CN106845674A - Picking determining method of path and device - Google Patents
Picking determining method of path and device Download PDFInfo
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- CN106845674A CN106845674A CN201611156245.9A CN201611156245A CN106845674A CN 106845674 A CN106845674 A CN 106845674A CN 201611156245 A CN201611156245 A CN 201611156245A CN 106845674 A CN106845674 A CN 106845674A
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- Prior art keywords
- path
- sorter
- entered
- dolly
- access adit
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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
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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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
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
Abstract
The present invention discloses a kind of picking determining method of path and device.The method includes：Positioning goods lattice position is determined according to sequence information；Dolly picking path is determined according to positioning goods lattice position and sorter's original position, wherein, the dolly picking path is sorter's original position to the path of access adit to be entered, described to treat into the access adit to be entered that access adit is tunnel where positioning goods lattice；Determine sorter's walking path, wherein, sorter's walking path is path of the access adit to be entered to positioning goods lattice position；Sorter's original position to total picking path of positioning goods lattice and length is determined according to dolly picking path and sorter's walking path.The present invention can be automatically obtained in electric business plane warehouse in the case of order set or the multiple positioning goods lattices of order, thus achieve the optimization on the whole in picking path, i.e. garage's route and humanoid route optimization on the whole.
Description
Technical field
The present invention relates to the field of storing in a warehouse, more particularly to a kind of picking determining method of path and device.
Background technology
Existing WMS (Warehouse Management System, warehouse management system) produce order when, when one
After order enters in storehouse, just all commodity on the order are positioned.
In the prior art, system can randomly select 30 order composition set lists, without considering commodity on this 30 orders
Positioning scenarios in whole warehouse.This method causes sorter in picking, it is however very well possible to runs far distance and only picks
A small amount of commodity, so cannot also accomplish optimal on overall picking path.
The content of the invention
In view of above technical problem, the invention provides a kind of picking determining method of path and device, realizes picking road
The optimization on the whole in footpath, i.e. garage's route and humanoid route optimization on the whole.
According to an aspect of the present invention, there is provided a kind of picking determining method of path, including：
Positioning goods lattice position is determined according to sequence information；
Dolly picking path is determined according to positioning goods lattice position and sorter's original position, wherein, the dolly picking road
Footpath is sorter's original position to the path of access adit to be entered, described to treat into access adit to be to position treating for tunnel where goods lattice
Into access adit；
Determine sorter's walking path, wherein, sorter's walking path is access adit to be entered to positioning goods lattice position
Path；
Sorter's original position to total picking of positioning goods lattice is determined according to dolly picking path and sorter's walking path
Path and length.
In one embodiment of the invention, it is described to determine that dolly is picked according to positioning goods lattice position and sorter's original position
Goods path includes：
Determine to treat into access adit and major trunk roads to be entered, to ensure a tunnel only one of which according to positioning goods lattice position
Access adit to be entered, wherein treating that into major trunk roads be major trunk roads where access adit to be entered；
According to sorter's original position, treat, into access adit and major trunk roads to be entered, to determine that dolly reaches tunnel to be entered
The shortest path of mouth；
Dolly is reached the shortest path of access adit to be entered as dolly picking path.
In one embodiment of the invention, it is described according to sorter's original position, treat into access adit and wait enter master
Arterial highway, determines that dolly reaches the shortest path of access adit to be entered and includes：
According to sorter's original position and major trunk roads to be entered, determine that dolly reaches the shortest path at major trunk roads midpoint to be entered
Footpath；
Reached according to dolly treat into major trunk roads midpoint shortest path and treat into major trunk roads point midway, treat into
Enter access adit position, determine that dolly reaches the shortest path of access adit to be entered.
In one embodiment of the invention, it is described to determine the shortest path bag that dolly enters major trunk roads midpoint to be entered
Include：
Each original position for treating into the midpoint of major trunk roads and sorter is regarded as summit, obtain any two summit it
Between beeline；
Determine that dolly enters the shortest path at major trunk roads midpoint to be entered according to the beeline between any two summit.
In one embodiment of the invention, the situation for treating that the shortest path into access adit has multiple is reached in dolly
Under, the shortest path that dolly is reached access adit to be entered includes as dolly picking path：
Determine the corresponding sorter's picking path of each dolly shortest path；
Using the most short corresponding dolly shortest path in sorter's picking path as dolly picking path；
Using most short sorter's picking path as sorter's walking path.
In one embodiment of the invention, determination sorter's walking path includes：
For each access adit to be entered, according between positioning goods lattice position farthest in access adit to be entered and tunnel
Distance determines the single LK algorithm of sorter；
Single LK algorithm sum according to needing into access adit determines sorter's walking path and length.
According to another aspect of the present invention, there is provided a kind of picking path determining device, it is including goods lattice position determination module, small
Car path determination module, sorter's path determination module and total path determining module, wherein：
Goods lattice position determination module, for determining positioning goods lattice position according to sequence information；
Dolly path determination module, for determining dolly picking road according to positioning goods lattice position and sorter's original position
Footpath, wherein, the dolly picking path is sorter's original position to the path of access adit to be entered, the access adit to be entered
The access adit to be entered in tunnel where positioning goods lattice；
Sorter's path determination module, for determining sorter's walking path, wherein, sorter's walking path is to wait to enter
Path of the access adit to positioning goods lattice position；
Total path determining module, for determining sorter's original position according to dolly picking path and sorter's walking path
To total picking path of positioning goods lattice and length.
In one embodiment of the invention, dolly path determination module includes major trunk roads determining unit to be entered, most short
Path determining unit and dolly path determining unit, wherein：
Major trunk roads determining unit to be entered, for being determined to treat into access adit and trunk to be entered according to positioning goods lattice position
Road, to ensure a tunnel only one of which access adit to be entered, wherein treating that into major trunk roads be master where access adit to be entered
Arterial highway；
Shortest path determining unit, for according to sorter's original position, treat into access adit and major trunk roads to be entered, really
Determine the shortest path that dolly reaches access adit to be entered；
Dolly path determining unit, for dolly to be reached the shortest path of access adit to be entered as dolly picking road
Footpath.
In one embodiment of the invention, the shortest path determining unit includes the first shortest path determination sub-module
With the second shortest path determination sub-module, wherein：
First shortest path determination sub-module, for according to sorter's original position and major trunk roads to be entered, determining dolly
Reach the shortest path at major trunk roads midpoint to be entered；
Second shortest path determination sub-module, for reached according to dolly major trunk roads midpoint to be entered shortest path, with
And treat, into major trunk roads point midway, access adit position to be entered, to determine that dolly reaches the shortest path of access adit to be entered.
In one embodiment of the invention, the first shortest path determination sub-module is used for each major trunk roads to be entered
The original position of midpoint and sorter is regarded as summit, obtains the beeline between any two summit；And according to any two
Beeline between summit determines that dolly enters the shortest path at major trunk roads midpoint to be entered.
In one embodiment of the invention, dolly path determining unit is used in the small of shortest path determining unit determination
Car is reached in the case for the treatment of that the shortest path into access adit has multiple, determines that the corresponding sorter of each dolly shortest path picks
Goods path；Using the most short corresponding dolly shortest path in sorter's picking path as dolly picking path；And indicate sorter
Path determination module is using most short sorter's picking path as sorter's walking path.
In one embodiment of the invention, sorter's path determination module includes single LK algorithm determining unit
With sorter's path determining unit, wherein：
Single LK algorithm determining unit, for for each access adit to be entered, according to access adit to be entered and tunnel
The distance between interior farthest positioning goods lattice position determines the single LK algorithm of sorter；
Sorter's path determining unit, for determining picking according to the single LK algorithm sum needed into access adit
Member's walking path and length.
According to another aspect of the present invention, there is provided a kind of picking path determining device, including memory and processor, its
In：
Memory, for store instruction；
Processor, for performing the instruction so that described device is performed realizes picking as described in above-mentioned any embodiment
The operation of goods determining method of path.
The present invention can be automatically obtained in electric business plane warehouse in the case of order set or the multiple positioning goods lattices of order,
Thus achieve the optimization on the whole in picking path, i.e. garage's route and humanoid route optimization on the whole.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram in fish-bone acupuncture manipulation picking path in one embodiment of the invention.
Fig. 2 is the schematic diagram of picking determining method of path one embodiment of the present invention.
Fig. 3 is the relation schematic diagram of positioning goods lattice and access adit to be entered in one embodiment of the invention.
Fig. 4 be one embodiment of the invention according to positioning goods lattice position and sorter's original position determine dolly picking road
The schematic diagram in footpath.
Fig. 5 is according to treating to determine the schematic diagram of major trunk roads to be entered into access adit in one embodiment of the invention.
Fig. 6 is the schematic diagram of picking path determining device first embodiment of the present invention.
Fig. 7 is the schematic diagram of small car path determination module in one embodiment of the invention.
Fig. 8 is the schematic diagram of shortest path determining unit in one embodiment of the invention.
Fig. 9 is the schematic diagram of sorter's path determination module in one embodiment of the invention.
Figure 10 is the schematic diagram of picking path determining device second embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Below
Description only actually at least one exemplary embodiment is illustrative, and never conduct is to the present invention and its application or makes
Any limitation.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
Unless specifically stated otherwise, the part and positioned opposite, the digital table of step for otherwise illustrating in these embodiments
Do not limited the scope of the invention up to formula and numerical value.
Simultaneously, it should be appreciated that for the ease of description, the size of the various pieces shown in accompanying drawing is not according to reality
Proportionate relationship draw.
May be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing a part for specification.
In all examples shown here and discussion, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it need not be further discussed in subsequent accompanying drawing.
It is found by the applicant that：Because most plane warehouses use fish-bone acupuncture manipulation picking path as shown in Figure 1, and
The principle in fish-bone acupuncture manipulation picking path is as follows：
Firstth, sorter pushes away dolly and comes major trunk roads crossroad (the tunnel correspondence positioned where goods lattice corresponding to tunnel
Most 2 major trunk roads, each major trunk roads is up to 2 enterable crossroads, so accessibility crossroad is up to 4
It is individual).
The crossroad of the secondth, major trunk roads of the sorter as corresponding to tunnel where positioning goods lattice enters major trunk roads, go-cart
Travelled on major trunk roads, dolly can not enter tunnel.
3rd, after sorter pushes away the access adit of major trunk roads corresponding to dolly arrival positioning goods yard, sorter enters tunnel pin
To the selection of correspondence goods yard.After completing selection, goods is taken out of main channel, be placed in picking dolly.If there are multiple goods in a tunnel
Lattice, are considered as and once enter tunnel completion selection.
Applicant can accordingly draw：The picking route of single order both with the path-dependent of dolly, and with
Personnel's walking path is relevant.
Applicant thinks：When an order has multiple positioning goods lattice, or multiple orders are when having multiple positioning goods lattices, just need
Calculate the picking path of multiple positioning goods lattices.
This picking path is made up of two parts：The walking path of dolly and the walking path of sorter.Because sorter pushes away
During dolly, speed is than sorter walking speed reduction half.
Can be considered sorter push away the path cost that passes through during dolly will walking independent far above sorter when, therefore, application
People can first consider the walking path of dolly in the present invention, take the shortest path in this path；And can in carriage walking path
When getting multiple shortest path ways to get there, then under more different dolly paths, the walking path of sorter.
Picking determining method of path of the present invention and device are illustrated below by specific embodiment.
Fig. 2 is the schematic diagram of picking determining method of path one embodiment of the present invention.Preferably, the present embodiment can be by this hair
Bright picking path determining device is performed.The method is comprised the following steps：
Step 1, positioning goods lattice position is determined according to sequence information.
In one embodiment of the invention, in indoor map as shown in Figure 3, the positioning goods yard of commodity in order
(storage space) once it is determined that, then can according to this goods yard corresponding tunnel in a model is first looked for, associate out the tunnel rise
Beginning access adit and termination access adit, it is possible thereby to calculate the coordinate points in goods yard using following equation：
If tunnel is parallel to X-direction：
Positioning storage space ordinate=starting access adit ordinate or terminates access adit ordinate (1)
If initial access adit abscissa is less than termination access adit abscissa,：
Positioning storage space abscissa=starting access adit abscissa+| initial access adit abscissa-termination access adit abscissa | *
The total lattice number (2) in the storage space trellis coding/tunnel
For example：In a specific embodiment of the invention, it is 10 to set initial access adit abscissa, terminates the horizontal seat of access adit
Mark 30, storage space lattice are the 2nd lattice, and the total lattice number in the tunnel is 10 lattice.Can be obtained by above-mentioned formula, positioning storage space abscissa=10+
(30-10) * 2/10=14.
If initial access adit abscissa is more than termination access adit abscissa,：
Positioning storage space abscissa=starting access adit abscissa-| initial access adit abscissa-termination access adit abscissa | *
The total lattice number (3) in the storage space trellis coding/tunnel
For example：In a specific embodiment of the invention, it is 30 to set initial access adit abscissa, terminates the horizontal seat of access adit
Mark 10, storage space lattice are the 2nd lattice, and the total lattice number in the tunnel is 10 lattice.Can be obtained by above-mentioned formula, positioning storage space abscissa=30-
(30-10) * 2/10=26.
If tunnel is parallel to Y direction：
Positioning storage space abscissa=starting access adit abscissa or terminates access adit abscissa (4)
If initial access adit ordinate is less than termination access adit ordinate,：
Positioning storage space ordinate=starting access adit ordinate+| initial access adit ordinate-termination access adit ordinate | *
The total lattice number (5) in storage space lattice numbering/tunnel
If initial access adit ordinate is more than termination access adit ordinate,：
Positioning storage space ordinate=starting access adit ordinate-| initial access adit ordinate-termination access adit ordinate | *
The total lattice number (6) in storage space lattice numbering/tunnel
Step 2, dolly picking path is determined according to positioning goods lattice position and sorter's original position, wherein, the dolly
Picking path is sorter's original position to the path of access adit to be entered, the access adit to be entered lane where positioning goods lattice
The access adit to be entered in road.
In one embodiment of the invention, as shown in figure 4,2 can include the step of Fig. 2 embodiments：
Step 21, determines to treat into access adit and major trunk roads to be entered, to ensure a tunnel according to positioning goods lattice position
Only one of which access adit to be entered, wherein treating that into major trunk roads be major trunk roads where access adit to be entered.
In a specific embodiment of the invention, step 21 can include：
Step 211：It is determined that access adit to be entered.After order is positioned, picking goods lattice just determines on whole map, inspection
The corresponding tunnel of Suo Dingwei goods lattices point, and the access adit corresponding to the tunnel.Access adit then marks access adit on main channel
It is " access adit to be entered " that if access adit has 2, and 2 all on main channel, then 2 access adits are collectively labeled as " waiting to enter
Access adit ", as shown in Figure 3.In Fig. 3 ● represent positioning goods lattice, * is represented " access adit to be entered ".
Step 212：It is determined that major trunk roads to be entered.The number of " access adit to be entered " is counted on each major trunk roads, from quantity
Most major trunk roads start, and it is " major trunk roads to be entered " to mark the major trunk roads.If the major trunk roads to be entered by picking goods lattice
The tunnel of positioning has " access adit to be entered " on an other major trunk roads, then another " access adit to be entered " is removed into mark
Note, it is ensured that a tunnel only one of which " access adit to be entered ".If " access adit to be entered " quantity of several major trunk roads is identical,
Find this several point midways of major trunk roads, calculate the original position of sorter to these point midways Euclid away from
From determining according to the carrying out from small to large of distance " major trunk roads to be entered ".Repeat step 212, until all of " tunnel to be entered
Mouthful " all on " major trunk roads to be entered ".As shown in Figure 5.In Fig. 5 ● represent positioning the goods lattice, " lane to be entered after * expressions treatment
Road junction ".
Step 22, according to sorter's original position, treats into access adit and major trunk roads to be entered, determine dolly reach treat into
Enter the shortest path of access adit.
In one embodiment of the invention, step 22 can include：
Step 221, according to sorter's original position and major trunk roads to be entered, determines that dolly reaches major trunk roads midpoint to be entered
Shortest path.
In one particular embodiment of the present invention, step 221 can include：
Step 2211, treats that the original position into the midpoint of major trunk roads and sorter is regarded as summit by each, obtains any
Beeline between two summits.
The midpoint of each " major trunk roads to be entered " is regarded as summit, the original position of sorter is also regarded as summit, can be with
According to the typical signal source shortest path algorithm such as Dijkstra's algorithm, calculate between any 2 summits shortest path (due to
There is direction in path, so the shortest path of A-B points does not represent the shortest path of B-A).And it is most short only to retain these on map
The linking-up road (containing major trunk roads, interface channel) in path." major trunk roads to be entered " have n bars, then, whole map is converted to
There is n+1 summit (original position containing sorter), the digraph of (n+1) * n bar interface channels represents this with mathematic sign G
Digraph.Wherein V represents summit, and E represents the passage on connection summit.
G=(V, E) (7)
Step 2212, determines that dolly enters major trunk roads midpoint to be entered according to the beeline between any two summit
Shortest path.
And determine the path of dolly " major trunk roads to be entered " and be converted on G the travelling salesman with picking starting point as starting point
Problem (TSP).Dolly can be obtained using the algorithm (such as branch and bound method, genetic algorithm) of any one solution TSP problems
Walking path.
Make R 'CRepresent dolly path, D 'CRepresent the length in the path, function TSPC' (*) represents that the path of this problem (should
Function outgoing route and length).Then
TSPC' (G)=(R 'C,D′C) (8)
Step 222, reaches according to dolly and treats into the shortest path at major trunk roads midpoint and major trunk roads midpoint to be entered position
Put, access adit position to be entered, determine that dolly reaches the shortest path of access adit to be entered.
Due to the midpoint of simply each " major trunk roads to be entered " of the path connection in this step 221.Therefore, step 222
In to be finely adjusted depending on connection (extend or shorten certain side), will be left in " access adit to be entered " on map and all cover
Lid.
Dolly path TSP after current adjustmentC(G) represent：
TSPC(G)=(RC,DC) (9)
Treat that into major trunk roads be a line, and TSP problems need several points to be reached, like this, it is necessary in master
Determine that one or several points carry out overall path planning on arterial highway.
Being adjusted to here：All " access adits to be entered " having determined are done with TSP, path is calculated.
Step 23, dolly is reached the shortest path (dolly shortest path) of access adit to be entered as dolly picking road
Footpath.
In one embodiment of the invention, the situation for treating that the shortest path into access adit has multiple is reached in dolly
Under, step 23 can include：Determine the corresponding sorter's picking path of each dolly shortest path；By each dolly shortest path
Corresponding sorter's picking path is ranked up；Using the most short corresponding dolly shortest path in sorter's picking path as dolly
Picking path；Using most short sorter's picking path as sorter's walking path.
Step 3, determines sorter's walking path, wherein, sorter's walking path is access adit to be entered to positioning goods lattice
The path of position.
Because the path of dolly and " access adit to be entered ", positioning goods lattice point are all it has been determined that the walking road of sorter
Footpath can be described as：When sorter pushes away dolly to be walked along dolly path, after reaching " wait access adit is entered ", into tunnel
Interior farthest positioning goods lattice, starts selection, and all positioning goods lattices in the tunnel have been picked successively, returns again to " tunnel to be entered
Mouthful ".
In one embodiment of the invention, step 3 can include：
Step 31, for each access adit to be entered, according to positioning goods lattice position farthest in access adit to be entered and tunnel
The distance between put the single LK algorithm for determining sorter.
By taking the tunnel parallel to X-axis as an example：
If " access adit to be entered " is the tunnel " initial access adit ", then farthest positioning goods lattice is all tunnels
In, the maximum goods lattice of positioning goods lattice lattice number；If conversely, " access adit to be entered " is the tunnel " termination access adit ", then most
During remote positioning goods lattice is all tunnels, the minimum goods lattice of positioning goods lattice lattice number；Make farthest positioning goods lattice lattice number for g, " treat
Into access adit " abscissa be x1, the abscissa of another access adit in the tunnel is x2, the total goods lattice number in the tunnel is G.That
The distance of single selection is Di(i is " access adit to be entered " that i-th is encountered on the dolly path) calculation is：
If being " initial access adit " into access adit, then
If being " termination access adit " into access adit, then
In a specific embodiment of the invention, farthest positioning goods lattice lattice number g is 2, the horizontal seat of " access adit to be entered "
Mark x1It is 10, the abscissa x of another access adit in the tunnel2It is 30, the total goods lattice number G in the tunnel is 10.
(1) if " access adit to be entered " is the tunnel " initial access adit ", then farthest positioning goods lattice is all being somebody's turn to do
In tunnel, the maximum goods lattice of the lattice number of goods lattice is positioned
Now bring formula 10 into, Di=2* (30-10) * 2/10=8 can be obtained.
(2) if " access adit to be entered " is the tunnel " termination access adit ", then farthest positioning goods lattice is all being somebody's turn to do
In tunnel, the minimum goods lattice of the lattice number of goods lattice is positioned.
Now bring formula 11 into, Di=2* (30-10) * (10-2)/10=32 can be obtained.
Step 32, sorter's walking path and length are determined according to the single LK algorithm sum needed into access adit
Degree.
If " access adit to be entered " total m, uses DPThe path length sum after all picking points have all been picked is represented, is used
RPThe path of all picking points is represented, TSP is usedP(G) the walking path of output sorter and length.Then：
TSPP(G)=(RP,DP) (11)
Step 4, sorter's original position to positioning goods lattice is determined according to dolly picking path and sorter's walking path
Total picking path and length.Can be by the picking path representation of multiple positioning goods lattice：
TSP (G)=TSPC(G)+TSPP(G) (12)
Based on the picking determining method of path that the above embodiment of the present invention is provided, for the practical manner (fish of picking
Spur method picking path) design in picking path is carried out, garage's route and walking track can be separated, and consider first
The minimum of garage's route, and this problem is converted into picking routing problem is converted into traveling salesman problem (TSP), using conventional
Algorithm can be to problem solving.Thus, the above embodiment of the present invention can be automatically obtained in electric business plane warehouse order set or
In the case of one multiple positioning goods lattice of order, the optimization on the whole in picking path, i.e. garage's route and people are thus achieved
Shape route optimization on the whole, so as to avoid sorter in picking, it is however very well possible to run far distance and only pick a small amount of
Commodity technical problem.
Fig. 6 is the schematic diagram of picking path determining device first embodiment of the present invention.As shown in fig. 6, the picking path
Determining device can include goods lattice position determination module 61, dolly path determination module 62, the and of sorter's path determination module 63
Total path determining module 64, wherein：
Goods lattice position determination module 61, for determining positioning goods lattice position according to sequence information.
Dolly path determination module 62, for determining dolly picking road according to positioning goods lattice position and sorter's original position
Footpath, wherein, the dolly picking path is sorter's original position to the path of access adit to be entered, the access adit to be entered
The access adit to be entered in tunnel where positioning goods lattice.
Sorter's path determination module 63, for determining sorter's walking path, wherein, sorter's walking path for treat into
Enter access adit to the path of positioning goods lattice position.
Total path determining module 64, for determining sorter's start bit according to dolly picking path and sorter's walking path
Put total picking path and the length of positioning goods lattice.
Fig. 7 is the schematic diagram of small car path determination module in one embodiment of the invention.As shown in fig. 7, in Fig. 6 embodiments
Dolly path determination module 62 can include major trunk roads determining unit 621 to be entered, shortest path determining unit 622 and dolly
Path determining unit 623, wherein：
Major trunk roads determining unit 621 to be entered, for determining to treat into access adit and wait to enter according to positioning goods lattice position
Major trunk roads, to ensure a tunnel only one of which access adit to be entered, wherein where treating to be access adit to be entered into major trunk roads
Major trunk roads.
Shortest path determining unit 622, for according to sorter's original position, treat into access adit and trunk to be entered
Road, determines that dolly reaches the shortest path of access adit to be entered.
Dolly path determining unit 623, for dolly to be reached the shortest path of access adit to be entered as dolly picking
Path.
In one embodiment of the invention, dolly path determining unit 623 can be used in shortest path determining unit
622 dollies for determining are reached in the case for the treatment of that the shortest path into access adit has multiple, determine each dolly shortest path pair
The sorter's picking path answered；The corresponding sorter's picking path of each dolly shortest path is ranked up；Picked most short
The corresponding dolly shortest path in goods person's picking path is used as dolly picking path；And indicate sorter's path determination module 63 will most
Short sorter's picking path is used as sorter's walking path.
Fig. 8 is the schematic diagram of shortest path determining unit in one embodiment of the invention.As shown in figure 8, in Fig. 7 embodiments
Shortest path determining unit 622 can include that the first shortest path determination sub-module 6221 and the second shortest path determine submodule
Block 6222, wherein：
First shortest path determination sub-module 6221, for according to sorter's original position and major trunk roads to be entered, it is determined that
Dolly reaches the shortest path at major trunk roads midpoint to be entered.
In one embodiment of the invention, the first shortest path determination sub-module 6221 specifically can be used for treating each
Original position into the midpoint of major trunk roads and sorter is regarded as summit, obtains the beeline between any two summit；And
Determine that dolly enters the shortest path at major trunk roads midpoint to be entered according to the beeline between any two summit.
Second shortest path determination sub-module 6222, the shortest path for reaching major trunk roads midpoint to be entered according to dolly
Footpath and treat, into major trunk roads point midway, access adit position to be entered, to determine that dolly reaches the shortest path of access adit to be entered
Footpath.
Fig. 9 is the schematic diagram of sorter's path determination module in one embodiment of the invention.As shown in figure 9, Fig. 6 embodiments
In sorter's path determination module 63 can include single LK algorithm determining unit 631 and sorter's path determining unit
632, wherein：
Single LK algorithm determining unit 631, for for each access adit to be entered, according to access adit to be entered and lane
The distance between positioning goods lattice position farthest in road determines the single LK algorithm of sorter.
Sorter's path determining unit 632, for being determined according to the single LK algorithm sum for needing to be entered access adit
Sorter's walking path and length.
Based on the picking path determining device that the above embodiment of the present invention is provided, for the practical manner (fish of picking
Spur method picking path) design in picking path is carried out, garage's route and walking track can be separated, and consider first
The minimum of garage's route, and this problem is converted into picking routing problem is converted into traveling salesman problem, using algorithms most in use
Can be to problem solving.Thus, the above embodiment of the present invention can be automatically obtained in electric business plane warehouse order set or one
In the case of the multiple positioning goods lattices of order, the optimization on the whole in picking path, i.e. garage's route and humanoid road are thus achieved
Line optimization on the whole, so as to avoid sorter in picking, it is however very well possible to run far distance and only pick a small amount of business
The technical problem of product.
Figure 10 is the schematic diagram of picking path determining device second embodiment of the present invention.As shown in Figure 10, the picking road
Footpath determining device can include memory 101 and processor 102, wherein：
Memory 101, for store instruction.
Processor 102, for performing the instruction so that described device is performed to be realized as described in above-mentioned any embodiment
The operation of picking determining method of path.
Based on the picking path determining device that the above embodiment of the present invention is provided, in order or order set comprising multiple fixed
In the case of the goods lattice of position, when carrying out picking with fish-bone acupuncture manipulation, can be by determining dolly path and sorter's walking path come really
Fixed total picking path, wherein considering dolly path as the first priority, i.e., considers the minimum of garage's route first, and
This problem is converted into picking routing problem is converted into traveling salesman problem, can be to problem solving using algorithms most in use.Thus,
The above embodiment of the present invention can be automatically obtained order set or the multiple positioning goods lattice situations of order in electric business plane warehouse
Under, the optimization on the whole in picking path, i.e. garage's route and humanoid route optimization on the whole are thus achieved, so that
Sorter is avoided in picking, it is however very well possible to run far distance and only pick the technical problem of a small amount of commodity.
Picking path determining device described above can be implemented as performing the logical of function described herein
With processor, programmable logic controller (PLC) (PLC), digital signal processor (DSP), application specific integrated circuit (ASIC), scene can
Programming gate array (FPGA) or other PLDs, discrete gate or transistor logic, discrete hardware components
Or it is any appropriately combined.
So far, the present invention is described in detail.In order to avoid covering design of the invention, without description this area, institute is public
Some details known.Those skilled in the art can be appreciated how to implement technology disclosed herein as described above, completely
Scheme.
One of ordinary skill in the art will appreciate that realizing that all or part of step of above-described embodiment can be by hardware
To complete, it is also possible to instruct the hardware of correlation to complete by program, described program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only storage, disk or CD etc..
Description of the invention is given for the sake of example and description, and is not exhaustively or by the present invention
It is limited to disclosed form.Many modifications and variations are for the ordinary skill in the art obvious.Select and retouch
State embodiment and be to more preferably illustrate principle of the invention and practical application, and one of ordinary skill in the art is managed
The solution present invention is suitable to the various embodiments with various modifications of special-purpose so as to design.
Claims (13)
1. a kind of picking determining method of path, it is characterised in that including：
Positioning goods lattice position is determined according to sequence information；
Dolly picking path is determined according to positioning goods lattice position and sorter's original position, wherein, the dolly picking path is
Sorter's original position to the path of access adit to be entered, it is described treat into access adit be position tunnel where goods lattice wait enter
Access adit；
Determine sorter's walking path, wherein, sorter's walking path is path of the access adit to be entered to positioning goods lattice position；
Sorter's original position to total picking path of positioning goods lattice is determined according to dolly picking path and sorter's walking path
And length.
2. method according to claim 1, it is characterised in that described according to positioning goods lattice position and sorter's original position
Determine that dolly picking path includes：
Determine to treat into access adit and major trunk roads to be entered according to positioning goods lattice position, with ensure a tunnel only one of which treat into
Enter access adit, wherein treating that into major trunk roads be major trunk roads where access adit to be entered；
According to sorter's original position, treat, into access adit and major trunk roads to be entered, to determine that dolly reaches access adit to be entered
Shortest path；
Dolly is reached the shortest path of access adit to be entered as dolly picking path.
3. method according to claim 2, it is characterised in that described according to sorter's original position, access adit to be entered
With major trunk roads to be entered, determine that dolly reaches the shortest path of access adit to be entered and includes：
According to sorter's original position and major trunk roads to be entered, determine that dolly reaches the shortest path at major trunk roads midpoint to be entered；
Reached according to dolly treat into major trunk roads midpoint shortest path and treat into major trunk roads point midway, lane to be entered
Road junction position, determines that dolly reaches the shortest path of access adit to be entered.
4. method according to claim 3, it is characterised in that the determination dolly enters major trunk roads midpoint to be entered most
Short path includes：
Each is treated that the original position into the midpoint of major trunk roads and sorter is regarded as summit, between acquisition any two summit
Beeline；
Determine that dolly enters the shortest path at major trunk roads midpoint to be entered according to the beeline between any two summit.
5. the method according to any one of claim 2-4, it is characterised in that reach access adit to be entered most in dolly
In the case that short path has multiple, the shortest path that dolly is reached access adit to be entered is wrapped as dolly picking path
Include：
Determine the corresponding sorter's picking path of each dolly shortest path；
Using the most short corresponding dolly shortest path in sorter's picking path as dolly picking path；
Using most short sorter's picking path as sorter's walking path.
6. the method according to any one of claim 1-4, it is characterised in that the determination sorter walking path bag
Include：
For each access adit to be entered, according to the distance between positioning goods lattice position farthest in access adit to be entered and tunnel
Determine the single LK algorithm of sorter；
Single LK algorithm sum according to needing into access adit determines sorter's walking path and length.
7. a kind of picking path determining device, it is characterised in that including goods lattice position determination module, dolly path determination module,
Sorter's path determination module and total path determining module, wherein：
Goods lattice position determination module, for determining positioning goods lattice position according to sequence information；
Dolly path determination module, for determining dolly picking path according to positioning goods lattice position and sorter's original position, its
In, the dolly picking path be sorter's original position to the path of access adit to be entered, the access adit to be entered is fixed
The access adit to be entered in tunnel where the goods lattice of position；
Sorter's path determination module, for determining sorter's walking path, wherein, sorter's walking path is tunnel to be entered
Path of the mouth to positioning goods lattice position；
Total path determining module, for determining sorter's original position to calmly according to dolly picking path and sorter's walking path
Total picking path of position goods lattice and length.
8. device according to claim 7, it is characterised in that dolly path determination module includes treating to determine into major trunk roads
Unit, shortest path determining unit and dolly path determining unit, wherein：
Major trunk roads determining unit to be entered, for determining to treat into access adit and major trunk roads to be entered according to positioning goods lattice position,
To ensure a tunnel only one of which access adit to be entered, wherein treating that into major trunk roads be trunk where access adit to be entered
Road；
Shortest path determining unit, for according to sorter's original position, treat, into access adit and major trunk roads to be entered, to determine small
Car reaches the shortest path of access adit to be entered；
Dolly path determining unit, for dolly to be reached the shortest path of access adit to be entered as dolly picking path.
9. device according to claim 8, it is characterised in that the shortest path determining unit includes the first shortest path
Determination sub-module and the second shortest path determination sub-module, wherein：
First shortest path determination sub-module, for according to sorter's original position and major trunk roads to be entered, determining that dolly is reached
The shortest path at major trunk roads midpoint to be entered；
Second shortest path determination sub-module, for reached according to dolly treat into major trunk roads midpoint shortest path and treat
Into major trunk roads point midway, access adit position to be entered, determine that dolly reaches the shortest path of access adit to be entered.
10. device according to claim 9, it is characterised in that
First shortest path determination sub-module is used to for each to treat that the original position into the midpoint of major trunk roads and sorter is regarded as
Summit, obtains the beeline between any two summit；And dolly is determined according to the beeline between any two summit
Into the shortest path at major trunk roads midpoint to be entered.
11. device according to any one of claim 8-10, it is characterised in that
Dolly path determining unit is used to be reached in the dolly of shortest path determining unit determination the shortest path of access adit to be entered
In the case that there is multiple in footpath, the corresponding sorter's picking path of each dolly shortest path is determined；By most short sorter's picking
The corresponding dolly shortest path in path is used as dolly picking path；And sorter's path determination module is indicated by most short sorter
Picking path is used as sorter's walking path.
12. device according to any one of claim 7-10, it is characterised in that sorter's path determination module bag
Single LK algorithm determining unit and sorter's path determining unit are included, wherein：
Single LK algorithm determining unit, for for each access adit to be entered, according in access adit to be entered and tunnel most
The distance between remote positioning goods lattice position determines the single LK algorithm of sorter；
Sorter's path determining unit, for determining sorter's row according to the single LK algorithm sum needed into access adit
Walk path and length.
13. a kind of picking path determining devices, it is characterised in that including memory and processor, wherein：
Memory, for store instruction；
Processor, for performing the instruction so that described device is performed realizes picking as any one of claim 1-6
The operation of goods determining method of path.
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| CN109544054A (en) * | 2017-09-21 | 2019-03-29 | 北京京东尚科信息技术有限公司 | Inventory's dispatching method, device and computer readable storage medium |
| CN109658017A (en) * | 2017-10-10 | 2019-04-19 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus of automatic picking |
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| CN112474368A (en) * | 2019-09-12 | 2021-03-12 | 北京京东乾石科技有限公司 | Goods sorting method, device, equipment and computer readable medium |
| CN113666042A (en) * | 2021-08-25 | 2021-11-19 | 红云红河烟草(集团)有限责任公司 | Open-air goods space dispatching control method for redrying production |
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| CN110262472B (en) * | 2018-06-04 | 2022-09-30 | 北京京东乾石科技有限公司 | Path planning method, device and computer readable storage medium |
| CN110580593A (en) * | 2018-06-08 | 2019-12-17 | 北京京东尚科信息技术有限公司 | goods sorting method, control system and goods sorting system |
| US11928644B2 (en) | 2018-06-08 | 2024-03-12 | Beijing Jingdong Qianshi Technology Co., Ltd. | Articles picking method, control system and articles picking system |
| CN110275492A (en) * | 2018-09-04 | 2019-09-24 | 天津京东深拓机器人科技有限公司 | A kind of method and apparatus that automated guided vehicle driving path is determined based on tunnel |
| CN109658007B (en) * | 2018-12-31 | 2024-03-01 | 北京云杉世界信息技术有限公司 | Method for picking fresh goods |
| CN109658007A (en) * | 2018-12-31 | 2019-04-19 | 北京云杉世界信息技术有限公司 | The method of fresh cargo picking |
| CN111462472A (en) * | 2019-01-22 | 2020-07-28 | 北京京东尚科信息技术有限公司 | Unmanned vehicle scheduling method, equipment and system |
| CN111462472B (en) * | 2019-01-22 | 2021-11-12 | 北京京东乾石科技有限公司 | Unmanned vehicle scheduling method, equipment and system |
| CN111553548A (en) * | 2019-02-12 | 2020-08-18 | 北京京东尚科信息技术有限公司 | Goods picking method and device |
| CN112348221A (en) * | 2019-08-09 | 2021-02-09 | 北京京东乾石科技有限公司 | Method, device, equipment and storage medium for dynamically assigning vehicle to return to work station |
| CN112474368B (en) * | 2019-09-12 | 2023-12-05 | 北京京东乾石科技有限公司 | Goods picking method, device, equipment and computer readable medium |
| CN112474368A (en) * | 2019-09-12 | 2021-03-12 | 北京京东乾石科技有限公司 | Goods sorting method, device, equipment and computer readable medium |
| CN113666042A (en) * | 2021-08-25 | 2021-11-19 | 红云红河烟草(集团)有限责任公司 | Open-air goods space dispatching control method for redrying production |
| CN113666042B (en) * | 2021-08-25 | 2023-08-15 | 红云红河烟草(集团)有限责任公司 | Open-air cargo space dispatching control method for redrying production |
| CN113895845A (en) * | 2021-10-27 | 2022-01-07 | 广东电网有限责任公司 | Automatic guided vehicle control method and system |
| CN115456249A (en) * | 2022-08-16 | 2022-12-09 | 上海聚水潭网络科技有限公司 | Sorting walking path optimization method and system |
| CN115456249B (en) * | 2022-08-16 | 2024-03-22 | 上海聚水潭网络科技有限公司 | Sorting walking path optimization method and system |
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