CN116757608A

CN116757608A - Warehouse processing method, system, electronic equipment and medium

Info

Publication number: CN116757608A
Application number: CN202311010295.6A
Authority: CN
Inventors: 张冀; 陈滔滔; 李柳熙; 王子豪; 丁宏伟; 李洪波
Original assignee: Wuzhou Online E Commerce Beijing Co ltd
Current assignee: Wuzhou Online E Commerce Beijing Co ltd
Priority date: 2023-08-11
Filing date: 2023-08-11
Publication date: 2023-09-15

Abstract

The embodiment of the application provides a warehouse processing method, a warehouse processing system, electronic equipment and a storage medium, wherein the method specifically comprises the following steps: receiving a warehouse task; determining a task starting point and a task ending point corresponding to the warehousing task; planning a path according to the task starting point, the task ending point and the passing point to obtain a target path meeting preset conditions; the passing points correspond to warehouse areas or warehouse sub-areas contained in the warehouse areas; the nodes of the target path include: a task start point, a target passing point and a task end point; the target passing points correspond to the target warehouse areas or the target warehouse sub-areas; analyzing the warehousing task into a plurality of routing tasks according to the target path; the storage object corresponding to the storage task is routed from the previous node to the next node according to the path sequence; and executing a plurality of routing tasks by utilizing the target resources respectively corresponding to the routing tasks. The embodiment of the application can improve the processing efficiency of the warehouse task.

Description

Warehouse processing method, system, electronic equipment and medium

Technical Field

The embodiment of the application relates to the technical field of warehousing, in particular to a warehousing processing method, a warehousing processing system, electronic equipment and a medium.

Background

The storage means that storage objects such as materials are stored and safeguarded through a warehouse. Along with the rapid development of e-commerce technology, the warehouse processing system gradually uses automation equipment to replace manual operation so as to improve the processing efficiency of warehouse tasks.

The warehousing task has higher complexity. For example, in terms of task functionality, the warehousing task may include: receiving, warehousing, supplementing, selecting, collecting, packaging, sorting, checking and the like. As another example, in terms of warehouse layout, different warehouse tasks may involve different functional areas of a collection area, a storage area, a transportation area, a sorting area, and so forth. For another example, in terms of the execution subject of the warehouse task, different warehouse tasks may require different automation devices or different manpower to execute, and one warehouse task may also require cooperation of multiple automation devices to complete.

In practical application, the high complexity of the warehousing task restricts the processing efficiency of the warehousing task, so that the processing efficiency of the warehousing task is lower.

Disclosure of Invention

The embodiment of the application provides a warehouse processing method which can improve the processing efficiency of warehouse tasks.

Correspondingly, the embodiment of the application also provides a warehouse processing system, an electronic device and a storage medium, which are used for realizing the realization and the application of the method.

In order to solve the above problems, an embodiment of the present application discloses a warehouse processing method, which includes:

receiving a warehouse task;

determining a task starting point and a task ending point corresponding to the warehousing task;

planning a path according to the task starting point, the task ending point and the passing point to obtain a target path meeting preset conditions; the passing points correspond to warehouse areas or warehouse sub-areas contained in the warehouse areas; the node of the target path includes: a task start point, a target passing point and a task end point; the target passing points correspond to the target warehouse areas or the target warehouse sub-areas;

analyzing the warehousing task into a plurality of routing tasks according to the target path; the storage object corresponding to the storage task is routed from the previous node to the next node according to the path sequence;

and executing the plurality of routing tasks by utilizing the target resources respectively corresponding to the routing tasks.

In order to solve the above problems, an embodiment of the present application discloses a warehouse processing device, which includes:

the receiving module is used for receiving the warehouse task;

the starting and ending point determining module is used for determining a task starting point and a task ending point corresponding to the warehousing task;

The path planning module is used for planning a path according to the task starting point, the task ending point and the route points so as to obtain a target path meeting preset conditions; the passing points correspond to warehouse areas or warehouse sub-areas contained in the warehouse areas; the node of the target path includes: a task start point, a target passing point and a task end point; the target passing points correspond to the target warehouse areas or the target warehouse sub-areas;

the task analysis module is used for analyzing the warehousing task into a plurality of routing tasks according to the target path; the storage object corresponding to the storage task is routed from the previous node to the next node according to the path sequence;

and the task execution module is used for executing the plurality of routing tasks by utilizing the target resources respectively corresponding to the routing tasks.

Optionally, the routing task includes:

the first routing task is used for routing the storage object corresponding to the storage task from the task starting point to a first junction point; the first junction point is a junction point of a warehouse area where the task starting point is located and a warehouse area where the first target passing point is located;

the second routing task is used for routing the warehouse object corresponding to the warehouse task from the first junction point to a second junction point; the second junction point is a junction point between a warehouse area where the first target passing point is located and a warehouse area where a next node of the first target passing point is located.

Optionally, the warehouse area includes: a transport area; the passing point corresponds to a transportation subarea contained in the transportation area.

Optionally, the determining process of the target resource includes:

and selecting resources meeting low-load conditions from the alternative resources according to task load information corresponding to the alternative resources, and taking the resources as target resources corresponding to the routing task.

Optionally, the resource type corresponding to the alternative resource is matched with the road surface feature of the warehouse area or the warehouse subarea corresponding to the routing task.

Optionally, the apparatus further comprises:

and the routing task merging module is used for merging the two adjacent routing tasks under the condition that the two adjacent routing tasks correspond to the same resource type and the two adjacent routing tasks correspond to different warehouse subareas of the same warehouse area.

Optionally, the task execution module includes:

an atomic task sequence determining module, configured to determine an atomic task sequence corresponding to the routing task according to a resource type of a target resource corresponding to the routing task; the atomic task sequence includes: the target resource moves to the starting point of the routing task, the target resource acquires a storage object, the target resource moves to the end point of the routing task, and the target resource puts down the storage object;

And the atomic task sequence execution module is used for executing the atomic task sequences respectively corresponding to the plurality of routing tasks according to the routing sequence.

Optionally, the atomic task sequence determining module includes:

and the searching module is used for searching in the mapping relation between the resource type and the atomic task sequence according to the resource type of the target resource corresponding to the routing task so as to obtain the atomic task sequence corresponding to the routing task.

In order to solve the above problems, an embodiment of the present application discloses a warehouse processing system, which includes: a resource and storage processing device;

the warehouse processing device is used for executing the method by utilizing the resources.

In order to solve the above problems, an embodiment of the present application discloses an electronic device, including: a processor; and a memory having executable code stored thereon that, when executed, causes the processor to perform the method as in any of the above embodiments.

To address the above problems, embodiments of the present application disclose one or more machine-readable media having stored thereon executable code which, when executed, causes a processor to perform a method as in any of the above embodiments.

The embodiment of the application has the following advantages:

in the technical scheme of the embodiment of the application, after the task starting point and the task end point corresponding to the warehouse task are determined, path planning is performed according to the task starting point, the task end point and the route point so as to obtain a target path meeting preset conditions; and analyzing the warehousing task into a plurality of routing tasks according to the target path, and executing the plurality of routing tasks by utilizing target resources respectively corresponding to the routing tasks.

The path planning in the embodiment of the application plans the path between the task starting point and the task ending point, so that a target path meeting preset conditions is obtained; the predetermined condition is used for constraining the path length, so that the path length between the task start point and the task end point corresponding to the target path can be reduced by applying the predetermined condition. Under the condition that the path length between the task starting point and the task ending point can be reduced, the path spending time of the warehouse task can be reduced, and therefore the processing efficiency of the warehouse task can be improved.

According to the target path, the storage task is analyzed into a plurality of routing tasks, and the routing tasks are executed by utilizing target resources; the target resource may be an equipment resource or a human resource, and the routing task may be used to route the storage object corresponding to the storage task from the previous node to the next node according to the path sequence. The embodiment of the application can schedule the target resources in the storage range, and the target resources execute the routing tasks according to the routing sequence of the routing tasks in the target path, so that the embodiment of the application can further improve the processing efficiency of the storage tasks.

Drawings

FIG. 1 is a schematic diagram of the functional areas of a warehouse of one embodiment of the present application;

FIG. 2 is a schematic diagram of a warehouse system in a storage area and a transportation area according to an embodiment of the present application;

FIG. 3 is a flow chart of steps of a warehouse processing method according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a path planning procedure according to one embodiment of the present application;

FIG. 5 is a flow chart of a warehouse processing method according to an embodiment of the application;

FIG. 6 is a flow chart of steps of a warehouse processing method according to one embodiment of the present application;

FIG. 7 is a schematic illustration of a warehouse map of one embodiment of the present application;

FIG. 8 is a schematic view of a warehouse processing device according to an embodiment of the application;

FIG. 9 is a schematic diagram of a warehouse processing system according to one embodiment of the present application;

fig. 10 is a schematic diagram of an exemplary apparatus provided in accordance with one embodiment of the present application.

Detailed Description

In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description.

The embodiment of the application can be applied to warehouse processing scenes. The warehousing process may involve any one of the operations from the receipt of the stocker to the shipment of the stocker. Accordingly, the warehousing task corresponding to the warehousing process may include: receiving, warehousing, supplementing, selecting, collecting, packaging, sorting, checking and the like.

Warehouse objects may include, but are not limited to: and (5) material. The material may include: raw materials, indirect materials, finished products, semi-finished products, commodities, maintenance components and the like are used for directly putting into production and manufacturing of products, or indirectly assisting in production and manufacturing, or are used for products sold by business departments.

The warehouse object usually needs to go through the operation links of warehouse entry, replenishment, picking, warehouse delivery, collection and the like from the receiving, and the warehouse can comprise: different functional areas such as a receiving area, a storage area, a transportation area, a picking area and the like.

Referring to fig. 1, a schematic diagram of a functional area of a warehouse according to an embodiment of the present application is shown, where the functional area of the warehouse may specifically include: a receiving area such as receiving area 1 to receiving area 3, a storage area such as storage area 1 to storage area 6, a picking area such as picking area 1 to picking area 2, and a transportation area corresponding to a plurality of transportation subareas such as a to K.

The receiving area is used for receiving the warehouse object, and can be an area for unloading and checking the warehouse object. The storage area is used for storing the warehouse objects.

The picking area is used for classifying and storing the warehouse objects according to orders and distribution requirements. Picking may include: sowing and picking. The seeding type picking can collect a plurality of orders in a preset time period into one sheet, and the commodities in the same category are collected and picked.

The transport area is used for carrying transport equipment and routing warehouse objects between the receiving area and the storage area or between the storage area and the picking area.

Referring to fig. 2, a schematic structural diagram of a warehousing system in a storage area and a transportation area according to an embodiment of the present application is shown, where the warehousing system may specifically include: hardware equipment such as a stereoscopic warehouse, a hoister, a shuttle car, a conveying line and the like.

The stereoscopic warehouse is a goods shelf with a multi-layer steel structure, and a storage position of the goods shelf is used for storing the storage device. The storage device can be a device with a storage capacity for a material box and a turnover box. Storage objects can be placed in the storage device.

The stereoscopic warehouse is generally provided with a plurality of elevators and a plurality of shuttle vehicles, and the plurality of elevators and the plurality of shuttle vehicles are used for transporting and conveying the storage device. The elevator can assist the cross-layer of the storage device and the connection of the storage device between the stereoscopic warehouse and the conveying line. The shuttle is used for carrying the storage device in the storage system, and sending the storage device to a lifter or appointed connection equipment according to requirements. The conveying line is used as a bridge between the warehousing system and an external system, and can be used for conveying warehousing devices between different sites according to requirements.

The embodiments of the present application may involve the use of user data, and in practical applications, user-specific personal data may be used in the schemes described herein within the scope allowed by applicable laws and regulations under conditions that meet applicable legal and regulatory requirements of the country where the user explicitly agrees (e.g., practical notification to the user, etc.).

Aiming at the technical problem that the processing efficiency of the warehousing task is low due to the high complexity of the warehousing task in the related technology, the embodiment of the application provides a warehousing processing method, which specifically comprises the following steps: receiving a warehouse task; determining a task starting point and a task ending point corresponding to the warehousing task; planning a path according to the task starting point, the task ending point and the passing point to obtain a target path meeting preset conditions; the waypoints may correspond to warehouse areas or warehouse sub-areas contained by the warehouse areas; the node of the target path specifically includes: a task start point, a target passing point and a task end point; the target passing point corresponds to a target warehouse area or a target warehouse sub-area; analyzing the warehousing task into a plurality of routing tasks according to the target path; the storage object corresponding to the storage task is routed from the previous node to the next node according to the path sequence; and executing the plurality of routing tasks by utilizing the target resources respectively corresponding to the routing tasks.

After determining a task starting point and a task end point corresponding to a warehouse task, the embodiment of the application performs path planning according to the task starting point, the task end point and a passing point to obtain a target path meeting preset conditions; and analyzing the warehousing task into a plurality of routing tasks according to the target path, and executing the plurality of routing tasks by utilizing target resources respectively corresponding to the routing tasks.

The path planning in the embodiment of the application is used for planning the path between the task starting point and the task ending point, so that a target path meeting the preset condition is obtained; the above predetermined condition is used to constrain the path length, so that the embodiment of the present application can reduce the path length between the task start point and the task end point corresponding to the target path by using the predetermined condition. Under the condition that the path length between the task starting point and the task ending point can be reduced, the path spending time of the warehouse task can be reduced, and therefore the processing efficiency of the warehouse task can be improved.

Method embodiment one

Referring to fig. 3, a flowchart of steps of a warehouse processing method according to an embodiment of the present application is shown, and the method may specifically include the steps of:

step 301, receiving a warehouse task;

step 302, determining a task starting point and a task end point corresponding to the warehousing task;

step 303, planning a path according to the task starting point, the task ending point and the passing point to obtain a target path meeting preset conditions; the passing point corresponds to a warehouse area or a warehouse sub-area contained in the warehouse area; the node of the target path includes: a task start point, a target passing point and a task end point; the target passing point corresponds to a target warehouse area or a target warehouse sub-area;

step 304, analyzing the warehouse task into a plurality of routing tasks according to the target path; the storage object corresponding to the storage task is routed from the previous node to the next node according to the path sequence;

and 305, executing the plurality of routing tasks by utilizing the target resources respectively corresponding to the routing tasks.

At least one step included in the method shown in fig. 3 may be performed by a warehouse processing device, which may collect warehouse tasks generated by the warehouse system in real time and process the warehouse tasks. It will be appreciated that embodiments of the present application are not limited to the specific implementation of the method shown in fig. 3.

In step 301, warehousing tasks generated in real-time by the warehousing system may be collected. The warehousing tasks may correspond to the same or different task types. For example, the warehousing tasks may include: a receiving task, a warehousing task, a replenishment task, a picking task and the like.

Referring to table 1, an illustration of the correspondence between warehouse tasks and trigger conditions according to one embodiment of the present application is shown. The replenishment task refers to conveying the warehouse objects from the storage area to the picking area. Typically, in the event of a pick region being out of stock, a restocking task needs to be triggered.

TABLE 1

In step 302, a warehousing task may correspond to one or more warehousing objects. Storage objects corresponding to the storage tasks can be stored in storage devices such as a material box, a turnover box and the like. Thus, a warehousing task may correspond to one or more warehousing devices.

In practical application, the task starting point corresponding to the warehousing task may be a location point where the warehousing object corresponding to the warehousing task is located.

The embodiment of the application can determine the task end point corresponding to the warehousing task according to the task type corresponding to the warehousing task. The embodiment of the application can preset the mapping relation A between the task type and the task end point information, and inquire the mapping relation A according to the task type corresponding to the warehousing task so as to obtain the task end point corresponding to the warehousing task.

Referring to Table 2, an illustration of a mapping relationship A between task types and task endpoint information is shown in one embodiment of the application. Among other things, task types may include: a receiving task, a warehousing task, a replenishment task, a picking task and the like.

The task end point information may be position information corresponding to the task end point. For example, the task end point information corresponding to the receiving task may be a preset location of the receiving area. The task end point information corresponding to the binning task may be an idle storage bit in the storage area. The task end point information corresponding to the replenishment task may be an empty storage location in the picking area. The task end point information corresponding to the picking task may be a picking workstation.

In the process of inquiring the mapping relation A according to the task type corresponding to the warehouse task, the obtained task end point information may correspond to one or more task end points. Under the condition that the task end point information corresponds to a plurality of task end points, the embodiment of the application can randomly select one task end point from the plurality of task end points as the task end point corresponding to the warehouse task.

For example, when the warehousing task is the warehousing task a, one of the free storage bits in the storage area may be randomly selected as the task end point corresponding to the warehousing task a.

In practical applications, the storage bit types may include: a bin type or tray type, etc. The warehousing task may also include information of the storage bit type. For example, in the case where the warehouse task is a pallet warehouse task, the task end point corresponding to the pallet warehouse task may be an empty storage location of the pallet type in the storage area.

In step 303, path planning may be used to plan a path between a task start point and a task end point to obtain a target path that meets a predetermined condition.

In practical applications, a plurality of route points may be included between the task start point and the task end point. The predetermined condition may be a predetermined condition, which may be used to constrain the path length. Thus, the embodiment of the application can screen the passing points according to the path length corresponding to the preset condition.

In the embodiment of the application, the passing points can correspond to warehouse areas or warehouse sub-areas contained in the warehouse areas. In other words, the embodiment of the application can take one warehouse area as one passing point, or can take one warehouse subarea as one passing point.

The predetermined condition may be used to constrain the path length. For example, the predetermined condition may be: the path length is less than a length threshold; alternatively, in the case of performing the first sorting of the path lengths of the plurality of candidate paths in order from small to large, the path length of the target path may be arranged in the first sorting result by the first X bits or the like, and X may be a positive integer such as 1.

The candidate path may be a path corresponding to a task start point, a task end point, and a pass-through point between the task start point and the task end point. The candidate paths are typically one or more.

In practical applications, the warehouse area may include: a transport area; the transit point may correspond to a transportation sub-area contained in the transportation area.

Referring to fig. 4, which is a schematic diagram illustrating a path planning procedure according to an embodiment of the present application, assuming that a task start point is a certain location point in the receiving area 1 and a task end point is a certain location point in the storage area 4, the corresponding candidate path may include:

candidate path 1: receiving area 1, transporting subarea A, transporting subarea B, transporting subarea C and storing area 4;

candidate path 2: receiving area 1, transporting subarea A, transporting subarea E, transporting subarea C and storing area 4;

candidate path 3: the receiving area 1, the transporting subarea A, the transporting subarea F, the transporting subarea G, the transporting subarea H, the storage area 4 and the like.

The embodiment of the application can determine the candidate path 1 from a plurality of candidate paths as a target path according to the preset condition.

The embodiment of the application does not limit the specific path planning method. For example, the embodiments of the present application may use a graph search method, a fast extended random tree method, or the like. The graph searching method may include: visual methods or dijkstra methods, and the like. The dijkstra method may perform multiple searching, where in one searching process, a target position point (including a passing point and a task end point) closest to the task start point and not visited is searched from position points (including a passing point and a task end point), the target position point is taken as an intermediate position point, and distances from the task start point to other position points are updated until all the position points are taken as intermediate position points.

In the process of path planning by using the graph searching method, the embodiment of the application can draw the warehouse map according to the task starting point, the task end point and the passing points corresponding to the warehouse area or the warehouse subarea, and find the target path meeting the preset condition in the warehouse map.

In the process of drawing the warehouse map, the embodiment of the application can take one warehouse area or one warehouse subarea as a position point, and if the two position points can be directly communicated, the connection between the two position points can be established so as to obtain one side of the warehouse map, and the side length represents the distance between the two position points.

For a warehouse task, the starting point and the ending point of the task respectively correspond to two position points in a warehouse map, and a target path which is required to pass and meets preset conditions and a warehouse area corresponding to a target passing point are obtained in the warehouse map by using a path planning algorithm and start from the starting point of the task to reach the ending point of the task.

In the embodiment of the present application, the node of the target path may include: a task start point, a target passing point and a task end point; the target waypoint may correspond to a target warehouse area or a target warehouse sub-area. Assume that the target path in fig. 4 is candidate path 1: receiving area 1→transporting sub-area a→transporting sub-area b→transporting sub-area c→storage area 4, the target passing point may include: transportation subarea a, transportation subarea B, and transportation subarea C. Any one of the task start point, the target route point and the task end point can be used as a node of the target path.

In step 304, the warehousing task may be parsed into a plurality of routing tasks according to the target path; and the routing task is used for routing the storage object corresponding to the storage task from the previous node to the next node according to the path sequence. The path sequence may be the sequence from the task start point to the task end point, specifically the sequence of the target path warehouse area or warehouse sub-area, such as the sequence of → corresponding in the candidate path 1.

In a specific implementation, the warehouse task may be parsed into a plurality of routing tasks according to the order of the target path approach warehouse area or warehouse sub-area.

For example, the routing task may specifically include: the first routing task is used for routing the storage object corresponding to the storage task from the task starting point to a first junction point; the first junction point may be a junction point between a warehouse area where the task start point is located and a warehouse area where the first target passing point is located. The first target waypoint may be a waypoint adjacent to the task start point in the target path. As in fig. 4, the warehouse area where the first target waypoint is located may be a transportation sub-area a.

The routing tasks may also include: the second routing task is used for routing the storage object corresponding to the storage task from the first junction point to a second junction point; the second junction may be a junction between a warehouse area where the first target passing point is located and a warehouse area where a next node of the first target passing point is located.

The next node of the first target passing point may be a task end point or a second target passing point, and it is to be understood that the embodiment of the present application is not limited to the next node of the first target passing point.

In summary, the ith routing task of the embodiment of the present application may be used to route a storage object corresponding to the storage task from the ith node of the target path to the ith junction point, where i may be a positive integer, and the ith junction point may be a junction point between the ith node of the target path and a warehouse area or a warehouse sub-area where the (i+1) th node is located.

In other words, a path segment corresponding to a routing task corresponding to a node may be located in a warehouse area or a warehouse sub-area corresponding to the node. Assuming that the warehouse tasks are sequentially resolved into n routing tasks according to the routing sequence of the target path passing through the warehouse area or the warehouse subarea, the starting point of the 1 st routing task can be a task starting point, and the starting point of the 2~n th routing task can be the end point of the last routing task; the end point of the 1 st to n-1 st routing task may be the junction point of the warehouse area or warehouse sub-area and the next warehouse area or warehouse sub-area, and the end point of the nth routing task may be the task end point.

In example a, the embodiment of the present application may parse one pallet-entering task to obtain multiple routing tasks: a receiving area routing task, a transporting area routing task, and a storage area routing task. The receiving area routing task is responsible for conveying the storage objects from the located position points to a storage workstation at the junction of the receiving area and the conveying area; the transport area routing task is responsible for carrying the warehouse objects from the warehouse-in workstation to the on-shelf workstation at the junction of the transport area and the storage area; the storage area routing task is responsible for carrying the warehouse object from the on-shelf workstation to the target storage bit corresponding to the task end point.

In step 305, a routing task may be assigned to a target resource, in other words, the target resource may be scheduled to execute the plurality of routing tasks using the target resource to which the routing task corresponds respectively.

In practical application, the determining process of the target resource specifically includes: and selecting resources meeting low-load conditions from the alternative resources according to task load information corresponding to the alternative resources, and taking the resources as target resources corresponding to the routing task.

The alternative resource may be a resource to be determined or to be scheduled. The task load information may be task information that has been allocated to the alternative resource, which may be the number of tasks that have been allocated to the alternative resource.

In particular implementations, the low load condition may be related to the ranking result of the alternative resources. Specifically, the candidate resources may be subjected to the second ranking according to the order of the number of tasks from small to large, so as to obtain a second ranking result. The low load condition may be: the candidate resource ranks the first Y bits in the second ranking result, and Y may be a positive integer such as 1.

According to the embodiment of the application, the resource meeting the low-load condition is selected from the alternative resources, and the low-load resource can be preferentially selected as the target resource; thus, the waiting time of the warehousing task for the target resource can be reduced, and the warehousing processing efficiency can be improved.

In practical application, the target resources corresponding to the routing tasks can be determined sequentially according to the sequence from front to back of the routing tasks. For example, first determining a target resource corresponding to a first routing task, then determining a target resource corresponding to a second routing task, and so on.

In practical applications, the resource types corresponding to the candidate resource or the target resource may include: a device type or a human type. The device resources of the device type may include: shuttle, unmanned forklift, or AGV (automatic guided vehicle, automated Guided Vehicle), etc.

The resource type corresponding to the alternative resource can be matched with the road surface characteristics of the warehouse area or the warehouse subarea corresponding to the routing task.

For equipment resources such as a shuttle, an unmanned forklift, or an AGV, certain requirements are generally placed on road surface characteristics. For example, the corresponding road surface feature of the shuttle may be a rail feature. The navigation modes corresponding to the unmanned forklift or the AGV can comprise: electromagnetic navigation, two-dimensional code navigation, visual navigation, and the like. Wherein, the electromagnetic navigation needs to embed a metal wire on the driving path; two-dimensional code navigation requires setting a two-dimensional code on a driving path; visual navigation requires painting a paint or a band of high contrast to the ground or to be applied to the path of travel.

Therefore, the embodiment of the application can preset the mapping relation B between the road surface characteristics and the resource types, and search the road surface characteristics corresponding to the warehouse area or the warehouse subarea where the routing task is located in the mapping relation B so as to obtain the target resource type corresponding to the routing task. Further, the resource corresponding to the target resource type may be used as an alternative resource. For example, the pavement characteristics corresponding to an unmanned forklift or AGV may include: two-dimensional code, metal wire, color ribbon, etc.; while the corresponding road surface characteristics of the shuttle may include: guide rails, etc.

In the foregoing example a, it is assumed that parsing is performed for one pallet-entering task to obtain a plurality of routing tasks: a receiving area routing task, a transporting area routing task, and a storage area routing task. And for the receiving area routing task, a forklift resource list matched with the road surface characteristics of the receiving area can be found, and the receiving area routing task is distributed to one forklift meeting the low-load condition in the forklift resource list. And for the transport area routing task, a forklift resource list or an AGV resource list matched with the road surface characteristics of the transport area can be found, and the transport area routing task is distributed to one device which meets the low-load condition in the forklift resource list or the AGV resource list. For the storage area routing task, if the storage bit of the storage area is a high-order shelf storage bit, the storage area routing task can be distributed to a forklift which meets the low-load condition; alternatively, if the storage bits of the storage area are four-through storage bits, the storage area routing task may be assigned to one shuttle that meets the low load condition.

The method of the embodiment of the application can also comprise the following steps: and merging the two adjacent routing tasks under the condition that the two adjacent routing tasks correspond to the same resource type and the two adjacent routing tasks correspond to different warehouse subareas of the same warehouse area. For example, assuming that the routing tasks corresponding to the transport sub-area a and the transport sub-area B in fig. 4 correspond to the same resource type, since they correspond to the same transport area, the routing tasks corresponding to the transport sub-area a and the transport sub-area B may be combined to reduce the execution interval between two adjacent routing tasks.

After two adjacent routing tasks are combined, a combined routing task can be obtained. For example, the i-th routing task and the (i+1) -th routing task are combined, and the obtained combined routing task can be used for routing a storage object corresponding to the storage task from the i-th node to the (i+1) -th junction point of the target path, where the (i+1) -th junction point can be a junction point of the (i+1) -th node and the (i+2) -th node of the target path in a warehouse area or a warehouse sub-area. The merging route task can utilize a target resource to finish the original two path segments; since the execution interval between two adjacent routing tasks can be reduced, the warehouse processing efficiency can be improved.

The process of executing the plurality of routing tasks in the embodiment of the application specifically may include: determining an atomic task sequence corresponding to the routing task according to the resource type of the target resource corresponding to the routing task; the atomic task sequence may specifically include: the target resource moves to the starting point of the routing task, the target resource acquires a storage object, the target resource moves to the end point of the routing task, and the target resource puts down the storage object; and executing the atomic task sequences respectively corresponding to the plurality of routing tasks according to the routing sequence.

An atomic task sequence may be a sequence of actions that may characterize a combination of actions performed by a target resource. The embodiment of the application can further analyze the routing task into the corresponding atomic task sequence so as to realize the orderly execution of the routing task and the orderly scheduling of the target resource.

In practical application, the process of determining the atomic task sequence corresponding to the routing task according to the resource type of the target resource corresponding to the routing task may specifically include: and searching in the mapping relation C between the resource type and the atomic task sequence according to the resource type of the target resource corresponding to the routing task to obtain the atomic task sequence corresponding to the routing task.

Referring to Table 3, an example of a mapping relationship C between resource types and atomic task sequences is shown in one embodiment of the application.

For example, for the receiving area routing task in the above example a, since the type of resource allocated for the receiving area routing task is a forklift, the receiving area routing task may be further disassembled into a sequence of actions corresponding to "move-insert-move-put", that is, an atomic task sequence, where one action is an atomic task.

As another example, for a transport area routing task, in the case where the type of resource allocated for it is a forklift, the atomic task sequence obtained by disassembly may be "move-insert-move-drop"; in the case where the type of resource allocated to it is an AGV, the atomic task sequence resulting from the disassembly may be "move-jack-up-move-down".

For another example, for a storage area routing task, in the case that the type of resource allocated for the storage area routing task is a forklift, the atomic task sequence obtained by disassembly may be "move-insert-move-lift-drop"; in the case where the type of resource allocated thereto is a shuttle, the atomic task sequence resulting from the disassembly may be "move-jack-up-move-down".

In example a above, the forklift may correspond to different atomic task sequences in different warehouse areas. The atomic task sequence corresponding to the forklift in the receiving area and the transporting area can be as follows: "move-insert-move-put" and the atomic task sequence corresponding to the forklift in the storage area may be: "move-insert-move-lift-drop" wherein the "lift" action may be matched to the height of the target storage location of the stereoscopic warehouse. Therefore, the embodiment of the application can jointly determine the atomic task sequence corresponding to the routing task according to the resource type and the warehouse area corresponding to the routing task.

In practical application, the process of executing the atomic task sequences corresponding to the plurality of routing tasks respectively according to the routing sequence may specifically include: according to the routing sequence, respectively corresponding atomic task sequences of a plurality of routing tasks are issued to a task pool; and executing the atomic task sequence in the task pool. The embodiment of the application sequentially issues the atomic task sequences corresponding to the routing tasks respectively, so that the task pool can sequentially store and sequentially execute the atomic task sequences corresponding to the routing tasks respectively.

Referring to fig. 5, a flow diagram of a warehouse processing method according to an embodiment of the present application is shown, where a pallet warehouse-in task may be parsed into a receiving area routing task, a transporting area routing task, and a storage area routing task, where the receiving area routing task is assigned to a forklift, the transporting area routing task is assigned to an AGV, and the storage area routing task is assigned to a shuttle.

In addition, the routing task of the receiving area can be analyzed into a first atomic task sequence corresponding to 'move-insert-pick-move-put'; in the first atomic task sequence, the first moving action can move the forklift to the starting point of the receiving area routing task, the inserting action can insert the storage object through the forklift, the second moving action can move the forklift with the storage object inserted to the end point of the receiving area routing task, and the putting-down action can place the storage object to the end point of the receiving area routing task through the forklift.

The embodiment of the application can analyze the transport area routing task into a second atomic task sequence corresponding to 'moving-jacking-moving-putting down'; in the second atomic task sequence, the first moving action can move the AGV to the starting point of the transport area routing task, the jacking action can load the warehouse object through the AGV, the second moving action can move the AGV loaded with the warehouse object to the end point of the transport area routing task, and the dropping action can place the warehouse object to the end point of the transport area routing task through the AGV.

According to the embodiment of the application, the storage area routing task can be analyzed into a third atomic task sequence corresponding to 'move-jack-up-move-down'; in the third atomic task sequence, the first movement action can move the shuttle to the starting point of the storage area routing task, the jacking action can load the storage object through the shuttle, the second movement action can move the shuttle loaded with the storage object to the end point of the storage area routing task, and the dropping action can place the storage object to the end point of the storage area routing task through the shuttle.

In executing the atomic task sequence in the task pool, a control instruction may be sent to the target resource to cause the target resource to execute the action included in the atomic task sequence.

As shown in fig. 5, a first control instruction may be first sent to the forklift to enable the forklift to execute a first atomic task sequence corresponding to "move-insert-pick-move-put-down"; then, a second control instruction can be sent to the AGV so that the AGV executes a second atomic task sequence corresponding to 'moving-jacking-moving-putting down'; then, a third control instruction may be sent to the shuttle vehicle to cause the shuttle vehicle to perform a third sequence of primitive tasks corresponding to "move-jack-up-move-down". After the third atomic task sequence is executed, the execution of the tray warehouse-in task can be completed.

In summary, according to the warehouse processing method provided by the embodiment of the application, after the task starting point and the task ending point corresponding to the warehouse task are determined, path planning is performed according to the task starting point, the task ending point and the passing point so as to obtain a target path meeting preset conditions; and analyzing the warehousing task into a plurality of routing tasks according to the target path, and executing the plurality of routing tasks by utilizing target resources respectively corresponding to the routing tasks.

Method embodiment II

Referring to fig. 6, a flowchart of steps of a warehouse processing method according to an embodiment of the present application is shown, and the method may specifically include the steps of:

step 601, receiving a warehouse task;

step 602, determining a task starting point and a task end point corresponding to the warehousing task;

step 603, searching a target path meeting preset conditions from a task start point to a task end point from a warehouse map;

according to the embodiment of the application, one warehouse area or one warehouse subarea can be used as a position point, if the two position points can be directly communicated, connection can be established between the two position points so as to obtain one side of the warehouse map, and the side length represents the distance between the two position points.

Referring to fig. 7, a schematic diagram of a warehouse map of an embodiment of the present application is shown, where the warehouse map of fig. 7 may include a portion of the warehouse area of fig. 2 or 4.

In fig. 7, one warehouse area or one warehouse sub-area may be taken as a location point, which may be characterized by a number within o and o. The meaning of the location points is as follows: (1) receiving area 1, (2) -transporting sub-area A, (3) -transporting sub-area B, (4) -picking area 1, (5) -picking area 2, (6) -transporting sub-area C, (7) -storing area 4, (8) -transporting sub-area H,. Smallcap 0-storing area 1,. Smallcap 1-transporting sub-area F,-transport subarea D>-receiving area 2, < >>-transport subarea E>-transporting the subregion G.

In practical applications, a connection may be established between two location points to obtain one edge of the warehouse map, and in particular, the warehouse map in fig. 7 may be obtained.

In example B, assuming that the task start point is a certain location point in the receiving area 1 and the task end point is a certain location point in the storage area 4, the corresponding candidate path may be a path between (1) and (7) in fig. 7, and examples of the candidate path may include:

candidate path 1: (1) the method comprises the steps of (1) 2, (3) 6 and (7);

Candidate path 2: (1) (2) to→⑥→⑦；

Candidate path 3: (1) 2 to the gamma rayAnd (8) to (7).

In example B, the candidate path 1 may be taken as the target path according to a predetermined condition.

Step 604, according to the target path, analyzing the warehouse task into a plurality of routing tasks; the storage object corresponding to the storage task is routed from the previous node to the next node according to the path sequence;

step 605, determining a target resource meeting a low-load condition in a resource set corresponding to a warehouse area or a warehouse subarea where the routing task is located;

in practical application, the resource set can be maintained in the range of one warehouse area or one warehouse subarea, and the resources in the resource set can be used by the corresponding warehouse area or warehouse subarea, so that the path length of the resources can be reduced, the time for reaching the starting point of the routing task can be further shortened, and the warehouse processing efficiency can be improved.

Step 606, determining an atomic task sequence corresponding to each of the plurality of routing tasks according to the resource type corresponding to the target resource;

step 607, executing the atomic task sequences corresponding to the routing tasks according to the routing order.

The embodiment of the application can orderly and uniformly schedule various different types of equipment, manpower and other resource types in the warehouse so as to coordinate the sequential execution of routing tasks and improve the warehouse processing efficiency.

Moreover, the target resource in the embodiment of the application accords with the low-load condition, and the low-load resource can be preferentially selected as the target resource; thus, the waiting time of the warehousing task for the target resource can be reduced, and the warehousing processing efficiency can be improved.

It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the application.

Device embodiment

Referring to fig. 8, a schematic structural diagram of a warehouse processing device according to an embodiment of the present application is shown, where the device may specifically include the following modules:

A receiving module 801, configured to receive a warehouse task;

a starting and ending point determining module 802, configured to determine a task starting point and a task ending point corresponding to the warehousing task;

a path planning module 803, configured to perform path planning according to the task start point, the task end point, and the route point, so as to obtain a target path that meets a predetermined condition; the passing points correspond to warehouse areas or warehouse sub-areas contained in the warehouse areas; the node of the target path includes: a task start point, a target passing point and a task end point; the target passing points correspond to the target warehouse areas or the target warehouse sub-areas;

the task analysis module 804 is configured to analyze the storage task into a plurality of routing tasks according to the target path; the storage object corresponding to the storage task is routed from the previous node to the next node according to the path sequence;

and a task execution module 805, configured to execute the plurality of routing tasks by using the target resources respectively corresponding to the routing tasks.

Optionally, the routing task may specifically include:

Optionally, the warehouse area may specifically include: a transport area; the passing point corresponds to a transportation subarea contained in the transportation area.

Optionally, the determining process of the target resource may specifically include:

Optionally, the apparatus may further include:

Optionally, the task execution module 805 may include:

Optionally, the atomic task sequence determining module may specifically include:

The embodiment of the application also provides a warehouse processing system, referring to the structural schematic diagram of the warehouse processing system shown in fig. 9, the system specifically may include: a resource 901 and a warehouse processing device 902;

The warehouse processing device 902 is configured to execute the foregoing method by using the resource; specifically, the warehouse processing device is used for receiving warehouse tasks; determining a task starting point and a task ending point corresponding to the warehousing task; planning a path according to the task starting point, the task ending point and the passing point to obtain a target path meeting preset conditions; analyzing the warehousing task into a plurality of routing tasks according to the target path; and executing the plurality of routing tasks by utilizing the target resources respectively corresponding to the routing tasks.

The resources 901 may include: device resources and/or human resources, etc. The device resources may include: shuttle, unmanned forklift, or AGV, etc. The resource 901 may be scheduled by the warehousing processing device 902, in other words, the warehousing processing device 902 may allocate a warehousing task to the resource 901 such that the resource 901 performs a routing task included in the warehousing task.

The warehouse processing device can operate on electronic equipment, and the electronic equipment can be deployed in a warehouse area and used as a client to operate. Of course, the electronic device may be deployed outside the warehouse area and operate as a server. It can be appreciated that the embodiment of the application is not limited to the specific electronic device corresponding to the warehouse processing device.

The storage processing device can receive the storage task, schedule the target resource in the storage range aiming at the storage task, and execute the routing task according to the routing sequence of the routing task in the target path by the target resource, so that the processing efficiency of the storage task can be improved.

The embodiment of the application also provides a non-volatile readable storage medium, in which one or more modules (programs) are stored, where the one or more modules are applied to a device, and the device can execute instructions (instructions) of each method step in the embodiment of the application.

Embodiments of the application provide one or more machine-readable media having instructions stored thereon that, when executed by one or more processors, cause an electronic device to perform a method as described in one or more of the above embodiments. In the embodiment of the application, the electronic equipment comprises a server, terminal equipment and other equipment.

Embodiments of the present disclosure may be implemented as an apparatus for performing a desired configuration using any suitable hardware, firmware, software, or any combination thereof, which may include a server (cluster), terminal, or the like. Fig. 10 schematically illustrates an example apparatus 1700 that may be used to implement various embodiments described in the present disclosure.

For one embodiment, FIG. 10 illustrates an example apparatus 1700 having one or more processors 1702, a control module (chipset) 1704 coupled to at least one of the processor(s) 1702, a memory 1706 coupled to the control module 1704, a non-volatile memory (NVM)/storage device 1708 coupled to the control module 1704, one or more input/output devices 1710 coupled to the control module 1704, and a network interface 1712 coupled to the control module 1704.

The processor 1702 may include one or more single-core or multi-core processors, and the processor 1702 may include any combination of general-purpose or special-purpose processors (e.g., a warehouse processor, an application processor, a baseband processor, etc.). In some embodiments, the apparatus 1700 can be used as a server, a terminal, or the like in the embodiments of the present application.

In some embodiments, the apparatus 1700 may include one or more computer-readable media (e.g., memory 1706 or NVM/storage 1708) having instructions 1714 and one or more processors 1702 combined with the one or more computer-readable media configured to execute the instructions 1714 to implement the modules to perform the actions described in this disclosure.

For one embodiment, the control module 1704 may include any suitable interface controller to provide any suitable interface to at least one of the processor(s) 1702 and/or any suitable device or component in communication with the control module 1704.

The control module 1704 may include a memory controller module to provide an interface to the memory 1706. The memory controller modules may be hardware modules, software modules, and/or firmware modules.

Memory 1706 may be used to load and store data and/or instructions 1714 for device 1700, for example. For one embodiment, memory 1706 may include any suitable volatile memory, such as, for example, a suitable DRAM. In some embodiments, memory 1706 may comprise double data rate type four synchronous dynamic random access memory (DDR 4 SDRAM).

For one embodiment, the control module 1704 may include one or more input/output controllers to provide interfaces to the NVM/storage 1708 and the input/output device(s) 1710.

For example, NVM/storage 1708 may be used to store data and/or instructions 1714. NVM/storage 1708 may include any suitable nonvolatile memory (e.g., flash memory) and/or may include any suitable nonvolatile storage device(s) (e.g., one or more Hard Disk Drives (HDDs), one or more Compact Disc (CD) drives, and/or one or more Digital Versatile Disc (DVD) drives).

NVM/storage 1708 may include a storage resource as part of the device on which apparatus 1700 is installed or may be accessible by the device without necessarily being part of the device. For example, NVM/storage 1708 may be accessed over a network via input/output device(s) 1710.

The input/output device(s) 1710 may provide an interface for the apparatus 1700 to communicate with any other suitable device, and the input/output device 1710 may include a communication component, an audio component, a sensor component, and the like. The network interface 1712 may provide the device 1700 with an interface to communicate over one or more networks, and the device 1700 may wirelessly communicate with one or more components of a wireless network according to any of one or more wireless network standards and/or protocols, such as accessing a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G, 5G, etc., or a combination thereof.

For one embodiment, at least one of the processor(s) 1702 may be packaged together with logic of one or more controllers (e.g., memory controller modules) of the control module 1704. For one embodiment, at least one of the processor(s) 1702 may be packaged together with logic of one or more controllers of the control module 1704 to form a System In Package (SiP). For one embodiment, at least one of the processor(s) 1702 may be integrated on the same die as logic of one or more controllers of the control module 1704. For one embodiment, at least one of the processor(s) 1702 may be integrated on the same die as logic of one or more controllers of the control module 1704 to form a system on a chip (SoC).

In various embodiments, the apparatus 1700 may be, but is not limited to being: a server, a desktop computing device, or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet, a netbook, etc.), among other terminal devices. In various embodiments, the device 1700 may have more or fewer components and/or different architectures. For example, in some embodiments, the apparatus 1700 includes one or more cameras, a keyboard, a Liquid Crystal Display (LCD) screen (including a touch screen display), a non-volatile memory port, multiple antennas, a graphics chip, an Application Specific Integrated Circuit (ASIC), and a speaker.

The device 1700 may employ a main control chip as a processor or a control module, the sensor data, the location information, etc. are stored in a memory or NVM/storage device, the sensor group may be an input/output device, and the communication interface may include a network interface.

The embodiment of the application also provides electronic equipment, which comprises: a processor; and a memory having executable code stored thereon that, when executed, causes the processor to perform a method as described in one or more of the embodiments of the application.

Embodiments of the application also provide one or more machine-readable media having stored thereon executable code that, when executed, causes a processor to perform a method as described in one or more of the embodiments of the application.

For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable warehousing processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable warehousing processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable storage processing terminal apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable warehouse process terminal device to cause a series of operational steps to be performed on the computer or other programmable terminal device to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal device provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the application.

Finally, it is further noted that 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. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.

The foregoing has described in detail a warehouse processing method, a warehouse processing system, an electronic device and a storage medium, and specific examples have been used herein to illustrate the principles and embodiments of the present application, and the above examples are only for aiding in understanding the method and core ideas of the present application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. A method of warehousing, the method comprising:

receiving a warehouse task;

2. The method of claim 1, wherein the routing task comprises:

3. The method of claim 1, wherein the warehouse area comprises: a transport area; the passing point corresponds to a transportation subarea contained in the transportation area.

4. The method of claim 1, wherein the determining of the target resource comprises:

5. The method of claim 4, wherein the resource type corresponding to the candidate resource matches a road surface characteristic of a warehouse area or warehouse sub-area corresponding to the routing task.

6. The method according to claim 1, wherein the method further comprises:

and merging the two adjacent routing tasks under the condition that the two adjacent routing tasks correspond to the same resource type and the two adjacent routing tasks correspond to different warehouse subareas of the same warehouse area.

7. The method of any of claims 1-6, wherein the performing the plurality of routing tasks comprises:

determining an atomic task sequence corresponding to the routing task according to the resource type of the target resource corresponding to the routing task; the atomic task sequence includes: the target resource moves to the starting point of the routing task, the target resource acquires a storage object, the target resource moves to the end point of the routing task, and the target resource puts down the storage object;

and executing the atomic task sequences respectively corresponding to the plurality of routing tasks according to the routing sequence.

8. The method according to claim 7, wherein the determining the atomic task sequence corresponding to the routing task according to the resource type of the target resource corresponding to the routing task includes:

and searching in the mapping relation between the resource type and the atomic task sequence according to the resource type of the target resource corresponding to the routing task so as to obtain the atomic task sequence corresponding to the routing task.

9. A warehouse processing system, the system comprising: a resource and storage processing device;

Wherein the warehouse handling device is configured to utilize the resource to perform the method of any one of claims 1-8.

10. An electronic device, comprising: a processor; and

a memory having executable code stored thereon that, when executed, causes the processor to perform the method of any of claims 1 to 8.

11. One or more machine readable media having executable code stored thereon that, when executed, causes a processor to perform the method of any of claims 1 to 8.