layer by the elevator, and then the container is subsequently transported to the outlet for delivery.

In order to avoid the influence of the sorting condition on the subsequent ex-warehouse process, when all the containers in any ex-warehouse container group finish the ex-warehouse, the sorting result is updated.

Optionally, when all containers in the container group sorted at the top and capable of being ex-warehouse are ex-warehouse, the container groups sorted at the subsequent and capable of being ex-warehouse may be all advanced by one bit order, and the sorting of the container group sorted at the top and capable of being ex-warehouse may be deleted.

Optionally, when all containers in the container group capable of ex-warehouse of other bit orders complete ex-warehouse, the container group capable of ex-warehouse ordered after the container group capable of ex-warehouse completed in the bit order may be all advanced by one bit order, and the ordering of the container group capable of ex-warehouse completed in the order may be deleted.

By the implementation means, the in-warehouse-out sequence of each warehouse-out container group can be maintained, and when one warehouse-out container group reaches the cache storage position, one warehouse-out container group can be taken out in advance under the condition that other warehouse-out container groups are not influenced, so that the warehouse-out efficiency of the containers can be improved.

Where the warehouse for storing containers may include multiple levels of warehouse levels, then container transport between different levels may be accomplished by the elevator. As shown in fig. 11, step 330 may include step 333 and step 334.

And 333, controlling the transport vehicle to transport the container to be delivered out of the container group which can be delivered out of the warehouse from the warehouse location where the container is located to the target cache storage location corresponding to the target hoisting machine used for delivering out of the warehouse of the container to be delivered out of the warehouse.

In step 334, the target elevator is controlled to move the container to be delivered from the target cache storage to the exit floor of the warehouse, so as to perform a delivery operation on the container to be delivered.

The hoister can transport the containers to be delivered out of the warehouse in the target cache storage position to an outlet layer of the warehouse so that the containers to be delivered out of the warehouse can be transported out of the warehouse by a transport vehicle on the outlet layer.

In some alternative embodiments, the step 333 may be implemented as follows:

the target cache storage location may be a target connection port of the target hoist or a target waiting location of the target hoist. Wherein, the transport vechicle can directly place the container of waiting to leave warehouse on the target lifting machine in the target interface department of this target lifting machine. The number of the currently available hoists is less than the number of the containers to be discharged, which need to be moved out, so that when the target hoist cannot directly carry all the containers to be discharged out, the transport vehicle can transport the containers to be discharged out to the target waiting position of the target hoist first.

In this embodiment, each warehouse may include a plurality of hoists, and each hoist may correspond to a receiving port and a waiting space. The elevator can transport the container to be delivered from the warehouse of the corresponding connecting port and the waiting position.

If a corresponding elevator is configured for each container to be delivered, the transport vehicle can be controlled to transport the container to be delivered in the container group capable of being delivered to the corresponding cache storage position of the elevator from the storage position where the container is located.

Through the implementation mode, the containers to be delivered out of the warehouse are carried by combining the transport vehicle and the elevator, and the carrying of the containers in the warehouse can be ordered more.

In order to make the work of each transport vehicle and the elevator more uniform, the elevator may be provided for each container to be taken out of the warehouse before the container to be taken out of the warehouse is carried. Prior to step 333, the ex-warehouse control method may further include: and configuring the elevator for the container to be delivered out of the warehouse in the container group capable of being delivered out of the warehouse according to the warehouse position information of the container to be delivered out of the warehouse in the container group capable of being delivered out of the warehouse and the cache storage position of the available elevator.

If the number of the available hoisting machines is larger than that of the containers to be delivered, an available hoisting machine can be configured for each container to be delivered according to the information of the storage position of each container to be delivered and the distance between the cache storage positions of the available hoisting machines. For example, a hoist may be provided for each container to be taken out of the warehouse on the basis of the shortest moving distance of the transport vehicle.

If the number of available hoists is not greater than the number of containers to be delivered, there may be a case where one hoist needs to transport a plurality of containers to be delivered, and it is necessary to balance the transport amounts of the hoists in addition to considering that the transport vehicle has the shortest moving distance.

Exemplarily, according to the position information of the storage position of the container to be delivered in the container group capable of being delivered and the position information of the currently available hoisting machine, calculating the distance cost from each container to be delivered to each available hoisting machine; and allocating a lifting machine for each container to be delivered out of the warehouse in the container group capable of being delivered out of the warehouse according to the distance cost and the number of the available lifting machines.

If the number of the containers to be delivered is integral multiple of the number of the available hoists, the containers to be delivered can be evenly distributed to each hoist, that is, each available hoist can serve the same number of containers to be delivered, and the distance required for transporting by the transport vehicle is the minimum.

And if the number of the containers to be delivered is not integral multiple of the number of the available hoists, the difference of the number of the containers to be delivered transported by any two available hoists is not more than one, and the distance transported by the required transport vehicle is the minimum.

The elevators can be configured according to the number of the containers to be delivered and the number of the elevators, so that the elevators can be used uniformly, one elevator is prevented from being consumed excessively, and the delivery efficiency can be improved.

In order to improve the efficiency of ex-warehouse, after the containers to be ex-warehouse which need to be transported of the transport vehicles at each layer descend, more container groups which can be ex-warehouse can be continuously screened out according to the container groups which need to be ex-warehouse in the current warehouse. Therefore, the ex-warehouse control method may further include: and if the number of the containers to be ex-warehoused which are required to be transported currently is smaller than a first threshold value, re-acquiring the dependency relationship data of all the container groups in the warehouse so as to update the container groups which are required to be ex-warehoused and can be ex-warehoused.

Optionally, the step of retrieving the dependency relationship data of each container group in the warehouse to update the ex-warehouse container group needing ex-warehouse may be implemented by the flow from step 310 to step 330. The process of updating the container group that needs to be exported and can be exported may be a screening process that may participate in the related descriptions in step 310 to step 330, and will not be described herein again.

The first threshold is determined based on the transport capacity of the transport vehicles in the warehouse. The transport capacity may be represented by the number of transport vehicles in the warehouse, for example, a greater number of transport vehicles in the warehouse represents a greater transport capacity of transport vehicles in the warehouse.

By dynamically adjusting the container groups which are screened out for ex-warehouse, the container group which is most suitable for ex-warehouse at present can be dynamically selected out, so that the ex-warehouse efficiency of the container group is improved.

Based on the same application concept, a warehouse-out control device corresponding to the warehouse-out control method is also provided in the embodiment of the present application, and because the principle of solving the problem of the device in the embodiment of the present application is similar to that in the embodiment of the warehouse-out control method, the implementation of the device in the embodiment of the present application can refer to the description in the embodiment of the method, and the repeated parts are not described again.

Please refer to fig. 12, which is a schematic diagram of a functional module of a warehouse-out control apparatus according to an embodiment of the present disclosure. Each module in the library controller in this embodiment is configured to perform each step in the above method embodiment. The delivery control device includes: a first obtaining module 410, a first determining module 420 and a ex-warehouse module 430; the modules are as follows:

a first obtaining module 410, configured to obtain dependency relationship data corresponding to each container group to be ex-warehouse currently in need of ex-warehouse, where each container group to be ex-warehouse includes one or more containers to be ex-warehouse; the dependency relationship data is determined based on other containers which need to be depended on when the containers to be exported in the container group to be exported are exported;

a first determining module 420, configured to determine, according to the dependency relationship data, whether each container group to be ex-warehoused can be ex-warehoused; the container groups capable of being delivered from the warehouse comprise first container groups and/or second container groups, the first container groups have a dependency relationship with each other, and containers to be delivered from the warehouse in each first container group are independent of other containers in the warehouse except for each first container group; containers to be delivered from the second container group do not need to depend on any other containers except the second container group when delivered from the warehouse;

and the ex-warehouse module 430 is used for executing ex-warehouse operation of the ex-warehouse container group.

In a possible implementation manner, the dependency relationship data of the container group to be exported is characterized by a dependency chain; a first determination module comprising: a first determination unit and a second determination unit:

the first determining unit is used for determining a container group to be delivered without depending on any other container except the container group of the first determining unit according to the dependency relationship data, and the container group to be delivered is used as a container group capable of being delivered;

a second determining unit, configured to determine, for any current container group except the container group capable of ex-warehouse, whether the current container group is capable of ex-warehouse based on each container group to be ex-warehouse on a dependency chain corresponding to the current container group or dependency relationship data of each container group to be ex-warehouse to which each container to be ex-warehouse on a dependency chain corresponding to the container group to be ex-warehouse belongs.

In a possible implementation manner, the dependency chain corresponding to the current container group is composed of a container group to be ex-warehouse; correspondingly, the second determining unit is configured to identify, for any one of the current container groups, an ith dependency chain of the current container group, where i is a positive integer greater than or equal to 1 and less than or equal to the total number of dependency chains of the current container group; if the jth container group to be ex-warehoused on the ith dependency chain does not depend on other containers except the jth container group during ex-warehouse, determining that the current container group cannot be ex-warehouse, wherein j is a positive integer which is greater than or equal to 1 and less than or equal to the total number of the container groups on the ith dependency chain; and if the jth container group to be ex-warehoused on the ith dependency chain depends on other containers during ex-warehouse, determining whether the current container group can be ex-warehouse or not according to each container group to be ex-warehouse on the dependency chain corresponding to the jth container group to be ex-warehouse.

In a possible implementation manner, the second determining unit is further configured to determine that the current container group cannot be ex-warehouse if any one to-be-ex-warehouse container group on the dependency chain corresponding to the jth to-be-ex-warehouse container group is in a determined state, or if any one container group on the dependency chain corresponding to the jth to-be-out-warehouse container group belongs to the ring dependency and the current container group does not belong to the ring dependency; the determining state is used for representing whether the container group to be delivered can be delivered out of the warehouse or not; otherwise, updating the dependency chain corresponding to the jth container group to be ex-warehoused, and determining whether the jth container to be ex-warehoused can be ex-warehoused or not according to the updated dependency chain.

In a possible implementation manner, the second determining unit is further configured to add all container groups to be ex-stored in the ith dependency chain to the temporary ring dependency of the current record if any container group to be ex-stored in the dependency chain corresponding to the jth container group to be ex-stored belongs to one container group in the temporary ring dependency of the current record; the ring dependency means that the container groups forming the ring dependency chain are mutually dependent, and the container groups forming the ring dependency are independent of other container groups except the container groups forming the ring dependency, and the initial state of the temporary ring dependency only comprises the current container group; otherwise, adding the container group to be delivered from the storage on the dependency chain corresponding to the jth container group to be delivered from the storage into the ith dependency chain; and after the identification of all the dependency chains of the current container group is completed, determining that all the container groups to be ex-warehoused in the temporary annular dependency can be ex-warehoused.

In a possible implementation manner, the dependency chain corresponding to the current container group is formed by containers to be ex-warehouse; a second determining unit, further configured to identify, for any current container group, an ith dependency chain of the current container group, where i is a positive integer greater than or equal to 1 and less than or equal to the total number of dependency chains of the current container group; if each container to be ex-warehouse in the container group to be ex-warehouse where the jth container to be ex-warehouse on the ith dependency chain is not dependent on other containers except the container group where the jth container to be ex-warehouse is located, determining that the current container group cannot be ex-warehouse, wherein j is a positive integer which is greater than or equal to 1 and less than or equal to the total number of the container groups on the ith dependency chain; if at least one container to be ex-warehouse in the container group to be ex-warehouse where the jth container to be ex-warehouse is located on the ith dependency chain depends on other containers, determining the qualitative label of the current container group according to each container to be ex-warehouse on the dependency chain corresponding to the container group to be ex-warehouse where the jth container to be ex-warehouse is located.

In a possible implementation manner, each container group to be ex-warehouse corresponds to at least one dependency chain, and each dependency chain comprises at least one container to be ex-warehouse or a container group to be ex-warehouse; the second determining unit is further configured to identify an ith dependency chain of each current container group according to the order from a few to a large number of containers to be ex-warehouse, to which each current container group depends, or the order from a large number of containers to be ex-warehouse; and/or, aiming at any current container group, identifying the ith dependency chain according to the sequence from the tail end to the head end of the ith dependency chain.

In a possible implementation manner, the ex-warehouse module 430 is configured to sort the multiple sets of ex-warehouse container groups according to the transportation cost required for ex-warehouse container groups to obtain a sorting result, where the transportation cost required for ex-warehouse container groups represents a time length required for transporting containers in the ex-warehouse container groups or a number of tasks required to be performed; and sequentially controlling the plurality of groups of container groups capable of being delivered according to the sequencing result from small to large in the required carrying cost of each container group capable of being delivered.

In a possible implementation manner, the warehouse-out module 430 is further configured to control the transport vehicle to transport each container to be warehoused in the warehouse-out capable container group from the warehouse location where the container is currently located to the corresponding cache storage location; and if the current container to be delivered is the container to be delivered in the container group which can be delivered and is sequenced in the head, controlling the current container to be delivered to deliver.

In a possible implementation manner, the ex-warehouse module 430 is further configured to determine whether the ex-warehouse container group currently sorted at the top has an ex-warehouse container to be ex-warehouse already in the out-warehouse container group if the current ex-warehouse container is not an ex-warehouse container to be in the ex-warehouse container group sorted at the top; if the container group which is sorted at the head and can be taken out does not have the container to be taken out, judging whether all containers to be taken out in the container group which can be taken out and is located by the container to be taken out are carried to the corresponding cache storage position or not; and if all the containers to be ex-warehouse in the container group which can be ex-warehouse and is provided with the containers to be ex-warehouse currently are carried to the corresponding cache storage positions, controlling all the containers to be ex-warehouse in the container group which can be ex-warehouse and is provided with the containers to be ex-warehouse currently.

In a possible implementation manner, the warehouse-out module 430 is configured to control the transport vehicle to transport the containers to be warehoused in the container group capable of warehouse-out from the warehouse location where the containers to be warehoused are located to the target cache storage location corresponding to the target elevator for warehouse-out of the containers to be warehoused; and controlling the target hoister to move the container to be delivered from the target cache storage to an exit layer of the warehouse so as to deliver the container to be delivered from the warehouse.

In one possible embodiment, the ex-warehouse control device may further include: the second determining module is used for calculating the distance cost from each container to be delivered to the corresponding available hoisting machine according to the position information of the storage position of the container to be delivered in the container group capable of being delivered and the position information of the currently available hoisting machine; and allocating the hoisting machines for each container to be delivered out of the warehouse in the container group capable of being delivered out of the warehouse according to the distance cost and the number of the available hoisting machines.

In one possible embodiment, the ex-warehouse control device may further include: and the second acquisition module is used for re-acquiring the dependency relationship data of each container group in the warehouse to update the container group which can be ex-warehouse and needs to be ex-warehouse if the number of the containers to be ex-warehouse and needs to be transported currently is smaller than a first threshold value, wherein the first threshold value is determined according to the transport capacity of transport vehicles in the warehouse.

In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the ex-warehouse control method in the above method embodiment.

The computer program product of the ex-warehouse control method provided in the embodiment of the present application includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the steps of the ex-warehouse control method in the above method embodiment, which may be specifically referred to in the above method embodiment, and are not described herein again.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising 8230; \8230;" comprises 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A warehouse-out control method is characterized by comprising the following steps:

acquiring dependency relationship data corresponding to each container group to be delivered out of a warehouse currently needing to be delivered out of the warehouse, wherein each container group to be delivered out of the warehouse comprises one or more containers to be delivered out of the warehouse; the dependency relationship data is determined based on other containers which need to be depended on when the containers to be exported in the container group to be exported are exported;

determining whether each container group to be ex-warehoused can be ex-warehoused or not according to the dependency relationship data; the container groups capable of being ex-warehouse comprise a first container group and/or a second container group, the first container groups have a dependency relationship with each other, and containers to be ex-warehouse in each first container group are not dependent on other containers except for each first container group in the warehouse when being ex-warehouse; containers to be delivered from the second container group do not need to depend on any other containers except the second container group when delivered from the warehouse;

and executing the ex-warehouse operation of the ex-warehouse container group.

2. The method according to claim 1, wherein the dependency data of the set of containers to be ex-warehouse is characterized by a dependency chain; determining whether each container group to be ex-warehouse can be ex-warehouse according to the dependency relationship data, wherein the determining comprises the following steps:

determining a container group to be delivered which does not need to depend on any other container except the container group of the container group according to the dependency relationship data, and taking the container group to be delivered as a container group capable of being delivered;

and for any current container group except the container group capable of ex-warehouse, determining whether the current container group can be ex-warehouse or not based on the dependency relationship data of each container group to be ex-warehouse on the dependency chain corresponding to the current container group or the container group to be ex-warehouse to which each container to be ex-warehouse on the dependency chain corresponding to the container group to be ex-warehouse belongs.

3. The method of claim 2, wherein the dependency chain corresponding to the current container group is composed of a container group to be exported;

correspondingly, for any current container group except the container group capable of ex-warehouse, determining whether the current container group is capable of ex-warehouse based on each container group to be ex-warehouse on the dependency chain corresponding to the current container group, including:

aiming at any one current container group, identifying the ith dependency chain of the current container group, wherein i is a positive integer which is greater than or equal to 1 and less than or equal to the total number of the dependency chains of the current container group;

if the jth container group to be ex-warehoused on the ith dependency chain does not depend on other containers except the jth container group during ex-warehouse, determining that the current container group cannot be ex-warehouse, wherein j is a positive integer which is greater than or equal to 1 and less than or equal to the total number of the container groups on the ith dependency chain;

and if the jth container group to be ex-warehoused on the ith dependency chain depends on other containers during ex-warehouse, determining whether the current container group can be ex-warehouse or not according to each container group to be ex-warehouse on the dependency chain corresponding to the jth container group to be ex-warehouse.

4. The method according to claim 3, wherein the determining whether the current container group can be ex-warehouse according to each container group to be ex-warehouse on the dependency chain corresponding to the jth container group to be ex-warehouse comprises:

if any one to-be-ex-warehouse container group on the dependency chain corresponding to the jth to-be-ex-warehouse container group is in a determined state, or if any one container group on the dependency chain corresponding to the jth to-be-ex-warehouse container group belongs to an annular dependency and the current container group does not belong to the annular dependency, determining that the current container group cannot be ex-warehouse; the determining state is used for representing whether the container group to be delivered can be delivered out of the warehouse or not;

otherwise, updating the dependency chain corresponding to the jth container group to be ex-warehouse, and determining whether the jth container to be ex-warehouse can be ex-warehouse according to the updated dependency chain.

5. The method according to claim 4, wherein the updating the dependency chain corresponding to the jth container group to be ex-warehoused, and determining whether the jth container to be ex-warehoused can be ex-warehoused according to the updated dependency chain includes:

if any container group to be ex-warehouse on the dependency chain corresponding to the jth container group to be ex-warehouse belongs to one container group in the temporary annular dependency of the current record, adding all the container groups to be ex-warehouse on the ith dependency chain into the temporary annular dependency of the current record; the ring dependency means that the container groups forming the ring dependency chain are mutually dependent, and the container groups forming the ring dependency are independent of other container groups except the container groups forming the ring dependency, and the initial state of the temporary ring dependency only comprises the current container group;

otherwise, adding the container group to be delivered out of the storage on the dependency chain corresponding to the jth container group to be delivered out of the storage into the ith dependency chain;

and after the identification of all the dependency chains of the current container group is completed, determining that all the container groups to be ex-warehoused in the temporary annular dependency can be ex-warehoused.

6. The method according to claim 2, wherein the dependency chain corresponding to the current container group is formed by containers to be ex-warehouse; the determining, for any current container group except the container group capable of ex-warehouse, whether the current container group is capable of ex-warehouse based on dependency relationship data of a container group to be ex-warehouse to which each container to be ex-warehouse belongs on a dependency chain corresponding to the container group to be ex-warehouse includes:

if each container to be ex-warehouse in the container group to be ex-warehouse where the jth container to be ex-warehouse on the ith dependency chain is not dependent on other containers except the container group where the jth container to be ex-warehouse is located, determining that the current container group cannot be ex-warehouse, wherein j is a positive integer which is greater than or equal to 1 and less than or equal to the total number of the container groups on the ith dependency chain;

and if at least one container to be ex-stored in the container group to be ex-stored in which the jth container to be ex-stored is located on the ith dependency chain depends on other containers, determining the qualitative label of the current container group according to each container to be ex-stored on the dependency chain corresponding to the container group to be ex-stored in which the jth container to be ex-stored is located.

7. The method according to any one of claims 3 to 6, wherein each container group to be ex-warehouse corresponds to at least one dependency chain, each dependency chain comprising at least one container to be ex-warehouse or a container group to be ex-warehouse; the identifying, for any of the current container groups, an ith dependency chain of the current container group includes:

identifying the ith dependency chain of the current container group according to the order of the number of the container groups to be delivered or the containers to be delivered, which are depended by the current container groups, from small to large;

and/or the presence of a gas in the gas,

and for any current container group, identifying the ith dependency chain according to the sequence from the tail end to the head end of the ith dependency chain.

8. The method according to any one of claims 1 to 7, wherein the performing of the ex-warehouse operation of the ex-warehouse container group comprises:

sorting the plurality of groups of container groups capable of being delivered according to the transportation cost required by the container groups capable of being delivered to the warehouse, so as to obtain a sorting result, wherein the transportation cost required by the container groups capable of being delivered to the warehouse represents the time spent for transporting the containers in the container groups capable of being delivered to the warehouse or the number of tasks required to be executed;

and sequentially controlling the plurality of groups of container groups capable of being delivered according to the sequencing result from small to large in the required carrying cost of each container group capable of being delivered.

9. The method according to claim 8, wherein said sequentially controlling the de-warehousing of a plurality of said ex-warehouse container groups in order of the required handling cost of each said ex-warehouse container group from as little as much according to said sorting result comprises:

controlling a transport vehicle to transport each container to be delivered from the container group capable of being delivered to the warehouse to a corresponding cache storage position from the current warehouse position;

and if the current container to be delivered is the container to be delivered in the container group which can be delivered and is sorted in the head, controlling the current container to be delivered.

10. The method according to claim 9, wherein said sequentially controlling the de-warehousing of a plurality of said ex-warehouse container groups in order of the required handling cost of each said ex-warehouse container group from a small to a large one based on said sorting result, further comprises:

if the current container to be ex-warehouse is not the container to be ex-warehouse in the container group which can be ex-warehouse and is sorted in the head, judging whether the container group which can be ex-warehouse and is sorted in the head has the container to be ex-warehouse which is already ex-warehouse or not;

if the container group which is sorted at the head and can be taken out does not have the container to be taken out, judging whether all containers to be taken out in the container group which can be taken out and is located by the container to be taken out are carried to the corresponding cache storage position or not;

and if all the containers to be ex-warehouse in the container group which can be ex-warehouse and is provided with the containers to be ex-warehouse currently are carried to the corresponding cache storage positions, controlling all the containers to be ex-warehouse in the container group which can be ex-warehouse and is provided with the containers to be ex-warehouse currently.

11. The method of claim 1, wherein the performing the ex-warehouse operation of the ex-warehouse container group comprises:

controlling a transport vehicle to transport the container to be delivered out of the container group capable of being delivered out of the warehouse to a target cache storage position corresponding to a target hoisting machine for delivering the container to be delivered out of the warehouse from the position of the container to be delivered out of the warehouse;

and controlling the target hoister to move the container to be delivered out of the warehouse from the target cache storage to an exit layer of the warehouse so as to deliver the container to be delivered out of the warehouse.

12. The method of claim 11, wherein the target elevator for the de-warehousing of the container to be de-warehoused is determined by:

calculating the distance cost from each container to be delivered to each available hoisting machine according to the position information of the position of the container to be delivered in the container group capable of being delivered and the position information of the currently available hoisting machine;

and allocating the hoisting machines for each container to be delivered out of the warehouse in the container group capable of being delivered out of the warehouse according to the distance cost and the number of the available hoisting machines.

13. An electronic device comprising a memory, a processor and a computer program stored on the memory, characterized in that the processor executes the computer program to implement the method of any of claims 1-12.

14. A computer-readable storage medium, on which a computer program or computer instructions are stored, which, when executed by a processor, implement the method of any one of claims 1-12.

15. A computer program product comprising a computer program or computer instructions, characterized in that the computer program or computer instructions, when executed by a processor, implement the method of any one of claims 1-12.

16. A warehouse-out system, comprising: a transport vehicle, a hoist and a warehouse control system; the warehouse control system is used for controlling the transport vehicle and the hoisting machine to perform the warehouse-out operation of the container group to be warehouse-out according to the warehouse-out control method of any one of claims 1 to 12;

and the hoister is used for displacing all containers to be discharged in the container group to be discharged from the warehouse from the cache storage to the warehouse outlet layer under the control of the warehouse control system.