CN112966977A

CN112966977A - Task allocation method and device, control terminal and warehousing system

Info

Publication number: CN112966977A
Application number: CN202110350685.2A
Authority: CN
Inventors: 喻润方
Original assignee: Shenzhen Kubo Software Co Ltd
Current assignee: Shenzhen Kubo Software Co Ltd
Priority date: 2021-03-31
Filing date: 2021-03-31
Publication date: 2021-06-15
Also published as: TW202240490A; WO2022206421A1

Abstract

The embodiment of the disclosure provides a task allocation method, a device, a control terminal and a warehousing system, the method determines the upper limit value of the number of warehousing robots corresponding to each workstation of a target warehouse, and further determines a first number of warehousing robots corresponding to each workstation of the target warehouse according to the upper limit value, the first number is smaller than or equal to the upper limit value of the number, so that a second number of warehousing robots corresponding to each workstation are controlled to carry workbins to the workstations according to the workbin carrying tasks to be allocated to each workstation, the second number is smaller than or equal to the first number, the distribution of the robot tasks based on the upper limit value of the number of robots of each workstation is realized, the problems of the too many robots in the workstations, the internal jam of the workstations, the waiting time of the robots, the waste of the robot resources and the too few robots in the overlong workstations are solved, the problem that the worker can pick the goods without the goods and the goods picking efficiency of the workstation is reduced is caused.

Description

Task allocation method and device, control terminal and warehousing system

Technical Field

The disclosure relates to the technical field of intelligent warehousing, in particular to a task allocation method, a task allocation device, a control terminal and a warehousing system.

Background

As the number of goods increases, more and more warehouses store goods. Taking the storage of goods in e-commerce as an example, with the rapid development of e-commerce, e-commerce companies build warehouses each of which processes tens of thousands of large and small orders every day in order to distribute goods more rapidly. The delivery efficiency of the order directly affects the consumption experience of the user, and the picking efficiency is closely related to the delivery efficiency of the order, so the status of the warehouse picking operation in the whole warehouse management is more and more important.

In the existing storage goods picking process, a storage robot needs to convey a bin to a station so that a worker can pick the goods, and the station is called as a work station.

The task distribution of the warehouse robot by the existing warehouse is relatively disordered, and the situation that a plurality of robots simultaneously carry workbins to the same workstation or a small number of robots or even no robots carry workbins to a certain workstation can occur after the task distribution is performed on the robots, so that congestion occurs in certain workstations, the waiting time of the robots is too long, the resource waste of the robots is caused, or the workers in certain workstations can pick the work if no goods exist, and the picking efficiency of the workstations is reduced.

Disclosure of Invention

The embodiment of the disclosure provides a task allocation method, a task allocation device, a control terminal and a warehousing system, which realize task allocation of warehousing robots in a warehouse workstation, reduce the situations of too many or too few robots in the workstation, reduce resource waste of the robots and improve the picking efficiency of the workstation.

In a first aspect, an embodiment of the present disclosure provides a task allocation method, where the method includes:

determining the upper limit value of the number of storage robots corresponding to each workstation of the target warehouse;

determining a first number of warehousing robots corresponding to each workstation according to the number upper limit value, wherein the first number is smaller than or equal to the number upper limit value;

and sending an instruction to the warehousing robots with the second quantity corresponding to each workstation according to the bin carrying tasks to be distributed of each workstation, wherein the instruction is used for indicating the warehousing robots with the second quantity corresponding to each workstation to carry bins to the workstations corresponding to the bins, and the second quantity is smaller than or equal to the first quantity.

In a possible implementation manner, the determining, according to the upper limit value of the number, a first number of warehousing robots corresponding to each workstation includes:

determining the number of allocated warehousing robots of a workstation i, wherein the allocated warehousing robots comprise a warehousing robot allocated with a bin of the workstation i, a warehousing robot carrying the bin of the workstation i, and a warehousing robot at the workstation i, and wherein i is 1, 2, 3 … … n, and n is equal to the number of workstations in the target warehouse;

and determining a first number of warehousing robots corresponding to the workstation i according to the number of the warehousing robots allocated to the workstation i and the upper limit value of the number of the warehousing robots corresponding to the workstation i.

In a possible implementation manner, the determining, according to the number of warehousing robots allocated to the workstation i and the upper limit value of the number of warehousing robots corresponding to the workstation i, a first number of warehousing robots corresponding to the workstation i includes:

if the number of the warehousing robots distributed by the workstation i is smaller than the upper limit value of the number of the warehousing robots corresponding to the workstation i, determining the number of the warehousing robots to be added by the workstation i;

and determining a first number of warehousing robots corresponding to the workstation i according to the number of the warehousing robots to be added to the workstation i.

In one possible implementation, the determining the number of warehousing robots to be added to the workstation i includes:

acquiring the picking efficiency of the workstation i;

and determining the number of warehousing robots to be added in the workstation i according to the picking efficiency of the workstation i, the number of the warehousing robots allocated to the workstation i and the upper limit value of the number of the warehousing robots corresponding to the workstation i.

In a possible implementation manner, the determining, according to the picking efficiency of the workstation i, the number of the warehousing robots allocated to the workstation i, and the upper limit value of the number of the warehousing robots corresponding to the workstation i, the number of the warehousing robots to be added to the workstation i includes:

determining the number of warehousing robots required by the workstation i according to the picking efficiency of the workstation i and the corresponding relation between the preset picking efficiency of the workstation and the number of the warehousing robots required by the workstation;

if the number of warehousing robots required by the workstation i is less than or equal to the upper limit value of the number of warehousing robots corresponding to the workstation i, determining the number of warehousing robots to be added in the workstation i according to the number of warehousing robots required by the workstation i and the number of warehousing robots allocated to the workstation i;

and if the number of the warehousing robots required by the workstation i is greater than the upper limit value of the number of the warehousing robots corresponding to the workstation i, determining the number of the warehousing robots to be added to the workstation i according to the upper limit value of the number of the warehousing robots corresponding to the workstation i and the number of the warehousing robots allocated to the workstation i.

In a possible implementation manner, before determining the number of warehousing robots to be added by the workstation i according to the picking efficiency of the workstation i, the number of warehousing robots allocated by the workstation i, and the upper limit value of the number of warehousing robots corresponding to the workstation i, the method further includes:

determining one or more of the number, the type, the delivery time and the layout position of the work station i corresponding to the work station;

determining the number of warehousing robots to be added to the workstation i according to the picking efficiency of the workstation i, the number of the warehousing robots allocated to the workstation i and the upper limit value of the number of the warehousing robots corresponding to the workstation i, and the determining method comprises the following steps:

and determining the number of warehousing robots to be added in the workstation i according to one or more of the number, type, delivery time and layout position of the bins corresponding to the workstation i, the picking efficiency of the workstation i, the number of the warehousing robots allocated to the workstation i and the upper limit value of the number of the warehousing robots corresponding to the workstation i.

if the number of the warehousing robots distributed by the workstation i is greater than the upper limit value of the number of the warehousing robots corresponding to the workstation i, determining the number of the warehousing robots to be reduced of the workstation i;

and determining a first number of warehousing robots corresponding to the workstation i according to the number of the warehousing robots to be reduced of the workstation i.

In a possible implementation manner, the determining an upper limit value of the number of warehousing robots corresponding to each workstation of the target warehouse includes:

determining the number of storage robots in the target warehouse;

and determining the upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse according to the number of the warehousing robots.

In one possible implementation, the determining the number of storage robots in the target warehouse includes:

acquiring the order to be processed in the target warehouse;

determining the number of bins corresponding to the order to be processed;

and determining the number of the storage robots in the target warehouse according to the number of the bins corresponding to the order to be processed.

In a possible implementation manner, before the determining, according to the number of bins corresponding to the order to be processed, the number of storage robots in the target warehouse, the method further includes:

determining one or more of the type, the delivery time and the layout position of a material box corresponding to the order to be processed;

determining the number of the storage robots in the target warehouse according to the number of the bins corresponding to the to-be-processed order, wherein the determining comprises the following steps:

and determining the number of the storage robots in the target warehouse according to one or more of the type, the delivery time and the layout position of the material box corresponding to the order to be processed and the number of the material boxes corresponding to the order to be processed.

In a possible implementation manner, before determining, according to the number of warehousing robots, an upper limit value of the number of warehousing robots corresponding to each workstation of the target warehouse, the method further includes:

determining one or more of the number of workstations in the target warehouse, the picking efficiency of each workstation, the number of warehousing robots that can be accommodated in each workstation, and attributes of each workstation, including parameters of conveyor lines in workstations;

determining the upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse according to the number of the warehousing robots, wherein the determining comprises the following steps:

and determining the upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse according to one or more of the number of workstations in the target warehouse, the picking efficiency of each workstation, the number of the warehousing robots capable of being accommodated in each workstation, the attribute of each workstation and the number of the warehousing robots.

In a second aspect, the present disclosure also provides a task assigning apparatus, including:

the quantity upper limit value determining module is used for determining the quantity upper limit value of the warehousing robot corresponding to each workstation of the target warehouse;

the robot determining module is used for determining a first number of warehousing robots corresponding to each workstation according to the number upper limit value, wherein the first number is smaller than or equal to the number upper limit value;

and the task allocation module is used for sending instructions to the warehousing robots with the second quantity corresponding to each workstation according to the work tasks to be allocated for the bins of each workstation, wherein the instructions are used for indicating the warehousing robots with the second quantity corresponding to each workstation to carry the bins to the workstations corresponding to the bins, and the second quantity is smaller than or equal to the first quantity.

In a possible implementation manner, the robot determining module is specifically configured to:

acquiring the picking efficiency of the workstation i;

In a possible implementation manner, the number upper limit determining module is specifically configured to:

determining the number of storage robots in the target warehouse;

acquiring the order to be processed in the target warehouse;

determining the number of bins corresponding to the order to be processed;

In a third aspect, the present disclosure also provides a control terminal comprising a memory, a processor and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to implement the task allocation method provided by any embodiment corresponding to the first aspect of the present disclosure.

In a fourth aspect, the present disclosure also provides a warehousing system, including: the embodiment that this disclosure third aspect corresponds provides a control terminal, storage robot and goods shelves, wherein, storage robot with control terminal is connected for carry the workbin to according to the instruction that control terminal sent the workstation that the workbin corresponds, wherein, the workbin is placed on the goods shelves.

In a fifth aspect, the present disclosure also provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the computer-readable storage medium is configured to implement the task allocation method according to any embodiment corresponding to the first aspect of the present disclosure.

In a sixth aspect, the present disclosure also provides a computer program product, which is characterized by comprising computer instructions, and when the computer instructions are executed by a processor, the computer instructions are used to implement the task allocation method provided in any embodiment corresponding to the first aspect of the present disclosure.

The task allocation method, the device, the control terminal and the warehousing system provided by the embodiment of the disclosure determine the upper limit value of the number of warehousing robots corresponding to each workstation of the target warehouse, and further determine the first number of warehousing robots corresponding to each workstation of the target warehouse according to the upper limit value, wherein the first number is smaller than or equal to the upper limit value of the number, so that the second number of warehousing robots corresponding to each workstation are controlled to carry the bins to the workstations according to the bin carrying tasks to be allocated to each workstation, the second number is smaller than or equal to the first number, the robot task allocation based on the upper limit value of the number of robots of each workstation is realized, the problems of too many robots in the workstations, the congestion of the robots in the workstations, the robot waiting time, the robot resource waste and too few robots in too long workstations are solved, the problem that the worker can pick the goods without the goods and the goods picking efficiency of the workstation is reduced is caused.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a schematic view of a robotic handling bin provided by embodiments of the present disclosure;

fig. 2 is an application scenario diagram of the task allocation method according to the embodiment of the present disclosure;

fig. 3 is a flowchart of a task allocation method provided in an embodiment of the present disclosure;

FIG. 4 is a flowchart of another task allocation method provided by the embodiments of the present disclosure;

FIG. 5 is a flowchart of another task allocation method provided by an embodiment of the present disclosure;

FIG. 6 is a flowchart of another task allocation method provided by the embodiments of the present disclosure;

fig. 7 is a schematic structural diagram of a task allocation apparatus according to an embodiment of the present disclosure;

fig. 8 is a schematic diagram of a hardware architecture of a control terminal according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a storage robot provided in an embodiment of the present disclosure

Fig. 10 is a schematic structural diagram of a storage system according to an embodiment of the present disclosure.

With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

The following describes the technical solutions of the present disclosure and how to solve the above technical problems in specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

In the related art, taking the storage of goods in the e-commerce as an example, with the rapid development of the e-commerce, e-commerce companies build warehouses each of which processes tens of thousands of large and small orders every day in order to distribute goods more rapidly. The delivery efficiency of the order directly affects the consumption experience of the user, and the picking efficiency is closely related to the delivery efficiency of the order, so the status of the warehouse picking operation in the whole warehouse management is more and more important. In the existing storage and picking process, a storage robot needs to convey a bin to a station so that a worker can pick the bin, and the station is called a work station (also called a manual work area).

Illustratively, as shown in fig. 1, a warehousing robot 101 in a warehouse extracts bins on shelves 102 in a shelf area and moves them into a workstation, and the staff at the workstation picks the materials in the bins out of the warehouse.

However, tasks allocated to the warehousing robots by the existing warehouse are relatively disordered, and after the tasks are allocated to the robots, a situation that a plurality of robots simultaneously carry the bins to the same workstation occurs, or a small number of robots even no robots carry the bins to a certain workstation occurs, so that congestion occurs in some workstations, the waiting time of the robots is too long, robot resources are wasted, or workers in some workstations have no goods and can pick the goods, and the picking efficiency of the workstations is reduced.

Therefore, the embodiment of the disclosure provides a task allocation method, which is implemented by determining the upper limit value of the number of warehousing robots corresponding to each workstation of a warehouse, so as to control a certain number of warehousing robots corresponding to each workstation to carry bins to the workstations based on the upper limit value of the number, where the number is less than or equal to the upper limit value of the number, thereby realizing robot task allocation based on the upper limit value of the number of robots of each workstation, and solving the problems of no goods available for workers and low picking efficiency of the workstations due to too many robots in the workstations, congestion in the workstations, overlong waiting time of the robots, waste of robot resources, and too few robots in the workstations.

Optionally, the task allocation method provided by the embodiment of the present disclosure may be applied to an application scenario as shown in fig. 2. Fig. 2 only describes one possible application scenario of the task allocation method provided by the embodiment of the present disclosure by way of example, and the application scenario of the task allocation method provided by the embodiment of the present disclosure is not limited to the application scenario shown in fig. 2.

In fig. 2, a warehouse system 200 is provided in the target warehouse, and the warehouse system 200 includes a control terminal 201, a warehouse robot 202, and a shelf 203. The control terminal 201 can control the warehousing robot 202 to extract the material boxes on the shelves 203 in the shelf area, move the material boxes to the workstation, and select the materials in the material boxes by the staff of the workstation.

It is understood that the components shown in FIG. 2 may be implemented in hardware, software, or a combination of software and hardware.

In a specific implementation, the stocker system 200 processes bins stored in the target stocker. The control terminal 201 in the warehousing system 200 may determine an upper limit value of the number of warehousing robots 202 corresponding to each workstation of the target warehouse, and then control a certain number of warehousing robots 202 corresponding to each workstation to extract bins on the shelves 203 of the shelf area according to the order requirement based on the upper limit value of the number, and transport the bins to the workstation, where the number is less than or equal to the upper limit value of the number. The control terminal 201 receives the order, determines the goods required in the order, determines the bin corresponding to the order according to the required goods, and then performs the step of determining the upper limit value of the number of the warehousing robots 202 corresponding to each workstation of the target warehouse. Alternatively, the control terminal 201 may receive a control command sent by a user, for example, a work start command sent by the user, start work according to the command, and execute the step of determining the upper limit value of the number of the warehousing robots 202 corresponding to each workstation of the target warehouse.

Here, the control terminal 201 determines the upper limit value of the number of warehousing robots corresponding to each workstation of the target warehouse, and thus, based on the upper limit value of the number, controls a certain number of warehousing robots 202 corresponding to each workstation to carry the bins to the workstations, so that robot task allocation based on the upper limit value of the number of robots of each workstation is realized, too many or too few robots appearing in the workstations are reduced, and the problems of too many robots appearing in the workstations, congestion in the workstations, overlong waiting time of the robots, robot resource waste, too few robots appearing in the workstations, no goods available for the workers, and low picking efficiency of the workstations are solved.

It should be understood that the application scenarios described in the embodiments of the present disclosure are for more clearly illustrating the technical solutions of the embodiments of the present disclosure, and do not constitute a limitation on the technical solutions provided in the embodiments of the present disclosure, and as a person having ordinary skill in the art will appreciate, with the occurrence of a new service scenario, the technical solutions provided in the embodiments of the present disclosure are also applicable to similar technical problems.

The technical solutions of the present disclosure are described below by taking several embodiments as examples, and the same or similar concepts or processes may not be described in detail in some embodiments.

Fig. 3 is a schematic flowchart of a task allocation method provided in the embodiment of the present disclosure, an execution subject of the embodiment may be the control terminal 201 in fig. 2, and a specific execution subject may be determined according to an actual application scenario, which is not limited in the embodiment of the present disclosure. As shown in fig. 3, a task allocation method provided by the embodiment of the present disclosure may include the following steps:

s301: and determining the upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse.

The target warehouse is a warehouse which needs to be assigned with tasks and can be determined according to actual conditions.

Here, the control terminal may determine the number of warehousing robots in the target warehouse, and further determine an upper limit value of the number of warehousing robots corresponding to each workstation of the target warehouse according to the number of the warehousing robots.

The number of the warehousing robots in the target warehouse determined by the control terminal may be the total number of the warehousing robots in the target warehouse, or the number of some warehousing robots in the target warehouse, for example, the number of the warehousing robots in the target warehouse in a working state.

For example, the control terminal may obtain the total number of the pre-stored warehousing robots in the target warehouse, and thereby use the total number of the warehousing robots as the number of the warehousing robots in the target warehouse, or may determine the number of the warehousing robots in the working state in the target warehouse according to the recorded state of the warehousing robots, and use the number of the warehousing robots in the working state as the number of the warehousing robots in the target warehouse. Wherein, above-mentioned control terminal can the state of record warehousing robot. For example, if the warehousing robot is extracting the bin, the control terminal records the state of the warehousing robot as the working state. And if the warehousing robot is not started, the control terminal records that the state of the warehousing robot is an idle state. In this way, the control terminal may determine the number of the warehousing robots in the working state according to the recorded states of the warehousing robots, so as to use the number of the warehousing robots in the working state as the number of the warehousing robots in the target warehouse.

In this disclosure, after determining the number of warehousing robots in the target warehouse, the control terminal may determine, according to the number of the warehousing robots, an upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse. For example, the control terminal divides the number of warehousing robots, and determines the upper limit value of the number of warehousing robots corresponding to each workstation according to the division result.

For example, the division result may be determined according to actual conditions, for example, the division result is that the number of the warehousing robots corresponding to each workstation is the same.

Here, when determining the upper limit value of the number of warehousing robots corresponding to each workstation of the target warehouse, the control terminal may determine the number of workstations in the target warehouse, and thereby determine the upper limit value of the number of warehousing robots corresponding to each workstation of the target warehouse according to the number of warehousing robots and the number of workstations. For example, the control terminal may equally divide the number of the warehousing robots according to the number of the workstations, and determine an upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse according to an average division result. If there are 20 warehousing robots and 5 workstations in the target warehouse, the control terminal averagely divides the number 20 of the warehousing robots according to the number 5 of the workstations to obtain that the number of the warehousing robots corresponding to each workstation is 4, and thus, it is determined that the upper limit value of the number of the warehousing robots corresponding to each workstation is 4.

When the control terminal determines the upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse according to the number of the warehousing robots and the number of the workstations, only the workstations to be on-line can be considered. For example, there are 5 stations in the target warehouse, and there are 4 stations to be brought online. That is, the control terminal may first determine the number of workstations to be brought on line from the number of workstations, where the workstations to be brought on line include at least one workstation, and then determine the upper limit value of the number of warehousing robots corresponding to each workstation of the workstations to be brought on line according to the number of the warehousing robots and the number of the workstations to be brought on line. For example, there are 20 warehousing robots and 4 workstations to be brought on-line in the target warehouse. The control terminal averagely divides the number 20 of the warehousing robots according to the number 4 of the workstations to be on-line, and obtains that the number of the warehousing robots corresponding to each workstation in the workstations to be on-line is 5, so that the upper limit value of the number of the warehousing robots corresponding to each workstation in the workstations to be on-line is determined to be 5.

In addition, when the control terminal determines the upper limit value of the number of warehousing robots corresponding to each workstation of the target warehouse according to the number of the warehousing robots and the number of the workstations, if the number of the warehousing robots cannot be evenly divided (cannot be evenly divided by the number of the workstations), for example, if there are 21 warehousing robots and 5 workstations in the target warehouse, the number of the warehousing robots cannot be evenly divided. At this time, the control terminal may perform rounding operation, that is, the control terminal may round the division result obtained by dividing the number 21 of the warehousing robots according to the number 5 of the workstations, to obtain that the number of the warehousing robots corresponding to each workstation is 4, and thus, it is determined that the upper limit value of the number of the warehousing robots corresponding to each workstation is 4.

S302: and determining a first number of warehousing robots corresponding to each workstation according to the number upper limit value, wherein the first number is smaller than or equal to the number upper limit value.

Here, the control terminal may determine a first number of warehousing robots corresponding to each workstation of the target warehouse based on the upper limit number after determining the upper limit number of warehousing robots corresponding to each workstation, and may transmit an instruction to a second number of warehousing robots corresponding to each workstation so that the second number of warehousing robots corresponding to each workstation carry the bin to the workstation corresponding to the bin, and the second number is less than or equal to the first number, thereby realizing robot task allocation based on the upper limit number of robots of each workstation, and reducing the number of robots in the workstation from being too large or too small.

For example, when determining the first number of warehousing robots corresponding to each workstation based on the upper number limit, the control terminal may first determine the number of the warehousing robots allocated to the workstation i, where i is 1, 2, 3 … … n, n is equal to the number of workstations in the target warehouse, and then determine the first number of the warehousing robots corresponding to the workstation i according to the number of the warehousing robots allocated to the workstation i and the upper number limit of the warehousing robots corresponding to the workstation i.

For example, if the number of warehousing robots allocated to the workstation i is smaller than the upper limit value of the number of warehousing robots corresponding to the workstation i, the control terminal may determine the number n of warehousing robots that can be increased by the workstation i, and thus determine a first number of warehousing robots corresponding to the workstation i according to the number n of warehousing robots that can be increased by the workstation i, for example, the control terminal may set the first number as the number of n warehousing robots that can be increased. In this way, the control terminal allocates the bin transportation tasks to a second number of warehousing robots, for example, m warehousing robots, according to the bin transportation tasks to be allocated by the workstation i, wherein m is less than or equal to n, so that robot task allocation under the upper limit of the number of robots of each workstation is realized, and the situations that too many or too few robots appear in the workstation are reduced.

If the number of the warehousing robots allocated to the workstation i is larger than the upper limit value of the number of the warehousing robots corresponding to the workstation i, the control terminal can determine the number of the warehousing robots which can be reduced by the workstation i, and further determine the first number of the warehousing robots corresponding to the workstation i according to the number of the warehousing robots which can be reduced by the workstation i. For example, the control terminal calculates a difference value between the number of warehousing robots allocated to the workstation i and the number of warehousing robots that can be reduced by the workstation i, and takes the difference value as the first number of warehousing robots corresponding to the workstation i.

When determining the number of the warehousing robots which can be reduced by the workstation i, the control terminal can calculate the difference value between the number of the warehousing robots which can be distributed by the workstation i and the upper limit value of the number of the warehousing robots corresponding to the workstation i, and the difference value is used as the number of the warehousing robots which can be reduced by the workstation i, so that the warehousing robots with the number reduced in the warehousing robots which can be distributed by the workstation i are reduced, and the first number of the warehousing robots corresponding to the workstation i is determined.

Here, in order to reduce the number of robots corresponding to the workstation, the situation that the worker in the workstation is out of order and can pick the worker occurs. The control terminal may use only the stocker robot of the bin assigned to the workstation i as the stocker robot assigned to the workstation i, and may not use the stocker robot that is carrying the bin of the workstation i and the stocker robot at the workstation i as the stocker robot assigned to the workstation i. Because the warehousing robot carrying the work station i and the warehousing robot at the work station i can finish the task quickly and leave the work station i, congestion in the work station i is caused, the waiting time of the robot is too long, and the probability of robot resource waste is low. Therefore, the control terminal uses the warehousing robot of the bin of the assigned workstation i as the warehousing robot assigned by the workstation i to execute the subsequent process, which is specifically referred to above and will not be described herein again.

S303: and sending an instruction to a second number of warehousing robots corresponding to each workstation according to the bin carrying task to be distributed by each workstation, wherein the instruction is used for instructing the second number of warehousing robots corresponding to each workstation to carry bins to the workstation corresponding to the bin, and the second number is less than or equal to the first number.

In the embodiment of the disclosure, the control terminal determines an upper limit value of the number of warehousing robots corresponding to each workstation of the target warehouse, and further determines a first number of warehousing robots corresponding to each workstation of the target warehouse according to the upper limit value, where the first number is less than or equal to the upper limit value, so as to control a second number of warehousing robots corresponding to each workstation to carry the bins to the workstations according to the bin carrying tasks to be distributed of each workstation, where the second number is less than or equal to the first number, so that the distribution of the robot tasks based on the upper limit value of the number of robots of each workstation is realized, the problem of congestion in the workstations, caused by too many robots occurring in the workstations, the problem of too long waiting time of the robots, the waste of robot resources, and too few robots occurring in the workstations, and the problem of no goods for the workers can be picked up is solved, the work station picks the problem of the reduction of goods efficiency.

In addition, when the first number of warehousing robots corresponding to each workstation is determined according to the upper limit value of the number, the control terminal first determines the number of the warehousing robots allocated to the workstation i, and then determines the first number of the warehousing robots corresponding to the workstation i according to the number of the warehousing robots allocated to the workstation i and the upper limit value of the number of the warehousing robots corresponding to the workstation i. If the number of the warehousing robots allocated to the workstation i is smaller than the upper limit value of the number of the warehousing robots corresponding to the workstation i, the control terminal firstly determines the number of the warehousing robots which can be increased by the workstation i, and then determines the first number of the warehousing robots corresponding to the workstation i according to the number of the warehousing robots which can be increased by the workstation i. In order to increase the number of warehousing robots to be more accurately determined by the workstation i, the control terminal considers the picking efficiency of the workstation i, the number, type, delivery time and layout position of the bins corresponding to the workstation i, and the like. Fig. 4 is a flowchart illustrating another task allocation method according to an embodiment of the present disclosure, in which the control terminal determines the number of warehousing robots that can be added to the workstation i, taking into account the picking efficiency of the workstation i. As shown in fig. 4, the method includes:

s401: and determining the upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse.

Step S401 is the same as the implementation of step S301, and is not described herein again.

S402: determining the number of the allocated warehousing robots of the workstation i, wherein the allocated warehousing robots comprise the warehousing robot of the bin of the allocated workstation i, the warehousing robot which is carrying the bin of the workstation i, and the warehousing robot at the workstation i, and the i is equal to 1, 2, 3 … … n, and n is equal to the number of the workstations in the target warehouse.

S403: and if the number of the warehousing robots distributed by the workstation i is smaller than the upper limit value of the number of the warehousing robots corresponding to the workstation i, acquiring the picking efficiency of the workstation i.

Here, the control terminal may determine the picking efficiency of each workstation by acquiring the historical picking efficiency of each workstation. The historical picking efficiency may be the picking efficiency of each workstation within a period of time, for example, the picking efficiency within three days from the current time or the picking efficiency within one week from the current time, and may be determined according to actual conditions.

S404: and determining the number of warehousing robots to be added in the workstation i according to the picking efficiency of the workstation i, the number of the warehousing robots allocated to the workstation i and the upper limit value of the number of the warehousing robots corresponding to the workstation i.

For example, the control terminal may determine the number of warehousing robots required by the workstation i according to the picking efficiency of the workstation i and a preset corresponding relationship between the picking efficiency of the workstation and the number of warehousing robots required by the workstation. If the number of the warehousing robots required by the workstation i is less than or equal to the upper limit value of the number of the warehousing robots corresponding to the workstation i, the control terminal can determine the number of the warehousing robots which can be increased by the workstation i according to the number of the warehousing robots required by the workstation i and the number of the warehousing robots allocated by the workstation i. For example, the difference value between the number of warehousing robots required by the workstation i and the number of warehousing robots allocated by the workstation i is calculated, and the difference value is used as the number of warehousing robots that can be added by the workstation i. If the number of the warehousing robots required by the workstation i is greater than the upper limit value of the number of the warehousing robots corresponding to the workstation i, the control terminal can determine the number of the warehousing robots which can be increased by the workstation i according to the upper limit value of the number of the warehousing robots corresponding to the workstation i and the number of the warehousing robots allocated to the workstation i. For example, a difference value between the upper limit value of the number of warehousing robots corresponding to the workstation i and the number of warehousing robots allocated to the workstation i is calculated, and the difference value is used as the number of warehousing robots that can be added by the workstation i.

The preset corresponding relation between the picking efficiency of the workstation and the number of the warehousing robots required by the workstation can be determined through actual conditions, for example, the control terminal obtains the relation between the picking efficiency of a large number of workstations and the number of the warehousing robots required by the workstation, and then determines the corresponding relation between the picking efficiency of the workstation and the number of the warehousing robots required by the workstation according to the relation.

In addition, in order to make the number of the warehousing robots that can be increased by the determined workstation i more accurate, the control terminal may further consider one or more of the number, type, delivery time, and layout position of the bins corresponding to the workstation i when determining the number of the warehousing robots that can be increased by the workstation i according to the picking efficiency of the workstation i, the number of the warehousing robots that have been allocated by the workstation i, and the upper limit value of the number of the warehousing robots corresponding to the workstation i, so as to determine the number of the warehousing robots that can be increased by the workstation i according to one or more of the number, type, delivery time, and layout position of the bins corresponding to the workstation i, and the picking efficiency of the workstation i, the number of the warehousing robots that have been allocated by the workstation i, and the upper limit value of the number of the warehousing robots corresponding to the workstation i.

S405: and determining a first number of warehousing robots corresponding to the workstation i according to the number of the warehousing robots to be added to the workstation i, wherein the first number is less than or equal to the upper limit value of the number.

S406: and sending an instruction to a second number of warehousing robots corresponding to the workstation i according to the bin carrying task to be distributed by each workstation, wherein the instruction is used for instructing the warehousing robots of the second number corresponding to the workstation i to carry the bins to the workstations corresponding to the bins, and the second number is less than or equal to the first number.

The steps S405 to S406 are similar to the implementation of the steps S302 to S303, and are referred to above, and are not described again here.

In this disclosure, when the control terminal determines the first number of warehousing robots corresponding to each workstation according to the upper limit value of the number, the first number is smaller than or equal to the upper limit value of the number, and the number of the warehousing robots allocated to the workstation i is considered, if the number of the warehousing robots allocated to the workstation i is smaller than the upper limit value of the number of the warehousing robots corresponding to the workstation i, the determined number of the warehousing robots that can be added by the workstation i is more accurate according to the picking efficiency of the workstation i, the number, the type, the delivery time, the layout position, and the like of bins corresponding to the workstation i. The follow-up control terminal can accurately determine the warehousing robots with the first number corresponding to the workstation i according to the number of the warehousing robots which can be increased by the workstation i, and further control the warehousing robots with the second number corresponding to the workstation i to carry the bins to the workstations, wherein the second number is smaller than or equal to the first number, so that the distribution of the robot tasks based on the upper limit of the number of the robots of each workstation is realized, the situations that too many or too few robots appear in the workstations are reduced, the problems that the interior of the workstations is blocked due to too many robots appearing in the workstations, the waiting time of the robots is too long, the robot resources are wasted, too few robots appear in the workstations lead to no goods and can be picked, and the picking efficiency of the workstations is reduced are solved.

In addition, when the upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse is determined, the number of the warehousing robots in the target warehouse is determined first, and then the upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse is determined according to the number of the warehousing robots. Here, in order to make the determination result more accurate, when determining the number of warehousing robots in the target warehouse, the control terminal further considers obtaining the order to be processed in the target warehouse, further determines the number of bins corresponding to the order to be processed, and determines the number of warehousing robots in the target warehouse according to the number of bins corresponding to the order to be processed. Fig. 5 is a flowchart illustrating a task allocation method according to another embodiment of the disclosure. As shown in fig. 5, the method includes:

s501: and acquiring the order to be processed in the target warehouse.

Here, the control terminal may obtain the pending order in the target warehouse from the recorded information. For example, the control terminal records a corresponding relationship between the warehouse and the to-be-processed order, and the control terminal may obtain the to-be-processed order in the target warehouse according to the corresponding relationship.

The control terminal can also record time information of the order, such as the time of the order leaving the warehouse. The pending orders in the target warehouse acquired by the control terminal may be pending orders within a period of time, such as pending orders with warehouse-out time of the day today or pending orders with warehouse-out time of the 9 am to 12 am of the day today.

S502: and determining the number of the bins corresponding to the to-be-processed order.

After the order to be processed is obtained, the control terminal may determine the number of bins corresponding to the order to be processed according to the correspondence between the order and the bins. The corresponding relation between the order and the bin can be stored in the control terminal in advance.

S503: and determining the number of the storage robots in the target warehouse according to the number of the bins corresponding to the order to be processed.

For example, the control terminal may preset a corresponding relationship between the number of bins and the number of warehousing robots, for example, 100 bins corresponds to 10 warehousing robots. The control terminal can determine the number of the warehousing robots in the target warehouse according to the corresponding relation and the number of the bins corresponding to the to-be-processed orders, wherein the number of the warehousing robots is the number of the robots in a working state, then the upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse is determined according to the number of the warehousing robots, a certain number of warehousing robots corresponding to each workstation are controlled to carry the bins to the workstations based on the upper limit value of the number, and the number is smaller than or equal to the upper limit value of the number, so that the robot task distribution based on the upper limit value of the number of the robots of each workstation is realized, and the situations that too many or too few robots appear in the workstations are reduced.

In order to make the subsequently determined upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse more accurate, the control terminal may consider the type, the delivery time, the layout position, and the like of the bin corresponding to the to-be-processed order, in addition to the number of the bins corresponding to the to-be-processed order, when determining the number of the warehousing robots in the target warehouse.

In this disclosure, the control terminal may determine the number of warehousing robots in the target warehouse that should be in a working state according to one or more of the type, the delivery time, and the layout position of the bin corresponding to the to-be-processed order, and the number of bins corresponding to the to-be-processed order. Or, the control terminal may also determine the number of the warehousing robots in the target warehouse that should be in the working state according to one or more of the type of the bin, the delivery time, the layout position, and the number of the bins corresponding to the to-be-processed order.

And if the control terminal considers the number of the bins corresponding to the to-be-processed order, the type of the bin corresponding to the to-be-processed order is also considered. The control terminal can first judge whether the types of the bins corresponding to the orders to be processed are the same. If the orders are different, the control terminal can determine the number of the storage robots in the target warehouse which are required to be in the working state according to the types of the bins corresponding to the orders to be processed and the number of the bins corresponding to the orders to be processed. For example, the types of the bins corresponding to the to-be-processed order include large, medium and small sizes, and the number of the warehousing robots to be carried by different types of bins is different, for example, the number of the warehousing robots to be carried by the large bins is 3, the number of the warehousing robots to be carried by the medium bins is 2, and the number of the warehousing robots to be carried by the small bins is 1, so that the control terminal can determine the number of the warehousing robots in the target warehouse, which should be in the working state, according to the type of the bin corresponding to the to-be-processed order and the number of the bins corresponding to the to-be-processed order.

The storage robot may be an AGV (Automated Guided Vehicle) cart, such as a lift-type bin robot, or a multi-bin robot, and the like, without limitation, and the storage robot may be of various types, including large, medium, and small. Different types of storage robots carry different types of bins, for example, a large storage robot carries a large bin, a medium storage robot carries a medium bin, and a small storage robot carries a small bin. The control terminal can determine the number of the storage robots in the target warehouse which are in the working state according to the type of the bins corresponding to the to-be-processed order, the number of the bins corresponding to the to-be-processed order and the type of the storage robots.

In addition, if the control terminal considers the quantity of the bins corresponding to the to-be-processed order, the delivery time of the bins corresponding to the to-be-processed order is also considered. The control terminal can determine the delivery time of the material box corresponding to the order to be processed according to the delivery time of the order to be processed, and further determine the number of the storage robots in the target warehouse which are required to be in a working state according to the delivery time of the material box corresponding to the order to be processed and the number of the material boxes corresponding to the order to be processed. For example, the time of delivery of the bin corresponding to the to-be-processed order is between 9 am and 12 am today, wherein there are 100 bins between 9 am and 10 am, 10 bins between 10 am and 11 am, and 1 bin between 11 am and 12 am, and the control terminal may determine the number of warehousing robots that should be in operation in the target warehouse between 9 am and 10 am, between 10 am and 11 am, and between 11 am and 12 am according to the corresponding relationship between the number of bins and the number of warehousing robots.

In addition, if the control terminal considers the number of the bins corresponding to the to-be-processed order, the layout position of the bin corresponding to the to-be-processed order is also considered. The control terminal can determine the layout position of the bin corresponding to the order to be processed according to the layout position of each bin in the target warehouse, and further determine the number of the storage robots in the target warehouse which are in the working state according to the layout position of the bin corresponding to the order to be processed and the number of the bins corresponding to the order to be processed.

S504: and determining the upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse according to the number of the warehousing robots.

S505: and determining a first number of warehousing robots corresponding to each workstation according to the number upper limit value, wherein the first number is smaller than or equal to the number upper limit value.

S506: and sending an instruction to a second number of warehousing robots corresponding to each workstation according to the bin carrying task to be distributed by each workstation, wherein the instruction is used for instructing the second number of warehousing robots corresponding to each workstation to carry bins to the workstation corresponding to the bin, and the second number is less than or equal to the first number.

The steps S505 to S506 are the same as the steps S302 to S303, and are not described herein again.

In the embodiment of the present disclosure, when determining the number of the warehousing robots in the target warehouse, the control terminal further considers obtaining the number, type, delivery time, layout position, and the like of the bins corresponding to the to-be-processed orders in the target warehouse, so that the determined number of the warehousing robots in the target warehouse is more accurate. The control terminal can accurately determine the upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse according to the number of the warehousing robots, and then controls a certain number of warehousing robots corresponding to each workstation to carry the material boxes to the workstations based on the upper limit value of the number, wherein the number is smaller than or equal to the upper limit value of the number, so that the distribution of robot tasks based on the upper limit value of the number of the robots of each workstation is realized, the situations of too many or too few robots appearing in the workstations are reduced, and the problems of too many robots appearing in the workstations, congestion in the workstations, overlong waiting time of the robots, waste of robot resources, too few robots appearing in the workstations, no sorting of the workers and low sorting efficiency of the workstations are solved.

In addition, when the control terminal determines the upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse, the control terminal determines the number of the warehousing robots in the target warehouse, and further determines the upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse according to the number of the warehousing robots. When the upper limit value of the number of warehousing robots corresponding to each workstation of the target warehouse is determined according to the number of the warehousing robots, the control terminal may consider the number of workstations in the target warehouse, and may also consider the picking efficiency of each workstation, the number of warehousing robots that can be accommodated in each workstation, and the attribute of each workstation, where the attribute includes parameters of conveyor lines in the workstations. Therefore, the control terminal can more accurately determine the upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse according to one or more of the number of the warehousing robots, the number of the workstations, the picking efficiency of each workstation, the number of the warehousing robots capable of being accommodated in each workstation and the attribute of each workstation. Fig. 6 is a flowchart of another task allocation method according to an embodiment of the disclosure, in which the control terminal further considers the picking efficiency of each workstation when determining the upper limit value of the number of warehousing robots corresponding to each workstation of the target warehouse according to the number of the warehousing robots. As shown in fig. 6, the method includes:

s601: the number of storage robots in the target storage is determined.

S602: and acquiring the picking efficiency of each workstation in the target warehouse.

S603: and determining the upper limit value of the number of the warehousing robots corresponding to each workstation according to the picking efficiency of each workstation and the number of the warehousing robots.

For example, the control terminal may determine a ratio of each workstation to the number of the warehousing robots according to the picking efficiency of each workstation, and further obtain an upper limit value of the number of the warehousing robots corresponding to each workstation according to the ratio. For example, taking 3 workstations in the target warehouse as an example, the picking efficiency of each workstation is 100 pieces/hour, 200 pieces/hour, 300 pieces/hour, so that the control terminal can determine the ratio of each workstation to the number of warehousing robots to be 1/6, 1/3 and 1/2, and further obtain the upper limit value of the number of warehousing robots corresponding to each workstation according to the ratio, so that the obtained upper limit value of the number is more in line with the actual situation. Therefore, the control terminal controls a certain number of warehousing robots corresponding to each workstation to carry the bins to the workstations based on the number upper limit value, the number is smaller than or equal to the number upper limit value, robot task distribution based on the number upper limit value of the robots of each workstation is achieved, and the situations that the number of robots in the workstations is too large or too small are reduced.

And if the control terminal determines the upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse according to the number of the warehousing robots, the control terminal also considers the number of the warehousing robots capable of being accommodated in each workstation. In this way, the control terminal may determine the upper limit value of the number of warehousing robots corresponding to each workstation according to the number of warehousing robots that can be accommodated in each workstation and the number of warehousing robots.

For example, the control terminal may first determine a third number of warehousing robots corresponding to each workstation according to the number of the warehousing robots, and then determine whether the third number of warehousing robots corresponding to the workstation i is greater than the number of warehousing robots that can be accommodated in the workstation i, where i is 1, 2, 3 … … n, and n is equal to the number of workstations in the target warehouse. If the third number of warehousing robots corresponding to the workstation i is larger than the number of warehousing robots capable of being accommodated in the workstation i, the third number of warehousing robots corresponding to the workstation i is adjusted according to the number of warehousing robots capable of being accommodated in the workstation i to obtain a fourth number of warehousing robots corresponding to the workstation i, wherein the fourth number is smaller than or equal to the number of warehousing robots capable of being accommodated in the workstation i, and finally the fourth number of warehousing robots corresponding to the workstation i is used as the upper limit value of the number of warehousing robots corresponding to the workstation i.

The third number of warehousing robots corresponding to each workstation may be the number of warehousing robots determined by the control terminal according to an average division result after the control terminal performs average division on the number of the warehousing robots. The control terminal adjusts the warehousing robots with the third number corresponding to each workstation according to the number of the warehousing robots capable of being accommodated in each workstation to obtain the warehousing robots with the fourth number corresponding to each workstation, wherein the fourth number is smaller than or equal to the number of the warehousing robots capable of being accommodated in the corresponding workstation, and then the fourth number is used as the upper limit value of the number of the warehousing robots corresponding to the corresponding workstation.

And if the control terminal determines the upper limit value of the number of the warehousing robots corresponding to each workstation of the target warehouse according to the number of the warehousing robots, the attribute of each workstation is also considered. The control terminal may determine an upper limit value of the number of warehousing robots corresponding to each workstation according to the attribute of each workstation and the number of the warehousing robots.

The above-mentioned attributes include parameters of the conveying lines in the workstation, which may include the number of conveying lines, the conveying speed, and the like. The control terminal may first determine a ratio of the number of warehousing robots to each workstation according to the attribute of each workstation. For example, in the target warehouse, there are 3 work stations, each work station has 1 conveying line, 2 conveying lines, and 3 conveying lines, wherein the conveying speeds of the respective conveying lines are the same, so that the control terminal can determine the ratio of the number of the warehousing robots to the number of the work stations to be 1/6, 1/3, and 1/2. Then, the control terminal may obtain the upper limit value of the number of the warehousing robots corresponding to each workstation according to the ratio of each workstation to the number of the warehousing robots, so that the upper limit value of the number is more consistent with the reality. The result of the subsequent processing performed by the control terminal based on the number upper limit value is more accurate and is suitable for application.

S604: and determining a first number of warehousing robots corresponding to each workstation according to the number upper limit value, wherein the first number is smaller than or equal to the number upper limit value.

S605: and sending an instruction to a second number of warehousing robots corresponding to each workstation according to the bin carrying task to be distributed by each workstation, wherein the instruction is used for instructing the second number of warehousing robots corresponding to each workstation to carry bins to the workstation corresponding to the bin, and the second number is less than or equal to the first number.

The steps S604 to S605 are the same as the steps S302 to S303, and are not described herein again.

In the embodiment of the present disclosure, when determining the upper limit value of the number of warehousing robots corresponding to each workstation of the target warehouse according to the number of the warehousing robots, the control terminal may consider the number of workstations in the target warehouse, may also consider the picking efficiency of each workstation, the number of warehousing robots that can be accommodated in each workstation, and the attribute of each workstation, so that the obtained upper limit value of the number better conforms to the actual situation. Therefore, the control terminal controls a certain number of warehousing robots corresponding to each workstation to carry the bins to the workstations based on the number upper limit value, the number is smaller than or equal to the number upper limit value, robot task distribution based on the number upper limit value of the robots of each workstation is achieved, the situation that too many or too few robots appear in the workstations is reduced, and the problems that too many robots appear in the workstations, jam in the workstations, too long waiting time of the robots, robot resources waste, too few robots appear in the workstations, the workers cannot pick the goods and the sorting efficiency of the workstations is reduced are solved.

Fig. 7 is a schematic structural diagram of a task allocation apparatus according to an embodiment of the present disclosure, corresponding to the task allocation method according to the foregoing embodiment. For ease of illustration, only portions that are relevant to embodiments of the present disclosure are shown. Fig. 7 is a schematic structural diagram of a task allocation apparatus according to an embodiment of the present disclosure, where the task allocation apparatus 70 includes: a number upper limit value determination module 701, a robot determination module 702, and a task assignment module 703. The task assigning means here may be the control terminal itself described above, or a chip or an integrated circuit that implements the functions of the control terminal. It should be noted here that the division of the number upper limit value determination module, the robot determination module, and the task allocation module is only a division of logical functions, and the two may be integrated or independent physically.

The number upper limit value determining module 701 is configured to determine a number upper limit value of the warehousing robot corresponding to each workstation of the target warehouse.

A robot determining module 702, configured to determine, according to the number upper limit, a first number of warehousing robots corresponding to each workstation, where the first number is smaller than or equal to the number upper limit.

The task allocation module 703 is configured to send an instruction to the second number of warehousing robots corresponding to each workstation according to the bin transporting task to be allocated at each workstation, where the instruction is used to instruct the second number of warehousing robots corresponding to each workstation to transport bins to the workstations corresponding to the bins, where the second number is less than or equal to the first number.

In a possible implementation manner, the robot determining module 702 is specifically configured to:

acquiring the picking efficiency of the workstation i;

In a possible implementation manner, the number upper limit determining module 701 is specifically configured to:

determining the number of storage robots in the target warehouse;

acquiring the order to be processed in the target warehouse;

determining the number of bins corresponding to the order to be processed;

The apparatus provided in the embodiment of the present disclosure may be configured to implement the technical solution of the method embodiment, and the implementation principle and the technical effect are similar, which are not described herein again in the embodiment of the present disclosure.

Alternatively, fig. 8 schematically provides a schematic diagram of a possible basic hardware architecture of the control terminal according to the present disclosure.

Referring to fig. 8, a control terminal 800 includes at least one processor 801 and a communication interface 803. Further optionally, a memory 802 and a bus 804 may also be included.

In the control terminal 800, the number of the processors 801 may be one or more, and fig. 8 only illustrates one of the processors 801. Alternatively, the processor 801 may be a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), or a Digital Signal Processor (DSP). If the control terminal 800 has a plurality of processors 801, the types of the plurality of processors 801 may be different, or may be the same. Alternatively, the plurality of processors 801 of the control terminal 800 may also be integrated into a multi-core processor.

Memory 802 stores computer instructions and data; the memory 802 may store computer instructions and data necessary to implement the above-described task assignment methods provided by the present disclosure, e.g., the memory 802 stores instructions for implementing the steps of the above-described task assignment methods. The memory 802 may be any one or any combination of the following storage media: nonvolatile memory (e.g., Read Only Memory (ROM), Solid State Disk (SSD), hard disk (HDD), optical disk), volatile memory.

The communication interface 803 may provide information input/output for the at least one processor. Any one or any combination of the following devices may also be included: a network interface (e.g., an ethernet interface), a wireless network card, etc. having a network access function.

Optionally, the communication interface 803 may also be used for controlling the terminal 800 to perform data communication with other computing devices or terminals.

Further alternatively, fig. 8 shows bus 804 as a thick line. A bus 804 may connect the processor 801 with the memory 802 and the communication interface 803. Thus, via bus 804, processor 801 may access memory 802 and may also interact with other computing devices or terminals using communication interface 803.

In the present disclosure, the control terminal 800 executes computer instructions in the memory 802, so that the control terminal 800 implements the task allocation method provided by the present disclosure or so that the control terminal 800 deploys the task allocation device described above.

From the viewpoint of logical function division, illustratively, as shown in fig. 8, a number upper limit value determining module 701, a robot determining module 702, and a task allocating module 703 may be included in the memory 802. The embodiments described herein include only the functions of the number upper limit value determination module, the robot determination module, and the task assignment module, respectively, when executed, and are not limited to physical structures.

The control terminal may be implemented by software as shown in fig. 8, or may be implemented by hardware as a hardware module or a circuit unit.

Fig. 9 is a schematic structural diagram of a warehousing robot according to an embodiment of the present disclosure, and as shown in fig. 9, the warehousing robot includes: a mobile chassis 901, a pick-up 902, storage shelves 903, and a controller 904.

The storage shelf 903 is arranged on the movable chassis 901, the goods taking device 902 is mechanically connected with the storage shelf 903, and the controller 904 is respectively connected with the movable chassis 901 and the goods taking device 902 and used for receiving an instruction sent by the control terminal, controlling the movable chassis 901 and the goods taking device 902 to carry a bin to the storage shelf 903 according to the instruction, and further carrying the bin to a workstation corresponding to the bin.

Fig. 10 is a schematic structural diagram of a warehousing system according to an embodiment of the present disclosure, as shown in fig. 10, the warehousing system includes: a storage robot 1001, a shelf 1002, and a control terminal 1003.

The bin is placed on the shelf 1002, the control terminal 1003 is a warehousing robot provided in any embodiment corresponding to fig. 8 in the disclosure, the warehousing robot 1001 is a warehousing robot provided in any embodiment corresponding to fig. 9 in the disclosure, and the warehousing robot 1001 is connected with the control terminal 1003 and is used for carrying the bin to a workstation corresponding to the bin according to an instruction sent by the control terminal 1003.

The present disclosure also provides a computer-readable storage medium, the computer program product comprising computer instructions that instruct a computing device to perform the above task allocation method provided by the present disclosure.

The computer readable storage medium may be, among others, ROM, Random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

The present disclosure also provides a computer program product comprising computer instructions for executing the above task allocation method provided by the present disclosure by a processor.

The present disclosure also provides a chip comprising at least one processor and a communication interface providing information input and/or output for the at least one processor. Further, the chip may also include at least one memory for storing computer instructions. The at least one processor is used for calling and executing the computer instructions to execute the task allocation method provided by the disclosure.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method of task allocation, the method comprising:

2. The method according to claim 1, wherein the determining a first number of warehousing robots corresponding to each workstation according to the number upper limit value comprises:

3. The method according to claim 2, wherein the determining a first number of warehousing robots corresponding to the workstation i according to the number of the warehousing robots allocated to the workstation i and the upper limit value of the number of the warehousing robots corresponding to the workstation i comprises:

4. The method of claim 3, wherein the determining the number of warehouse robots to be added to the workstation i comprises:

acquiring the picking efficiency of the workstation i;

5. The method according to claim 4, wherein the determining the number of warehousing robots to be added by the workstation i according to the picking efficiency of the workstation i, the number of the warehousing robots allocated by the workstation i and the upper limit value of the number of the warehousing robots corresponding to the workstation i comprises:

6. The method according to claim 4 or 5, wherein before determining the number of warehousing robots to be added by the workstation i according to the picking efficiency of the workstation i, the number of the warehousing robots allocated by the workstation i and the upper limit value of the number of the warehousing robots corresponding to the workstation i, the method further comprises:

7. The method according to claim 2, wherein the determining a first number of warehousing robots corresponding to the workstation i according to the number of the warehousing robots allocated to the workstation i and the upper limit value of the number of the warehousing robots corresponding to the workstation i comprises:

8. A task assigning apparatus, characterized in that the apparatus comprises:

the robot determining module is used for determining a first number of warehousing robots corresponding to each workstation according to the number upper limit value;

9. A control terminal comprising a memory, a processor and a computer program;

wherein the computer program is stored in the memory and configured to be executed by the processor to implement a task allocation method as claimed in any one of claims 1-7.

10. A warehousing system, comprising: the control terminal, warehousing robot, and shelf of claim 9;

the warehousing robot is connected with the control terminal and used for carrying the work stations corresponding to the work stations according to the instructions sent by the control terminal, wherein the work stations are placed on the goods shelf.