CN109292347A - Tiered warehouse facility intelligent control method and system - Google Patents
Tiered warehouse facility intelligent control method and system Download PDFInfo
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- CN109292347A CN109292347A CN201710608437.7A CN201710608437A CN109292347A CN 109292347 A CN109292347 A CN 109292347A CN 201710608437 A CN201710608437 A CN 201710608437A CN 109292347 A CN109292347 A CN 109292347A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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Abstract
The present invention discloses a kind of tiered warehouse facility intelligent control method and system.The control method includes: the id information and location distribution information that S1 obtains each storage unit of tiered warehouse facility；S2 controls delivery vehicle and specifies cargo to be deposited to transmit cargo to be deposited according to freight classification information to be deposited, the id information of specified storage unit, location distribution information, preset storage unit distribution optimization information and optimization transport path information to after sorting；For S3 when specified cargo to be deposited is sent to corresponding storage unit pre-determined distance, delivery vehicle opens image recognition, send to storage unit according to image recognition result from being about to specified cargo；S4 controls delivery vehicle and is stored in cargo to be deposited to the vacant storage unit of tiered warehouse facility according to default access algorithm, takes out cargo to be removed from the storage unit for having cargo to be removed of tiered warehouse facility；S5 controls delivery vehicle and is laying down whole cargos to be deposited and returning after the cargo to be removed that tiered warehouse facility takes out predetermined quantity.
Description
Technical field
The present invention relates to logistics technology more particularly to a kind of tiered warehouse facility intelligent control method and systems.
Background technique
Tiered warehouse facility is the important logistics node in modern logistics systems, in logistics center using more and more common.
Current tiered warehouse facility height highest in the world is up to 50 meters.The storage capacity of tiered warehouse facility unit area is up to 7.5 (t/m2),
It is 5~10 times of free warehouse.Due to using High Level Rack to store cargo, memory block can significantly be developed to high-altitude, fill
Divide and therefore saves inventory's occupied area using warehouse floor and space, improve space utilization rate.Using mechanically and automatically
Change equipment, operation and processing speed are fast, improve labor productivity, reduce the labor intensity of operator.
In the prior art, documents 1 (CN101853387A) disclose a kind of stereoscopic warehouse goods checking method, comprising:
It takes pictures to the image of cargo outer packing stored by tiered warehouse facility, characteristics of image conduct is extracted from the image taken pictures
Primitive image features simultaneously store；Camera arrangement is set on the automatic piler of tiered warehouse facility, control automatic piler run to
Position of making an inventory is needed in tiered warehouse facility, is taken pictures by cargo of the camera arrangement on automatic piler to the position that need to make an inventory, from bat
According to extraction characteristics of image in obtained image as the location drawing picture feature that need to make an inventory；By it is described need to make an inventory location drawing picture feature with
The primitive image features of storage are matched, and the Description of Goods and quantity of the position that need to make an inventory are obtained according to matching result,
To save human and material resources, efficiency of making an inventory is promoted.
In addition, documents 2 (CN103029939B) disclose a kind of unit combined type automatic three-dimensional warehouse and control
Method processed, including several solid storing units, the solid storing unit include warehousing subsystem, stereo storage rack subsystem,
Outbound subsystem, warehousing subsystem are connected to stereo storage rack subsystem, and stereo storage rack subsystem is connected to outbound subsystem, and two
Adjacent warehousing subsystem is connected to by least one conveyer, and two adjacent outbound subsystems pass through at least one conveyer
Connection.The method that control method uses modeled programming designs unit corresponding with each solid storing unit and controls journey
Sequence.
In above-mentioned existing tiered warehouse facility technology, tiered warehouse facility control not intelligence, and complicated for operation, discomfort
Carry out efficiency operation in control tiered warehouse facility.
Summary of the invention
The present invention is based on above one or more problem, provides a kind of tiered warehouse facility intelligent control method and system,
Not smart enough to solve tiered warehouse facility existing in the prior art, access cargo rate is low, and with high costs and access is not
Enough simple and convenient problems.
On the one hand, the present invention provides a kind of tiered warehouse facility intelligent control method, the tiered warehouse facility intelligent control method packet
Include following steps:
S1 obtains the id information and location distribution information of each storage unit of the tiered warehouse facility；
S2 controls delivery vehicle and specifies cargo to be deposited according to freight classification information to be deposited, specified to after sorting
Id information, location distribution information, preset storage unit distribution optimization information and the optimization transport path letter of storage unit
Breath transmits cargo to be deposited；
For S3 when specified cargo to be deposited is sent to corresponding storage unit pre-determined distance, the delivery vehicle opens figure
As identification, and it is about to specified cargo certainly according to image recognition result and send to storage unit；
S4 controls the delivery vehicle and is stored according to default access algorithm to the vacant storage unit of the tiered warehouse facility
Cargo to be deposited, and cargo to be removed is taken out from the storage unit for having cargo to be removed of the tiered warehouse facility；
S5 controls the delivery vehicle and is laying down whole cargos to be deposited and taking out predetermined quantity from the tiered warehouse facility
Cargo to be removed after return.
Preferably, in above-mentioned steps S2, the optimization transport path information is realized by following calculation method:
S201 sets mark point Status Type；
S202 determines neighbours' mark point according to the label dotted state of setting；The determination probabilistic model of neighbours' mark point are as follows:
In formula, (xi, yi) be i-th of neighbours' mark point position；α, γ, β are respectively local cost control coefficient a, lead
To the control intensity of control coefrficient m, pheromone concentration control coefrficient b；M is neighbours' mark tally to be selected.
S203 determines all neighbours' mark points, and search connection later forms transport path；
S204 generates optimization input path information storage and is carried tool work into the memory of the delivery vehicle
Navigation data when being mobile.
Preferably, the step S203 is further included steps of
S203a determines all neighbours' mark points by the way of traversal；
S203b connects to form transport path using the method for assisting intermediate point location, search neighbours' mark point.
Preferably, above-mentioned steps S3 specifically includes the following steps:
S31 shoots the scene image of the corresponding storage unit of tiered warehouse facility described at least two width；
S32 obtains the resolution ratio of low resolution depth image and the resolution ratio of high-resolution colour picture in scene image；
Image is normalized in S33, using canny operator, obtains the marginal information of high-resolution color image
Iedge；
S34 carries out bilinear interpolation to low resolution depth image, gets interpolation image Db, resolution ratio and high score
The resolution ratio of resolution color image is identical；
S35 is according to IedgeWith DbCorresponding relationship, judge IedgeIn edge pixel point whether be side on depth image
Edge pixel, that is, extract DbDiscontinuous edge feature Dedge；
S36 is according to the depth image marginal information got, by depth image DbIt is divided into three different regions: flat
Skating area, marginal zone, transition region get the segmentation figure D of smooth area, marginal zone, transition regionn；
The high-resolution depth image that S37 output is rebuild, and analysis is compared by the image with image data base, obtain institute
State image recognition result.
Preferably, step S37 further comprises rebuilding high-resolution depth graph picture using following formula:
Wherein DHIt is expressed as the high-resolution depth image rebuild, gnIndicate the similar item of color of region, EedgeFor side
Edge keeps item, and λ is constant, keeps item size for balancing edge, prevents edge from keeping item excessive too small, value range 0
~1.
Preferably, the delivery vehicle includes trolley and unmanned vehicle, and the trolley delivery cargo mass is heavy and is located at
It transports cargo mass with the unmanned vehicle in the storage unit of the tiered warehouse facility lower part gently and is placed in the tiered warehouse facility
In the storage unit on top.
On the other hand, the present invention also provides a kind of tiered warehouse facility intelligence control system, tiered warehouse facility intelligent control systems
System includes:
Obtain module, the id information and location distribution information of each storage unit for obtaining the tiered warehouse facility；
First control module specifies cargo to be deposited according to cargo to be deposited for controlling delivery vehicle to after sorting
Classification information, the id information of specified storage unit, location distribution information, preset storage unit distribution optimization information and
It optimizes transport path information and transmits cargo to be deposited；
Conveyor module, for when specified cargo to be deposited is sent to corresponding storage unit pre-determined distance, the delivery
Tool opens image recognition, and is about to specified cargo certainly according to image recognition result and send to storage unit；
Second control module, for controlling sky of the delivery vehicle according to default access algorithm to the tiered warehouse facility
The storage unit set is stored in cargo to be deposited, and from the storage unit for having cargo to be removed of the tiered warehouse facility take out to
Take out cargo；
Control module is returned, is laying down whole cargos to be deposited and from the solid for controlling the delivery vehicle
It is returned after the cargo to be removed of warehouse taking-up predetermined quantity.
Preferably, first control module further includes optimizing transport path information calculating unit, and the optimization is defeated
The routing information computing unit is sent to include:
Dotted state is marked to set submodule, for setting mark point Status Type；
Probabilistic model determines submodule, for the label dotted state according to setting, determines neighbours' mark point；Neighbours' label
The determination probabilistic model of point are as follows:
In formula, (xi, yi) be i-th of neighbours' mark point position；α, γ, β are respectively local cost control coefficient a, lead
To the control intensity of control coefrficient m, pheromone concentration control coefrficient b；M is neighbours' mark tally to be selected.
Transport path forms submodule, and for determining all neighbours' mark points, search connection later forms transport path；
Data sub-module stored, the optimization for that will generate input path information storage depositing to the delivery vehicle
In reservoir, to be carried tool as navigation data when movement.
Preferably, the transport path formation submodule includes:
Computation subunit is traversed, determines all neighbours' mark points in such a way that traversal calculates；
Transport path forms subelement, uses the method for assisting intermediate point location, and search neighbours' mark point connects to be formed
Transport path.
Preferably, the delivery vehicle includes trolley and unmanned vehicle, and the trolley delivery cargo mass is heavy and is located at
It transports cargo mass with the unmanned vehicle in the storage unit of the tiered warehouse facility lower part gently and is placed in the tiered warehouse facility
In the storage unit on top.
Tiered warehouse facility intelligent control method of the invention and system not only have tiered warehouse facility intelligence degree high, can be certainly
Dynamic the characteristics of accurately, expeditiously accessing cargo, but also have the advantages that low in cost and access is simple and convenient.
Detailed description of the invention
Fig. 1 is the flow diagram of tiered warehouse facility intelligent control method of the present invention.
Fig. 2 is the structural schematic diagram of tiered warehouse facility intelligence control system of the present invention.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.It should be noted that if do not conflicted, this
Each feature in inventive embodiments and embodiment can be combined with each other, within the scope of the present invention.
Embodiment one
Referring to Fig. 1, the present invention provides a kind of tiered warehouse facility intelligent control method, the tiered warehouse facility intelligent control side
Method the following steps are included:
S1 obtains the id information and location distribution information of each storage unit of the tiered warehouse facility；Tiered warehouse facility is including being in
Multiple storage units of matrix-style setting, have a corresponding id information (identity information) to each storage unit, and
The position distribution of storage unit each in tiered warehouse facility is set up in the way of three-dimensional map, to obtain position distribution
Information.
S2 controls delivery vehicle and specifies cargo to be deposited according to freight classification information to be deposited, specified to after sorting
Id information, location distribution information, preset storage unit distribution optimization information and the optimization transport path letter of storage unit
Breath transmits cargo to be deposited；
For S3 when specified cargo to be deposited is sent to corresponding storage unit pre-determined distance, the delivery vehicle opens figure
As identification, and it is about to specified cargo certainly according to image recognition result and send to storage unit；
S4 controls the delivery vehicle and is stored according to default access algorithm to the vacant storage unit of the tiered warehouse facility
Cargo to be deposited, and cargo to be removed is taken out from the storage unit for having cargo to be removed of the tiered warehouse facility；
S5 controls the delivery vehicle and is laying down whole cargos to be deposited and taking out predetermined quantity from the tiered warehouse facility
Cargo to be removed after return.
Tiered warehouse facility intelligent control method of the invention not only has tiered warehouse facility intelligence degree high, can be automatic quasi-
Really, the characteristics of expeditiously accessing cargo, but also have the advantages that low in cost and access is simple and convenient.
Preferably, the delivery vehicle includes trolley and unmanned vehicle, and the trolley delivery cargo mass is heavy and is located at
It transports cargo mass with the unmanned vehicle in the storage unit of the tiered warehouse facility lower part gently and is placed in the tiered warehouse facility
In the storage unit on top.Here preferred delivery vehicle is that trolley and unmanned vehicle are used in combination, the goods light for momentum
Object is conveniently easily placed in the storage unit on the tiered warehouse facility top using unmanned vehicle flight, and trolley is loading
Weight is advantageous in terms of transporting, and therefore, cargo aspect for placing weight weight to tiered warehouse facility lower part by it is advantageous.The two knot
Conjunction will greatly reduce goods handling cost, and bottom surface and aerial transmission cargo, efficiency can significantly improve simultaneously.In solid
It can simplify design complexities when multiple trolleies operation simultaneously on road surface in terms of the intelligentized design of storage control system.
Embodiment two
In the embodiment of the present invention two, transport path is used since line route starting point using point coding mode
Hop mode successively searches out each mark point in line route, until terminal, finally connects all mark points and form line
Road path.The acquisition methods for optimizing transport path information are as follows:
S201 sets mark point Status Type；
S202 determines neighbours' mark point according to the label dotted state of setting；The determination probabilistic model of neighbours' mark point are as follows:
In formula, (xi, yi) be i-th of neighbours' mark point position；α, γ, β are respectively local cost control coefficient a, lead
To the control intensity of control coefrficient m, pheromone concentration control coefrficient b；M is neighbours' mark tally to be selected.
S203 determines all neighbours' mark points, and search connection later forms transport path；
S204 generates optimization input path information storage and is carried tool work into the memory of the delivery vehicle
Navigation data when being mobile.
Specifically, above-mentioned steps S201 sets being described as follows for mark point Status Type:
Mark point is divided into three state in specified conveyor zones:
(1) if at a time the mark point is selected mark point, which is " 1 "；
(2) if mark point at a time is to be spanned mark point, which is " 2 "；
(3) if mark point is neither selected mark point, nor the mark point being spanned, then the label is dotted
State is " 0 ".Wherein, the mark point that state cannot be chosen or cross over as subsequent time for the mark point of " 1 " and " 2 ", shape
State is that the mark point of " 0 " can be used as subsequent time alternate labels point.
Specifically, above-mentioned steps S202 is described as follows:
Feature is selected according to transport path, neighbours' mark point needs to meet following four condition:
A. within the scope of defined step-size in search；
B. label vertex type is I or II class, i.e. the mark point is necessary for the mark point that can be advanced；C. it marks
Remember that dotted state is " 0 ", i.e. the mark point mark point that is necessary for not formed path；
D. the new path that formed of search cannot be overlapped or intersect with established path every time.
Specifically, above-mentioned steps S202 is described as follows:
S202a determines local cost control coefficient；
Local Optimum cost strategy is the low mark of overall cost score value during determining subsequent time mark point
The selected probability of note point is high, expression formula are as follows:
In formula, cLIt (i) is the cost score value for being spanned mark point (neighbours' mark point) i；N is to be spanned mark tally；
cT(x, y) is that coordinate position is (x, y) by mark point cost score value.
Neighbours' mark point cost score value to be selected is higher it can be seen from formula (2), and selected probability is smaller.
S202b determines guiding control coefrficient；It is as follows to be oriented to control coefrficient expression formula:
mxy=k/w(x, y → D) (3)
In formula, w(x, y → D)For the comprehensive assessment cost scoring for the terminal D that neighbours' mark point that coordinate position is (x, y) arrives
Value, w(x, y → D)=c 'Tl(x, y-D),For mark point average cost value, N is test zone mark tally,
l(x, y-D)For from mark point (x, y) to the equivalent distances of terminal D；K is correction factor, in order to avoid working as assessed cost score value
w(x, y → D]When larger, mxyIt is too small and do not have evocation.
It can be seen from formula (3) determination of neighbours' mark point consider neighbours' mark point to terminal cost score value,
Cost score value is smaller, be selected it is bigger for the probability of neighbours' mark point, reduce select next neighbours' mark point when fall into
The probability of local optimum.
S202c determines pheromone concentration control coefrficient；
Each delivery vehicle (such as trolley or unmanned vehicle) has been searched for behind the path of origin-to-destination, need to be according to road
Pheromone concentration of the diameter cost score value more new route Jing Guo mark point, for guiding next delivery vehicle to carry out active path
Search, pheromone concentration is bigger, and the selected probability of mark point is higher.Simultaneously in order to avoid the letter of multiple search result accumulation
The plain concentration of breath is excessive to lead to path precocious, introduces pheromones volatility coefficient.The expression of mark point pheromone concentration control coefrficient
Formula is as follows:
bxy=(1- σ) (b 'xy+Δb) (4)
In formula, σ is pheromones volatility coefficient, σ ∈ (0,1)；b′xyFor the initial information element concentration of each mark point；Δb
For pheromone concentration updated value, Δ b=1/w, w are path totle drilling cost score value.
S202c calculates selected path cost score value；
If have passed through T search from origin-to-destination, then the totle drilling cost scoring value expression for being chosen path is as follows:
W=w1+…+wt+…+wT (5)
In formula, wtFor t sections of path cost score values,Wherein, ntFor t sections of paths across
More mark tally, cLIt (i) is the cost score value for being spanned mark point i, cTIt (t) is the cost score value of t sections of path ends.
In order to reduce transport path corner quantity as far as possible, if t sections of paths of setting generate angle with t-1 sections of paths, that
T sections of path cost score values improve 30%, by c in formulaTWith c 'TSubstitution, i.e. c 'T=1.3cT。
Above-mentioned steps S203 is further included steps of
S203a determines all neighbours' mark points by the way of traversal；
S203b connects to form transport path using the method for assisting intermediate point location, search neighbours' mark point.It is specific next
It says, during transport path selection, is marked out that is, between Origin And Destination using the method for assisting intermediate point location
Some intermediate nodes are converted to sectioning search as auxiliary node, the search to whole section of path, so as to reduce search model
It encloses, saves storage space, improve search efficiency.
Embodiment three
Delivery vehicle in the step S3 of the tiered warehouse facility intelligent control method of the embodiment of the present invention three is opened image and is known
Not, and according to image recognition result from be about to specified cargo send in storage unit mainly using following image-recognizing method
Obtain image recognition result:
S31 shoots the scene image of the corresponding storage unit of tiered warehouse facility described at least two width；
S32 obtains the resolution ratio of low resolution depth image and the resolution ratio of high-resolution colour picture in scene image:
Image is normalized in S33, using canny operator, obtains the marginal information of high-resolution color image
Iedge；
S34 carries out bilinear interpolation to low resolution depth image, gets interpolation image Db, resolution ratio and high score
The resolution ratio of resolution color image is identical；
S35 is according to IedgeWith DbCorresponding relationship, judge IedgeIn edge pixel point whether be side on depth image
Edge pixel, that is, extract DbDiscontinuous edge feature Dedge.A kind of common judgment formula is as follows:
In formula, i is corresponding high-resolution color image edge pixels point, ND(i) field for being pixel i, DbIt (i) is pixel
The corresponding depth value of point i, Dmax(i) maximum depth value in the field pixel i, D are indicatedmin(i) indicate minimum deep in the field pixel i
Angle value, t are the threshold value of setting, and size determines the extraction effect at edge.DedgeFor the discontinuous side of low resolution depth image
Edge feature.
S36 is according to the depth image marginal information got, by depth image DbIt is divided into three different regions: flat
Skating area, marginal zone, transition region get each region segmentation figure Dn；
P=Dedge(i-1, j)+Dedge(i+1, j)+Dedge(i, j-1)+Dedge(i, j+1)
if(Dedge(i, j)=0&&P=O) Dn(i, j)=0；
if(Dedge(i, j)=0&&P > 0) Dn(i, j)=1；
if(Dedge(i, j)=1) Dn(i, j)=2；
Wherein, P is the sum of the edge depth value of adjacent four segmentation figures.Dn (i, j)=0 indicates that the region is smooth
Area；Dn (i, j)=1 indicates that the region is transition region；Dn (i, j)=2 indicates that the region is marginal zone.
S36 is weighted different according to the different zones marked off, using joint two-sided filter model in different zones
Color-weighted item is further added by an edge to fringe region and keeps item Eedge。
Wherein f indicates the space length item weighting function of filter window
The similar weighting function of color of g expression different zones
EedgeIt is that edge keeps item weight function
if(Dn(i, j)=0) DH(i, j)=db* f (i, j) * g0(i, j)；
elseif(Dn(i, j)=1) DH(i, j)=db* f (i, j) * g1(i, j)；
else
DH(i, j)=db* f (i, j) * g2(i, j)+λ * Eedge(i, j)
Wherein, different color-weighted items is weighted to realize using following formula:
In formula, n=0 indicates that the region is smooth area；N=1 indicates that the region is transition region；N=2 indicates the region
For marginal zone, C, m are constant, gnIndicate the similar item of color of different zones.Wherein the value of C determines the color phase of transition region
Like item weight, bigger value is generally taken, that is, the color weight of transitional region is allowed to be less than the similar weight of color of fringe region,
To make fringe region prominent, achieve the purpose that protect image border；And the value of m depends primarily on the size of filter window,
It is required that being less than or equal to the side length of filter window.
The different zones finally divided according to the edge feature of depth image, using joint two-sided filter model, to not
It is rebuild with region.For fringe region, increases an edge and keep item, for making up gaussian kernel function to depth image
The influence at edge.So its final reconstructed results is as shown in formula:
Wherein DHIt is expressed as the high-resolution depth image rebuild, gnIndicate the similar item of color of region, EedgeFor side
Edge keeps item, and λ is constant, keeps item size for balancing edge, prevents edge from keeping item excessive too small, value range 0
~1.
The high-resolution depth image that S37 output is rebuild, and analysis is compared by the image with image data base, obtain institute
State image recognition result.
The present invention is operated by above-mentioned image recognition processing, and not only allowing for delivery vehicle may deposit in moving camera shooting
In the low problem of shooting image resolution ratio, lead to identification inaccuracy, so that cargo and standard cannot be accurately unloaded by pre-provisioning request
Really, the problem of safely loading cargo, and above-mentioned image procossing mode is used, due to there is error probability substantially in delivery
It reduces, and delivery is quick, safety, and delivery efficiency has been effectively ensured.
Example IV
Fig. 2 is referred to, the present invention also provides a kind of tiered warehouse facility intelligence control system, the tiered warehouse facility intelligent control
System includes:
Obtain module, the id information and location distribution information of each storage unit for obtaining the tiered warehouse facility；
First control module specifies cargo to be deposited according to cargo to be deposited for controlling delivery vehicle to after sorting
Classification information, the id information of specified storage unit, location distribution information, preset storage unit distribution optimization information and
It optimizes transport path information and transmits cargo to be deposited；
Conveyor module, for when specified cargo to be deposited is sent to corresponding storage unit pre-determined distance, the delivery
Tool opens image recognition, and is about to specified cargo certainly according to image recognition result and send to storage unit；
Second control module, for controlling sky of the delivery vehicle according to default access algorithm to the tiered warehouse facility
The storage unit set is stored in cargo to be deposited, and from the storage unit for having cargo to be removed of the tiered warehouse facility take out to
Take out cargo；
Control module is returned, is laying down whole cargos to be deposited and from the solid for controlling the delivery vehicle
It is returned after the cargo to be removed of warehouse taking-up predetermined quantity.
Tiered warehouse facility intelligence control system of the invention not only has tiered warehouse facility intelligence degree high, can be automatic quasi-
Really, the characteristics of expeditiously accessing cargo, but also have the advantages that low in cost and access is simple and convenient.
Preferably, first control module further includes optimizing transport path information calculating unit, and the optimization is defeated
The routing information computing unit is sent to include:
Dotted state is marked to set submodule, for setting mark point Status Type；
Probabilistic model determines submodule, for the label dotted state according to setting, determines neighbours' mark point；Neighbours' label
The determination probabilistic model of point are as follows:
In formula, (xi, yi) be i-th of neighbours' mark point position；α, γ, β are respectively local cost control coefficient a, lead
To the control intensity of control coefrficient m, pheromone concentration control coefrficient b；M is neighbours' mark tally to be selected.
Transport path forms submodule, and for determining all neighbours' mark points, search connection later forms transport path；
Data sub-module stored, the optimization for that will generate input path information storage depositing to the delivery vehicle
In reservoir, to be carried tool as navigation data when movement.
Preferably, the transport path formation submodule includes:
Computation subunit is traversed, determines all neighbours' mark points in such a way that traversal calculates；
Transport path forms subelement, uses the method for assisting intermediate point location, and search neighbours' mark point connects to be formed
Transport path.
Preferably, the delivery vehicle includes trolley and unmanned vehicle, and the trolley delivery cargo mass is heavy and is located at
It transports cargo mass with the unmanned vehicle in the storage unit of the tiered warehouse facility lower part gently and is placed in the tiered warehouse facility
In the storage unit on top.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content is applied directly or indirectly in other correlations
Technical field, be included within the scope of the present invention.
Claims (10)
1. a kind of tiered warehouse facility intelligent control method, which is characterized in that the tiered warehouse facility intelligent control method includes following step
It is rapid:
The id information and location distribution information of each storage unit of S1, the acquisition tiered warehouse facility；
S2, control delivery vehicle specify cargo to be deposited according to freight classification information to be deposited, specified storage to after sorting
Id information, location distribution information, preset storage unit distribution optimization information and the optimization transport path information of unit pass
Send cargo to be deposited；
S3, when specified cargo to be deposited is sent to corresponding storage unit pre-determined distance, the delivery vehicle is opened image and is known
Not, and it is about to specified cargo certainly according to image recognition result to send to storage unit；
S4, the control delivery vehicle are stored in the vacant storage unit of the tiered warehouse facility wait deposit according to default access algorithm
Enter cargo, and takes out cargo to be removed from the storage unit for having cargo to be removed of the tiered warehouse facility；
S5, the control delivery vehicle lay down whole cargos to be deposited and from the tiered warehouse facility take out predetermined quantity to
It is returned after taking out cargo.
2. tiered warehouse facility intelligent control method as described in claim 1, which is characterized in that described optimal in above-mentioned steps S2
Change transport path information to realize by following calculation method:
S201, setting mark point Status Type；
S202, the label dotted state according to setting, determine neighbours' mark point；The determination probabilistic model of neighbours' mark point are as follows:
In formula, (xi, yi) be i-th of neighbours' mark point position；α, γ, β are respectively local cost control coefficient a, guiding control
The control intensity of Coefficient m, pheromone concentration control coefrficient b；M is neighbours' mark tally to be selected.
S203, all neighbours' mark points are determined, search connection later forms transport path；
S204, optimization input path information storage is generated into the memory of the delivery vehicle to be carried tool as shifting
Navigation data when dynamic.
3. tiered warehouse facility intelligent control method as claimed in claim 2, which is characterized in that the step S203 further comprises
Following steps:
S203a, all neighbours' mark points are determined by the way of traversal；
S203b, using the method for assisting intermediate point location, search neighbours' mark point connects to form transport path.
4. tiered warehouse facility intelligent control method as described in claim 1, which is characterized in that above-mentioned steps S3 specifically includes following
Step:
The scene image of the corresponding storage unit of tiered warehouse facility described in S31, shooting at least two width；
S32, the resolution ratio of low resolution depth image and the resolution ratio of high-resolution colour picture in scene image are obtained；
S33, image is normalized, using canny operator, obtains the marginal information I of high-resolution color imageedge；
S34, bilinear interpolation is carried out to low resolution depth image, gets interpolation image Db, resolution ratio and high-resolution are color
The resolution ratio of chromatic graph picture is identical；
S35, according to IedgeWith DbCorresponding relationship, judge IedgeIn edge pixel point whether be edge picture on depth image
Element extracts DbDiscontinuous edge feature Dedge；
The depth image marginal information that S36, foundation are got, by depth image DbIt is divided into three different regions: smooth area,
Marginal zone, transition region get the segmentation figure D of smooth area, marginal zone, transition regionn；
The high-resolution depth image that S37, output are rebuild, and analysis is compared by the image with image data base, obtain the figure
As recognition result.
5. tiered warehouse facility intelligent control method as claimed in claim 4, which is characterized in that step S37 further comprises using
Following formula rebuilds high-resolution depth graph picture:
Wherein DHIt is expressed as the high-resolution depth image rebuild, gnIndicate the similar item of color of region, EedgeFor edge holding
, λ is constant, keeps item size for balancing edge, prevents edge from keeping item excessive too small, value range is 0~1.
6. such as tiered warehouse facility intelligent control method described in any one of claim 1 to 5, which is characterized in that the delivery vehicle
Including trolley and unmanned vehicle, the trolley delivery cargo mass is heavy and is located in the storage unit of the tiered warehouse facility lower part
Cargo mass is transported gently with the unmanned vehicle and is placed in the storage unit on the tiered warehouse facility top.
7. a kind of tiered warehouse facility intelligence control system, which is characterized in that the tiered warehouse facility intelligence control system includes:
Obtain module, the id information and location distribution information of each storage unit for obtaining the tiered warehouse facility；
First control module specifies cargo to be deposited to believe according to freight classification to be deposited for controlling delivery vehicle to after sorting
Breath, the id information of specified storage unit, location distribution information, preset storage unit distribution optimization information and optimization are defeated
Routing information is sent to transmit cargo to be deposited；
Conveyor module, for when specified cargo to be deposited is sent to corresponding storage unit pre-determined distance, the delivery vehicle
Image recognition is opened, and is about to specified cargo certainly according to image recognition result and send to storage unit；
Second control module is deposited according to default access algorithm to the vacant of the tiered warehouse facility for controlling the delivery vehicle
Storage unit is stored in cargo to be deposited, and takes out goods to be removed from the storage unit for having cargo to be removed of the tiered warehouse facility
Object；
Control module is returned, whole cargos to be deposited is being laid down for controlling the delivery vehicle and is being taken from the tiered warehouse facility
It is returned after the cargo to be removed of predetermined quantity out.
8. tiered warehouse facility intelligence control system as claimed in claim 7, which is characterized in that first control module further includes
Transport path information calculating unit is optimized, the optimization transport path information calculating unit includes:
Dotted state is marked to set submodule, for setting mark point Status Type；
Probabilistic model determines submodule, for the label dotted state according to setting, determines neighbours' mark point；Neighbours' mark point is really
Determine probabilistic model are as follows:
In formula, (xi, yi) be i-th of neighbours' mark point position；α, γ, β are respectively local cost control coefficient a, guiding control
The control intensity of Coefficient m, pheromone concentration control coefrficient b；M is neighbours' mark tally to be selected.
Transport path forms submodule, and for determining all neighbours' mark points, search connection later forms transport path；
Data sub-module stored, the optimization for that will generate input the memory of path information storage to the delivery vehicle
In, to be carried tool as navigation data when movement.
9. tiered warehouse facility intelligence control system as claimed in claim 8, which is characterized in that the transport path forms submodule
Include:
Computation subunit is traversed, determines all neighbours' mark points in such a way that traversal calculates；
Transport path forms subelement, uses the method for assisting intermediate point location, and search neighbours' mark point connects to form conveying
Path.
10. such as the described in any item tiered warehouse facility intelligence control systems of claim 7 to 9, which is characterized in that the delivery vehicle
Including trolley and unmanned vehicle, the trolley delivery cargo mass is heavy and is located in the storage unit of the tiered warehouse facility lower part
Cargo mass is transported gently with the unmanned vehicle and is placed in the storage unit on the tiered warehouse facility top.
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