CN111353729A - Method and device for determining to-be-maintained location code and road - Google Patents

Method and device for determining to-be-maintained location code and road Download PDF

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CN111353729A
CN111353729A CN201811472956.6A CN201811472956A CN111353729A CN 111353729 A CN111353729 A CN 111353729A CN 201811472956 A CN201811472956 A CN 201811472956A CN 111353729 A CN111353729 A CN 111353729A
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location
pair
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code point
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滕跃
高志蓬
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Beijing Jingdong Qianshi Technology Co Ltd
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Beijing Jingdong Qianshi Technology Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/20—Administration of product repair or maintenance

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Abstract

The invention discloses a method and a device for determining a to-be-maintained address and a road, and relates to the technical field of computers. One embodiment of the method comprises: acquiring a deviation data set of each code point pair in a warehouse, estimating a coefficient of a first-order autoregressive model of each code point pair by using the deviation data set of each code point pair, and determining a first code point pair set according to the coefficient of the first-order autoregressive model of each code point pair; for each code point pair, determining the mean value of the deviations of the arrival points in the code point pair by using the deviation data set of the code point pair, and determining a second code point pair set; and if the location code point of the location code point pair in the first location code point pair set is located in the neighborhood of any location code point pair in the second location code point pair set, determining the location code of the location code point and the road to be maintained. This embodiment can be automatic and timely accurate discernment the place code and the road that take place the damage in the intelligent warehouse.

Description

Method and device for determining to-be-maintained location code and road
Technical Field
The invention relates to the technical field of computers, in particular to a method and a device for determining a to-be-maintained location code and a road.
Background
In automated libraries using intelligent AGVs, the AGVs typically employ two-dimensional code navigation. The two-dimensional code navigation is realized by arranging two-dimensional codes on path points which can be passed by the AGV in the warehouse, and identifying the two-dimensional codes through a code scanner at the bottom when the AGV passes through the path points so as to determine the position of the AGV in the warehouse. In the long-term use process of the intelligent warehouse, equipment and roads can age to different degrees, and the equipment and the roads comprise damaged or deviated code points, damaged floors of the warehouse, deviation of AGV driving or motion control equipment and maintenance and the like.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art: currently, damage to the ground and ground yards can only be checked one by workers using various measuring tools. During the investigation, the whole warehouse needs to be shut down, and the warehouse area is large, thousands of ground code points are usually arranged, and the investigation by manpower can hardly be realized, so that the ground code points and the ground problems become a serious problem which is difficult to process in the unmanned warehouse production.
Therefore, a method and a device for automatically, timely and accurately identifying the damaged location code and road in the intelligent warehouse and determining the location code and the road to be maintained are needed.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for determining a location code and a road to be maintained, which can automatically, timely and accurately identify the location code and the road damaged in an intelligent warehouse.
To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a method of determining a lot size and a road to be repaired, including:
obtaining a deviation data set for each pair of locality points in a repository, the pair of locality points comprising: the departure point is any code point in the warehouse, the arrival point is an adjacent code point of the departure point in a set direction, and the deviation data comprises: in the process that the transportation equipment moves from the departure point to the arrival point of the location code pair, the transportation equipment respectively deviates from the departure point and the arrival point;
for each location point pair, estimating coefficients of a first-order autoregressive model of the location point pair by using the deviation data set of the first-order autoregressive model, wherein the independent variable and the dependent variable of the first-order autoregressive model of the location point pair are respectively the deviation of the transportation equipment at the departure point and the deviation at the arrival point in the process of going straight from the departure point to the arrival point, and then determining a first location point pair set according to the coefficients of the first-order autoregressive model of each location point pair;
for each code point pair, determining the mean value of the deviations of the arrival points in the code point pair by using the deviation data set, and determining a second code point pair set according to the mean value;
and if the location code point of the location code point pair in the first location code point pair set is located in the neighborhood of any location code point pair in the second location code point pair set, determining the location code of the location code point and the road to be maintained.
Optionally, the method for determining the location code and the road to be repaired provided by the embodiment of the present invention further includes:
acquiring running deviation data of each transportation device in a warehouse, wherein the running deviation data comprises: deviation of the transport device at each location point in a third set of location points, wherein the third set of location points comprises: the other geographical code points in the warehouse except the geographical code points of the first geographical code point pair set and the second geographical code point pair set;
and determining the transportation equipment to be maintained in the warehouse according to the driving deviation data of each transportation equipment.
Optionally, the determining a first set of location point pairs according to coefficients of a first-order autoregressive model of each location point pair includes:
sorting the ground code point pairs from big to small according to the absolute value of the first-order term coefficient of the first-order autoregressive model of the ground code point pairs, and selecting a first number of ground code point pairs which are sorted in the front;
sorting the ground code point pairs from big to small according to the absolute values of constant term coefficients of first-order autoregressive models of the ground code point pairs, and selecting a second number of ground code point pairs which are sorted in front;
the first set of codepoint pairs comprises: a pair of location points selected from the ordering of the absolute values of the primary coefficients and a pair of location points selected from the ordering of the absolute values of the constant term coefficients.
Optionally, the step of determining the second set of code point pairs includes:
and sorting the ground code point pairs from big to small according to the absolute value of the mean value of the deviations of the arrival points in the ground code point pairs, and selecting a third number of ground code point pairs which are sorted in front so as to obtain a second ground code point pair set.
Optionally, the determining, according to the driving deviation data of each transportation device, a transportation device to be repaired in the warehouse includes:
determining a sample moment of deviation of each transport device according to the travel deviation data of the transport device;
and sequencing the transport equipment from big to small according to the absolute value of the sample moment of the deviation of the transport equipment, and determining the fourth quantity of transport equipment to be maintained, wherein the fourth quantity is at the front of the sequence.
To achieve the above object, according to another aspect of an embodiment of the present invention, there is also provided an apparatus for determining a lot size and a road to be repaired, including:
an acquisition module to acquire a deviation data set for each pair of location points in a warehouse, the pair of location points comprising: the departure point is any code point in the warehouse, the arrival point is an adjacent code point of the departure point in a set direction, and the deviation data comprises: in the process that the transportation equipment moves from the departure point to the arrival point of the location code pair, the transportation equipment respectively deviates from the departure point and the arrival point;
the triggered deviation point pair determining module is used for estimating coefficients of a first-order autoregressive model of each location point pair by using a deviation data set of the location point pair, wherein an independent variable and a dependent variable of the first-order autoregressive model of the location point pair are respectively the deviation of the transportation equipment at the departure point and the deviation at the arrival point in the process that the transportation equipment moves from the departure point to the arrival point, and then a first location point pair set is determined according to the coefficients of the first-order autoregressive model of each location point pair;
a deviation point pair determining module, configured to determine, for each location code point pair, a mean value of deviations of arrival points in the location code point pair by using the deviation data set thereof, and determine a second location code point pair set according to the mean value;
and the to-be-maintained point determining module is used for determining the ground code of the ground code point and the road to be maintained if the ground code point of the ground code point pair in the first set of ground code point pairs is located in the neighborhood of any ground code point pair in the second set of ground code point pairs.
Optionally, the apparatus for determining a location code and a road to be repaired provided by the embodiment of the present invention further includes:
the system comprises a to-be-maintained transportation equipment determining module, a to-be-maintained transportation equipment determining module and a maintenance module, wherein the to-be-maintained transportation equipment determining module is used for acquiring the driving deviation data of each transportation equipment in a warehouse, and the driving deviation data comprises: deviation of the transport device at each location point in a third set of location points, wherein the third set of location points comprises: the other geographical code points in the warehouse except the geographical code points of the first geographical code point pair set and the second geographical code point pair set;
and determining the transportation equipment to be maintained in the warehouse according to the driving deviation data of each transportation equipment.
Optionally, the induced deviation point pair determining module is further configured to sort the location code point pairs from large to small according to an absolute value of a first-order term coefficient of a first-order autoregressive model of the location code point pairs, and select a first number of location code point pairs sorted in the top;
sorting the ground code point pairs from big to small according to the absolute values of constant term coefficients of first-order autoregressive models of the ground code point pairs, and selecting a second number of ground code point pairs which are sorted in front;
the first set of codepoint pairs comprises: a pair of location points selected from the ordering of the absolute values of the primary coefficients and a pair of location points selected from the ordering of the absolute values of the constant term coefficients.
Optionally, the deviation point pair occurrence determining module is further configured to sort the location code point pairs from large to small according to an absolute value of a mean value of deviations of the arrival points in the location code point pairs, and select a third number of location code point pairs that are sorted in the top order to obtain a second location code point pair set.
Optionally, the module for determining transportation devices to be repaired is further configured to determine a sample moment of deviation of each transportation device according to the travel deviation data of the transportation device;
and sequencing the transport equipment from big to small according to the absolute value of the sample moment of the deviation of the transport equipment, and determining the fourth quantity of transport equipment to be maintained, wherein the fourth quantity is at the front of the sequence.
To achieve the above object, according to another aspect of an embodiment of the present invention, there is also provided an electronic device for determining a location code to be repaired and a road, including:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining the location code and the road to be repaired provided by the invention.
To achieve the above object, according to another aspect of the embodiments of the present invention, there is also provided a computer readable medium having a computer program stored thereon, the program implementing the method for determining a location code and a road to be repaired provided by the present invention when being executed by a processor.
The embodiment of the invention provides a method and a device for determining a to-be-maintained ground code and a road, which can be applied to an automatic warehouse of an intelligent AGV based on two-dimensional code navigation, wherein the ground code points in the warehouse are divided into ground code point pairs, and first-order autoregressive analysis is performed by using deviation data of each AGV in the warehouse passing through each ground code point so as to determine the ground code points which are damaged or deviated in the long-term use process of the intelligent warehouse, damage the ground of the warehouse and deviation of the ground code points which needs to be maintained. Therefore, the position of the problematic location code point and the serial number of the problematic AGV are timely fed back to maintenance personnel, so that the maintenance personnel can accurately maintain the problematic location code point purposefully, and compared with large-area and destination-free troubleshooting in the prior art, a large amount of cost is saved.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic diagram of a main flow of a method for determining a location code and a road to be repaired according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a flow of one embodiment of a method for determining a location code and a road to be repaired according to an embodiment of the present invention;
FIG. 3 is a diagram of a pair of location points provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of the main modules of the apparatus for determining the location and road to be repaired provided by the embodiment of the present invention;
FIG. 5 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
FIG. 6 is a schematic block diagram of a computer system suitable for use with the electronic device to implement an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The embodiment of the invention provides a method for determining a to-be-maintained ground code and a road, which can be applied to an automatic warehouse of an intelligent AGV based on two-dimensional code navigation, and can analyze deviation data when each AGV in the warehouse passes through each ground code point so as to determine the damaged or deviated ground code point, the ground of the warehouse and AGV driving or motion control equipment needing to be maintained when deviation occurs in the long-term use process of the intelligent warehouse. Therefore, the position of the problematic location code point and the serial number of the problematic AGV are timely fed back to maintenance personnel, so that the maintenance personnel can accurately maintain the problematic location code point purposefully, and compared with large-area and destination-free troubleshooting in the prior art, a large amount of cost is saved.
The method of the invention provides that when the AGV scans the ground code through the problematic ground code points in the usual production process, larger left and right deviations can be generated. The main sources or contributing factors to the deviation (hereinafter referred to as arrival deviation) that an AGV makes when passing through a current location point (hereinafter referred to as the current point) include: a deviation (hereinafter referred to as an initial deviation) that the AGV has when it passes through the previous location point (hereinafter referred to as an initial point), a road condition between the initial point and the current point (hereinafter collectively referred to as a location point pair), whether the location point pair is aligned (including a lateral longitudinal deviation and an angular deviation), and the like. Therefore, the problem code point and the AGV can be effectively identified by analyzing the left and right deviation data of the ground code scanned by the AGV in the straight line process. That is, the deviation according to the following embodiments of the present invention is left-right deviation data of the AGV traveling direction.
As shown in fig. 1 and fig. 2, a method for determining a location code and a road to be repaired provided by an embodiment of the present invention includes: step S101 to step S104.
Before executing the steps of the invention, firstly, obtaining warehouse map information, wherein the warehouse map information comprises position information of each location code point in a warehouse, and grouping and pairing the location code points according to the position information of each location code point to form a location code point pair, wherein the location code point pair comprises: the departure point is any one code point in the warehouse, and the arrival point is an adjacent code point of the departure point in the set direction. For example, if departure point a has an adjacent arrival point B in direction 1 and an adjacent arrival point C in direction 2, then there are a pair of location points AB and a pair of location points AC.
In the present invention, for example, two location points shown in fig. 3, the AGV travels from the departure point a to the arrival point B, and the deviation of the AGV at the point a is the initial deviation and the deviation at the point B is the arrival deviation. Since the arrival deviation is related to the actual situation of a to B and is asymmetric (i.e., a to B is different from B to a), the pair of location points is an ordered pair, i.e., the pair of location points AB is different from the pair of location points BA.
After all the location points in the warehouse are determined, all the driving deviation data are grouped according to the location point pairs, and the data of each location point pair are analyzed respectively. That is, in step S101, a deviation data set for each location point pair in the warehouse is obtained. The deviation data includes: in the process of the transport device (i.e., AGV) going straight from the departure point to the arrival point of the location code pair, the transport device deviates from the departure point and the arrival point, i.e., an initial deviation and an arrival deviation, respectively. A plurality of groups of deviation data exist in the deviation data set, one group of deviation data can be collected by one AGV, and the deviation data set comprises the deviation data recorded when a plurality of AGVs in the warehouse respectively pass through the location code point pair.
When the AGV passes through a certain location code point, the AGV can read the location code information through the scanning camera to know the position, and meanwhile, the left-right (transverse) deviation and the front-back (longitudinal) deviation between the camera and the location code point can be determined and recorded, so that the movement direction, the route posture and the like can be adjusted.
In the present invention, it is assumed that in one AGV straight-going process, the AGV passes through the point A in sequencen,An-1,...A1A, B, the simplification problem builds a first order Markov model for the pair of landmark points AB:
the observed arrival deviation at point B is xBThe initial deviation observed at point A is xADeviation at other points is xA1,...xAnThen, there are:
P(xB|xA,xA1,...xAn)＝P(xB|xA)，
the method also comprises a plurality of implicit conditions, namely road conditions among all points, wherein for a first-order model, the road conditions among AB are also expressed in the model, and then the arrival deviation x observed at the point B existsBSatisfy conditional probability model P (x)B|xA,AB)。
Since the deviation is a continuous variable, it is refined to a first-order autoregressive model in the present invention on the basis of the above first-order markov model:
xB＝aAB·xA+cAB；
wherein a isABAnd cABIs the autoregressive coefficient associated with the pair of location points AB.
The absolute value of the first-order coefficient a represents that the deviation of AVG driving is enlarged due to the fact that the road between AB has factors, and the corresponding situation is that the road middle is damaged, a slipping area and the like.
The absolute value of the constant term coefficient c represents that the road between AB has large variation, and is generally deformed, disturbed by foreign objects, damaged by ground codes or roads, and the like.
In step S102, for each pair of location points, the coefficients of the first order autoregressive model for that pair of location points are estimated using their deviation data sets. A first set of pairs of location points is then determined based on the coefficients of the first order autoregressive model for each pair of location points.
In an embodiment of the present invention, the process of determining the first set of location point pairs according to the coefficients of the first-order autoregressive model of each location point pair may specifically be: according to the absolute value of the first-order term coefficient of the first-order autoregressive model of the address point pairs, the address point pairs are sorted from large to small, and a first number (for example, 10% to 5% of the total number of the address point pairs in the sorting) of the address point pairs which are sorted in the front, namely, the address point pairs with the larger absolute value of the first-order term coefficient are selected. Sorting the address point pairs from big to small according to the absolute values of the constant term coefficients of the first-order autoregressive model of the address point pairs, and selecting a second number (the second number can be the same as the first number) of the address point pairs which are sorted in the front, namely the address point pairs with the larger absolute values of the constant term coefficients. Finally, the first set of codepoint pairs comprises: a pair of location points selected from the ordering of the absolute values of the primary coefficients and a pair of location points selected from the ordering of the absolute values of the constant term coefficients.
The first set of address point pairs, which includes the address point pairs with the higher significance of failure determined in step S102, is the address point pair suspected to cause the problem.
In step S103, for each pair of location code points, a mean value of the deviations of the arrival points in the pair of location code points is determined using the deviation data set thereof, and a second set of location code point pairs is determined according to the mean value. The method comprises the following steps of counting the average value of the arrival deviation of each code point pair, determining the code point pairs with large deviation in driving according to the average value, and forming a second code point pair set.
In one embodiment, the step of determining the second set of code point pairs specifically includes: according to the absolute value of the mean value of the deviations of the arrival points in the code point pairs, sorting the code point pairs from big to small, and selecting a third number (for example, 10% to 5% of the total number of the code point pairs in the sorting) of code point pairs which are sorted at the top to obtain a second code point pair set, namely, marking the first sorted pairs as the pairs with the big deviation in the driving.
The invention further perfects a first-order Markov model of deviation, wherein a larger deviation is generally caused by factors such as road code points, the vehicle body at an arrival point is represented as a larger left-right deviation relative to the ground code after passing through the arrival point, the current arrival point is taken as a new starting point and is provided with a larger initial deviation, the AGV generally has a larger deviation when passing through the next arrival point under the influence of the larger initial deviation, and the deviation is generally completely corrected by the AGV after continuously driving for a plurality of ground code points, so that the points with larger deviations are in a continuously distributed state along the road in a warehouse map.
After the area of the location point pair with large deviation is determined in step S103, further in step S104, a judgment is made to find the point pair intersection of the area of the large deviation point pair and its neighborhood with the first set of location point pairs by using a preset length (for example, 2 location point lengths) as the neighborhood, that is, if the location point of the location point pair in the first set of location point pairs is located in the neighborhood of any location point pair in the second set of location point pairs, the location code of the location point and the road to be maintained are determined.
In one embodiment, the method for determining the yard and the road to be repaired provided by the invention further comprises the following process of determining the transportation equipment to be repaired:
acquiring running deviation data of each transport device in a warehouse, wherein the running deviation data comprises: deviation of the transport (i.e., AGV) at each of a third set of location points, wherein the third set of location points comprises: the remaining location points in the repository other than the location points of the first set of location point pairs and the second set of location point pairs.
That is, the code point pair causing the larger deviation and the code point pair having the larger deviation which are identified in the above steps of the present invention are removed from the warehouse map, and a code point having a better road condition, that is, a third set of code points, is left, and deviation data which are generated by AGVs in a straight line on the code points are grouped according to different AGVs, so as to obtain section data with different AGVs as dimensions, that is, travel deviation data of the AGVs.
And then, according to the driving deviation data of each AGV, determining the transportation equipment to be maintained in the warehouse.
In one embodiment, the above process is specifically: determining a sample moment of deviation of each transportation device according to the driving deviation data of the transportation device, namely performing sample moment estimation on each section data, sequencing the transportation devices from big to small according to the absolute value of the sample moment of deviation of the transportation devices, and determining a fourth quantity (for example, 10% to 5% of the total quantity of the transportation devices in the sequence) of the transportation devices at the top to be maintained. The transport equipment with the front sample mean sequencing shows that the deviation of the whole operation control needs to be maintained, and the transport equipment with the front sample variance sequencing shows that the relevant reasons need to be checked when the equipment is unstable in operation.
An embodiment of the present invention further provides an apparatus for determining a location code and a road to be maintained, as shown in fig. 4, the apparatus 400 includes: the system comprises an acquisition module 401, a deviation point triggering pair determining module 402, a deviation point generating pair determining module 403 and a point to be maintained determining module 404.
The obtaining module 401 is configured to obtain a deviation data set of each location point pair in the warehouse, where the location point pair includes: the departure point is any code point in the warehouse, the arrival point is an adjacent code point of the departure point in a set direction, and the deviation data comprises: and in the process that the transportation equipment moves from the departure point to the arrival point of the location code pair, the transportation equipment respectively deviates from the departure point and the arrival point.
The triggered deviation point pair determining module 402 is configured to estimate, for each location point pair, a coefficient of a first-order autoregressive model of the location point pair using the deviation data set thereof, where an independent variable and a dependent variable of the first-order autoregressive model of the location point pair are respectively a deviation of a transportation device at a departure point and a deviation at an arrival point in a process of the transportation device going straight from the departure point to the arrival point, and then determine a first set of location point pairs according to the coefficient of the first-order autoregressive model of each location point pair.
The occurring deviation point pair determining module 403 is configured to determine, for each location code point pair, a mean of deviations of the arrival points in the location code point pair using the deviation data set thereof, and determine a second location code point pair set according to the mean.
The to-be-maintained point determining module 404 is configured to determine a location code of the location code point and a road to be maintained if the location code point of the location code point pair in the first location code point pair set is located in a neighborhood of any location code point pair in the second location code point pair set.
The device for determining the location code and the road to be maintained provided by the embodiment of the invention further comprises: and determining a module for the transportation equipment to be maintained. The to-be-maintained transportation equipment determining module is used for acquiring the driving deviation data of each transportation equipment in the warehouse, and the driving deviation data comprises the following components: a deviation of the transport device at each of a third set of waypoints, wherein the third set of waypoints comprises: and determining the transportation equipment to be maintained in the warehouse according to the running deviation data of each transportation equipment.
In the invention, the deviation-causing point pair determining module is further used for sorting the address point pairs from big to small according to the absolute value of the first-order term coefficient of the first-order autoregressive model of the address point pairs and selecting the first number of the address point pairs which are sorted in the front.
And sorting the ground code point pairs from big to small according to the absolute values of constant term coefficients of the first-order autoregressive model of the ground code point pairs, and selecting a second number of ground code point pairs which are sorted in the front.
The first set of location point pairs comprises: a pair of location points selected from the ordering of the absolute values of the primary coefficients and a pair of location points selected from the ordering of the absolute values of the constant term coefficients.
In the present invention, the occurring deviation point pair determining module is further configured to sort the location code point pairs from large to small according to an absolute value of a mean value of deviations of the arrival points in the location code point pairs, and select a third number of location code point pairs that are sorted in the top order to obtain a second location code point pair set.
In the invention, the module for determining the transport equipment to be repaired is further used for determining the sample moment of the deviation of each transport equipment according to the running deviation data of the transport equipment.
And sequencing the transport equipment from big to small according to the absolute value of the sample moment of the deviation of the transport equipment, and determining the fourth quantity of transport equipment to be maintained, wherein the fourth quantity is at the front of the sequence.
The embodiment of the invention provides a method and a device for determining a to-be-maintained ground code and a road, which can be applied to an automatic warehouse of an intelligent AGV based on two-dimensional code navigation, wherein the ground code points in the warehouse are divided into ground code point pairs, and first-order autoregressive analysis is performed by using deviation data of each AGV in the warehouse passing through each ground code point so as to determine the ground code points which are damaged or deviated in the long-term use process of the intelligent warehouse, damage the ground of the warehouse and deviation of the ground code points which needs to be maintained. Therefore, the position of the problematic location code point and the serial number of the problematic AGV are timely fed back to maintenance personnel, so that the maintenance personnel can accurately maintain the problematic location code point purposefully, and compared with large-area and destination-free troubleshooting in the prior art, a large amount of cost is saved.
Fig. 4 illustrates an exemplary system architecture 400 of a method of determining a lot size and a road to be serviced or an apparatus for determining a lot size and a road to be serviced to which embodiments of the present invention may be applied.
As shown in fig. 4, the system architecture 400 may include terminal devices 401, 402, 403, a network 404, and a server 405. The network 404 serves as a medium for providing communication links between the terminal devices 401, 402, 403 and the server 405. Network 404 may include various types of connections, such as wire, wireless communication links, or fiber optic cables, to name a few.
A user may use terminal devices 401, 402, 403 to interact with a server 405 over a network 404 to receive or send messages or the like. Various communication client applications may be installed on the terminal devices 401, 402, 403.
The terminal devices 401, 402, 403 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 405 may be a server providing various services, such as a background management server acquiring a deviation data set of each location point pair in a warehouse, and determining a location code to be maintained and a road by using the deviation data set.
It should be noted that the method for determining the location code to be maintained and the road provided by the embodiment of the present invention is generally performed by the server 405, and accordingly, the device for determining the location code to be maintained and the road is generally disposed in the server 405.
It should be understood that the number of terminal devices, networks, and servers in fig. 4 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 5, shown is a block diagram of a computer system 500 suitable for use with a terminal device implementing an embodiment of the present invention. The terminal device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU)501 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the system 500 are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output portion 507 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The driver 510 is also connected to the I/O interface 505 as necessary. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted into the storage section 508 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511. The computer program performs the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 501.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor comprises an acquisition module, an initiation deviation point pair determining module, an occurrence deviation point pair determining module and a point to be maintained determining module. Wherein the names of the modules do not in some cases constitute a limitation of the module itself.
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise:
obtaining a deviation data set for each pair of locality points in a repository, the pair of locality points comprising: the departure point is any code point in the warehouse, the arrival point is an adjacent code point of the departure point in a set direction, and the deviation data comprises: in the process that the transportation equipment moves from the departure point to the arrival point of the location code pair, the transportation equipment respectively deviates from the departure point and the arrival point;
for each location point pair, estimating coefficients of a first-order autoregressive model of the location point pair by using the deviation data set of the first-order autoregressive model, wherein the independent variable and the dependent variable of the first-order autoregressive model of the location point pair are respectively the deviation of the transportation equipment at the departure point and the deviation at the arrival point in the process of going straight from the departure point to the arrival point, and then determining a first location point pair set according to the coefficients of the first-order autoregressive model of each location point pair;
for each code point pair, determining the mean value of the deviations of the arrival points in the code point pair by using the deviation data set, and determining a second code point pair set according to the mean value;
and if the location code point of the location code point pair in the first location code point pair set is located in the neighborhood of any location code point pair in the second location code point pair set, determining the location code of the location code point and the road to be maintained.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (12)

1. A method of determining a lot and a road to be serviced, comprising:
obtaining a deviation data set for each pair of locality points in a repository, the pair of locality points comprising: the departure point is any code point in the warehouse, the arrival point is an adjacent code point of the departure point in a set direction, and the deviation data comprises: in the process that the transportation equipment moves from the departure point to the arrival point of the location code pair, the transportation equipment respectively deviates from the departure point and the arrival point;
for each location point pair, estimating coefficients of a first-order autoregressive model of the location point pair by using the deviation data set of the first-order autoregressive model, wherein the independent variable and the dependent variable of the first-order autoregressive model of the location point pair are respectively the deviation of the transportation equipment at the departure point and the deviation at the arrival point in the process of going straight from the departure point to the arrival point, and then determining a first location point pair set according to the coefficients of the first-order autoregressive model of each location point pair;
for each code point pair, determining the mean value of the deviations of the arrival points in the code point pair by using the deviation data set, and determining a second code point pair set according to the mean value;
and if the location code point of the location code point pair in the first location code point pair set is located in the neighborhood of any location code point pair in the second location code point pair set, determining the location code of the location code point and the road to be maintained.
2. The method of claim 1, further comprising:
acquiring running deviation data of each transportation device in a warehouse, wherein the running deviation data comprises: deviation of the transport device at each location point in a third set of location points, wherein the third set of location points comprises: the other geographical code points in the warehouse except the geographical code points of the first geographical code point pair set and the second geographical code point pair set;
and determining the transportation equipment to be maintained in the warehouse according to the driving deviation data of each transportation equipment.
3. The method of claim 1, wherein determining a first set of codepoint pairs based on coefficients of a first-order autoregressive model for each codepoint pair comprises:
sorting the ground code point pairs from big to small according to the absolute value of the first-order term coefficient of the first-order autoregressive model of the ground code point pairs, and selecting a first number of ground code point pairs which are sorted in the front;
sorting the ground code point pairs from big to small according to the absolute values of constant term coefficients of first-order autoregressive models of the ground code point pairs, and selecting a second number of ground code point pairs which are sorted in front;
the first set of codepoint pairs comprises: a pair of location points selected from the ordering of the absolute values of the primary coefficients and a pair of location points selected from the ordering of the absolute values of the constant term coefficients.
4. The method of claim 1, wherein the step of determining the second set of pairs of code points comprises:
and sorting the ground code point pairs from big to small according to the absolute value of the mean value of the deviations of the arrival points in the ground code point pairs, and selecting a third number of ground code point pairs which are sorted in front so as to obtain a second ground code point pair set.
5. The method of claim 2, wherein determining the transportation device to be serviced in the warehouse from the travel deviation data for each transportation device comprises:
determining a sample moment of deviation of each transport device according to the travel deviation data of the transport device;
and sequencing the transport equipment from big to small according to the absolute value of the sample moment of the deviation of the transport equipment, and determining the fourth quantity of transport equipment to be maintained, wherein the fourth quantity is at the front of the sequence.
6. An apparatus for determining a lot and a road to be serviced, comprising:
an acquisition module to acquire a deviation data set for each pair of location points in a warehouse, the pair of location points comprising: the departure point is any code point in the warehouse, the arrival point is an adjacent code point of the departure point in a set direction, and the deviation data comprises: in the process that the transportation equipment moves from the departure point to the arrival point of the location code pair, the transportation equipment respectively deviates from the departure point and the arrival point;
the triggered deviation point pair determining module is used for estimating coefficients of a first-order autoregressive model of each location point pair by using a deviation data set of the location point pair, wherein an independent variable and a dependent variable of the first-order autoregressive model of the location point pair are respectively the deviation of the transportation equipment at the departure point and the deviation at the arrival point in the process that the transportation equipment moves from the departure point to the arrival point, and then a first location point pair set is determined according to the coefficients of the first-order autoregressive model of each location point pair;
a deviation point pair determining module, configured to determine, for each location code point pair, a mean value of deviations of arrival points in the location code point pair by using the deviation data set thereof, and determine a second location code point pair set according to the mean value;
and the to-be-maintained point determining module is used for determining the ground code of the ground code point and the road to be maintained if the ground code point of the ground code point pair in the first set of ground code point pairs is located in the neighborhood of any ground code point pair in the second set of ground code point pairs.
7. The apparatus of claim 6, further comprising:
the system comprises a to-be-maintained transportation equipment determining module, a to-be-maintained transportation equipment determining module and a maintenance module, wherein the to-be-maintained transportation equipment determining module is used for acquiring the driving deviation data of each transportation equipment in a warehouse, and the driving deviation data comprises: deviation of the transport device at each location point in a third set of location points, wherein the third set of location points comprises: the other geographical code points in the warehouse except the geographical code points of the first geographical code point pair set and the second geographical code point pair set;
and determining the transportation equipment to be maintained in the warehouse according to the driving deviation data of each transportation equipment.
8. The apparatus of claim 6, wherein the induced bias point pair determining module is further configured to rank the earth code point pairs from large to small according to absolute values of first order coefficients of a first-order autoregressive model of the earth code point pairs, and select a first number of the earth code point pairs ranked in the top;
sorting the ground code point pairs from big to small according to the absolute values of constant term coefficients of first-order autoregressive models of the ground code point pairs, and selecting a second number of ground code point pairs which are sorted in front;
the first set of codepoint pairs comprises: a pair of location points selected from the ordering of the absolute values of the primary coefficients and a pair of location points selected from the ordering of the absolute values of the constant term coefficients.
9. The apparatus of claim 6, wherein the occurring deviation point pair determining module is further configured to sort the location point pairs from large to small according to an absolute value of a mean of deviations of the arrival points in the location point pairs, and select a third number of location point pairs sorted in the top to obtain the second set of location point pairs.
10. The apparatus of claim 7, wherein the to-be-repaired transport device determining module is further configured to determine a sample moment of deviation of each transport device based on the travel deviation data for the transport device;
and sequencing the transport equipment from big to small according to the absolute value of the sample moment of the deviation of the transport equipment, and determining the fourth quantity of transport equipment to be maintained, wherein the fourth quantity is at the front of the sequence.
11. An electronic device for determining a location code and a road to be serviced, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.
12. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-5.
CN201811472956.6A 2018-12-04 2018-12-04 Method and device for determining to-be-maintained location code and road Pending CN111353729A (en)

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