CN110598910B - Automatic delivery system for e-commerce logistics distribution goods - Google Patents
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Abstract
The invention discloses an automatic delivery system for logistics delivered goods of electronic commerce, which comprises a server, an automatic delivery device and a user terminal, wherein the server comprises a central processor I and an algorithm module which are connected through signals, and the algorithm module adopts an improved ant colony algorithm to plan a trolley operation route; the automatic warehouse-out device comprises a central processor II, and a gravity sensing module, a scanning module, an execution module, an instruction module, a fault diagnosis module and a wireless transmission module II which are connected with the central processor II in a signal manner; the user terminal comprises an output module, a wireless transmission module III and a mobile phone or a computer; the automatic warehouse-out device comprises a transportation pipeline, a self-adaptive movable trolley, a trolley pause area and an empty trolley return pipeline. When the commodity warehouse-out system is used for commodity warehouse-out, the working of sorting, scanning, spot inspection and the like are not needed, so that the warehouse-out efficiency is greatly improved, the error rate is reduced, and the labor cost is reduced.
Description
Technical Field
The invention relates to the field of e-commerce warehouse logistics distribution, in particular to an automated delivery system for e-commerce logistics distribution goods.
Background
With the rapid development of electronic commerce, online shopping has become a common shopping way in people's life. More and more e-commerce platforms (such as Su Ningyi purchase, beijing dong, current network and the like) divert attention to the construction of logistics platforms and invest a large amount of funds to construct a self-contained warehouse distribution center.
Some e-commerce warehouses at present realize partial automation, such as automatic stereoscopic warehouse equipment, and realize rationalization of warehouse high-rise space utilization, automation of storage and taking and simplicity of operation. However, some links still need to use manual operations, such as a part of the links of delivering cargoes, and the links need to manually sort the cargoes packed and attached according to the final location to which the cargoes need to be delivered, and manually scan the cargoes to be loaded and deliver out the information of the warehouse. With the rapid growth of express logistics, people become the biggest factor for restricting warehouse to improve delivery efficiency.
The part of the automatic sorting equipment which is put into use is shown in figure 1, wherein A is a sliding block for changing the direction of cargoes, B is a main conveyor belt, C is cargoes, and D is a branch roller conveyor belt. A bar code scanner is arranged at the inlet of a main conveyor belt B, and scans delivery information of passed goods C to judge whether the delivery direction of the goods needs to be shifted, when the goods need to be shifted, a control slide block A shifts the goods to a branch roller conveyor belt D, and the automatic sorting equipment sorts the goods on the main conveyor belt, so that the automatic sorting equipment saves manpower and is high in efficiency, but once a certain section of the main conveyor belt has mechanical faults to stop running, and particularly when the delivery amount of the goods is large, the goods are accumulated, and the delivery efficiency is reduced.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention provides an automatic delivery system for logistics distribution goods of electronic commerce, which comprises a server and an automatic delivery device, wherein the server is transmitted by signals, the server comprises a central processing unit I and an algorithm module which are connected by signals, the automatic delivery device comprises a transportation pipeline, if a trolley provided with a fault diagnosis module breaks down during operation in the transportation pipeline, the central processing unit I judges whether other trolleys pass through the area where the fault trolley is located, and if so, the algorithm module re-plans an optimal path for the trolley.
In the above technical scheme, the transportation pipeline comprises an inverted T-shaped pipeline A communicated with one end of a cargo inlet pipeline and a plurality of pipelines parallel to the ground communicated with the bottom end of the inverted T-shaped pipeline A, wherein the pipelines parallel to the ground are communicated with one end of a discharge pipeline, the other end of the discharge pipeline is communicated with one end of an L-shaped pipeline of an empty truck return pipeline, the other end of the L-shaped pipeline is communicated with the bottom end of an inverted T-shaped pipeline B, and the top end of the inverted T-shaped pipeline B is communicated with the other end of the cargo inlet pipeline; the pipeline in the vertical direction of the inverted T-shaped pipeline B is provided with a trolley temporary storage area.
According to the technical scheme, the unloading pipeline opening is provided with the transverse guide rail, the hydraulic push-pull device and the vertical guide rail, the transverse guide rail comprises a hollow guide rail and a movable guide rail, the hollow guide rail is fixed in a horizontal conveying pipeline, one end of the hydraulic push-pull device is arranged, the other end of the hydraulic push-pull device is welded with the movable guide rail, and the vertical guide rail is arranged in the vertical conveying pipeline.
In the above technical scheme, the dolly includes gyro wheel, vertical movement gyro wheel, horizontal direction moving mechanism and automobile body, and gyro wheel part is installed in the automobile body, and vertical movement gyro wheel is fixed on four angles of automobile body, and horizontal direction moving mechanism inlays mutually in the automobile body bottom.
In the above technical solution, the specific process of the algorithm module planning the re-optimal path for the trolley is:
s1: initializing pipeline environment and algorithm parameters;
s2: the algorithm module receives a trolley route planning task, and the trolley receives path information from the execution module;
s3: construction of trolley transport route solution
Starting from node 1 for each ant, when searching for the (k+1) th node, according to the probability
Selecting a node from a feasible point set S= { j epsilon V|{1, n }. U.o }, wherein O is the point set contained in the current non-passing path T, and adding a weight coefficient w into the state transition probability by considering the queuing condition of the trolley in the path (i, j) and the path length ij ：
Wherein: v= {1,2,..n } is a set of transport pipe (3) nodes in the environment, d avg Is the path average, t, from node i to all next neighbor nodes ij For the time required for the trolley to pass through the path (i, j), deltat represents the time required for the trolley to wait for another trolley needing to pass through the path (i, j) to pass through the node i while queuing, and theta represents the number of currently queued trolleys, tau ij Pheromone intensity, eta representing path (i, j) ij Heuristic factor representing path (i, j), alpha representing ant in motionThe pheromone importance coefficients accumulated in the dynamic process, beta represents the importance coefficient of the heuristic factor, and (i, n) represents all possible nodes;
from state transition probabilities
Iteratively selecting the next node and path until the trolley reaches the end point, and if the trolley can not reach the end point, restarting the process from the start point;
s4: evaluating the current route solution, and recording the optimal solution;
s5: updating the pheromone;
s6: operation termination judgment
Judging whether the current iteration number D reaches the preset iteration number M, if not, returning to S4 and replacing D with (D+1); if so, stopping the operation, resetting the pheromone and the transition probability, outputting the optimal route as the trolley operation route, and returning to the step S1.
The beneficial effects achieved by the invention are as follows:
the invention provides an automatic delivery system for logistics delivered goods of electronic commerce, which realizes automatic sorting delivery of logistics delivered goods through the automatic delivery system, an algorithm module in the delivery system adopts an improved ant colony algorithm to plan a transportation route for a trolley for transporting goods, and realizes rapid sorting, transportation and delivery information input of the goods in a warehouse, thereby eliminating links of manual sorting, manual transportation and manual delivery information input, greatly saving manpower and improving logistics delivery efficiency; meanwhile, when the system operation fails, the system intelligently switches the alternative scheme, and the normal operation of the ex-warehouse process is ensured.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain the embodiment of the invention.
FIG. 1 is a schematic diagram of a prior art sorting apparatus;
FIG. 2 is a schematic diagram of an automated warehouse-out system of the present invention;
FIG. 3 is a block diagram of an automated warehouse-out device according to the present invention;
FIG. 4 is a block diagram of the automated warehouse-out equipment corner of the present invention;
FIG. 5 is a southeast isometric view of an adaptive mobile cart for use in the automated warehouse-out device of the present invention;
FIG. 6 is a bottom view of an adaptive moving cart for use in the automated warehouse-out device of the present invention;
fig. 7 is an algorithm flow chart of the algorithm module of the present invention.
In the drawings, a 1-conveyor belt, a 2-pipeline opening, a 3-conveying pipeline, a 4-unloading pipeline opening, a 5-trolley temporary storage area, a 6-empty trolley return pipeline, a 7-auxiliary circle, a 41-hydraulic push-pull device, a 42-self-adaptive movable trolley, a 43-transverse guide rail, a 44-vertical direction track, a 421-roller, a 422-vertical movement roller, a 423-horizontal direction movement mechanism, 424-a vehicle body, a 100-server, a 101-identification module, a 102-central processing unit I, a 103-algorithm module, a 104-wireless transmission module I, a 200-automatic warehouse-out device, a 201-central processing unit II, a 202-scanning module, a 203-gravity sensing module, a 204-execution module, a 205-instruction module, a 206-wireless transmission module II, a 207-fault diagnosis module, a 300-user terminal, a 301-output module, a 302-wireless transmission module III, a 303-mobile phone or a computer terminal.
Detailed Description
The preferred embodiments of the present invention will be described with reference to the accompanying drawings, which are set forth herein for the purpose of illustrating and explaining the present invention, and other obvious modifications to those skilled in the art may be made without limiting the invention.
As shown in fig. 2, the automatic delivery system for the e-commerce logistics delivered goods comprises a server 100, an automatic delivery device 200 and a user terminal 300, wherein the server 100 comprises a central processing unit i 102, an identification module 101, an algorithm module 103 and a wireless transmission module i 104 which are in signal connection with the central processing unit i 102; the automatic warehouse-out device 200 is provided with a central processor II 201, and a gravity sensing module 203, a scanning module 202, an executing module 204, an instruction module 205, a wireless transmission module II 206 and a fault diagnosis module 207 which are connected with the central processor II 201 in a signal manner, wherein the gravity sensing module 203 and the fault diagnosis module 207 are arranged on a trolley for transporting goods; the ue 300 includes an output module 301, a wireless transmission module iii 302, and a mobile phone or computer 303.
The scanning module 202 is arranged on a conveyor belt through which goods pass, scans information when the goods pass through a pipeline opening of the automatic warehouse-out device 200 and sends the information to the central processor II 201, the central processor II 201 sends out an adaptive mobile trolley to receive the goods through the instruction module 205, meanwhile, the goods information is sent to the central processor I102 through the wireless transmission module II 206 and the wireless transmission module I104, the central processor I102 recognizes the goods information through the recognition module 101 and then sends the goods information to the algorithm module 103 through the central processor I102, the algorithm module 103 rapidly calculates a future moving path of the current running trolley through the goods information and sends a result to the central processor II 201 through the wireless transmission module, and the central processor II 201 controls the trolley to convey the goods through the execution module 204; after the goods are unloaded at the end point, a gravity sensing module 203 on the trolley outputs unloading signals to a mobile phone or a computer end 303 through a central processing unit II 201, a wireless transmission module II 206, a wireless transmission module III 302 and an output module 301, and the trolley returns to a temporary storage area along a set path under the control of an execution module 204; the fault diagnosis module 207 monitors the running state of the trolley in real time in the running process, once the trolley breaks down, the fault diagnosis module 207 sends out fault prompts and uploads fault information to the central processor I102, the central processor I102 judges whether the current starting trolley passes through a fault trolley area, if so, the algorithm module 103 updates the ant colony algorithm initialization environment, the node where the fault trolley is located is listed as an infeasible node, and an optimal path is planned again for the starting trolley.
The CPU I102 and the CPU II 201 are AMD Ryzen 7,630X processors, which are very large scale integrated circuits and are the operation Core (Core) and the control Core of a computer. The gravity sensing module 203 is provided with a gravity sensor, and adopts an elastic sensing element to manufacture a cantilever type shifter and adopts an energy storage spring manufactured by the elastic sensing element to drive an electric contact so as to complete the conversion from gravity change to electric signal. The wireless transmission module i 104, the wireless transmission module ii 206, and the wireless transmission module iii 302 are all communication modes for exchanging information by utilizing the characteristic that electromagnetic wave signals can propagate in free space. The scanning module 202 employs a scanner.
As shown in fig. 3-6, the automated unloading device 200 comprises a conveyor belt 1, a cargo inlet pipe mouth 2, a conveying pipe 3, a unloading pipe mouth 4, a trolley temporary storage area 5 and an empty trolley return pipe 6, wherein the conveyor belt 1 is aligned and fixed with the cargo inlet pipe mouth 2, the conveyor belt 1 is used for conveying cargoes needing to be unloaded, the conveying pipe 3 comprises an inverted T-shaped pipe A communicated with one end of the cargo inlet pipe mouth 2 and a plurality of pipes parallel to the ground communicated with the bottom end of the inverted T-shaped pipe A, and the pipes parallel to the ground are all communicated with one end of the unloading pipe mouth 4; the other end of the unloading pipeline opening 4 is communicated with one end of an L-shaped pipeline of the empty vehicle return pipeline 6, the other end of the L-shaped pipeline is communicated with the bottom end of an inverted T-shaped pipeline B, and the top end of the inverted T-shaped pipeline B is communicated with the other end of the cargo inlet pipeline opening 2; the pipeline in the vertical direction of the inverted T-shaped pipeline B is provided with a trolley temporary storage area 5.
The structure of the unloading pipeline opening 4 is shown in fig. 4, and the unloading pipeline opening 4 comprises a transverse guide rail 43, a hydraulic push-pull device 41 and a vertical guide rail 44, wherein the transverse guide rail 43 is divided into two sections, one section is a hollow guide rail arranged in the horizontal conveying pipeline 3, one end of the hydraulic push-pull device 41 is arranged in the hollow guide rail, the other section is a movable guide rail which is welded with the other end of the hydraulic push-pull device 41 and can move horizontally, when the hydraulic push-pull device 41 does not operate, the two sections of guide rails are in an engaged state, and when the hydraulic push-pull device 41 is started, the movable guide rail extends and retracts along with the hydraulic push-pull device 41, and the hydraulic push-pull device 41 is controlled by a central processor II 201 through an execution module 204; the vertical guide rail 44 is mounted on the transport pipe 3 in the vertical direction. When the trolley 42 needs to be adjusted in direction, the central processor II 201 stops the trolley motor through the execution module 204, simultaneously starts the hydraulic push-pull device 41 in the transverse guide rail 43, pushes the trolley 42 for a set fixed distance, is jointed with the vertical direction track 44, the hydraulic push-pull device 41 withdraws the extending movable guide rail, and after the movable guide rail returns, the central processor II 201 restarts the trolley motor through the execution module 204 to enter the vertical direction transportation pipeline 3. The trolley temporary storage area 5 is a vertical pipeline for storing a certain number of trolleys, and a telescopic baffle capable of supporting the trolleys 42 which stop working is arranged in the pipeline according to a trolley parking space, and the telescopic operation of the baffle is controlled by the CPU II 201 through the execution module 204.
As shown in fig. 5, the self-adaptive moving trolley 42 comprises a roller 421, a vertical moving roller 422, a horizontal moving mechanism 423 and a square trolley body 424, wherein a motor for moving the trolley body, a roller driving device and a speed reducer are arranged in the trolley body 424, a part of the roller 421 is arranged in the trolley body 424, the vertical moving roller 422 is fixed on four corners of the trolley body 424, the roller 421 and the vertical moving roller 422 are driven by the roller driving device, and unloading can be realized by driving the roller 421; the horizontal direction moving mechanism 423 drives the trolley to move horizontally, and a rotating bearing is arranged at the embedded part of the horizontal direction moving mechanism 423 and the trolley body 424 and is used for rotating the horizontal direction moving mechanism 423 when the trolley moves up and down (rotating 90 degrees only when the next horizontal moving pipeline operated by the trolley is perpendicular to the previous horizontal moving pipeline); the roller driving device and the horizontal direction moving mechanism 423 are controlled by the cpu ii 201 through the execution module 204.
Fig. 6 is a bottom view of the adaptive moving cart according to the present embodiment of the invention, and circle 7 is an auxiliary circle for limiting the size of the horizontal moving mechanism 423 of the cart 42 so as not to exceed the rotatable range when the angle is changed.
The algorithm module 103 adopts the improved ant colony algorithm to plan the running route of the trolley, as shown in fig. 7, and comprises the following steps:
s1: initializing environment and algorithm parameters
Initializing an environment: the point set (comprising cargo support interfaces, pipeline turning points and outlets) and the edge set of the transportation pipeline 3 nodes are given, specifically: defining g= (V, E) as an environment map of the automated ex-warehouse apparatus 200, wherein v= {1,2, …, n } is a set of nodes of each transport pipe 3 in the environment, i.e., a point set; e= { (i, j) |i, j ε V, i+.j } is a feasible route set between each locating point, namely an edge set; the distance between any two nodes i and j is d ij ；
Initializing algorithm parameters: defining the number of ants as N, the maximum iteration number as M, the current iteration number as D, initializing the pheromone volatilization coefficient rho E [0,1], and updating the pheromone in the subsequent step; the optimization objective is to find a path from node 1 to node n termination such that the obtained path is the shortest.
S2: the algorithm module 103 receives the trolley route planning task and the trolley receives route information from the execution module 204.
S3: construction of trolley transport route solution
Starting from node 1 for each ant, when searching for the (k+1) th node, according to the probability
Selecting a node from a feasible point set S= { j epsilon V|{1, n }. U.o }, wherein O is the point set contained in the current non-passing path T, and adding a weight coefficient w into the state transition probability by considering the queuing condition of the trolley in the path (i, j) and the path length ij The algorithm convergence speed is accelerated as follows:
wherein: d, d avg Is the path average, t, from node i to all next neighbor nodes ij For the time it takes for a trolley to traverse path (i, j), Δt represents the time it takes for a trolley to wait for another trolley that needs to traverse path (i, j) to traverse node i while in line, θ represents the number of currently queued trolleys, τ ij A pheromone intensity representing path (i, j);
heuristic factors representing paths (i, j), and for nodes closer to i, preference is higher; alpha represents the importance coefficient of pheromone accumulated by ants in the movement process, and beta represents the importance coefficient of heuristic factors; (i, n) represents all ofNodes of energy; w (w) ij And (5) integrating the factors of the path length and the queuing length of the trolley.
According to the state transition probability
And continuously and iteratively selecting the next node and path until the trolley reaches the end point, and if the trolley cannot reach the end point, restarting the step from the start point.
S4: evaluating the current route solution, and recording the optimal solution: comparing the total length of the route searched by each ant, and recording the shortest route;
s5: updating the pheromone: after all ants construct a solution, the pheromones on the lines between the nodes are updated according to the following rules:
τ ij (l+1)＝ρτ ij (l)+Δτ ij (l)
if τ ij (l+1)＜τ min τ is then ij (l+1)＝τ min
If τ ij (l+1)＞τ max τ is then ij (l+1)＝τ max
When ant k passes through the path (i, j) in this cycle,
otherwise, 0;
Wherein τ ij (l) Is the pheromone, deltaτ on the first generation path (i, j) ij (l) Is the value of the increase of the concentration of the (i, j) pheromone in the current circulation path, and the initial time is 0, L k Is the length of the path taken by the kth ant in the current circulation path, Q is constantNumber, L b For the best path found currently, in
The weight lambda is added, so that the increment of the route pheromone superior to the current optimal path is obviously higher than that of the route inferior to the current optimal path, and the pheromone concentration updating mode is optimized.
S6: operation termination judgment
Judging whether the current iteration number D reaches the preset iteration number M, if not, returning to S4 and replacing D with (D+1); if so, stopping operation, resetting pheromone tau and transition probability
Outputting the optimal route L best As the dolly operation route, and reset returns to S1.
When the commodity warehouse-out system is used for commodity warehouse-out, the working of sorting, scanning, spot inspection and the like are not needed, so that the warehouse-out efficiency is greatly improved, the error rate is reduced, and the labor cost is reduced.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (2)
1. The automatic delivery system for the goods distributed by the e-commerce logistics is characterized by comprising a server and an automatic delivery device, wherein the server is transmitted by signals, the server comprises a central processing unit I and an algorithm module which are connected by signals, the automatic delivery device comprises a transportation pipeline, if a fault occurs when a trolley provided with a fault diagnosis module runs in the transportation pipeline, the central processing unit I judges whether other trolleys pass through the area where the fault trolley is located, and if so, the algorithm module re-plans an optimal path for the trolley;
the transportation pipeline comprises an inverted T-shaped pipeline A communicated with one end of a cargo inlet pipeline opening and a plurality of pipelines parallel to the ground communicated with the bottom end of the inverted T-shaped pipeline A, the pipelines parallel to the ground are communicated with one end of a discharge pipeline opening, the other end of the discharge pipeline opening is communicated with one end of an L-shaped pipeline of an empty car return pipeline, the other end of the L-shaped pipeline is communicated with the bottom end of an inverted T-shaped pipeline B, and the top end of the inverted T-shaped pipeline B is communicated with the other end of the cargo inlet pipeline opening; a trolley temporary storage area is arranged in the pipeline in the vertical direction of the inverted T-shaped pipeline B;
the unloading pipeline opening is provided with a transverse guide rail, a hydraulic push-pull device and a vertical guide rail, the transverse guide rail comprises a hollow guide rail and a movable guide rail, the hollow guide rail is fixed in a horizontal conveying pipeline, one end of the hydraulic push-pull device is arranged, the other end of the hydraulic push-pull device is welded with the movable guide rail, and the vertical guide rail is arranged in the vertical conveying pipeline;
the specific process of the algorithm module for planning the re-optimal path for the trolley is as follows:
s1: initializing pipeline environment and algorithm parameters;
s2: the algorithm module receives a trolley route planning task, and the trolley receives path information from the execution module;
s3: constructing a trolley transportation route solution;
s4: evaluating the current route solution, and recording the optimal solution;
s5: updating the pheromone;
s6: judging operation termination;
judging whether the current iteration number D reaches the preset iteration number M, if not, returning to S4 and replacing D with (D+1); if so, stopping operation, resetting pheromone and transition probability, outputting an optimal route as a trolley operation route, and returning to the step S1;
the construction of the trolley transportation route solution specifically comprises the following steps:
starting from node 1 for each ant, when searching for the (k+1) th node, according to the probability
From the feasible point set SSelecting a node from = { j epsilon V|{1, n } -U O }, wherein O is a point set contained in the current non-walked path T, and adding a weight coefficient w into the state transition probability by considering the queuing condition of the trolley and the path length of the path (i, j) ij ：
Wherein: v= {1,2,..n } is the set of transport pipe nodes in the environment, d avg Is the path average, t, from node i to all next neighbor nodes ij For the time required for the trolley to pass through the path (i, j), deltat represents the time required for the trolley to wait for another trolley needing to pass through the path (i, j) to pass through the node i while queuing, and theta represents the number of currently queued trolleys, tau ij Pheromone intensity, eta representing path (i, j) ij Heuristic factors representing paths (i, j), alpha represents pheromone importance coefficients accumulated by ants in the motion process, beta represents importance coefficients of the heuristic factors, and (i, n) represents all possible nodes;
from state transition probabilities
The next node and path are iteratively selected until the trolley reaches the end point, and if the end point cannot be reached, the process is restarted from the start point.
2. The automated delivery system for the e-commerce logistics distribution of goods of claim 1, wherein the trolley comprises rollers, vertical moving rollers, a horizontal moving mechanism and a vehicle body, wherein the rollers are partially installed in the vehicle body, the vertical moving rollers are fixed on four corners of the vehicle body, and the horizontal moving mechanism is embedded in the bottom of the vehicle body.
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| CN113756622B (en) * | 2020-11-27 | 2023-01-31 | 北京京东乾石科技有限公司 | Underground logistics car access system |
| CN112749927B (en) * | 2021-02-03 | 2023-11-28 | 香港中文大学（深圳） | Scheduling method of storage robot and related equipment |
| CN113964409A (en) * | 2021-09-17 | 2022-01-21 | 江苏大学 | Automatic recovery system for electric vehicle battery and control method |
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