WO2024093758A1 - 立体仓库的搬运调度方法及装置 - Google Patents

立体仓库的搬运调度方法及装置 Download PDF

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Publication number
WO2024093758A1
WO2024093758A1 PCT/CN2023/126507 CN2023126507W WO2024093758A1 WO 2024093758 A1 WO2024093758 A1 WO 2024093758A1 CN 2023126507 W CN2023126507 W CN 2023126507W WO 2024093758 A1 WO2024093758 A1 WO 2024093758A1
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Prior art keywords
target
transported
storage
candidate
unit
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English (en)
French (fr)
Inventor
沈先利
曹铮
韩昊
赵成业
魏锡光
谭文哲
李洪波
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Beijing Geekplus Technology Co Ltd
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Beijing Geekplus Technology Co Ltd
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Priority to EP23884690.1A priority Critical patent/EP4614413A4/en
Publication of WO2024093758A1 publication Critical patent/WO2024093758A1/zh
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping

Definitions

  • the present disclosure relates to the field of warehousing and logistics technology, and in particular to a transportation scheduling method for a stereoscopic warehouse, as well as a transportation scheduling device for a stereoscopic warehouse, a computing device, and a computer-readable storage medium.
  • the transportation of items is usually completed manually: after receiving the task, the person finds the items to be transported and the transportation location, and goes to the transportation location to transport the items to be transported. Since manual operation to complete the transportation of items takes a lot of time and consumes a lot of manpower, a more efficient and convenient method is needed for transportation scheduling.
  • the embodiment of the present disclosure provides a method for transport scheduling of a three-dimensional warehouse.
  • the present disclosure also relates to a transport scheduling device of a three-dimensional warehouse, a computing device, and a computer-readable storage medium.
  • a method for transport scheduling of a three-dimensional warehouse includes multiple storage floors, and the storage floors include multiple lanes.
  • the method for transport scheduling of the three-dimensional warehouse includes: determining a target unit to be transported according to task information of a task to be executed; screening at least one candidate lane in the three-dimensional warehouse that meets the item attribute information according to item attribute information in the target unit to be transported; screening at least one target storage floor from the multiple storage floors according to distribution information of at least one candidate lane in the multiple storage floors and current floor information of the target unit to be transported; determining a target storage position in at least one target storage floor according to current position information of the target unit to be transported and storage position information of a candidate lane in at least one target storage floor; and scheduling transport equipment to transport the target unit to be transported to the target storage position for storage.
  • a transport scheduling device for a three-dimensional warehouse includes multiple storage floors, and the storage floors include multiple lanes.
  • the transport scheduling device for the three-dimensional warehouse includes: a first determination module, configured to determine a target unit to be transported according to task information of a task to be executed; a first screening module, configured to screen at least one candidate lane in the three-dimensional warehouse that meets the item attribute information according to the item attribute information in the target unit to be transported; a second screening module, configured to screen at least one target storage floor from the multiple storage floors according to distribution information of at least one candidate lane in the multiple storage floors and current floor information of the target unit to be transported; a second determination module, configured to determine a target storage position in at least one target storage floor according to current position information of the target unit to be transported and storage position information of a candidate lane in at least one target storage floor; and a scheduling module, configured to schedule transport equipment to transport the target unit to be transported to the target storage position for storage.
  • a computing device comprising: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions: determining a target unit to be transported according to task information of a task to be executed; screening at least one candidate lane in a stereoscopic warehouse that meets the item attribute information according to item attribute information in the target unit to be transported; screening at least one target storage floor from multiple storage floors according to distribution information of at least one candidate lane in multiple storage floors and current floor information of the target unit to be transported; determining a target storage position in at least one target storage floor according to current position information of the target unit to be transported and storage position information of a candidate lane in at least one target storage floor; and scheduling a transport device to transport the target unit to be transported to the target storage position for storage.
  • a computer-readable storage medium which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the transportation scheduling method of the high-bay warehouse are implemented.
  • the transport scheduling method for a stereoscopic warehouse determines the target unit to be transported according to the task information of the task to be executed, screens the candidate lanes according to the attribute information of the item in the target unit to be transported, further screens the target storage floor according to the candidate lanes, and finally determines the target storage position in the target floor, thereby rationally planning the storage positions, improving the utilization rate of the storage positions and the efficiency of transport scheduling.
  • FIG1 is a framework diagram of a transport scheduling system for a stereoscopic warehouse provided according to some embodiments of the present disclosure
  • FIG2 is a flow chart of a method for transport scheduling of a three-dimensional warehouse provided according to some embodiments of the present disclosure
  • FIG3A is a structural example diagram of a storage floor in a stereoscopic warehouse according to some embodiments of the present disclosure
  • 3B is a processing flow chart of a method for transport scheduling of a stereoscopic warehouse applied in the field of warehousing and logistics according to some embodiments of the present disclosure
  • FIG. 4 is a flow chart of determining a target storage location in a transportation scheduling method for a stereoscopic warehouse according to some embodiments of the present disclosure
  • FIG. 5 is a schematic diagram of the structure of a target storage floor in a stereoscopic warehouse according to some embodiments of the present disclosure
  • FIG6 is a schematic structural diagram of a storage floor in another stereoscopic warehouse provided according to some embodiments of the present disclosure.
  • FIG. 7 is a schematic structural diagram of a transport scheduling device for a stereoscopic warehouse provided according to some embodiments of the present disclosure.
  • FIG8 is a structural block diagram of a computing device provided according to some embodiments of the present disclosure.
  • first, second, etc. may be used to describe various information in one or more embodiments of the present disclosure, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.
  • the first may also be referred to as the second, and similarly, the second may also be referred to as the first.
  • word "if” as used herein may be interpreted as "at the time of” or "when” or "in response to determining”.
  • a four-way shuttle refers to an autonomous mobile robot that can shuttle in four directions (front, back, left, and right) within a plane.
  • Autonomous mobile robot (AGV, Automated Guided Vehicle): Its most notable feature is unmanned driving.
  • the AGV is equipped with an automatic guidance system, which can ensure that the system can automatically travel along the predetermined route without the need for manual navigation, and automatically transport goods or materials from the starting point to the destination.
  • the aisle is an area within a high-bay warehouse, with a row of storage locations corresponding to each aisle.
  • a method for transport scheduling of a stereoscopic warehouse is provided.
  • the present disclosure also relates to a transport scheduling device for a stereoscopic warehouse, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.
  • Automated warehouses are an important part of modern logistics.
  • Four-way shuttle warehouses are a type of automated warehouses and one of the main development trends of automated warehouses.
  • the allocation of storage locations is one of the key links that affect the average travel time of four-way shuttles and system efficiency.
  • Multi-depth four-way shuttle warehouses are ultra-dense storage that can store more items and have higher storage capacity.
  • the depth of the aisles generally includes four or more storage locations, each of which is used to store units to be transported (such as pallets) for placing items.
  • the units to be transported can store medium and large items.
  • the moving of items is done manually. For example, after receiving the task, the person will look for the items to be moved and the moving location, and then go to the moving location to move the items to be moved. Since manually moving items will take a lot of time and manpower, a more efficient and convenient method is needed for moving scheduling.
  • some embodiments of the present disclosure provide a method for transport scheduling of a stereoscopic warehouse, which selects candidate lanes, selects target storage floors according to the candidate lanes, and finally determines the target storage positions in the target floors, rationally plans the storage positions, reduces the waste of storage positions, improves the utilization rate of storage positions, and can reduce unnecessary warehouse transfers, while also improving the efficiency of transport scheduling. That is, the transport scheduling method provided by the present disclosure can reasonably allocate storage positions in stereoscopic warehousing to improve transport efficiency.
  • FIG1 is a framework diagram of a transport scheduling system for a stereoscopic warehouse provided according to some embodiments of the present disclosure, wherein the transport scheduling system for the stereoscopic warehouse includes a service end 102 and transport equipment 104 .
  • the server 102 is used to determine the target unit to be transported according to the task information of the task to be executed; screen at least one candidate lane in the stereoscopic warehouse that meets the attribute information of the item in the target unit to be transported; screen at least one target storage floor according to the distribution information of at least one candidate lane in multiple storage floors and the current floor information of the target unit to be transported; determine the target storage position in at least one target storage floor according to the current position information of the target unit to be transported and the storage position information of the candidate lane in at least one target storage floor; and schedule the transport equipment 104 to transport the target unit to be transported to the target storage position for storage.
  • the storage locations can be reasonably planned, and the utilization rate of the storage locations and the efficiency of transportation scheduling can be improved.
  • FIG2 is a flow chart of a method for transport scheduling of a stereoscopic warehouse provided according to some embodiments of the present disclosure. As shown in FIG2 , the method includes the following steps:
  • Step 202 Determine the target unit to be transported according to the task information of the task to be executed.
  • the target unit to be transported may be determined according to the task information of the task to be performed.
  • pending tasks refer to tasks waiting to be executed, including outbound tasks and inbound tasks, which may be tasks in various scenarios such as warehousing logistics, factory transportation, hotel or restaurant transportation, etc.
  • outbound tasks and inbound tasks may be tasks in various scenarios such as warehousing logistics, factory transportation, hotel or restaurant transportation, etc.
  • present disclosure does not limit the application scenarios of pending tasks.
  • the task information of the task to be performed includes but is not limited to the task type, task number, task priority, etc. of the task to be performed.
  • the unit to be transported refers to a unit used to transport items, which can be a box structure or a platform structure.
  • the unit to be transported includes but is not limited to a single cargo box, a multi-layer cargo box with a partition in the middle, a turnover box, a carton, an original box, a pallet, etc.
  • the embodiment of the present disclosure does not limit the type of the unit to be transported, and the type of the unit to be transported can be selected according to actual conditions.
  • the task type may include an outbound task and an inbound task.
  • Step 202 may determine the target unit to be transported according to the task type of the task to be executed. Exemplarily, before the above step 202, it may be determined whether the multiple initial tasks include an outbound task; if the multiple initial tasks include an outbound task, the task to be executed is determined from the outbound tasks.
  • the outbound task is to transfer the target unit to be transported from the original location to the target storage location, if the outbound task and the inbound task exist at the same time, the outbound task can be processed first to reduce unnecessary movement during the execution of the inbound task.
  • the task type of the initial tasks can be determined, and whether the multiple initial tasks include an outbound task can be determined based on the task type. If there is an outbound task among the multiple initial tasks, the task to be executed is determined from the outbound tasks; if there is no outbound task among the multiple initial tasks, the task to be executed is determined from the multiple initial tasks.
  • the item information of the initial task can be obtained to determine whether the item corresponding to the initial task is stored in the stereoscopic warehouse. If the item is stored in a storage location in the stereoscopic warehouse, the initial task is determined to be an outbound task.
  • a pre-trained classification model can be used to classify the initial task to determine whether the initial task is an outbound task, wherein the classification model can be obtained based on neural network training such as convolutional neural network (CNN) and recurrent neural network (RNN).
  • CNN convolutional neural network
  • RNN recurrent neural network
  • the task to be executed can be determined among the at least two outbound tasks based on the priority of each of the at least two outbound tasks.
  • the target unit to be transported is the unit to be transported waiting to be stored; if the task to be executed is a storage-out task, the target unit to be transported can be determined according to the storage location information of the unit to be transported corresponding to the storage-out task.
  • the unit to be transported corresponding to the storage-out task refers to the unit to be transported corresponding to the storage-out task waiting to be transported, and the target unit to be transported is the unit to be transported that blocks the unit to be transported from being transported.
  • the above-mentioned determination of the target unit to be transported based on the task information of the task to be executed may include: when the task to be executed is an outbound task, determining the outbound unit corresponding to the task to be executed; determining at least one candidate unit to be transported based on the storage location information of the outbound unit; and determining the target unit to be transported from at least one candidate unit to be transported based on the depth information of at least one candidate unit to be transported in the aisle.
  • the unit to be shipped refers to the unit to be shipped.
  • the storage location information of the unit to be shipped includes the storage floor, storage lane, storage depth information, etc. of the unit to be shipped. Since the outbound task usually includes the storage location information of the unit to be shipped, it can be based on The location information is stored to determine the unit to be shipped corresponding to the task to be executed.
  • the unit to be shipped that blocks the unit to be shipped out from the warehouse can be determined according to the storage location information of the unit to be shipped out, and the unit to be shipped that blocks the unit to be shipped out from the warehouse can be used as at least one candidate unit to be shipped.
  • it can be determined whether the storage position adjacent to the unit to be shipped out is idle according to the storage location information of the unit to be shipped out. If the storage position adjacent to the unit to be shipped out is an idle storage position, it is determined whether the storage position adjacent to the idle storage position is idle, until an outbound route consisting of idle storage positions that can realize outbound delivery is found, and the unit to be shipped out is transported according to the outbound route to complete the outbound task.
  • the unit to be shipped on the adjacent storage position is a unit to be shipped that blocks the unit to be shipped out from the warehouse, also called a candidate unit to be shipped (also called a blocked unit to be shipped or a blocked pallet). It is further determined whether the storage position adjacent to the candidate unit to be transported is an idle storage position. If not, the unit to be transported on the storage position adjacent to the candidate unit to be transported is also used as a candidate unit to be transported until an outbound route consisting of idle storage positions that can be used to realize outbound transportation is found.
  • the depth information of the unit to be transported in the lane where the shipping unit is located can be determined starting from the lane exit, and the depth information of the unit to be transported and the depth information of the unit to be shipped can be compared. Since when the unit to be shipped is shipped, the unit to be transported whose depth information is less than the depth information of the unit to be shipped will block the unit to be shipped from being shipped, the unit to be transported whose depth information is less than the depth information of the unit to be shipped can be determined as a candidate unit to be transported.
  • the outbound unit corresponding to the task to be executed is determined, and based on the storage location information of the outbound unit, at least one outbound unit that blocks the outbound unit from being shipped is determined as at least one candidate outbound unit; and based on the depth information of at least one candidate outbound unit in the aisle, the target outbound unit is determined from at least one candidate outbound unit.
  • the target unit to be transported can be determined from at least one candidate unit to be transported based on the depth information of at least one candidate unit to be transported in the aisle.
  • determining the target unit to be transported from at least one candidate unit to be transported according to the depth information of at least one candidate unit to be transported in the lane may include: determining the target unit to be transported from at least one candidate unit to be transported according to the depth information of at least one candidate unit to be transported in the lane and the rule of determining the depth information from small to large. That is, when the unit to be shipped out is shipped out, at least one candidate unit to be transported that blocks the unit to be shipped out needs to be determined as the target unit to be transported first according to the depth, and then the candidate unit to be transported with a large depth is determined as the target unit to be transported.
  • the depth information of at least one candidate unit to be transported in the alley is obtained by taking the alley exit as the starting point and taking the order of the candidate unit to be transported in the alley as the depth of the candidate unit to be transported. For example, if the alley exit is taken as the starting point and the candidate unit to be transported is the 5th storage position in the alley, then the depth information is 5.
  • the distance of the candidate unit to be transported from the alley exit may be directly taken as the depth information. For example, if the candidate unit to be transported is 6 meters away from the alley exit, then the depth information is 6 meters.
  • the depth information of candidate unit 1 to be transported in the lane is 5
  • the depth information of candidate unit 2 to be transported in the lane is 7
  • the depth information of candidate unit 3 to be transported in the lane is 6, then sort them from small to large according to the depth information, and determine that the candidate unit to be transported with the smallest depth information is candidate unit 1, then take candidate unit 1 as the target unit to be transported.
  • the depth information of at least one candidate unit to be transported in the lane is obtained, and the target unit to be transported is determined from at least one candidate unit to be transported according to the determination rule of the depth information from small to large, thereby achieving the priority transport of the target unit to be transported with a small depth, making the transport scheduling process more convenient and reasonable, and further improving the efficiency of the transport scheduling.
  • the depth of the candidate unit to be transported from each exit can be determined, and the minimum depth is used as the depth information of the candidate unit to be transported in the lane. For example, if the lane has exit 1 and exit 2, the depth of candidate unit to be transported A from exit 1 is 7, and the depth from exit 2 is 5, then the depth 5 is used as the depth information of the candidate unit to be transported. Furthermore, the position of the elevator and the exit of the lane can also be considered, and the candidate unit to be transported that is close to the elevator and has a small depth can be determined as the target unit to be transported.
  • the lanes in the stereoscopic warehouse may have one entrance and exit or two entrances and exits, which is not limited in the embodiments of the present disclosure.
  • the lane has one entrance and exit, and when the unit to be shipped out is moved out from the entrance and exit, there is at least one candidate unit to be transported that blocks the unit to be shipped out from the warehouse. If there are multiple candidate units to be transported that block the unit to be shipped out from the warehouse, these multiple candidate units to be transported need to be sorted in order of depth from small to large, and the candidate units to be transported with small depths are preferentially determined as the target units to be transported. That is, in order of depth from small to large, the units to be transported with small depths are moved away first, and then the units to be transported with large depths are moved away.
  • the shipping routes and the candidate units to be transported corresponding to each shipping route can be determined along multiple transport directions based on the setting positions of the aisle entrances and exits.
  • FIG3A is a schematic diagram of a structure of a storage floor in a stereoscopic warehouse provided according to some embodiments of the present disclosure.
  • the square frame in FIG3A represents a storage location
  • the diamond frame represents a unit to be transported
  • the triangle frame represents a unit to be shipped out
  • the square frame does not include a diamond frame to represent a storage location.
  • There is no unit to be transported placed in the storage position that is, the storage position is an idle storage position).
  • the task to be executed is the outbound task
  • the unit to be transported corresponding to the outbound task is the unit to be transported M.
  • lane 1 has two upper and lower entrances and exits.
  • the unit to be transported can be transported out from the upper entrance or the lower entrance when it is transported out. Therefore, when determining the candidate units to be transported, the candidate units to be transported corresponding to each outbound route can be determined from two transport directions (the first direction and the second direction as shown in FIG3A).
  • the unit to be transported A in the first direction based on the storage location information of the unit to be shipped M, it is determined that there is a unit to be transported A in the storage position adjacent to the unit to be shipped M in the first direction.
  • the unit to be transported A in the adjacent storage position will block the unit to be processed M from being shipped out, so the unit to be transported A can be determined as a candidate unit to be transported.
  • the storage position adjacent to the unit to be shipped A in the first direction is an idle storage position. Since the storage position adjacent to the unit to be shipped A in the first direction is an idle storage position, it can be determined that the candidate units to be transported that block the unit to be shipped M from being shipped out along the first direction only include the unit to be shipped A.
  • the unit to be shipped B can be determined as a candidate unit to be shipped. It is further determined whether the storage position adjacent to the unit to be shipped B in the second direction is an idle storage position.
  • the candidate units to be shipped that block the unit to be shipped M from being shipped out along the second direction include the unit to be shipped B and the unit to be shipped C.
  • the target outbound route can be determined from the multiple outbound routes based on the number of candidate units to be transported corresponding to each outbound route and/or the depth information of the candidate units to be transported, and the target unit to be transported can be determined based on the candidate units to be transported corresponding to the target outbound route.
  • the outbound route with the least number of candidate units to be transported is determined as the target outbound route, and the target unit to be transported is determined based on at least one candidate unit to be transported corresponding to the target outbound route.
  • the total depth information of each outbound route is determined based on the depth information of the candidate units to be transported corresponding to the at least two outbound routes
  • the target outbound route is determined among the multiple outbound routes based on the total depth information of each outbound route
  • the target unit to be transported is determined based on at least one candidate unit to be transported corresponding to the target outbound route.
  • the depth information of the candidate units to be transported corresponding to each of the at least two outbound routes can be added together to obtain the total depth information of each outbound route, and the outbound route with the smallest total depth information of each outbound route can be determined as the target outbound route.
  • the target unit to be transported can be determined from the at least one candidate unit to be transported corresponding to the target outbound route according to the depth information of at least one candidate unit to be transported corresponding to the target outbound route and the determination rule of depth information from small to large.
  • the depth information of each candidate unit to be transported in each outbound route in the lane is determined with the lane exit corresponding to the outbound route as the starting point.
  • the outbound route 1 there is only one candidate unit to be transported corresponding to the outbound route 1 for outbound in the first direction, which is the unit to be transported A, and there are two candidate units to be transported corresponding to the outbound route 2 for outbound in the second direction, which are the unit to be transported B and the unit to be transported C. Since the number of candidate units to be transported corresponding to the outbound route 1 is less than the number of candidate units to be transported corresponding to the outbound route 2, the outbound route 1 can be determined as the target outbound route. Since the outbound route 1 includes only one candidate unit to be transported A, the candidate unit to be transported A can be determined as the target unit to be transported.
  • the depth information of the candidate units to be transported corresponding to each outbound route can be further determined.
  • the depth information of candidate unit 1 is 2
  • the depth information of candidate unit 2 is 3
  • the depth information of candidate unit 3 is 1
  • the depth information of candidate unit 4 is 2, it can be determined that the total depth information corresponding to outbound route 1 is 5, and the total depth information corresponding to outbound route 2 is 3.
  • outbound route 2 can be determined as the target outbound route. Since there are two candidate units to be transported corresponding to the outbound route 2, when the candidate units to be transported 3 and the candidate units to be transported 4 corresponding to the outbound route 2 are moved out, the candidate unit to be transported 3 with the smaller depth information can be moved out first according to the depth information of the candidate units to be transported 3 and the candidate units to be transported 4, so the candidate unit to be transported 3 can be determined as the target unit to be transported.
  • Step 204 According to the attribute information of the object in the target unit to be transported, at least one candidate lane in the stereoscopic warehouse that meets the attribute information of the object is selected.
  • At least one candidate lane in the stereoscopic warehouse that meets the item attribute information can be screened according to the item attribute information in the target unit to be transported.
  • the items in the target unit to be transported may be of various types, including but not limited to textiles, daily necessities, cosmetics, Etc.
  • Item attribute information refers to the information of the item itself, including but not limited to the type, volume, material, weight, etc. of the item.
  • the disclosed embodiment does not impose any limitation on the type of information included in the item attribute information, and the type of information included in the item attribute information can be selected according to actual conditions.
  • the item attribute information carried by the units to be transported in the same lane is the same.
  • the present disclosure does not limit the implementation method of determining the candidate lane based on the item attribute information.
  • the staff can recommend at least one candidate lane that meets the item attribute information in the stereoscopic warehouse based on the item attribute information in the target unit to be transported.
  • the matching lane can be determined based on the item attribute information in the target unit to be transported, and the candidate lane can be determined from the matching lane based on the storage position information in the matching lane.
  • the above-mentioned screening of at least one candidate lane in the stereoscopic warehouse that meets the property information of the item in the target unit to be transported may include: determining at least one matching lane in the stereoscopic warehouse according to the property information of the item in the target unit to be transported; screening at least one candidate lane including an unobstructed free storage position according to the storage position information of the at least one matching lane, wherein the unobstructed free storage position refers to a free storage position in which all the storage positions from the lane entrance to the unobstructed free storage position are in an idle state. That is, there is no other unit to be transported blocking the lane entrance to the unobstructed free storage position, and the unit to be transported can be directly transported to the unobstructed free storage position.
  • the storage location information includes the state of the storage location, such as the idle state, the stored state, etc., and also includes the number and position of the storage location, etc.
  • At least one matching lane in a stereoscopic warehouse based on the property information of the items in the target unit to be transported
  • the present disclosure does not limit the implementation method of determining the matching lane based on the property information of the items.
  • at least one matching lane can be determined based on the property information of the items in the target unit to be transported and the lane property information of each lane.
  • the above-mentioned determining at least one matching lane in the stereoscopic warehouse based on the attribute information of items in the target unit to be transported may include: obtaining the lane attribute information of each lane in the stereoscopic warehouse; determining the association between the target unit to be transported and the lane based on the attribute information of the item and the lane attribute information; and determining at least one matching lane in the stereoscopic warehouse based on the association.
  • Lane attribute information may include the attributes of items stored in the lane, and may also include lane number, total lane depth, etc. The disclosed embodiments do not impose any restrictions on the type of information included in the lane attribute information, and may be selected according to actual conditions. It should be noted that there are multiple ways to obtain the lane attribute information of each lane in the stereoscopic warehouse. In some embodiments, the lane attribute information of each lane can be directly searched in the lane database. In other embodiments, an instruction to obtain the lane attribute information of each lane in the stereoscopic warehouse can be sent to the lane manager, and the lane attribute information fed back by the lane manager can be received.
  • the item attribute information and the lane attribute information can be compared to determine the correlation between the target unit to be transported and the lane. If the item attribute information and the lane attribute information are exactly the same, the correlation between the target unit to be transported and the lane is 1. If the item attribute information and the lane attribute information are completely different, the correlation between the target unit to be transported and the lane can be considered to be -1. Since the multiple lanes in the stereoscopic warehouse may include lanes with all storage locations free, it can be considered that the correlation between the target unit to be transported and the lanes with all storage locations free is 0.
  • a preset correlation threshold can be obtained, and the correlation between the target unit to be transported and the lanes can be screened according to the correlation threshold, and the lanes with a correlation greater than the correlation threshold can be used as matching lanes.
  • multiple lanes in the stereoscopic warehouse can be sorted from large to small according to the correlation, and the first N lanes with the highest correlation can be used as matching lanes.
  • the lane attribute information of each lane in the stereoscopic warehouse is obtained, and the correlation between the target unit to be transported and the lane is determined according to the item attribute information and the lane attribute information. According to the correlation, at least one matching lane is determined in the stereoscopic warehouse.
  • the item attribute information is taken into consideration, and the storage locations are reasonably partitioned, so that subsequent transportation scheduling can be directly performed according to the partitions, thereby improving the efficiency of transportation scheduling.
  • At least one matching lane is determined in the stereoscopic warehouse based on the attribute information of the items in the target unit to be transported, the unit to be transported cannot be directly transported to the free storage position because the storage positions in some matching lanes are full or some free storage positions are blocked by other units to be transported. Therefore, at least one candidate lane including unobstructed free storage positions can be screened based on the storage position information of at least one matching lane.
  • the storage bit information of all storage bits in the matching lane can be obtained, wherein the storage bit information includes state information, and the state information is used to indicate whether the storage bit is in an idle state or a non-idle state.
  • the free storage bits in the matching lane are screened based on the state information, and it is determined whether the storage bits from the lane entrance to the free storage bit are all free storage bits in an idle state. If so, it means that there are no obstructions around the free storage bit.
  • the idle storage position blocks the unit to be transported, and the idle storage position is a non-blocking idle storage position.
  • the matching lane including the non-blocking idle storage position can be used as a candidate lane.
  • At least one matching lane is determined in the stereoscopic warehouse based on the attribute information of the items in the target unit to be transported, and at least one candidate lane including unobstructed free storage locations is screened based on the storage location information of the at least one matching lane, to ensure that during the transport scheduling process, the unit to be transported can be directly transported to the storage location in the candidate lane without being blocked by other units to be transported, thereby improving the efficiency of the transport scheduling.
  • Step 206 Filter at least one target storage floor according to the distribution information of at least one candidate lane in the multiple storage floors and the current floor information of the target unit to be transported.
  • a target unit to be transported is determined based on task information of a task to be performed, and after at least one candidate lane in the stereoscopic warehouse that meets the attribute information of the items in the target unit to be transported is screened based on the attribute information of the items in the target unit to be transported, at least one target storage floor can be screened based on the distribution information of at least one candidate lane in multiple storage floors and the current floor information of the target unit to be transported.
  • the floors including the candidate lanes can be screened according to the distribution information of at least one candidate lane in the multiple storage floors, and the floors including the candidate lanes can be directly used as the target storage floors.
  • the distribution information of at least one candidate lane in multiple storage floors and the floor information where the target unit to be transported is currently located can be considered simultaneously to screen at least one target storage floor. That is, the screening of at least one target storage floor based on the distribution information of at least one candidate lane in multiple storage floors and the current floor information of the target unit to be transported can include: determining at least one candidate storage floor based on the distribution information of at least one candidate lane in multiple storage floors; acquiring candidate floor information of the candidate storage floor; and determining at least one target storage floor from at least one candidate storage floor based on the current floor information and the candidate floor information.
  • the distribution information of the candidate lanes in multiple storage floors refers to the floor where the candidate lanes are located.
  • the floor where the candidate lanes are located is used as the candidate storage floor. For example, candidate lane a is on the 1st floor, candidate lane b is on the 3rd floor, and candidate lane c is on the 4th floor, then candidate storage floor 1, candidate storage floor 3, and candidate storage floor 4 are determined.
  • the candidate floor information of the candidate storage floor can be obtained, and the candidate floor information includes but is not limited to the number of the candidate floor, the name of the candidate floor, etc.
  • the method of obtaining the candidate floor information of the candidate storage floor can be to search for the candidate floor information of the candidate storage floor in the floor information library, and can also send a candidate floor information acquisition instruction to the operator to receive the candidate floor information fed back by the operator.
  • the distance information between the target unit to be transported and the candidate storage floors can be determined based on the current floor information and the candidate floor information, and at least one target storage floor can be screened from the candidate storage floors based on the distance information.
  • a pre-set floor threshold can be obtained, and the floor screening information can be determined based on the current floor information and the floor threshold, and at least one target storage floor can be determined from at least one candidate storage floor based on the floor screening information and the candidate floor information.
  • the preset floor threshold of 1 As an example, it means that the maximum difference between the target storage floor and the current floor of the target unit to be transported is 1 floor. Assuming the current floor information is 3, the floor screening information is determined to be 2 and 4 according to the current floor information and the floor threshold. Assuming that the candidate floor information includes 1, 2, 3, and 5, the target storage floor is determined to be floor 2 according to the floor screening information and the candidate floor information.
  • At least one candidate storage floor is determined based on the distribution information of at least one candidate aisle in multiple storage floors, and the candidate floor information of the candidate storage floor is obtained.
  • At least one target storage floor is determined from at least one candidate storage floor based on the current floor information and the candidate floor information, thereby achieving accurate determination of the target storage floor according to the requirements of the task to be performed and providing customized handling scheduling.
  • the number of tasks to be performed corresponding to each floor may also be considered to screen at least one target storage floor. That is, the above screening of at least one target storage floor according to the distribution information of at least one candidate lane in multiple storage floors and the current floor information of the target unit to be transported may include: determining at least one preliminary storage floor according to the distribution information of at least one candidate lane in multiple storage floors; using the number of tasks to be performed on at least one preliminary storage floor as a first determining factor, and using the floor difference between at least one preliminary storage floor and the current floor of the target unit to be transported as a second determining factor; determining at least one candidate storage floor according to the first determining factor and the second determining factor; and screening at least one target storage floor based on at least one candidate storage floor.
  • the storage floors including the candidate lanes are used as the storage floors for initial screening, i.e., the preliminary storage floors.
  • the number of tasks to be executed corresponding to each preliminary storage floor and the distance between each preliminary storage floor and the current floor i.e., the floor difference
  • At least one preliminary storage floor is sorted according to the number of tasks to be executed and the floor difference
  • at least one candidate storage floor is selected from the sorted preliminary storage floors
  • at least one target storage floor is screened from at least one candidate storage floor.
  • At least one preliminary storage floor can be sorted according to the first determining factor and the second determining factor, with the goal of minimizing the number of tasks to be executed and minimizing the floor difference, and at least one candidate storage floor can be selected according to the sorting result. Furthermore, different weights can be set for the first determining factor and the second determining factor according to actual needs to determine at least one candidate storage floor.
  • the number of tasks to be executed A of the preliminary storage floor A is 9 and the floor difference A is 3, the number of tasks to be executed B of the preliminary storage floor B is 6 and the floor difference B is 5, and the number of tasks to be executed C of the preliminary storage floor C is 3 and the floor difference A is 4.
  • the first determination factor A is determined to be 0.9
  • the second determination factor A is determined to be 0.3
  • the first determination factor B is determined to be 0.6
  • the second determination factor B is determined to be 0.5
  • the first determination factor C is determined to be 0.3
  • the second determination factor C is determined to be 0.4.
  • the first weight corresponding to the first determination factor is 0.6
  • the second weight corresponding to the second determination factor is 0.4. Multiply the first determination factor A by the value of the first weight, and add the second determination factor A by the value of the second weight, to obtain the index A corresponding to the preliminary storage floor A, which is 0.66.
  • the index B corresponding to the preliminary storage floor B is determined to be 0.56
  • the index C corresponding to the preliminary storage floor C is determined to be 0.34. Then the preliminary selected storage floor B and the preliminary selected storage floor C are taken as candidate storage floors.
  • At least one preliminary storage floor is determined based on the distribution information of at least one candidate aisle in multiple storage floors, the number of tasks to be executed on the at least one preliminary storage floor is used as a first determination factor, and the floor difference between the at least one preliminary storage floor and the current floor of the target unit to be transported is used as a second determination factor.
  • the first determination factor and the second determination factor at least one candidate storage floor is determined, and based on the at least one candidate storage floor, at least one target storage floor is screened, so that the tasks between the storage floors are more balanced, thereby further improving the efficiency of task execution.
  • Step 208 Determine a target storage location in at least one target storage floor according to the current location information of the target unit to be transported and the storage location information of the candidate lane in at least one target storage floor.
  • a target unit to be transported is determined based on task information of a task to be performed, at least one candidate lane in the stereoscopic warehouse that meets the attribute information of the item is screened based on the attribute information of the item in the target unit to be transported, after at least one target storage floor is screened based on the distribution information of at least one candidate lane in multiple storage floors and the current floor information of the target unit to be transported, a target storage position in at least one target storage floor can be determined based on the current position information of the target unit to be transported and the storage position information of the candidate lane in at least one target storage floor.
  • the current position information of the target unit to be transported refers to the position of the target unit to be transported.
  • the current position information of the target unit to be transported can also be understood as the starting position information of the target unit to be transported.
  • At least one unobstructed free storage position can be determined based on storage position information of a candidate aisle in at least one target storage floor, and the distance information between the target unit to be transported and the unobstructed free storage position can be determined based on the current position information of the target unit to be transported and the storage position information of the unobstructed free storage position, and the unobstructed free storage position with the smallest distance information is selected as the target storage position.
  • the position index of the candidate lane can be determined, and the target storage position can be determined according to the position index. That is, the above-mentioned determination of the target storage position in at least one target storage floor according to the current position information of the target unit to be transported and the storage position information of the candidate lane in at least one target storage floor can include: determining at least one unobstructed free storage position according to the storage position information of the candidate lane in at least one target storage floor; determining the distance information between the target unit to be transported and the unobstructed free storage position according to the current position information of the target unit to be transported and the storage position information of the unobstructed free storage position; determining the position index of the candidate lane in at least one target storage floor according to the distance information; determining the target storage position in at least one target storage floor according to the position index.
  • the distance information between the target unit to be transported and the unobstructed free storage location can be calculated based on the current location information of the target unit to be transported and the location information of the unobstructed space storage location.
  • the method for calculating the distance information includes but is not limited to the A* algorithm, which can be selected according to actual conditions, and the embodiments of the present disclosure do not impose any restrictions on this.
  • the minimum distance information is used as the location index of the candidate lane in the target storage floor, and the target storage location in at least one target storage floor is determined based on the location index.
  • At least one unobstructed free storage position is determined based on the storage position information of the candidate lanes in at least one target storage floor
  • the distance information between the target unit to be transported and the unobstructed free storage position is determined based on the current position information of the target unit to be transported and the storage position information of the unobstructed free storage position
  • the position index of the candidate lanes in at least one target storage floor is determined based on the distance information
  • the target storage position in at least one target storage floor is determined based on the position index
  • the candidate lanes in the target storage floor can be determined according to the position index of the candidate lanes. At least one target lane, and screening the target storage position in the target lane. That is, the above-mentioned determining the target storage position in at least one target storage floor according to the position indicator may include: determining at least one target lane from at least one target storage floor according to the position indicator; determining the target storage position according to the depth information of the unobstructed free storage position in the at least one target lane.
  • the location indexes of the candidate lanes in the target storage floor can be arranged in ascending order, and the candidate lane with the smallest location index can be used as the target lane.
  • a preset index threshold can be obtained, and at least one target lane can be screened from the candidate lanes according to the index threshold.
  • the target storage location may be determined according to depth information of unobstructed free storage locations in the at least one target lane.
  • At least one target aisle is determined from at least one target storage floor according to the location index, and the target storage position is determined according to the depth information of the unobstructed free storage positions in the at least one target aisle, thereby improving the rationality of the target storage position, rationally planning the storage positions, and improving the utilization rate of the storage positions and the efficiency of transportation scheduling.
  • the above-mentioned determination of the target storage position based on the depth information of the unobstructed free storage positions in at least one target lane may include: determining the target storage position from the unobstructed free storage positions in at least one target lane according to a determination rule of depth information from large to small.
  • the depth information is sorted from large to small, and it is determined that the unobstructed free storage position with the largest depth information is the unobstructed free storage position B, and the unobstructed free storage position B is used as the target storage position.
  • a target storage location is determined from unobstructed free storage locations of at least one target aisle according to the depth information determination rule from large to small, so that the transport scheduling process can store the target unit to be transported in a storage location with a large depth, thereby improving the utilization rate of the storage locations in the stereoscopic warehouse, facilitating the next transport scheduling, and further improving the efficiency of the transport scheduling.
  • the depth of the unobstructed free storage location from each exit may be determined, and the maximum depth may be used as the depth information of the unobstructed free storage location in the lane.
  • Step 210 dispatching the transport equipment to transport the target unit to be transported to the target storage location for storage.
  • the transport equipment can be dispatched to transport the target unit to be transported to the target storage location for storage.
  • the transport equipment can also be understood as transportation equipment, and the transport equipment includes but is not limited to a four-way shuttle, an autonomous mobile robot, an automatic lifting type transportation equipment separated from the shelf, etc., which can be selected according to actual conditions, and the embodiments of the present disclosure do not impose any limitation on this.
  • candidate lanes are screened, target storage floors are further screened based on the candidate lanes, and finally the target storage locations in the target floors are determined, so that the storage locations are reasonably planned, and the utilization rate of the storage locations and the efficiency of transportation scheduling are improved.
  • FIG3B is a processing flow chart of a handling scheduling method of a stereoscopic warehouse applied in the field of warehousing and logistics provided by some embodiments of the present disclosure, and the method includes the following steps:
  • Step 302 Determine whether the multiple initial tasks include a warehouse-out task, and if so, determine the task to be executed from the warehouse-out tasks.
  • Step 304 when the task to be executed is a warehouse-out task, determine the warehouse-out unit corresponding to the task to be executed.
  • Step 306 Determine at least one candidate unit to be transported according to the storage location information of the unit to be shipped out, and obtain the depth information of the at least one candidate unit to be transported in the lane.
  • the at least one candidate unit to be transported is a unit to be transported that blocks the unit to be shipped out, so the at least one candidate unit to be transported needs to be moved away before the unit to be shipped out can be shipped out.
  • the candidate unit to be transported with a smaller depth can be moved away first, and then the candidate unit to be transported with a larger depth can be moved away according to the depth information of the at least one candidate unit to be transported in the lane.
  • Step 308 Determine a target unit to be transported from at least one candidate unit to be transported according to a rule of determining depth information from small to large.
  • Step 310 Acquire lane attribute information of each lane in the stereoscopic warehouse, and determine the correlation between the target unit to be transported and the lane according to the attribute information of the items in the target unit to be transported and the attribute information of the lane.
  • Step 312 Determine at least one matching lane in the high-bay warehouse based on the degree of association.
  • Step 314 Screen at least one candidate lane including unobstructed idle storage bits according to the storage bit information of at least one matching lane, wherein the unobstructed idle storage bits refer to idle storage bits whose adjacent storage bits are in an idle state.
  • Step 316 Determine at least one candidate storage floor based on distribution information of at least one candidate lane in multiple storage floors.
  • Step 318 Obtain candidate floor information of the candidate storage floors, and determine at least one target storage floor from at least one candidate storage floor according to the current floor information and the candidate floor information of the target unit to be transported.
  • Step 320 Determine at least one unobstructed free storage location based on the storage location information of the candidate lanes in at least one target storage floor.
  • Step 322 Determine the distance information between the target unit to be transported and the unobstructed free storage location according to the current position information of the target unit to be transported and the storage location information of the unobstructed free storage location.
  • Step 324 Determine a location index of a candidate lane in at least one target storage floor based on the distance information.
  • Step 326 Determine at least one target lane from at least one target storage floor based on the location indicator.
  • Step 328 Determine a target storage location from unobstructed free storage locations of at least one target lane according to a rule for determining depth information from large to small.
  • Step 330 dispatching the transport equipment to transport the target unit to be transported to the target storage location for storage.
  • step 302 to step 330 is the same as the implementation of the transportation scheduling method of the stereoscopic warehouse provided in FIG. 2 above, and will not be described in detail in the embodiment of the present disclosure.
  • the scheme of the embodiment of the present disclosure is applied to determine the target unit to be transported according to the task information of the task to be executed; select at least one candidate lane in the stereoscopic warehouse that meets the item attribute information according to the item attribute information in the target unit to be transported; select at least one target storage floor according to the distribution information of at least one candidate lane in multiple storage floors and the current floor information of the target unit to be transported; determine the target storage position in at least one target storage floor according to the current position information of the target unit to be transported and the storage position information of the candidate lane in at least one target storage floor; and dispatch the transport equipment to transport the target unit to be transported to the target storage position for storage.
  • the storage positions are rationally planned, and the utilization rate of the storage positions and the efficiency of transport scheduling are improved.
  • FIG. 4 is a flowchart of determining a target storage location in a transportation scheduling method for a stereoscopic warehouse according to some embodiments of the present disclosure.
  • the server starts to process the initial tasks, classifies the multiple initial tasks, and divides the initial tasks into outbound tasks and inbound tasks.
  • the units to be transported can be divided into blocked units to be transported and inbound units to be transported.
  • the blocked units to be transported are units to be transported that block the outbound units from being transported.
  • the outbound task takes precedence over the inbound task.
  • For the target unit to be transported at least one candidate lane in the stereoscopic warehouse that meets the item attribute information can be screened according to the item attribute information in the target unit to be transported, wherein the candidate lane includes non-blocking idle storage positions.
  • At least one target storage floor can be screened according to the distribution information of at least one candidate lane in multiple storage floors and the current floor information of the target unit to be transported, and the target storage position can be determined in at least one target storage floor. In actual applications, it is necessary to determine whether the target storage floor has been traversed. If so, the target storage position is determined, and the dispatching handling equipment transports the target unit to be transported to the target storage position for storage, and the transportation scheduling ends. If not, the target storage position is determined in the target storage floor that has not been traversed.
  • At least one unobstructed free storage position can be determined based on the storage position information of the candidate lanes in at least one target storage floor, and then the distance information between the target unit to be transported and the unobstructed free storage position can be determined based on the current position information of the target unit to be transported and the storage position information of the unobstructed free storage position, and the position index of the candidate lanes in at least one target storage floor can be determined based on the distance information, and at least one target lane can be determined based on the position index.
  • At least one target lane is the optimal lane, and if not, it is returned to determine whether the target storage floor has been traversed; if so, the target storage position in the target lane is determined, and the transport equipment is dispatched to transport the target unit to be transported to the target storage position for storage, and the transport scheduling ends.
  • the priority of the blocked units to be transported is determined according to their positions in the warehouse, so as to avoid jamming during the execution of the transport task, and items with high attribute similarity are stored in the same aisle to reduce the waste of storage locations, reasonably plan the storage locations, and improve the utilization rate of the storage locations and the efficiency of transport scheduling.
  • FIG5 is a schematic diagram of the structure of a target storage floor in a stereoscopic warehouse provided according to some embodiments of the present disclosure.
  • the candidate lanes in the stereoscopic warehouse that meet the attribute information of the items are screened to include Lane 2, Lane 4, Lane 11 and Lane 22.
  • the target storage floor is screened to be Floor 1.
  • the target storage floor includes 6 lanes, which are Lane 1, Lane 2, Lane 3, Lane 4, Lane 5 and Lane 6.
  • the target unit to be transported is a circle. According to the current position information of the target unit to be transported and the storage position information of lanes 2 and 4 in the target storage floor 1, the target storage position is determined to be the fourth storage position in lane 4.
  • FIG6 is a schematic diagram of a storage floor in another stereoscopic warehouse provided according to some embodiments of the present disclosure.
  • the task to be executed is a warehouse-out task, and the warehouse-out unit corresponding to the task to be executed is determined as the warehouse-out unit M.
  • Each lane in the stereoscopic warehouse has only one entrance and exit at the top.
  • Example. According to the storage location information of the unit M to be shipped out, it is determined that the lane where the unit M to be shipped out is located includes the unit A to be transported, the unit B to be transported, and the unit C to be transported.
  • the depth information of the unit M to be shipped out is 3, the depth information A of the unit A to be transported is 2, the depth information B of the unit B to be transported is 4, and the depth information C of the unit C to be transported is 5.
  • the unit to be transported whose depth information is less than the depth information of the unit M to be shipped out can be determined as the candidate unit to be transported. Therefore, the candidate unit to be transported can be determined as the unit A to be transported among the units A to be transported, the units B to be transported, and the units C to be transported.
  • FIG7 is a structural schematic diagram of a transport scheduling device for a stereoscopic warehouse provided according to some embodiments of the present disclosure. As shown in FIG7 , the device includes:
  • the first determining module 702 is configured to determine a target unit to be transported according to task information of the task to be performed.
  • the first screening module 704 is configured to screen at least one candidate lane in the stereoscopic warehouse that meets the attribute information of the item in the target unit to be transported.
  • the second screening module 706 is configured to screen at least one target storage floor from the multiple storage floors according to the distribution information of at least one candidate lane in the multiple storage floors and the current floor information of the target unit to be transported.
  • the second determination module 708 is configured to determine a target storage location in at least one target storage floor according to current location information of the target unit to be transported and storage location information of a candidate lane in at least one target storage floor.
  • the scheduling module 710 is configured to schedule the transport equipment to transport the target unit to be transported to the target storage location for storage.
  • the transport scheduling device further includes: a judgment module, the judgment module is configured to judge whether the multiple initial tasks include an outbound task; if the multiple initial tasks include an outbound task, determine the task to be executed from the outbound tasks.
  • the first determination module 702 is configured to, when the task to be executed is a warehouse-out task, determine the warehouse-out unit corresponding to the task to be executed; determine at least one candidate warehouse-out unit according to the storage location information of the warehouse-out unit; and determine the target warehouse-out unit according to the at least one candidate warehouse-out unit.
  • the warehouse-out unit is the warehouse-out unit corresponding to the task to be executed and waiting to be shipped out
  • the candidate warehouse-out unit is the warehouse-out unit that blocks the warehouse-out unit from being shipped out.
  • the first determination module 702 is configured to determine the target unit to be transported from at least one candidate unit to be transported according to the depth information of at least one candidate unit to be transported in the lane.
  • the first determination module 702 can determine the target unit to be transported from at least one candidate unit to be transported according to the depth information of at least one candidate unit to be transported in the lane and according to the determination rule of depth information from small to large.
  • the first determination module 702 is configured to determine, based on the storage location information of the units to be shipped out, an outbound route corresponding to each transport direction in at least one transport direction, and candidate units to be shipped corresponding to each outbound route; determine a target outbound route in at least one outbound route based on the number and/or depth information of the candidate units to be shipped corresponding to each outbound route; and determine a target unit to be shipped based on at least one candidate unit to be shipped corresponding to the target outbound route.
  • the outbound route with the least number of candidate units to be transported is determined as the target outbound route; if there are multiple outbound routes with the least number of candidate units to be transported corresponding to at least one outbound route, the target outbound route is determined from the multiple outbound routes based on the depth information of the candidate units to be transported corresponding to the multiple outbound routes. For example, the total depth information of each outbound route in the multiple outbound routes can be determined respectively based on the depth information of the candidate units to be transported corresponding to the multiple outbound routes; among the multiple outbound routes, the outbound route with the smallest total depth information is determined as the target outbound route.
  • the first determination module 702 is configured to determine the target unit to be transported from at least one candidate unit to be transported according to the depth information of at least one candidate unit to be transported corresponding to the target outbound route in the lane and according to the determination rule of depth information from small to large.
  • the first screening module 704 is configured to determine at least one matching lane in the stereoscopic warehouse based on the attribute information of the items in the target unit to be transported; and screen at least one candidate lane including unobstructed free storage positions based on the storage position information of at least one matching lane; wherein the unobstructed free storage position refers to a free storage position in which all the storage positions from the lane entrance to the unobstructed storage position are in an idle state.
  • the first screening module 704 is configured to obtain lane attribute information of each lane in the stereoscopic warehouse; determine the correlation between the target unit to be transported and the lane based on the item attribute information and the lane attribute information; and determine at least one matching lane in the stereoscopic warehouse based on the correlation.
  • the second screening module 706 is configured to determine at least one candidate storage floor based on distribution information of at least one candidate alley in multiple storage floors; obtain candidate floor information of the candidate storage floor; and determine at least one target storage floor from at least one candidate storage floor based on current floor information and candidate floor information.
  • the second screening module 706 is further configured to determine at least one preliminary storage floor according to the distribution information of at least one candidate lane in the plurality of storage floors; use the number of tasks to be performed on the at least one preliminary storage floor as a first determining factor, use the floor difference between the at least one preliminary storage floor and the current floor of the target unit to be transported as a second determining factor; and determine the number of tasks to be performed on the at least one preliminary storage floor according to the distribution information of the at least one candidate lane in the plurality of storage floors according to the distribution information of the at least one candidate lane in the plurality of storage floors. and a second determining factor, determining at least one candidate storage floor; and determining at least one target storage floor based on the at least one candidate storage floor.
  • the second determination module 708 is configured to determine at least one unobstructed idle storage position based on the storage position information of the candidate aisle in at least one target storage floor; determine the distance information between the target unit to be transported and the unobstructed idle storage position based on the current position information of the target unit to be transported and the storage position information of the unobstructed idle storage position; and determine the unobstructed idle storage position with the smallest distance information as the target storage position.
  • the second determination module 708 is configured to determine at least one unobstructed free storage position based on the storage position information of the candidate aisle in at least one target storage floor; determine the distance information between the target unit to be transported and the unobstructed free storage position based on the current position information of the target unit to be transported and the storage position information of the unobstructed free storage position; determine the position index of the candidate aisle in at least one target storage floor based on the distance information; and determine the target storage position in at least one target storage floor based on the position index.
  • the second determination module 708 is further configured to determine at least one target lane from at least one target storage floor according to the location indicator; and determine the target storage location according to the depth information of the unobstructed free storage location in the at least one target lane.
  • the second determination module 708 is further configured to determine the target storage bit from the unobstructed free storage bits of at least one target lane according to a determination rule of depth information from large to small.
  • the scheme of the embodiment of the present disclosure is applied to determine the target unit to be transported according to the task information of the task to be executed; select at least one candidate lane in the stereoscopic warehouse that meets the item attribute information according to the item attribute information in the target unit to be transported; select at least one target storage floor according to the distribution information of at least one candidate lane in multiple storage floors and the current floor information of the target unit to be transported; determine the target storage position in at least one target storage floor according to the current position information of the target unit to be transported and the storage position information of the candidate lane in at least one target storage floor; and dispatch the transport equipment to transport the target unit to be transported to the target storage position for storage.
  • the storage positions are rationally planned, and the utilization rate of the storage positions and the efficiency of transport scheduling are improved.
  • the above is a schematic scheme of a transport scheduling device for a three-dimensional warehouse of this embodiment. It should be noted that the technical scheme of the transport scheduling device for a three-dimensional warehouse and the technical scheme of the transport scheduling method for a three-dimensional warehouse are of the same concept, and the details not described in detail in the technical scheme of the transport scheduling device for a three-dimensional warehouse can be referred to the description of the technical scheme of the transport scheduling method for a three-dimensional warehouse.
  • the components of the computing device 800 include but are not limited to a memory 810 and a processor 820.
  • the processor 820 is connected to the memory 810 via a bus 830, and a database 850 is used to store data.
  • the computing device 800 also includes an access device 840 that enables the computing device 800 to communicate via one or more networks 860.
  • networks 860 include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet.
  • PSTN public switched telephone network
  • LAN local area network
  • WAN wide area network
  • PAN personal area network
  • the access device 840 may include one or more of any type of network interface, wired or wireless (e.g., a network interface card (NIC)), such as an IEEE802.11 wireless local area network (WLAN) wireless interface, a World Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.
  • NIC network interface card
  • the above components of the computing device 800 and other components not shown in FIG8 may also be connected to each other, for example, through a bus. It should be understood that the computing device structure block diagram shown in FIG8 is only for illustrative purposes and is not intended to limit the scope of the present disclosure. Those skilled in the art may add or replace other components as needed.
  • the computing device 800 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC).
  • the computing device 800 may also be a mobile or stationary server.
  • the processor 820 is used to execute the following computer executable instructions: determine the target unit to be transported according to the task information of the task to be executed; screen at least one candidate lane in the three-dimensional warehouse that meets the attribute information of the item in the target unit to be transported; screen at least one target storage floor according to the distribution information of at least one candidate lane in multiple storage floors and the current floor information of the target unit to be transported; determine the target storage position in at least one target storage floor according to the current position information of the target unit to be transported and the storage position information of the candidate lane in at least one target storage floor; and dispatch the transport equipment to transport the target unit to be transported to the target storage position for storage.
  • the above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the above-mentioned method for transport scheduling of a three-dimensional warehouse are of the same concept, and the details not described in detail in the technical scheme of the computing device can be found in the description of the technical scheme of the above-mentioned method for transport scheduling of a three-dimensional warehouse.
  • Some embodiments of the present disclosure also provide a computer-readable storage medium storing computer instructions.
  • the instructions When the instructions are executed by a processor, Used to: determine a target unit to be transported according to task information of a task to be executed; screen at least one candidate lane in the stereoscopic warehouse that meets the attribute information of the item in the target unit to be transported; screen at least one target storage floor according to distribution information of at least one candidate lane in multiple storage floors and current floor information of the target unit to be transported; determine a target storage position in at least one target storage floor according to current position information of the target unit to be transported and storage position information of a candidate lane in at least one target storage floor; and schedule transport equipment to transport the target unit to be transported to the target storage position for storage.
  • the above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the above-mentioned transportation scheduling method of the stereoscopic warehouse belong to the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the above-mentioned transportation scheduling method of the stereoscopic warehouse.
  • the computer instructions include computer program codes, which may be in source code form, object code form, executable file or some intermediate form, etc.
  • the computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

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Abstract

本公开提供立体仓库的搬运调度方法及装置，其中所述立体仓库的搬运调度方法包括：根据待执行任务的任务信息，确定目标待搬运单元；根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道；根据至少一个候选巷道在多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，在多个存储楼层中筛选得到至少一个目标存储楼层；根据目标待搬运单元的当前位置信息和至少一个目标存储楼层中候选巷道的存储位信息，确定目标存储位；调度搬运设备将目标待搬运单元搬运至目标存储位进行存储。通过筛选候选巷道，根据候选巷道筛选目标存储楼层，确定目标存储位，合理规划存储位，提高存储位的利用率及搬运调度的效率。

Description

立体仓库的搬运调度方法及装置
本申请要求于2022年11月02日提交的申请号为202211362958.6的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及仓储物流技术领域，特别涉及一种立体仓库的搬运调度方法，同时涉及一种立体仓库的搬运调度装置，一种计算设备，以及一种计算机可读存储介质。
背景技术
随着电子商务的快速发展，用户订单数量呈几何倍数增长，仓库需要存储海量的物品，如何高效地对这些物品进行搬运以及如何合理的规划存储位，成为提高仓储效率的关键。
现有技术中，通常由人工手动操作完成物品搬运：人工收取任务之后，寻找待搬运物品和搬运地点，前往搬运地点对待搬运物品进行搬运。由于人工手动操作完成物品搬运会耗费大量时间、消耗大量人力，进而需要更高效更便捷的方法进行搬运调度。
发明内容
本公开实施例提供了一种立体仓库的搬运调度方法。本公开同时涉及一种立体仓库的搬运调度装置，一种计算设备，以及一种计算机可读存储介质。
根据本公开一些实施例，提供了一种立体仓库的搬运调度方法，其中，立体仓库包括多个存储楼层，存储楼层包括多个巷道，立体仓库的搬运调度方法，包括：根据待执行任务的任务信息，确定目标待搬运单元；根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道；根据至少一个候选巷道在多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，在多个存储楼层中筛选得到至少一个目标存储楼层；根据目标待搬运单元的当前位置信息和至少一个目标存储楼层中候选巷道的存储位信息，在至少一个目标存储楼层中确定目标存储位；调度搬运设备将目标待搬运单元搬运至目标存储位进行存储。
根据本公开一些实施例，提供了一种立体仓库的搬运调度装置，其中，立体仓库包括多个存储楼层，存储楼层包括多个巷道，立体仓库的搬运调度装置，包括：第一确定模块，被配置为根据待执行任务的任务信息，确定目标待搬运单元；第一筛选模块，被配置为根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道；第二筛选模块，被配置为根据至少一个候选巷道在多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，在多个存储楼层中筛选得到至少一个目标存储楼层；第二确定模块，被配置为根据目标待搬运单元的当前位置信息和至少一个目标存储楼层中候选巷道的存储位信息，在至少一个目标存储楼层中确定目标存储位；调度模块，被配置为调度搬运设备将目标待搬运单元搬运至目标存储位进行存储。
根据本公开一些实施例，提供了一种计算设备，包括：存储器和处理器；所述存储器用于存储计算机可执行指令，所述处理器用于执行所述计算机可执行指令：根据待执行任务的任务信息，确定目标待搬运单元；根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道；根据至少一个候选巷道在多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，在多个存储楼层中筛选得到至少一个目标存储楼层；根据目标待搬运单元的当前位置信息和至少一个目标存储楼层中候选巷道的存储位信息，在至少一个目标存储楼层中确定目标存储位；调度搬运设备将目标待搬运单元搬运至目标存储位进行存储。
根据本公开一些实施例，提供了一种计算机可读存储介质，其存储有计算机可执行指令，该指令被处理器执行时实现所述立体仓库的搬运调度方法的步骤。
本公开实施例提供的立体仓库的搬运调度方法，通过根据待执行任务的任务信息，确定目标待搬运单元，并根据目标待搬运单元中的物品属性信息，筛选候选巷道，进一步根据候选巷道筛选目标存储楼层，最后确定目标楼层中的目标存储位，合理地规划了存储位，提高了存储位的利用率以及搬运调度的效率。
附图说明
图1是根据本公开一些实施例提供的一种立体仓库的搬运调度系统的框架图；
图2是根据本公开一些实施例提供的一种立体仓库的搬运调度方法的流程图；
图3A是根据本公开一些实施例提供的一种立体仓库中一个存储楼层的结构示例图；
图3B是根据本公开一些实施例提供的一种应用于仓储物流领域的立体仓库的搬运调度方法的处理流程图；
图4是根据本公开一些实施例提供的一种立体仓库的搬运调度方法中目标存储位的确定流程图；
图5是根据本公开一些实施例提供的一种立体仓库中目标存储楼层的结构示意图；
图6是根据本公开一些实施例提供的另一种立体仓库中一个存储楼层的结构示意图；
图7是根据本公开一些实施例提供的一种立体仓库的搬运调度装置的结构示意图；
图8是根据本公开一些实施例提供的一种计算设备的结构框图。
具体实施方式
在下面的描述中阐述了很多具体细节以便于充分理解本公开。但是本公开能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本公开内涵的情况下做类似推广，因此本公开不受下面公开的具体实施的限制。
在本公开一个或多个实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开一个或多个实施例。在本公开一个或多个实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本公开一个或多个实施例中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本公开一个或多个实施例中可能采用术语第一、第二等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本公开一个或多个实施例范围的情况下，第一也可以被称为第二，类似地，第二也可以被称为第一。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
首先，对本公开一个或多个实施例涉及的名词术语进行解释。
四向穿梭车：四向穿梭车是指能在平面内四个方向(前、后、左、右)穿梭运行的自主移动机器人。
自主移动机器人(AGV，Automated Guided Vehicle)：其显著的特点是无人驾驶，AGV上装备有自动导向系统，可以保障系统在不需要人工引航的情况下就能够沿预定的路线自动行驶，将货物或物料自动从起始点运送到目的地。
巷道：巷道是立体仓库内的区域，巷道内对应设置有一排存储位。
在本公开中，提供了一种立体仓库的搬运调度方法，本公开同时涉及一种立体仓库的搬运调度装置，一种计算设备，以及一种计算机可读存储介质，在下面的实施例中逐一进行详细说明。
自动化立体仓库是现代物流的一个重要环节，四向穿梭车立体仓库是自动化立体仓库的一种，也是自动化立体仓库主要发展趋势之一，其存储位分配是影响四向穿梭车的平均行程时间和系统效率的关键环节之一。多进深的四向穿梭车立体仓库为超密集存储，可以存储更多的物品，存储能力更高，巷道的进深一般包括四个及以上的存储位，各存储位用于存储放置物品的待搬运单元(如托盘)，该待搬运单元可以存储中件、大件的物品。由于多进深的立体仓库每个巷道可放置多个承载物品的待搬运单元，因此，如何对多层多进深的四向穿梭车立体仓库的存储位进行规划才能合理地利用储位，以及更高效地执行搬运调度相关的出入库操作，是亟需要解决的问题。
通常，在立体仓库中，由人工手动操作完成物品搬运。例如，人工收取任务之后，寻找待搬运物品和搬运地点，并前往搬运地点对待搬运物品进行搬运。由于人工手动完成物品搬运会耗费大量时间、消耗大量人力，进而需要更高效更便捷的方法进行搬运调度。
为了解决上述问题，本公开一些实施例提供一种立体仓库的搬运调度方法，该方法通过筛选候选巷道，并根据候选巷道筛选目标存储楼层，最后确定目标楼层中的目标存储位，合理地规划存储位，减少对存储位的浪费，提高存储位利用率，且能降低不必要的移库，同时还能提高搬运调度的效率。即本公开提供的搬运调度方法可以对立体仓储中的存储位进行合理分配，以提高搬运效率。
图1为根据本公开一些实施例提供的一种立体仓库的搬运调度系统的框架图，其中，立体仓库的搬运调度系统包括服务端102和搬运设备104。
服务端102，用于根据待执行任务的任务信息，确定目标待搬运单元；根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道；根据至少一个候选巷道在多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，筛选至少一个目标存储楼层；根据目标待搬运单元的当前位置信息和至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个目标存储楼层中的目标存储位；调度搬运设备104将目标待搬运单元搬运至目标存储位进行存储。
应用本公开实施例的方案，通过根据物品属性信息筛选候选巷道，并根据候选巷道筛选目标存储楼层，最后确定目标楼层中的目标存储位，并调度搬运设备将目标待搬运单元搬运至目标存储位进行存储，能够合理地规划存储位，提高了存储位的利用率以及搬运调度的效率。
图2为根据本公开一些实施例提供的一种立体仓库的搬运调度方法的流程图，如图2所示，该方法包括以下步骤：
步骤202：根据待执行任务的任务信息，确定目标待搬运单元。
在一些实施例中，为了更合理的对立体仓库中的物品进行搬运调度，可以根据待执行任务的任务信息，确定目标待搬运单元。
示例性地，待执行任务是指等待执行的任务，待执行任务包括出库任务和入库任务，该任务可以是仓储物流、工厂搬运、酒店或餐厅搬运等多种场景下的任务。本公开实施例对于待执行任务的应用场景不作限定。
在一些示例中，待执行任务的任务信息包括但不限于待执行任务的任务类型、任务编号、任务优先级等。待搬运单元是指用于搬运物品的单元，可以是箱体结构或平台结构。例如，待搬运单元包括但不限于单个货箱、中间带隔板的多层货箱、周转箱、纸箱、原箱、托盘等等。本公开实施例对于待搬运单元的类型不作限定，可根据实际情况选择待搬运单元的类型。
在一些实施例中，以待执行任务的任务信息为任务类型为例，该任务类型可包括出库任务和入库任务。步骤202可以根据待执行任务的任务类型确定目标待搬运单元。示例性地，在上述步骤202之前还可以先判断多个初始任务中是否包括出库任务；若多个初始任务中包括出库任务，则从出库任务中确定待执行任务。
示例性地，由于出库任务是将目标待搬运单元从原始位置转移至目标存储位，若出库任务和入库任务同时存在时，可以优先对出库任务进行处理，以便于减少入库任务执行过程中不必要的移动。
若初始任务有多个，则可以判断初始任务的任务类型，并根据任务类型确定多个初始任务中是否包括出库任务，若多个初始任务中存在出库任务，则从出库任务中确定待执行任务；若多个初始任务中不存在出库任务，则从多个初始任务中确定待执行任务。
在一些实施例中，可以获取初始任务的物品信息，判断初始任务对应的物品是否存储在立体仓库中，若物品存储于立体仓储中的某一存储位，则确定该初始任务为出库任务。在另一些实施例中，可以利用预先训练的分类模型，对初始任务进行分类，确定初始任务是否为出库任务，其中，分类模型可以是基于卷积神经网络(CNN，Convolutional Neural Network)、循环神经网络(RNN，Recurrent Neural Network)等神经网络训练获得。本公开实施例对于确定多个初始任务中是否包括出库任务的实现方式不作限定。
在一些示例中，若多个初始任务中包括至少两个出库任务，则可以根据至少两个出库任务中各出库任务的优先级，在至少两个出库任务中确定待执行任务。
应用本公开实施例的方案，通过判断多个初始任务中是否包括出库任务，并在多个初始任务包括出库任务的情况下，从出库任务中确定待执行任务，能够优先执行出库任务，从而减少执行入库任务过程中不必要的移动，提高搬运调度的效率。
在一些实施例中，若待执行任务为入库任务，则目标待搬运单元为等待入库的待搬运单元；若待执行任务为出库任务，则可以根据出库任务对应的待出库单元的存储位置信息，确定目标待搬运单元。其中，出库任务对应的待出库单元是指该出库任务对应的等待出库的待搬运单元，目标待搬运单元为阻挡待出库单元出库的待搬运单元。
示例性地，上述根据待执行任务的任务信息，确定目标待搬运单元，可以包括：在待执行任务为出库任务的情况下，确定待执行任务对应的待出库单元；根据待出库单元的存储位置信息，确定至少一个候选待搬运单元；根据至少一个候选待搬运单元在巷道中的深度信息，从至少一个候选待搬运单元中确定目标待搬运单元。
待出库单元是指等待出库的待搬运单元，待出库单元的存储位置信息包括待出库单元所在的存储楼层、存储巷道、存储深度信息等。由于出库任务中通常包括待出库单元所在的存储位置信息，因此，可以根据 存储位置信息，确定待执行任务对应的待出库单元。
在确定待出库单元之后，可以根据待出库单元的存储位置信息，确定搬运待出库单元出库时，阻挡该待出库单元出库的待搬运单元，并将阻挡待出库单元出库的待搬运单元作为至少一个候选待搬运单元。示例性地，可以根据待出库单元的存储位置信息，判断与待出库单元相邻的存储位是否空闲。若与待出库单元相邻的存储位是空闲存储位，则判断该空闲存储位相邻的存储位是否是空闲的，直至找到可以实现出库的空闲存储位组成的出库路线，并按照出库路线搬运待出库单元，完成出库任务。若与待出库单元相邻的存储位不是空闲存储位，则该相邻的存储位上的待搬运单元为阻挡待出库单元出库的待搬运单元，也称为候选待搬运单元(也可以称为阻挡待搬运单元或阻挡托盘)。并进一步判断与候选待搬运单元相邻的存储位是否为空闲存储位，若不是，则将与候选待搬运单元相邻的存储位上的待搬运单元也作为候选待搬运单元，直至找到可以实现出库的空闲存储位组成的出库路线。
在一些实施例中，在确定阻挡待出库单元出库的待搬运单元时，可以以巷道出口为起点，确定该出库单元所在的巷道中的待搬运单元的深度信息，并比较待搬运单元的深度信息和待出库单元的深度信息。由于待出库单元出库时，深度信息小于待出库单元的深度信息的待搬运单元会阻挡待出库单元出库，因此可以将深度信息小于待出库单元的深度信息的待搬运单元确定为候选待搬运单元。
在一些实施例中，在待执行任务为出库任务的情况下，确定待执行任务对应的待出库单元，根据待出库单元的存储位置信息，将阻挡待出库单元出库的至少一个待搬运单元确定为至少一个候选待搬运单元；并根据至少一个候选待搬运单元在巷道中的深度信息，从至少一个候选待搬运单元中确定目标待搬运单元。
为了更加合理、准确的确定目标待搬运单元，以减少目标待搬运单元搬运调度过程中的移动次数，进一步提高搬运调度的效率，可以在确定至少一个候选待搬运单元之后，根据至少一个候选待搬运单元在巷道中的深度信息，从至少一个候选待搬运单元中确定目标待搬运单元。
示例性地，根据至少一个候选待搬运单元在巷道中的深度信息，从至少一个候选待搬运单元中确定目标待搬运单元，可以包括：根据至少一个候选待搬运单元在巷道中的深度信息，按照深度信息由小到大的确定规则，从至少一个候选待搬运单元中确定目标待搬运单元。也就是说，在将待出库单元出库时，需要将阻挡待出库单元出库的至少一个候选待搬运单元按照深度大小，先将深度小的候选待搬运单元确定为目标待搬运单元，再将深度大的候选待搬运单元确定为目标待搬运单元。
在一些示例中，获取至少一个候选待搬运单元在巷道中的深度信息，可以是以巷道出口为起点，将候选待搬运单元在巷道中的排序作为候选待搬运单元的深度，如以巷道出口为起点，候选待搬运单元在巷道中的第5个存储位，则深度信息为5；还可以是直接将候选待搬运单元距巷道出口的距离作为深度信息，如候选待搬运单元距离巷道出口6米，则深度信息为6米。
示例性地，假设候选待搬运单元1在巷道中的深度信息为5，候选待搬运单元2在巷道中的深度信息为7，候选待搬运单元3在巷道中的深度信息为6，则按照深度信息由小到大进行排序，确定深度信息最小的候选待搬运单元为候选待搬运单元1，则将候选待搬运单元1作为目标待搬运单元。
应用本公开实施例的方案，获取至少一个候选待搬运单元在巷道中的深度信息，按照深度信息由小到大的确定规则，从至少一个候选待搬运单元中确定目标待搬运单元，实现了优先搬运深度小的目标待搬运单元，使得搬运调度过程更加方便、合理，进一步提高了搬运调度的效率。
本公开另一些实施例中，若巷道有多个出口，可以确定候选待搬运单元距每个出口的深度，将最小的深度作为候选待搬运单元在巷道中的深度信息。示例性地，若巷道有出口1和出口2，候选待搬运单元A距离出口1的深度为7，距离出口2的深度为5，则将深度5作为候选待搬运单元的深度信息。进一步地，还可以考虑提升机的位置和巷道的出口，确定距离提升机近且深度小的候选待搬运单元为目标待搬运单元。
在一些实施例中，立体仓库中的巷道可以有一个进出口，也可以有两个进出口，本公开实施例对此不作限定。上述实施例以巷道有一个进出口，从该进出口将待出库单元搬出时存在至少一个候选待搬运单元阻挡待出库单元出库。如果阻挡待出库单元出库的候选待搬运单元为多个，则需要将这多个候选待搬运单元按照深度从小到大的顺序排序，优先将深度小的候选待搬运单元确定为目标待搬运单元。即按照深度由小到大，先将深度小的待搬运单元搬走，再将深度大的待搬运单元搬走。
在立体仓库中的巷道有两个进出口的情况下，在根据待出库单元的存储位置信息，确定阻挡该待出库单元出库的候选待搬运单元时，可以基于巷道进出口的设置位置，沿多个搬运方向确定出库路线，以及各出库路线对应的候选待搬运单元。
图3A为根据本公开一些实施例提供的一种立体仓库中一个存储楼层的结构示意图，图3A中的正方形框表示存储位，菱形框表示待搬运单元，三角形框表示待出库单元，正方形框内不包括菱形框表示存储 位上未放置有待搬运单元(即存储位为空闲存储位)。如图3A所示，以待执行任务为出库任务，该出库任务对应的待出库单元为待出库单元M，巷道1有上下两个进出口为例。由于巷道1有上下两个进出口，因此在将待出库单元出库时可以从上面的进出口搬出，也可以从下面的进出口搬出，故在确定候选待搬运单元时，可以从两个搬运方向(如图3A所示的第一方向和第二方向)分别确定各出库路线对应的候选待搬运单元。
例如，如图3A所示，根据待出库单元M的存储位置信息，确定在第一方向上与待出库单元M相邻的存储位上存在待搬运单元A，在待处理单元M沿第一方向出库时该相邻存储位上的待搬运单元A会阻挡待处理单元M出库，故可以将待搬运单元A确定为候选待搬运单元。继续确定在第一方向上与待搬运单元A相邻的存储位是否为空闲存储位，由于在第一方向上与待搬运单元A相邻的存储位为空闲存储位，因此可以确定待出库单元M沿第一方向出库时阻挡其出库的候选待搬运单元仅包括待搬运单元A。
再例如，如图3A所示，根据待出库单元M的存储位置信息，确定在第二方向上与待出库单元M相邻的存储位上存在待搬运单元B，在待处理单元M沿第二方向出库时该相邻存储位上的待搬运单元B会阻挡待处理单元M出库，故可以将待搬运单元B确定为候选待搬运单元。继续确定在第二方向上与待搬运单元B相邻的存储位是否为空闲存储位，由于待搬运单元B相邻的存储位上存在待搬运单元C，因此可以确定待出库单元M沿第二方向出库时阻挡其出库的候选待搬运单元包括待搬运单元B和待搬运单元C。
在一些实施例中，若沿多个搬运方向确定了多条出库路线，以及各出库路线对应的候选待搬运单元，则可根据各出库路线对应的候选待搬运单元的数量和/或候选待搬运单元的深度信息，在多条出库路线中确定目标出库路线，并根据目标出库路线对应的候选待搬运单元确定目标待搬运单元。
在一些示例中，若多条出库路线对应的候选待搬运单元数量不同，则将候选待搬运单元的数量最少的出库路线确定为目标出库路线，将根据目标出库路线对应的至少一个候选待搬运单元确定目标待搬运单元。若多条出库路线中存在至少两条出库路线对应的候选待搬运单元数量最少，则根据至少两条出库路线对应的候选待搬运单元的深度信息，确定各出库路线的总深度信息，并根据各出库路线的总深度信息，在多条出库路线中确定目标出库路线，并根据目标出库路线对应的至少一个候选待搬运单元确定目标待搬运单元。
示例性地，可以将至少两条出库路线中各出库路线对应的候选待搬运单元的深度信息相加，得到各出库路线的总深度信息，并将各出库路线的总深度信息最小的出库路线确定为目标出库路线。在确定目标出库路线以后，可以根据目标出库路线对应的至少一个候选待搬运单元的深度信息，按照深度信息由小到大的确定规则，从目标出库路线对应的至少一个候选待搬运单元中确定目标待搬运单元。需要说明的是，在确定各出库路线对应的候选待搬运单元的深度信息时，是以该出库路线对应的巷道出口为起点，确定各出库路线中各候选待搬运单元在巷道中的深度信息。
例如，如图3A所示，按照第一方向出库的出库路线1对应的候选待搬运单元只有一个，为待搬运单元A，按照第二方向出库的出库路线2对应的候选待搬运单元有两个，分别为待搬运单元B和待搬运单元C。由于出库路线1对应的候选待搬运单元数量小于出库路线2对应的候选待搬运单元的数量，因此可以将出库路线1确定为目标出库路线。由于出库路线1中仅包括一个候选待搬运单元A，因此可以将候选待搬运单元A确定为目标待搬运单元。
再例如，以出库路线1对应的候选待搬运单元有2个，分别为候选待搬运单元1和候选待搬运单元2，出库路线2对应的候选待搬运单元也有2个，分别为候选待搬运单元3和候选待搬运单元4为例。由于出库路线1对应的候选待搬运单元的数量与出库路线2对应的候选待搬运单元的数量相同，因此可以进一步确定各出库路线对应的候选待搬运单元的深度信息。以候选待搬运单元1的深度信息为2，候选待搬运单元2的深度信息为3，候选待搬运单元3的深度信息为1，候选待搬运单元4的深度信息为2为例，可以确定出库路线1对应的总深度信息为5，出库路线2对应的总深度信息为3。由于出库路线2对应的总深度信息小于出库路线1对应的总深度信息，因此可以将出库路线2确定为目标出库路线。由于出库路线2对应的候选待搬运单元有2个，因此在将出库路线2对应的候选待搬运单元3和候选待搬运单元4搬出时，可以根据候选待搬运单元3和候选待搬运单元4的深度信息，先将深度信息小的候选待搬运单元3搬出，故可以将候选待搬运单元3确定为目标待搬运单元。
步骤204：根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道。
在一些实施例中，根据待执行任务的任务信息，确定目标待搬运单元之后，可以根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道。
示例性地，目标待搬运单元中的物品可以是多种类型的物品，包括但不限于纺织品、日用品、化妆品 等。物品属性信息是指物品自身的信息，包括但不限于物品的类型、体积、材质、重量等，本公开实施例对物品属性信息包括的信息类型不作任何限定，可根据实际情况选择物品属性信息包括的信息类型。立体仓库中有多个巷道，每个巷道中包括多个存储位，存储位上可以放置待搬运单元以实现物品的存储。本公开实施例中，同一巷道内的待搬运单元承载的物品属性信息相同。
实际应用中，根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道的实现方式有多种，本公开对于根据物品属性信息确定候选巷道的实现方式不作限定。在一些实施例中，可以由工作人员根据目标待搬运单元中的物品属性信息，推荐立体仓库中符合物品属性信息的至少一个候选巷道。在另一些实施例中，可以根据目标待搬运单元中的物品属性信息，确定匹配巷道，根据匹配巷道中的存储位信息，从匹配巷道中确定候选巷道。
示例性地，上述根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道，可以包括：根据目标待搬运单元中的物品属性信息，在立体仓库中确定至少一个匹配巷道；根据至少一个匹配巷道的存储位信息，筛选包括无阻挡空闲存储位的至少一个候选巷道，其中，无阻挡空闲存储位是指从巷道入口到该无阻挡空闲存储位之间的存储位均为空闲状态的空闲存储位。即，从巷道入口到该无阻挡空闲存储位之间不存在其他待搬运单元阻挡，可以直接将待搬运单元搬运至该无阻挡空闲存储位。
由于同一巷道内的待搬运单元承载的物品属性信息相同，因此，可以根据目标待搬运单元的物品属性信息在立体仓库的多个巷道中确定至少一个匹配巷道。存储位信息包括存储位的状态，如空闲状态、已存储状态等，还包括存储位的编号、位置等等。
实际应用中，根据目标待搬运单元中的物品属性信息，在立体仓库中确定至少一个匹配巷道的方式有多种，本公开对于根据物品属性信息确定匹配巷道的实现方式不作限定。在一些实施例中，可以根据目标待搬运单元的物品属性信息和每个巷道的巷道属性信息，确定至少一个匹配巷道。
示例性地，上述根据目标待搬运单元中的物品属性信息，在立体仓库中确定至少一个匹配巷道，可以包括：获取立体仓库中每个巷道的巷道属性信息；根据物品属性信息和巷道属性信息，确定目标待搬运单元与巷道之间的关联度；根据关联度，在立体仓库中确定至少一个匹配巷道。
巷道属性信息可以包括巷道中已存储物品的属性，还可以包括巷道编号、巷道总深度等等，本公开实施例对巷道属性信息包括的信息类型不作任何限定，可根据实际情况进行选择。需要说明的是，获取立体仓库中每个巷道的巷道属性信息的方式有多种，在一些实施例中，可以在巷道数据库中直接查找每个巷道的巷道属性信息。在另一些实施例中，可以向巷道管理人员发送立体仓库中每个巷道的巷道属性信息的获取指令，接收巷道管理人员反馈的巷道属性信息。
示例性地，获取立体仓库中每个巷道的巷道属性信息之后，可以对比物品属性信息和巷道属性信息，确定目标待搬运单元与巷道之间的关联度。若物品属性信息和巷道属性信息完全相同，则目标待搬运单元和巷道之间的关联度为1。若物品属性信息和巷道属性信息完全不同，则目标待搬运单元和巷道之间的关联度可以认为是-1。由于立体仓库中的多个巷道中可能包括存储位全部空闲的巷道，可以认为目标待搬运单元和存储位全部空闲的巷道之间的关联度为0。
在一些示例中，可以获取预先设置的关联度阈值，根据关联度阈值，对目标待搬运单元与巷道之间的关联度进行筛选，将关联度大于关联度阈值的巷道作为匹配巷道。在另一些示例中，可以按照关联度从大到小对立体仓库中的多个巷道进行排序，取关联度前N个巷道作为匹配巷道。
应用本公开实施例的方案，通过获取立体仓库中每个巷道的巷道属性信息，根据物品属性信息和巷道属性信息，确定目标待搬运单元与巷道之间的关联度，根据关联度，在立体仓库中确定至少一个匹配巷道，在确定目标存储位的过程中，考虑物品属性信息，实现了对存储位的合理分区，使得后续可以直接根据分区进行搬运调度，提高了搬运调度的效率。
示例性地，根据目标待搬运单元中的物品属性信息，在立体仓库中确定至少一个匹配巷道之后，由于有的匹配巷道中的存储位均已存满，或者有的空闲存储位被其他待搬运单元阻挡，无法直接将待搬运单元搬运至空闲存储位，因此，可以根据至少一个匹配巷道的存储位信息，筛选包括无阻挡空闲存储位的至少一个候选巷道。
在一些示例中，根据至少一个匹配巷道的存储位信息，筛选包括无阻挡空闲存储位的至少一个候选巷道时，可以获取匹配巷道中所有存储位的存储位信息，其中，存储位信息包括状态信息，状态信息用于指示存储位是空闲状态，还是非空闲状态。根据状态信息筛选匹配巷道中的空闲存储位，并判断从巷道入口到该空闲存储位之间的存储位是否均为空闲状态的空闲存储位。若是，则说明该空闲存储位周围没有阻挡 该空闲存储位的阻挡待搬运单元，该空闲存储位为非阻挡空闲存储位，可将包括该非阻挡空闲存储位的匹配巷道作为候选巷道。
应用本公开实施例的方案，根据目标待搬运单元中的物品属性信息，在立体仓库中确定至少一个匹配巷道，根据至少一个匹配巷道的存储位信息，筛选包括无阻挡空闲存储位的至少一个候选巷道，确保在搬运调度过程中，可以直接将待搬运单元搬运至候选巷道中的存储位，不被其他待搬运单元所阻挡，提高了搬运调度的效率。
步骤206：根据至少一个候选巷道在多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，筛选至少一个目标存储楼层。
本公开一些实施例中，根据待执行任务的任务信息，确定目标待搬运单元，根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道之后，可以根据至少一个候选巷道在多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，筛选至少一个目标存储楼层。
在一些示例中，由于立体仓库中包括多个存储楼层，可以根据至少一个候选巷道在多个存储楼层中的分布信息，筛选多个存储楼层中包括候选巷道的楼层，将包括候选巷道的楼层直接作为目标存储楼层。
在一些示例中，可以同时考虑至少一个候选巷道在多个存储楼层中的分布信息以及目标待搬运单元当前所在的楼层信息，筛选至少一个目标存储楼层。即，上述根据至少一个候选巷道在多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，筛选至少一个目标存储楼层，可以包括：根据至少一个候选巷道在多个存储楼层中的分布信息，确定至少一个候选存储楼层；获取候选存储楼层的候选楼层信息；根据当前楼层信息和候选楼层信息，从至少一个候选存储楼层中确定至少一个目标存储楼层。
示例性地，候选巷道在多个存储楼层中的分布信息是指候选巷道所在的楼层，在确定候选巷道所在的楼层之后，将候选巷道所在的楼层作为候选存储楼层。例如，候选巷道a在1楼，候选巷道b在3楼，候选巷道c在4楼，则确定候选存储楼层1、候选存储楼层3和候选存储楼层4。在确定至少一个候选存储楼层之后，可以获取候选存储楼层的候选楼层信息，候选楼层信息包括但不限于候选楼层的编号、候选楼层的名称等。获取候选存储楼层的候选楼层信息的方式，可以是在楼层信息库中查找候选存储楼层的候选楼层信息，还可以向操作人员发送候选楼层信息获取指令，接收操作人员反馈的候选楼层信息。
实际应用中，确定目标待搬运单元的当前楼层信息和候选存储楼层的候选楼层信息之后，根据当前楼层信息和候选楼层信息，从至少一个候选存储楼层中确定至少一个目标存储楼层的方式有多种，可根据实际情况进行选择，本公开实施例对此不作任何限定。在一些实施例中，可以根据当前楼层信息和候选楼层信息，确定目标待搬运单元与候选存储楼层之间的距离信息，根据距离信息从候选存储楼层中筛选至少一个目标存储楼层。在另一些实施例中，可以获取预先设置的楼层阈值，根据当前楼层信息与楼层阈值确定楼层筛选信息，根据楼层筛选信息和候选楼层信息，从至少一个候选存储楼层中确定至少一个目标存储楼层。
例如，以预先设置的楼层阈值为1为例，表示目标存储楼层与目标待搬运单元的当前楼层之间的最多差1个楼层，假设当前楼层信息为3，则根据当前楼层信息和楼层阈值确定楼层筛选信息为2和4。假设候选楼层信息包括1、2、3、5，则根据楼层筛选信息和候选楼层信息，确定目标存储楼层为楼层2。
应用本公开实施例的方案，根据至少一个候选巷道在多个存储楼层中的分布信息，确定至少一个候选存储楼层，获取候选存储楼层的候选楼层信息，根据当前楼层信息和候选楼层信息，从至少一个候选存储楼层中确定至少一个目标存储楼层，实现了根据待执行任务的需求准确确定目标存储楼层，提供定制化搬运调度。
在一些实施例中，还可以考虑各楼层对应的待执行任务数量，筛选至少一个目标存储楼层。即，上述根据至少一个候选巷道在多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，筛选至少一个目标存储楼层，可以包括：根据至少一个候选巷道在多个存储楼层中的分布信息，确定至少一个初选存储楼层；将至少一个初选存储楼层的待执行任务数量作为第一确定因子，将至少一个初选存储楼层与目标待搬运单元的当前楼层之间的楼层差作为第二确定因子；根据第一确定因子和第二确定因子，确定至少一个候选存储楼层；基于至少一个候选存储楼层，筛选至少一个目标存储楼层。
示例性地，根据至少一个候选巷道在多个存储楼层中的分布信息，将包括候选巷道的存储楼层作为初次筛选的存储楼层，即初选存储楼层。在确定初选存储楼层之后，可以考虑各初选存储楼层对应的待执行任务数量以及各初选存储楼层距离当前楼层之间的距离，即楼层差。根据待执行任务数量和楼层差对至少一个初选存储楼层进行排序，在排序后的初选存储楼层中选择至少一个候选存储楼层，最后从至少一个候选存储楼层中筛选至少一个目标存储楼层。
需要说明的是，若初选存储楼层对应的待执行任务数量过多，则在该初选存储楼层中等待的时间会过长，若初选存储楼层与当前楼层之间的楼层差过大，则从当前楼层前往初选存储楼层的路程就会过长，导致任务执行效率过低。
因此，可以根据第一确定因子和第二确定因子，以使待执行任务数量最少、楼层差最小为目标，对至少一个初选存储楼层进行排序，根据排序结果，选择至少一个候选存储楼层。进一步地，还可以根据实际需求，为第一确定因子和第二确定因子设置不同的权重，确定至少一个候选存储楼层。
例如，初选存储楼层A的待执行任务数量A为9件且楼层差A为3、初选存储楼层B的待执行任务数量B为6件且楼层差B为5、初选存储楼层C的待执行任务数量C为3件且楼层差A为4。则根据待执行任务数量A确定第一确定因子A为0.9，第二确定因子A为0.3；根据待执行任务数量B确定第一确定因子B为0.6，第二确定因子B为0.5；根据待执行任务数量C确定第一确定因子C为0.3，第二确定因子C为0.4。假设第一确定因子对应的第一权重为0.6，第二确定因子对应的第二权重为0.4。用第一确定因子A乘以第一权重的值，加上第二确定因子A乘以第二权重的值，获得初选存储楼层A对应的指标A为0.66。同理确定初选存储楼层B对应的指标B为0.56，初选存储楼层C对应的指标C为0.34。则将初选存储楼层B和初选存储楼层C作为候选存储楼层。
应用本公开实施例的方案，根据至少一个候选巷道在多个存储楼层中的分布信息，确定至少一个初选存储楼层，将至少一个初选存储楼层的待执行任务数量作为第一确定因子，将至少一个初选存储楼层与目标待搬运单元的当前楼层之间的楼层差作为第二确定因子，根据第一确定因子和第二确定因子，确定至少一个候选存储楼层，基于至少一个候选存储楼层，筛选至少一个目标存储楼层，使得各存储楼层之间的任务更加均衡，进一步提高任务执行的效率。
步骤208：根据目标待搬运单元的当前位置信息和至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个目标存储楼层中的目标存储位。
本公开一个或多个实施例中，根据待执行任务的任务信息，确定目标待搬运单元，根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道，根据至少一个候选巷道在多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，筛选至少一个目标存储楼层之后，可依据目标待搬运单元的当前位置信息和至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个目标存储楼层中的目标存储位。
目标待搬运单元的当前位置信息是指目标待搬运单元所在的位置，在本公开实施例中，目标待搬运单元的当前位置信息也可以理解为目标待搬运单元的起始位置信息。
在一些示例中，可以根据至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个无阻挡空闲存储位，根据目标待搬运单元的当前位置信息和无阻挡空闲存储位的存储位信息，确定目标待搬运单元和无阻挡空闲存储位之间的距离信息，将距离信息最小的无阻挡空闲存储位作为目标存储位。
在另一些示例中，在确定目标待搬运单元和无阻挡空闲存储位之间的距离信息之后，可以确定候选巷道的位置指标，并根据位置指标确定目标存储位。即，上述根据目标待搬运单元的当前位置信息和至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个目标存储楼层中的目标存储位，可以包括：根据至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个无阻挡空闲存储位；根据目标待搬运单元的当前位置信息和无阻挡空闲存储位的存储位信息，确定目标待搬运单元和无阻挡空闲存储位之间的距离信息；根据距离信息，确定至少一个目标存储楼层中候选巷道的位置指标；根据位置指标，确定至少一个目标存储楼层中的目标存储位。
实际应用中，确定至少一个无阻挡空闲存储位之后，可以根据目标待搬运单元的当前位置信息和无阻挡空间存储位的位置信息，计算目标待搬运单元和无阻挡空闲存储位之间的距离信息，计算距离信息的方式包括但不限于A*算法，可根据实际情况进行选择，本公开实施例对此不作任何限定。在确定距离信息之后，将最小的距离信息作为目标存储楼层中候选巷道的位置指标，根据位置指标，确定至少一个目标存储楼层中的目标存储位。
应用本公开实施例的方案，根据至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个无阻挡空闲存储位，根据目标待搬运单元的当前位置信息和无阻挡空闲存储位的存储位信息，确定目标待搬运单元和无阻挡空闲存储位之间的距离信息，根据距离信息，确定至少一个目标存储楼层中候选巷道的位置指标，根据位置指标，确定至少一个目标存储楼层中的目标存储位，提高了目标存储位的合理性，合理地规划了存储位，提高了存储位的利用率以及搬运调度的效率，并运用A*算法，提高了距离信息的准确性。
本公开一种可能的实现方式中，可以根据候选巷道的位置指标，在目标存储楼层中的候选巷道中确定 至少一个目标巷道，并在目标巷道中筛选目标存储位。即，上述根据位置指标，确定至少一个目标存储楼层中的目标存储位，可以包括：根据位置指标，从至少一个目标存储楼层中确定至少一个目标巷道；根据至少一个目标巷道中无阻挡空闲存储位的深度信息，确定目标存储位。
实际应用中，根据位置指标，从至少一个目标存储楼层中确定至少一个目标巷道的方式有多种，本公开一些实施例中，可以将目标存储楼层中的候选巷道的位置指标按照从小到大的顺序进行排列，将位置指标最小的候选巷道作为目标巷道。本公开另一些实施例中，可以获取预先设置的指标阈值，根据指标阈值从候选巷道中筛选至少一个目标巷道。
进一步地，确定至少一个目标巷道之后，可以根据至少一个目标巷道中无阻挡空闲存储位的深度信息，确定目标存储位。
应用本公开实施例的方案，根据位置指标，从至少一个目标存储楼层中确定至少一个目标巷道，根据至少一个目标巷道中无阻挡空闲存储位的深度信息，确定目标存储位，提高了目标存储位的合理性，合理地规划了存储位，提高了存储位的利用率以及搬运调度的效率。
需要说明的是，根据至少一个目标巷道中无阻挡空闲存储位的深度信息，确定目标存储位的方式有多种，在一些实施例中，上述根据至少一个目标巷道中无阻挡空闲存储位的深度信息，确定目标存储位，可以包括：按照深度信息由大到小的确定规则，从至少一个目标巷道的无阻挡空闲存储位中确定目标存储位。
示例性地，以无阻挡空闲存储位A在目标巷道中的深度信息A为2，无阻挡空闲存储位B在目标巷道中的深度信息B为6，无阻挡空闲存储位C在目标巷道中的深度信息C为4为例，按照深度信息由大到小进行排序，确定深度信息最大的无阻挡空闲存储位为无阻挡空闲存储位B，则将无阻挡空闲存储位B作为目标存储位。
应用本公开实施例的方案，按照深度信息由大到小的确定规则，从至少一个目标巷道的无阻挡空闲存储位中确定目标存储位，使得搬运调度过程可以将目标待搬运单元存储至深度大的存储位，提高了立体仓库中的存储位的利用率，便于下一次搬运调度，进一步提高了搬运调度的效率。
本公开另一种可能的实现方式中，若目标巷道有多个入口，可以确定无阻挡空闲存储位距每个出口的深度，将最大的深度作为无阻挡空闲存储位在巷道中的深度信息。
步骤210：调度搬运设备将目标待搬运单元搬运至目标存储位进行存储。
在一些实施例中，根据目标待搬运单元的当前位置信息和至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个目标存储楼层中的目标存储位之后，可以调度搬运设备将目标待搬运单元搬运至目标存储位进行存储。需要说明的是，搬运设备也可以理解为运输设备，搬运设备包括但不限于四向穿梭车、自主移动机器人、自动顶升式的与货架分离的运输设备等等，可根据实际情况进行选择，本公开实施例对此不作任何限定。
应用本公开实施例的方案，通过筛选候选巷道，进一步根据候选巷道筛选目标存储楼层，最后确定目标楼层中的目标存储位，合理地规划了存储位，提高了存储位的利用率以及搬运调度的效率。
下述结合附图3B，以本公开提供的立体仓库的搬运调度方法在仓储物流领域的应用为例，对所述立体仓库的搬运调度方法进行进一步说明。其中，图3B为本公开一些实施例提供的一种应用于仓储物流领域的立体仓库的搬运调度方法的处理流程图，该方法包括以下步骤：
步骤302：判断多个初始任务中是否包括出库任务，若是，则从出库任务中确定待执行任务。
步骤304：在待执行任务为出库任务的情况下，确定待执行任务对应的待出库单元。
步骤306：根据待出库单元的存储位置信息，确定至少一个候选待搬运单元，获取至少一个候选待搬运单元在巷道中的深度信息。
示例性地，以巷道为单出入口巷道为例，该至少一个候选待搬运单元为阻挡待出库单元出库的待搬运单元，故需要先将至少一个候选待搬运单元搬走才能将待出库单元出库。在将至少一个候选待搬运单元搬走时，可以按照至少一个候选待搬运单元在巷道中的深度信息，先将深度小的候选待搬运单元搬走，再将深度大的候选待搬运单元搬走。
步骤308：按照深度信息由小到大的确定规则，从至少一个候选待搬运单元中确定目标待搬运单元。
步骤310：获取立体仓库中每个巷道的巷道属性信息，根据目标待搬运单元中的物品属性信息和巷道属性信息，确定目标待搬运单元与巷道之间的关联度。
步骤312：根据关联度，在立体仓库中确定至少一个匹配巷道。
步骤314：根据至少一个匹配巷道的存储位信息，筛选包括无阻挡空闲存储位的至少一个候选巷道，其中，无阻挡空闲存储位是指相邻存储位是空闲状态的空闲存储位。
步骤316：根据至少一个候选巷道在多个存储楼层中的分布信息，确定至少一个候选存储楼层。
步骤318：获取候选存储楼层的候选楼层信息，根据目标待搬运单元的当前楼层信息和候选楼层信息，从至少一个候选存储楼层中确定至少一个目标存储楼层。
步骤320：根据至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个无阻挡空闲存储位。
步骤322：根据目标待搬运单元的当前位置信息和无阻挡空闲存储位的存储位信息，确定目标待搬运单元和无阻挡空闲存储位之间的距离信息。
步骤324：根据距离信息，确定至少一个目标存储楼层中候选巷道的位置指标。
步骤326：根据位置指标，从至少一个目标存储楼层中确定至少一个目标巷道。
步骤328：按照深度信息由大到小的确定规则，从至少一个目标巷道的无阻挡空闲存储位中确定目标存储位。
步骤330：调度搬运设备将目标待搬运单元搬运至目标存储位进行存储。
需要说明的是，步骤302至步骤330的实现方式，和上述图2所提供的立体仓库的搬运调度方法的实现方式相同，本公开实施例便不再进行赘述。
应用本公开实施例的方案，根据待执行任务的任务信息，确定目标待搬运单元；根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道；根据至少一个候选巷道在多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，筛选至少一个目标存储楼层；根据目标待搬运单元的当前位置信息和至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个目标存储楼层中的目标存储位；调度搬运设备将目标待搬运单元搬运至目标存储位进行存储。通过筛选候选巷道，进一步根据候选巷道筛选目标存储楼层，最后确定目标楼层中的目标存储位，合理地规划了存储位，提高了存储位的利用率以及搬运调度的效率。
图4为根据本公开一些实施例提供的一种立体仓库的搬运调度方法中目标存储位的确定流程图。
服务端开始对初始任务进行处理，对多个初始任务进行任务分类，将初始任务分为出库任务和入库任务。在搬运调度过程中，可以将待搬运单元分为阻挡待搬运单元和入库待搬运单元，阻挡待搬运单元是阻挡待出库单元出库的待搬运单元。在实际处理过程中，出库任务优先于入库任务。针对目标待搬运单元，可以根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道，其中，候选巷道中包括非阻挡空闲存储位。在确定至少一个候选巷道之后，可以根据至少一个候选巷道在多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，筛选至少一个目标存储楼层，并在至少一个目标存储楼层中确定目标存储位。实际应用中，需要判断是否遍历完目标存储楼层，若是，则确定目标存储位，调度搬运设备将目标待搬运单元搬运至目标存储位进行存储，结束搬运调度。若否，则在未遍历到的目标存储楼层中确定目标存储位。
示例性地，确定目标存储位时，可以根据至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个无阻挡空闲存储位，再根据目标待搬运单元的当前位置信息和无阻挡空闲存储位的存储位信息，确定目标待搬运单元和无阻挡空闲存储位之间的距离信息，根据距离信息确定至少一个目标存储楼层中候选巷道的位置指标，根据位置指标确定至少一个目标巷道。判断至少一个目标巷道是否为最优巷道，若否，返回判断是否遍历完目标存储楼层；若是，确定目标巷道中的目标存储位，调度搬运设备将目标待搬运单元搬运至目标存储位进行存储，结束搬运调度。
应用本公开实施例的方案，针对阻挡待搬运单元，根据阻挡待搬运单元在仓库的位置，确定阻挡待搬运单元的优先级，避免搬运任务执行时卡死，并将属性相似度高的物品存储统一巷道，减少存储位的浪费，合理地规划了存储位，提高了存储位的利用率以及搬运调度的效率。
图5为根据本公开一些实施例提供的一种立体仓库中目标存储楼层的结构示意图。根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的候选巷道包括巷道2、巷道4、巷道11以及巷道22。根据候选巷道在立体仓库中的多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，筛选获得目标存储楼层为1楼，如图5所示，目标存储楼层中包括了6个巷道，这六个巷道分别为巷道1、巷道2、巷道3、巷道4、巷道5以及巷道6。巷道1中的五个存储位上均有物品，巷道2中的两个存储位上有物品，巷道3中的三个存储位上有物品，巷道4中的一个存储位上有物品，巷道5中的五个存储位上均有物品，巷道6中并没有存储物品。参见图5，目标待搬运单元为圆圈，根据目标待搬运单元的当前位置信息和目标存储楼层1楼中巷道2和巷道4的存储位信息，确定目标存储位为巷道4中的第四个存储位。
图6为根据本公开一些实施例提供的另一种立体仓库中一个存储楼层的结构示意图。以待执行任务为出库任务，确定待执行任务对应的待出库单元为待出库单元M，立体仓库中各巷道只有上方一个进出口为 例。根据待出库单元M的存储位置信息，确定待出库单元M所在的巷道包括待搬运单元A、待搬运单元B以及待搬运单元C，获取待出库单元M的深度信息为3，待搬运单元A的深度信息A为2，待搬运单元B的深度信息B为4，待搬运单元C的深度信息C为5，可以将深度信息小于待出库单元M的深度信息的待搬运单元确定为候选待搬运单元。故可以在待搬运单元A、待搬运单元B以及待搬运单元C中确定候选待搬运单元为待搬运单元A。
与上述方法实施例相对应，本公开还提供了立体仓库的搬运调度装置实施例，图7为根据本公开一些实施例提供的一种立体仓库的搬运调度装置的结构示意图。如图7所示，该装置包括：
第一确定模块702，被配置为根据待执行任务的任务信息，确定目标待搬运单元。
第一筛选模块704，被配置为根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道。
第二筛选模块706，被配置为根据至少一个候选巷道在多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，在所述多个存储楼层中筛选得到至少一个目标存储楼层。
第二确定模块708，被配置为根据目标待搬运单元的当前位置信息和至少一个目标存储楼层中候选巷道的存储位信息，在所述至少一个目标存储楼层中确定目标存储位。
调度模块710，被配置为调度搬运设备将目标待搬运单元搬运至目标存储位进行存储。
在一些实施例中，该搬运调度装置还包括：判断模块，判断模块被配置为判断多个初始任务中是否包括出库任务；在多个初始任务中包括出库任务的情况下，从出库任务中确定待执行任务。
在一些实施例中，第一确定模块702，被配置为在待执行任务为出库任务的情况下，确定待执行任务对应的待出库单元；根据待出库单元的存储位置信息，确定至少一个候选待搬运单元；根据至少一个候选待搬运单元确定目标待搬运单元。其中，待出库单元为待执行任务对应的等待出库的待搬运单元，候选待搬运单元为阻挡待出库单元出库的待搬运单元。
在一些示例中，第一确定模块702，被配置为根据至少一个候选待搬运单元在巷道中的深度信息，从至少一个候选待搬运单元中确定目标待搬运单元。示例性地，第一确定模块702可以根据至少一个候选待搬运单元在所述巷道中的深度信息，按照深度信息由小到大的确定规则，从至少一个候选待搬运单元中确定目标待搬运单元。
在另一些示例中，第一确定模块702，被配置为根据待出库单元的存储位置信息，确定至少一个搬运方向中各搬运方向对应的出库路线，以及各出库路线对应的候选待搬运单元；根据各出库路线对应的候选待搬运单元的数量和/或深度信息，在至少一条出库路线中确定目标出库路线；根据目标出库路线对应的至少一个候选待搬运单元，确定目标待搬运单元。
示例性地，若各出库路线对应的候选待搬运单元的数量不同，则将候选待搬运单元的数量最少的出库路线确定为目标出库路线；若至少一条出库路线中存在多条出库路线对应的候选待搬运单元数量最少，则根据多条出库路线对应的候选待搬运单元的深度信息，在多条出库路线中确定目标出库路线。例如，可根据多条出库路线对应的候选待搬运单元的深度信息，分别确定多条出库路线中各出库路线的总深度信息；在多条出库路线中，将总深度信息最小的出库路线确定为目标出库路线。
示例性地，第一确定模块702，被配置为根据目标出库路线对应的至少一个候选待搬运单元在巷道中的深度信息，按照深度信息由小到大的确定规则，从至少一个候选待搬运单元中确定目标待搬运单元。
在一些实施例中，第一筛选模块704，被配置为根据目标待搬运单元中的物品属性信息，在立体仓库中确定至少一个匹配巷道；根据至少一个匹配巷道的存储位信息，筛选包括无阻挡空闲存储位的至少一个候选巷道；其中，无阻挡空闲存储位是指从巷道入口到该无阻挡存储位之间的存储位均为空闲状态的空闲存储位。
在一些实施例中，第一筛选模块704，被配置为获取立体仓库中每个巷道的巷道属性信息；根据物品属性信息和巷道属性信息，确定目标待搬运单元与巷道之间的关联度；根据关联度，在立体仓库中确定至少一个匹配巷道。
在一些实施例中，第二筛选模块706，被配置为根据至少一个候选巷道在多个存储楼层中的分布信息，确定至少一个候选存储楼层；获取候选存储楼层的候选楼层信息；根据当前楼层信息和候选楼层信息，从至少一个候选存储楼层中确定至少一个目标存储楼层。
在一些实施例中，第二筛选模块706，进一步被配置为根据至少一个候选巷道在多个存储楼层中的分布信息，确定至少一个初选存储楼层；将至少一个初选存储楼层的待执行任务数量作为第一确定因子，将至少一个初选存储楼层与目标待搬运单元的当前楼层之间的楼层差作为第二确定因子；根据第一确定因子 和第二确定因子，确定至少一个候选存储楼层；基于至少一个候选存储楼层，确定至少一个目标存储楼层。
在一些实施例中，第二确定模块708，被配置为根据至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个无阻挡空闲存储位；根据目标待搬运单元的当前位置信息和无阻挡空闲存储位的存储位信息，确定目标待搬运单元和无阻挡空闲存储位之间的距离信息；将距离信息最小的无阻挡空闲存储位确定为目标存储位。
在一些实施例中，第二确定模块708，被配置为根据至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个无阻挡空闲存储位；根据目标待搬运单元的当前位置信息和无阻挡空闲存储位的存储位信息，确定目标待搬运单元和无阻挡空闲存储位之间的距离信息；根据距离信息，确定至少一个目标存储楼层中候选巷道的位置指标；根据位置指标，确定至少一个目标存储楼层中的目标存储位。
在一些实施例中，第二确定模块708，进一步被配置为根据位置指标，从至少一个目标存储楼层中确定至少一个目标巷道；根据至少一个目标巷道中无阻挡空闲存储位的深度信息，确定目标存储位。
在一些实施例中，第二确定模块708，进一步被配置为按照深度信息由大到小的确定规则，从至少一个目标巷道的无阻挡空闲存储位中确定目标存储位。
应用本公开实施例的方案，根据待执行任务的任务信息，确定目标待搬运单元；根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道；根据至少一个候选巷道在多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，筛选至少一个目标存储楼层；根据目标待搬运单元的当前位置信息和至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个目标存储楼层中的目标存储位；调度搬运设备将目标待搬运单元搬运至目标存储位进行存储。通过筛选候选巷道，进一步根据候选巷道筛选目标存储楼层，最后确定目标楼层中的目标存储位，合理地规划了存储位，提高了存储位的利用率以及搬运调度的效率。
上述为本实施例的一种立体仓库的搬运调度装置的示意性方案。需要说明的是，该立体仓库的搬运调度装置的技术方案与上述的立体仓库的搬运调度方法的技术方案属于同一构思，立体仓库的搬运调度装置的技术方案未详细描述的细节内容，均可以参见上述立体仓库的搬运调度方法的技术方案的描述。
图8为根据本公开一些实施例提供的一种计算设备的结构框图。该计算设备800的部件包括但不限于存储器810和处理器820。处理器820与存储器810通过总线830相连接，数据库850用于保存数据。
计算设备800还包括接入设备840，接入设备840使得计算设备800能够经由一个或多个网络860通信。这些网络的示例包括公用交换电话网(PSTN，Public Switched Telephone Network)、局域网(LAN，Local Area Network)、广域网(WAN，Wide Area Network)、个域网(PAN，Personal Area Network)或诸如因特网的通信网络的组合。接入设备840可以包括有线或无线的任何类型的网络接口(例如，网络接口卡(NIC，Network Interface Card))中的一个或多个，诸如IEEE802.11无线局域网(WLAN，Wireless Local Area Networks)无线接口、全球微波互联接入(Wi-MAX，World Interoperability for Microwave Access)接口、以太网接口、通用串行总线(USB，Universal Serial Bus)接口、蜂窝网络接口、蓝牙接口、近场通信(NFC，Near Field Communication)接口，等等。
在一些实施例中，计算设备800的上述部件以及图8中未示出的其他部件也可以彼此相连接，例如通过总线。应当理解，图8所示的计算设备结构框图仅仅是出于示例的目的，而不是对本公开范围的限制。本领域技术人员可以根据需要，增添或替换其他部件。
计算设备800可以是任何类型的静止或移动计算设备，包括移动计算机或移动计算设备(例如，平板计算机、个人数字助理、膝上型计算机、笔记本计算机、上网本等)、移动电话(例如，智能手机)、可佩戴的计算设备(例如，智能手表、智能眼镜等)或其他类型的移动设备，或者诸如台式计算机或个人计算机(PC，Personal Computer)的静止计算设备。计算设备800还可以是移动式或静止式的服务器。
其中，处理器820用于执行如下计算机可执行指令：根据待执行任务的任务信息，确定目标待搬运单元；根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道；根据至少一个候选巷道在多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，筛选至少一个目标存储楼层；根据目标待搬运单元的当前位置信息和至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个目标存储楼层中的目标存储位；调度搬运设备将目标待搬运单元搬运至目标存储位进行存储。
上述为本实施例的一种计算设备的示意性方案。需要说明的是，该计算设备的技术方案与上述的立体仓库的搬运调度方法的技术方案属于同一构思，计算设备的技术方案未详细描述的细节内容，均可以参见上述立体仓库的搬运调度方法的技术方案的描述。
本公开一些实施例还提供一种计算机可读存储介质，其存储有计算机指令，该指令被处理器执行时以 用于：根据待执行任务的任务信息，确定目标待搬运单元；根据目标待搬运单元中的物品属性信息，筛选立体仓库中符合物品属性信息的至少一个候选巷道；根据至少一个候选巷道在多个存储楼层中的分布信息和目标待搬运单元的当前楼层信息，筛选至少一个目标存储楼层；根据目标待搬运单元的当前位置信息和至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个目标存储楼层中的目标存储位；调度搬运设备将目标待搬运单元搬运至目标存储位进行存储。
上述为本实施例的一种计算机可读存储介质的示意性方案。需要说明的是，该存储介质的技术方案与上述的立体仓库的搬运调度方法的技术方案属于同一构思，存储介质的技术方案未详细描述的细节内容，均可以参见上述立体仓库的搬运调度方法的技术方案的描述。
上述对本公开特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。
所述计算机指令包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。
需要说明的是，对于前述的各方法实施例，为了简便描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本公开并不受所描述的动作顺序的限制，因为依据本公开，某些步骤可以采用其它顺序或者同时进行。其次，本领域技术人员也应该知悉，公开中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定都是本公开所必须的。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其它实施例的相关描述。
以上公开的本公开一些实施例只是用于帮助阐述本公开。上述实施例并没有详尽叙述所有的细节，也不限制该公开仅为所述的具体实施方式。显然，根据本公开的内容，可作很多的修改和变化。本公开选取并具体描述这些实施例，是为了更好地解释本公开的原理和实际应用，从而使所属技术领域技术人员能很好地理解和利用本公开。本公开仅受权利要求书及其全部范围和等效物的限制。

Claims (20)

  1. 一种立体仓库的搬运调度方法，所述立体仓库包括多个存储楼层，所述存储楼层包括多个巷道，所述方法包括：
    根据待执行任务的任务信息，确定目标待搬运单元；
    根据所述目标待搬运单元中的物品属性信息，筛选所述立体仓库中符合所述物品属性信息的至少一个候选巷道；
    根据所述至少一个候选巷道在所述多个存储楼层中的分布信息和所述目标待搬运单元的当前楼层信息，在所述多个存储楼层中筛选得到至少一个目标存储楼层；
    根据所述目标待搬运单元的当前位置信息和所述至少一个目标存储楼层中候选巷道的存储位信息，在所述至少一个目标存储楼层中确定目标存储位；
    调度搬运设备将所述目标待搬运单元搬运至所述目标存储位进行存储。
  2. 根据权利要求1所述的方法，其中，在所述根据待执行任务的任务信息，确定目标待搬运单元之前，还包括：
    在多个初始任务中包括出库任务的情况下，从所述出库任务中确定所述待执行任务。
  3. 根据权利要求1所述的方法，其中，所述根据待执行任务的任务信息，确定目标待搬运单元，包括：
    在所述待执行任务为出库任务的情况下，确定所述待执行任务对应的待出库单元；所述待出库单元为所述待执行任务对应的等待出库的待搬运单元；
    根据所述待出库单元的存储位置信息，确定至少一个候选待搬运单元，并根据所述至少一个候选待搬运单元，确定所述目标待搬运单元；所述候选待搬运单元为阻挡所述待出库单元出库的待搬运单元。
  4. 根据权利要求3所述的方法，其中，所述根据所述至少一个候选待搬运单元，确定所述目标待搬运单元，包括：
    根据所述至少一个候选待搬运单元在巷道中的深度信息，从所述至少一个候选待搬运单元中确定所述目标待搬运单元。
  5. 根据权利要求4所述的方法，其中，所述根据所述至少一个候选待搬运单元在巷道中的深度信息，从所述至少一个候选待搬运单元中确定所述目标待搬运单元，包括：
    根据所述至少一个候选待搬运单元在所述巷道中的深度信息，按照深度信息由小到大的确定规则，从所述至少一个候选待搬运单元中确定目标待搬运单元。
  6. 根据权利要求3所述的方法，其中，所述根据所述待出库单元的存储位置信息，确定至少一个候选待搬运单元，并根据所述至少一个候选待搬运单元，确定所述目标待搬运单元，包括：
    根据所述待出库单元的存储位置信息，确定至少一个搬运方向中各搬运方向对应的出库路线，以及各出库路线对应的候选待搬运单元；
    根据所述各出库路线对应的候选待搬运单元的数量和/或深度信息，在至少一条出库路线中确定目标出库路线；
    根据所述目标出库路线对应的至少一个候选待搬运单元，确定所述目标待搬运单元。
  7. 根据权利要求6所述的方法，其中，所述根据所述各出库路线对应的候选待搬运单元的数量和/或深度信息，在至少一个出库路线中确定目标出库路线，包括：
    若所述各出库路线对应的候选待搬运单元的数量不同，则将候选待搬运单元的数量最少的出库路线确定为所述目标出库路线；
    若至少一条所述出库路线中存在多条出库路线对应的候选待搬运单元数量最少，则根据所述多条出库路线对应的候选待搬运单元的深度信息，在所述多条出库路线中确定所述目标出库路线。
  8. 根据权利要求7所述的方法，其中，所述根据所述多条出库路线对应的候选待搬运单元的深度信息，在所述多条出库路线中确定所述目标出库路线，包括：
    根据所述多条出库路线对应的候选待搬运单元的深度信息，分别确定所述多条出库路线中各出库路线的总深度信息；
    在所述多条出库路线中，将所述总深度信息最小的出库路线确定为所述目标出库路线。
  9. 根据权利要求6所述的方法，其中，所述根据所述目标出库路线对应的至少一个候选待搬运单元， 确定所述目标待搬运单元，包括：
    根据所述目标出库路线对应的至少一个候选待搬运单元在巷道中的深度信息，按照深度信息由小到大的确定规则，从所述至少一个候选待搬运单元中确定所述目标待搬运单元。
  10. 根据权利要求1-9中任一项所述的方法，其中，所述根据所述目标待搬运单元中的物品属性信息，筛选所述立体仓库中符合所述物品属性信息的至少一个候选巷道，包括：
    根据所述目标待搬运单元中的物品属性信息，在所述立体仓库中确定至少一个匹配巷道；
    根据所述至少一个匹配巷道的存储位信息，筛选包括无阻挡空闲存储位的至少一个候选巷道；其中，所述无阻挡空闲存储位是指从巷道入口到所述无阻挡空闲存储位之间的存储位均为空闲状态的空闲存储位。
  11. 根据权利要求10所述的方法，其中，所述根据所述目标待搬运单元中的物品属性信息，在所述立体仓库中确定至少一个匹配巷道，包括：
    获取所述立体仓库中每个巷道的巷道属性信息；
    根据所述物品属性信息和所述巷道属性信息，确定所述目标待搬运单元与所述巷道之间的关联度；
    根据所述关联度，在所述立体仓库中确定至少一个匹配巷道。
  12. 根据权利要求1-9中任一项所述的方法，其中，所述根据所述至少一个候选巷道在所述多个存储楼层中的分布信息和所述目标待搬运单元的当前楼层信息，在所述多个存储楼层中筛选得到至少一个目标存储楼层，包括：
    根据所述至少一个候选巷道在所述多个存储楼层中的分布信息，确定至少一个候选存储楼层；
    获取所述候选存储楼层的候选楼层信息；
    根据所述当前楼层信息和所述候选楼层信息，从所述至少一个候选存储楼层中确定所述至少一个目标存储楼层。
  13. 根据权利要求1-9中任一项所述的方法，其中，所述根据所述至少一个候选巷道在所述多个存储楼层中的分布信息和所述目标待搬运单元的当前楼层信息，在所述多个存储楼层中筛选得到至少一个目标存储楼层，包括：
    根据所述至少一个候选巷道在所述多个存储楼层中的分布信息，确定至少一个初选存储楼层；
    将所述至少一个初选存储楼层的待执行任务数量作为第一确定因子，将所述至少一个初选存储楼层与目标待搬运单元的当前楼层之间的楼层差作为第二确定因子；
    根据所述第一确定因子和所述第二确定因子，确定至少一个候选存储楼层；
    基于所述至少一个候选存储楼层，确定所述至少一个目标存储楼层。
  14. 根据权利要求1-9中任一项所述的方法，其中，所述根据所述目标待搬运单元的当前位置信息和所述至少一个目标存储楼层中候选巷道的存储位信息，在所述至少一个目标存储楼层中确定目标存储位，包括：
    根据所述至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个无阻挡空闲存储位；
    根据所述目标待搬运单元的当前位置信息和所述无阻挡空闲存储位的存储位信息，确定所述目标待搬运单元和所述无阻挡空闲存储位之间的距离信息；
    将距离信息最小的无阻挡空闲存储位确定为所述目标存储位。
  15. 根据权利要求1-9中任一项所述的方法，其中，所述根据所述目标待搬运单元的当前位置信息和所述至少一个目标存储楼层中候选巷道的存储位信息，在所述至少一个目标存储楼层中确定目标存储位，包括：
    根据所述至少一个目标存储楼层中候选巷道的存储位信息，确定至少一个无阻挡空闲存储位；
    根据所述目标待搬运单元的当前位置信息和所述无阻挡空闲存储位的存储位信息，确定所述目标待搬运单元和所述无阻挡空闲存储位之间的距离信息；
    根据所述距离信息，确定所述至少一个目标存储楼层中候选巷道的位置指标；
    根据所述位置指标，在所述至少一个目标存储楼层中确定所述目标存储位。
  16. 根据权利要求15所述的方法，其中，所述根据所述位置指标，在所述至少一个目标存储楼层中确定所述目标存储位，包括：
    根据所述位置指标，从所述至少一个目标存储楼层中确定至少一个目标巷道；
    根据所述至少一个目标巷道中无阻挡空闲存储位的深度信息，确定目标存储位。
  17. 根据权利要求16所述的方法，其中，所述根据所述至少一个目标巷道中无阻挡空闲存储位的深 度信息，确定目标存储位的步骤，包括：
    按照深度信息由大到小的确定规则，从所述至少一个目标巷道的无阻挡空闲存储位中确定目标存储位。
  18. 一种立体仓库的搬运调度装置，所述立体仓库包括多个存储楼层，所述存储楼层包括多个巷道，所述装置包括：
    第一确定模块，被配置为根据待执行任务的任务信息，确定目标待搬运单元；
    第一筛选模块，被配置为根据所述目标待搬运单元中的物品属性信息，筛选所述立体仓库中符合所述物品属性信息的至少一个候选巷道；
    第二筛选模块，被配置为根据所述至少一个候选巷道在所述多个存储楼层中的分布信息和所述目标待搬运单元的当前楼层信息，在所述多个存储楼层中筛选得到至少一个目标存储楼层；
    第二确定模块，被配置为根据所述目标待搬运单元的当前位置信息和所述至少一个目标存储楼层中候选巷道的存储位信息，在所述至少一个目标存储楼层中确定目标存储位；
    调度模块，被配置为调度搬运设备将所述目标待搬运单元搬运至所述目标存储位进行存储。
  19. 一种计算设备，包括：
    存储器和处理器；
    所述存储器用于存储计算机可执行指令，所述处理器用于执行所述计算机可执行指令，以实现下述方法：
    根据待执行任务的任务信息，确定目标待搬运单元；
    根据所述目标待搬运单元中的物品属性信息，筛选立体仓库中符合所述物品属性信息的至少一个候选巷道；
    根据所述至少一个候选巷道在多个存储楼层中的分布信息和所述目标待搬运单元的当前楼层信息，在所述多个存储楼层中筛选得到至少一个目标存储楼层；
    根据所述目标待搬运单元的当前位置信息和所述至少一个目标存储楼层中候选巷道的存储位信息，在所述至少一个目标存储楼层中确定目标存储位；
    调度搬运设备将所述目标待搬运单元搬运至所述目标存储位进行存储。
  20. 一种计算机可读存储介质，其存储有计算机指令，该指令被处理器执行时实现权利要求1至17中任意一项所述的立体仓库的搬运调度方法的步骤。
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