CN114358681A - Task allocation method, electronic device and computer program product - Google Patents

Abstract

The embodiment of the application provides a task allocation method, electronic equipment and a computer program product, and the method comprises the steps of firstly obtaining an idle transport vehicle set, a to-be-allocated warehouse-in task set, a to-be-allocated warehouse-out task set and non-idle transport vehicle information which correspond to a target warehouse at present; determining a first distribution relation between each idle transport vehicle and each warehouse entry task to be distributed based on the idle transport vehicle set, the warehouse entry task set to be distributed and the number of first non-idle transport vehicles, and determining a second distribution relation between each idle transport vehicle and each warehouse exit task to be distributed based on the first distribution relation, the idle transport vehicle set, the warehouse exit task set to be distributed and the number of second non-idle transport vehicles; and finally, scheduling the idle transport vehicles based on the first distribution relation and the second distribution relation. According to the method and the system, the whole task can be smoothly executed through the first distribution relation between the warehouse entry task and the idle transport vehicle and the second distribution relation between the warehouse exit task and the idle transport vehicle, and the efficiency is improved.

Description

Task assignment method, electronic device and computer program product

technical field

The present application relates to the technical field of warehouse automation, and in particular, to a task assignment method, an electronic device and a computer program product.

Background technique

Automated three-dimensional warehouses are usually composed of shelves, transport vehicles and related control systems. Under the scheduling of the relevant control system, the transport vehicle travels through the roadway between the shelves to complete the task of leaving or entering the warehouse.

In the process of using the automated three-dimensional warehouse, the tasks of entering and leaving the warehouse often occur at the same time, which may result in a situation where the throughput of the outbound warehouse is much greater than that of the warehouse, or the throughput of the warehouse is much larger than that of the warehouse. When there is a large difference between the throughput of inbound and outbound and inbound warehouses, it will cause congestion in the warehouse task process and low task efficiency.

Therefore, there is an urgent need for a technical solution for task allocation to solve the above technical problems.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present application is to provide a task allocation method, electronic device and computer program product, so as to satisfy the requirements of inbound and outbound flow as much as possible, and to make the overall task of the warehouse smooth, thereby improving task efficiency.

In a first aspect, an embodiment of the present application provides a task allocation method, including: acquiring a set of idle transport vehicles currently corresponding to a target warehouse, a set of inbound tasks to be allocated, a set of outbound tasks to be allocated, and information on non-idle transport vehicles; Wherein, the information on non-idle transport vehicles includes the number of first non-idle transport vehicles that perform inbound tasks and the number of second non-idle transport vehicles that perform outbound tasks; based on the set of idle transport vehicles, the set of inbound tasks to be allocated, and the first The number of idle transport vehicles, determine the first allocation relationship between each idle transport vehicle and each task to be allocated into the warehouse; based on the first allocation relationship, the set of idle transport vehicles, the set of tasks to be allocated out of the warehouse, and the number of second non-idle transport vehicles , determine the second distribution relationship between each idle transport vehicle and each task to be allocated out of the warehouse; the idle transport vehicle in the second allocation relationship does not overlap with the idle transport vehicle in the first allocation relationship; based on the first allocation relationship and the first allocation relationship The second distribution relationship is to schedule idle transport vehicles.

Further, the above-mentioned determination of the first assignment relationship between each idle transport vehicle and each to-be-allocated warehousing task based on the set of idle transport vehicles, the set of tasks to be allocated into the warehouse, and the number of the first non-idle transport vehicles includes: based on the first The number of non-idle transport vehicles, to determine the range of the number of inbound vehicles that can currently perform tasks to be allocated into the warehouse; input the set of idle transport vehicles and the set of tasks to be allocated into the warehouse into the first capacity allocation model to obtain a plurality of first preliminary pairing relationships and the corresponding evaluation value; the first preliminary pairing relationship includes the pairing relationship between the idle transporter and the task to be assigned into the warehouse; the evaluation value represents the time when the idle transporter corresponding to the first preliminary pairing relationship starts to execute the corresponding task to be assigned into the warehouse Loss and/or distance loss; based on the first preliminary pairing relationship and the corresponding evaluation value, and the range of the number of vehicles entering the warehouse, determine the first distribution relationship.

Further, the above-mentioned determination based on the number of the first non-idle transport vehicles to determine the range of the number of inbound vehicles that can currently perform the task to be assigned into the warehouse includes: based on the first target number range and the first non-idle number of transport vehicles, determining the inbound vehicles. Quantity range; wherein, the first target quantity range is set based on the cost model of the target warehouse and the stock-in efficiency.

Further, the above-mentioned step of determining the first distribution relationship based on the preliminary pairing relationship and the corresponding evaluation value, as well as the range of the number of vehicles in the warehouse, includes: sorting each first preliminary pairing relationship according to the first sorting rule according to the evaluation value; In the sorted first preliminary pairing relationship, the first preliminary pairing relationship ranging from the first to the number of vehicles entering the garage is determined as the first allocation relationship.

Further, the above-mentioned set of warehousing tasks to be allocated includes warehousing tasks to be allocated, and the first number of non-idle transport vehicles is the number of non-idle transport vehicles that perform warehousing tasks; The task set and the number of the first non-idle transport vehicles, determine the first assignment relationship between each idle transport vehicle and each to-be-allocated warehousing task, including: based on the idle transport vehicle information, each to-be-allocated warehousing task, and the first non-idle warehousing task The number of transport vehicles determines the first allocation relationship between each idle transport vehicle and each to-be-allocated warehousing task.

Further, the above-mentioned warehousing task set to be allocated includes a warehousing task to be allocated and a warehouse returning task to be allocated; the first number of non-idle transport vehicles includes the first non-idle transport vehicle component that performs the warehousing task and the first non-idle transport vehicle that performs the warehouse-returning task. 2. The component of non-idle transport vehicles; correspondingly, based on the information of the idle transport vehicles, the set of tasks to be allocated into the warehouse, and the number of the first non-idle transport vehicles, determine the first allocation relationship between each idle transport vehicle and each of the tasks to be allocated into the warehouse , including: determining the first sub-allocation relationship between each idle transporter and each to-be-allocated warehousing task based on the information of the idle transporter, each to-be-allocated warehousing task and the first non-idle transporter component; and, based on the idle transporter The vehicle information, each to-be-allocated back-to-warehouse task, and the second non-idle transport vehicle component determine the second sub-allocation relationship between each of the idle transport vehicles and each to-be-allocated back-to-warehouse task.

Further, based on the first allocation relationship, the information of the idle transport vehicles, the set of tasks to be allocated out of the warehouse, and the number of the second non-idle transport vehicles, the second allocation relationship between each idle transport vehicle and each of the tasks to be allocated out of the warehouse is determined, Including: excluding the idle transportation vehicles corresponding to each first allocation relationship from the current idle transportation vehicle set, and obtaining the eliminated idle transportation vehicle set; The number of idle transport vehicles is determined for each second allocation relationship.

Further, the above-mentioned non-idle transport vehicle information includes the number of second sub-non-idle transport vehicles that perform outbound tasks in each outbound direction; correspondingly, based on the set of eliminated idle transport vehicles, the set of outbound tasks to be allocated, and the second The number of non-idle transport vehicles, and the determination of each second allocation relationship includes: for each outbound direction, based on the number of second sub-non-idle transport vehicles corresponding to the outbound direction, determining the outbound direction of the currently executable outbound task in the outbound direction. The threshold of the number of vehicles in the warehouse; based on the set of tasks to be allocated out of the warehouse, the set of idle transport vehicles after elimination, and the threshold of the number of vehicles out of the warehouse, each second assignment relationship corresponding to the outbound direction is determined.

Further, the above-mentioned step of determining each second assignment relationship corresponding to the outbound direction based on the set of outbound tasks to be allocated, the set of discarded idle transport vehicles, and the threshold of the number of outbound vehicles includes: assigning the current outbound tasks to be allocated. The set and the updated set of current idle transport vehicles are input into the second capacity allocation model, and the third preliminary pairing relationship and the corresponding evaluation value are obtained; the evaluation value represents the time loss and the \ or distance loss; based on the third preliminary pairing relationship and the corresponding evaluation value, as well as the threshold to be allocated in each outbound direction, determine the second allocation relationship.

Further, each of the above-mentioned tasks to be allocated out of the warehouse corresponds to a respective outbound direction; based on the third preliminary pairing relationship and the corresponding evaluation value, and the threshold to be allocated in each outbound direction, the step of determining the second allocation relationship includes: : Sort the third preliminary pairing relationship according to the second sorting rule according to the evaluation value; for each outbound direction, in the sorted third preliminary pairing relationship, the thresholds to be allocated corresponding to the first to the first outbound direction are sorted. The third preliminary pairing relationship is determined as the filtered third preliminary pairing relationship; in the filtered third preliminary pairing relationship and the third preliminary matching relationship, the outbound direction corresponding to the outbound task to be allocated is determined as the first Two distribution relations.

Further, each of the above-mentioned outbound tasks to be assigned corresponds to its own outbound station type; the outbound station types include multiple types, and there is at least one type of outbound picking station in the target warehouse, and each outbound station type corresponds to the outbound station type. library task threshold; the step of determining the second assignment relationship based on the third preliminary pairing relationship and the corresponding evaluation value, as well as the thresholds to be assigned in each outbound direction, includes: according to the evaluation value, the third preliminary pairing relationship is sorted according to the third sorting rule Sorting; for each type of outbound station type, in the third preliminary pairing relationship, the third preliminary pairing relationship of the target outbound task threshold corresponding to the first to the first outbound station type is determined as the filtered The third preliminary pairing relationship; the filtered third preliminary pairing relationship is calculated based on the loss function and corresponds to the loss value of each outbound direction; the outbound direction corresponding to the third preliminary library pairing relationship when the loss value is the smallest is determined as the third preliminary library The outbound direction of the pairing relationship; the filtered third preliminary pairing relationship and the corresponding outbound direction are determined as the second distribution relationship.

In a second aspect, embodiments of the present application further provide an electronic device, including a processor and a memory, where the memory stores machine-executable instructions that can be executed by the processor, and the processor executes the machine-executable instructions to implement the above task allocation method.

In a third aspect, embodiments of the present application further provide a machine-readable storage medium, where the machine-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are called and executed by the processor, the machine-executable instructions cause the processor to Implement the above task assignment method.

In a fourth aspect, an embodiment of the present application further provides a computer program product, including a computer program, where the computer program can implement the above task allocation method when executed by a processor.

The embodiments of the present application have brought the following beneficial effects:

The embodiments of the present application provide a task allocation method, electronic device, and computer program product. First, a set of idle transport vehicles, a set of inbound tasks to be allocated, a set of outbound tasks to be allocated, and a set of non-idle transport vehicles currently corresponding to a target warehouse are obtained. information; then, based on the set of idle transport vehicles, the set of tasks to be allocated into the warehouse, and the number of first non-idle transport vehicles, determine the first allocation relationship between each idle transport vehicle and each task to be allocated into the warehouse, and based on the first allocation relationship , the set of idle transport vehicles, the set of outbound tasks to be allocated, and the number of second non-idle transporters, to determine the second allocation relationship between each idle transporter and each outbound task to be allocated; finally, based on the first allocation relationship and the second Assignment relationship to schedule idle transport vehicles. In this method, the first assignment relationship between the inbound task and the idle transport vehicle, and the second assignment relationship between the outbound task and the idle transporter are respectively determined. In the process of determining the second assignment relationship, consideration is given to The first distribution relationship is used to make the in-out and out-flow operations of the warehouse reach a relatively balanced state while meeting the requirements of inbound and outbound flow as much as possible, so that the overall task execution is smooth and the work efficiency of the warehouse is improved.

Other features and advantages of the present application will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the present application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the description, claims and drawings.

In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the preferred embodiments are exemplified below, and are described in detail as follows in conjunction with the accompanying drawings.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the specific embodiments or the prior art will be briefly introduced below. The drawings are some embodiments of the present application. For those skilled in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic diagram of a dense storage based on a simple pallet and a shuttle provided by an embodiment of the present application;

2 is a flowchart of a task allocation method provided by an embodiment of the present application;

3 is a flowchart of another task allocation method provided by an embodiment of the present application;

4 is a flowchart of a method for determining a second assignment relationship in a task assignment process provided by an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a task assignment device provided by an embodiment of the present application;

FIG. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the present application will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. example. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of this application.

With the development of intelligent technologies such as the Internet of Things, artificial intelligence, and big data, the demand for transforming and upgrading the traditional logistics industry by using these intelligent technologies has become stronger and stronger. Intelligent logistics system has become a research hotspot in the field of logistics. Smart logistics uses artificial intelligence, big data, various information sensors, radio frequency identification technology, global positioning system (GPS) and other Internet of Things devices and technologies, and is widely used in basic material transportation, warehousing, distribution, packaging, loading and unloading and information services. The activity link realizes the intelligent analysis and decision-making, automatic operation and high-efficiency optimization management of the material management process. The Internet of Things technology includes sensing equipment, RFID technology, laser infrared scanning, infrared induction recognition, etc. The Internet of Things can effectively connect the materials in the logistics with the network, monitor the materials in real time, and sense the humidity and temperature of the warehouse. data to ensure the storage environment of materials. Through big data technology, all data in the logistics can be perceived and collected, uploaded to the data layer of the information platform, and the data can be filtered, mined, analyzed and other tasks, and finally the business processes (such as transportation, storage, storage, picking, packaging, sorting, etc. Picking, outbound, inventory, distribution and other links) provide accurate data support. The application directions of artificial intelligence in logistics can be roughly divided into two types: 1) AI-enabled technologies such as unmanned trucks, AGVs, AMRs, forklifts, shuttles, stackers, unmanned delivery vehicles, drones, Intelligent equipment such as service robots, robotic arms, and intelligent terminals replace part of the labor; 2) Software such as transportation equipment management systems, warehouse management, equipment scheduling systems, order distribution systems and other software driven by technologies or algorithms such as computer vision, machine learning, and operations optimization The system improves labor efficiency. With the research and progress of smart logistics, this technology has been applied in many fields, such as retail and e-commerce, electronic products, tobacco, medicine, industrial manufacturing, footwear, textiles, food and other fields.

As various industries pay more and more attention to the rational use of land resources, various industries are required to improve the space utilization rate of warehouse storage and produce greater efficiency in limited space, and also require to improve the automation rate of warehouses, with low cost and high efficiency. Efficiently meet demand.

The use of automated three-dimensional warehouses (also known as "four-way shuttle warehouses", referred to as "warehouses") can, on the one hand, develop in the direction of depth. Since its roadways serve multiple depths, it can save channels and improve storage density, on the other hand. In terms of development, the storage volume can be greatly increased by developing in the height direction, thereby achieving the purpose of saving space resources.

Automated three-dimensional warehouses are usually composed of shelves, transport vehicles (usually four-way shuttle vehicles) and related control systems. Under the dispatch of the relevant control system, the four-way shuttle travels through the roadway between the shelves to complete the task of goods leaving or entering the warehouse. Figure 1 shows a schematic diagram of a dense storage based on simple pallets and shuttles. The warehouse contains multiple layers (two layers are used as an example in Figure 1), and each layer contains multiple lanes (from the middle in Figure 1 to × ), the goods are continuously stored on the shelf depth of each aisle, thereby increasing the storage density. Racks can be carried by transport vehicles and moved through aisles (represented by tracks between lanes in Figure 1 ) to elevators (refer to hoists in Figure 1 ) or other exits (represented by dashed rails in Figure 1 ).

In the process of using the automated three-dimensional warehouse, the tasks of entering and leaving the warehouse often occur at the same time. The inbound and outbound operations often occur at the same time, but sometimes the outbound throughput is much greater than the inbound throughput, and sometimes the inbound throughput is much larger than the outbound throughput. Since the overall throughput capacity of the four-way shuttle has its upper limit, it may cause congestion in the warehouse task process and low task efficiency.

Based on the above technical problems, the embodiments of the present application provide a task assignment method, an electronic device and a computer program product. The technology can be applied to various devices such as servers, computers, mobile phones, tablet computers, and vehicle central control devices. Corresponding software and hardware may be used for implementation, and the embodiments of the present application will be described in detail below.

The embodiment of the present application provides a task allocation method. As shown in Figure 2, the method includes the following steps:

Step S200, acquiring the current corresponding idle transport vehicle set, the to-be-allocated in-warehouse task set, the to-be-allocated out-of-warehouse task set, and the information of non-idle transport vehicles currently corresponding to the target warehouse;

Wherein, the information on the non-idle transport vehicles includes the number of the first non-idle transport vehicles that perform the inbound task and the number of the second non-idle transport vehicles that perform the outbound task;

The above method can be implemented by a control system. The control system can obtain parameter information such as the operation status and location of each transport vehicle in the warehouse, and can also receive various tasks to be assigned input by relevant personnel or issued by the superior system, including in-warehouse tasks, out-of-warehouse tasks, etc. tasks and return tasks. After obtaining the parameter information of each transporter in the warehouse, the transporter whose operation status is completed can be determined as an idle transporter, and the number of transporters performing various tasks can be counted to obtain the above-mentioned current transport capacity parameters. Reflects the current warehouse inbound and outbound flow. The above-mentioned current transport capacity parameter may include the number of transport vehicles that are performing the task of entering the warehouse, the number of transporting vehicles that are performing the task of leaving the warehouse, and the number of transporting vehicles that are performing the task of returning to the warehouse, and the like.

The above-mentioned set of idle transport vehicles may include information such as codes or numbers of idle transport vehicles, and location information of idle transport vehicles, and the like. The above-mentioned warehousing task may include the number of the warehousing pallet, and the position and number information of the connection point where the warehousing pallet is located.

Step S202: Based on the set of idle transport vehicles, the set of tasks to be allocated into the warehouse, and the number of first non-idle transport vehicles, determine the first allocation relationship between each idle transport vehicle and each task to be allocated into the warehouse;

When allocating the set of idle transport vehicles and the inbound task, the assignment can be performed based on the current position of the idle transporter and the position of the connection point where the inbound pallet is located, so as to obtain a preliminary pairing relationship between the idle transporter and the inbound task. The pairing process is usually based on the principle of minimizing the unloaded distance or time of the idle transport vehicles. Specifically, a greedy algorithm or a bipartite graph matching algorithm can be used to allocate the idle transport vehicles and work tasks.

Step S204: Based on the first allocation relationship, the set of idle transport vehicles, the set of outbound tasks to be allocated, and the number of second non-idle transport vehicles, determine the second allocation relationship between each idle transporter and each outbound task to be allocated;

Wherein, the idle transport vehicles in the second allocation relationship do not overlap with the idle transport vehicles in the first allocation relationship;

Since the throughput capacity of the warehouse's outbound and inbound operations is limited, and the routes of transport vehicles that perform outbound operations and inbound operations often conflict to a certain extent, it is necessary to determine the number of transport vehicles that perform outbound operations and the implementation of incoming and outgoing operations. The number of transport vehicles for warehouse operations is limited to a certain extent. In the warehouse operation, the pallets carrying the goods to be stored are transported from the connection point to the shelf for storage by the transport vehicle. If the inbound operation is not performed in time, the warehouse may have insufficient storage of goods, which will also affect the execution of the outbound operation. Therefore, to a certain extent, it is necessary to prioritize the allocation of the inbound operations.

It is worth noting that the execution process of the return operation is usually that the transport vehicle transports the pallets that have been picked from the connection point to the rack for storage. In addition, the picking area for picking is also limited in its ability to pick pallets. If the pallets that have already been picked are not returned to the warehouse in time, the outgoing pallets will not be able to enter the picking area, which will affect the execution of the outbound task. Therefore, it is also necessary to prioritize the assignment of the return operation, and to limit the number of transport vehicles that perform the return task. Since the execution process of the return operation and the warehouse entry operation is similar, the warehouse return operation and the idle transport vehicle, and the warehouse entry operation and the idle transport vehicle can be allocated together.

After the first assignment relationship is determined, the transport vehicles with the pairing relationship in the original idle transport vehicle set cannot be re-assigned to the job task. Therefore, when allocating the in-warehouse task, it is necessary to remove the idle transport vehicles that already have a pairing relationship, that is, the transport vehicles in the first allocation relationship. Then, the outbound tasks are allocated based on the processed set of idle transport vehicles. The outbound tasks in the above-mentioned outbound task set may be pre-assigned the outbound direction, or only the corresponding selection method may be given, that is, the outbound station type. For the outbound task set for which the outbound direction is given, when selecting the preliminary pairing relationship, the predetermined threshold of outbound transporters in this direction and the number of transporters currently using this direction to be outbound may be considered. , if it exceeds the threshold of this direction, the corresponding preliminary pairing relationship can be filtered out. If only the outbound station type corresponding to the outbound task is given, you can filter the preliminary pairing relationship based on the threshold corresponding to the outbound station type, and then assign the outbound direction to the filtered preliminary pairing relationship to obtain the final outbound station. The pairing relationship between library tasks and idle transport vehicles, that is, the above-mentioned second assignment relationship.

Step S206, based on the first allocation relationship and the second allocation relationship, schedule idle transport vehicles.

Specifically, a scheduling instruction can be sent to an idle transporter in the set of idle transporters that has a first assignment relationship or a pairing relationship in the second assignment relationship, so that the corresponding idle transporter can perform a task with a pairing relationship with it. , to realize the related work.

The above task allocation method provided by the embodiment of the present application first obtains the set of idle transport vehicles currently corresponding to the target warehouse, the set of inbound tasks to be allocated, the set of tasks to be allocated out of the warehouse, and the information of non-idle transport vehicles; and then based on the set of idle transport vehicles , the set of tasks to be allocated into the warehouse and the number of the first non-idle transport vehicles, determine the first distribution relationship between each idle transport vehicle and each task to be allocated into the warehouse, and based on the first allocation relationship, the set of idle transport vehicles, the The set of outbound tasks and the number of second non-idle transport vehicles determine the second allocation relationship between each idle transporter and each outbound task to be allocated; finally, based on the first allocation relationship and the second allocation schedule. In this method, the first assignment relationship between the inbound task and the idle transport vehicle, and the second assignment relationship between the outbound task and the idle transporter are respectively determined. In the process of determining the second assignment relationship, consideration is given to The first distribution relationship is used to make the in-out and out-flow operations of the warehouse reach a relatively balanced state while meeting the requirements of inbound and outbound flow as much as possible, so that the overall task execution is smooth and the work efficiency of the warehouse is improved.

The embodiment of the present application also provides another task allocation method, which is implemented on the basis of the method in the above-mentioned embodiment; the method focuses on describing that when the incoming task set includes an incoming task and a returning task, based on the acquired idle time The transport vehicle set, the storage task set and the current transport capacity parameters determine the specific implementation process of the pairing relationship between the idle transport vehicle and the storage task in the first allocation relationship.

As shown in Figure 3, the method includes the following steps:

Step S300 , based on the number of the first non-idle transport vehicles, determine the range of the number of in-stock vehicles that can currently perform the to-be-allocated in-stock task.

Specifically, a quantity range may be set, and the upper limit and the lower limit of the first quantity range may be subtracted from the number of the first non-idle transport vehicles. It should be noted that the result of subtracting the first quantity of transport vehicles from the upper limit of the first quantity range may have a negative value, and in this case, the result is set to zero. Based on this, based on the first target quantity range and the first non-idle transport vehicle quantity, the range of the quantity of vehicles in storage can be determined; wherein, the first target quantity range is set based on the cost model of the target warehouse and the storage efficiency.

Step S302, input the set of idle transport vehicles and the set of tasks to be allocated into the warehouse into the first capacity allocation model, and obtain a plurality of first preliminary pairing relationships and corresponding evaluation values;

The above evaluation value indicates the time loss and/or the distance loss for the idle transporter in the first preliminary pairing relationship to start the task. In a specific implementation process, the above-mentioned first capacity allocation model may be established based on a greedy algorithm or a bipartite graph matching algorithm.

Step S304 , based on the first preliminary pairing relationship and the corresponding evaluation value, and the range of the number of vehicles in the warehouse, determine the first distribution relationship.

The above-mentioned first allocation relationship is used to represent the pairing relationship between idle transport vehicles and tasks to be allocated into the warehouse; the number of pairing relationships between idle transport vehicles and tasks to be allocated into the warehouse in the first allocation relationship matches the range of the number of vehicles to be allocated into the warehouse.

When limiting the number of transport vehicles performing various operations, the transportation situation of the entire warehouse can be analyzed in advance, or a model can be used to simulate transportation, so as to determine that the warehouse's inbound and outbound needs can be met as much as possible, and the overall transportation process can be smooth. The parameters of the number of transport vehicles that perform various operations. Specifically, the upper limit and lower limit of the ratio are set to determine the range of the number of transport vehicles that perform various operations. For example, the upper limit of the proportion of the transport vehicles that can perform the inbound task at the same time can be set to 0.3, and the lower limit of the proportion can be set to 0, and combined with the total number of transport vehicles available in the warehouse, its quantity range can be obtained, that is, the above-mentioned range of the number of inbound vehicles; It is also possible to directly give the upper limit and lower limit of the quantity of the in-warehouse transport vehicles applicable to the warehouse, so as to determine the above-mentioned first quantity range.

After the first quantity range of the transport vehicles performing the warehouse-in operation is determined, the upper and lower limits of the first number range can be used to respectively subtract the first number of transport vehicles that are performing the warehouse-in task in the current capacity parameters, so as to determine that the allocation can be made. The range of the number of transport vehicles used to perform the inbound task. Then, based on the range of the number of transport vehicles that can be allocated for performing the storage task, the preliminary pairing relationship between the idle transport vehicle and the storage task that has been obtained is selected, and the preliminary pairing relationship that exceeds the range of the number of transport vehicles that can be allocated is filtered. Lose.

When filtering, the unloaded distance or time of idle transport vehicles in the preliminary pairing relationship can be considered, and the preliminary pairing relationship with large unloaded distance or time can be filtered out; when the inbound task has a priority, it can be reserved with a higher priority preliminary pairing relationship. After filtering, the remaining preliminary pairing relationship may be determined as the first assignment relationship. When there is a warehouse return task, the process of assigning the warehouse return task to the idle transport vehicle is similar to the above process, and will not be repeated here.

In some possible implementations, each first preliminary pairing relationship may be sorted according to a first sorting rule according to the evaluation value; in the sorted first preliminary pairing relationship, the range of the number of vehicles from the first to the first in the warehouse is The first preliminary pairing relationship is determined as the first assignment relationship.

For example, the above-mentioned first sorting rule may be sorted according to the evaluation value from small to large, then the first preliminary pairing relationship obtained by sorting based on the first sorting rule may be the first preliminary pairing relationship sorted by the evaluation value from small to large. Based on the sorted first preliminary pairing relationships, the first preliminary pairing relationships within the range of the number of vehicles in the forwarding warehouse are selected as the first allocation relationships. For example, if the range of the number of vehicles in the warehouse is set to 5, then the 1st to 5th first preliminary pairing relationships are selected as the first allocation relationship.

The above-mentioned first sorting rule may also be sorted according to the evaluation value from large to small, then the first preliminary pairing relationship obtained by sorting based on the first sorting rule may be the first preliminary pairing relationship in which the evaluation value is sorted from large to small. Based on the sorted first preliminary pairing relationship, the pairing relationship with a small evaluation value (that is, a small loss value) is preferentially selected for pairing. Therefore, in this case, in the sorted first preliminary matching relationship, the reciprocal will be entered into the library. The first preliminary pairing relationship in the range of vehicle quantity is determined as the first distribution relationship.

Further, from the sorted first preliminary pairing relationships, extract the top N relationships, where N is the range of the number of vehicles in the warehouse determined above, and finally determine the top N first preliminary pairing relationships as idle transportation in the first allocation relationship. The pairing relationship between the car and the task to be assigned into the warehouse. Since the loss of distance and/or time for the sorted first preliminary pairing relationships increases, the first N first preliminary pairing relationships can complete the warehouse entry task with less loss, effectively improving the warehouse task work efficiency.

In specific implementation, the warehouse-in operation in the embodiments of the present application refers to the operation of the vehicle entering the warehouse, which may be a warehouse-in operation and a warehouse-return operation. In some examples, the warehouse-in operation may only include a warehouse-in operation, Alternatively, only the return operation is included, and in other examples, the store-in operation may include the store-in operation and the store-return operation. Among them, the warehousing operation is the warehousing operation of goods entering the warehouse for the first time, and the warehousing operation is the warehousing operation of re-entering the warehouse after entering the warehouse and leaving the warehouse.

In some possible implementations, the above-mentioned set of warehousing tasks to be allocated includes warehousing tasks to be allocated, and the first number of non-idle transport vehicles is the number of non-idle transport vehicles that perform warehousing tasks. Correspondingly, in this case, the first assignment relationship between each idle transport vehicle and each to-be-allocated storage task is determined based on the information of the idle transport vehicles, the set of tasks to be allocated into the warehouse, and the number of the first non-idle transport vehicles. The step of the method may specifically include: determining a first assignment relationship between each idle transport vehicle and each to-be-allocated warehousing task based on the information of the idle transport vehicles, each to-be-allocated warehousing task and the number of first non-idle transport vehicles.

The above-mentioned set of inbound tasks usually also includes a task of returning to the warehouse to be allocated. There is a high probability that the pallets out of the warehouse will be returned to the warehouse after being picked. Since this part of the picking operation is often performed serially on the pallet line, if the return is not processed in time, the outbound operation will also be blocked. Correspondingly, the current transport capacity parameter also includes the number of third transport vehicles that are performing the task of returning to the warehouse, and the first allocation relationship also includes the pairing relationship between the idle transport vehicles and the task of returning to the warehouse to be allocated; wherein, in the first allocation relationship, the idle transport vehicles are The sum of the number of return tasks to be allocated and the number of third transport vehicles satisfies a predetermined third quantity range, that is, the number of transport vehicles that can perform the return operation at the same time. The process of determining the above-mentioned range of the number of vehicles returned to the warehouse is similar to the above-mentioned range of the number of vehicles entering the warehouse, and will not be repeated here.

In some other possible implementation manners, the set of storage-in tasks to be allocated includes storage-in tasks to be allocated and warehouse-returning tasks to be allocated; the first number of non-idle transport vehicles includes the component of the first non-idle transport vehicles that perform storage-in tasks and The second non-idle transporter component that performs the task of returning to the warehouse; correspondingly, based on the information of the idle transporters, the set of tasks to be allocated into the warehouse, and the number of the first non-idle transporters, determine the difference between each idle transporter and each task to be allocated into the warehouse The first allocation relationship between the two includes: determining the first sub-allocation relationship between each idle transporter and each to-be-allocated warehousing task based on the idle transporter information, each to-be-allocated warehousing task and the first non-idle transporter component ; and, based on the idle transport vehicle information, each to-be-allocated warehouse-returning task, and the second non-idle transporter vehicle component, determine a second sub-allocation relationship between each idle transporter and each to-be-allocated warehouse-returning task. Finally, the above-mentioned first allocation relationship is determined according to the first sub-allocation relationship and the second sub-allocation relationship.

In the above task allocation method provided by the embodiments of the present application, firstly, transport vehicles are allocated to the warehouse-in task and warehouse-returning task; finally, transport vehicles are allocated to the warehouse-out task in combination with the warehouse-out direction. This method can make the overall task execute smoothly and improve the transportation efficiency of the warehouse.

In some possible implementations, the above step S204 (based on the first allocation relationship, information on idle transport vehicles, the set of outbound tasks to be allocated, and the number of second non-idle transport vehicles, determine each idle transporter and each outbound task to be allocated) The second assignment relationship) can be specifically implemented as follows:

(1) Eliminate the idle transport vehicles corresponding to each first allocation relationship from the current idle transport vehicle set, and obtain the eliminated idle transport vehicle set;

(2) Determine each second assignment relationship based on the set of removed idle transport vehicles, the set of outbound tasks to be allocated, and the number of second non-idle transport vehicles.

The above-mentioned information on non-idle transport vehicles includes the number of second sub-non-idle transport vehicles that perform outbound tasks in each outbound direction; specifically, for each outbound direction, based on the second sub-non-idle transporter corresponding to the outbound direction The number of transport vehicles, to determine the threshold of the number of outbound vehicles that can currently perform outbound tasks in the outbound direction; and based on the set of outbound tasks to be allocated, the set of idle transport vehicles after elimination, and the threshold of the number of outbound vehicles, determine the number of outbound vehicles in the outbound direction. corresponding to each of the second distribution relationships.

Further, each second distribution relationship corresponding to the outbound direction can be determined according to the following method:

(1) Input the current set of tasks to be allocated out of the warehouse and the updated set of current idle transport vehicles into the second capacity allocation model, and obtain the third preliminary pairing relationship and the corresponding evaluation value; the evaluation value represents the third preliminary pairing relationship. Lost time and/or lost distance for the idle transporter to start its mission;

(2) Determine the second distribution relationship based on the third preliminary pairing relationship and the corresponding evaluation value, as well as the to-be-allocated thresholds for each outbound direction.

In some examples, each of the above-mentioned tasks to be allocated out of the warehouse corresponds to its own outbound direction; in this case, the second allocation relationship can be determined according to the following method:

The third preliminary pairing relationship is sorted according to the second sorting rule according to the evaluation value; for each outbound direction, in the sorted third preliminary pairing relationship, the threshold values to be allocated corresponding to the first to the first outbound direction are sorted. The third preliminary pairing relationship is determined as the filtered third preliminary pairing relationship; in the filtered third preliminary pairing relationship and the third preliminary matching relationship, the outbound direction corresponding to the outbound task to be allocated is determined as the second distribution relationship.

Among them, for different outbound tasks to be allocated, the corresponding outbound directions may be the same or different, and the outbound direction corresponding to each to-be-allocated outbound task is determined according to the actual application scenario. The example does not limit the outbound direction corresponding to the outbound task to be allocated.

In other examples, each of the above-mentioned outbound tasks to be assigned corresponds to a respective outbound station type; the outbound station types include multiple types, and there is at least one type of outbound picking station in the target warehouse, and each outbound station type Corresponding to the outbound task threshold; in this case, the second allocation relationship can be determined as follows:

The third preliminary pairing relationship is sorted according to the third ordering rule according to the evaluation value; for each type of outbound station type, in the third preliminary pairing relationship, the target outbound station corresponding to the first to the first outbound station type is sorted out. The third preliminary pairing relationship with the task threshold number is determined as the filtered third preliminary pairing relationship; the filtered third preliminary pairing relationship is calculated based on the loss function corresponding to the loss value of each outbound direction; the third preliminary matching relationship is the smallest when the loss value is The outbound direction corresponding to the library pairing relationship is determined as the outbound direction of the third preliminary library pairing relationship; the filtered third preliminary pairing relationship and the corresponding outbound direction are determined as the second distribution relationship.

Among them, for each outbound task to be allocated, the corresponding outbound station type may be the same or different, and the outbound station type corresponding to each outbound task to be allocated is determined according to the actual application scenario. The embodiment does not limit the outbound station type corresponding to the outbound task to be allocated.

The embodiment of the present application also provides a method for determining a second assignment relationship in a task assignment process. The method is implemented on the basis of the above method embodiments. Since the warehouse outbound operation may include manual picking and automatic operation of the robotic arm, there are multiple robotic arms in the automatic operation of the robotic arm. Their respective picking capacity also has its upper limit, so it is necessary to control the flow of each outbound direction within the outbound operation, that is, to control the number of transport vehicles used for outbound in each outbound direction. In specific implementation, the current transport capacity parameter also includes the number of target sub-transporters that are performing the outbound operation corresponding to each preset outbound direction, and the outbound direction corresponding to each outbound task needs to be determined in the second distribution relationship. As shown in Figure 4, the method includes the following steps:

Step S400, excluding the idle transportation vehicles corresponding to each first allocation relationship from the current idle transportation vehicle set, to obtain an idle transportation vehicle set after the elimination;

After the eliminated set of idle transport vehicles is obtained, each second assignment relationship may be determined based on the eliminated set of idle transport vehicles, the set of outbound tasks to be allocated, and the number of second non-idle transport vehicles.

The above-mentioned outbound directions may be multiple or one. When there are multiple outbound directions, the non-idle transport vehicle information includes the number of second sub non-idle transport vehicles that perform the outbound task in each outbound direction. In this case, the second allocation relationship can be determined by the following methods:

Step S402, for each outbound direction, based on the number of the second sub-non-idle transport vehicles corresponding to the outbound direction, determine a threshold for the number of outbound vehicles that can currently perform the outbound task in the outbound direction;

Further, each second assignment relationship corresponding to the outbound direction is determined based on the set of outbound tasks to be allocated, the set of discarded idle transport vehicles, and the threshold of the number of outbound vehicles.

It can be understood that, when there is one outbound direction, the specific implementation process of the above step S402 is to determine the number of the second sub-non-idle transport vehicles, and determine the threshold of the number of outbound vehicles that can perform the outbound task, and further based on the following steps: The set of outbound tasks to be allocated, the set of discarded idle transport vehicles, and the threshold of the number of outbound vehicles are used to determine the second allocation relationship.

During specific implementation, the second allocation relationship can be determined according to the following method:

(1) Input the outbound task set and the updated set of idle transport vehicles into the second capacity allocation model to obtain the third preliminary pairing relationship and the corresponding evaluation value;

(2) After the third preliminary pairing relationship is obtained, the second allocation relationship is determined based on the third preliminary pairing relationship and the corresponding evaluation value, as well as the to-be-allocated thresholds for each outbound direction.

Wherein, the evaluation value corresponding to the third preliminary pairing relationship indicates the time loss and/or the distance loss for the idle transport vehicles in the third preliminary pairing relationship to start executing the task.

In some possible implementations, the current set of outbound tasks to be allocated includes outbound tasks to be allocated; the outbound tasks to be allocated correspond to the outbound direction of the target; the second capacity allocation model is established based on the minimum cost maximum flow algorithm; the second The capacity allocation model includes the source points, the transport vehicle point set, the outbound task point set, the outbound direction point set and the sink points that are connected in sequence; based on this, the steps of determining the second allocation relationship can also be performed according to the following methods:

Take the current outbound task set as the outbound task point set, the updated current idle transport vehicle set as the transport vehicle point set, and input the threshold to be allocated as the capacity of the sink to the pre-established second capacity allocation model to obtain the second The second distribution relationship output by the capacity distribution model.

Step S404, according to the evaluation value, sort each third preliminary pairing relationship according to the second sorting rule.

Step S406, determine whether the outbound task set includes the outbound direction corresponding to the outbound task to be allocated or the outbound station type corresponding to the outbound task to be allocated; if it is the outbound direction, execute steps S408-S410; if it is the outbound station type , and execute steps S412-S418.

When allocating the set of idle transport vehicles and outbound tasks, the assignment can be performed based on the current positions of the idle transport vehicles and the storage locations where the outbound pallets are located, so as to obtain a preliminary pairing relationship between the idle transport vehicles and the outbound tasks. The pairing process is usually based on the principle of minimizing the unloaded distance or time of idle transport vehicles, and specifically, a greedy algorithm or a minimum cost maximum flow algorithm can be used to allocate idle transport vehicles and work tasks.

The above-mentioned second quantity range may be the range of the quantity of transport vehicles that are suitable for warehouse transportation and can simultaneously perform outbound tasks obtained by analyzing the transportation situation of the entire warehouse in advance, or simulating transportation by using a model. Similar to the range of the number of transport vehicles that can perform the inbound task at the same time, the above-mentioned second quantity range can be determined by setting the upper limit and lower limit of the proportion; it is also possible to directly give the upper limit and lower limit, thereby determining the above-mentioned first quantity range.

After the second quantity range of the transport vehicles performing the outbound operation is determined, the upper and lower limits of the second quantity range can be used to respectively subtract the number of the second transport vehicles that are performing the outbound task in the current capacity parameter, so as to determine that the allocation can be made The range of the number of transport vehicles used to perform outbound tasks. Then, based on the range of the number of transport vehicles that can be allocated for performing the outbound task, the obtained preliminary pairing relationship between the idle transporter and the outbound task is selected. When selecting, the empty distance or time of the idle transporter in the preliminary pairing relationship can be considered.

It is worth noting that for the outbound task, the outbound direction corresponding to the outbound task also needs to be considered. When out of the warehouse, the transport vehicle needs to transport the pallets carrying the goods from the racks to the picking area. A warehouse usually includes multiple picking areas, each picking area corresponds to at least one outbound direction, and the picking area and the outbound direction can be connected through a shipping station. Different picking areas may have different picking methods, such as manual picking or robotic arm picking. The outbound station type corresponding to the picking area can be set as the picking method of the picking area, that is, the outbound station type can be manual picking or robotic arm picking. Since each picking area also has a certain picking efficiency, the corresponding outbound station types also have thresholds for accepting outbound goods.

Since the outbound task needs to determine the outbound direction, in order to smooth the overall operation of the warehouse, it is also necessary to limit the number of transport vehicles in each outbound direction. Usually, the outbound direction of the outbound task can be directly given or the outbound station type of the outbound task can be given to limit several outbound directions. In the specific implementation, there are many types of outbound stations, such as robotic arm picking and manual picking. Since each picking method has its upper limit of capacity, each type of outbound station also corresponds to the preset outbound task threshold. .

After the outbound direction has been determined, the sorted third preliminary pairing relationship can be traversed, and the third preliminary pairing relationship of each outbound direction can be counted.

Step S408, for each outbound direction, in the sorted third preliminary pairing relationship, determine the third preliminary pairing relationship of the threshold to be allocated corresponding to the first to the first outbound direction as the filtered third preliminary pairing relationship. pairing relationship.

The above-mentioned second sorting rule may be sorted according to the evaluation value from small to large. From the third preliminary pairing relationship obtained based on the modified sorting rule, the threshold value to be allocated corresponding to the previous outbound direction is selected. For example, if the outbound direction is direction 1, and the corresponding threshold to be allocated is 5, then after sorting according to the evaluation value from small to large, the first 5 third preliminary pairing relationships are selected as the filtered third preliminary pairing relationships.

The above-mentioned second sorting rule may also be sorted according to the evaluation value from large to small. In this case, the reciprocal third preliminary pairing relationship to be assigned a threshold value is selected as the filtered third preliminary pairing relationship.

Step S410, determining the third preliminary pairing relationship after filtering and the outbound direction corresponding to the outbound task in the third preliminary pairing relationship as the second allocation relationship.

The above method of pre-assigning the outbound direction is also called pre-allocation. This method firstly optimizes the outbound directions of all tasks to ensure static balance (achieved in the process of determining the outbound direction), and then uses capacity allocation to ensure dynamic process. The balance ensures the driving distance of the capacity, while sacrificing the empty driving distance of the capacity.

Step S412, for each outbound station type, in the sorted third preliminary pairing relationship, determine the third preliminary pairing relationship of the threshold number of outbound tasks corresponding to the first to the first outbound station type as the filtered one. The third preliminary pairing relationship.

The above-mentioned second sorting rule may be sorted according to the evaluation value from small to large, and from the third preliminary pairing relationship obtained based on the modified sorting rule, the threshold value to be allocated corresponding to the previous outbound station type is selected. For example, if the type of outbound station is type 1, and the corresponding threshold to be allocated is 7, then after sorting according to the evaluation value from small to large, the first 7 third preliminary pairing relationships are selected as the filtered third preliminary pairing relationships.

The above-mentioned second sorting rule may also be sorted according to the evaluation value from large to small. In this case, the reciprocal third preliminary pairing relationship to be assigned a threshold value is selected as the filtered third preliminary pairing relationship.

Step S414: Calculate, based on the loss function, a loss value corresponding to each outbound direction of the filtered third preliminary pairing relationship.

Specifically, the above-mentioned loss function may be a function related to the distance loss value or the time loss value calculated for the transport vehicle in the third preliminary pairing relationship to assign different outbound directions to perform the outbound task. According to the flow control requirements for the warehouse, it may be Add some balance parameters or weight parameters to it.

Step S416, determining the outbound direction corresponding to the third preliminary library pairing relationship when the loss value is the smallest as the outbound direction of the third preliminary library pairing relationship.

The above method of first determining the pairing relationship and then determining the outbound direction is also called post-allocation. This method first allocates the capacity to ensure that the current empty distance is the smallest, and then allocates the outbound direction to ensure dynamic balance, which ensures the empty distance of the capacity, while sacrificing The driving distance of the capacity. There are advantages and disadvantages to the above pre-allocation methods, which can be selected according to needs.

Step S418: Determine the filtered third preliminary pairing relationship and the corresponding delivery direction as the second distribution relationship.

When the above-mentioned outbound task set includes outbound directions corresponding to the outbound tasks to be allocated, the second capacity allocation model may also be established based on the minimum cost maximum flow algorithm. At this time, the second capacity allocation model includes a source point, a set of transport vehicle points, a set of outbound task points, a set of outbound direction points, and a sink point that are connected in sequence. Based on the model, the outbound direction points are collected.

At this time, when determining the second allocation relationship, the outbound task set can be used as the outbound task point set, the updated idle transport vehicle set can be used as the transport vehicle point set, and the threshold to be allocated is input as the capacity of the sink to the pre-established The second capacity distribution model is obtained, and the second distribution relationship output by the second capacity distribution model is obtained. The output of the second capacity allocation model is also the pairing relationship between the transport vehicle and the outbound task. Since the pairing relationship has been constrained by the thresholds to be allocated in each outbound direction, the pairing relationship output by the second capacity allocation model can be directly as the second distribution relationship.

When the above method allocates the outbound task set and idle transport vehicles, the number of transport vehicles that can be operated simultaneously in each outbound direction is considered, and the number of transport vehicles in the allocation result is carried out in combination with the current number of transport vehicles in each outbound direction. Therefore, the overall operation of the warehouse is guaranteed to be smooth and the transportation efficiency is improved.

In some possible implementations, the number of transport vehicles in the target waiting area is obtained; if the sum of the number of transport vehicles in the target waiting area and the number of the first non-idle transport vehicles is less than the number of target vehicles, determine each idle transport vehicle in the set of idle transport vehicles Distance information between the vehicle and the target waiting area; control the idle transporter closest to the target waiting area to run to the target waiting area until the sum of the number of transporters in the target waiting area and the number of the first transporter is greater than or equal to the number of target vehicles.

The embodiment of the present application also provides another task allocation method. This method is mainly aimed at the situation where there are only tasks to be allocated in the warehouse, that is, the set of tasks for returning to the warehouse and the set of tasks for leaving the warehouse are both empty. Warehouse warehousing operations are often limited by the capacity of warehousing hoists. It is necessary to improve the efficiency of transport vehicles connecting to warehousing hoists, so as to increase the busy rate of warehousing hoists and achieve the purpose of improving warehousing efficiency.

When only the inbound operation occurs, the inbound of the inbound elevator can be regarded as the supply side, and the inbound of the storage area can be regarded as the consumption side. It is necessary to improve the storage efficiency of the storage area so as to improve the efficiency of the separate storage entrance. According to Little’s Law, the storage efficiency of the storage area depends on the single-vehicle storage efficiency and the number of four-way shuttles operating at the same time. Under the condition that the warehousing efficiency of a single vehicle remains unchanged, the purpose of improving the warehousing efficiency of the storage area can be achieved by controlling some idle vehicles to wait for the connection in advance.

Warehouses usually consist of multiple floors, each floor is operated by transport vehicles, and their workload and capacity may be unbalanced. To simplify the process, the method provides an allocation mechanism for balancing floor capacity, as follows:

1. Set the threshold of transport vehicles that can work at the same time on each floor as Q, and open up a waiting area near the hoist.

2. For normal storage tasks, call a car in advance to the connection point of the storage elevator;

3. If the sum of the number of working transporters on the current floor and the number of transporters in the waiting area is less than Q, call a vehicle closer to the waiting area to the waiting area until the sum of the number of working transporters on the current floor and the number of transporters in the waiting area greater than or equal to Q. Specifically, after obtaining the number of transport vehicles in the preset waiting area, if the sum of the number of transport vehicles in the preset waiting area and the number of the first transport vehicles is less than the preset number of vehicles, obtain the position of the idle transport vehicle; control the distance The nearest idle transportation vehicle in the preset waiting area runs to the preset waiting area until the sum of the number of transportation vehicles in the preset waiting area and the number of the first transportation vehicle is greater than or equal to the preset number of vehicles.

The above method can improve the efficiency of the transport vehicle connecting with the storage hoist, thereby increasing the busy rate of the storage hoist and improving the storage efficiency.

In order to facilitate the understanding of the solution of the present application, the following will introduce the solution of the present application in combination with specific application scenarios. Based on this application scenario, the present application also provides another task allocation method. The method is implemented on the basis of the above method embodiments.

The four-way shuttle warehouse can usually be divided into two parts: storage area and picking area. The capacity of the storage area is mainly determined by the capacity of the four-way shuttle, including outbound, inbound and return operations. The capacity of the picking area is mainly determined by the capacity of the robotic arm and the capacity of manual picking, and only includes outbound operations. Therefore, the purpose of controlling the outbound flow, inbound flow and return flow of the entire warehouse can only be achieved by controlling the capacity flow of the storage area.

At the same time, if the outgoing warehouse in the storage area is used as the supply side, and the outgoing warehouse in the picking area is used as the consumer side, each consumer side has its own production capacity online. If the supply side makes too many deliveries in a certain delivery direction, the consumption side will not consume in time, and a large number of waiting tasks will be generated, occupying the resources of the four-way shuttle, thus wasting efficiency. Therefore, it is best to balance the various outbound directions by controlling the capacity flow of the storage area.

In the specific implementation, flow control can be carried out through the link of capacity distribution. Whether the general capacity allocation model is established based on the greedy algorithm or the network flow algorithm, their model input and output (IO) are the same. That is, the input is the task to be assigned (which can include one or more of the above-mentioned warehousing tasks, warehouse-returning tasks, and warehouse-out tasks) and the transport vehicle to be allocated (equivalent to the above-mentioned idle transporter), and the output is the task and transporter. distribution relationship.

The parameters that need to be used in this method are: the set of outbound tasks to be allocated Jo, the set of inbound tasks to be allocated Ji, the set of returned tasks to be allocated Jr, the set of transport vehicles to be allocated (that is, the information of idle transport vehicles) R, the set of tasks to be allocated The evaluation value E of transport vehicles and tasks to be assigned, the total number of transport vehicles Q, the number of transport vehicles that are leaving the warehouse Qo, the number of transport vehicles that are entering the warehouse Qi, the number of transport vehicles that are returning to the warehouse Qr, and the actual outbound tasks in each outbound direction Q(n ).

It should be further explained that each incoming or returning connection point maintains a pallet queue Li for incoming or returning to the warehouse. Each to-be-warehoused or to-be-returned pallet will be added to the corresponding connection point pallet queue Li. The warehousing tasks to be allocated and the warehousing tasks to be allocated correspond to the head trays of the task queue when each warehousing or warehouse-returning connection point is idle, not all trays.

For the above specific application scenarios, the method mainly includes the following steps:

1. Determine the current corresponding idle transporter set R, the set of warehousing tasks to be allocated, Ji set and the set of return tasks Jr, the set of tasks to be allocated out of the warehouse (Jo), and the information of non-idle transporters in the target warehouse. The lower and upper thresholds for the proportion of jobs, inbound jobs, and return jobs in all running tasks are set.

Specifically, the above-mentioned upper and lower thresholds are respectively: the minimum outbound ratio Ratio_o_min, the maximum outbound ratio Ratio_o_max, the minimum inbound ratio Ratio_i_min, the maximum inbound ratio Ratio_i_max, the minimum return ratio Ratio_r_min, the maximum return ratio Ratio_r_max, and the The number of tasks in i outbound directions has its upper threshold P(n).

2. Calculate the range of the number of outbound vehicles, the range of inbound vehicles, and the range of the number of returned vehicles if the idle trolleys that can work are allocated for outbound operations, inbound operations, and return operations.

In a specific implementation, for example, each upper threshold and lower threshold can be determined in the following manner: the lower threshold T_o_min=max(0, Q*ratio_o_min-Qo) of the number of outbound operations that can be allocated, that is, the total number of transport vehicles and the minimum The outbound ratio calculates the minimum number of transport vehicles that can perform outbound operations, and then subtracts the number of transport vehicles that are performing outbound operations from the minimum number of transport vehicles, and takes the maximum value of the subtraction result and zero to obtain the result. That is, the lower limit threshold of the number of outbound jobs that can be allocated, and the process of determining other parameters is analogous, which is not repeated here; the upper limit threshold T_o_max=Q*ratio_o_max-Qo. The lower threshold T_o_min of the number of outbound operations that can be allocated, the upper threshold T_o_max of the number of outbound operations that can be allocated, the lower threshold T_i_min of the number of inbound operations that can be allocated, the upper threshold T_i_max of the number of inbound operations that can be allocated, and the upper threshold T_i_max of the number of inbound operations that can be allocated are obtained. The lower threshold T_r_min of the number of jobs and the upper threshold T_r_max of the number of jobs that can be returned to the warehouse are six parameters, so that the range of the number of vehicles out of the warehouse, the range of the number of inbound vehicles and the range of the number of returned vehicles can be determined.

3. Input the set of idle transport vehicles (R), the set of warehousing tasks to be allocated (Ji), and the set of tasks to be returned to the warehouse (Jr) to be allocated, and input them into the first capacity allocation model f to obtain the first preliminary pairing relationship G1, and corresponding evaluation value.

The first preliminary pairing relationship represents the relationship between the to-be-assigned task set composed of each incoming task set and the warehouse-returning task set and the current set of idle transport vehicles, that is, each to-be-allocated task and each idle transport vehicle are respectively After the pairing is performed, the pairing relationship and its corresponding evaluation value are obtained, and the pairing relationship between all the tasks to be assigned and the idle transport vehicle constitutes a first preliminary matching relationship.

4. Sort G1 according to the corresponding evaluation value from small to large.

5. In the sorted first preliminary pairing relationship, determine the first N first preliminary pairing relationships as the first allocation relationship G1', and the remaining idle transport vehicle set is R' (equivalent to the updated idle transport vehicle set. ).

Among them, the first N first preliminary pairing relationships satisfy their corresponding upper and lower thresholds, that is, in the first preliminary pairing relationships, the pairing relationships that do not meet the upper and lower thresholds are deleted. Specifically, when the count does not satisfy T_i_min, When the T_i_max, T_r_min, and T_r_max thresholds are set, the corresponding preliminary pairing relationships are filtered out, and the remaining pairing relationships constitute the first assignment relationship G1'.

It should be noted that the updated first assignment relationship G1' is not strongly bound to the relationship between the inbound or returned pallets and the idle transporter, but only when the pallet reaches the connection point and the idle transporter coincides. If the allocation is successful, it is also necessary to set the corresponding connection point to busy (the tray will be set to idle after it arrives and leave), and its corresponding queue will pop up the head tray. This logic is the "advance connection" logic, which does not require the pallet to arrive at the connection point and then call the car, but calls the car in advance.

6. Calculate the actual supply-side threshold, that is, the threshold to be allocated for each outbound direction: Q'(n)=max(0,P(n)-Q(n))

7. Take R' as the set of transport vehicles to be allocated, the set of outbound tasks to be allocated (Jo) as the set of tasks to be allocated, and Q'(n) as the supply threshold for the outbound direction. Among them, the task to be assigned can already have the task outbound direction assigned, or it can temporarily not assign the outbound direction (but the outbound station type needs to be given, that is, manual picking or robotic arm picking), and then the outbound direction is allocated after the capacity is allocated.

8. Pre-allocation scheme for the outbound direction: The outbound direction has been allocated in advance, and the second allocation relationship G2 is obtained through the second capacity allocation model f'. The specific scheme is as follows:

8.0 The outbound direction is calculated at the beginning of the entire job. For multiple outbound sites, on the premise of satisfying business constraints, the formula (equivalent to the above loss function) can be L=sum(cost(Pi,Sj))+a*balance(wj1*pallet_num(Sj))+b *balance(wj2*box_num(Sj)) is the smallest. Among them, cost represents the cost from pallet Pi to site Sj, usually expressed in time or distance; pallet_num(Sj) represents the number of pallets at site Sj; box_num(Sj) represents the number of boxes picked at site Sj; balance represents a function of table balance , the standard deviation can be used here; wj1 and wj2 are the weighted values corresponding to site j; a and b are parameters.

8.1 Obtain the second capacity allocation model f' based on the first capacity allocation model f (that is, considering the improved version of the capacity allocation module on the supply side), and obtain the second allocation relationship G2, specifically, obtain the second capacity allocation model as follows:

1) if f is the greedy algorithm sorted according to the evaluation value, in addition to the original logic, it is also necessary to count the outbound direction, and the threshold range beyond the outbound direction is then deleted from the second preliminary pairing relationship, until the end of the matching .

II) If f is a bipartite graph matching algorithm, upgrade it to a minimum cost maximum flow algorithm. The specific upgrade method is as follows:

①Add point set C representing each outbound direction. Connect the source point to the point set A representing the transport vehicle (capacity is 1 and the cost is 0), A is connected to the point set B representing the outbound task (capacity is 1 and the cost is the evaluation value), and B is connected to the outbound direction. The point set C is connected correspondingly (the capacity is 1 and the cost is 0), and C is connected to the sink T (the capacity is the supply threshold, and the cost is 0).

② minimum cost maximum flow algorithm to solve.

9. Post-distribution scheme in the outbound direction: through the second capacity allocation model f' (here, only the supply-side threshold is set for the outbound station type, that is, the maximum number of pallets for manual picking and the maximum number of pallets for robotic arm picking) to obtain the second distribution relationship G2, and then assign the outbound direction to the outbound tasks of the same picking nature in G2.

Among them, the above G2 is used to represent the pairing relationship formed between each task to be allocated (that is, the outbound task in the set Jo of outbound tasks to be allocated) and each transport vehicle to be allocated and its corresponding evaluation value. The pairing relationship formed by the assignment task and the transport vehicle to be assigned respectively constitutes the second assignment relationship G2.

9.1 Use the second capacity distribution model f' to obtain the second distribution relationship G2.

9.2 For the tasks in G2, find the minimum value according to the formula described in 8.0, and obtain the outbound direction of each task.

10. The new assignment relationship G1'+G2 is the result of this round of task assignment, which is issued by the scheduling module.

It is worth noting that the above-mentioned pre-allocation schemes and post-allocation schemes in the outbound direction have their own advantages and disadvantages: the pre-allocation scheme first optimizes the outbound directions of all tasks to ensure static balance, and then uses capacity allocation to ensure balance in the dynamic process. In fact, the driving distance of the transport capacity is guaranteed, and the empty driving distance of the transport capacity is sacrificed; the post-allocation scheme first allocates the transport capacity to ensure that the current empty driving distance is the smallest, and then allocates the outbound direction to ensure dynamic balance. In fact, the empty driving distance of the transport capacity is guaranteed. The sacrifice is the driving distance of the capacity. When specifically adopted, it can be selected as required.

The above task allocation method firstly sets upper and lower limits for the proportion of transport vehicles of a certain task type to the transport vehicles of the entire warehouse to control the flow of each task type; Coordinate the operations of each outbound direction. This method satisfies the requirements of outbound flow, inbound flow and return flow as much as possible, and can also make the overall operation of the warehouse smooth without serious congestion, thereby improving the operation efficiency.

Corresponding to the above-mentioned embodiment of the task allocation method, the embodiment of the present application further provides a task allocation device, as shown in FIG. 5 , the device includes:

The obtaining module 500 is used to obtain the set of idle transport vehicles currently corresponding to the target warehouse, the set of inbound tasks to be allocated, the set of tasks to be allocated out of the warehouse, and the information of non-idle transport vehicles; wherein, the information of non-idle transport vehicles includes performing in-warehouse tasks The number of first non-idle transport vehicles and the number of second non-idle transport vehicles performing outbound tasks;

The first allocation module 502 is configured to determine the first allocation relationship between each idle transport vehicle and each to-be-allocated warehouse-in task based on the set of idle transport vehicles, the set of tasks to be allocated into the warehouse, and the number of first non-idle transport vehicles;

The second allocation module 504 is configured to determine the first allocation between each idle transporter and each to-be-allocated outbound task based on the first allocation relationship, the set of idle transporters, the set of outbound tasks to be allocated, and the number of second non-idle transporters Two distribution relationships; the idle transport vehicles in the second distribution relationship do not overlap with the idle transport vehicles in the first distribution relationship;

The scheduling module 506 is configured to schedule idle transport vehicles based on the first distribution relationship and the second distribution relationship.

The above-mentioned task allocation device provided by the embodiment of the present application first obtains the set of idle transport vehicles currently corresponding to the target warehouse, the set of inbound tasks to be allocated, the set of tasks to be allocated out of the warehouse, and the information of non-idle transport vehicles; and then based on the set of idle transport vehicles , the set of tasks to be allocated into the warehouse and the number of the first non-idle transport vehicles, determine the first distribution relationship between each idle transport vehicle and each task to be allocated into the warehouse, and based on the first allocation relationship, the set of idle transport vehicles, the The set of outbound tasks and the number of second non-idle transport vehicles determine the second allocation relationship between each idle transporter and each outbound task to be allocated; finally, based on the first allocation relationship and the second allocation schedule. The device respectively determines the first assignment relationship between the inbound task and the idle transport vehicle, and the second assignment relationship between the outbound task and the idle transporter. In the process of determining the second assignment relationship, the first assignment relationship is considered. Distribution relationship, so that while meeting the requirements of inbound and outbound flow as much as possible, the inbound and outbound operations of the warehouse can reach a more balanced state, so that the overall task execution is smooth, and the work efficiency of the warehouse is improved.

Further, the above-mentioned determination of the first assignment relationship between each idle transport vehicle and each to-be-allocated warehousing task based on the set of idle transport vehicles, the set of tasks to be allocated into the warehouse, and the number of the first non-idle transport vehicles includes: based on the first The number of non-idle transport vehicles, to determine the range of the number of inbound vehicles that can currently perform tasks to be allocated into the warehouse; input the set of idle transport vehicles and the set of tasks to be allocated into the warehouse into the first capacity allocation model to obtain a plurality of first preliminary pairing relationships and the corresponding evaluation value; the first preliminary pairing relationship includes the pairing relationship between the idle transporter and the task to be assigned into the warehouse; the evaluation value represents the time when the idle transporter corresponding to the first preliminary pairing relationship starts to execute the corresponding task to be assigned into the warehouse Loss and/or distance loss; based on the first preliminary pairing relationship and the corresponding evaluation value, and the range of the number of vehicles entering the warehouse, determine the first distribution relationship.

Further, the above-mentioned determination based on the number of the first non-idle transport vehicles to determine the range of the number of inbound vehicles that can currently perform the task to be assigned into the warehouse includes: based on the first target number range and the first non-idle number of transport vehicles, determining the inbound vehicles. Quantity range; wherein, the first target quantity range is set based on the cost model of the target warehouse and the stock-in efficiency.

Further, the above-mentioned process of determining the first distribution relationship based on the preliminary pairing relationship and the corresponding evaluation value, and the range of the number of vehicles in the warehouse includes: sorting each first preliminary pairing relationship according to the first sorting rule according to the evaluation value; In the sorted first preliminary pairing relationship, the first preliminary pairing relationship ranging from the first to the number of vehicles entering the garage is determined as the first allocation relationship.

Further, the above-mentioned set of warehousing tasks to be allocated includes warehousing tasks to be allocated, and the first number of non-idle transport vehicles is the number of non-idle transport vehicles that perform warehousing tasks; The task set and the number of the first non-idle transport vehicles, determine the first assignment relationship between each idle transport vehicle and each to-be-allocated warehousing task, including: based on the idle transport vehicle information, each to-be-allocated warehousing task, and the first non-idle warehousing task The number of transport vehicles determines the first allocation relationship between each idle transport vehicle and each to-be-allocated warehousing task.

Further, the above-mentioned warehousing task set to be allocated includes a warehousing task to be allocated and a warehouse returning task to be allocated; the first number of non-idle transport vehicles includes the first non-idle transport vehicle component that performs the warehousing task and the first non-idle transport vehicle that performs the warehouse-returning task. 2. The component of non-idle transport vehicles; correspondingly, based on the information of the idle transport vehicles, the set of tasks to be allocated into the warehouse, and the number of the first non-idle transport vehicles, determine the first allocation relationship between each idle transport vehicle and each of the tasks to be allocated into the warehouse , including: determining the first sub-allocation relationship between each idle transporter and each to-be-allocated warehousing task based on the information of the idle transporter, each to-be-allocated warehousing task and the first non-idle transporter component; and, based on the idle transporter The vehicle information, each to-be-allocated back-to-warehouse task, and the second non-idle transport vehicle component determine the second sub-allocation relationship between each of the idle transport vehicles and each to-be-allocated back-to-warehouse task.

Further, based on the first allocation relationship, the information of the idle transport vehicles, the set of tasks to be allocated out of the warehouse, and the number of the second non-idle transport vehicles, the second allocation relationship between each idle transport vehicle and each of the tasks to be allocated out of the warehouse is determined, Including: excluding the idle transportation vehicles corresponding to each first allocation relationship from the current idle transportation vehicle set, and obtaining the eliminated idle transportation vehicle set; The number of idle transport vehicles is determined for each second allocation relationship.

Further, the above-mentioned non-idle transport vehicle information includes the number of second sub-non-idle transport vehicles that perform outbound tasks in each outbound direction; correspondingly, based on the set of eliminated idle transport vehicles, the set of outbound tasks to be allocated, and the second The number of non-idle transport vehicles, and the determination of each second allocation relationship includes: for each outbound direction, based on the number of second sub-non-idle transport vehicles corresponding to the outbound direction, determining the outbound direction of the currently executable outbound task in the outbound direction. The threshold of the number of vehicles in the warehouse; based on the set of tasks to be allocated out of the warehouse, the set of idle transport vehicles after elimination, and the threshold of the number of vehicles out of the warehouse, each second assignment relationship corresponding to the outbound direction is determined.

Further, the above-mentioned process of determining each second assignment relationship corresponding to the outbound direction based on the set of outbound tasks to be allocated, the set of eliminated idle transport vehicles, and the threshold of the number of outbound vehicles includes: assigning the current outbound tasks to be allocated. The set and the updated set of current idle transport vehicles are input into the second capacity allocation model, and the third preliminary pairing relationship and the corresponding evaluation value are obtained; the evaluation value represents the time loss and the \ or distance loss; based on the third preliminary pairing relationship and the corresponding evaluation value, as well as the threshold to be allocated in each outbound direction, determine the second allocation relationship.

Further, each of the above-mentioned tasks to be assigned out of the warehouse corresponds to a respective outbound direction; based on the third preliminary pairing relationship and the corresponding evaluation value, as well as the threshold to be assigned in each outbound direction, the process of determining the second distribution relationship includes: : Sort the third preliminary pairing relationship according to the second sorting rule according to the evaluation value; for each outbound direction, in the sorted third preliminary pairing relationship, the thresholds to be allocated corresponding to the first to the first outbound direction are sorted. The third preliminary pairing relationship is determined as the filtered third preliminary pairing relationship; in the filtered third preliminary pairing relationship and the third preliminary matching relationship, the outbound direction corresponding to the outbound task to be allocated is determined as the first Two distribution relations.

Further, each of the above-mentioned outbound tasks to be assigned corresponds to its own outbound station type; the outbound station types include multiple types, and there is at least one type of outbound picking station in the target warehouse, and each outbound station type corresponds to the outbound station type. library task threshold; the process of determining the second assignment relationship based on the third preliminary pairing relationship and the corresponding evaluation value, as well as the thresholds to be assigned in each outbound direction, includes: according to the evaluation value, the third preliminary pairing relationship is sorted according to the third sorting rule Sorting; for each type of outbound station type, in the third preliminary pairing relationship, the third preliminary pairing relationship of the target outbound task threshold corresponding to the first to the first outbound station type is determined as the filtered The third preliminary pairing relationship; the filtered third preliminary pairing relationship is calculated based on the loss function and corresponds to the loss value of each outbound direction; the outbound direction corresponding to the third preliminary library pairing relationship when the loss value is the smallest is determined as the third preliminary library The outbound direction of the pairing relationship; the filtered third preliminary pairing relationship and the corresponding outbound direction are determined as the second distribution relationship.

The above-mentioned task allocation device provided by the embodiment of the present application has the same technical features as the task allocation method provided by the above-mentioned embodiment, so it can also solve the same technical problem and achieve the same technical effect.

The embodiment of the present application further provides an electronic device, as shown in FIG. 6 , the electronic device includes a processor 130 and a memory 131, where the memory 131 stores machine-executable instructions that can be executed by the processor 130, and the processor 130 Machine-executable instructions are executed to implement the task allocation method.

Further, the electronic device shown in FIG. 6 further includes a bus 132 and a communication interface 133 , and the processor 130 , the communication interface 133 and the memory 131 are connected through the bus 132 .

The memory 131 may include a high-speed random access memory (RAM, Random Access Memory), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 133 (which may be wired or wireless), which may use the Internet, a wide area network, a local network, a metropolitan area network, and the like. The bus 132 may be an ISA bus, a PCI bus, an EISA bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one bidirectional arrow is shown in FIG. 6, but it does not mean that there is only one bus or one type of bus.

The processor 130 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above-mentioned method may be completed by a hardware integrated logic circuit in the processor 130 or an instruction in the form of software. The above-mentioned processor 130 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; it may also be a digital signal processor (Digital Signal Processing, DSP for short) , Application Specific Integrated Circuit (ASIC for short), Field-Programmable Gate Array (FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components. The methods, steps, and logic block diagrams disclosed in the embodiments of this application can be implemented or executed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art. The storage medium is located in the memory 131, and the processor 130 reads the information in the memory 131, and completes the steps of the methods of the foregoing embodiments in combination with its hardware.

Embodiments of the present application further provide a machine-readable storage medium, where the machine-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are called and executed by the processor, the machine-executable instructions cause the processor to To implement the above task allocation method, the specific implementation can refer to the method embodiment, which will not be repeated here.

Embodiments of the present application also provide a computer program product, the computer program product includes a computer program, and the computer program can implement the above task allocation method when executed by a processor. For specific implementation, refer to the method embodiments, which will not be repeated here.

The task assignment method and electronic device computer program product provided by the embodiments of the present application include a computer-readable storage medium storing program codes, and the instructions included in the program codes can be used to execute the methods described in the foregoing method embodiments. For implementation, reference may be made to the method embodiments, which will not be repeated here.

The functions, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, an electronic device, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

Finally, it should be noted that the above-mentioned embodiments are only specific implementations of the present application, and are used to illustrate the technical solutions of the present application, rather than limit them. The embodiments describe the application in detail, and those of ordinary skill in the art should understand that: any person skilled in the art can still modify the technical solutions described in the foregoing embodiments within the technical scope disclosed in the application. Or can easily think of changes, or equivalently replace some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the application, and should be covered in this application. within the scope of protection. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims (14)

1. a task allocation method, is characterized in that, comprises: Obtain the set of idle transport vehicles currently corresponding to the target warehouse, the set of inbound tasks to be allocated, the set of tasks to be allocated out of the warehouse, and the information of non-idle transporters; wherein, the information of non-idle transporters includes the first non-idle transporter that performs the inbound task. The number of idle transporters and the number of second non-idle transporters performing outbound tasks; Based on the set of idle transport vehicles, the set of storage-in tasks to be allocated, and the number of the first non-idle transport vehicles, determine a first assignment relationship between each idle transport vehicle and each storage-in task to be allocated; Based on the first assignment relationship, the set of idle transport vehicles, the set of outbound tasks to be allocated, and the number of second non-idle transport vehicles, determine the first time between each idle transporter and each outbound task to be allocated. Two distribution relationships; the idle transport vehicles in the second distribution relationship do not overlap with the idle transport vehicles in the first distribution relationship; Based on the first assignment relationship and the second assignment relationship, the idle transport vehicles are scheduled. 2 . The method according to claim 1 , characterized in that, based on the set of idle transport vehicles, the set of tasks to be allocated into the warehouse, and the number of the first non-idle transport vehicles, determining the number of idle transport vehicles and the number of idle transport vehicles. 3 . The first allocation relationship between the tasks to be allocated into the warehouse, including: Based on the number of the first non-idle transport vehicles, determine the range of the number of inbound vehicles that can currently perform the inbound task to be allocated; The set of idle transport vehicles and the set of tasks to be allocated into the warehouse are input into the first capacity allocation model, and a plurality of first preliminary pairing relationships and corresponding evaluation values are obtained; the first preliminary pairing relationship includes idle transport vehicles and The pairing relationship of the tasks to be allocated into the warehouse; the evaluation value represents the time loss and/or the distance loss that the idle transport vehicle corresponding to the first preliminary pairing relationship starts to perform the corresponding tasks to be allocated into the warehouse; The first assignment relationship is determined based on the first preliminary pairing relationship and the corresponding evaluation value, and the range of the number of vehicles in the warehouse. 3. The method according to claim 2, characterized in that, based on the number of the first non-idle transport vehicles, determining the range of the number of inbound vehicles that can currently perform the task to be allocated in the warehouse, comprising: Based on the first target quantity range and the first non-idle transport vehicle quantity, the quantity range of the inbound vehicles is determined; wherein the first target quantity range is set based on the cost model and inbound efficiency of the target warehouse . 4. The method according to claim 2, wherein the step of determining the first distribution relationship based on the preliminary pairing relationship and the corresponding evaluation value, and the range of the number of vehicles in the warehouse, comprises: Sort each of the first preliminary pairing relationships according to the evaluation value according to the first sorting rule; In the sorted first preliminary pairing relationship, the first to the first preliminary pairing relationship ranging from the number of vehicles into the garage is determined as the first allocation relationship. 5. The method according to any one of claims 1-4, wherein the set of warehousing tasks to be allocated comprises warehousing tasks to be allocated, and the number of the first non-idle transport vehicles is the number of warehousing tasks to be performed. the number of non-idle transport vehicles; Correspondingly, the first allocation between each idle transport vehicle and each to-be-allocated storage task is determined based on the idle transport vehicle information, the set of tasks to be allocated into the warehouse, and the number of the first non-idle transport vehicles relationships, including: Based on the idle transport vehicle information, each of the to-be-allocated warehousing tasks, and the number of the first non-idle transport vehicles, a first assignment relationship between each of the idle transport vehicles and each to-be-allocated warehousing task is determined. 6. The method according to any one of claims 1-4, wherein the set of storage-in tasks to be allocated comprises storage-in tasks to be allocated and warehouse-return tasks to be allocated; the number of the first non-idle transport vehicles It includes a first non-idle transporter component that performs a warehouse-in task and a second non-idle transporter component that performs a return-to-warehouse task; Correspondingly, the first allocation between each idle transport vehicle and each to-be-allocated storage task is determined based on the idle transport vehicle information, the set of tasks to be allocated into the warehouse, and the number of the first non-idle transport vehicles relationships, including: determining a first sub-allocation relationship between each idle transporter and each to-be-allocated warehousing task based on the idle transporter information, each of the to-be-allocated warehousing tasks, and the first non-idle transporter component; And, based on the idle transport vehicle information, each of the to-be-allocated warehouse-returning tasks, and the second non-idle transporter vehicle component, a second sub-allocation relationship between each of the idle transport vehicles and each to-be-allocated warehouse-returning task is determined. 7. The method according to any one of claims 1-6, wherein the method is based on the first assignment relationship, the idle transport vehicle information, the set of outbound tasks to be assigned, and the second The number of non-idle transport vehicles, to determine the second allocation relationship between each idle transport vehicle and each task to be allocated out of the warehouse, including: Eliminate the idle transport vehicles corresponding to each of the first allocation relationships from the current idle transport vehicle set, to obtain a deleted idle transport vehicle set; Each of the second assignment relationships is determined based on the eliminated set of idle transport vehicles, the set of outbound tasks to be allocated, and the number of second non-idle transport vehicles. 8 . The method according to claim 7 , wherein the non-idle transport vehicle information comprises the number of second sub-non-idle transport vehicles that perform outbound tasks in each outbound direction; 8 . Correspondingly, the determining of each of the second allocation relationships based on the eliminated set of idle transport vehicles, the set of tasks to be allocated out of the warehouse, and the number of the second non-idle transport vehicles includes: For each of the outbound directions, based on the number of second sub-non-idle transport vehicles corresponding to the outbound direction, determine a threshold for the number of outbound vehicles that can currently perform the outbound task in the outbound direction; Each of the second assignment relationships corresponding to the outbound direction is determined based on the set of outbound tasks to be allocated, the set of discarded idle transport vehicles, and the threshold of the number of outbound vehicles. 9 . The method according to claim 8 , wherein, based on the set of outbound tasks to be allocated, the set of idle transport vehicles after the elimination, and the threshold of the number of outbound vehicles, the location of the outbound direction is determined. 10 . The corresponding steps of each of the second distribution relationships include: Inputting the current set of outbound tasks to be allocated and the updated set of current idle transport vehicles into the second capacity allocation model to obtain a third preliminary pairing relationship and a corresponding evaluation value; the evaluation value represents the third preliminary matching relationship The time lost and/or the distance lost for the idle transporter in the start of the mission; The second assignment relationship is determined based on the third preliminary pairing relationship and the corresponding evaluation value, as well as the to-be-allocated thresholds of the respective outbound directions. 10. The method according to claim 9, wherein each of the tasks to be allocated out of the warehouse corresponds to a respective outbound direction; Based on the third preliminary pairing relationship and the corresponding evaluation value, as well as the to-be-allocated thresholds of the respective outbound directions, the step of determining the second distribution relationship includes: Sorting the third preliminary pairing relationship according to the evaluation value according to the second sorting rule; For each outbound direction, in the sorted third preliminary pairing relationship, the third preliminary pairing relationship to be allocated corresponding to the first to the first outbound direction is determined as the filtered third preliminary pairing relation; In the filtered third preliminary pairing relationship and the third preliminary pairing relationship, the outbound direction corresponding to the outbound task to be allocated is determined as the second allocation relationship. 11. The method according to claim 9, wherein each of the outbound tasks to be allocated corresponds to a respective outbound station type; the outbound station types include multiple types, and the target warehouse has at least one type. Types of outbound picking stations, each type of outbound station corresponds to the outbound task threshold; Based on the third preliminary pairing relationship and the corresponding evaluation value, as well as the to-be-allocated thresholds of the respective outbound directions, the step of determining the second distribution relationship includes: Sorting the third preliminary pairing relationship according to the third sorting rule according to the evaluation value; For each type of outbound station type, in the third preliminary pairing relationship, the third preliminary pairing relationship from the first to the threshold number of target outbound tasks corresponding to the first outbound station type is determined as the filtered the third preliminary pairing relationship; Calculate the loss values of the filtered third preliminary pairing relationship corresponding to each outbound direction based on the loss function; Determining the outbound direction corresponding to the third preliminary library pairing relationship when the loss value is the smallest as the outbound direction of the third preliminary library pairing relationship; The filtered third preliminary pairing relationship and the corresponding delivery direction are determined as the second distribution relationship. 12. An electronic device, comprising a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor, the processor executing the machine-executable instructions to implement the claims The task assignment method described in any one of 1 to 11. 13. A machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that, when invoked and executed by a processor, cause the machine-executable instructions to The processor implements the task allocation method of any one of claims 1 to 11. 14. A computer program product, comprising a computer program that, when executed by a processor, can implement the task assignment method according to any one of claims 1 to 11.

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