CN111126705B

CN111126705B - Transport path generation method and device for dense storage and electronic equipment

Info

Publication number: CN111126705B
Application number: CN201911363130.0A
Authority: CN
Inventors: 郭瑞; 李佳骏
Original assignee: Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Beijing Kuangshi Robot Technology Co Ltd
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2022-09-27
Anticipated expiration: 2039-12-25
Also published as: CN111126705A

Abstract

The invention provides a method and a device for generating a carrying path of intensive storage and electronic equipment, and relates to the technical field of logistics storage, wherein the method comprises the following steps: acquiring current position distribution of supply units in a preset storage area of intensive storage and at least one target supply unit to be transported; determining the number of the blocking boxes of each target supply unit according to the current position distribution; for each target supply unit, acquiring at least one to-be-selected carrying path corresponding to the target supply unit according to the number of the blocking boxes of the target supply unit; and determining a target transport path corresponding to each target supply unit according to the to-be-selected transport path corresponding to each target supply unit. The invention can reduce the quantity of the goods supply obstructing units in the target carrying path corresponding to each target goods supply unit as much as possible, and simultaneously reduce the total quantity of the goods supply obstructing units corresponding to all the target goods supply units as much as possible, thereby improving the picking efficiency.

Description

Transport path generation method and device for dense warehousing and electronic equipment

Technical Field

The invention relates to the technical field of logistics storage, in particular to a method and a device for generating a carrying path of intensive storage and electronic equipment.

Background

As the industries are more and more concerned about the reasonable utilization of land resources, the intensive storage technology is increasingly receiving wide attention. On one hand, each industry requires to improve the space utilization rate and generate greater efficiency in a limited space; on the other hand, various industries are also required to improve automation rate and meet demands at low cost and high efficiency.

Intensive storage generally indicates to utilize special access mode or goods shelves structure, realizes the continuous storage of goods on the goods shelves degree of depth, reaches the warehouse system of storage density maximize. For the purpose of saving space, dense warehousing often has the inherent characteristic of few operation channels, and the few operation channels make picking (transporting) a needed target shelf possibly have a shelf which obstructs the movement of the target shelf, so that the picking efficiency is low.

Disclosure of Invention

In view of the above, the present invention provides a method and an apparatus for generating a transportation path of a dense warehouse, and an electronic device, so as to improve the picking efficiency.

In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:

in a first aspect, an embodiment of the present invention provides a method for generating a conveying path of a dense warehouse, including:

acquiring current position distribution of supply units in a preset storage area of intensive storage and at least one target supply unit to be transported; the goods supply unit is used for storing goods;

determining the number of the blocking boxes of each target supply unit according to the current position distribution; the number of the blocking boxes of the target supply unit is the minimum number of the corresponding blocking supply units when the target supply unit is moved out of the preset storage area;

for each target supply unit, acquiring at least one to-be-selected carrying path corresponding to the target supply unit according to the number of the blocking boxes of the target supply unit; the number of the nodes in the to-be-selected carrying path is related to the number of the blocking boxes of the target supply unit, and the nodes are positions of the blocking supply units corresponding to the target supply unit;

and determining a target transport path corresponding to each target supply unit according to the to-be-selected transport path corresponding to each target supply unit.

Further, the step of determining the number of hampered containers for each of said targeted delivery units based on said current location distribution comprises:

determining the number of layers of the occupying layer to which each target supply unit belongs according to the current position distribution; the preset storage area is regarded as comprising a plurality of vacant layers and a plurality of occupied layers, the first occupied layer is composed of occupied positions adjacent to the vacant positions of the first vacant layers or adjacent to a roadway, the first vacant layer is composed of vacant positions adjacent to the roadway and vacant positions communicated with the vacant positions, the roadway is a channel for conveying equipment for conveying the supply unit to pass through around the preset storage area, the vacant positions are positions where the supply unit is not placed, and the occupied positions are positions where the supply unit is placed; the nth layer of space occupying layer consists of space occupying positions adjacent to the nth layer of space occupying layer, the nth layer of space occupying layer consists of space occupying positions adjacent to the (N-1) th layer of space occupying layer and space occupying positions communicated with the space occupying positions, and N is a natural number greater than 1;

and determining the difference obtained by subtracting 1 from the layer number of the occupied layer to which each target supply unit belongs as the number of the blocking boxes of the target supply unit.

Further, the step of determining the number of layers of the placeholder to which each target supply unit belongs according to the current position distribution includes:

according to the current position distribution, carrying out the following hierarchical calculation on each position in the preset storage area according to the sequence from outside to inside to obtain a plurality of vacant layers and a plurality of occupying layers: obtaining all positions of the first layer of vacant layer by obtaining vacant positions adjacent to the roadway and vacant positions communicated with the vacant positions; all positions of the first layer of occupied layer are obtained by obtaining occupied positions adjacent to the vacant positions of the first layer of vacant layer or adjacent to the roadway; obtaining all positions of the N-1 th layer of vacant layer by obtaining vacant positions adjacent to the positions of the N-1 th layer of occupied layer and vacant positions communicated with the vacant positions; obtaining all positions of the N-th layer of occupation layer by obtaining occupation positions adjacent to the N-th layer of spare layer;

and searching the plurality of space occupying layers to obtain the layer number of the space occupying layer to which each target supply unit belongs.

Further, the step of obtaining at least one to-be-selected carrying path corresponding to the target supply unit according to the number of the blocking boxes of the target supply unit includes:

acquiring a plurality of selectable paths corresponding to the target supply unit, wherein the selectable paths are paths for transporting the target supply unit out of the preset storage area;

calculating the number of nodes in each optional path;

and determining the selectable paths with the number of the nodes equal to the number of the blocking boxes of the target supply unit as the to-be-selected conveying paths corresponding to the target supply unit.

Further, the step of determining a target transport path corresponding to each target supply unit according to a to-be-selected transport path corresponding to each target supply unit includes:

the following processing is carried out on each target supply unit comprising at least two to-be-selected carrying paths:

determining the outermost layer node of each to-be-selected carrying path corresponding to the target goods supply unit, wherein the outermost layer node is the node closest to the roadway;

determining the position preference value of each outermost layer node according to the to-be-selected carrying path corresponding to each target supply unit; the position preference value of the outermost node is related to the number of target supply units corresponding to the to-be-selected carrying path containing the outermost node;

sequencing the nodes of the outermost layer according to the position preference value to obtain a first sequencing result;

and determining a target carrying path corresponding to the target supply unit according to the first sequencing result.

Further, the step of determining the position preference value of each outermost layer node according to the to-be-selected carrying path corresponding to each target supply unit includes:

for each of the outermost nodes, performing the following:

screening out a to-be-selected carrying path containing the outermost node from each to-be-selected carrying path;

counting the number of target supply units corresponding to the to-be-selected carrying path including the outermost node;

and determining the number of the target supply units obtained by statistics as the position preference value of the outermost layer node.

Further, the step of determining the target transport path corresponding to the target supply unit according to the first sorting result includes:

screening out a first node to be selected with the largest position preference value from each outermost layer node according to the first sequencing result;

judging whether the number of the first nodes to be selected is larger than 1;

if the number of the first nodes to be selected is larger than 1, calculating a distance difference value corresponding to each first node to be selected, wherein the distance difference value corresponding to the first node to be selected is the minimum value of a row number difference value in the row direction and a column number difference value in the column direction of a target position where the first node to be selected and the target supply unit are located; screening out second nodes to be selected with the smallest distance difference from the first nodes to be selected, and determining a target carrying path corresponding to the target supply unit according to the number of the second nodes to be selected;

and if the number of the first nodes to be selected is equal to 1, determining the to-be-selected conveying path containing the first nodes to be the target conveying path corresponding to the target supply unit.

Further, the step of determining a target carrying path corresponding to the target supply unit according to the number of the second nodes to be selected includes:

judging whether the number of the second nodes to be selected is greater than 1;

if the number of the second nodes to be selected is larger than 1, calculating to obtain the distance from each second node to be selected to the roadway, and determining a to-be-selected carrying path containing the second node to be selected with the smallest distance to the roadway as a target carrying path corresponding to the target supply unit;

and if the number of the second nodes to be selected is equal to 1, determining the carrying path to be selected containing the second nodes to be selected as the target carrying path corresponding to the target supply unit.

In a second aspect, an embodiment of the present invention further provides a conveying path generating device for dense warehousing, including:

the first acquisition module is used for acquiring the current position distribution of the supply units in the preset storage area of the intensive warehouse and at least one target supply unit to be transported; the goods supply unit is used for storing goods;

the number-of-blocked boxes determining module is used for determining the number of blocked boxes of each target supply unit according to the current position distribution; the number of the blocking boxes of the target supply unit is the minimum number of the corresponding blocking supply units when the target supply unit is moved out of the preset storage area;

the second acquisition module is used for acquiring at least one to-be-selected carrying path corresponding to each target supply unit according to the number of the blocking boxes of the target supply unit; the number of the nodes in the to-be-selected carrying path is related to the number of the blocking boxes of the target supply unit, and the nodes are positions of the blocking supply units corresponding to the target supply unit;

and the path determining module is used for determining a target conveying path corresponding to each target supply unit according to the to-be-selected conveying path corresponding to each target supply unit.

In a third aspect, an embodiment of the present invention provides an electronic device, including: a processor and a storage device; the storage device has stored thereon a computer program which, when executed by the processor, performs the method of any one of the preceding aspects.

In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the steps of the method according to any one of the above-mentioned first aspect.

The embodiment of the invention provides a method, a device and electronic equipment for generating a carrying path of intensive storage, wherein when a target carrying path corresponding to a target supply unit is generated, the number of blocking boxes of each target supply unit and the relation between to-be-selected carrying paths corresponding to the target supply units are considered, so that the number of blocking supply units in the target carrying path corresponding to each target supply unit is reduced as much as possible, and the total number of blocking supply units corresponding to all target supply units is reduced as much as possible, so that each target supply unit is conveniently carried out from a preset storage area, and the picking efficiency is improved.

Additional features and advantages of embodiments of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of the invention as set forth above.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic diagram illustrating a dense warehousing system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;

fig. 3 is a flowchart illustrating a method for generating a transportation path of a dense warehouse according to an embodiment of the present invention;

FIG. 4 is a diagram illustrating a hierarchical computation process provided by an embodiment of the present invention;

fig. 5 is a schematic diagram illustrating a process of acquiring a target transportation path according to an embodiment of the present invention;

fig. 6 is a schematic diagram illustrating another target carrying path acquiring process provided by the embodiment of the invention;

fig. 7 is a schematic diagram illustrating another target carrying path acquiring process provided by the embodiment of the invention;

FIG. 8 is a flow chart illustrating another method for generating a transportation path of a dense warehouse according to an embodiment of the present invention;

fig. 9 is a block diagram illustrating a structure of a conveying path generating device for dense warehousing according to an embodiment of the present invention.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, not all, embodiments of the present invention.

The drive-in type dense warehouse is a goods shelf in which a forklift or an AGV (Automated Guided Vehicle) enters the goods shelf to perform goods storage and taking operation, and a running channel of the forklift or the AGV is a storage space of goods. The drive-in type dense storage is the most widely used dense storage shelf at present, has low cost, simple structure and low maintenance cost, and can realize high storage rate.

Referring to fig. 1, a schematic diagram of a dense warehouse system is shown, as shown in fig. 1, the dense warehouse system includes: the system comprises a site and a preset storage area, wherein the preset storage area comprises a plurality of positions for placing supply units. The station is generally a picking station, and the picking station is a place where a worker or a robot takes goods from a supply unit according to the requirement of an order, wherein the order is a request form for requiring the worker or the robot to take and package a plurality of goods from the inventory of the supply unit corresponding to the station. The supply units in the predetermined storage area are generally shelves or boxes for storing goods, and one station corresponds to the supply units at a plurality of positions. All there is tunnel (operation passageway) between the preset storage area and between preset storage area and the website, and the tunnel is the passageway that is used for transporting the haulage equipment (like fork truck or AGV) of supplying the unit of supplying goods to pass, and wherein haulage equipment can bore and supply goods unit below, lifts the unit of supplying goods from ground, then transports the unit of supplying goods and removes.

For the above-mentioned dense warehousing system, when the target supply unit is transported to the corresponding station from the preset storage area, a transportation path of the target supply unit needs to be planned. The inventor finds that, in the prior art, when the carrying path of the target supply unit is generated, only the current target supply unit is usually considered, and other subsequent target supply units are not considered, so that there may be a case that the optimal carrying path of the current target supply unit is not favorable for carrying of the subsequent target supply units, so that the total number of the supply blocking units to be moved is not the minimum for all the target supply units to be executed, and a situation that jamming may occur between carrying apparatuses performing the picking operation may occur, thereby causing collision and disorder of the picking operation to easily occur, and the picking efficiency to be low.

In view of the problem of low picking efficiency in the dense warehouse in the prior art, in order to improve the problem, the embodiment of the invention provides the method, the device and the electronic equipment for generating the carrying path of the dense warehouse. It should be noted that the supply units in the preset storage area in fig. 1 are arranged in the form of 5 × 5, but the scope of the present invention is not limited thereto, and the supply units may also be arranged in the form of 4 × 4, 5 × 4, or 6 × 6. The following describes embodiments of the present invention in detail.

The first embodiment is as follows:

first, an exemplary electronic device 100 for implementing a transportation path generating method and apparatus for dense warehousing according to an embodiment of the present invention is described with reference to fig. 2.

As shown in fig. 2, an electronic device 100 includes one or more processors 102, one or more memory devices 104, an input device 106, an output device 108, and an image capture device 110, which are interconnected via a bus system 112 and/or other type of connection mechanism (not shown). It should be noted that the components and structure of the electronic device 100 shown in fig. 2 are only exemplary and not limiting, and the electronic device may have some of the components shown in fig. 2 and may have other components and structures not shown in fig. 2 as needed.

The processor 102 may be implemented in at least one hardware form of a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), the processor 102 may be one or a combination of several of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), or other forms of processing units having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 100 to perform desired functions.

The storage 104 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. On which one or more computer program instructions may be stored that may be executed by processor 102 to implement client-side functionality (implemented by the processor) and/or other desired functionality in embodiments of the invention described below. Various applications and various data, such as various data used and/or generated by the applications, may also be stored in the computer-readable storage medium.

The input device 106 may be a device used by a user to input instructions and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like.

The output device 108 may output various information (e.g., text, images, or sounds) to an outside (e.g., a user), and may include one or more of a display, a speaker, and the like.

The image capture device 110 may take images (e.g., photographs, videos, etc.) desired by the user and store the taken images in the storage device 104 for use by other components.

Exemplarily, an exemplary electronic device for implementing the transportation path generation method for dense warehousing according to an embodiment of the present invention may be implemented as a smart terminal such as a smart phone, a tablet computer, a computer, and the like.

Example two:

referring to fig. 3, a flow chart of a method for generating a transportation path of a dense warehouse mainly includes the following steps S302 to S308:

step S302, acquiring current position distribution of supply units in a preset storage area of the dense warehouse and at least one target supply unit to be transported; wherein, supply unit is used for the stock goods.

The target supply unit to be transported is located in the preset storage area, and the target supply unit needs to be transported out of the preset storage area. In this embodiment, when the carrying path is generated for a plurality of target supply units located in the same preset storage area, the effect of improving the picking efficiency is better than that when the carrying path is generated for one target supply unit.

Step S304, determining the number of the blocking boxes of each target supply unit according to the current position distribution; the number of the blocking boxes of the target supply unit is the minimum number of the corresponding blocking supply units when the target supply unit is moved out of the preset storage area.

Step S306, for each target supply unit, acquiring at least one to-be-selected carrying path corresponding to the target supply unit according to the number of the blocking boxes of the target supply unit; the number of the nodes in the to-be-selected conveying path is related to the number of the blocking boxes of the target supply unit, and the nodes are positions of the blocking supply units corresponding to the target supply unit.

The number of the nodes in the candidate transportation path may be equal to the number of the blocked boxes of the target supply unit. The number of the blocked supply units corresponding to the target supply unit can be ensured to be the least as possible by acquiring the to-be-selected carrying paths related to the number of the blocked boxes of the target supply unit.

Step S308, determining a target transportation path corresponding to each target supply unit according to the to-be-selected transportation path corresponding to each target supply unit.

When the target transport path corresponding to each target supply unit is determined, the to-be-selected transport paths corresponding to the target supply units are considered integrally, so that the target transport path corresponding to the previous target supply unit can help the mobile supply units to be executed later, which are the target supply units to be executed, as few as possible, and the total number of the supply hindering units corresponding to all the target supply units is reduced as possible.

According to the method for generating the carrying paths of the intensive storage provided by the embodiment of the invention, when the carrying paths of the target supply units to be carried are generated, the number of the blocking boxes of each target supply unit and the relation between the carrying paths to be selected corresponding to the target supply units are considered, so that the number of the blocking supply units in the target carrying path corresponding to each target supply unit is reduced as much as possible, and the total number of the blocking supply units corresponding to all the target supply units is reduced as much as possible, so that each target supply unit can be conveniently carried out from a preset storage area, the coordination problem of picking operation is effectively relieved, the conflict and disorder of the picking operation are avoided to a certain extent, and the picking efficiency is improved.

For ease of understanding, the present embodiment provides an implementation manner of the step S304, which is specifically shown in the following step 1.1 and step 1.2:

step 1.1, determining the number of layers of the space occupying layer to which each target supply unit belongs according to the current position distribution.

The preset storage area can be regarded as comprising a plurality of vacant layers and a plurality of occupied layers, the first occupied layer is composed of occupied positions adjacent to the vacant positions of the first vacant layers or adjacent to a roadway, the first vacant layers are composed of vacant positions adjacent to the roadway and vacant positions communicated with the vacant positions, the roadway is a channel for conveying equipment for conveying the supply unit around the preset storage area to pass through, the vacant positions are positions where the supply unit is not placed, and the occupied positions are positions where the supply unit is placed; the nth layer of space occupying layer consists of space occupying positions adjacent to the nth layer of space occupying layer, the nth layer of space occupying layer consists of space occupying positions adjacent to the (N-1) th layer of space occupying layer and space occupying positions communicated with the space occupying positions, and N is a natural number greater than 1. The first layer of occupation layer represents that the number of layers of this occupation layer is 1, the nth layer of occupation layer represents that the number of layers of this occupation layer is N, the number of layers that the first layer of vacant layer represents this vacant layer is 1, the number of layers that the nth layer of vacant layer represents this vacant layer is N.

Alternatively, the step 1.1 can be realized by the following process: the method comprises the steps of firstly, according to current position distribution, carrying out layered calculation on positions in a preset storage area from outside to inside to obtain a plurality of vacant layers and a plurality of occupying layers, and then searching the plurality of occupying layers to obtain the number of occupying layers to which each target delivery unit belongs.

The following describes in detail the process of performing hierarchical computation on each position in the preset storage area according to the sequence from outside to inside to obtain a plurality of free layers and a plurality of placeholder layers:

obtaining all positions of a first layer of vacant layer by obtaining vacant positions adjacent to the roadway and vacant positions communicated with the vacant positions;

acquiring all positions of the first layer of occupied layer by acquiring occupied positions adjacent to the vacant positions of the first layer of vacant layer or adjacent to the roadway;

obtaining all positions of the N-1 th layer of vacant layer by obtaining vacant positions adjacent to the positions of the N-1 th layer of occupied layer and vacant positions communicated with the vacant positions;

and obtaining all positions of the occupation layer of the Nth layer by obtaining the occupation positions adjacent to the vacant layer of the Nth layer. It should be noted that the preset storage area described in this embodiment includes a plurality of free layers and a plurality of placeholders, which are only logical concepts and do not represent actual occupation of each location in the preset storage area. The number of free locations in the free layer and the number of occupied locations in the occupied layer may represent actual occupation of locations in the preset storage area. Specifically, when the number of vacant positions included in a certain layer of vacant layer is 0, it indicates that the layer of vacant layer does not actually exist in the preset storage area, and when the number of occupied positions included in a certain layer of occupied layer is 0, it indicates that the occupied layer does not actually exist in the preset storage area.

That is, the number of the free locations included in each of the free layers in the preset storage area may be at least one, and may also be 0 (that is, the included free locations are empty). When the number of the vacant positions included in a certain layer of the vacant layer is 0, it indicates that the layer of the vacant layer does not actually exist in the preset storage area. For example, when the preset storage area is fully occupied (all positions of the preset storage area are occupied positions), the number of the vacant positions included in each layer is 0, that is, there is no vacant layer in the preset storage area.

The number of occupied positions included in each layer of occupied layer in the preset storage area may be at least one, and may also be 0. For example, when a supply unit is not yet placed in the preset storage, all locations of the preset storage area are vacant locations, the preset storage area only has a first layer vacant layer and a first layer occupied layer, the vacant locations included in the first layer vacant layer are all locations of the preset storage area, the number of occupied locations included in the first layer occupied layer is 0, and that is, there is no occupied layer in the storage area.

In this embodiment, the preset storage areas are not layered in the vertical height, which can be understood as only one layer in the vertical height; the layering is to divide the supply units in a horizontal plane according to whether the supply units are blocked by other supply units and the quantity of the blocked supply units. Optionally, this embodiment further provides an implementation process on a computer program of the hierarchical computation, as follows:

first, initialization parameters are set: the number of the remaining positions is the total number of the positions of the preset storage area, and the number of layers of all the positions in the preset storage area is a preset value. Wherein the preset value is an integer value less than 1, for example, the preset value is-1. The position where the number of layers is a preset value indicates a position where the layering calculation is not performed, that is, a remaining position.

Then, the following processing is carried out on each position in the preset storage area according to the sequence from outside to inside:

judging whether the number of the residual positions is greater than 0;

if the number of remaining positions is greater than 0, performing the following steps:

s1, setting the layer mark of the nth layer as a vacant layer mark, determining the initial position of the nth layer according to each position of the (n-1) th layer, obtaining all positions of the nth layer vacant layer by obtaining vacant positions communicated with the initial position of the nth layer, and updating the number of the residual positions, wherein the initial position of the nth layer is a vacant position (when n is larger than 1) adjacent to each position of the (n-1) th layer or a vacant position (when n is equal to 1) adjacent to a roadway, and n is an integer larger than or equal to 1; obtaining an nth layer of spare layer;

s2, replacing the layer mark of the nth layer with an occupying layer mark; all positions of the nth layer of occupied layer are obtained by obtaining occupied positions adjacent to the vacant positions of the nth layer of vacant layer or adjacent to the roadway, and the number of the rest positions is updated; at the moment, an nth layer of occupying layer is obtained;

s3, if the number of the residual positions after updating is more than 0, adding 1 to the value of n, and continuing executing S1 and S2;

until the number of the remaining positions which do not participate in the hierarchical calculation in the preset storage area is 0;

and if the number of the residual positions is equal to 0, outputting the currently calculated vacant layers and occupied layers.

Optionally, a breadth-first search method may be adopted when the above-mentioned obtaining of the vacant position communicated with the initial position of the current layer is performed.

For convenience of understanding, the present embodiment provides a schematic process diagram of hierarchical computation as shown in fig. 4, where the shaded position represents an empty position, the other positions represent occupancy positions, the position labeled 1 represents belonging to a first-layer occupancy layer (the number of layers of the position is 1), and the position labeled 2 represents belonging to a second-layer occupancy layer (the number of layers of the position is 2). As shown in fig. 4, first, a first layer of free layer is calculated, and a free position (a position indicated by a dotted arrow in fig. 4) with row and column coordinates (4, 5) is obtained; then, calculating a first layer of space occupying layer to obtain each position marked as 1; then, calculating a second layer of vacant layer to obtain a vacant position (the position indicated by the dotted arrow in fig. 4) with row and column coordinates (3, 4); and finally, calculating a second layer of occupation layer to obtain each position marked as 2, and finishing the layered calculation.

And step 1.2, determining the difference value obtained by subtracting 1 from the layer number of the occupied layer to which each target supply unit belongs as the number of the blocking boxes of the target supply unit.

For example, if the target supply unit belongs to the second floor space, the number of the blocking boxes of the target supply unit is the difference 1 obtained by subtracting 1 from the number 2 of the second floor space.

For ease of understanding, the present embodiment provides an implementation manner of the step S306, which is specifically shown as the following step 2.1 to step 2.3:

and 2.1, acquiring a plurality of selectable paths corresponding to the target supply unit, wherein the selectable paths are paths for transporting the target supply unit out of a preset storage area.

The multiple selectable paths corresponding to the target supply unit are generated, and the specific path generation process may refer to related contents in the prior art, which are not described herein again.

And 2.2, calculating the number of the nodes in each optional path.

The path preference value of each optional path can be obtained by counting the number of nodes in each optional path, that is, the path preference value of the optional path is equal to the number of nodes of the optional path; the path preference value of the selectable path is used for representing the preference degree of the selectable path, and the greater the path preference value is, the lower the preference degree is. The node here refers to a location where a blocking supply unit is provided.

And 2.3, determining the selectable paths with the number of the nodes equal to the number of the blocking boxes of the target supply unit as the to-be-selected conveying paths corresponding to the target supply unit.

For example, if the number of the hampered boxes of the target supply unit is 2, the selectable path with the path preference value equal to 2 is determined as the to-be-selected transportation path corresponding to the target supply unit. The number of the blocked boxes of the target supply unit in the to-be-selected carrying path is minimum.

For convenience of understanding, for each target supply unit including at least two to-be-selected conveying paths, the embodiment provides an implementation manner of the step S308, which is specifically shown as the following steps 3.1 to 3.4:

and 3.1, determining the outermost node of each to-be-selected carrying path corresponding to the target goods supply unit, wherein the outermost node is the node closest to the roadway.

Step 3.2, determining the position preference value of each outermost layer node according to the to-be-selected carrying path corresponding to each target goods supply unit; the position preference value of the outermost node is related to the number of target supply units corresponding to the to-be-selected carrying path containing the outermost node.

The position preference value of the outermost layer node is used for representing the preference degree of the outermost layer node, and the greater the position preference value is, the higher the preference degree is. The number of target supply units corresponding to the to-be-selected carrying path including the outermost node is as follows: the number of targeted sourcing units associated with the outermost node. For example, if the candidate transportation path corresponding to a target supply unit includes the outermost node, the outermost node is related to the target supply unit. Because one target supply unit may correspond to one or more candidate transportation paths, and one candidate transportation path corresponds to one target supply unit, multiple candidate transportation paths may correspond to one or more target supply units, and thus the number of target supply units corresponding to the candidate transportation path including the outermost node is less than or equal to the number of candidate transportation paths including the outermost node.

In a specific implementation, the following may be performed for each outermost node: screening out a to-be-selected carrying path containing the outermost layer node from each to-be-selected carrying path; counting the number of target supply units corresponding to the to-be-selected carrying path comprising the outermost node; and determining the number of the target supply units obtained by statistics as the position preference value of the outermost layer node.

For example, for an outermost node a, a path including the outermost node a is screened from all to-be-selected carrying paths, the screened path is referred to as a preferred carrying path, and each preferred carrying path corresponds to a target supply unit; then, counting the quantity B of target supply units corresponding to all the preferred carrying paths, wherein if a plurality of preferred carrying paths correspond to the same target supply unit, the target supply unit only counts once; finally, the number B is determined as the position preference value of the outermost node.

And 3.3, sequencing the nodes of the outermost layer according to the position preference value to obtain a first sequencing result.

The nodes in the outermost layer may be sorted in the order of the position preference values from large to small or from small to large to obtain a first sorting result.

And 3.4, determining a target carrying path corresponding to the target supply unit according to the first sequencing result.

The target transportation path should select the transportation path to be selected corresponding to the outermost node with the largest position preference value, so that the least supply-blocking units for moving all target supply units in the preset storage area can be ensured.

Considering that there may be more than one outermost node with the largest location preference, in some possible embodiments, the step 3.4 may be implemented by:

firstly, according to a first sequencing result, a first node to be selected with the largest position preference value is screened from all outermost nodes.

Then, judging whether the number of the first nodes to be selected is larger than 1;

if the number of the first nodes to be selected is larger than 1, calculating a distance difference value corresponding to each first node to be selected, wherein the distance difference value corresponding to the first node to be selected is the minimum value of the row number difference value in the row direction and the column number difference value in the column direction of a target position where the first node to be selected and the target supply unit are located; screening out second nodes to be selected with the smallest distance difference from the first nodes to be selected, and determining a target carrying path corresponding to the target supply unit according to the number of the second nodes to be selected;

if the number of the first nodes to be selected is equal to 1, the to-be-selected carrying path including the first nodes to be selected is determined as the target carrying path corresponding to the target supply unit.

Further, the determining of the target transport path corresponding to the target supply unit according to the number of the second nodes to be selected may be implemented by the following processes: judging whether the number of the second nodes to be selected is greater than 1; if the number of the second nodes to be selected is larger than 1, calculating to obtain the distance from each second node to be selected to the roadway, and determining the path to be selected containing the second node to be selected with the smallest distance to the roadway as the target conveying path corresponding to the target supply unit; and if the number of the second nodes to be selected is equal to 1, determining the to-be-selected carrying path containing the second nodes to be the target carrying path corresponding to the target supply unit.

In the mode, in addition to the position preference value of the outermost node, the distance difference between the outermost node and the target position where the target supply unit is located and the distance between the outermost node and the roadway are also considered; selecting paths with outermost nodes close to or positioned on the rows or columns of the target supply unit as much as possible, wherein the paths prevent the supply unit from having more moving destinations in the preset storage area; the path with the minimum distance between the outermost node and the roadway is selected as much as possible, so that more moving destinations which are selected in the preset storage area and prevent the supply unit from being selected in the path can be further ensured.

In addition, when the second node to be selected or the target node is selected based on the distance to the roadway, a sorting mode can be adopted, for example, the first nodes to be selected are sorted according to the sequence of the distance difference from small to large, and the first node to be selected which is the most front in the sorting mode is taken as the second node to be selected; and sequencing the second nodes to be selected according to the sequence of the distances from the roadway to the roadway from small to large, and determining the second node to be selected which is most sequenced at the top as the target node.

Further, if the optimal outermost node still cannot be determined after considering the position preference value, the distance difference value and the distance to the roadway of the outermost node, that is, a target carrying path cannot be determined, the optimal node in the next node of the candidate carrying path may be sequentially selected according to the sequence from outside to inside, and the selection method is the same as the selection method of the outermost node, and is not described again here. The target conveying path is obtained in such a way, so that the total number of the supply hindering units corresponding to all the target supply units is minimum, and the supply hindering units are convenient to move.

For convenience of understanding, the present embodiment further provides three different acquiring processes of the target conveying path, and the corresponding acquiring processes will be specifically described below with reference to fig. 5 to 7, respectively, where a shaded position represents a vacant position, a position marked with a triangle represents a target position where the target supply unit is located, and other positions represent occupied positions; a position indicated as 1 means belonging to a first layer of placeholders (the number of layers of this position is 1), and a position indicated as 2 means belonging to a second layer of placeholders (the number of layers of this position is 2).

Referring to fig. 5, a schematic diagram of an obtaining process of a target transportation path is shown, where two vacant positions- (3, 4), (4, 5) are provided in a preset storage area, and the target position is (3, 5), and the number of layers of the target position is 1 through layered calculation, that is, the number of blocking boxes of the target supply unit is 0, and since the target supply unit is also adjacent to the roadway, the target transportation path corresponding to the target supply unit can be directly obtained (as shown by a solid arrow in fig. 5).

Referring to another schematic diagram of the acquiring process of the target carrying path shown in fig. 6, two vacant positions- (3, 4), (4, 5) are provided in the preset storage area, and the two target positions are (3, 3), (4, 3), respectively; firstly, calculating the layer number of two target positions to be 2 through layering, namely the number of the blocking boxes of the target supply units A and B is 1; then obtaining candidate carrying paths (A1 and A2) corresponding to the target supply unit A, and candidate carrying paths (B1 and B2) corresponding to the target supply unit B; calculating to obtain the position preference value of the outermost nodes (3, 5) as 1, the position preference value of the outermost nodes (4, 4) as 2 and the position preference value of the outermost nodes (5, 3) as 1; finally, the candidate transport path including the outermost nodes (4, 4) is selected as the target transport path, that is, the target transport path corresponding to the target supply unit a is a2, and the target transport path corresponding to the target supply unit B is B1.

Referring to another schematic diagram of the acquiring process of the target carrying path shown in fig. 7, two vacant positions- (3, 4), (4, 5) are provided in the preset storage area, and the target position is (3, 3); firstly, calculating the layer number of the target position to be 2 through layering, namely the number of the blocking boxes of the target supply unit to be 1; then obtaining candidate carrying paths (A1 and A2) corresponding to the target supply unit A; the position preference values of the outermost nodes (3, 5) and the outermost nodes (4, 4) are both 1, and at this time, a candidate transport path A1 corresponding to the outermost node (3, 5) with a smaller distance difference and a shorter distance to the roadway is selected as a target transport path corresponding to the target supply unit A.

The reason for selecting A1 in FIG. 7 is explained here: if A2 is selected, the supply unit X at (4, 4) needs to be removed, however, the supply unit X can not find the moving destination in the preset storage area; if A1 is selected, the supply unit Y at (3, 5) needs to be removed, and the supply unit Y is simply moved down to the position of (4, 5).

In summary, the method for generating the carrying path of the dense warehouse provided by the embodiment of the invention can minimize the total number of the supply hindering units corresponding to all the target supply units, and facilitate the moving of each supply hindering unit, thereby effectively alleviating the cooperation problem of the picking operation, avoiding the conflict and disorder of the picking operation to a certain extent, and further improving the picking efficiency.

Example three:

on the basis of the foregoing embodiments, the present embodiment provides a specific example of a transportation path generation method applying the foregoing dense warehousing, in which the supply unit is referred to as a rack. Referring to fig. 8, another method for generating a transportation path of a dense warehouse includes the following steps S802 to S810:

step S802, obtaining the current position distribution of the shelves in the preset storage area of the dense warehouse and at least one target shelf to be carried.

And step S804, performing hierarchical calculation on the preset storage area according to the current position distribution from outside to inside to obtain a hierarchical calculation result.

The layered computation result comprises a plurality of free layers and a plurality of placeholder layers.

In step S806, the number of the hamper boxes of each target shelf is determined based on the result of the hierarchical calculation.

And searching the plurality of occupying layers to obtain the number of the occupying layers to which each target supply unit belongs, and determining the difference obtained by subtracting 1 from the number of the occupying layers to which each target supply unit belongs as the number of the blocking boxes of the target supply unit.

Step S808, at least one to-be-selected conveying path corresponding to each target shelf is obtained, and the number of nodes in the to-be-selected conveying path is equal to the number of blocking boxes of the corresponding target shelf.

The node is the position of the blocking shelf corresponding to the target shelf.

Step 810, determining a target conveying path corresponding to each target shelf according to the to-be-selected conveying path corresponding to each target shelf.

In this embodiment, the number of blocking boxes of each target shelf can be determined through hierarchical calculation, the to-be-selected carrying path corresponding to each target shelf is determined based on the number of blocking boxes of each target shelf, and finally, the target carrying path corresponding to each target shelf is determined based on the to-be-selected carrying path corresponding to each target shelf; the method reduces the number of the blocking racks in the target carrying path corresponding to each target rack as much as possible, and simultaneously reduces the total number of the blocking racks corresponding to all the target racks as much as possible, so that each target rack is conveniently carried out from the preset storage area, and the picking efficiency is improved.

Example four:

as to the conveying path generating method for dense warehousing provided in the second embodiment, the embodiment of the present invention provides a conveying path generating device for dense warehousing, referring to a structural block diagram of the conveying path generating device for dense warehousing shown in fig. 9, where the device includes the following modules:

a first obtaining module 92, configured to obtain current position distribution of supply units in a preset storage area of dense warehousing and at least one target supply unit to be transported; the goods supply unit is used for storing goods;

a number-of-hampered-boxes determining module 94, configured to determine the number of hampered boxes of each target supply unit according to the current location distribution; the number of the blocking boxes of the target supply unit is the minimum number of the corresponding blocking supply units when the target supply unit is moved out of the preset storage area;

the second obtaining module 96 is configured to, for each target supply unit, obtain at least one to-be-selected transport path corresponding to the target supply unit according to the number of blocking boxes of the target supply unit; the number of the nodes in the to-be-selected carrying path is related to the number of the blocking boxes of the target supply unit, and the nodes are the positions of the blocking supply units corresponding to the target supply unit;

the path determining module 98 is configured to determine a target transportation path corresponding to each target supply unit according to the to-be-selected transportation path corresponding to each target supply unit.

The carrying path generating device for intensive warehousing provided by this embodiment considers the number of blocking boxes of each target supply unit and the relationship between the to-be-selected carrying paths corresponding to the target supply units, so that the number of blocking supply units in the target carrying path corresponding to each target supply unit is reduced as much as possible, and the total number of blocking supply units corresponding to all target supply units is reduced as much as possible, thereby facilitating the carrying of each target supply unit from the preset storage area, and further improving the sorting efficiency.

In one embodiment, the hampering box number determining module 94 is specifically configured to:

determining the number of layers of the occupying layer to which each target supply unit belongs according to the current position distribution; the preset storage area is regarded as comprising a plurality of vacant layers and a plurality of occupied layers, the first occupied layer is composed of occupied positions adjacent to the vacant positions of the first vacant layers or adjacent to a roadway, the first vacant layer is composed of vacant positions adjacent to the roadway and vacant positions communicated with the vacant positions, the roadway is a channel around the preset storage area for conveying equipment for conveying a supply unit to pass through, the vacant positions are positions where the supply unit is not placed, and the occupied positions are positions where the supply unit is placed; the nth layer of space occupying layer consists of space occupying positions adjacent to the nth layer of space occupying layer, the nth layer of space occupying layer consists of space occupying positions adjacent to the (N-1) th layer of space occupying layer and space occupying positions communicated with the space occupying positions, and N is a natural number greater than 1;

and determining the difference obtained by subtracting 1 from the layer number of the occupying layer to which each target supply unit belongs as the number of the blocking boxes of the target supply unit.

Further, the above-mentioned hampering box number determining module 94 is further configured to:

according to the current position distribution, carrying out layered calculation on each position in a preset storage area from outside to inside to obtain a plurality of vacant layers and a plurality of occupied layers; and searching the plurality of space occupying layers to obtain the number of space occupying layers to which each target supply unit belongs. The process of obtaining the plurality of free layers and the plurality of space-occupying layers by performing hierarchical computation on the positions in the preset storage area in the sequence from outside to inside may refer to the above description, and is not described herein again.

In an embodiment, the second obtaining module 96 is specifically configured to:

acquiring a plurality of selectable paths corresponding to the target goods supply unit, wherein the selectable paths are paths for transporting the target goods supply unit out of a preset storage area;

calculating to obtain the number of nodes in each optional path;

In an embodiment, the path determining module 98 is specifically configured to: the following processing is carried out on each target supply unit comprising at least two to-be-selected carrying paths:

determining the position preference value of each outermost layer node according to the to-be-selected carrying path corresponding to each target goods supply unit; the position preference value of the outermost node is related to the number of target supply units corresponding to the to-be-selected carrying path containing the outermost node;

Further, the path determining module 98 is further configured to: for each outermost node, the following is performed:

screening out a to-be-selected carrying path containing the outermost layer node from each to-be-selected carrying path;

Further, the path determining module 98 is further configured to:

screening out a first node to be selected with the largest position preference value from all outermost nodes according to a first sequencing result;

judging whether the number of the first nodes to be selected is greater than 1;

and if the number of the first nodes to be selected is equal to 1, determining the carrying path to be selected containing the first nodes to be selected as the target carrying path corresponding to the target supply unit.

Further, the path determining module 98 is further configured to:

if the number of the second nodes to be selected is larger than 1, calculating to obtain the distance from each second node to be selected to the roadway, and determining the path to be selected containing the second node to be selected with the smallest distance to the roadway as the target conveying path corresponding to the target supply unit;

and if the number of the second nodes to be selected is equal to 1, determining the to-be-selected carrying path containing the second nodes to be the target carrying path corresponding to the target supply unit.

The device provided by the embodiment has the same implementation principle and technical effect as the foregoing embodiment, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiment for the portion of the embodiment of the device that is not mentioned.

In addition, the present embodiment further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the method provided in the second embodiment.

The method and the apparatus for generating a handling path of a dense warehouse, and the computer program product of an electronic device provided in the embodiments of the present invention include a computer-readable storage medium storing program codes, where instructions included in the program codes may be used to execute the method described in the foregoing method embodiments, and specific implementations may refer to the method embodiments, and are not described herein again.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A method for generating a carrying path of dense warehouse is characterized by comprising the following steps:

determining the position preference value of the outermost layer node of each to-be-selected carrying path corresponding to each target supply unit according to the to-be-selected carrying path corresponding to each target supply unit; determining a target transport path corresponding to each target supply unit according to the position preference value of the outermost node of each target supply unit; the outermost node is a node closest to the roadway, and the position preference value of the outermost node is related to the number of target supply units corresponding to the to-be-selected carrying path including the outermost node.

2. The method of claim 1, wherein determining the number of hampered bins for each of said target sourcing units based on said current location distribution comprises:

determining the number of layers of the occupation layer to which each target supply unit belongs according to the current position distribution; the preset storage area is regarded as comprising a plurality of vacant layers and a plurality of occupied layers, the first occupied layer is composed of occupied positions adjacent to the vacant positions of the first vacant layers or adjacent to a roadway, the first vacant layer is composed of vacant positions adjacent to the roadway and vacant positions communicated with the vacant positions, the roadway is a channel for conveying equipment for conveying the supply unit to pass through around the preset storage area, the vacant positions are positions where the supply unit is not placed, and the occupied positions are positions where the supply unit is placed; the nth layer of space occupying layer consists of space occupying positions adjacent to the nth layer of space occupying layer, the nth layer of space occupying layer consists of space occupying positions adjacent to the (N-1) th layer of space occupying layer and space occupying positions communicated with the space occupying positions, and N is a natural number greater than 1;

3. The method of claim 2, wherein the step of determining the number of layers of the placeholder to which each of the target sourcing units belongs according to the current location distribution comprises:

according to the current position distribution, carrying out the following hierarchical calculation on each position in the preset storage area from outside to inside to obtain a plurality of vacant layers and a plurality of occupied layers: obtaining all positions of the first layer of vacant layer by obtaining vacant positions adjacent to the roadway and vacant positions communicated with the vacant positions; all positions of the first layer of occupied layer are obtained by obtaining occupied positions adjacent to the vacant positions of the first layer of vacant layer or adjacent to the roadway; obtaining all positions of the N-1 th layer of vacant layer by obtaining vacant positions adjacent to the positions of the N-1 th layer of occupied layer and vacant positions communicated with the vacant positions; all positions of the N-th layer of occupied layer are obtained by obtaining occupied positions adjacent to the N-th layer of vacant layer;

4. The method as claimed in claim 1, wherein the step of obtaining at least one candidate transportation path corresponding to the target supply unit according to the number of the hampered boxes of the target supply unit comprises:

calculating to obtain the number of nodes in each optional path;

and determining the selectable paths with the number of the nodes equal to the number of the blocking boxes of the target supply unit as the to-be-selected carrying paths corresponding to the target supply unit.

5. The method as claimed in claim 1, wherein the step of determining the target transportation path corresponding to each target supply unit according to the to-be-selected transportation path corresponding to each target supply unit comprises:

sorting each outermost layer node according to the position preference value to obtain a first sorting result;

6. The method as claimed in claim 5, wherein the step of determining the position preference value of each outermost node according to the to-be-selected transportation path corresponding to each target supply unit comprises:

for each of the outermost nodes, performing the following:

screening the to-be-selected carrying paths containing the outermost nodes from the to-be-selected carrying paths;

7. The method of claim 5, wherein the step of determining the target transport path corresponding to the target supply unit according to the first sequencing result comprises:

screening out a first node to be selected with the largest position preference value from the nodes on the outermost layer according to the first sequencing result;

judging whether the number of the first nodes to be selected is greater than 1;

8. The method of claim 7, wherein the step of determining the target transportation path corresponding to the target supply unit according to the number of the second nodes to be selected comprises:

if the number of the second nodes to be selected is larger than 1, calculating to obtain the distance from each second node to be selected to the roadway, and determining a carrying path to be selected containing the second node to be selected with the smallest distance to the roadway as a target carrying path corresponding to the target supply unit;

9. A conveying path generating device for dense warehousing is characterized by comprising:

the path determining module is used for determining a position preference value of an outermost layer node of each to-be-selected carrying path corresponding to each target goods supply unit according to the to-be-selected carrying path corresponding to each target goods supply unit; determining a target transport path corresponding to each target supply unit according to the position preference value of the outermost node of each target supply unit; the outermost node is a node closest to the roadway, and the position preference value of the outermost node is related to the number of target supply units corresponding to the to-be-selected carrying path including the outermost node.

10. An electronic device, comprising: a processor and a storage device;

the storage device has stored thereon a computer program which, when executed by the processor, performs the method of any one of claims 1 to 8.

11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of the claims 1 to 8.