CN110598910B - Automatic delivery system for e-commerce logistics distribution goods - Google Patents

Automatic delivery system for e-commerce logistics distribution goods Download PDF

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CN110598910B
CN110598910B CN201910771617.6A CN201910771617A CN110598910B CN 110598910 B CN110598910 B CN 110598910B CN 201910771617 A CN201910771617 A CN 201910771617A CN 110598910 B CN110598910 B CN 110598910B
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何美玲
魏志秀
武晓晖
王长辉
曾磊
林天鹤
李磊
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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

一种电商物流配送货物自动化出库系统An automated outbound delivery system for e-commerce logistics distribution

技术领域Technical Field

本发明涉及电子商务仓储物流配送领域,更具体地,涉及一种电商物流配送货物自动化出库系统。The present invention relates to the field of e-commerce warehousing logistics and distribution, and more specifically, to an automated outbound delivery system for e-commerce logistics and distribution goods.

背景技术Background Art

随着电子商务的迅速发展,网上购物已经成了人们生活中习以为常的一种购物方式。越来越多的电商平台(如苏宁易购、京东、当当网等)将注意力转向物流平台的建设,并投入大量资金建设自营仓储配送中心。With the rapid development of e-commerce, online shopping has become a common way of shopping in people's lives. More and more e-commerce platforms (such as Suning.com, JD.com, Dangdang.com, etc.) have turned their attention to the construction of logistics platforms and invested a lot of money to build self-operated warehousing and distribution centers.

目前的有些电商仓库已经实现了部分自动化,如自动化立体仓库设备,实现了仓库高层空间利用合理化、存取自动化、操作简便化。然而,一些环节仍然需要使用人工操作,如部分货物出库环节,需要人工对打包贴码的货物按照货物需送达的最终地点进行分拣,并对即将装车的货物进行人工扫描上传出库信息。随着快递物流的快速增长,人将成为制约仓库提高配送效率的最大因素。At present, some e-commerce warehouses have achieved partial automation, such as automated three-dimensional warehouse equipment, which has achieved rational utilization of high-rise warehouse space, automated storage and retrieval, and simplified operation. However, some links still need to be operated manually, such as the delivery of some goods, which requires manual sorting of packaged and coded goods according to the final destination of the goods to be delivered, and manual scanning of the goods to be loaded and uploading of the delivery information. With the rapid growth of express logistics, people will become the biggest factor restricting warehouses from improving distribution efficiency.

现已投入使用的自动化分拣设备局部如图1所示,A是改变货物方向的滑块,B为主传送带,C为货物,D为分支滚轮传送带。在主传送带B入口处安装有条码扫描机,扫描经过的货物C配送信息,判断是否需要拨转货物传送方向,需要拨转时,控制滑块A拨转货物至分支滚轮传送带D,该自动化分拣设备货物的分拣都在主传送带上进行,此自动分拣设备节省人力且效率高,但一旦主传送带某段出现机械故障而停止运行,尤其是在货物配送量大的时候,会导致货物堆积,降低配送效率。The part of the automated sorting equipment that has been put into use is shown in Figure 1. A is a slider that changes the direction of the goods, B is the main conveyor belt, C is the goods, and D is the branch roller conveyor belt. A barcode scanner is installed at the entrance of the main conveyor belt B to scan the delivery information of the goods C passing by and determine whether the delivery direction of the goods needs to be changed. If it needs to be changed, the slider A is controlled to change the goods to the branch roller conveyor belt D. The goods of this automated sorting equipment are sorted on the main conveyor belt. This automatic sorting equipment saves manpower and is highly efficient. However, once a section of the main conveyor belt has a mechanical failure and stops running, especially when the amount of goods to be delivered is large, it will cause the goods to pile up and reduce the delivery efficiency.

发明内容Summary of the invention

针对现有技术的不足或改进需求,本发明提供一种电商物流配送货物自动化出库系统,包括通过信号传输的服务器和自动化出库装置,所述服务器包括信号连接的中央处理器Ⅰ和算法模块,所述自动化出库装置包括运输管道,设有故障诊断模块的小车在运输管道中运行时若出现故障,则通过中央处理器Ⅰ判断其他小车是否经过故障小车所在区域,若经过则算法模块为该小车重新规划最优路径。In view of the deficiencies in the prior art or the need for improvement, the present invention provides an automated outbound delivery system for e-commerce logistics distribution, comprising a server and an automated outbound delivery device through signal transmission, the server comprising a central processing unit I and an algorithm module connected by signals, the automated outbound delivery device comprising a transport pipeline, and if a trolley equipped with a fault diagnosis module fails while running in the transport pipeline, the central processing unit I determines whether other trolleys have passed through the area where the faulty trolley is located, and if so, the algorithm module re-plans the optimal path for the trolley.

上述技术方案中,所述运输管道包括与进货管道口一端连通的倒T型管道A以及与倒T型管道A底端连通的若干平行于地面的管道,平行于地面的管道均与卸货管道口一端连通,卸货管道口另一端连通空车返回管道的L型管道一端,L型管道另一端与倒T型管道B底端连通,倒T型管道B顶端与进货管道口另一端连通;倒T型管道B竖直方向的管道中设有小车暂存区。In the above technical scheme, the transport pipeline includes an inverted T-shaped pipeline A connected to one end of the inlet pipeline port and several pipelines parallel to the ground connected to the bottom end of the inverted T-shaped pipeline A. The pipelines parallel to the ground are all connected to one end of the unloading pipeline port, and the other end of the unloading pipeline port is connected to one end of the L-shaped pipeline of the empty vehicle return pipeline. The other end of the L-shaped pipeline is connected to the bottom end of the inverted T-shaped pipeline B, and the top end of the inverted T-shaped pipeline B is connected to the other end of the inlet pipeline port; a trolley temporary storage area is provided in the vertical pipeline of the inverted T-shaped pipeline B.

上述技术方案中,所述卸货管道口设有横向导轨、液压推拉器和垂直方向导轨,横向导轨包括中空导轨和可移动导轨两部分,中空导轨固定在水平方向的运输管道中,且安装液压推拉器一端,液压推拉器另一端与可移动导轨焊接,垂直方向导轨安装在竖直方向的运输管道中。In the above technical solution, the unloading pipe opening is provided with a transverse guide rail, a hydraulic push-pull device and a vertical guide rail. The transverse guide rail includes a hollow guide rail and a movable guide rail. The hollow guide rail is fixed in the horizontal transport pipe and one end of the hydraulic push-pull device is installed. The other end of the hydraulic push-pull device is welded to the movable guide rail. The vertical guide rail is installed in the vertical transport pipe.

上述技术方案中,所述小车包括滚轮、垂直移动滚轮、水平方向移动机构及车身,滚轮部分安装在车身内,垂直移动滚轮固定在车身四个角上,水平方向移动机构相嵌在车身底部。In the above technical solution, the trolley includes rollers, vertically movable rollers, a horizontally movable mechanism and a body. The roller part is installed in the body, the vertically movable rollers are fixed on the four corners of the body, and the horizontally movable mechanism is embedded in the bottom of the body.

上述技术方案中,所述算法模块为小车规划重新最优路径的具体过程为:In the above technical solution, the specific process of the algorithm module planning a new optimal path for the car is:

S1:初始化管道环境和算法参数;S1: Initialize pipeline environment and algorithm parameters;

S2:算法模块接收小车路线规划任务,小车从执行模块接收路径信息;S2: The algorithm module receives the car route planning task, and the car receives the path information from the execution module;

S3:构建小车运输路线解S3: Construct a solution for the transportation route of a small vehicle

对于每只蚂蚁从节点1出发,在寻找第k+1个节点时,依照概率

Figure SMS_1
从可行点集S={j∈V|{1,n}∪O}中选取一个节点,O为当前未走过路径T包含的点集,考虑在路径(i,j)的小车排队状况及路径长度,在状态转移概率中加入权重系数wij:For each ant starting from node 1, when searching for the k+1th node, according to the probability
Figure SMS_1
Select a node from the feasible point set S = {j∈V|{1,n}∪O}, where O is the point set included in the current untraversed path T. Consider the queue status and path length of the vehicles on the path (i,j), and add the weight coefficient w ij to the state transition probability:

Figure SMS_2
Figure SMS_2

Figure SMS_3
Figure SMS_3

其中:V={1,2,...,n}为环境中各运输管道(3)节点的集合,davg是从节点i到所有下一邻近节点的路径平均值,tij为小车经过路径(i,j)所需时间,Δt表示小车在排队时等待需要通过路径(i,j)的另一辆小车通过节点i所需时间,θ表示当前排队小车的数量,τij表示路径(i,j)的信息素强度,ηij表示路径(i,j)的启发因子,α表示蚂蚁在运动过程中所积累的信息素重要性系数,β表示启发因子的重要性系数,(i,n)表示所有可能的节点;Where: V = {1, 2, ..., n} is the set of nodes in each transport pipeline (3) in the environment, d avg is the path average from node i to all next adjacent nodes, t ij is the time required for a car to pass through path (i, j), Δt represents the time required for a car to wait for another car that needs to pass through path (i, j) to pass through node i when queuing, θ represents the number of cars currently in the queue, τ ij represents the pheromone intensity of path (i, j), η ij represents the heuristic factor of path (i, j), α represents the importance coefficient of pheromones accumulated by ants during movement, β represents the importance coefficient of the heuristic factor, and (i, n) represents all possible nodes;

由状态转移概率

Figure SMS_4
不断迭代选择下一个节点和路径,直至小车到达终点为止,若无法到达终点,则从起始点开始重新进行此过程;By state transition probability
Figure SMS_4
The next node and path are selected iteratively until the car reaches the end point. If the car cannot reach the end point, the process is repeated from the starting point.

S4:评估当前路线解,并记录最优解;S4: Evaluate the current route solution and record the optimal solution;

S5:更新信息素;S5: Update pheromone;

S6:运算终止判断S6: Operation termination judgment

判断当前迭代次数D是否到达预设迭代次数M,若没有,则返回S4并替换D为(D+1);若达到,则停止运算,重置信息素、转移概率,输出最优路线作为小车运行路线,并返回S1。Determine whether the current number of iterations D has reached the preset number of iterations M. If not, return to S4 and replace D with (D+1); if it has, stop the operation, reset the pheromone and transfer probability, output the optimal route as the car's running route, and return to S1.

本发明所达到的有益效果是:The beneficial effects achieved by the present invention are:

本发明提供一种电商物流配送货物自动化出库系统,通过自动出库系统实现物流配送货物的自动分拣出库,出库系统中的算法模块采用改进的蚁群算法为运输货物的小车规划运输路线,实现快速对仓库订单货物的分拣、运输以及出库信息的录入,从而消除人工分拣、人工运输和人工录入出库信息的环节,极大地节省人力,提高物流配送效率;同时在系统运行出现故障时,系统智能切换备选方案,保证出库流程的正常运行。The present invention provides an automated outbound delivery system for e-commerce logistics distribution goods, which realizes automatic sorting and outbound delivery of logistics distribution goods through the automatic outbound delivery system. The algorithm module in the outbound delivery system adopts an improved ant colony algorithm to plan transportation routes for carts transporting goods, thereby realizing rapid sorting, transportation and entry of outbound delivery information for warehouse order goods, thereby eliminating the links of manual sorting, manual transportation and manual entry of outbound delivery information, greatly saving manpower and improving logistics distribution efficiency; at the same time, when a failure occurs in the system operation, the system intelligently switches to an alternative plan to ensure the normal operation of the outbound delivery process.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

附图用来促进对本发明的进一步理解,并构成说明书的一部分,用于与本发明的实施例一起解释本发明,并不构成对本发明的限制。The accompanying drawings are used to promote further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

图1是现有投入使用的分拣装置局部设备示意图;FIG1 is a schematic diagram of a partial equipment of a sorting device currently in use;

图2是本发明的自动出库系统原理图;FIG2 is a schematic diagram of an automatic outbound storage system of the present invention;

图3是本发明自动化出库装置结构图;FIG3 is a structural diagram of the automated warehouse-out device of the present invention;

图4是本发明自动化出库装置拐弯处的结构图;FIG4 is a structural diagram of a turning portion of the automated outbound device of the present invention;

图5是本发明自动化出库装置中使用的自适应移动小车东南等轴侧视图;5 is a southeast isometric view of the adaptive mobile trolley used in the automated outbound storage device of the present invention;

图6是本发明自动化出库装置中使用的自适应移动小车的仰视图;6 is a bottom view of the adaptive mobile vehicle used in the automated outbound device of the present invention;

图7是本发明算法模块的算法流程图。FIG. 7 is an algorithm flow chart of the algorithm module of the present invention.

附图中,1-传送带,2-管道口,3-运输管道,4-卸货管道口,5-小车暂存区,6-空车返回管道,7-辅助圆,41-液压推拉器,42-自适应移动小车,43-横向导轨,44-垂直方向轨道,421-滚轮,422-垂直移动滚轮,423-水平方向移动机构,424-车身,100-服务器,101-识别模块,102-中央处理器Ⅰ,103-算法模块,104-无线传输模块Ⅰ,200-自动化出库装置,201-中央处理器Ⅱ,202-扫描模块,203-重力感应模块,204-执行模块,205-指令模块,206-无线传输模块Ⅱ,207-故障诊断模块,300-用户终端,301-输出模块,302-无线传输模块Ⅲ,303-手机或电脑端。In the accompanying drawings, 1-conveyor belt, 2-pipeline opening, 3-transportation pipeline, 4-unloading pipeline opening, 5-trolley temporary storage area, 6-empty vehicle return pipeline, 7-auxiliary circle, 41-hydraulic push-pull device, 42-adaptive mobile trolley, 43-lateral guide rail, 44-vertical track, 421-roller, 422-vertical moving roller, 423-horizontal moving mechanism, 424-carriage, 100-server, 101-identification module, 102-central processing unit I, 103-algorithm module, 104-wireless transmission module I, 200-automatic warehouse delivery device, 201-central processing unit II, 202-scanning module, 203-gravity sensing module, 204-execution module, 205-command module, 206-wireless transmission module II, 207-fault diagnosis module, 300-user terminal, 301-output module, 302-wireless transmission module III, 303-mobile phone or computer terminal.

具体实施方式DETAILED DESCRIPTION

以下结合附图对本发明的优选实施例进行说明,此处所阐述的优选实施例仅用于说明和解释本发明,本领域技术人员可以想到其他显而易见的变型,并不用于限定本发明。The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. The preferred embodiments described herein are only used to illustrate and explain the present invention. Those skilled in the art may conceive of other obvious variations, and the present invention is not limited thereto.

如图2所示,本发明的一种电商物流配送货物自动出库系统,包括服务器100、自动化出库装置200和用户终端300,服务器100包括中央处理器Ⅰ102和与中央处理器Ⅰ102信号连接的识别模块101、算法模块103、无线传输模块Ⅰ104;自动化出库装置200设置有中央处理器Ⅱ201以及与中央处理器Ⅱ201信号连接的重力感应模块203、扫描模块202、执行模块204、指令模块205、无线传输模块Ⅱ206、故障诊断模块207,重力感应模块203、故障诊断模块207均设置在运送货物的小车上;用户终端300包括输出模块301、无线传输模块Ⅲ302、手机或电脑端303。As shown in Figure 2, an automatic outbound delivery system for e-commerce logistics distribution of the present invention includes a server 100, an automated outbound delivery device 200 and a user terminal 300. The server 100 includes a central processing unit I 102 and an identification module 101, an algorithm module 103, and a wireless transmission module I 104 connected to the central processing unit I 102 by signal; the automated outbound delivery device 200 is provided with a central processing unit II 201 and a gravity sensing module 203, a scanning module 202, an execution module 204, an instruction module 205, a wireless transmission module II 206, and a fault diagnosis module 207 connected to the central processing unit II 201 by signal, and the gravity sensing module 203 and the fault diagnosis module 207 are both arranged on a trolley for transporting goods; the user terminal 300 includes an output module 301, a wireless transmission module III 302, and a mobile phone or computer terminal 303.

所述扫描模块202设置在货物通过的传送带上,扫描货物经过自动化出库装置200的管道口时的信息,并发送给中央处理器Ⅱ201,中央处理器Ⅱ201通过指令模块205派出一辆自适应移动小车接应货物,同时将货物信息通过无线传输模块Ⅱ206、无线传输模块Ⅰ104发送给中央处理器Ⅰ102,中央处理器Ⅰ102通过识别模块101识别货物信息,再经过中央处理器Ⅰ102传送至算法模块103,算法模块103通过货物信息迅速计算出当前运行小车的未来移动路径,并将结果通过无线传输模块传送至中央处理器Ⅱ201,中央处理器Ⅱ201通过执行模块204控制小车运送货物;货物在终点卸载后,小车上的重力感应模块203将卸货信号通过中央处理器Ⅱ201、无线传输模块Ⅱ206、无线传输模块Ⅲ302、输出模块301输出货物出库信息至手机或电脑端303,小车按照执行模块204的控制沿设定路径返回暂存区;小车在运行过程中故障诊断模块207对小车运行状态进行实时监测,一旦小车出现故障,故障诊断模块207发出故障提示并将故障信息上传至中央处理器Ⅰ102,中央处理器Ⅰ102判断当前始发小车是否会经过故障小车区域,若经过则算法模块103更新蚁群算法初始化环境,将故障小车所在节点列为不可行节点,为始发小车重新规划最优路径。The scanning module 202 is arranged on the conveyor belt through which the goods pass, scans the information of the goods when passing through the pipe port of the automatic outbound storage device 200, and sends it to the central processor II 201. The central processor II 201 sends an adaptive mobile car to pick up the goods through the instruction module 205, and at the same time sends the goods information to the central processor I 102 through the wireless transmission module II 206 and the wireless transmission module I 104. The central processor I 102 identifies the goods information through the identification module 101, and then transmits it to the algorithm module 103 through the central processor I 102. The algorithm module 103 quickly calculates the future moving path of the current running car through the goods information, and transmits the result to the central processor II 201 through the wireless transmission module. The central processor II 201 controls the car to transport the goods through the execution module 204 After the goods are unloaded at the destination, the gravity sensing module 203 on the trolley transmits the unloading signal to the mobile phone or computer terminal 303 through the central processor II 201, the wireless transmission module II 206, the wireless transmission module III 302, and the output module 301, and the trolley returns to the temporary storage area along the set path according to the control of the execution module 204; during the operation of the trolley, the fault diagnosis module 207 monitors the operation status of the trolley in real time. Once the trolley fails, the fault diagnosis module 207 issues a fault prompt and uploads the fault information to the central processor I 102. The central processor I 102 determines whether the current starting trolley will pass through the faulty trolley area. If it passes, the algorithm module 103 updates the ant colony algorithm initialization environment, lists the node where the faulty trolley is located as an infeasible node, and re-plans the optimal path for the starting trolley.

中央处理器Ⅰ102与中央处理器Ⅱ201均为AMD Ryzen 7 1800X处理器,是一块超大规模的集成电路,是一台计算机的运算核心(Core)和控制核心。重力感应模块203设有重力感应器,采用弹性敏感元件制成悬臂式位移器,与采用弹性敏感元件制成的储能弹簧来驱动电触点,完成从重力变化到电信号的转换。无线传输模块Ⅰ104、无线传输模块Ⅱ206和无线传输模块Ⅲ302均是是利用电磁波信号可以在自由空间中传播的特性进行信息交换的一种通信方式。扫描模块202采用扫描仪。Both the CPU I 102 and the CPU II 201 are AMD Ryzen 7 1800X processors, which are ultra-large-scale integrated circuits and are the computing core (Core) and control core of a computer. The gravity sensing module 203 is provided with a gravity sensor, which uses elastic sensitive elements to make a cantilevered displacement device, and uses an energy storage spring made of elastic sensitive elements to drive the electrical contacts to complete the conversion from gravity changes to electrical signals. The wireless transmission module I 104, the wireless transmission module II 206 and the wireless transmission module III 302 are all a communication method that uses the characteristics of electromagnetic wave signals that can propagate in free space to exchange information. The scanning module 202 uses a scanner.

如图3-图6所示,自动化出库装置200包括传送带1、进货管道口2、运输管道3、卸货管道口4、小车暂存区5及空车返回管道6,传送带1与进货管道口2对齐固定,传送带1用于传送需要出库的货物,运输管道3包括与进货管道口2一端连通的倒T型管道A以及与倒T型管道A底端连通的若干平行于地面的管道,平行于地面的管道均与卸货管道口4一端连通;卸货管道口4另一端连通空车返回管道6的L型管道一端,L型管道另一端与倒T型管道B底端连通,倒T型管道B顶端与进货管道口2另一端连通;倒T型管道B竖直方向的管道中设有小车暂存区5。As shown in Figures 3 to 6, the automated outbound device 200 includes a conveyor belt 1, an inbound pipe port 2, a transport pipe 3, an unloading pipe port 4, a trolley temporary storage area 5 and an empty car return pipe 6. The conveyor belt 1 is aligned and fixed with the inbound pipe port 2. The conveyor belt 1 is used to transport goods that need to be outbound. The transport pipe 3 includes an inverted T-shaped pipe A connected to one end of the inbound pipe port 2 and a plurality of pipes parallel to the ground connected to the bottom end of the inverted T-shaped pipe A. The pipes parallel to the ground are all connected to one end of the unloading pipe port 4; the other end of the unloading pipe port 4 is connected to one end of the L-shaped pipe of the empty car return pipe 6, the other end of the L-shaped pipe is connected to the bottom end of the inverted T-shaped pipe B, and the top of the inverted T-shaped pipe B is connected to the other end of the inbound pipe port 2; a trolley temporary storage area 5 is provided in the vertical pipe of the inverted T-shaped pipe B.

卸货管道口4的结构如图4所示,包括横向导轨43、液压推拉器41、垂直方向导轨44,横向导轨43分为两段,一段为安装在水平方向运输管道3里的中空导轨,液压推拉器41一端安装在中空导轨内部,另一段为可移动导轨,与液压推拉器41另一端焊接并可水平方向移动,液压推拉器41未运行时,两段导轨处于接合状态,当液压推拉器41启动时,可移动的导轨随着液压推拉器41伸出和收回,液压推拉器41由中央处理器Ⅱ201通过执行模块204控制;垂直方向导轨44安装在竖直方向的运输管道3上。小车42需要调整方向时,中央处理器Ⅱ201通过执行模块204使小车电机停止工作,同时启动横向导轨43内部的液压推拉器41,将小车42推送设定的固定距离,与垂直方向轨道44接合,液压推拉器41收回伸出的可移动导轨,可移动导轨回位后,中央处理器Ⅱ201通过执行模块204重新启动小车电机进入垂直方向的运输管道3。小车暂存区5是用于存放一定数量小车的竖直管道,管道内部按照小车停放空间,安装有能够托住停止工作的小车42的伸缩挡板,挡板的伸缩由中央处理器Ⅱ201通过执行模块204控制。The structure of the unloading pipe port 4 is shown in Figure 4, including a transverse guide rail 43, a hydraulic push-pull device 41, and a vertical guide rail 44. The transverse guide rail 43 is divided into two sections. One section is a hollow guide rail installed in the horizontal transport pipe 3. One end of the hydraulic push-pull device 41 is installed inside the hollow guide rail. The other section is a movable guide rail, which is welded to the other end of the hydraulic push-pull device 41 and can be moved horizontally. When the hydraulic push-pull device 41 is not running, the two sections of the guide rail are in a joined state. When the hydraulic push-pull device 41 is started, the movable guide rail extends and retracts with the hydraulic push-pull device 41. The hydraulic push-pull device 41 is controlled by the central processor II 201 through the execution module 204; the vertical guide rail 44 is installed on the vertical transport pipe 3. When the trolley 42 needs to adjust its direction, the CPU II 201 stops the trolley motor through the execution module 204, and starts the hydraulic pusher 41 inside the transverse guide rail 43, pushing the trolley 42 to a set fixed distance, and engaging with the vertical track 44. The hydraulic pusher 41 retracts the extended movable guide rail. After the movable guide rail returns to its original position, the CPU II 201 restarts the trolley motor through the execution module 204 to enter the vertical transport pipe 3. The trolley temporary storage area 5 is a vertical pipe for storing a certain number of trolleys. A telescopic baffle that can hold the stopped trolley 42 is installed inside the pipe according to the parking space of the trolley. The extension and retraction of the baffle is controlled by the CPU II 201 through the execution module 204.

如图5所示,自适应移动小车42包括滚轮421、垂直移动滚轮422、水平方向移动机构423及正方形的车身424,车身424内部设有体用小车移动动力的电机、滚轮驱动装置及减速机,滚轮421一部分安装在车身424内,垂直移动滚轮422固定在车身424四个角上,滚轮421和垂直移动滚轮422由滚轮驱动装置驱动,驱动滚轮421即可实现卸货;水平方向移动机构423带动小车水平方向移动,且水平方向移动机构423与车身424相嵌部分设有转动轴承,用于小车在上下方向运行时旋转水平方向移动机构423(仅当小车运行的下个水平移动管道垂直于上个水平移动管道时旋转90度);滚轮驱动装置和水平方向移动机构423由中央处理器Ⅱ201通过执行模块204控制。As shown in FIG5 , the adaptive mobile trolley 42 includes a roller 421, a vertical moving roller 422, a horizontal moving mechanism 423 and a square body 424. The body 424 is provided with a motor, a roller driving device and a reducer for driving the trolley. A part of the roller 421 is installed in the body 424, and the vertical moving roller 422 is fixed on the four corners of the body 424. The roller 421 and the vertical moving roller 422 are driven by the roller driving device, and the driving roller 421 can realize unloading; the horizontal moving mechanism 423 drives the trolley to move horizontally, and the part where the horizontal moving mechanism 423 and the body 424 are embedded is provided with a rotating bearing, which is used to rotate the horizontal moving mechanism 423 when the trolley moves in the up and down directions (rotates 90 degrees only when the next horizontal moving pipe of the trolley is perpendicular to the previous horizontal moving pipe); the roller driving device and the horizontal moving mechanism 423 are controlled by the central processor II 201 through the execution module 204.

图6为发明本实施例的自适应移动小车仰视图,圆7是一个辅助圆,用于限制小车42水平方向移动机构423的尺寸,以便在转换角度时不超出可旋转范围。FIG6 is a bottom view of the adaptive moving trolley of the present embodiment of the invention. Circle 7 is an auxiliary circle used to limit the size of the horizontal moving mechanism 423 of the trolley 42 so as not to exceed the rotatable range when changing the angle.

所述算法模块103采用改进的蚁群算法来规划小车运行路线,如图7所示,包括以下步骤:The algorithm module 103 uses an improved ant colony algorithm to plan the vehicle's running route, as shown in FIG7 , including the following steps:

S1:初始化环境和算法参数S1: Initialize environment and algorithm parameters

初始化环境:给出运输管道3节点的点集(包括货物托接口、管道转向点和出口)和边集,具体为:定义G=(V,E)为自动化出库装置200的环境图,其中V={1,2,…,n}为环境中各运输管道3节点的集合,即点集;E={(i,j)|i,j∈V,i≠j}为各定位点间的可行路线集合,即边集;任意两节点i和j的距离为dijInitialize the environment: Give the point set (including the cargo tray interface, pipeline turning point and exit) and edge set of the three nodes of the transportation pipeline. Specifically, define G = (V, E) as the environment graph of the automated outbound device 200, where V = {1, 2, ..., n} is the set of three nodes of each transportation pipeline in the environment, i.e., the point set; E = {(i, j) | i, j∈V, i≠j} is the set of feasible routes between each positioning point, i.e., the edge set; the distance between any two nodes i and j is d ij ;

初始化算法参数:定义蚂蚁数量为N,最大迭代次数为M,当前迭代次数为D,初始化信息素挥发系数ρ∈[0,1],并在后续步骤更新信息素;优化目标是寻找一条从节点1出发到节点n终止的路径,使得所获得的路径最短。Initialize algorithm parameters: define the number of ants as N, the maximum number of iterations as M, the current number of iterations as D, initialize the pheromone volatility coefficient ρ∈[0,1], and update the pheromone in subsequent steps; the optimization goal is to find a path starting from node 1 and ending at node n so that the obtained path is the shortest.

S2:算法模块103接收小车路线规划任务,小车从执行模块204接收路线信息。S2: The algorithm module 103 receives the car route planning task, and the car receives the route information from the execution module 204.

S3:构建小车运输路线解S3: Construct a solution for the transportation route of a small vehicle

对于每只蚂蚁从节点1出发,在寻找第k+1个节点时,依照概率

Figure SMS_5
从可行点集S={j∈V|{1,n}∪O}中选取一个节点,O为当前未走过路径T包含的点集,考虑在路径(i,j)的小车排队状况及路径长度,在状态转移概率中加入权重系数wij,加快算法收敛速度,如下:For each ant starting from node 1, when searching for the k+1th node, according to the probability
Figure SMS_5
Select a node from the feasible point set S = {j∈V|{1,n}∪O}, where O is the point set included in the current untraveled path T. Consider the queue status and path length of the vehicles on the path (i,j), and add the weight coefficient w ij to the state transition probability to speed up the convergence of the algorithm, as follows:

Figure SMS_6
Figure SMS_6

Figure SMS_7
Figure SMS_7

其中:davg是从节点i到所有下一邻近节点的路径平均值,tij为小车经过路径(i,j)所需花费的时间,Δt表示小车在排队时等待需要通过路径(i,j)的另一辆小车通过节点i所需花费的时间,θ表示当前排队小车的数量,τij表示路径(i,j)的信息素强度;

Figure SMS_8
表示路径(i,j)的启发因子,对距离i较近的节点,偏好度较高;α表示蚂蚁在运动过程中所积累的信息素重要性系数,β表示启发因子的重要性系数;(i,n)表示所有可能的节点;wij为路径长度因素和小车排队长度因素的综合系数。Where: d avg is the path average from node i to all next adjacent nodes, t ij is the time it takes for a car to pass through path (i, j), Δt is the time it takes for a car to wait for another car that needs to pass through path (i, j) to pass through node i when queuing, θ is the number of cars currently in the queue, and τ ij is the pheromone intensity of path (i, j);
Figure SMS_8
represents the inspiration factor of path (i, j), and the preference for nodes closer to i is higher; α represents the importance coefficient of pheromones accumulated by ants during movement, β represents the importance coefficient of inspiration factor; (i, n) represents all possible nodes; w ij is the comprehensive coefficient of path length factor and car queue length factor.

按照状态转移概率

Figure SMS_9
不断迭代选择下一个节点和路径,直至小车到达终点为止,若无法到达终点,则从起始点开始重新进行此步骤。According to the state transition probability
Figure SMS_9
The next node and path are selected iteratively until the car reaches the end point. If the car cannot reach the end point, repeat this step from the starting point.

S4:评估当前路线解,并记录最优解:比较每只蚂蚁搜索到的路线总长度,并记录最短路线;S4: Evaluate the current route solution and record the optimal solution: compare the total length of the routes searched by each ant and record the shortest route;

S5:更新信息素:在所有蚂蚁都构造完一个解后,各节点之间线路上的信息素按如下规则更新:S5: Update pheromone: After all ants have constructed a solution, the pheromones on the lines between nodes are updated according to the following rules:

τij(l+1)=ρτij(l)+Δτij(l)τ ij (l+1)=ρτ ij (l)+Δτ ij (l)

若τij(l+1)<τmin,则τij(l+1)=τmin If τ ij (l+1)<τ min , then τ ij (l+1)=τ min

若τij(l+1)>τmax,则τij(l+1)=τmax If τ ij (l+1)>τ max , then τ ij (l+1)=τ max

Figure SMS_10
Figure SMS_10

Figure SMS_11
Figure SMS_11

当蚂蚁k在本次循环中经过路径(i,j)时,

Figure SMS_12
否则为0;
Figure SMS_13
When ant k passes through path (i,j) in this cycle,
Figure SMS_12
Otherwise, 0;
Figure SMS_13

其中τij(l)是第l代路径(i,j)上的信息素,Δτij(l)是本次循环路径中(i,j)信息素浓度增加的值,初始时刻为0,Lk是第k只蚂蚁在本次循环路径中所走路径的长度,Q为常数,Lb为当前所找到的最优路径,在

Figure SMS_14
中添加权重λ,使得优于当前最优路径的路线信息素增量明显高于劣于当前最优路径的路线,优化信息素浓度更新方式。Where τ ij (l) is the pheromone on the l-th generation path (i, j), Δτ ij (l) is the value of the increase in the pheromone concentration of (i, j) in this cycle path, the initial time is 0, L k is the length of the path taken by the k-th ant in this cycle path, Q is a constant, L b is the optimal path currently found,
Figure SMS_14
The weight λ is added in the , so that the pheromone increment of the route that is better than the current optimal path is significantly higher than the route that is worse than the current optimal path, and the pheromone concentration update method is optimized.

S6:运算终止判断S6: Operation termination judgment

判断当前迭代次数D是否到达预设迭代次数M,若没有,则返回S4并替换D为(D+1);若达到,则停止运算,重置信息素τ、转移概率

Figure SMS_15
输出最优路线Lbest作为小车运行路线,并重置返回S1。Determine whether the current number of iterations D has reached the preset number of iterations M. If not, return to S4 and replace D with (D+1); if it has, stop the operation and reset the pheromone τ and the transfer probability
Figure SMS_15
Output the optimal route L best as the vehicle's running route, and reset and return to S1.

本发明在商品出库时,无需人工进行分拣、扫描、点验等工作,大大提高了出库效率,减少出错率,降低人工成本。The present invention eliminates the need for manual sorting, scanning, and checking of commodities when they are shipped out of the warehouse, thereby greatly improving the efficiency of shipping out of the warehouse, reducing the error rate, and reducing labor costs.

最后应该说明的是:以上所述仅为本发明的优选实施例而已,并不用于限制本发明,尽管参照前述实施例对本发明进行了详细的说明,对于本领域的技术人员来说,其依然可以对前述实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换,凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope 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
Figure QLYQS_1
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
Figure QLYQS_2
Figure QLYQS_3
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
Figure QLYQS_4
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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