CN115293680A

CN115293680A - Warehouse management method, electronic device and storage medium

Info

Publication number: CN115293680A
Application number: CN202210824961.9A
Authority: CN
Inventors: 郭瑞
Original assignee: Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Beijing Kuangshi Robot Technology Co Ltd
Priority date: 2022-07-14
Filing date: 2022-07-14
Publication date: 2022-11-04

Abstract

The embodiment of the application provides a warehouse management method, electronic equipment and a storage medium, wherein the method comprises the following steps: performing a first sorting operation on a target container set in a target roadway in a target warehouse so that the distribution of the target container set reaches a target distribution, wherein when the distribution of the target container set reaches the target distribution, for any one sub-container set in the target container set, the sub-container set is distributed on a plurality of continuous warehouse positions in the target roadway; and sequentially carrying out ex-warehouse operation on each sub-container set in the target container set according to the target sequence, wherein the ex-warehouse operation comprises the following steps: and sequentially unloading each container in the sub-container set according to the order of the containers in the sub-container set.

Description

Warehouse management method, electronic device and storage medium

Technical Field

The application relates to the field of logistics, in particular to a warehouse management method, electronic equipment and a storage medium.

Background

The ex-warehouse link for containers, e.g. pallets, used for loading goods is a fundamental link in the management of warehouses, such as dense warehouses. The ex-warehouse link of the container comprises the following steps: the dispatching robot carries the corresponding container from the corresponding storage position in the corresponding roadway to the warehouse outlet of the corresponding roadway; the corresponding container is loaded onto a truck parked at the delivery port of the corresponding lane.

In the delivery process of containers, it is sometimes necessary to collectively stack a container set consisting of a plurality of associated containers on a corresponding truck, where the collectively stacking of the container set on the truck means that no other container exists between any two containers in the container set, which requires that, for any container set, each container included in the container set is delivered in turn, so that each container included in the container set sequentially reaches a corresponding delivery port, each container included in the container set is sequentially loaded on a corresponding truck, and the container set is collectively stacked on a corresponding truck.

However, for any container set, when any container in the container set is delivered, if there is another container between the storage location where the container is located and the delivery port, the other container may block the container, and it is necessary to first take out the other container so as not to block the container, and then deliver the container. For each container set in the large container set, a certain number of other containers obstructing the container being delivered are taken out during the delivery process, and the corresponding container can be loaded on the truck after a long time, so that the delivery efficiency is low.

Disclosure of Invention

To overcome the problems in the related art, the present application provides a warehouse management method, an electronic device, and a storage medium.

According to the embodiment of the application, a warehouse management method is provided, which comprises the following steps:

performing a first sorting operation on a target container set in a target roadway in a target warehouse so that the distribution of the target container set reaches a target distribution, wherein when the distribution of the target container set reaches the target distribution, for any one sub-container set in the target container set, the sub-container set is distributed on a plurality of continuous warehouse positions in the target roadway;

sequentially carrying out ex-warehouse operation on each sub-container set in the target container set according to a target sequence, wherein the ex-warehouse operation comprises the following steps: and sequentially carrying out ex-warehouse on each container in the sub-container set according to the order of the containers in the sub-container set.

An embodiment of the present application provides an electronic device, including: a memory, a processor and a computer program stored on the memory, the processor executing the computer program to implement the warehouse management method.

Embodiments of the present application provide a computer-readable storage medium on which a computer program/instruction is stored, which, when executed by a processor, implements the above-described warehouse management method.

Embodiments of the present application provide a computer program product, which includes a computer program/instruction, and when the computer program/instruction is executed by a processor, the computer program/instruction implements the warehouse management method described above.

According to the warehouse management method provided by the embodiment of the application, before the target container set is delivered, a first sorting operation is performed on the target container set in the target roadway in the target warehouse, and through the first sorting operation, for any one sub-container set in the target container set, all containers belonging to the sub-container set in the target roadway are distributed on a plurality of continuous positions in the target roadway. And sequentially carrying out ex-warehouse operation on each sub-container set in the target container set according to the target sequence, wherein the ex-warehouse operation comprises the following steps: and sequentially warehousing each container in the child container set. For the first container in the target container set, that is, the first container in the first sub-container set defined by the target order, before the container, there is no other container blocking the container, the container may be directly ex-warehoused without moving the other containers, for each container after the first container, when the container is ex-warehoused, the previous container of the container is already ex-warehoused, before the container, there is no other container blocking the container, and the container may be directly ex-warehoused without moving the other containers. When the target container set is delivered, each container in the target container set is directly delivered, and the delivery efficiency is high.

Drawings

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

Fig. 1 is a flowchart illustrating a warehouse management method according to an embodiment of the present application;

fig. 2 shows a block diagram of a warehouse management device according to an embodiment of the present application.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.

It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

With the development of Intelligent technologies such as internet of things, artificial intelligence and big data, the requirement for transformation and upgrading of the traditional Logistics industry by using the Intelligent technologies is stronger, and Intelligent Logistics (Intelligent Logistics System) becomes a research hotspot in the Logistics field. The intelligent logistics system is widely applied to basic activity links of material transportation, storage, delivery, packaging, loading and unloading, information service and the like by using artificial intelligence, big data, various information sensors, radio frequency identification technology, global Positioning System (GPS) and other Internet of things devices and technologies, and realizes intelligent analysis and decision, automatic operation and high-efficiency optimization management in the material management process. The internet of things technology comprises sensing equipment, an RFID technology, laser infrared scanning, infrared induction identification and the like, the internet of things can effectively connect materials in logistics with a network, the materials can be monitored in real time, environmental data such as humidity and temperature of a warehouse can be sensed, and the storage environment of the materials is guaranteed. All data in logistics can be sensed and collected through a big data technology, the data are uploaded to an information platform data layer, operations such as filtering, mining and analyzing are carried out on the data, and finally accurate data support is provided for business processes (such as links of transportation, warehousing, storing and taking, sorting, packaging, sorting, ex-warehouse, checking, distribution and the like). The application direction of artificial intelligence in logistics can be roughly divided into two types: 1) The AI technology is used for endowing intelligent equipment such as an unmanned truck, an AGV, an AMR, a forklift, a shuttle, a stacker, an unmanned distribution vehicle, an unmanned aerial vehicle, a service robot, a mechanical arm, an intelligent terminal and the like to replace part of manpower; 2) The manual efficiency is improved through a software system such as a transportation equipment management system, a storage management system, an equipment scheduling system, an order distribution system and the like driven by technologies or algorithms such as computer vision, machine learning, operation and research optimization and the like. With the research and progress of intelligent logistics, the technology is applied to a plurality of fields, such as retail and electric commerce, electronic products, tobacco, medicine, industrial manufacturing, shoes and clothes, textile, food and the like.

Fig. 1 shows a flowchart of a warehouse management method provided in an embodiment of the present application, where the method includes:

step 101, performing a first sorting operation on a target container set in a target roadway.

In the present application, the target warehouse may be a dense warehouse. The containers for loading the goods in the target warehouse may come from the corresponding warehouse. The target warehouse may be either a warehouse dedicated to storing containers or a cache warehouse of the corresponding warehouse.

In this application, the container may be a pallet and one bin in the target roadway may store one container. The target container set is composed of a plurality of child container sets.

The set of child containers includes an associated plurality of containers. For example, the sub-containers are collected as a plurality of containers for loading the items required for one item order line in one item order or a plurality of containers for loading the items required for one item order.

In this application, the first sorting operation is to make the distribution of containers in the target container set reach a target distribution, when the distribution of containers in the target container set reaches the target distribution, for any one sub-container set in the target container set, all containers in the target lane belonging to the sub-container set are distributed on a plurality of consecutive bin bits in the target lane and the order of the sub-container set is a target order.

In the present application, each of both sides of the target roadway has an entrance. The robot outside the tunnel can drive into the target tunnel through the corresponding gateway, and the robot inside the tunnel can drive out of the target tunnel through the corresponding gateway.

And an access on one side of the target roadway is used as a warehouse outlet of the target roadway, the serial number of the ith warehouse location in the target roadway is i, and the ith warehouse location in the target roadway is relative to the warehouse outlet of the target roadway.

For example, there are n positions in the target roadway, the 1 st position in the target roadway is the position closest to the warehouse-out opening of the target roadway, and the nth position in the target roadway is the position farthest from the warehouse-out opening of the target roadway.

If the number of the sub-container sets included in the target container set is denoted as n, the target order defines the 1 st sub-container set and the 2 nd sub-container set.

In this application, the target order of the sub-container set in the target container set may be set by an operation and maintenance engineer of the warehouse management system to which the warehouse management method provided in the embodiment of the present application is applied, and may also be determined according to the parameter of the sub-container set for sorting.

For example, the parameter for sorting of the sub-container set is a distance between a container in the sub-container set closest to the warehouse exit of the target lane and the warehouse exit of the target lane. For example, the parameter for sorting of the sub-container set is an average value of distances between the containers in the sub-container set and the warehouse outlet of the target roadway. All the child container sets in the target container set may be sorted according to the sorting parameters of the child container sets from low to high to obtain a target order.

In this application, after determining the target order of the sub-container sets, the sequence of library bits for each of the sub-container sets in the target container set may be determined.

For any of the library bit sequences of the sub-container set, the library bit sequence of the sub-container set is composed of a plurality of continuous library bits, and the number of library bits in the library bit sequence of the sub-container set is equal to the number of containers in the sub-container set.

For the library bit sequence of any sub-container set, the first library bit in the library bit sequence is the library bit which is closest to the warehouse exit of the target roadway in all the library bits in the library bit sequence, and the last library bit in the library bit sequence is the library bit which is farthest from the warehouse exit of the target roadway in all the library bits in the library bit sequence.

For a first sub-container set defined by the target order, a first bin bit in the sequence of bin bits of the first sub-container set is a first bin bit in the target lane.

For any other sub-container set defined by the target order, the last library bit in the library bit sequence of the previous sub-container set of the other sub-container set is the mth library bit, the first library bit in the library bit sequence of the other sub-container set is the m +1 th library bit, the other sub-container set is a sub-container set which is not the first sub-container set defined by the target order, and the previous sub-container set of the other sub-container set is defined by the target order.

In the present application, the first collating operation may include: and respectively carrying out first sorting sub-operation on each sub-container set based on the library bit sequence of each sub-container set.

For any library bit in the library bit sequence of any sub-container set, if the library bit is not occupied by the corresponding container in the sub-container set, the library bit is an allocable library bit.

For any one sub-container set, the first sort sub-operation for that sub-container set may include: determining whether there is a container to be moved for the sub-container set and the target order, wherein the container to be moved for the sub-container set and the target order belongs to the sub-container set and the library bit of the container to be moved is not in the library bit sequence of the sub-container set; if yes, aiming at each container needing to be moved aiming at the sub-container set and the target sequence, randomly selecting an allocable bin from all allocable bins in the bin sequence of the sub-container set, and allocating the selected allocable bin to the container needing to be moved; if a container not belonging to the sub-container set is placed at the allocable position allocated to the container to be moved, controlling a robot such as a four-way shuttle to take the container not belonging to the sub-container set out of the allocable position allocated to the container to be moved, controlling the robot to take the container to be moved out of the position where the container to be moved is located, wherein the allocable position allocated to the container to be moved is marked as position i, and the position where the container to be moved is located is marked as position j; the container to be moved is placed on the storage position i, and the container not belonging to the sub-container set is placed on the storage position j.

And 102, sequentially carrying out ex-warehouse operation on each sub-container set in the target container set according to the target sequence.

For any one sub-container set, the ex-warehouse operation on the sub-container set comprises the following steps: according to the order of the containers in the sub-container set, each container in the sub-container set is output in turn

The order of the containers in the sub-container set can be obtained by sorting all the containers in the sub-container set according to the sequence numbers of the library positions where the containers are located from small to large.

For any library bit in the target roadway, the serial number of the library bit indicates the position of the library bit in all library bits in the target roadway, and the library bit with the serial number i is the ith library bit in all library bits in the target roadway.

For any one container, the de-warehousing the container may include: the container is conveyed to a warehouse outlet of a target roadway; the container is loaded onto a corresponding truck parked at the exit of the target roadway.

For example, the target container set includes: child container set 1, child container set 2, child container set 3. The 1 st set of sub-containers defined by the target order is the set of sub-containers 1, the 2 nd set of sub-containers defined by the target order is the set of sub-containers 2, and the 3 rd set of sub-containers defined by the target order is the set of sub-containers 3.

The child container set 1 includes: container 1, container 2, container 3, the 1 st container defined by the order of the containers in the sub-container set 1 being container 1, the 2 nd container defined by the order of the containers in the sub-container set 1 being container 2, and the 3 rd container defined by the order of the containers in the sub-container set 1 being container 3. The container 1, the container 2 and the container 3 are distributed on a plurality of continuous storage positions in a target roadway, the plurality of continuous storage positions consist of a 1 st storage position, a 2 nd storage position and a 3 rd storage position, the container 1 is arranged on the 1 st storage position, the container 2 is arranged on the 2 nd storage position, and the container 3 is arranged on the 3 rd storage position.

The child container set 2 includes: container 4, container 5, container 6, the 1 st container defined by the order of containers in the sub-container set 2 is container 4, the 2 nd container defined by the order of containers in the sub-container set 2 is container 5, and the 3 rd container defined by the order of containers in the sub-container set 2 is container 6. The containers 4, the containers 5 and the containers 6 are distributed on a plurality of continuous positions in the target roadway, the plurality of continuous positions consist of a 4 th position, a 5 th position and a 6 th position, the containers 4 are on the 4 th position, the containers 5 are on the 5 th position, and the containers 6 are on the 6 th position.

The sub-container set 3 includes: container 7, container 8, container 9, the 1 st container defined by the order of the containers in the sub-container set 3 being container 7, the 2 nd container defined by the order of the containers in the sub-container set 3 being container 8, the 3 rd container defined by the order of the containers in the sub-container set 3 being container 9. The containers 7, 8 and 9 are distributed on a plurality of continuous positions in the target roadway, the plurality of continuous positions consist of a 7 th position, an 8 th position and a 9 th position, the containers 7 are on the 7 th position, the containers 8 are on the 8 th position, and the containers 9 are on the 9 th position.

Firstly, the child container set 1 is exported, then the child container set 2 is exported, and finally the child container set 3 is exported.

When the sub-container set 1 is delivered, the containers 1, 2 and 3 are sequentially delivered, the container 1 is delivered first, then the container 2 is delivered, and finally the container 3 is delivered, the containers 1, 2 and 3 sequentially reach the delivery port, the containers 1, 2 and 3 are sequentially loaded on the corresponding trucks of the delivery port of the stop target roadway, and the containers 1, 2 and 3 are collectively stacked on the corresponding trucks, that is, no container belonging to other sub-container sets exists between any two containers in the sub-container set 1.

When the sub-container set 2 is delivered, the containers 4, 5 and 6 are sequentially delivered, the container 4 is delivered first, then the container 5 is delivered, and finally the container 6 is delivered, the containers 4, 5 and 6 sequentially reach the delivery port, the containers 4, 5 and 6 are sequentially loaded on corresponding trucks of the delivery port of the stopping target roadway, and the containers 4, 5 and 6 are collectively stacked on the corresponding trucks, that is, no container belonging to another sub-container set exists between any two containers in the sub-container set 2.

When the sub-container set 3 is delivered, the containers 7, 8 and 9 are sequentially delivered, the container 7 is delivered first, then the container 8 is delivered, finally the container 9 is delivered, the containers 7, 8 and 9 sequentially reach the delivery port, the containers 7, 8 and 9 are sequentially loaded on corresponding trucks of the delivery port of the stop target roadway, the containers 7, 8 and 9 are centrally stacked on the corresponding trucks, that is, no container belonging to another sub-container set exists between any two containers in the sub-container set 3.

In the method, before the target container set is ex-warehouse, a first sorting operation is performed on the target container set in a target roadway in a target warehouse, and for any one sub-container set in the target container set, all containers in the target roadway belonging to the sub-container set are distributed on a plurality of continuous positions in the target roadway through the first sorting operation. And sequentially carrying out ex-warehouse operation on each sub-container set in the target container set according to the target sequence, wherein the ex-warehouse operation comprises the following steps: and sequentially taking out each container in the sub-container set. For the first container in the target container set, i.e. the first container in the first sub-container set defined by the target order, before the container, there is no other container blocking the container, the container may be directly ex-warehouse without moving other containers, for each container after the first container, when the container is ex-warehouse, the previous container of the container is already ex-warehouse, before the container, there is no other container blocking the container, and the container may be directly ex-warehouse without moving other containers. When the target container set is delivered, each container in the target container set is directly delivered, and the delivery efficiency is high.

In some embodiments, further comprising: calculating an amount of movement of each of a plurality of candidate distributions, wherein the amount of movement of a candidate distribution indicates the number of containers in the target container set that need to be moved when a second sorting operation related to the candidate distribution is performed on the target container set, and the second sorting operation related to the candidate distribution is used for enabling the distribution of the containers in the target container set to reach the candidate distribution; the candidate distribution having the smallest movement amount is determined as the target distribution.

Each candidate distribution of the plurality of candidate distributions has a candidate order. The candidate order is a possible order of the set of child containers in the target set of containers.

For example, the target container set includes: child container set 1, child container set 2, child container set 3. A total of 6 candidate orders.

The candidate order of candidate distribution 1 is: the system comprises a sub-container set 1, a sub-container set 2 and a sub-container set 3, namely, the 1 st sub-container set is the sub-container set 1, the 2 nd sub-container set is the sub-container set 2, and the 3 rd sub-container set is the sub-container set 3.

The candidate order of candidate distribution 2 is: child container set 1, child container set 3, child container set 2.

The candidate order of candidate distribution 3 is: child container set 2, child container set 1, child container set 3.

The candidate order of candidate distribution 4 is: child container set 2, child container set 3, child container set 1.

The candidate order of candidate distribution 5 is: child container set 3, child container set 1, child container set 3.

The candidate order of candidate distribution 3 is: child container set 3, child container set 2, and child container set 1.

When the distribution of the containers in the target container set reaches the candidate distribution for any one candidate distribution, for any one sub-container set, all the containers belonging to the sub-container set in the target roadway are distributed on a plurality of continuous library bits in the target roadway, and the order of the sub-container set is the candidate order of the candidate distribution.

For any one of the candidate distributions, the second sort operation associated with that candidate distribution may include: determining a sequence of library bits for each set of sub-containers for the candidate order of the candidate distribution; and respectively carrying out second sorting sub-operation on each sub-container set according to the candidate order based on the library bit sequence of each sub-container set according to the candidate order.

For a first sub-container set defined by any one of the candidate orders, a first bin bit in a bin bit sequence of the first sub-container set is a first bin bit in the target lane.

For any other sub-container set defined by any candidate order, the last library bit in the library bit sequence of the previous sub-container set of the other sub-container set is the mth library bit, the first library bit in the library bit sequence of the other sub-container set is the (m + 1) th library bit, the other sub-container set is a sub-container set which is not the first sub-container set defined by the candidate order, and the previous sub-container set of the other sub-container set is defined by the candidate order.

For any one candidate order and any one sub-container set, the second sorting sub-operation on the sub-container set for the candidate order may include: determining whether there are containers in need of movement for the set of child containers and the candidate order for which the containers in need of movement belong to and for which the bin bits are not in the sequence of bin bits for the candidate order for the set of child containers; if yes, randomly selecting an allocable bin from all allocable bins in the bin bit sequence of the sub-container set aiming at each container needing to be moved, of the sub-container set and the candidate sequence, and allocating the selected allocable bin to the container needing to be moved; if a container not belonging to the sub-container set is placed in the allocable position allocated to the container to be moved, the control robot, for example, a four-way shuttle car, takes out the container not belonging to the sub-container set, and at the same time, the control robot takes out the container to be moved, places the container not belonging to the sub-container set in the position in which the container to be moved is located, and at the same time, places the container to be moved in the allocable position allocated to the container to be moved.

In this application, for any one sub-container set, the number of containers that need to be moved for the sub-container set and the candidate order may be taken as the amount of movement of the sub-container set for the candidate order.

The sum of the shift amounts for each sub-container set for the candidate order may be determined as the shift amount for the candidate order.

In the present application, the movement amount of each of the plurality of candidate distributions may be calculated, and the candidate distribution having the smallest movement amount may be determined as the target distribution, so that the number of containers that need to be moved to reach the target distribution may be minimized, and resources may be saved.

In some embodiments, further comprising: and determining a corresponding tunnel of the container set to be warehoused based on the number of the containers in the container set to be warehoused and the number of the remaining positions of each tunnel of the plurality of tunnels of the target warehouse, wherein the corresponding tunnel of the container set to be warehoused is used for storing at least one part of the container set to be warehoused.

The target warehouse may include a plurality of floors, the plurality of lanes of the target warehouse may be from a same floor, and the plurality of lanes of the target warehouse may refer to all of the lanes of the floor from which the plurality of lanes are from. The floor from which the multiple lanes of the target warehouse come can be randomly selected from multiple floors of the target warehouse by the warehouse management system to which the warehouse management method provided by the embodiment of the application is applied.

For any one bin, if there is no corresponding container on the bin and the bin is not assigned to a corresponding container, the bin is a remaining bin.

For any one of the plurality of lanes of the target warehouse, the remaining number of warehouse bits for that lane may be expressed as: the number of remaining bins for the lane = the number of bins in the lane-the number of occupied bins in the lane-the number of second containers in the lane. For any one bin, if there is a container on that bin, that bin is an occupied bin. The second container is a container in a respective lane and waiting to be placed onto a corresponding bay of the second container.

When a roadway capable of storing the container set to be put into a warehouse exists in the plurality of roadways, if yes, the target first roadway with the least number of remaining warehouse locations in all target first roadways in the plurality of roadways can be determined as the corresponding roadway of the container set to be put into a warehouse, and the corresponding roadway of the container set to be put into a warehouse can store the container set to be put into a warehouse. When a roadway capable of storing the container set to be warehoused does not exist in the plurality of roadways, determining the roadway with the most residual storage positions in the plurality of roadways as the corresponding roadway of the container set to be warehoused, wherein the corresponding roadway of the container set to be warehoused can store the containers with the number of the residual storage positions of the corresponding roadway in the container set to be warehoused.

In the method, a corresponding tunnel of a container set to be warehoused is determined based on the number of containers in the container set to be warehoused and the number of remaining positions of each of a plurality of tunnels of a target warehouse, the number of containers in the container set to be warehoused and the number of remaining positions of each of the plurality of tunnels of the target warehouse are considered comprehensively when determining the corresponding tunnel of the container set to be warehoused, and the tunnel which is suitable for being the corresponding tunnel of the container set to be warehoused is determined.

In some embodiments, determining, based on the number of containers in the set of containers to be warehoused, the number of remaining warehouse slots for each of the plurality of roadways of the target warehouse, a corresponding roadway of the set of containers to be warehoused comprises: when a first container in a container set to be warehoused is warehoused and a first roadway currently exists in a plurality of roadways, determining a corresponding roadway of the container set to be warehoused from all the first roadways in the plurality of roadways based on the number of the containers in the container set to be warehoused and the number of the remaining positions of each roadway in the plurality of roadways of a target warehouse, wherein for any one container in the first roadway, the container is on the corresponding position of the container in the first roadway; when a first container in the container set to be warehoused is warehoused, and a first roadway does not exist in a plurality of roadways and a second roadway does not exist in the plurality of roadways, determining a corresponding roadway of the container set to be warehoused from all second roadways in the plurality of roadways based on the number of containers in the container set to be warehoused and the number of remaining positions in each of the plurality of roadways of the target warehouse, wherein a second container exists in the second roadway and is a container which is in a corresponding roadway and waits to be placed on the corresponding position of the second container.

In this application, a container in the set of containers to be warehoused may be referred to as a first container. When a first container in a container set to be warehoused is warehoused and a first roadway currently exists in a plurality of roadways, if the first roadway capable of storing the container set to be warehoused currently exists in the plurality of roadways, the number of the first roadways capable of storing the container set to be warehoused is larger than or equal to the number of the first containers in the container set to be warehoused, and corresponding roadways of the container set to be warehoused can be randomly selected from all the first roadways capable of storing the container set to be warehoused. If a first roadway capable of storing the container set to be put in storage does not exist in the plurality of roadways, a corresponding roadway of the container set to be put in storage can be randomly selected from all the first roadways.

When a first container in a container set to be put in storage is put in storage, and a first roadway does not exist in a plurality of roadways and a second roadway does not exist in the plurality of roadways, determining a corresponding roadway of the container set to be put in storage from all the second roadways, if the second roadway capable of storing the container set to be put in storage exists in the plurality of roadways, the number of the second roadway capable of storing the container set to be put in storage is larger than or equal to the number of the first containers in the container set to be put in storage, randomly selecting a corresponding roadway of the container set to be put in storage from all the second roadways capable of storing the container set to be put in storage, and if the second roadway capable of storing the container set to be put in storage does not exist in the plurality of roadways, randomly selecting a corresponding roadway of the container set to be put in storage from all the second roadways.

In the method, when the first container in the container set to be put in storage is put in storage and the first roadway currently exists in the plurality of roadways, the corresponding roadway of the container set to be put in storage is determined from all the first roadways in the plurality of roadways, and the first roadway is preferentially determined as the corresponding roadway of the container set to be put in storage. The second container is not arranged in the first roadway, correspondingly, other robots which are currently placing the corresponding second container to the corresponding storage position are not arranged in the first roadway, the robots which are used for placing the first container in the container set to be warehoused to the corresponding storage position cannot be blocked by other robots, when the corresponding roadway of the container set to be warehoused is determined from all the first roadways in the plurality of roadways, warehousing of at least part of the first containers in the container set to be warehoused can be completed relatively quickly, and warehousing efficiency is high.

In some embodiments, determining, based on the number of containers in the set of containers to be warehoused and the remaining number of bay bits in each of the plurality of lanes of the target warehouse, a corresponding lane of the set of containers to be warehoused from all of the first lanes of the plurality of lanes comprises: when a target first roadway exists in the plurality of roadways, determining a target first roadway with the least residual stock space number in all target first roadways in the plurality of roadways as a corresponding roadway of a container set to be warehoused, wherein the target first roadway is a first roadway with the residual stock space number larger than or equal to the number of first containers in the container set to be warehoused; when the target first roadway does not exist in the plurality of roadways currently and the first roadway with the largest number of the remaining stock locations in all the first roadways in the plurality of roadways can be allocated to the container set to be warehoused, the first roadway with the largest number of the remaining stock locations is determined as the corresponding roadway of the container set to be warehoused.

When a target first roadway exists in the multiple roadways, determining a target first roadway with the minimum number of remaining stock locations in all target first roadways in the multiple roadways as a corresponding roadway of the container set to be put into storage, wherein the target first roadway with the minimum number of remaining stock locations can store the container set to be put into storage.

When the target first roadway does not exist in the multiple roadways currently and the first roadway with the largest number of remaining stock locations in all the first roadways in the multiple roadways can be allocated to the container set to be warehoused, the first roadway with the largest number of remaining stock locations is determined as the corresponding roadway of the container set to be warehoused, and the corresponding roadway of the container set to be warehoused can store the first containers with the number of remaining stock locations of the corresponding roadway in the container set to be warehoused.

In the method, when a target first tunnel currently exists in a plurality of tunnels, the target first tunnel with the minimum number of remaining storage locations in all target first tunnels in the plurality of tunnels is determined as the corresponding tunnel of the container set to be warehoused, so that each first container in the container set to be warehoused is completely warehoused, the warehousing process cannot be restarted for a part of first containers in the container set to be warehoused, the warehousing efficiency is high, when the target first tunnel does not exist currently in the plurality of tunnels and the first tunnel with the maximum number of remaining storage locations in all first tunnels in the plurality of tunnels can be allocated to the container set to be warehoused, the first tunnel with the maximum number of remaining storage locations is determined as the corresponding tunnel of the container set to be warehoused, and the first containers can be warehoused as much as possible.

In some embodiments, determining, based on the number of containers in the set of containers to be warehoused and the remaining number of bay bits in each of the plurality of lanes of the target warehouse, a corresponding lane of the set of containers to be warehoused from all second lanes of the plurality of lanes comprises: when a target second roadway currently exists in the plurality of roadways, determining a target second roadway with the minimum predicted sorting cost in all target second roadways in the plurality of roadways as a corresponding roadway of the container set to be warehoused, wherein the target second roadway is a second roadway with the number of remaining warehouse positions being greater than or equal to the number of first containers in the container set to be warehoused, the predicted sorting cost of each roadway is used for indicating how many container position relationships need to be based on in order to determine the distribution that all containers in the roadway should achieve when the container set to be warehoused is added to the roadway, and the container position relationship indicates the relationship between the position of a corresponding first container in the container set to be warehoused and the position of a corresponding container in the target second roadway; when the plurality of lanes does not include the target second lane and a second lane having a smallest predicted sorting cost of all second lanes in the plurality of lanes may be allocated to the set of containers to be warehoused, determining the second lane having the smallest predicted sorting cost as a corresponding lane of the set of containers to be warehoused.

For any one lane, the predicted sorting cost of the lane is used to indicate how many container position relationships are required to be based on in order to determine the distribution that all containers in the lane should achieve when the container set to be put in storage is added to the lane, and the container position relationship indicates a relationship between the position of a corresponding one of the first containers in the container set to be put in storage and the position of a corresponding one of the containers in the target second lane.

For any second tunnel, under the condition that the container set to be warehoused is added to the second tunnel, in order to determine the distribution that all containers in the second tunnel should reach, under the condition that the container set to be warehoused is added to the second tunnel, the containers in the second tunnel are combined pairwise under the condition that the container set to be warehoused is added to the second tunnel, and a plurality of container pairs are obtained. A container pair comprises two containers in the second lane, the container pair comprising, for any one container pair, a container that is not present in the other container pair, the container positional relationship of the two containers in the container pair being taken into account in order to determine the distribution that should be achieved for all containers in the second lane. Therefore, the number of the obtained container pairs is the predicted sorting cost of the second roadway.

In the application, when a target second roadway currently exists in the plurality of roadways, the target second roadway with the minimum predicted sorting cost in all the target second roadways in the plurality of roadways is determined as the corresponding roadway of the container set to be warehoused. When the plurality of lanes do not include the target second lane and a second lane having the smallest predicted sorting cost of all second lanes in the plurality of lanes may be allocated to the set of containers to be warehoused, determining the second lane having the smallest predicted sorting cost as the corresponding lane of the set of containers to be warehoused. Therefore, after at least one part of the container set to be warehoused is stored in the corresponding roadway of the container set to be warehoused, if the distribution which all containers in the second roadway should reach is needed, the paid sorting cost is minimum.

In some embodiments, further comprising: when a plurality of container sets to be delivered are arranged in the target warehouse and the plurality of container sets to be delivered relate to a plurality of floors of the target warehouse, determining a target container set to be delivered from the plurality of container sets to be delivered based on the number of the transfer robots of each of the plurality of floors; and adding the target container sets to be delivered into a delivery sequence, wherein each container set to be delivered in the delivery sequence is delivered out according to the sequence.

In this application, the target warehouse may include a plurality of floors, and for any one floor, the floor includes a plurality of lanes. The robot may be a four-way shuttle.

The multiple floors related to the multiple container sets to be delivered are obtained by de-duplicating the corresponding floor sets of the multiple container sets to be delivered, the corresponding floor sets of the multiple container sets to be delivered are obtained by aggregating the corresponding floors of each container to be delivered in the container sets to be delivered, and the corresponding floors of the containers to be delivered are the floors where the containers to be delivered are located.

For any floor in a plurality of floors related to the plurality of containers to be delivered, the number of the robots of the floor is the number of the robots in the floor.

When a to-be-delivered container set which can be added to a delivery sequence is determined from the plurality of to-be-delivered container sets based on the number of robots of each of the plurality of floors related to the plurality of to-be-delivered container sets, the floor with the largest number of robots among the plurality of floors related to the plurality of to-be-delivered container sets may be determined.

If the number of the container sets to be delivered from the storeys with the largest number of robots is one, the container sets to be delivered from the storeys with the largest number of robots may be determined as the container sets to be delivered that can be added to the delivery sequence.

If the number of the container sets to be delivered from the floors with the largest number of robots is multiple, randomly selecting one container set to be delivered from the container sets to be delivered from the floors with the largest number of robots, and determining the randomly selected container set to be delivered as the container set to be delivered which can be added into the delivery sequence.

In the application, the container sets to be delivered in the delivery sequence are delivered in order.

The earlier the container set to be ex-warehouse is added into the ex-warehouse sequence, the earlier the start time of ex-warehouse of the container set to be ex-warehouse is.

For a container set to be ex-warehouse in the ex-warehouse sequence, before ex-warehouse of the container set to be ex-warehouse, the container set to be ex-warehouse is taken as a target container set, first sorting operation is carried out on the container set to be ex-warehouse, and then ex-warehouse is carried out on the container set to be ex-warehouse.

In the application, the more the number of robots on the floor where the container sets to be delivered are located, the more the number of robots can be scheduled, the earlier the delivery start time of the container sets to be delivered is, the more the containers to be delivered on the floor with the largest number of robots are added into the delivery sequence, and when the container sets to be delivered in the delivery sequence are delivered, the container sets to be delivered in the delivery sequence can be delivered as early as possible, so that the delivery efficiency is high.

In some embodiments, the target roadway has a first side access corresponding to the first temporary placement area and a second side access corresponding to the second temporary placement area, the first side access being an exit of the target roadway; the first sort operation includes: determining whether the distance between the storage position where the first target container is located and the first side access is smaller than or equal to the distance between the storage position where the second target container is located and the second side access, wherein the first target container is the target container closest to the first side access, the second target container is the target container farthest from the first side access, and the target container meets one of the following conditions: the library bit of the target container is not in the library bit sequence of the sub-container set to which the target container belongs, the target container does not belong to any sub-container set, and the library bit of the target container is in the library bit sequence of a corresponding sub-container set, wherein the library bit sequence is defined by target distribution; if so, placing the first target container in a first temporary placement area, and respectively placing each third target container in a temporary placement area closest to the third target container, wherein the third target container is a target container placed on a library position with a serial number greater than that of the first library position, and the first library position is the library position where the first target container is located; placing the respective target container in the respective temporary placement area onto a free bin position allocated to the respective target container, wherein the free bin position is formed as a result of placing the respective target container in the respective temporary placement area, the free bin position allocated to the target container belonging to the respective sub-container set being in a bin position sequence of the respective sub-container set; if not, placing the second target container in a second temporary placement area, and respectively placing each fourth target container in a temporary placement area closest to the fourth target container, wherein the fourth target container is a container placed on a library position with a sequence number smaller than that of the second library position, and the second library position is the library position where the second target container is located; and placing the corresponding target container in the corresponding temporary placement area on the free library position allocated to the corresponding target container.

In the present application, each of the two sides of the target roadway has an access opening, and the target roadway has a first side access opening and a second side access opening. And a first side access of the target roadway is an exit of the target roadway.

In this application, for any one sub-container set, the sequence of library bits for that sub-container set is defined by the target distribution.

The first bin in the sequence of bin bits of the first set of sub-containers defined by the target order is the first bin bit in the target lane.

For the library bit sequence of one other sub-container set, the last library bit in the library bit sequence of the previous sub-container set of the other sub-container set is the mth library bit, the first library bit in the library bit sequence of the other sub-container set is the (m + 1) th library bit, the other sub-container set is a sub-container set which is not the first sub-container set, and the previous sub-container set of the other sub-container set is defined by the target order.

In this application, for a container in the target lane, if the container belongs to a sub-container set and the position where the container is located is not in the position sequence of the sub-container set to which the container belongs, the container is a target container.

For a container in the target roadway, if the container does not belong to any one sub-container set and the library bit in which the container is located is in the library bit sequence of a corresponding sub-container set, the container is a target container.

The first target container is the one closest to the first side entrance of all the target containers. The second target container is the target container farthest from the first side access opening among all the target containers.

In this application, the first library location where the first target container is located is denoted as the i1 st library location.

And recording the second library position where the second target container is as the ith 2 library position.

The number of the containers in the target roadway is recorded as n, the last container in the target roadway is the nth container, and the position of the last container is the nth position.

The ith warehouse location in the target roadway is relative to the first side entrance and exit of the target roadway, namely the exit and exit of the target roadway.

The 1 st storage position in the target roadway is the storage position which is closest to the first side access and exit of the target roadway, and the nth storage position in the target roadway is the storage position which is farthest from the first side access and exit of the target roadway.

For any one of the library locations and any one of the temporary placement areas, the distance between the library location and the outlet corresponding to the temporary placement area may be taken as the distance between the library location and the temporary placement area.

The first temporary placement area is outside the roadway and near the first side access opening. The second temporary placement area is outside the roadway and near the second side access opening.

For the ith bin, the distance between the ith bin and the first side entrance may be: the number of bin bits preceding the i1 st bin bit is the width of the bin bit.

For the ith bin, the distance between the ith bin and the second side entrance/exit may be: the number of bin bits after the ith bin bit is the width of the bin bit.

When the distance between the storage position where the first target container is located and the first side access is smaller than or equal to the distance between the storage position where the second target container is located and the second side access, the first target container is placed in the first temporary placement area, and each third target container is placed in the temporary placement area closest to the third target container, wherein the third target container is a target container placed in the storage position with the serial number larger than that of the first storage position, and the first storage position is the storage position where the first target container is located.

For each third target container, placing the third target container in a temporary placement area, which is closest to the third target container, of the first temporary placement area and the second temporary placement area.

For any target container, after the target container is placed in the corresponding temporary placement area, the storage position in which the target container is located before the target container is placed in the corresponding temporary placement area becomes a free storage position.

After the first target container is placed in the first temporary placement area and each third target container is placed in the temporary placement area closest to the third target container, a free stock space is allocated to each target container in the first temporary placement area and a free stock space is allocated to each target container in the second temporary placement area.

All the free library bits constitute a free library bit sequence. For a target container in a temporary placement area, which belongs to the corresponding sub-container set, randomly selecting a free library bit from all the free library bits in the library bit sequence of the sub-container set to which the target container belongs and which are not allocated, and allocating the randomly selected free library bit to the target container.

And for a target container which does not belong to any sub-container set in the temporary placement area, randomly selecting a free library bit from all the free library bits which are not in the library bit sequence of the sub-container set and are not allocated, and allocating the randomly selected free library bit to the target container.

After allocating free pool bits for each target container, for each set of child containers, the set of child containers is placed from the corresponding temporary placement area onto the free pool bits allocated to the target container.

When the distance between the storage position where the first target container is located and the first side access is smaller than or equal to the distance between the storage position where the second target container is located and the second side access, placing the second target container in a second temporary placement area, and respectively placing each fourth target container in a temporary placement area closest to the fourth target container, wherein the fourth target container is a container placed in the storage position with the serial number smaller than that of the second storage position, and the second storage position is the storage position where the second target container is located; and placing the corresponding target container in the corresponding temporary placement area on the free library position allocated to the corresponding target container.

After the second target container is placed in the second temporary placement area and each fourth target container is placed in the temporary placement area closest to the fourth target container, a free stock space is allocated to each target container in the first temporary placement area and a free stock space is allocated to each target container in the second temporary placement area.

For a target container in a temporary placement area, which belongs to the corresponding sub-container set, randomly selecting a free library bit from all the free library bits in the library bit sequence of the sub-container set to which the target container belongs and which are not allocated, and allocating the randomly selected free library bit to the target container.

After allocating free bin bits for each target container, for each set of sub-containers, the set of sub-containers is placed from the corresponding temporary placement area onto the free bin bits allocated to the target container.

In this application, at the in-process of carrying out first arrangement operation, can place corresponding target container to temporarily place the district, then, put corresponding storehouse position in the target tunnel back with corresponding target container again, can avoid taking out the target container and temporarily place in the robot in the target tunnel passes through the district in, hinders the condition of corresponding robot in the target tunnel. Each target container is placed in the temporary placement area closest to the target container, and placing the target container in the temporary placement area consumes less resources.

Referring to fig. 2, a block diagram of a warehouse management device according to an embodiment of the present disclosure is shown. The warehouse management device includes: a sorting unit 201 and a delivery unit 202.

The sorting unit 201 is configured to perform a first sorting operation on a target container set in a target lane in a target warehouse to make the distribution of the target container set reach a target distribution, wherein when the distribution of the target container set reaches the target distribution, for any one sub-container set in the target container set, the sub-container set is distributed on a plurality of continuous positions in the target lane;

the ex-warehouse unit 202 is configured to perform ex-warehouse operations on each sub-container set in the target container set in sequence according to a target order, where the ex-warehouse operations include: and sequentially carrying out ex-warehouse on each container in the sub-container set according to the order of the containers in the sub-container set.

In some embodiments, the warehouse management device further comprises:

a calculation unit configured to calculate a movement amount of each of a plurality of candidate distributions, wherein the movement amount of a candidate distribution indicates the number of containers in the target container set that need to be moved when a second sort operation related to the candidate distribution is performed on the target container set, and the second sort operation related to the candidate distribution is used to bring the distribution of the target container set to the candidate distribution; determining a candidate distribution having the smallest amount of movement as the target distribution.

In some embodiments, the warehouse management device further comprises:

the storage unit is configured to determine a corresponding lane of the container set to be stored based on the number of containers in the container set to be stored and the number of remaining storage positions of each lane of the plurality of lanes of the target warehouse, wherein the corresponding lane of the container set to be stored is used for storing at least a part of the container set to be stored.

In some embodiments, the warehousing unit is further configured to, when a first container in the set of containers to be warehoused is warehoused and a first lane currently exists in the plurality of lanes, determine a corresponding lane of the set of containers to be warehoused from all first lanes of the plurality of lanes based on the number of containers in the set of containers to be warehoused and the number of remaining stock positions of each of the plurality of lanes of the target warehouse, wherein for any one container in a first lane, the container is on the corresponding stock position of the container in the first lane; when a first container in the container set to be warehoused is warehoused, a first roadway does not exist in the plurality of roadways at present, and a second roadway exists in the plurality of roadways at present, determining a corresponding roadway of the container set to be warehoused from all second roadways in the plurality of roadways based on the number of containers in the container set to be warehoused and the number of remaining positions in each roadway of the target warehouse, wherein a second container exists in the second roadway, and the second container is a container which is in the corresponding roadway and waits to be placed on the corresponding position of the second container.

In some embodiments, the warehousing unit is further configured to, when a target first tunnel currently exists in the plurality of tunnels, determine a target first tunnel with the smallest number of remaining stock locations in all target first tunnels in the plurality of tunnels as a corresponding tunnel of the container set to be warehoused, wherein the target first tunnel is a first tunnel whose number of remaining stock locations is greater than or equal to the number of first containers in the container set to be warehoused; when a target first tunnel does not exist in the plurality of tunnels currently and a first tunnel with the largest number of remaining stock locations in all first tunnels in the plurality of tunnels can be allocated to the container set to be warehoused, determining the first tunnel with the largest number of remaining stock locations as a corresponding tunnel of the container set to be warehoused.

In some embodiments, the warehousing unit is further configured to determine, when a target second lane currently exists in the plurality of lanes, a target second lane having a smallest predicted sorting cost among all target second lanes in the plurality of lanes as a corresponding lane of the set of containers to be warehoused, where the target second lane is a second lane whose number of remaining warehouse locations is greater than or equal to the number of first containers in the set of containers to be warehoused, and the predicted sorting cost of each lane is used to indicate, in a case where the set of containers to be warehoused is added to the lane, how many container position relationships, which indicate a relationship between a position of a corresponding one of the set of containers to be warehoused and a position of a corresponding one of the target second lanes, are required based on in order to determine a distribution to which all containers in the lane should be reached; when the plurality of lanes do not include a target second lane and a second lane having a smallest predicted consolidation cost of all second lanes of the plurality of lanes may be allocated to the set of containers to be warehoused, determining the second lane having the smallest predicted consolidation cost as a corresponding lane of the set of containers to be warehoused.

In some embodiments, further comprising: when a plurality of container sets to be delivered are in the target warehouse and the plurality of container sets to be delivered relate to a plurality of floors of the target warehouse, determining a target container set to be delivered from the plurality of container sets to be delivered based on the number of transfer robots of each of the plurality of floors; and adding the target container sets to be ex-warehouse into an ex-warehouse sequence, wherein each container set to be ex-warehouse in the ex-warehouse sequence is ex-warehouse in sequence.

In some embodiments, the target roadway has a first side access corresponding to the first temporary placement area and a second side access corresponding to the second temporary placement area, the first side access being an exit of the target roadway; the first sorting operation includes: determining whether the distance between the storage position where a first target container is located and the first side access is smaller than or equal to the distance between the storage position where a second target container is located and the second side access, wherein the first target container is the target container closest to the first side access, the second target container is the target container farthest from the first side access, and the target containers meet one of the following conditions: the library bit of the target container is not in the library bit sequence of the sub-container set to which the target container belongs, the target container does not belong to any sub-container set, and the library bit of the target container is in the library bit sequence of a corresponding sub-container set, wherein the library bit sequence is defined by the target distribution; if so, placing the first target container in the first temporary placement area, and respectively placing each third target container in a temporary placement area closest to the third target container, wherein the third target container is a target container placed on a library position with a serial number greater than that of the first library position, and the first library position is the library position where the first target container is located; placing the respective target container in the respective temporary placement area onto a free bin position allocated to the respective target container, wherein the free bin position is formed as a result of placing the respective target container in the respective temporary placement area, the free bin position allocated to the target container belonging to the respective sub-container set being in a bin position sequence of the respective sub-container set; if not, placing the second target container in a second temporary placement area, and respectively placing each fourth target container in a temporary placement area closest to the fourth target container, wherein the fourth target container is a container placed in a library position with a sequence number smaller than that of the second library position, and the second library position is the library position where the second target container is located; and placing the corresponding target container in the corresponding temporary placement area on the free library position allocated to the corresponding target container.

For the steps of the warehouse management method, reference may be specifically made to relevant contents of the warehouse management method.

Embodiments of the present application also provide a computer-readable storage medium, on which a computer program/instruction is stored, and when the computer program/instruction is executed by a processor, the computer program/instruction implements the warehouse management method.

Embodiments of the present application further provide a computer program product, which includes a computer program/instruction, and when executed by a processor, the computer program/instruction implements the warehouse management method.

In an exemplary embodiment, there is also provided a storage medium comprising instructions, such as a memory comprising instructions, executable by an electronic device to perform the warehouse management method described above. Alternatively, the storage medium may be a non-transitory computer readable storage medium, which may be, for example, a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

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

It will be understood that the present application is not limited to the precise arrangements that have been 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 application is limited only by the appended claims.

Claims

1. A warehouse management method, the method comprising:

performing a first sorting operation on a target container set in a target roadway in a target warehouse so that the distribution of the target container set reaches a target distribution, wherein when the distribution of the target container set reaches the target distribution, for any one sub-container set in the target container set, the sub-container set is distributed on a plurality of continuous positions in the target roadway;

and sequentially carrying out ex-warehouse operation on each sub-container set in the target container set according to the target sequence, wherein the ex-warehouse operation comprises the following steps: and sequentially carrying out ex-warehouse on each container in the sub-container set according to the order of the containers in the sub-container set.

2. The method of claim 1, further comprising:

calculating an amount of movement of each of a plurality of candidate distributions, wherein the amount of movement of a candidate distribution indicates the number of containers in the target container set that need to be moved when a second sorting operation related to the candidate distribution is performed on the target container set, and the second sorting operation related to the candidate distribution is used for enabling the distribution of the target container set to reach the candidate distribution;

determining the candidate distribution having the smallest moving amount as the target distribution.

3. The method according to claim 1 or 2, characterized in that the method further comprises:

and determining a corresponding tunnel of the container set to be warehoused based on the number of the containers in the container set to be warehoused and the number of the remaining warehouse positions of each tunnel of the multiple tunnels of the target warehouse, wherein the corresponding tunnel of the container set to be warehoused is used for storing at least one part of the container set to be warehoused.

4. The method of claim 3, wherein determining a corresponding lane of the set of containers to be warehoused based on the number of containers in the set of containers to be warehoused, the number of remaining inventory positions for each of the plurality of lanes of the target warehouse comprises:

when a first container in the container set to be warehoused is warehoused and a first roadway currently exists in the plurality of roadways, determining a corresponding roadway of the container set to be warehoused from all first roadways in the plurality of roadways based on the number of containers in the container set to be warehoused and the number of remaining positions of each roadway of the plurality of roadways of the target warehouse, wherein for any container in a first roadway, the container is on the corresponding position of the container in the first roadway;

when a first container in the container set to be warehoused is warehoused, a first roadway does not exist in the plurality of roadways at present, and a second roadway exists in the plurality of roadways at present, determining a corresponding roadway of the container set to be warehoused from all second roadways in the plurality of roadways based on the number of containers in the container set to be warehoused and the number of remaining warehouse positions of each roadway of the target warehouse, wherein a second container exists in the second roadway, and the second container is a container which is in a corresponding roadway and waits to be placed on the corresponding warehouse position of the second container.

5. The method of claim 4, wherein determining, from all first lanes of the plurality of lanes, a corresponding lane of the set of containers to be warehoused based on the number of containers in the set of containers to be warehoused and the remaining number of bay bits for each of the plurality of lanes of the target warehouse comprises:

when a target first roadway exists in the plurality of roadways, determining a target first roadway with the least residual stock space number in all target first roadways in the plurality of roadways as a corresponding roadway of the container set to be warehoused, wherein the target first roadway is a first roadway with the residual stock space number larger than or equal to the number of first containers in the container set to be warehoused;

when a target first tunnel does not exist in the plurality of tunnels currently and a first tunnel with the largest number of remaining stock locations in all first tunnels in the plurality of tunnels can be allocated to the container set to be warehoused, determining the first tunnel with the largest number of remaining stock locations as a corresponding tunnel of the container set to be warehoused.

6. The method of claim 4 or 5, wherein determining the corresponding lane of the set of containers to be warehoused from all second lanes of the plurality of lanes based on the number of containers in the set of containers to be warehoused and the remaining number of bay bits for each of the plurality of lanes of the target warehouse comprises:

when a target second roadway exists in the plurality of roadways, determining a target second roadway with the minimum predicted sorting cost in all target second roadways in the plurality of roadways as a corresponding roadway of the container set to be warehoused, wherein the target second roadway is a second roadway of which the number of remaining warehouse locations is greater than or equal to the number of first containers in the container set to be warehoused, and the predicted sorting cost of each roadway is used for indicating how many container position relationships, which indicate the relationship between the position of a corresponding one of the container sets to be warehoused and the position of a corresponding one of the containers in the target second roadway, are needed to be based on in order to determine the distribution that all the containers in the roadway should reach when the container set to be warehoused is added to the roadway;

when the plurality of lanes do not include a target second lane and a second lane having a smallest predicted consolidation cost of all second lanes of the plurality of lanes may be allocated to the set of containers to be warehoused, determining the second lane having the smallest predicted consolidation cost as a corresponding lane of the set of containers to be warehoused.

7. The method according to any one of claims 1-6, further comprising:

when a plurality of container sets to be delivered are in the target warehouse and the plurality of container sets to be delivered relate to a plurality of floors of the target warehouse, determining a target container set to be delivered from the plurality of container sets to be delivered based on the number of transfer robots of each of the plurality of floors;

and adding the target container sets to be delivered into a delivery sequence, wherein each container set to be delivered in the delivery sequence is delivered according to the sequence.

8. The method of any one of claims 1-7, wherein the target roadway has a first side access corresponding to a first temporary placement area and a second side access corresponding to a second temporary placement area, the first side access being an exit of the target roadway; the first sorting operation includes:

determining whether the distance between the storage position where a first target container is located and the first side access is smaller than or equal to the distance between the storage position where a second target container is located and the second side access, wherein the first target container is the target container closest to the first side access, the second target container is the target container farthest from the first side access, and the target containers meet one of the following conditions: the library bit of the target container is not in the library bit sequence of the sub-container set to which the target container belongs, the target container does not belong to any sub-container set, and the library bit of the target container is in the library bit sequence of a corresponding sub-container set, wherein the library bit sequence is defined by the target distribution;

if so, placing the first target container in the first temporary placement area, and respectively placing each third target container in a temporary placement area closest to the third target container, wherein the third target container is a target container placed on a library position with a serial number greater than that of the first library position, and the first library position is the library position where the first target container is located;

placing the respective target container in the respective temporary placement area onto a free bin position allocated to the respective target container, wherein the free bin position is formed as a result of placing the respective target container in the respective temporary placement area, the free bin position allocated to the target container belonging to the respective sub-container set being in a bin position sequence of the respective sub-container set;

if not, placing the second target container in a second temporary placement area, and respectively placing each fourth target container in a temporary placement area closest to the fourth target container, wherein the fourth target container is a container placed on a library position with a sequence number smaller than that of the second library position, and the second library position is the library position where the second target container is located;

and placing the corresponding target container in the corresponding temporary placement area on the free library position allocated to the corresponding target container.

9. An electronic device, comprising: memory, processor and computer program stored on the memory, characterized in that the processor executes the computer program to implement the method of any of claims 1-8.

10. A computer-readable storage medium on which a computer program/instructions are stored, characterized in that the computer program/instructions, when executed by a processor, implement the method of any one of claims 1-8.

11. A computer program product comprising computer programs/instructions, characterized in that the computer programs/instructions, when executed by a processor, implement the method of any of claims 1-8.