CN-122009717-A - Method, device and storage medium for planning transport tasks in warehouse environment

CN122009717ACN 122009717 ACN122009717 ACN 122009717ACN-122009717-A

Abstract

The embodiment of the application provides a method, a device and a storage medium for planning a transport task in a warehouse environment, and relates to the technical field of warehouse logistics. The method comprises the steps of obtaining a new transport task, determining one or more approach storage positions, which are needed to pass through a target roadway, of a transport carrier for executing the new transport task according to the new transport task, determining occupied storage positions occupied by cargoes in the approach storage positions, determining a first front transport task for transporting cargoes in the occupied storage positions in a transport task topology network, storing the new transport task into the transport task topology network, and enabling execution priority of the new transport task to be located behind the first front transport task of all the approach storage positions. The method can dynamically identify the library position state, and establish the execution priority among the carrying tasks by combining the real-time library position state, thereby improving the execution efficiency and the system robustness of the intensive warehouse carrying tasks.

Inventors

YI XINRUI
FANG YANG
QIU HAN
Peng Feilin
CHEN TIEJUN

Assignees

中科云谷科技有限公司

Dates

Publication Date: 20260512
Application Date: 20251219

Claims (11)

1. The method for planning the transport tasks of the warehouse environment is characterized by being used for planning the transport tasks of a plurality of transport vehicles, and comprises the following steps of: Acquiring a new transport task; Determining that a carrying carrier for executing the new carrying task passes through one or more approach warehouse positions on a target roadway according to the new carrying task; Determining occupied library positions occupied by cargoes in the path library positions; determining a first front-end handling task for carrying out cargoes in the occupied storage position in a handling task topology network; And storing the newly added carrying task into the carrying task topology network, wherein the execution priority of the newly added carrying task is positioned after the first front carrying task of all the way library positions.
2. The method of claim 1, wherein existing transport tasks in the transport task topology network have an entry level indicating execution priority, wherein storing the newly added transport tasks in the transport task topology network comprises: Determining a first incoming degree of the newly added carrying task according to the task number of the front carrying task; and storing the newly added carrying task with the first income degree into the carrying task topology network, wherein the execution priority of the newly added carrying task is more rearward when the first income degree is larger.
3. The method of claim 1, wherein determining a first lead transfer task in a topological network of transfer tasks that carries out the cargo in the occupied storage location comprises: determining an obstructing task representing the occupied library in the handling task topology network; determining a front-end handling task of the blocking task in the handling task topology network; and determining the front-end handling task of the blocking task as the first front-end handling task.
4. The method of claim 1, wherein the newly added transport task stored in the transport task topology network is a first existing transport task, the method further comprising: Acquiring a first task completion message of the first pre-handling task, wherein the first task completion message indicates that the goods on the occupied storage position have been moved out; Deleting the first front-end handling task in the handling task topology network according to the first task completion message; and under the condition that the first pre-conveying task is deleted and each path bin is an idle bin without cargo occupation, determining that the task state of the first pre-conveying task is executable.
5. The method of claim 4, wherein existing transport tasks in the transport task topology network have an ingress that indicates execution priority; The deleting the first pre-handling task in the handling task topology network according to the first task completion message includes: deleting the first pre-handling task in the handling task topology network according to the first task completion message, and reducing the first incoming degree of the first existing handling task; in the case that the first pre-handling task is deleted and each of the way library locations is a free library location without cargo occupation, determining that the task state of the first existing handling task is executable includes: and under the condition that the first incoming degree is reduced to zero and each path bin is an idle bin without cargo occupation, determining that the task state of the first existing carrying task is executable.
6. The method of claim 4, wherein the transport task topology network further comprises a blocking task representing the occupied bin, and wherein deleting the first pre-transport task in the transport task topology network based on the first task completion message comprises: And deleting the blocking task in the carrying task topology network according to the first task completion message, and deleting the first pre-carrying task.
7. The method of claim 1, wherein the additional transport task is an out-lane transport task, and the determining, according to the additional transport task, that a transport vehicle performing the additional transport task needs to pass through one or more approach bins on a target lane comprises: determining one or more path library positions which are needed to pass through the target roadway for executing the new transport task according to the first target library position of the new transport task and the outlet position of the target roadway; Storing the new transport task into the transport task topology network, wherein the execution priority of the new transport task is located after the first front transport task of all the path library positions, and the method comprises the following steps: determining a second existing transport task with a path library comprising the first target library in the transport task topology network; Storing the newly added transport task into the transport task topology network, wherein the execution priority of the second existing transport task is located after the first pre-transport task of all the way library positions and the newly added transport task, and the execution priority of the newly added transport task is located after the first pre-transport task of all the way library positions.
8. The method of claim 1, wherein the newly added transport task is an entry transport task, the entry transport task comprising instructing a transport vehicle to store a second target cargo in a second target storage location in an idle state; the obtaining the new carrying task comprises the following steps: Acquiring a library position state of each library position on the target roadway, wherein the target roadway is a double-entry roadway; according to the library position state of each library position, selecting an inlet with the least number of occupied library positions between two inlets of the target roadway and the second target library position as a target inlet; determining a task path of the tunnel entering transport task in the target tunnel according to the target entrance and the second target library position, and obtaining the newly added transport task; The determining, according to the new transport task, that the transport vehicle performing the new transport task needs to pass through one or more approach bins on the target roadway includes: and determining one or more path library bits on the target roadway according to the task path of the target roadway.
9. The method of claim 8, wherein the obtaining the new transport task further comprises: under the condition that the state of each library bit is idle, determining one library bit positioned at the middle of the target roadway as the second target library bit; and under the condition that the middle library bit of the target roadway is the occupied library bit, determining the idle state library bit closest to the middle library bit as the second target library bit.
10. A transportation mission planning apparatus for a warehouse environment, comprising a processor configured to perform the transportation mission planning method for a warehouse environment according to any one of claims 1 to 9.
11. A machine-readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to be configured to perform the method of handling task planning for a warehouse environment according to any of claims 1 to 9.

Description

Method, device and storage medium for planning transport tasks in warehouse environment Technical Field The application relates to the technical field of warehouse logistics, in particular to a method, a device and a storage medium for planning a transport task in a warehouse environment. Background In the intensive warehousing scene, the warehousing robot needs to execute the carrying tasks issued by the warehouse execution system at the upper layer, however, the existing carrying task planning method often sorts the plurality of carrying tasks according to preset task priorities, and the preset task priorities can be determined based on the cargo importance degree of the carrying tasks and the execution time period of the specified carrying tasks. Therefore, when a plurality of stocker robots simultaneously execute stocker transfer tasks, the stocker robots may collide with each other due to the fact that the stocker transfer tasks are required to travel through the same lane. Therefore, the execution sequence of the warehousing and transportation tasks of the plurality of warehousing robots needs to be planned, and the plurality of warehousing robots are prevented from collision in the process of executing the warehousing and transportation tasks. Disclosure of Invention The embodiment of the application aims to provide a method, a device and a storage medium for planning a transport task in a warehouse environment. In order to achieve the above object, a first aspect of the present application provides a method for planning a transportation task for a warehouse environment, including: Acquiring a new transport task; determining that a carrying vehicle executing the new carrying task passes through one or more path warehouse positions on the target roadway according to the new carrying task; Determining occupied library positions occupied by cargoes in the path library positions; Determining a first front-end handling task for carrying out cargoes in occupied storage positions in a handling task topology network; and storing the newly added carrying task into a carrying task topology network, wherein the execution priority of the newly added carrying task is positioned after the first front carrying task of all the path library positions. In the embodiment of the application, the existing transport tasks in the transport task topology network have the entering degree representing the execution priority, the storing of the newly added transport tasks in the transport task topology network comprises the steps of determining the first entering degree of the newly added transport tasks according to the task number of the front transport tasks, and storing the newly added transport tasks with the first entering degree in the transport task topology network, wherein the execution priority of the newly added transport tasks is more rearward when the first entering degree is larger. In the embodiment of the application, determining a first front-end handling task for transporting goods in occupied storage positions in a handling task topology network comprises determining a blocking task representing the occupied storage positions in the handling task topology network, determining a front-end handling task of the blocking task in the handling task topology network, and determining the front-end handling task of the blocking task as the first front-end handling task. In the embodiment of the application, the newly added transport task stored in the transport task topology network is a first existing transport task, and the transport task planning method further comprises the steps of obtaining a first task completion message of a first pre-transport task, wherein the first task completion message indicates that goods on occupied storage positions are carried out, deleting the first pre-transport task in the transport task topology network according to the first task completion message, and determining that the task state of the first existing transport task is executable under the conditions that the first pre-transport task is deleted and each path storage position is an idle storage position without goods occupation. In the embodiment of the application, the existing handling tasks in the handling task topology network have an entering degree representing the execution priority, and deleting the first pre-handling task in the handling task topology network according to the first task completion message comprises deleting the first pre-handling task in the handling task topology network and reducing the first entering degree of the first existing handling task according to the first task completion message, wherein when the first pre-handling task is deleted and each path library is an idle library without cargo, determining that the task state of the first existing handling task is executable comprises determining that when the first entering degree is reduced to zero and each path library is an idle library wi