WO2023029820A1 - 货物整理方法、装置、设备、仓储系统及存储介质 - Google Patents

货物整理方法、装置、设备、仓储系统及存储介质 Download PDF

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Publication number
WO2023029820A1
WO2023029820A1 PCT/CN2022/108041 CN2022108041W WO2023029820A1 WO 2023029820 A1 WO2023029820 A1 WO 2023029820A1 CN 2022108041 W CN2022108041 W CN 2022108041W WO 2023029820 A1 WO2023029820 A1 WO 2023029820A1
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Prior art keywords
target
location
goods
shipped
storage
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PCT/CN2022/108041
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English (en)
French (fr)
Inventor
喻润方
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深圳市库宝软件有限公司
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Publication of WO2023029820A1 publication Critical patent/WO2023029820A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders

Definitions

  • the present disclosure relates to the technical field of intelligent warehousing, in particular to a method, device, equipment, warehousing system, and storage medium for any sorting of goods.
  • the robot-based warehousing system uses an intelligent operating system to automatically take out and store goods through system instructions. At the same time, it can run 24 hours a day, replacing manual management and operation, improving the efficiency of warehousing, and has been widely used and favored.
  • the method based on the heat of the goods is often used to determine the warehouse management strategy, so that the goods with higher heat are sorted to the storage location with higher delivery efficiency, such as the storage location close to the operation platform, so as to improve the storage efficiency. efficiency.
  • the present disclosure provides a cargo sorting method, device, equipment, storage system, and storage medium, which realizes a cargo sorting strategy with an order as a unit, and improves order processing efficiency.
  • an embodiment of the present disclosure provides a method for sorting goods, the method including: determining the goods to be delivered corresponding to the target order, wherein the target order is an order for a preset time period in the future; The target operation platform corresponding to the order determines the target location of the goods to be shipped; when the target location of the goods to be shipped and the storage location of the The warehouse goods are transported to the corresponding target warehouse location, wherein the storage warehouse location is the warehouse location where the goods to be shipped are currently stored.
  • determining the target location of the goods to be delivered according to the target operation station corresponding to the target order includes: determining the location score of each location in the storage system according to the target operation station; Determine the target location of each of the goods to be shipped out based on the score of the storage location.
  • determining the location score of each location of the storage system according to the target operation station includes: calculating a first distance between each location of the storage system and the target operation station; according to the first distance to determine the location fraction for each of the described locations.
  • determining the location score of each location according to the first distance includes: determining the location score of each location according to the first distance and a location height of each location.
  • determining the location score of each location in the storage system according to the target operation platform includes: calculating a second distance between an aisle exit of each aisle in the storage system and the target operation platform, wherein the The aisle is a passage for the robot to walk between two adjacent storage shelves, and the storage shelf includes one or more storage locations for storing goods; obtain the first location of the target storage location corresponding to each of the aisles.
  • a quantity according to the second distance and the first quantity, determine the aisle score of each of the aisles; for each storage location, according to the aisle score of the aisle corresponding to the storage location and the storage location and the corresponding The distance from the aisle exit of the aisle to determine the location fraction of said location.
  • determining the target storage location of the goods to be shipped includes: calculating the second distance between the aisle exit of each aisle and the target operation platform; for each aisle , according to the third distance between each storage location corresponding to the aisle and the aisle exit of the aisle, determine the first score of each storage location corresponding to the aisle; perform the following steps in a loop until the target order corresponding to the The target storage locations of all the goods to be shipped out: obtaining the first quantity of the target storage locations corresponding to each of the lanes; determining the laneway score of each of the lanes according to the second distance and the first quantity; For the target aisle with the highest current aisle score, according to the first score from high to low, from each storage location where the target aisle is not determined as the target storage location, determine a preset number of storage locations as the preset number of storage locations. The target storage location of the goods to be shipped out, and updating the first quantity of the target aisle according to the preset quantity, wherein the preset quantity is the number of layers
  • determining the target location of the goods to be shipped corresponding to the target order includes: calculating a second distance between the exit of each lane and the target operating platform; Determine the congestion coefficient of each roadway; determine the roadway score of each roadway according to the second distance and the congestion coefficient corresponding to each roadway; The distance is to determine the first score of each storage location corresponding to the aisle; according to the first score of each storage location and the aisle score of the aisle corresponding to each storage location, determine the value of each of the goods to be shipped corresponding to the target order Target location.
  • determining the target storage location of each of the goods to be shipped corresponding to the target order includes: according to the aisle score from high to high Low, sequentially determine that the first storage location of each lane is the target storage location of each of the goods to be shipped corresponding to the target order, wherein the first storage location is a storage location with a first score greater than a preset score.
  • the aisle scores from high to low sequentially determine the first storage location of each aisle as the target storage location of each goods to be shipped corresponding to the target order, including: according to the aisle scores from high to low, and the aisle In the order of the first score from high to low, the corresponding quantity of the first storage location is sequentially determined as the target storage location of the goods to be shipped in the target order, and the aisle with the number of the first storage location being 0 is deleted.
  • the method further includes: obtaining the next target The goods to be shipped out corresponding to the order; according to the number of target storage locations corresponding to each first aisle, update the congestion coefficient of each first aisle, wherein the first aisle is determined as at least one storage location in each of the aisles The laneway of the target storage location; according to the second distance corresponding to each first laneway and the updated congestion coefficient, the laneway score of each first laneway is updated; according to the laneway score from high to low, the first warehouse location of each laneway is determined in turn as The target warehouse location of each goods to be shipped corresponding to the next target order.
  • the method further includes: determining a location type corresponding to each item to be shipped out.
  • determining the target location of the goods to be shipped out includes: determining the target location of the goods to be shipped according to the target operation station corresponding to the target order and the location type of each goods to be shipped out Each target location matching the location type corresponding to each of the goods to be shipped out.
  • determining each target location that matches the type of location corresponding to each of the goods to be shipped includes: for the same For each of the goods to be shipped out of the location type, determine each candidate location that matches the location type; determine the location score of each candidate location according to the target operation platform; In the order of high to low, each candidate storage location is determined as the target storage location of each goods to be shipped.
  • the method further includes: determining an allocation sequence of each goods to be shipped corresponding to the target order, so as to sequentially assign a target location to each of the goods to be shipped corresponding to the target order based on the allocation order.
  • the target storage location of the goods to be shipped and the storage location of the goods to be shipped meet the warehouse transfer conditions, including: the target location of the goods to be shipped and the storage location of the goods to be shipped The storage location is not in the same lane; or, the target location of the goods to be shipped exceeds the preset range of the storage location of the goods to be shipped, or, the target location of the goods to be shipped is different from the The storage location of the goods to be shipped is inconsistent.
  • determining the goods to be shipped corresponding to the target order includes: determining the goods to be shipped corresponding to the target order according to the order requirements of the target order and the target operation platform corresponding to the target order.
  • the method further includes: determining a target operation station of the target order according to a production line corresponding to the target order.
  • the method further includes: controlling a robot to take out the occupied goods from the target storage location.
  • moving the goods to be shipped to the corresponding target storage location includes: after the occupied goods are taken out, controlling the robot to store the goods to be shipped to the target storage location.
  • the method further includes: allocating a new warehouse location for the occupied goods, so as to store the occupied goods in the new warehouse location .
  • the embodiment of the present disclosure also provides a cargo sorting device, the device includes: a cargo determination module, configured to determine the goods to be shipped out corresponding to the target order, wherein the target order is a preset time period in the future order; the storage location determination module is used to determine the target storage location of the goods to be shipped according to the target operation platform corresponding to the target order; the cargo handling module is used to determine the target storage location of the goods to be shipped If it is inconsistent with the storage location of the goods to be shipped, the goods to be shipped are moved to the corresponding target location.
  • a cargo determination module configured to determine the goods to be shipped out corresponding to the target order, wherein the target order is a preset time period in the future order
  • the storage location determination module is used to determine the target storage location of the goods to be shipped according to the target operation platform corresponding to the target order
  • the cargo handling module is used to determine the target storage location of the goods to be shipped If it is inconsistent with the storage location of the goods to be shipped, the goods to be shipped are moved to the
  • an embodiment of the present disclosure further provides a cargo sorting device, including: a memory and at least one processor; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, The at least one processor is made to execute the goods sorting method provided in any embodiment corresponding to the first aspect of the present disclosure.
  • an embodiment of the present disclosure further provides a storage system, including: a storage shelf, an operating table, a robot, and the goods sorting device provided in the embodiment corresponding to the third aspect of the present disclosure.
  • the embodiment of the present disclosure also provides a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the first method of the present disclosure is realized.
  • the goods sorting method provided in any embodiment corresponding to the aspect.
  • an embodiment of the present disclosure further provides a computer program product, including a computer program, and when the computer program is executed by a processor, the cargo sorting method provided in any embodiment corresponding to the first aspect of the present disclosure is implemented.
  • the method, device, equipment, warehousing system, and storage medium provided by the embodiments of the present disclosure, for the target order in the future preset time period, according to the target operation platform corresponding to the target order, determine each waiting to be delivered corresponding to the target order
  • the target storage location of the goods in the warehouse so that when the target storage location and the original storage location of the goods to be shipped meet the storage transfer conditions, the goods to be shipped will be moved to the corresponding target location in advance, so as to realize the advance warehouse management in units of orders , due to the warehouse management based on future orders, the accuracy of warehouse management is improved, and through the warehouse management in advance, the goods to be shipped out corresponding to the order can be shipped out faster, reducing the order processing time and improving the efficiency of future orders Processing efficiency.
  • FIG. 1 is an application scenario diagram of a cargo sorting method provided by an embodiment of the present disclosure
  • FIG. 2 is a flow chart of a cargo sorting method provided by an embodiment of the present disclosure
  • FIG. 3 is a flow chart of a cargo sorting method provided by another embodiment of the present disclosure.
  • FIG. 4 is a flowchart of step S303 in the embodiment shown in FIG. 3 of the present disclosure.
  • FIG. 5 is a flow chart of a cargo sorting method provided by another embodiment of the present disclosure.
  • FIG. 6 is a flowchart of step S503 in the embodiment shown in FIG. 5 of the present disclosure.
  • Fig. 7 is a flow chart of a cargo sorting method provided by another embodiment of the present disclosure.
  • FIG. 8 is a flow chart of a cargo sorting method provided by another embodiment of the present disclosure.
  • FIG. 9 is a flow chart of a cargo sorting method provided by another embodiment of the present disclosure.
  • Fig. 10 is a schematic structural diagram of a cargo sorting device provided by an embodiment of the present disclosure.
  • Fig. 11 is a schematic structural diagram of a cargo sorting device provided by an embodiment of the present disclosure.
  • Fig. 12 is a schematic structural diagram of a storage system provided by an embodiment of the present disclosure.
  • Fig. 1 is an application scene diagram of the cargo sorting method provided by the embodiment of the present disclosure.
  • the cargo sorting method provided by the present disclosure embodiment can be executed by a cargo sorting device, and the cargo sorting device can be a dispatcher of a storage system A device, which can be in the form of a computer or a server.
  • the cargo sorting device can be a dispatcher of a storage system A device, which can be in the form of a computer or a server.
  • the cargo sorting device can be a dispatcher of a storage system
  • a device which can be in the form of a computer or a server.
  • Heat is a parameter used to describe the frequency of goods out of the warehouse.
  • the higher the heat the higher the frequency of goods out of the warehouse.
  • the goods 120 with higher heat can be placed in a better location, such as a location closer to the operating platform 130 and the exit of the roadway, such as the location 111, and the goods 120 can be placed along the dotted arrow in Figure 1.
  • the corresponding direction is transferred to the storage location 111 , thereby improving the efficiency of the goods with higher heat out of the warehouse, so that the goods 120 can be transported to the operation platform 130 more efficiently.
  • the method of sorting warehouses based only on the heat of the goods can often only improve the delivery efficiency of goods with high heat.
  • the goods to be released corresponding to the order are all goods with low heat
  • the existing technology In the heat-based sorting method the goods corresponding to the order are often not sorted out, that is, the warehouse location has not changed, or even moved to a warehouse location with a poor location, so that the delivery efficiency of the goods corresponding to the order cannot be improved, resulting in The order was processed inefficiently to meet demand.
  • the embodiment of the present disclosure provides a method for sorting out goods.
  • the main concept of the method is: in the case of known future orders, based on the target operation corresponding to the future order, determine the The target storage location of the goods to be shipped in the future order.
  • the goods to be shipped will be moved to the target location to realize the future order-based
  • the warehouse management strategy improves the accuracy of the warehouse management, so that the goods to be shipped corresponding to the future order are sorted to a better location, which improves the efficiency of the goods to be shipped out of the warehouse, thereby improving the efficiency of future orders. Processing efficiency.
  • FIG. 2 is a flow chart of a method for sorting goods provided by an embodiment of the present disclosure. As shown in FIG. 2 , the method for sorting goods is applicable to a storage system, and the method for sorting goods can be executed by a cargo sorting device.
  • the cargo sorting method provided in this embodiment includes the following steps:
  • Step S201 determining the goods to be delivered corresponding to the target order.
  • the target order is an order in a preset time period in the future, that is, the target order is not an order currently processed, but an order that needs to be processed in a preset time period in the future.
  • the goods to be shipped are the goods that need to be shipped in the target order.
  • the future preset time period may be 24 hours in the future, 12 hours in the future, or the like.
  • one or more orders in the future preset time period can be determined, that is, one or more target orders can be determined, and then for each target For an order, one or more goods to be delivered corresponding to the target order are determined according to the order demand of the target order.
  • the order requirements of the target order can indicate the goods that need to be shipped out, such as including the goods identifiers of the goods to be shipped out, and then determine the corresponding goods to be shipped out of the target order based on the corresponding goods identifiers in the order requirements of the target order. warehouse goods.
  • the order demand of the target order may indicate each item that needs to be shipped out and the quantity of each item, and the item is usually stored in a cargo or a container. Then, according to each item and its quantity in the order demand of the target order that need to be shipped out, determine each item to be shipped out corresponding to the target order, so as to meet the order demand of the target order.
  • one kind of article can be stored in one cargo box or goods in the storage system, and multiple kinds of articles can also be stored.
  • the storage conditions of the boxes containing socks W1 or clothes C1 on the shelves of the storage system are as follows: 30 pairs are stored in the box H01 Socks W1 and 26 pieces of clothing C1; 87 pairs of socks W1 are stored in the cargo box H05; 20 pairs of socks W1 and 60 pieces of clothing C1 are stored in the cargo box H16. Then it can be determined that the goods to be delivered corresponding to the target order are container H05 and container H16.
  • the inventory management task can be triggered to obtain each target order that needs to be processed in the next day. Furthermore, for each target order, determine the goods to be delivered corresponding to the target order, or regard each target order that needs to be processed in the next day as a target order, so as to obtain the goods to be delivered of the target order.
  • the warehouse sorting or warehouse sorting task mentioned in this disclosure refers to the process of reassigning storage locations and moving them to the reassigned storage locations for each corresponding item, such as each item to be shipped out.
  • Step S202 according to the target operation platform corresponding to the target order, determine the target location of the goods to be shipped.
  • the target operation station is one or more operation stations that process or are expected to process the goods to be shipped out of the target order.
  • the target location is the new location of the goods to be shipped, which may be different from the original location where it was stored.
  • each time an order is generated one or more corresponding operation stations may be determined for the order, so that each corresponding operation station can process the goods corresponding to the order.
  • the target storage location of each goods to be delivered may be determined from the storage locations whose distance to the target operation platform is less than or equal to the preset distance.
  • the distance between the storage location and the target operation platform may be the shortest distance traveled by the robot from the target operation platform to the storage location, or the distance traveled by the robot from the storage location to the target operation platform.
  • the target storage location of the goods to be shipped can be determined from each storage location, so that the target warehouse of each of the goods to be shipped in the target order The location is closer to the target operation platform, and the number of corresponding target storage locations on each lane that is closer to the target operation platform is made as uniform as possible.
  • the target storage locations of the goods to be shipped can be determined from among the free storage locations whose distance to the target operation platform is less than or equal to the preset distance. If the number of free warehouse locations whose distance from the target operation platform is less than or equal to the preset distance is less than the quantity of goods to be shipped out, then from each occupied warehouse whose distance to the target operation platform is less than or equal to the preset distance In the location, determine the target location of each remaining goods to be shipped. Thereby reducing the quantity of goods that need to be transported when sorting the warehouse, reducing the workload of the robot, and improving the efficiency of warehouse sorting.
  • the method further includes:
  • Determining the allocation order of each of the goods to be shipped corresponding to the target order so as to sequentially allocate a target warehouse location for each of the goods to be shipped corresponding to the target order based on the allocation order.
  • the distribution order of each goods to be shipped can be determined randomly.
  • the allocation sequence of each cargo to be shipped can be determined according to the cargo priority of each cargo to be shipped, and the higher the cargo priority, the higher the distribution order of the cargo to be shipped.
  • the priority of the goods can be determined according to the items stored in the goods to be shipped, the quantity of the items, and the size of the goods, and the size of the goods can include one or more of the height, width, length, volume, etc. of the goods to be shipped .
  • the cargo priority of the cargo to be shipped can be positively correlated with the priority of the items stored in the cargo to be shipped, the quantity of the items, and the size of the cargo, that is, the higher the priority of the items stored in the cargo to be shipped , the higher the priority of the goods to be shipped, the higher the number of items stored in the goods to be shipped, the higher the priority of the goods to be shipped, and the larger the size of the goods, the The higher the priority.
  • weights can be set for parameters such as the items stored in the goods to be shipped, the quantity of the items, and the size of the goods, and then based on the weighted average of the parameters such as the items stored in the goods to be shipped, the quantity of the items, and the size of the goods, determine The cargo priority of the cargo to be dispatched.
  • each goods to be shipped can be sequentially assigned a target storage location, that is, the target storage location of each goods to be shipped can be sequentially determined.
  • Step S203 when the target storage location of the goods to be shipped and the storage location of the goods to be shipped meet the warehouse transfer condition, the goods to be shipped are transported to the corresponding target location.
  • the storage location is the location where the goods to be shipped are currently stored, and the storage location is the original location of the goods to be shipped.
  • the warehouse transfer condition can be pre-set and used to determine whether to move the goods to be out of the warehouse.
  • each goods to be shipped After determining the target warehouse location of each goods to be shipped corresponding to the target order, for each goods to be shipped, it is possible to determine the target warehouse location corresponding to the goods to be shipped and the storage location of the goods to be shipped Whether the warehouse transfer condition is met; if not, determine that the storage location of the goods to be shipped is the target location, so that there is no need to move the goods to be shipped; if so, control the robot to move the goods to be shipped to the corresponding target location.
  • the target warehouse location of the goods to be shipped and the storage location of the goods to be shipped meet the warehouse transfer conditions, including:
  • the target location of the goods to be shipped is not in the same lane as the storage location of the goods to be shipped; or, the target location of the goods to be shipped exceeds the expected location of the storage location of the goods to be shipped. or, the target location of the goods to be shipped is inconsistent with the storage location of the goods to be shipped.
  • the robot may be controlled to move the goods to be shipped to the corresponding target location.
  • the robot may be controlled to move the goods to be shipped to the corresponding target storage location.
  • the preset range may refer to a range that is in the same lane as the storage location and whose distance from the storage location is smaller than a first threshold.
  • the storage location of the goods to be shipped is determined as the target location of the goods to be shipped.
  • the first threshold may be the distance corresponding to two storage locations. If the target storage location of the goods to be shipped is its storage location or a storage location next to the original storage location, the moving condition is not met. The goods do not need to be moved, just keep stored in their storage location, and determine the storage location as the target location.
  • the target location of each goods to be shipped corresponding to the target order is determined, so that when the target When the storage location and the original storage location of the goods to be shipped meet the storage transfer conditions, the goods to be shipped will be moved to the corresponding target location in advance to realize the advance inventory management based on the order. Since the storage is based on future orders, Improve the accuracy of warehouse sorting. By sorting warehouses in advance, the goods to be shipped out corresponding to orders can be out of the warehouse faster, reducing the order processing time and improving the processing efficiency of future orders.
  • FIG. 3 is a flow chart of a cargo sorting method provided by another embodiment of the present disclosure.
  • This embodiment further defines step S201 and step S202 on the basis of the embodiment shown in FIG. 2 .
  • step S201 Before adding the step of determining the target operating platform, as shown in Figure 3, the cargo sorting method provided in this embodiment may include the following steps:
  • Step S301 according to the production line corresponding to the target order, determine the target operation station of the target order.
  • some goods corresponding to the order need to be transported to the production line for further processing after being sorted or packaged by the operation station, such as adding outer packaging and instructions.
  • one production line usually corresponds to one or more operation stations, and the one or more operation stations corresponding to the production line corresponding to the target order may be determined as the target operation station.
  • the production line corresponding to the target order can be counted corresponding to the operation platform in the historical time, so as to determine the usage frequency of each operation platform corresponding to the production line corresponding to the target order.
  • the operation station corresponding to the production line corresponding to the target order with the highest usage frequency may be determined as the target operation station of the target order.
  • the operating platform corresponding to the production line corresponding to each target order whose use frequency is greater than a preset frequency may be determined as the target operating platform of the target order.
  • the target operating station of the target order can be estimated.
  • Step S302 according to the order requirements of the target order and the target operation platform corresponding to the target order, determine the goods to be delivered corresponding to the target order.
  • the order demand of the target order, and the target operation station corresponding to the target order determine the goods to be shipped corresponding to the target order, so as to reduce the number of goods to be shipped out as much as possible.
  • the distance between the storage location of the goods to be shipped and the target operation platform is as small as possible.
  • each candidate goods set that meets the order requirements can be determined, wherein each candidate goods set can include one or more goods stored on the shelf; for For each set of candidate goods, calculate the fourth distance between the storage location of each goods in the set of candidate goods and the target operation platform, and determine the candidate goods with the smallest sum of the fourth distances corresponding to each of the goods corresponding to the set of candidate goods Each item in the collection is each item to be shipped.
  • Step S303 according to the target operation platform, determine the location score of each location in the storage system.
  • the location score is used to describe the delivery efficiency of each location, and the higher the location score, the higher the delivery efficiency.
  • the location score of each location may be determined according to the location of each location and the location of the target operation platform.
  • determining the location score of each location in the storage system includes:
  • the first distance may be the shortest walking distance required for the robot to walk from the target operation platform to the warehouse location.
  • the location score may be inversely related to the first distance. That is, the smaller the first distance corresponding to the location, the higher the location score of the location.
  • the first distance between each storage location and the target operation platform may be calculated according to the position of each storage location and the position of the target operation platform.
  • a first corresponding relationship between the first distance and the location score may be established in advance, and then the calculated first distance of each location is substituted into the first correspondence, so as to determine the location score of each location.
  • determining the location score of each location includes:
  • the storage location score of each storage location is determined.
  • the storage location height of the storage location may be represented by the number of layers of the shelf where the storage location is located.
  • a second corresponding relationship between the first distance, the height of the storage location and the score of the storage location can be established, and then based on the second corresponding relationship, the first distance corresponding to each storage location, and the storage location height of each storage location, determine the The location fraction of the bit.
  • the second corresponding relationship may be:
  • S i is the location score of the i-th location; d1 i is the first distance corresponding to the i-th location; l i is the number of layers of the shelf where the i-th location is located; a, b and c are Set a constant; L is the preset height, and the value of L can be determined according to the number of layers of the temporary storage shelves of the robot.
  • FIG. 4 is a flowchart of step S303 in the embodiment shown in FIG. 3 of the present disclosure.
  • step S303 may include the following steps:
  • Step S3031 calculating a second distance between the exit of each lane of the storage system and the target operation platform.
  • the aisle is a channel between two adjacent storage shelves for the robot to walk, and the storage shelf includes one or more storage positions for storing goods.
  • the aisle exit is an exit of each aisle, and the robot drives out of the aisle from the aisle exit of the aisle after picking up or releasing goods from the aisle.
  • the second distance is used to describe the shortest walking distance for the robot to walk from the tunnel exit to the target operation platform.
  • the second distance between the exit of each lane of each lane of the storage system and each operation platform can be calculated in advance, and the first distance between each warehouse location and each operation platform can be calculated, and based on the second distance between each lane and each operation platform and The first distance between each storage location and each operation platform generates a warehouse map of the storage system.
  • the warehouse map is initialized based on the target operation platform, so as to obtain the second distance between the aisle exit of each lane and the target operation platform, and the first distance between each storage location and the target operation platform.
  • Step S3032 acquiring the first quantity of target storage locations corresponding to each of the lanes.
  • the first quantity is used to describe the quantity of storage locations that have been determined as target storage locations in the lane at the current moment.
  • Step S3033 according to the second distance and the first quantity, determine the laneway score of each laneway.
  • the laneway score may be inversely correlated with the second distance, that is, the shorter the second distance corresponding to the laneway is, the higher the laneway score of the laneway is.
  • the laneway score may be inversely correlated with the first quantity, that is, the less the first quantity corresponding to the laneway, the higher the laneway score of the laneway.
  • a third corresponding relationship between the second distance, the first quantity, and the laneway score may be established in advance, and then the laneway score of each lane is determined based on the third correspondence, the second distance corresponding to each laneway, and the first quantity.
  • Step S3034 for each storage location, determine the storage location score of the storage location according to the aisle score of the aisle corresponding to the storage location and the distance between the storage location and the aisle exit of the corresponding aisle.
  • the distance between the warehouse location and the roadway exit of the corresponding roadway can be represented by the horizontal distance between the two, or the shortest distance traveled by the robot from the position corresponding to the warehouse position to the roadway exit.
  • the storage location score of the storage location may be calculated according to the aisle score of the aisle to which the storage location belongs and the distance from the storage location to the delivery of the aisle of the aisle to which the storage location belongs. That is, the location score is affected by two factors, the aisle score of the aisle it belongs to, and the distance between the location and the aisle exit of the aisle it belongs to.
  • the fourth corresponding relationship between the storage location score, the laneway score and the distance between the storage location and the laneway exit of the corresponding laneway can be established in advance, and then based on the fourth corresponding relationship, and the laneway score of the laneway to which the current storage location belongs, the current storage location
  • the distance from the aisle exit of the belonging aisle determines the location fraction of the current location.
  • the storage location score can be positively correlated with the roadway score, and negatively correlated with the distance between the storage location and the roadway exit of the roadway to which it belongs.
  • Step S304 according to the location score, determine the target location of each of the goods to be shipped.
  • each storage location may be sequentially determined as the target storage location of the goods to be shipped according to the order of the storage location scores from high to low.
  • the location with the highest location score can be determined as the target location of the first goods to be shipped in the distribution sequence, and the location with the second highest score can be determined as the distribution sequence
  • each location can be sorted according to the location score from high to low to obtain the location sorting result, and the first to Nth locations in the location sorting result are sequentially determined as the first to the first in the allocation order
  • the target location of each goods to be shipped can be determined, and the location that is free and has a high location score is preferentially determined as the target location of the goods to be shipped.
  • the storage status of the storage location includes two types: idle and occupied.
  • Idle means that there is no item stored in the storage location, which is an idle storage location.
  • Occupied means that there are occupied objects stored in the storage location, such as other goods.
  • Step S305 when the target location of the goods to be shipped and the storage location of the goods to be shipped meet the conditions for moving warehouses, and there is an occupant on the target location, control the robot to move from the target warehouse Take out the occupied goods at the location, and after the occupied goods are taken out, control the robot to store the goods to be shipped to the target warehouse location.
  • the objects occupied on the target storage location are usually other goods, such as other containers.
  • the control robot takes out the occupants existing on the target warehouse location, and then controls the robot, such as another robot, Place the goods to be shipped in the target location.
  • the storage situation of each target storage location can be determined, and the first task of the robot is generated for each target storage location with occupied objects, so as to According to the first task, the robot removes the occupied objects on each target storage location.
  • the control robot moves the goods to be shipped corresponding to the target storage location to the target storage location, In this way, the sorting of the goods to be shipped corresponding to each target order in the future preset time period is realized, and the warehouse management of the warehousing system is realized.
  • Step S306 allocating a new storage location for the occupied goods, so as to store the occupied goods in the new storage location.
  • new storage locations need to be reassigned to them.
  • the new storage locations of each occupied object can be determined from each free storage location in the storage system.
  • the new warehouse for each occupant can be determined according to the target storage location corresponding to each occupancy object, that is, the location where the occupancy object is stored before the occupancy object is removed, and the location of each free storage location in the storage system. position, in order to reduce the walking distance that the robot will occupy all the goods and store them in the corresponding new storage position.
  • the target operation platform corresponding to the target order after determining the target operation platform corresponding to the target order, based on the target operation platform and the order requirements of the target order, determine the goods to be delivered that meet the order requirements of the target order, and the goods to be delivered
  • the distance to the target console is as close as possible, thereby reducing the amount of tasks corresponding to warehouse sorting and improving the efficiency of warehouse sorting; then, according to the position of the target console, calculate the scores of each warehouse location, and determine each location in turn based on the location scores from high to low.
  • each goods to be shipped will be placed in the warehouse
  • the unoccupied objects are reassigned to the storage location so that the occupied objects can be properly placed.
  • Fig. 5 is a flow chart of a cargo sorting method provided by another embodiment of the present disclosure. This embodiment further defines step S202 on the basis of the embodiment shown in Fig. 2 , and adds a determination to be out of the warehouse after step S201
  • the steps of the location type of the goods, as shown in Figure 5, the goods sorting method provided in this embodiment may include the following steps:
  • Step S501 determining the goods to be delivered corresponding to the target order.
  • Step S502 determining the location type corresponding to each item to be delivered.
  • the storage location type can be divided according to the storage location size, such as large storage location and small storage location; the storage location type can also be divided according to storage temperature, such as constant temperature storage location and normal temperature storage location, constant temperature storage location It can also be further divided according to the set temperature to obtain the type corresponding to each set temperature.
  • the location types can also be classified according to other factors, which is not limited in the present disclosure.
  • the location type of each goods to be shipped out can be counted.
  • the goods to be shipped corresponding to the target order may correspond to the same storage location type, or may correspond to different storage location types.
  • the storage location type corresponding to the goods to be shipped may be determined according to the cargo identification of the goods to be shipped.
  • the fifth corresponding relationship can be established according to the goods identification of the goods and the location type corresponding to the goods, so that after determining each goods to be shipped out, based on the The goods identifier and the fifth corresponding relationship determine the location type corresponding to each goods to be shipped.
  • the location type of the storage location of the goods to be shipped is the location type corresponding to the goods to be shipped.
  • Step S503 according to the target console corresponding to the target order and the location type of each item to be shipped, determine each target location that matches the location type of each item to be shipped.
  • each goods to be shipped it is necessary to determine the warehouse location corresponding to each goods to be shipped according to the location type corresponding to each goods to be shipped and the position of the target operation desk corresponding to the target order Each storage location that matches the type and is closer to the target operation platform is the target storage location of each goods to be shipped.
  • FIG. 6 is a flowchart of step S503 in the embodiment shown in FIG. 5 of the present disclosure. As shown in FIG. 6, step S503 may include the following steps:
  • Step S5031 for each of the goods to be shipped out of the same location type, determine each candidate location that matches the location type.
  • the location type matches means that the location type of the candidate location is the same as the location type corresponding to the goods to be shipped.
  • each to-be-delivered goods corresponding to the target order may correspond to multiple storage location types, and for each storage location type corresponding to the target order, each candidate storage location matching the storage location type is determined.
  • Step S5032 according to the target operation station, determine the location score of each candidate location.
  • the specific method of determining the location score of the candidate location is similar to the process of determining the location score of the location in the above-mentioned embodiment.
  • For the specific determination process refer to the content corresponding to step S303 , which will not be repeated here.
  • Step S5033 according to the order of the location scores from high to low, successively determine each candidate location as the target location of each goods to be shipped.
  • the target storage location may be locked to prevent the target storage location from being allocated to other goods to be shipped.
  • the target warehouse of each goods to be shipped corresponding to the type of storage location can be determined from each candidate location in turn according to the distribution sequence and the order of location scores from high to low bit.
  • Step S504 when the target storage location of the goods to be shipped and the storage location of the goods to be shipped meet the warehouse transfer condition, the goods to be shipped are transported to the corresponding target location.
  • each goods to be shipped corresponding to the target order and the target operation platform corresponding to the target order, these two factors determine the target location of each goods to be shipped, so that in the warehouse
  • the storage location with higher delivery efficiency is determined as the storage location for the goods to be shipped
  • the target storage location improves the processing efficiency of the target order.
  • Fig. 7 is a flowchart of a cargo sorting method provided by another embodiment of the present disclosure.
  • the cargo sorting method provided in this embodiment is based on the embodiment shown in Fig. 2 and further refines step S202, as shown in Fig. 7
  • the cargo sorting method provided in this embodiment may include the following steps:
  • Step S701 determining the goods to be delivered corresponding to the target order.
  • Step S702 calculating a second distance between the tunnel exit of each tunnel and the target operation platform.
  • Step S703 for each lane, according to the third distance between each storage location corresponding to the lane and the lane exit of the lane, determine the first score of each storage location corresponding to the lane.
  • the third distance may include the shortest distance for the robot to travel from the storage location to the corresponding lane exit, and may also include the height of the storage location. The higher the first score, the smaller the third distance corresponding to the storage location, and the higher the delivery efficiency of the storage location.
  • each storage location may be sorted from high to low based on the first score.
  • step S704 the following steps are cyclically executed until the target locations of all the goods to be shipped corresponding to the target order are determined.
  • Step S705 acquiring the first quantity of target storage locations corresponding to each of the lanes.
  • the initial value of the first quantity corresponding to each roadway is 0.
  • Step S706 according to the second distance and the first quantity, determine the roadway score of each of the roadways.
  • the congestion coefficient of each roadway may be determined according to the first quantity. Further, the laneway score of each laneway is determined according to the second distance and the congestion coefficient. The smaller the congestion coefficient, the higher the roadway score.
  • the congestion coefficient can be determined by the number of robots walking on the lane when the target order is processed.
  • the congestion coefficient can be determined according to the ratio of the first quantity to the preset quantity.
  • Step S707 for the target aisle with the highest score of the current aisle, according to the first score from high to low, from each storage location where the target aisle is not determined as the target storage location, determine the preset number of storage locations as the preset number The target warehouse location of the goods to be shipped out, and update the first quantity of the target lane according to the preset quantity.
  • the preset quantity is the number of layers of temporary storage shelves of the robot.
  • each of the goods to be shipped out of the target order can be divided according to the preset quantity to obtain each group of goods to be shipped out, wherein the quantity of the last group of goods to be shipped out is less than or equal to the preset
  • the quantity of goods out of the warehouse is the preset quantity. Then, according to a certain sequence, each group of goods to be shipped is assigned a target location in sequence.
  • each storage location whose target aisle with the highest score of the current aisle is not determined as the target storage location determine that each storage location whose first score is located in the previous preset quantity is the preset quantity corresponding to the current group of goods to be shipped. The target location of the goods to be shipped.
  • the first number of target lanes is updated according to the preset number, that is, the first number of target lanes is updated to the sum of the original first number and the preset number. Therefore, based on the updated first quantity and the second distance, the laneway score of the target laneway is updated, thereby obtaining the target laneway with the highest current laneway score, and in the new target laneway, it is determined that the first score is located in each storage location of the previous preset number It is the target location of the preset quantity of goods to be shipped corresponding to the next group of goods to be shipped.
  • the preset quantity such as the second quantity
  • the target storage location of the second quantity of goods to be shipped corresponding to the goods to be shipped.
  • the laneway with the highest laneway score is given priority for allocation.
  • the target location of the outbound goods, and lock the target location until the target location of all the goods to be outbound corresponding to the target order is determined.
  • the lane score is determined by the second distance, lane R1, lane R2 and lane
  • the current laneway score of R3 is: 60, 75, 82, the goods to be shipped corresponding to the target order are 10 goods h10, and the preset quantity is 5, then the first score in the laneway R3 is determined to be 5.
  • the first quantity corresponding to laneway R3 is 5, and the laneway score of laneway R3 is updated to 72, then the laneway with the highest laneway score is laneway R2, and the first score is determined in laneway R2.
  • the storage location of 5 is the target storage location of the remaining 5 goods h10, so the target storage locations of 10 goods h10 can be determined.
  • Step S708 when the target storage location of the goods to be shipped and the storage location of the goods to be shipped meet the warehouse transfer condition, the goods to be shipped are transported to the corresponding target location.
  • the laneway score of the laneway is determined based on the second distance between the laneway exit and the target operation platform and the first number of target storage locations in the laneway, and the first score ranks first on the target laneway with the highest laneway score.
  • Each storage location of the preset quantity is the target location of the goods to be shipped out of the preset quantity, and the first score of the target aisle is updated based on the preset quantity, so as to obtain the target aisle with the highest score of the new aisle, and then in the target In the roadway, it is determined that each storage location with a preset quantity before the first score ranking is the target storage location of the preset quantity of goods to be shipped, and so on, to obtain the target storage locations of all the goods to be shipped, so that in the target storage location
  • the allocation strategy will not be too cumbersome due to too frequent switching of lanes, and the consumption of storage location allocation will be reduced; at the same time, it will be ensured that the current storage location with the highest delivery efficiency is used as the target storage location of the goods to be delivered, improving the efficiency of the delivery.
  • the delivery efficiency of goods and the processing efficiency of target orders are examples of the target orders.
  • FIG. 8 is a flowchart of a method for sorting goods provided in another embodiment of the present disclosure.
  • the method for sorting goods provided in this embodiment is based on the embodiment shown in FIG. 2 and further refines step S202.
  • the cargo sorting method provided in this embodiment may include the following steps:
  • Step S801 determining the goods to be delivered corresponding to the target order.
  • Step S802 calculating a second distance between the tunnel exit of each tunnel and the target operation platform.
  • Step S803 determining the congestion coefficient of each roadway.
  • the congestion coefficient is used to describe the congestion situation of the roadway when each target order is processed, and can be represented by the number of robots walking on the roadway at the same time when each target order is processed.
  • the congestion coefficient of the aisle may be determined according to the first number of storage locations on the aisle determined as target storage locations.
  • the robot of the storage system includes a temporary storage shelf, which is used to temporarily store the goods carried by the robot.
  • the ratio of the first quantity to the preset quantity evaluates the congestion coefficient of the roadway, and the greater the ratio, the greater the congestion coefficient of the roadway.
  • Step S804 Determine the roadway score of each roadway according to the second distance and the congestion coefficient corresponding to each roadway.
  • the roadway score may have an inverse correlation with the second distance and an inverse correlation with the congestion coefficient, that is, the smaller the second distance and the smaller the congestion coefficient, the greater the roadway score.
  • Step S805 for each lane, according to the third distance between each storage location corresponding to the lane and the lane exit of the lane, determine the first score of each storage location corresponding to the lane.
  • Step S806 according to the first score of each storage location and the aisle score of the aisle corresponding to each storage location, determine the target storage location of each of the goods to be shipped corresponding to the target order.
  • the delivery efficiency of each storage location can be calculated according to the first score of each storage location and the laneway score of the aisle to which the storage location belongs, and according to the delivery efficiency of each storage location, the delivery rate of each goods to be delivered corresponding to the target order can be determined. Target location.
  • each storage location is sequentially determined as the target storage location of each goods to be shipped corresponding to the target order.
  • determining the target storage location of each of the goods to be shipped corresponding to the target order includes:
  • the first storage location of each aisle is sequentially determined as the target storage location of each to-be-delivered goods corresponding to the target order.
  • the first storage location is a storage location with a first score greater than a preset score.
  • the aisles may be sorted according to the aisle scores from high to low, and based on the preset scores, each first storage location in each aisle whose first score is greater than the preset score is screened out.
  • each first warehouse location on the laneway with the highest laneway score is determined as the target warehouse location of each goods to be shipped corresponding to the target order.
  • a storage location is determined as the target storage location of each goods to be shipped corresponding to the target order, and so on until the target storage locations of all the goods to be shipped are determined.
  • the first storage location of the roadway can be sequentially determined as the target storage location of the goods to be shipped according to the descending order of the first score, and the storage location with a higher first score is given priority as the target storage location.
  • the laneway scores from high to low sequentially determine the first storage location of each lane as the target storage location of each goods to be shipped corresponding to the target order, including:
  • sequence of laneway scores from high to low, and the order of the first score in the lane from high to low sequentially determine the corresponding number of the first warehouse location as the target warehouse location of the goods to be shipped in the target order, and delete the first warehouse location The aisle where the quantity of a storage location is 0.
  • the first storage location in each aisle can be sequentially determined as the target storage location for the goods to be shipped according to the order of the aisle scores from high to low, that is, each first storage location in the aisle determines the corresponding number of goods to be shipped. If the number of the first storage location in the lane is 0, delete the lane, and determine the first storage location in the next lane as the target storage location of the goods to be shipped.
  • the lane scores of lane R4, lane R5 and lane R6 are: 45, 70, 60 , the quantity of the first storage location corresponding to laneway R4, laneway R5 and laneway R6, that is, the storage location with the first score greater than 60, is 2, 5, and 8 in sequence, and the quantity of goods to be shipped corresponding to the target order is 12.
  • the target storage location from the aisle with the highest aisle score that is, determine the five first storage locations corresponding to aisle R5 as the target storage locations for five of the goods to be shipped, and then delete the aisle R5, and then start from the next highest score in the aisle
  • Determine the target storage locations in the lanes that is, determine the first storage locations in the top 7 of the first score in the lane R6 to be the target storage locations of the remaining 7 goods to be shipped.
  • the order sequence of each target order can be determined, such as determining the order sequence of each target order based on the order priority, and assigning each target order corresponding to each to-be-delivered goods in sequence according to the order sequence Target location. After determining the target location of all the goods to be shipped out of the previous target order in the order sequence, obtain each of the goods to be shipped out of the next target order in the order sequence, and then adopt the same method as the previous target order. The target storage locations of each goods to be shipped out of a target order, and so on, until the target storage locations of the goods to be shipped corresponding to all target orders are determined.
  • Step S807 when the target storage location of the goods to be shipped and the storage location of the goods to be shipped meet the warehouse transfer condition, the goods to be shipped are transported to the corresponding target location.
  • FIG. 9 is a flow chart of a cargo sorting method provided by another embodiment of the present disclosure. This embodiment is aimed at the case of multiple target orders, as shown in FIG. 9 . This embodiment is the embodiment shown in FIG. 8 On the basis of adding the following steps after step S806:
  • Step S901 acquiring goods to be delivered corresponding to the next target order.
  • next target order is also an order that needs to be processed in a preset time period in the future, such as an order processed after 12 hours.
  • the target storage locations may be assigned to the goods to be shipped out of each target order in sequence according to the order order. After determining the target storage locations of all the goods to be shipped out of the previous target order, each of the goods to be shipped out corresponding to the next target order is acquired.
  • Step S902 updating the congestion coefficient of each first aisle according to the number of target storage locations corresponding to each first aisle.
  • the first lane is the lane in which at least one storage location in each of the lanes is determined as the target storage location.
  • the first lane is the lane used for each target order before the next target order.
  • Step S903 updating the roadway score of each first roadway according to the second distance corresponding to each first roadway and the updated congestion coefficient.
  • the congestion coefficient of the previously used lanes that is, the congestion coefficient of each first lane. Furthermore, based on the updated congestion coefficient, the roadway scores of each first roadway are recalculated, and the roadways are sorted based on the roadway scores from high to low to obtain a new sorting result.
  • Step S904 according to the score of the aisle from high to low, sequentially determine the first storage location of each aisle as the target storage location of each goods to be shipped corresponding to the next target order.
  • the manner of determining the target location of each goods to be shipped out of the next target order is the same as the specific process of the aforementioned step S806, only the corresponding aisle score is different, and will not be repeated here.
  • the specific process of the goods sorting method provided in the above embodiment may be:
  • the first step is to obtain the goods to be shipped of the target order corresponding to the current order according to the order order. If there are no goods to be shipped, that is, all the goods to be shipped are allocated to the target location, then end; otherwise, continue to execute Next step; the second step, calculate the roadway score of each roadway based on the second distance and the roadway congestion coefficient, and sort each roadway based on the roadway score from high to low; for each roadway, according to the first score from high to low, the The storage locations in the lane are sorted; the third step is to take out the next lane in the sorting; the fourth step is to use the principle of sequential matching to match the goods to be shipped of the target order in the current order with each storage location in the lane one by one Matching, when matching, ignore the goods and storage locations that have been allocated to be shipped out. When the storage space in this lane is used up, return to the third step; location, then return to the first step to assign the target location for each of the goods to be shipped in the next target order.
  • the aisle score of the aisle is calculated based on the second distance of the aisle and the congestion coefficient, and at the same time, for each aisle, based on the relationship between the storage location and the aisle
  • the third distance of the exit calculate the first score of each storage location in the roadway, and then comprehensively consider the roadway score and the first score of the storage location, and allocate the target storage location for the goods to be shipped.
  • the roadway score can be given priority For the highest roadway, each storage location whose first score is greater than the preset score is determined as the target storage location of the goods to be shipped out. If there are still goods to be shipped out, the roadway with the second highest roadway score will be considered, and so on.
  • Fig. 10 is a schematic structural diagram of a cargo sorting device provided by an embodiment of the present disclosure. As shown in Fig. 10, the device is applied to a storage system, and the device includes: a cargo determination module 1010, a storage location determination module 1020 and a cargo handling module 1030.
  • the goods determination module 1010 is used to determine the goods to be delivered corresponding to the target order, wherein the target order is an order for a preset time period in the future; the storage location determination module 1020 is used to determine the target order corresponding to the The operation console is used to determine the target location of the goods to be shipped; the cargo handling module 1030 is used to move the storage location of the goods to be shipped when the target location of the goods to be shipped is inconsistent with the storage location of the goods to be shipped.
  • the warehouse goods are transported to the corresponding target warehouse location.
  • the warehouse location determination module 1020 includes:
  • the storage location score determination unit is used to determine the location score of each storage location in the storage system according to the target operation platform; the storage location determination unit is used to determine the location score of each of the goods to be shipped out according to the storage location score. Target location.
  • location fraction determination units including:
  • the first distance calculation subunit is used to calculate the first distance between each warehouse location of the storage system and the target operation platform; the warehouse location score determination subunit is used to determine each of the warehouses according to the first distance The location fraction of the bit.
  • the location fraction determines subunits, specifically for:
  • the storage location score of each storage location is determined.
  • location fraction determination unit specifically for:
  • the lane is a passage for the robot to walk between two adjacent storage shelves, and the Including one or more storage locations for storing goods; obtaining the first quantity of target storage locations corresponding to each of the lanes; determining the laneway score of each of the lanes according to the second distance and the first quantity; For each storage location, the storage location score of the storage location is determined according to the aisle score of the aisle corresponding to the storage location and the distance between the storage location and the aisle exit of the corresponding aisle.
  • the warehouse location determination module 1020 is specifically used for:
  • determine that the preset number of storage locations is the target storage location of the preset number of goods to be shipped out, and update the first number of the target lanes according to the preset number, wherein the The preset number mentioned above is the number of layers of temporary storage shelves for the robot.
  • the warehouse location determination module 1020 includes:
  • the second distance calculation unit is used to calculate the second distance between the roadway exit of each roadway and the target operation platform; the congestion coefficient determination unit is used to determine the congestion coefficient of each roadway; the roadway score determination unit is used to correspond to each roadway The second distance and the congestion coefficient of each laneway determine the laneway score of each laneway; the first score determination unit is used for each laneway, according to the third distance between each storage position corresponding to the laneway and the laneway exit of the laneway, determine The first score of each warehouse location corresponding to the lane; the target warehouse location determination unit is used to determine each of the target orders corresponding to the first score of each warehouse location and the laneway score of the lane corresponding to each warehouse location. The target location of the goods to be shipped.
  • the target location determination unit is specifically used for:
  • the first warehouse location of each lane is sequentially determined as the target warehouse location of each goods to be shipped corresponding to the target order, wherein the first warehouse location is that the first score is greater than the preset score location.
  • the target location determination unit is specifically used for:
  • sequence of laneway scores from high to low, and the order of the first score in the lane from high to low sequentially determine the corresponding number of the first warehouse location as the target warehouse location of the goods to be shipped in the target order, and delete the first warehouse location The aisle where the quantity of a storage location is 0.
  • the device also includes:
  • the next order processing module is used to obtain the corresponding location of the next target order after sequentially determining that the first storage location of each aisle is the target storage location of each of the goods to be shipped corresponding to the target order according to the aisle score from high to low. according to the number of target storage locations corresponding to each first aisle, update the congestion coefficient of each first aisle, wherein, the first aisle is determined as the target warehouse for at least one storage location in each of the aisles According to the second distance corresponding to each first laneway and the congestion coefficient after updating, update the laneway scores of each first laneway; according to the laneway scores from high to low, determine in turn the first warehouse location of each laneway as described The target location of each goods to be shipped corresponding to the next target order.
  • the device also includes:
  • the type determination module is used to determine the location type corresponding to each goods to be shipped out.
  • the warehouse location determination module 1020 is specifically used for:
  • each target location matching the type of location corresponding to each item to be shipped is determined.
  • the warehouse location determination module 1020 is specifically used for:
  • each candidate location For each of the goods to be shipped out of the same location type, determine each candidate location that matches the location type; determine the location score of each candidate location according to the target operation platform; In order of scores from high to low, each candidate storage location is determined as the target storage location of each goods to be shipped.
  • the device also includes:
  • An allocation order determination module configured to determine the allocation order of the goods to be shipped corresponding to the target order, so as to sequentially assign target locations to the goods to be shipped corresponding to the target order based on the allocation order.
  • the cargo determination module 1010 is specifically used for:
  • the goods to be delivered corresponding to the target order are determined.
  • the device also includes:
  • the operating station determining module is configured to determine the target operating station of the target order according to the production line corresponding to the target order.
  • the device also includes:
  • the occupant taking out module is used to control the robot to take out the occupied goods from the target storage location if there are occupied goods on the target storage location.
  • the cargo handling module 1030 is specifically used for:
  • the robot is controlled to store the goods to be shipped in the target warehouse bit.
  • the device also includes:
  • the occupant location allocation module is configured to allocate a new location for the occupied goods after storing the goods to be shipped in the target location, so as to store the occupied goods in the new location.
  • the cargo sorting device provided in the embodiments of the present disclosure can execute the cargo sorting method provided in any embodiment of the present disclosure, and has corresponding functional modules and beneficial effects for executing the method.
  • FIG. 11 is a schematic structural diagram of a cargo sorting device provided by an embodiment of the present disclosure. As shown in FIG. 11 , the cargo sorting device includes: a memory 1110 , a processor 1120 and a computer program.
  • the computer program is stored in the memory 1110 and is configured to be executed by the processor 1120 to implement the goods sorting method provided in any one of the embodiments corresponding to FIGS. 2 to 9 of the present disclosure.
  • the memory 1110 and the processor 1120 are connected through a bus 1130 .
  • FIG. 12 is a schematic structural diagram of a storage system provided by an embodiment of the present disclosure. As shown in FIG. 12 , the storage system includes: a storage shelf 1210 , an operation console 1220 , a robot 1230 and a cargo sorting device 1240 .
  • the cargo sorting device 1240 is the cargo sorting device provided in the embodiment shown in FIG. 11 of the present disclosure.
  • the storage system also includes devices such as unloaders, elevators, and transportation lines.
  • An embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the arrangement of goods provided by any of the embodiments corresponding to FIGS. 2 to 9 of the present disclosure. method.
  • the computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device and the like.
  • the present disclosure also provides a program product including an executable computer program stored in a readable storage medium.
  • At least one processor of the cargo sorting device or storage system can read the computer program from the readable storage medium, and at least one processor executes the computer program to make the cargo sorting device implement the cargo sorting method provided by the above-mentioned various embodiments.
  • the disclosed devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the modules is only a logical function division. In actual implementation, there may be other division methods, for example, multiple modules can be combined or integrated. to another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or modules may be in electrical, mechanical or other forms.
  • modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional module in each embodiment of the present disclosure may be integrated into one processing unit, each module may exist separately physically, or two or more modules may be integrated into one unit.
  • the units formed by the above modules can be implemented in the form of hardware, or in the form of hardware plus software functional units.
  • the above-mentioned integrated modules implemented in the form of software function modules can be stored in a computer-readable storage medium.
  • the above-mentioned software function modules are stored in a storage medium, and include several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) or a processor (English: processor) to execute the functions described in various embodiments of the present disclosure. part of the method.
  • processor may be a central processing unit (Central Processing Unit, referred to as CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processor, referred to as DSP), application specific integrated circuits (Application Specific Integrated Circuit, referred to as ASIC) and so on.
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the steps of the method disclosed in conjunction with the present disclosure may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.
  • the storage may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk storage, and may also be a U disk, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disk.
  • NVM non-volatile storage
  • the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus.
  • ISA Industry Standard Architecture
  • PCI Peripheral Component
  • EISA Extended Industry Standard Architecture
  • the bus can be divided into address bus, data bus, control bus and so on.
  • the buses in the drawings of the present disclosure are not limited to only one bus or one type of bus.
  • the above-mentioned storage medium can be realized by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable In addition to programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read-only memory
  • EPROM programmable read-only memory
  • ROM read-only memory
  • magnetic memory magnetic memory
  • flash memory magnetic disk or optical disk.
  • a storage media may be any available media that can be accessed by a general purpose or special purpose computer.
  • An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium.
  • the storage medium may also be a component of the processor.
  • the processor and the storage medium may be located in Application Specific Integrated Circuits (ASIC for short).
  • ASIC Application Specific Integrated Circuits
  • the processor and the storage medium can also exist in the electronic device or the main control device as discrete components.
  • the aforementioned program can be stored in a computer-readable storage medium.
  • the program executes the steps including the above-mentioned method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other various media that can store program codes.

Abstract

一种货物整理方法、装置、设备、仓储系统及存储介质，该货物整理方法应用于仓储系统，该方法包括：确定目标订单对应的待出库货物，其中，目标订单为未来预设时间段的订单；根据目标订单对应的目标操作台，确定待出库货物的目标库位；当待出库货物的目标库位与待出库货物的存放库位满足移库条件时，将待出库货物搬运至对应的目标库位，其中，存放库位为待出库货物当前存放的库位，实现了基于未来时间的订单进行理库，理库准确度较高，同时提高了订单处理的效率。

Description

货物整理方法、装置、设备、仓储系统及存储介质
本申请要求于2021年08月31日提交中国专利局、申请号为202111015111.6、申请名称为“货物整理方法、装置、设备、仓储系统及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及智能仓储技术领域，尤其涉及一种任货物整理方法、装置、设备、仓储系统及存储介质。
背景技术
基于机器人的仓储系统采用智能操作系统，通过系统指令实现货物的自动取出和存放，同时可以24小时不间断运行，代替了人工管理和操作，提高了仓储的效率，受到了广泛地应用和青睐。
在基于机器人的智能仓储领域中，往往需要按照一定周期或者主动进行仓库整理，即提前进行理库，从而提高货物出库的效率。在现有技术中，往往采用基于货物热度的方式，确定理库策略，从而将热度较高的货物整理至出库效率较高的库位，如距离操作台近的库位，从而提高出库效率。
然而，当出库订单包括较多热度低的货物时，采用上述方式无法提高该订单的出库效率。
发明内容
本公开提供一种货物整理方法、装置、设备、仓储系统及存储介质，实现了以订单为单位的货物整理策略，提高了订单处理效率。
第一方面，本公开实施例提供了一种货物整理方法，所述方法包括：确定目标订单对应的待出库货物，其中，所述目标订单为未来预设时间段的订单；根据所述目标订单对应的目标操作台，确定所述待出库货物的目标库位；当所述待出库货物的目标库位与所述待出库货物的存放库位满足移库条件时，将待出库货物搬运至对应的目标库位，其中，所述存放库位为所述待出库货物当前存放的库位。
可选的，根据所述目标订单对应的目标操作台，确定所述待出库货物的目标库位，包括：根据所述目标操作台，确定仓储系统的各个库位的库位分数；根据所述库位分数，确定各个所述待出库货物的目标库位。
可选的，根据所述目标操作台，确定仓储系统的各个库位的库位分数，包括：计算所述仓储系统的各个库位与所述目标操作台的第一距离；根据所述第一距离，确定各个所述库位的库位分数。
可选的，根据所述第一距离，确定各个所述库位的库位分数，包括：根据所述第一距离以及各个库位的库位高度，确定各个所述库位的库位分数。
可选的，根据所述目标操作台，确定仓储系统的各个库位的库位分数，包括：计算所述仓储系统的各个巷道的巷道出口与所述目标操作台的第二距离，其中，所述巷道为相邻两个存储货架之间的用于供机器人行走的通道，所述存储货架上包括一个或多个用于存放货物的库位；获取各个所述巷道对应的目标库位的第一数量；根据所述第二距离以及所述第一数量，确定各个所述巷道的巷道分数；针对每个库位，根据所述库位对应的巷道的巷 道分数以及所述库位与对应的巷道的巷道出口的距离，确定所述库位的库位分数。
可选的，根据所述目标订单对应的目标操作台，确定所述待出库货物的目标库位，包括：计算各个巷道的巷道出口与所述目标操作台的第二距离；针对每个巷道，根据所述巷道对应的各个库位与所述巷道的巷道出口的第三距离，确定所述巷道对应的各个库位的第一分数；循环执行下述步骤，直至确定所述目标订单对应的全部的所述待出库货物的目标库位：获取各个所述巷道对应的目标库位的第一数量；根据所述第二距离以及所述第一数量，确定各个所述巷道的巷道分数；针对当前巷道分数最高的目标巷道，按照第一分数由高到低，从所述目标巷道未被确定为目标库位的各个库位中，确定预设数量的库位为预设数量的所述待出库货物的目标库位，并根据所述预设数量更新所述目标巷道的第一数量，其中，所述预设数量为机器人的暂存货架的层数。
可选的，根据所述目标订单对应的目标操作台，确定所述目标订单对应的待出库货物的目标库位，包括：计算各个巷道的巷道出口与所述目标操作台的第二距离；确定各个巷道的拥堵系数；根据各个巷道对应的第二距离以及拥堵系数，确定各个巷道的巷道分数；针对每个巷道，根据所述巷道对应的各个库位与所述巷道的巷道出口的第三距离，确定所述巷道对应的各个库位的第一分数；根据各个库位的第一分数以及各个库位对应的巷道的巷道分数，确定所述目标订单对应的各个所述待出库货物的目标库位。
可选的，根据各个库位的第一分数以及各个库位对应的巷道的巷道分数，确定所述目标订单对应的各个所述待出库货物的目标库位，包括：按照巷道分数由高到低，依次确定各个巷道的第一库位为所述目标订单对应的各个待出库货物的目标库位，其中，所述第一库位为第一分数大于预设分数的库位。
可选的，按照巷道分数由高到低，依次确定各个巷道的第一库位为所述目标订单对应的各个待出库货物的目标库位，包括：按照巷道分数由高到低，以及巷道中第一分数由高到低的顺序，依次确定对应数量的所述第一库位为所述目标订单中待出库货物的目标库位，并删除第一库位的数量为0的巷道。
可选的，在按照巷道分数由高到低，依次确定各个巷道的第一库位为所述目标订单对应的各个待出库货物的目标库位之后，所述方法还包括：获取下一目标订单对应的待出库货物；根据各个第一巷道对应的目标库位的数量，更新各个第一巷道的拥堵系数，其中，所述第一巷道为各个所述巷道中至少一个库位被确定为目标库位的巷道；根据各个第一巷道对应的第二距离以及更新后的拥堵系数，更新各个第一巷道的巷道分数；按照巷道分数由高到低，依次确定各个巷道的第一库位为所述下一目标订单对应的各个待出库货物的目标库位。
可选的，所述方法还包括：确定各个待出库货物对应的库位类型。
相应的，根据所述目标订单对应的目标操作台，确定所述待出库货物的目标库位，包括：根据所述目标订单对应的目标操作台以及各个待出库货物的库位类型，确定与各个所述待出库货物对应的库位类型匹配的各个目标库位。
可选的，根据所述目标订单对应的目标操作台以及各个待出库货物的库位类型，确定与各个所述待出库货物对应的库位类型匹配的各个目标库位，包括：针对同一库位类型的各个待出库货物，确定与所述库位类型匹配的各个备选库位；根据所述目标操作台，确定各个所述备选库位的库位分数；按照库位分数由高到低的顺序，依次将各个备选库位确定为各个待出库货物的目标库位。
可选的，所述方法还包括：确定所述目标订单对应的各个待出库货物的分配顺序，以基于所述分配顺序依次为所述目标订单对应的各个待出库货物分配目标库位。
可选的，所述待出库货物的目标库位与所述待出库货物的存放库位满足移库条件，包括：所述待出库货物的目标库位与所述待出库货物的存放库位不在一个巷道；或者，所述待出库货物的目标库位超出所述待出库货物的存放库位的预设范围，或者，所述待出库货 物的目标库位与所述待出库货物的存放库位不一致。
可选的，确定目标订单对应的待出库货物，包括：根据目标订单的订单需求以及所述目标订单对应的目标操作台，确定所述目标订单对应的待出库货物。
可选的，所述方法还包括：根据所述目标订单对应的生产线，确定所述目标订单的目标操作台。
可选的，若所述目标库位上存在占据货物，所述方法还包括：控制机器人，从所述目标库位上取出所述占据货物。
相应的，将待出库货物搬运至对应的目标库位，包括：待所述占据货物被取出后，控制机器人，将所述待出库货物存放至所述目标库位。
可选的，在将所述待出库货物存放至所述目标库位之后，所述方法还包括：为所述占据货物分配新库位，以将所述占据货物存放于所述新库位。
第二方面，本公开实施例还提供了一种货物整理装置，所述装置包括：货物确定模块，用于确定目标订单对应的待出库货物，其中，所述目标订单为未来预设时间段的订单；库位确定模块，用于根据所述目标订单对应的目标操作台，确定所述待出库货物的目标库位；货物搬运模块，用于当所述待出库货物的目标库位与所述待出库货物的存放库位不一致时，将待出库货物搬运至对应的目标库位。
第三方面，本公开实施例还提供了一种货物整理设备，包括：存储器和至少一个处理器；所述存储器存储计算机执行指令；所述至少一个处理器执行所述存储器存储的计算机执行指令，使得所述至少一个处理器执行如本公开第一方面对应的任意实施例提供的货物整理方法。
第四方面，本公开实施例还提供了一种仓储系统，包括：仓储货架、操作台、机器人和本公开第三方面对应的实施例提供的货物整理设备。
第五方面，本公开实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，当处理器执行所述计算机执行指令时，实现如本公开第一方面对应的任意实施例提供的货物整理方法。
第六方面，本公开实施例还提供了一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现如本公开第一方面对应的任意实施例提供的货物整理方法。
本公开实施例提供的货物整理方法、装置、设备、仓储系统及存储介质，针对未来预设时间段内的目标订单，根据该目标订单对应的目标操作台，确定该目标订单对应的各个待出库货物的目标库位，从而当目标库位与待出库货物的原库位满足移库条件时，提前将待出库货物搬运至对应的目标库位，实现以订单为单位的提前理库，由于基于未来的订单进行理库，提高了理库的准确度，通过提前理库，使得订单对应的待出库货物可以更快地出库，减少了订单处理时间，提高了未来的订单的处理效率。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
图1为本公开实施例提供的货物整理方法的一种应用场景图；
图2为本公开一个实施例提供的货物整理方法的流程图；
图3为本公开另一个实施例提供的货物整理方法的流程图；
图4为本公开图3所示实施例中步骤S303的流程图；
图5为本公开另一个实施例提供的货物整理方法的流程图；
图6为本公开图5所示实施例中步骤S503的流程图；
图7为本公开另一个实施例提供的货物整理方法的流程图；
图8为本公开另一个实施例提供的货物整理方法的流程图；
图9为本公开另一个实施例提供的货物整理方法的流程图；
图10为本公开一个实施例提供的货物整理装置的结构示意图；
图11为本公开一个实施例提供的货物整理设备的结构示意图；
图12为本公开一个实施例提供的仓储系统的结构示意图。
通过上述附图，已示出本公开明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本公开构思的范围，而是通过参考特定实施例为本领域技术人员说明本公开的概念。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
下面以具体地实施例对本公开的技术方案以及本公开的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本公开的实施例进行描述。
下面对本公开实施例的应用场景进行解释：
图1为本公开实施例提供的货物整理方法的一种应用场景图，如图1所示，本公开实施例提供的货物整理方法可以货物整理设备执行，该货物整理设备可以为仓储系统的调度设备，其形式可以为计算机或服务器。在仓储系统中，为了提高货物120出库效率，往往需要对仓储系统货架110上存放的各个货物120进行理库，即调整货物120的位置。
在现有技术中，往往采用基于货物120的热度的方式进行理库。热度为用于描述货物出库频率的参数，热度越高，货物出库的频率也越高。具体的，可以将热度较高的货物120放置于位置较好的库位，如距离操作台130、巷道出口距离较近的库位，如库位111，可将货物120沿图1中虚线箭头对应的方向转移至库位111，从而提高热度较高的货物的出库效率，使得货物120可以更高效地被搬运至操作台130。
然而，仅基于货物的热度进行理库的方式，往往仅可以提高热度较高的货物的出库效率，当订单对应的待出库的货物均为热度较低的货物时，采用现有技术中基于热度的理库方式，往往该订单对应的货物未被整理，即其库位未发生变化，甚至被搬运至位置较差的库位，从而无法提高该订单对应的货物的出库效率，导致该订单处理效率低下，无法满足需求。
为了提高货物出库以及订单处理的效率，本公开实施例提供了一种货物整理方法，该方法的主要构思为：在已知未来订单的情况下，基于该未来订单对应的目标操作，确定该未来订单的各个待出库货物的目标库位，当目标库位与待出库货物的原库位满足移库条件时，将该待出库货物搬运至目标库位，实现基于该未来订单的理库策略，提高了理库的准确度，使得该未来订单对应的各个待出库货物被整理至位置较好的库位，提高了待出库货物的出库效率，从而提高了未来订单的处理效率。
图2为本公开一个实施例提供的货物整理方法的流程图，如图2所示，该货物整理方法适用于仓储系统，该货物整理方法可以由货物整理设备执行。本实施例提供的货物整理方法包括以下步骤：
步骤S201，确定目标订单对应的待出库货物。
其中，所述目标订单为未来预设时间段的订单，即目标订单不是当前处理的订单，而是未来预设时间段内需要处理的订单。待出库货物为该目标订单中需要出库的货物。未来预设时间段可以为未来24小时、未来12小时等。
具体的，可以根据仓储系统的接单信息，如接单设备发送的接单信息，确定未来预设 时间段内的一个或多个订单，即确定一个或多个目标订单，进而针对每个目标订单，根据该目标订单的订单需求，确定该目标订单对应的一个或多个待出库货物。
具体的，目标订单的订单需求可以指出需要出库的各个货物，如包括各个待出库货物的货物标识，进而基于目标订单的订单需求中对应的各个货物标识，确定目标订单对应的各个待出库货物。
进一步地，目标订单的订单需求可以指出需要出库的各个物品以及各个物品的数量，物品通常存放在货物或货箱中。进而根据目标订单的订单需求中需要出库的各个物品及其数量，确定目标订单对应的各个待出库货物，以满足目标订单的订单需求。
其中，仓储系统的一个货箱或货物中可以存放一种物品，也可以存放多种物品。
示例性的，假设目标订单的订单需求为出库100双袜子W1和50件衣服C1，仓储系统的货架上装有袜子W1或衣服C1的货箱的存放情况为：货箱H01内存放有30双袜子W1、26件衣服C1；货箱H05内存放有87双袜子W1；货箱H16内存放有20双袜子W1、60件衣服C1。则可以确定该目标订单对应的待出库货物为货箱H05和货箱H16。
具体的，可以在当天的订单处理完毕之后，或在每天的特定时间，触发理库任务，获取下一天的需要处理的各个目标订单。进而针对每个目标订单，确定该目标订单对应的各个待出库货物，或者将下一天需要处理的各个目标订单视为一个目标订单，从而获取该目标订单的各个待出库货物。
本公开提及的理库或理库任务指的是需要为对应的各个货物，如各个待出库货物，重新分配库位以及将其搬运至重新分配的库位上的过程。
步骤S202，根据所述目标订单对应的目标操作台，确定所述待出库货物的目标库位。
其中，目标操作台为处理或者预计处理目标订单的各个待出库货物的一个或多个操作台。目标库位为待出库货物的新库位，可能与其存放的原库位不同。
在一些实施例中，每生成一个订单，可以为该订单确定一个或多个对应的操作台，以由对应的各个操作台处理该订单对应的货物。
具体的，可以从与目标操作台的距离小于或等于预设距离的各个库位中，确定各个待出库货物的目标库位。库位与目标操作台的距离可以为机器人从目标操作台移动至库位所行走的最短的距离，或从库位移动至目标操作台所行走的距离。
进一步地，可以根据各个库位与目标操作台的距离以及各个库位所属的巷道，从各个库位中确定待出库货物的目标库位，以使得目标订单的各个待出库货物的目标库位距离目标操作台较近，且使得与目标操作台距离较近的各个巷道上对应的目标库位的数量尽可能均匀。
在一些实施例中，可以从与目标操作台的距离小于或等于预设距离的各个空闲的库位中，确定各个待出库货物的目标库位。若与目标操作台的距离小于或等于预设距离的各个空闲的库位的数量小于待出库货物的数量，则再从与目标操作台的距离小于或等于预设距离的各个被占据的库位中，确定剩余的各个待出库货物的目标库位。从而减少理库时所需搬运的货物的数量，减少机器人的作业量，提高理库效率。
可选的，当待出库货物为多个时，所述方法还包括：
确定所述目标订单对应的各个待出库货物的分配顺序，以基于所述分配顺序依次为所述目标订单对应的各个待出库货物分配目标库位。
在一些实施例中，各个待出库货物的分配顺序可以随机确定。
在一些实施例中，可以根据各个待出库货物的货物优先级，确定各个待出库货物的分配顺序，货物优先级越高，则待出库货物的分配顺序越靠前。
其中，货物优先级可以根据待出库货物内存放的物品、物品的数量、货物尺寸等参数确定，货物尺寸可以包括待出库货物的高度、宽度、长度、体积等中的一项或多项。
具体的，待出库货物的货物优先级可以与待出库货物内存放的物品的优先级、物品的 数量和货物尺寸均呈正相关关系，即待出库货物内存放的物品的优先级越高，则待出库货物的货物优先级越高，待出库货物内存放的物品的数量越多，则待出库货物的货物优先级越高，货物尺寸越大，则待出库货物的货物优先级越高。
进一步地，可以为待出库货物内存放的物品、物品的数量、货物尺寸等参数设置权重，进而基于待出库货物内存放的物品、物品的数量、货物尺寸等参数的加权平均值，确定待出库货物的货物优先级。
具体的，在确定各个待出库货物的分配顺序之后，可以基于该分配顺序，依次为每个待出库货物分配目标库位，即依次确定每个待出库货物的目标库位。
步骤S203，当所述待出库货物的目标库位与所述待出库货物的存放库位满足移库条件时，将待出库货物搬运至对应的目标库位。
其中，所述存放库位为所述待出库货物当前存放的库位，存放库位即为待出库货物的原库位。移库条件可以为预先设置的，用于判断是否进行待出库货物移动的条件。
具体的，可以在确定目标订单对应的各个待出库货物的目标库位之后，针对每个待出库货物，判断该待出库货物对应的目标库位与该待出库货物的存放库位是否满足移库条件；若否，则确定待出库货物的存放库位为其目标库位，从而无需移动该待出库货物；若是，则控制机器人将该待出库货物搬运至对应的目标库位。
可选的，所述待出库货物的目标库位与所述待出库货物的存放库位满足移库条件，包括：
所述待出库货物的目标库位与所述待出库货物的存放库位不在一个巷道；或者，所述待出库货物的目标库位超出所述待出库货物的存放库位的预设范围，或者，所述待出库货物的目标库位与所述待出库货物的存放库位不一致。
具体的，可以在待出库货物的目标库位与其存放库位不一致时，控制机器人，将待出库货物搬运至对应的目标库位。
具体的，可以在待出库货物的目标库位与其存放库位的库位距离超出预设范围时，控制机器人，将待出库货物搬运至对应的目标库位。
其中，预设范围可以指与存放库位处于同一巷道，且与存放库位的距离小于第一阈值的范围。
进一步地，当待出库货物的目标库位与待出库货物的存放库位不满足移库条件时，则将待出库货物的存放库位确定为待出库货物的目标库位。
示例性的，第一阈值可以为2个库位对应的距离，如待出库货物的目标库位为其存放库位或原库位旁边的库位，则不满足移动条件，该待出库货物无需进行移动，保持存放在其存放库位即可，并确定其存放库位为其目标库位。
本公开实施例提供的货物整理方法，针对未来预设时间段内的目标订单，根据该目标订单对应的目标操作台，确定该目标订单对应的各个待出库货物的目标库位，从而当目标库位与待出库货物的原库位满足移库条件时，提前将待出库货物搬运至对应的目标库位，实现以订单为单位的提前理库，由于基于未来的订单进行理库，提高了理库的准确度，通过提前理库，使得订单对应的待出库货物可以更快地出库，减少了订单处理时间，提高了未来的订单的处理效率。
可选的，图3为本公开另一个实施例提供的货物整理方法的流程图，本实施例是在图2所示实施例的基础上，对步骤S201和步骤S202的进一步限定，在步骤S201之前增加确定目标操作台的步骤，如图3所示，本实施例提供的货物整理方法可以包括以下步骤：
步骤S301，根据所述目标订单对应的生产线，确定所述目标订单的目标操作台。
在一些实施例中，一些订单对应的货物在经过操作台分拣或打包处理之后，还需要运输至生产线以进行进一步地处理，如增加外包装、说明书等。
具体的，一条生成线通常对应一个或多个操作台，可以将目标订单对应的生产线对应的一个或多个操作台确定为目标操作台。
进一步地，可以统计目标订单对应的生产线在历史时间对应操作台，从而确定目标订单对应的生产线对应的各个操作台的使用频率。进而，可以确定使用频率最高的目标订单对应的生产线对应的操作台，为目标订单的目标操作台。或者，可以确定使用频率大于预设频率的各个目标订单对应的生产线对应的操作台，为目标订单的目标操作台。
进一步地，可以基于目标订单对应的生产线历史订单对应的操作台、历史订单的处理时间以及预先建立的神经网络模型，预估目标订单的目标操作台。
步骤S302，根据目标订单的订单需求以及所述目标订单对应的目标操作台，确定所述目标订单对应的待出库货物。
具体的，在确定目标操作台之后，可以根据仓储系统的存放情况、目标订单的订单需求以及目标订单对应的目标操作台，确定目标订单对应的各个待出库货物，以尽可能减少待出库货物的数量，同时，使得各个待出库货物的存放库位与目标操作台的距离尽可能小。
具体的，可以根据目标订单的订单需求以及仓储系统的存放情况，确定满足订单需求的各个备选货物集合，其中，每一备选货物集合可以包括一个或多个存放在货架上的货物；针对每个备选货物集合，计算该备选货物集合中各个货物的存放库位与目标操作台的第四距离，确定备选货物集合对应的各个货物对应的第四距离之和最小的备选货物集合中的各个货物为各个待出库货物。
步骤S303，根据所述目标操作台，确定仓储系统的各个库位的库位分数。
其中，库位分数用于描述每个库位的出库效率，库位分数越高，则出库效率越高。
具体的，可以根据各个库位的位置以及目标操作台的位置，确定各个库位的库位分数。
可选的，根据所述目标操作台，确定仓储系统的各个库位的库位分数，包括：
计算所述仓储系统的各个库位与所述目标操作台的第一距离；根据所述第一距离，确定各个所述库位的库位分数。
其中，第一距离可以为机器人由目标操作台行走至库位所需的最短的行走距离。库位分数可以与第一距离呈反相关关系。即库位对应的第一距离越小，则库位的库位分数越高。
具体的，可以根据各个库位的位置以及目标操作台的位置，计算各个库位与目标操作台的第一距离。
具体的，可以预先建立第一距离与库位分数的第一对应关系，进而将所计算的各个库位的第一距离代入该第一对应关系，从而确定各个库位的库位分数。
可选的，根据所述第一距离，确定各个所述库位的库位分数，包括：
根据所述第一距离以及各个库位的库位高度，确定各个所述库位的库位分数。
其中，库位的库位高度可以采用库位所在货架的层数表示。
具体的，可以建立第一距离、库位高度与库位分数的第二对应关系，进而基于该第二对应关系、各个库位对应的第一距离以及各个库位的库位高度，确定各个库位的库位分数。
示例性的，第二对应关系可以为：
Figure PCTCN2022108041-appb-000001
其中，S i为第i个库位的库位分数；d1 i为第i个库位对应的第一距离；l i为第i个库位所在的货架的层数；a、b和c为设定常数；L为预设高度，可以根据机器人的暂存货架的层数确定L的值。
可选的，图4为本公开图3所示实施例中步骤S303的流程图，如图4所示，步骤S303可以包括以下步骤：
步骤S3031，计算所述仓储系统的各个巷道的巷道出口与所述目标操作台的第二距离。
其中，所述巷道为相邻两个存储货架之间的用于供机器人行走的通道，所述存储货架上包括一个或多个用于存放货物的库位。巷道出口为每个巷道的一个出口，机器人在从该巷道取货或放货之后，从该巷道的巷道出口驶出该巷道。第二距离用于描述机器人从该巷道出口行走至目标操作台的最短行走距离。
具体的，可以预先计算仓储系统的各个巷道的巷道出口与各个操作台的第二距离，以及计算各个库位与各个操作台的第一距离，并基于各个巷道与各个操作台的第二距离以及各个库位与各个操作台的第一距离，生成仓储系统的仓库地图。当确定目标操作台之后，基于目标操作台初始化该仓库地图，从而得到各个巷道的巷道出口与目标操作台的第二距离，以及各个库位与目标操作台的第一距离。
步骤S3032，获取各个所述巷道对应的目标库位的第一数量。
其中，第一数量用于描述该巷道当前时刻已确定为目标库位的库位的数量。
步骤S3033，根据所述第二距离以及所述第一数量，确定各个所述巷道的巷道分数。
具体的，巷道分数可以与第二距离呈反相关关系，即巷道对应的第二距离越短，则巷道的巷道分数越高。
具体的，巷道分数可以与第一数量呈反相关关系，即巷道对应的第一数量越少，则巷道的巷道分数越高。
进一步地，可以预先建立第二距离、第一数量和巷道分数的第三对应关系，进而基于该第三对应关系、各个巷道对应的第二距离以及第一数量，确定各个巷道的巷道分数。
步骤S3034，针对每个库位，根据所述库位对应的巷道的巷道分数以及所述库位与对应的巷道的巷道出口的距离，确定所述库位的库位分数。
其中，库位与对应的巷道的巷道出口的距离，可以采用两者的水平距离表示，或者机器人由该库位对应的位置移动至巷道出口所行走的最短的距离表示。
具体的，针对每个库位，可以根据该库位所属巷道的巷道分数以及该库位距离所属巷道的巷道出库的距离，计算该库位的库位分数。即库位分数受到两个因素的影像，其所属的巷道的巷道分数，以及库位的与所属巷道的巷道出口的距离。
进一步地，可以预先建立库位分数、巷道分数以及库位与所属巷道的巷道出口的距离的第四对应关系，进而基于该第四对应关系，以及当前库位所属巷道的巷道分数、当前库位与所属巷道的巷道出口的距离，确定当前库位的库位分数。库位分数可以与巷道分数呈正相关关系，与库位与所属巷道的巷道出口的距离呈反相关关系。
步骤S304，根据所述库位分数，确定各个所述待出库货物的目标库位。
具体的，可以按照库位分数由高到低的顺序，依次确定各个库位为待出库货物的目标库位。
当确定待出库货物的分配顺序之后，可以将库位分数最高的库位确定为分配顺序中第一个待出库货物的目标库位，将库位分数次高的库位确定为分配顺序中第二个待出库货物的目标库位，依次类推，从而确定目标订单的各个待出库货物的目标库位。
具体的，可以按照库位分数由高到低为各个库位进行排序，得到库位排序结果，依次将库位排序结果中的第一至第N个库位确定为分配顺序中第一至第N个待出库货物的目标库位，其中，N为待出库货物的数量。
进一步地，可以根据各个库位的存放情况以及库位分数，确定各个待出库货物的目标库位，以优先确定空闲的且库位分数高的库位为待出库货物的目标库位。
其中，库位的存放情况包括空闲和被占据两种，空闲即表示库位上未存放任何物品，为空闲的库位，被占据则表示库位上存放有占据物，如其他货物。
步骤S305，当所述待出库货物的目标库位与所述待出库货物的存放库位满足移库条件，且所述目标库位上存在占据物时，控制机器人，从所述目标库位上取出所述占据货物，待所述占据货物被取出后，控制机器人，将所述待出库货物存放至所述目标库位。
其中，目标库位上的占据物通常为其他货物，如其他货箱。
当待出库货物的目标库位与其存放库位满足移库条件时，可以判断目标库位上是否存在占据物；若否，则在确定各个待出库货物的目标库位之后，将该待出库货物搬运至对应的目标库位；若是，则在确定各个待出库货物的目标库位之后，控制机器人将该目标库位上存在的占据物取出，进而控制机器人，如另一机器人，将待出库货物放置于该目标库位。
具体的，在确定各个目标订单对应的各个待出库货物的目标库位之后，可以确定各个目标库位的存放情况，针对存在占据物的各个目标库位，生成机器人的第一任务，以由机器人根据该第一任务将各个目标库位上的占据物取出。针对每个目标库位，当该目标库位为空闲库位，或该目标库位上的占据物被取出之后，控制机器人将该目标库位对应的待出库货物移动至该目标库位，从而实现未来预设时间段的各个目标订单对应的各个待出库货物的整理，实现仓储系统的理库。
步骤S306，为所述占据货物分配新库位，以将所述占据货物存放于所述新库位。
针对取下的各个目标库位的占据物，需要重新为其分配新库位，具体可以从仓储系统中各个空闲的库位中，确定各个占据物的新库位。
具体的，可以根据各个占据物对应的目标库位，即在取下占据物之前占据物所存放的库位，的位置以及仓储系统中各个空闲的库位的位置，确定各个占据物的新库位，以减少机器人将全部占据货物存放于对应的新库位的行走距离。
在本实施例中，在确定目标订单对应的目标操作台之后，基于该目标操作台以及目标订单的订单需求，确定满足目标订单的订单需求的各个待出库货物，且该各个待出库货物与目标操作台的距离尽可能近，从而减少理库对应的任务量，提高理库效率；进而根据目标操作台的位置，计算各个库位的分数，基于库位分数由高到低依次确定各个待出库货物的目标库位，并在满足移库条件时，将待出库货物由原库位转移至对应的目标库位，从而使得理库之后，各个待出库货物被放置在出库效率更高的库位上，以在该目标订单被处理时，提高订单的处理效率；当目标库位上存在占据物时，需要在该占据物取出之后，将对应的待出库货物放置于该目标库位上，并未占据物重新分配库位，以使占据物得到妥善安置。
图5为本公开另一个实施例提供的货物整理方法的流程图，本实施例是在图2所示实施例的基础上，对步骤S202的进一步限定，以及在步骤S201之后增加确定待出库货物的库位类型的步骤，如图5所示，本实施例提供的货物整理方法可以包括以下步骤：
步骤S501，确定目标订单对应的待出库货物。
步骤S502，确定各个待出库货物对应的库位类型。
具体的，库位类型可以按照库位尺寸进行划分，如分为大库位和小库位；库位类型还可以根据仓储温度进行划分，如分为恒温库位和常温库位，恒温库位中还可以根据设定温度进行进一步划分，得到各个设定温度对应的类型。当然，也可以根据其他因素进行库位类型的划分，本公开对此不进行限定。
在确定目标订单的各个待出库货物之后，可以统计各个待出库货物的库位类型。目标订单对应的各个待出库货物可能对应同一种库位类型，也可能对应不同的库位类型。
具体的，可以根据待出库货物的货物标识，确定待出库货物对应的库位类型。
进一步地，在每个货物第一次入库时，可以根据货物的货物标识以及货物对应的库位类型，建立第五对应关系，从而在确定各个待出库货物之后，基于各个待出库货物的货物标识以及第五对应关系，确定各个待出库货物对应的库位类型。
进一步地，可以确定待出库货物的存放库位的库位类型为待出库货物对应的库位类型。
步骤S503，根据所述目标订单对应的目标操作台以及各个待出库货物的库位类型，确定与各个所述待出库货物对应的库位类型匹配的各个目标库位。
具体的，在为各个待出库货物分配目标库位时，需要根据各个待出库货物对应的库位类型以及目标订单对应的目标操作台的位置，确定与各个待出库货物对应的库位类型匹配、且距离目标操作台较近的各个库位，为各个待出库货物的目标库位。
可选的，图6为本公开图5所示实施例中步骤S503的流程图，如图6所示，步骤S503可以包括以下步骤：
步骤S5031，针对同一库位类型的各个待出库货物，确定与所述库位类型匹配的各个备选库位。
其中，库位类型匹配即备选库位的库位类型与待出库货物对应的库位类型相同。
具体的，目标订单对应的各个待出库货物可能对应多个库位类型，则针对目标订单对应的每个库位类型，确定与该库位类型匹配的各个备选库位。
步骤S5032，根据所述目标操作台，确定各个所述备选库位的库位分数。
确定备选库位的库位分数的具体方式与上述实施例中确定库位的库位分数的过程相似，具体确定过程可以参考步骤S303对应的内容，在此不再赘述。
步骤S5033，按照库位分数由高到低的顺序，依次将各个备选库位确定为各个待出库货物的目标库位。
具体的，在确定每一待出库货物的目标库位之后，可以锁定该目标库位，以免该目标库位被分配给其他的待出库货物。
在确定待出库货物的分配顺序之后，可以根据分配顺序以及库位分数由高到低的顺序，依次从各个备选库位中，确定对应该库位类型的各个待出库货物的目标库位。
步骤S504，当所述待出库货物的目标库位与所述待出库货物的存放库位满足移库条件时，将待出库货物搬运至对应的目标库位。
在本实施例中，根据目标订单对应的各个待出库货物对应的库位类型，以及目标订单对应的目标操作台，这两个因素确定各个待出库货物的目标库位，使得在理库时，确定待出库货物被移动至适宜的库位，以免由于库位类型不恰当而导致货物质量受到影响，同时，基于目标操作台确定出库效率更高的库位为待出库货物的目标库位，提高了目标订单的处理效率。
图7为本公开另一个实施例提供的货物整理方法的流程图，本实施例提供的货物整理方法是在图2所示实施例的基础上，对步骤S202的进一步细化，如图7所示，本实施例提供的货物整理方法可以包括以下步骤：
步骤S701，确定目标订单对应的待出库货物。
步骤S702，计算各个巷道的巷道出口与所述目标操作台的第二距离。
步骤S703，针对每个巷道，根据所述巷道对应的各个库位与所述巷道的巷道出口的第三距离，确定所述巷道对应的各个库位的第一分数。
其中，第三距离可以包括机器人由库位移动至对应的巷道出口行走的最短距离，还可以包括库位的高度。第一分数越高，则表明库位对应的第三距离越小，库位的出库效率也越高。
具体的，在得到巷道对应的各个库位的第一分数之后，可以基于第一分数由高到低对各个库位进行排序。
步骤S704，循环执行下述步骤，直至确定所述目标订单对应的全部的所述待出库货物的目标库位。
步骤S705，获取各个所述巷道对应的目标库位的第一数量。
其中，各个巷道对应的第一数量的初始值为0。
步骤S706，根据所述第二距离以及所述第一数量，确定各个所述巷道的巷道分数。
具体的，可以根据第一数量，确定各个巷道的拥堵系数。进而根据第二距离和拥堵系数，确定各个巷道的巷道分数。拥堵系数越小，则巷道分数越高。
具体的，拥堵系数可以由当目标订单被处理时，巷道上行走的机器人的数量确定。该拥堵系数可以根据第一数量与预设数量的比值确定。
步骤S707，针对当前巷道分数最高的目标巷道，按照第一分数由高到低，从所述目标巷道未被确定为目标库位的各个库位中，确定预设数量的库位为预设数量的所述待出库货物的目标库位，并根据所述预设数量更新所述目标巷道的第一数量。
其中，预设数量为机器人的暂存货架的层数。
具体的，可以将目标订单的各个待出库货物按照预设数量进行划分，得到各组待出库货物，其中，最后一组待出库货物的货物数量小于或等于预设数量，其他组待出库货物的货物数量均为预设数量。进而按照一定顺序，依次为每组待出库货物分配目标库位。
具体的，从当前巷道分数最高的目标巷道未被确定为目标库位的各个库位中，确定第一分数位于前预设数量的各个库位为当前组待出库货物对应的预设数量的待出库货物的目标库位。
进而，根据该预设数量更新目标巷道的第一数量，即将目标巷道的第一数量更新为原来的第一数量与预设数量的和。从而基于更新后的第一数量以及第二距离，更新目标巷道的巷道分数，从而得到当前巷道分数最高的目标巷道，在该新的目标巷道中确定第一分数位于前预设数量的各个库位为下一组待出库货物对应的预设数量的待出库货物的目标库位。
当最后一组待出库货物的货物数量小于预设数量，如为第二数量时，则从当前巷道分数最高的目标巷道中确定第一分数位于前第二数量的各个库位为最后一组待出库货物对应的第二数量的待出库货物的目标库位。
具体的，在为目标订单的各个待出库货物分配目标库位时，优先选择巷道分数最高的巷道进行分配，每次从当前巷道分数最高的巷道中确定第一分数最高的库位为当前待出库货物的目标库位，并锁定该目标库位，直至确定目标订单对应的全部待出库货物的目标库位。
示例性的，假设仓储系统对应3条巷道，巷道R1、巷道R2和巷道R3，当前每个巷道对应的第一数量均为0，则巷道分数由第二距离确定，巷道R1、巷道R2和巷道R3当前的巷道分数为：60、75、82，目标订单对应的待出库货物为10个货物h10，预设数量为5，则在巷道R3中确定第一分数排名前5的库位为5个货物h10的目标库位，则巷道R3对应的第一数量为5，巷道R3的巷道分数更新为72，则目前巷道分数最高的巷道为巷道R2，则在巷道R2中确定第一分数排名前5的库位为剩余5个货物h10的目标库位，便可以确定10个货物h10的目标库位。
步骤S708，当所述待出库货物的目标库位与所述待出库货物的存放库位满足移库条件时，将待出库货物搬运至对应的目标库位。
在本实施例中，基于巷道出口与目标操作台的第二距离以及巷道内目标库位的第一数量，确定巷道的巷道分数，并在巷道分数最高的目标巷道上，确定第一分数排名前预设数量的各个库位为预设数量的待出库货物的目标库位，并基于预设数量更新该目标巷道的第一分数，从而得到新的巷道分数最高的目标巷道，进而在该目标巷道中确定第一分数排名前预设数量的各个库位为预设数量的待出库货物的目标库位，依次类推，得到全部的待出库货物的目标库位，从而使得在目标库位分配时，不会因过于频繁地切换巷道，导致分配策略过于繁琐，降低库位分配的消耗；同时确保将当前出库效率最高的库位作为待出库货物的目标库位，提高待出库货物的出库效率，以及目标订单的处理效率。
可选的，图8为本公开另一个实施例提供的货物整理方法的流程图，本实施例提供的货物整理方法是在图2所示实施例的基础上，对步骤S202的进一步细化，如图8所示，本实施例提供的货物整理方法可以包括以下步骤：
步骤S801，确定目标订单对应的待出库货物。
步骤S802，计算各个巷道的巷道出口与所述目标操作台的第二距离。
步骤S803，确定各个巷道的拥堵系数。
其中，拥堵系数用于描述当各个目标订单处理时，巷道的拥堵情况，可以采用当各个目标订单处理时，巷道上同时行走的机器人的数量表示。
具体的，可以根据巷道上被确定为目标库位的库位的第一数量确定巷道的拥堵系数。
进一步地，仓储系统的机器人包括暂存货架，该暂存货架用于暂时存放机器人搬运的货物，该暂存货架可以为多层，如5层、6层或者其他层，则可以根据巷道对应的第一数量与预设数量的比值，评估巷道的拥堵系数，该比值越大，则巷道的拥堵系数也越大。
步骤S804，根据各个巷道对应的第二距离以及拥堵系数，确定各个巷道的巷道分数。
具体的，巷道分数可以与第二距离呈反相关关系，与拥堵系数也呈反相关关系，即第二距离越小、拥堵系数越小，则巷道分数越大。
步骤S805，针对每个巷道，根据所述巷道对应的各个库位与所述巷道的巷道出口的第三距离，确定所述巷道对应的各个库位的第一分数。
步骤S806，根据各个库位的第一分数以及各个库位对应的巷道的巷道分数，确定所述目标订单对应的各个所述待出库货物的目标库位。
具体的，可以根据各个库位的第一分数以及库位所属巷道的巷道分数，计算各个库位的出库效率，根据各个库位的出库效率，确定目标订单对应的各个待出库货物的目标库位。
进一步地，按照出库效率由高到低，依次确定各个库位为目标订单对应的各个待出库货物的目标库位。
可选的，根据各个库位的第一分数以及各个库位对应的巷道的巷道分数，确定所述目标订单对应的各个所述待出库货物的目标库位，包括：
按照巷道分数由高到低，依次确定各个巷道的第一库位为所述目标订单对应的各个待出库货物的目标库位。
其中，所述第一库位为第一分数大于预设分数的库位。
具体的，可以按照巷道分数由高到低对巷道进行排序，并基于预设分数，筛选出各个巷道内第一分数大于预设分数的各个第一库位。先将巷道分数最高的巷道上的各个第一库位确定为目标订单对应的各个待出库货物的目标库位，若还有待出库货物剩余，则将巷道分数次高的巷道上的各个第一库位确定为目标订单对应的各个待出库货物的目标库位，依次类推，直至确定所有的待出库货物的目标库位。
进一步地，可以按照第一分数由高到低的顺序，依次将巷道的第一库位确定为待出库货物的目标库位，以优先考虑第一分数较高的库位为目标库位。
可选的，按照巷道分数由高到低，依次确定各个巷道的第一库位为所述目标订单对应的各个待出库货物的目标库位，包括：
按照巷道分数由高到低，以及巷道中第一分数由高到低的顺序，依次确定对应数量的所述第一库位为所述目标订单中待出库货物的目标库位，并删除第一库位的数量为0的巷道。
具体的，可以按照巷道分数由高到低的顺序，依次确定每个巷道中的第一库位为待出库货物的目标库位，即将巷道中的各个第一库位确定对应数量的待出库货物的目标库位，若该巷道的第一库位的数量为0，则删除该巷道，确定下一巷道中的第一库位为待出库货物的目标库位。
示例性的，以预设分数为60分为例，假设仓储系统对应3条巷道，巷道R4、巷道R5和巷道R6，巷道R4、巷道R5和巷道R6的巷道分数依次为：45、70、60，巷道R4、巷道R5和巷道R6对应的第一库位，即第一分数大于60的库位，的数量依次为2、5、8，目标订单对应的待出库货物的数量为12个，则先从巷道分数最高的巷道中确定目标库位， 即确定巷道R5对应的5个第一库位为其中5个待出库货物的目标库位，进而删除巷道R5，接着从巷道分数次高的巷道中确定目标库位，即确定巷道R6中确定第一分数排前7的各个第一库位为剩余7个待出库货物的目标库位。
进一步地，当存在多个目标订单时，可以确定各个目标订单的订单顺序，如基于订单优先级确定各个目标订单的订单顺序，按照订单顺序依次为每个目标订单对应的各个待出库货物分配目标库位。当确定订单顺序中前一目标订单的所有的待出库货物的目标库位之后，获取订单顺序中后一目标订单的各个待出库货物，进而采用与前一目标订单相同的方式，确定后一目标订单的各个待出库货物的目标库位，依次类推，直至确定全部目标订单对应的待出库货物的目标库位。
步骤S807，当所述待出库货物的目标库位与所述待出库货物的存放库位满足移库条件时，将待出库货物搬运至对应的目标库位。
可选的，图9为本公开另一个实施例提供的货物整理方法的流程图，本实施例针对多个目标订单的情况，如图9所示，本实施例是在图8所示实施例的基础上，在步骤S806之后增加以下步骤：
步骤S901，获取下一目标订单对应的待出库货物。
其中，下一目标订单也是未来预设时间段需要进行处理的订单，如12小时后处理的订单。
具体的，当存在多个目标订单时，可以按照订单顺序依次为各个目标订单的待出库货物分配目标库位。当确定了上一目标订单的全部待出库货物的目标库位之后，获取下一目标订单对应的各个待出库货物。
步骤S902，根据各个第一巷道对应的目标库位的数量，更新各个第一巷道的拥堵系数。
其中，所述第一巷道为各个所述巷道中至少一个库位被确定为目标库位的巷道。第一巷道，即为下一目标订单之前的各个目标订单使用的巷道。
步骤S903，根据各个第一巷道对应的第二距离以及更新后的拥堵系数，更新各个第一巷道的巷道分数。
在为下一目标订单的待出库货物分配目标库位时，需要更新之前使用的巷道的拥堵系数，即各个第一巷道的拥堵系数。进而基于更新后的拥堵系数，重新计算各个第一巷道的巷道分数，基于巷道分数由高到低对各个巷道进行排序，得到新的排序结果。
步骤S904，按照巷道分数由高到低，依次确定各个巷道的第一库位为所述下一目标订单对应的各个待出库货物的目标库位。
具体的，确定下一目标订单的各个待出库货物的目标库位的方式，与前述步骤S806的具体过程相同，仅对应的巷道分数有所不同，在此不再赘述。
具体的，上述实施例提供的货物整理方法的具体过程可以为：
第一步，按照订单顺序，获取当前次序对应的目标订单的待出库货物，若没有待出库货物，即全部的待出库货物均被分配目标库位，则结束；反之，则继续执行下一步；第二步，基于第二距离和巷道拥堵系数计算各个巷道的巷道分数，基于巷道分数由高到低对各个巷道进行排序；针对每个巷道，按照第一分数由高到低，对巷道内的各个库位进行排序；第三步，取出排序中下一巷道；第四步，采用依次匹配的原则，将当前次序的目标订单的各个待出库货物与巷道的各个库位一一匹配，匹配时忽略已经分配过的待出库货物和库位，当该巷道的库位使用完毕时，返回执行第三步；若当前次序的目标订单的各个待出库货物均被分配了目标库位，则返回执行第一步，以为下一目标订单的各个待出库货物分配目标库位。
在本实施例中，在为未来的目标订单的待出库货物分配目标库位时，基于巷道的第二距离和拥堵系数，计算巷道的巷道分数，同时针对每个巷道，基于库位与巷道出口的第三距离，计算巷道的各个库位的第一分数，进而综合考虑巷道分数和库位的第一分数，为待 出库货物分配目标库位，在具体分配时，可以优先考虑巷道分数最高的巷道，将其中第一分数大于预设分数的各个库位确定为待出库货物的目标库位，若待出库货物仍有剩余，则考虑巷道分数次高的巷道，依次类推，从而确定全部的待出库货物的目标库位，从而使得在目标库位分配时，不会因过于频繁地切换巷道，导致分配策略过于繁琐，降低库位分配的消耗；同时确保将当前出库效率最高的库位作为待出库货物的目标库位，提高待出库货物的出库效率，以及目标订单的处理效率。
图10为本公开一个实施例提供的货物整理装置的结构示意图，如图10所述，所述装置应用于仓储系统，所述装置包括：货物确定模块1010、库位确定模块1020和货物搬运模块1030。
其中，货物确定模块1010，用于确定目标订单对应的待出库货物，其中，所述目标订单为未来预设时间段的订单；库位确定模块1020，用于根据所述目标订单对应的目标操作台，确定所述待出库货物的目标库位；货物搬运模块1030，用于当所述待出库货物的目标库位与所述待出库货物的存放库位不一致时，将待出库货物搬运至对应的目标库位。
可选的，库位确定模块1020，包括：
库位分数确定单元，用于根据所述目标操作台，确定仓储系统的各个库位的库位分数；库位确定单元，用于根据所述库位分数，确定各个所述待出库货物的目标库位。
可选的，库位分数确定单元，包括：
第一距离计算子单元，用于计算所述仓储系统的各个库位与所述目标操作台的第一距离；库位分数确定子单元，用于根据所述第一距离，确定各个所述库位的库位分数。
可选的，库位分数确定子单元，具体用于：
根据所述第一距离以及各个库位的库位高度，确定各个所述库位的库位分数。
可选的，库位分数确定单元，具体用于：
计算所述仓储系统的各个巷道的巷道出口与所述目标操作台的第二距离，其中，所述巷道为相邻两个存储货架之间的用于供机器人行走的通道，所述存储货架上包括一个或多个用于存放货物的库位；获取各个所述巷道对应的目标库位的第一数量；根据所述第二距离以及所述第一数量，确定各个所述巷道的巷道分数；针对每个库位，根据所述库位对应的巷道的巷道分数以及所述库位与对应的巷道的巷道出口的距离，确定所述库位的库位分数。
可选的，库位确定模块1020，具体用于：
计算各个巷道的巷道出口与所述目标操作台的第二距离；针对每个巷道，根据所述巷道对应的各个库位与所述巷道的巷道出口的第三距离，确定所述巷道对应的各个库位的第一分数；循环执行下述步骤，直至确定所述目标订单对应的全部的所述待出库货物的目标库位：获取各个所述巷道对应的目标库位的第一数量；根据所述第二距离以及所述第一数量，确定各个所述巷道的巷道分数；针对当前巷道分数最高的目标巷道，按照第一分数由高到低，从所述目标巷道未被确定为目标库位的各个库位中，确定预设数量的库位为预设数量的所述待出库货物的目标库位，并根据所述预设数量更新所述目标巷道的第一数量，其中，所述预设数量为机器人的暂存货架的层数。
可选的，库位确定模块1020，包括：
第二距离计算单元，用于计算各个巷道的巷道出口与所述目标操作台的第二距离；拥堵系数确定单元，用于确定各个巷道的拥堵系数；巷道分数确定单元，用于根据各个巷道对应的第二距离以及拥堵系数，确定各个巷道的巷道分数；第一分数确定单元，用于针对每个巷道，根据所述巷道对应的各个库位与所述巷道的巷道出口的第三距离，确定所述巷道对应的各个库位的第一分数；目标库位确定单元，用于根据各个库位的第一分数以及各个库位对应的巷道的巷道分数，确定所述目标订单对应的各个所述待出库货物的目标库位。
可选的，目标库位确定单元，具体用于：
按照巷道分数由高到低，依次确定各个巷道的第一库位为所述目标订单对应的各个待出库货物的目标库位，其中，所述第一库位为第一分数大于预设分数的库位。
可选的，目标库位确定单元，具体用于：
按照巷道分数由高到低，以及巷道中第一分数由高到低的顺序，依次确定对应数量的所述第一库位为所述目标订单中待出库货物的目标库位，并删除第一库位的数量为0的巷道。
可选的，所述装置还包括：
下一订单处理模块，用于在按照巷道分数由高到低，依次确定各个巷道的第一库位为所述目标订单对应的各个待出库货物的目标库位之后，获取下一目标订单对应的待出库货物；根据各个第一巷道对应的目标库位的数量，更新各个第一巷道的拥堵系数，其中，所述第一巷道为各个所述巷道中至少一个库位被确定为目标库位的巷道；根据各个第一巷道对应的第二距离以及更新后的拥堵系数，更新各个第一巷道的巷道分数；按照巷道分数由高到低，依次确定各个巷道的第一库位为所述下一目标订单对应的各个待出库货物的目标库位。
可选的，所述装置还包括：
类型确定模块，用于确定各个待出库货物对应的库位类型。
相应的，库位确定模块1020，具体用于：
根据所述目标订单对应的目标操作台以及各个待出库货物的库位类型，确定与各个所述待出库货物对应的库位类型匹配的各个目标库位。
可选的，库位确定模块1020，具体用于：
针对同一库位类型的各个待出库货物，确定与所述库位类型匹配的各个备选库位；根据所述目标操作台，确定各个所述备选库位的库位分数；按照库位分数由高到低的顺序，依次将各个备选库位确定为各个待出库货物的目标库位。
可选的，所述装置还包括：
分配顺序确定模块，用于确定所述目标订单对应的各个待出库货物的分配顺序，以基于所述分配顺序依次为所述目标订单对应的各个待出库货物分配目标库位。
可选的，货物确定模块1010，具体用于：
根据目标订单的订单需求以及所述目标订单对应的目标操作台，确定所述目标订单对应的待出库货物。
可选的，所述装置还包括：
操作台确定模块，用于根据所述目标订单对应的生产线，确定所述目标订单的目标操作台。
可选的，所述装置还包括：
占据物取出模块，用于若所述目标库位上存在占据货物，控制机器人，从所述目标库位上取出所述占据货物。
相应的，货物搬运模块1030，具体用于：
当所述待出库货物的目标库位与所述待出库货物的存放库位不一致时，待所述占据货物被取出后，控制机器人，将所述待出库货物存放至所述目标库位。
可选的，所述装置还包括：
占据物库位分配模块，用于在将所述待出库货物存放至所述目标库位之后，为所述占据货物分配新库位，以将所述占据货物存放于所述新库位。
本公开实施例所提供的货物整理装置可执行本公开任意实施例所提供的货物整理方法，具备执行方法相应的功能模块和有益效果。
图11为本公开一个实施例提供的货物整理设备的结构示意图，如图11所示，该货物整理设备包括：存储器1110，处理器1120以及计算机程序。
其中，计算机程序存储在存储器1110中，并被配置为由处理器1120执行以实现本公开图2至图9所对应的实施例中任一实施例提供的货物整理方法。
其中，存储器1110和处理器1120通过总线1130连接。
相关说明可以对应参见图2至图9的步骤所对应的相关描述和效果进行理解，此处不做过多赘述。
图12为本公开一个实施例提供的仓储系统的结构示意图，如图12所示，该仓储系统包括：包括仓储货架1210、操作台1220、机器人1230以及货物整理设备1240。
其中，货物整理设备1240为本公开图11所示实施例提供的货物整理设备。
在一些实施例中，仓储系统还包括卸料机、提升机、运输线等装置。
本公开一个实施例提供一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行以实现本公开图2至图9所对应的实施例中任一实施例提供的货物整理方法。
其中，计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
本公开还提供一种程序产品，该程序产品包括可执行计算机程序，该可执行计算机程序存储在可读存储介质中。货物整理设备或仓储系统的至少一个处理器可以从可读存储介质读取该计算机程序，至少一个处理器执行该计算机程序使得货物整理装置实施上述各种实施方式提供的货物整理方法。
在本公开所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，所述模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
另外，在本公开各个实施例中的各功能模块可以集成在一个处理单元中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个单元中。上述模块成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能模块的形式实现的集成的模块，可以存储在一个计算机可读取存储介质中。上述软件功能模块存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(英文：processor)执行本公开各个实施例所述方法的部分步骤。
应理解，上述处理器可以是中央处理单元(Central Processing Unit，简称CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，简称DSP)、专用集成电路(Application Specific Integrated Circuit，简称ASIC)等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本公开所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。
存储器可能包含高速RAM存储器，也可能还包括非易失性存储NVM，例如至少一个磁盘存储器，还可以为U盘、移动硬盘、只读存储器、磁盘或光盘等。
总线可以是工业标准体系结构(Industry Standard Architecture，简称ISA)总线、外部设备互连(Peripheral Component，简称PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture，简称EISA)总线等。总线可以分为地址总线、数据总线、控制总线等。为便于表示，本公开附图中的总线并不限定仅有一根总线或一种类型的总线。
上述存储介质可以是由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。存储介质可以是通用或专用计算机能够存取的任何可用介质。
一种示例性的存储介质耦合至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息。当然，存储介质也可以是处理器的组成部分。处理器和存储介质可以位于专用集成电路(Application Specific Integrated Circuits，简称ASIC)中。当然，处理器和存储介质也可以作为分立组件存在于电子设备或主控设备中。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的范围。

Claims (23)

  1. 一种货物整理方法，其特征在于，所述方法包括：
    确定目标订单对应的待出库货物，其中，所述目标订单为未来预设时间段的订单；
    根据所述目标订单对应的目标操作台，确定所述待出库货物的目标库位；
    当所述待出库货物的目标库位与所述待出库货物的存放库位满足移库条件时，将待出库货物搬运至对应的目标库位，其中，所述存放库位为所述待出库货物当前存放的库位。
  2. 根据权利要求1所述的方法，其特征在于，根据所述目标订单对应的目标操作台，确定所述待出库货物的目标库位，包括：
    根据所述目标操作台，确定仓储系统的各个库位的库位分数；
    根据所述库位分数，确定各个所述待出库货物的目标库位。
  3. 根据权利要求2所述的方法，其特征在于，根据所述目标操作台，确定仓储系统的各个库位的库位分数，包括：
    计算所述仓储系统的各个库位与所述目标操作台的第一距离；
    根据所述第一距离，确定各个所述库位的库位分数。
  4. 根据权利要求3所述的方法，其特征在于，根据所述第一距离，确定各个所述库位的库位分数，包括：
    根据所述第一距离以及各个库位的库位高度，确定各个所述库位的库位分数。
  5. 根据权利要求2所述的方法，其特征在于，根据所述目标操作台，确定仓储系统的各个库位的库位分数，包括：
    计算所述仓储系统的各个巷道的巷道出口与所述目标操作台的第二距离，其中，所述巷道为相邻两个存储货架之间的用于供机器人行走的通道，所述存储货架上包括一个或多个用于存放货物的库位；
    获取各个所述巷道对应的目标库位的第一数量；
    根据所述第二距离以及所述第一数量，确定各个所述巷道的巷道分数；
    针对每个库位，根据所述库位对应的巷道的巷道分数以及所述库位与对应的巷道的巷道出口的距离，确定所述库位的库位分数。
  6. 根据权利要求1所述的方法，其特征在于，根据所述目标订单对应的目标操作台，确定所述待出库货物的目标库位，包括：
    计算各个巷道的巷道出口与所述目标操作台的第二距离；
    针对每个巷道，根据所述巷道对应的各个库位与所述巷道的巷道出口的第三距离，确定所述巷道对应的各个库位的第一分数；
    循环执行下述步骤，直至确定所述目标订单对应的全部的所述待出库货物的目标库位：
    获取各个所述巷道对应的目标库位的第一数量；
    根据所述第二距离以及所述第一数量，确定各个所述巷道的巷道分数；
    针对当前巷道分数最高的目标巷道，按照第一分数由高到低，从所述目标巷道未被确定为目标库位的各个库位中，确定预设数量的库位为预设数量的所述待出库货物的目标库位，并根据所述预设数量更新所述目标巷道的第一数量，其中，所述预设数量为机器人的暂存货架的层数。
  7. 根据权利要求1所述的方法，其特征在于，根据所述目标订单对应的目标操作台，确定所述目标订单对应的待出库货物的目标库位，包括：
    计算各个巷道的巷道出口与所述目标操作台的第二距离；
    确定各个巷道的拥堵系数；
    根据各个巷道对应的第二距离以及拥堵系数，确定各个巷道的巷道分数；
    针对每个巷道，根据所述巷道对应的各个库位与所述巷道的巷道出口的第三距离，确定所述巷道对应的各个库位的第一分数；
    根据各个库位的第一分数以及各个库位对应的巷道的巷道分数，确定所述目标订单对应的各个所述待出库货物的目标库位。
  8. 根据权利要求7所述的方法，其特征在于，根据各个库位的第一分数以及各个库位对应的巷道的巷道分数，确定所述目标订单对应的各个所述待出库货物的目标库位，包括：
    按照巷道分数由高到低，依次确定各个巷道的第一库位为所述目标订单对应的各个待出库货物的目标库位，其中，所述第一库位为第一分数大于预设分数的库位。
  9. 根据权利要求8所述的方法，其特征在于，按照巷道分数由高到低，依次确定各个巷道的第一库位为所述目标订单对应的各个待出库货物的目标库位，包括：
    按照巷道分数由高到低，以及巷道中第一分数由高到低的顺序，依次确定对应数量的所述第一库位为所述目标订单中待出库货物的目标库位，并删除第一库位的数量为0的巷道。
  10. 根据权利要求8所述的方法，其特征在于，在按照巷道分数由高到低，依次确定各个巷道的第一库位为所述目标订单对应的各个待出库货物的目标库位之后，所述方法还包括：
    获取下一目标订单对应的待出库货物；
    根据各个第一巷道对应的目标库位的数量，更新各个第一巷道的拥堵系数，其中，所述第一巷道为各个所述巷道中至少一个库位被确定为目标库位的巷道；
    根据各个第一巷道对应的第二距离以及更新后的拥堵系数，更新各个第一巷道的巷道分数；
    按照巷道分数由高到低，依次确定各个巷道的第一库位为所述下一目标订单对应的各个待出库货物的目标库位。
  11. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    确定各个待出库货物对应的库位类型；
    相应的，根据所述目标订单对应的目标操作台，确定所述待出库货物的目标库位，包括：
    根据所述目标订单对应的目标操作台以及各个待出库货物的库位类型，确定与各个所述待出库货物对应的库位类型匹配的各个目标库位。
  12. 根据权利要求11所述的方法，其特征在于，根据所述目标订单对应的目标操作台以及各个待出库货物的库位类型，确定与各个所述待出库货物对应的库位类型匹配的各个目标库位，包括：
    针对同一库位类型的各个待出库货物，确定与所述库位类型匹配的各个备选库位；
    根据所述目标操作台，确定各个所述备选库位的库位分数；
    按照库位分数由高到低的顺序，依次将各个备选库位确定为各个待出库货物的目标库位。
  13. 根据权利要求1-12任一项所述的方法，其特征在于，所述方法还包括：
    确定所述目标订单对应的各个待出库货物的分配顺序，以基于所述分配顺序依次为所述目标订单对应的各个待出库货物分配目标库位。
  14. 根据权利要求1-12任一项所述的方法，其特征在于，所述待出库货物的目标库位与所述待出库货物的存放库位满足移库条件，包括：
    所述待出库货物的目标库位与所述待出库货物的存放库位不在一个巷道；或者，
    所述待出库货物的目标库位超出所述待出库货物的存放库位的预设范围，或者，
    所述待出库货物的目标库位与所述待出库货物的存放库位不一致。
  15. 根据权利要求1-12任一项所述的方法，其特征在于，确定目标订单对应的待出库货物，包括：
    根据目标订单的订单需求以及所述目标订单对应的目标操作台，确定所述目标订单对应的待出库货物。
  16. 根据权利要求1-12任一项所述的方法，其特征在于，所述方法还包括：
    根据所述目标订单对应的生产线，确定所述目标订单的目标操作台。
  17. 根据权利要求1-12任一项所述的方法，其特征在于，若所述目标库位上存在占据货物，所述方法还包括：
    控制机器人，从所述目标库位上取出所述占据货物；
    相应的，将待出库货物搬运至对应的目标库位，包括：
    待所述占据货物被取出后，控制机器人，将所述待出库货物存放至所述目标库位。
  18. 根据权利要求17所述的方法，其特征在于，在将所述待出库货物存放至所述目标库位之后，所述方法还包括：
    为所述占据货物分配新库位，以将所述占据货物存放于所述新库位。
  19. 一种货物整理装置，其特征在于，所述装置包括：
    货物确定模块，用于确定目标订单对应的待出库货物，其中，所述目标订单为未来预设时间段的订单；
    库位确定模块，用于根据所述目标订单对应的目标操作台，确定所述待出库货物的目标库位；
    货物搬运模块，用于当所述待出库货物的目标库位与所述待出库货物的存放库位不一致时，将待出库货物搬运至对应的目标库位。
  20. 一种货物整理设备，其特征在于，包括：
    存储器和至少一个处理器；
    所述存储器存储计算机执行指令；
    所述至少一个处理器执行所述存储器存储的计算机执行指令，使得所述至少一个处理器执行如权利要求1-18任一项所述的货物整理方法。
  21. 一种仓储系统，其特征在于，包括：仓储货架、操作台、机器人和权利要求21所述的货物整理设备。
  22. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机执行指令，当处理器执行所述计算机执行指令时，实现如权利要求1-18任一项所述的货物整理方法。
  23. 一种计算机程序产品，包括计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1-18任一项所述的货物整理方法。
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