CN115373398A - Method and device for planning path of carrying equipment and electronic equipment - Google Patents
Method and device for planning path of carrying equipment and electronic equipment Download PDFInfo
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Abstract
The embodiment of the invention discloses a method and a device for planning a path of a carrying device and an electronic device, wherein the method comprises the following steps: determining a target article carried by the target carrying equipment for carrying out the article ex-warehouse operation; determining a main ex-warehouse path and an alternative ex-warehouse path suitable for the target carrying equipment; the target carrying equipment has the use authority of the main ex-warehouse path when carrying out the ex-warehouse, and the target carrying equipment and other carrying equipment meeting the preset ex-warehouse conditions share the use authority of the alternative ex-warehouse path when carrying out the ex-warehouse simultaneously; and carrying out ex-warehouse transportation on the target object through the target transportation equipment according to the main ex-warehouse path and the alternative ex-warehouse path. By adopting the technical scheme of the embodiment of the invention, the articles are provided with the carrying paths, so that a large number of sorted articles can be efficiently carried to the delivery point for delivery, and the delivery process of other high-priority articles is not influenced.
Description
Technical Field
The invention relates to the technical field of logistics storage, in particular to a method and a device for planning a path of a carrying device and an electronic device.
Background
After goods are sorted and finished in the logistics transfer center, a large number of goods packages which are sorted in a short time need to be carried out of a warehouse by adopting an unmanned vehicle. In the face of a large number of goods packages, the unmanned vehicles can utilize a path planning algorithm to calculate the shortest path depending on the starting point and the end point of the unmanned vehicles, but different goods packages are carried by adopting different driving paths, when the number of the unmanned vehicles is large, the different driving paths may conflict, the unmanned vehicles jam and cannot normally drive, the package delivery efficiency is influenced, the unmanned vehicles selectively give way, and the delivery efficiency of partial packages is reduced.
Disclosure of Invention
The invention provides a method and a device for planning a path of a carrying device, an electronic device and a storage medium, which are used for realizing the purpose that a large number of sorted articles are carried to a delivery point to be delivered out of a warehouse with high efficiency through the carrying device without influencing the delivery process of other high-priority articles.
According to an aspect of the present invention, a method for planning a path of a handling apparatus is provided, including:
determining a target article carried by the target carrying equipment for carrying out the article ex-warehouse operation;
determining a main ex-warehouse path and an alternative ex-warehouse path suitable for the target carrying equipment; the target carrying equipment has the use authority of the main ex-warehouse path when carrying out the ex-warehouse, and the target carrying equipment and other carrying equipment meeting the preset ex-warehouse conditions share the use authority of the alternative ex-warehouse path when carrying out the ex-warehouse at the same time;
and carrying out ex-warehouse transportation on the target object through the target transportation equipment according to the main ex-warehouse path and the alternative ex-warehouse path.
According to another aspect of the present invention, there is provided a transportation equipment path planning apparatus, including:
the target article determining module is used for determining a target article carried by the target carrying equipment for carrying out the article warehouse-out operation;
the ex-warehouse path determining module is used for determining a main ex-warehouse path and an alternative ex-warehouse path applicable to the target carrying equipment; the target carrying equipment has the use authority of the main ex-warehouse path when carrying out the ex-warehouse, and the target carrying equipment and other carrying equipment meeting the preset ex-warehouse conditions share the use authority of the alternative ex-warehouse path when carrying out the ex-warehouse simultaneously;
and the target article delivery and conveying module is used for delivering and conveying the target article through the target conveying equipment according to the main delivery path and the alternative delivery path.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the method for planning a path of a handling apparatus according to any of the embodiments of the present invention.
According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to implement the method for planning a path of a handling apparatus according to any one of the embodiments of the present invention when the computer instructions are executed.
The embodiment of the invention discloses a method and a device for planning a path of a carrying device, an electronic device and a storage medium, wherein the method comprises the following steps: determining a target article carried by the target carrying equipment for carrying out the article ex-warehouse operation; determining a main ex-warehouse path and an alternative ex-warehouse path suitable for the target carrying equipment; the target carrying equipment has the use authority of the main ex-warehouse path when carrying out the ex-warehouse, and the target carrying equipment and other carrying equipment meeting the preset ex-warehouse conditions share the use authority of the alternative ex-warehouse path when carrying out the ex-warehouse simultaneously; and carrying out ex-warehouse transportation on the target object through the target transportation equipment according to the main ex-warehouse path and the alternative ex-warehouse path. By adopting the technical scheme of the embodiment of the invention, the articles are provided with the carrying paths, so that a large number of sorted articles can be efficiently carried to the delivery point for delivery, and the delivery process of other high-priority articles is not influenced.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for planning a path of a handling apparatus according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for replanning outbound paths according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a path planning apparatus for a handling device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flowchart of a method for planning a path of a handling apparatus according to an embodiment of the present invention, where the embodiment is applicable to a situation of planning a path of a handling apparatus, the method may be executed by a path planning apparatus of a handling apparatus, the path planning apparatus of a handling apparatus may be implemented in a form of hardware and/or software, and the path planning apparatus of a handling apparatus may be configured in any electronic apparatus with a network communication function. As shown in fig. 1, the method includes:
and S110, determining the target articles carried by the target carrying equipment for carrying out the article warehouse-out operation.
The server acquires attribute information of the target object and attribute information of the target carrying equipment, determines corresponding target carrying equipment according to the attribute information of the target object, and sends an instruction to the target carrying equipment to enable the target carrying equipment to carry out operation of transporting the target object. And the target carrying equipment determines the target article borne when the article delivery operation is executed according to the target article identification information sent by the server. Wherein the attribute information of the carrying equipment includes but is not limited to the size of the target carrying equipment and the weight of the object which can be carried.
Optionally, determining corresponding target handling equipment according to the attribute information of the target object includes:
determining article attribute information of the target article; wherein the item attribute information comprises an item type, an item quantity, an item weight, and an item volume;
and selecting target conveying equipment matched with the target object from candidate conveying equipment according to the object attribute information.
The server receives transportation instruction information of a target article and determines article attribute information of the target article; and selecting target carrying equipment matched with the target object from candidate carrying equipment according to the object attribute information and the attribute information of the carrying equipment. For example, the server acquires the number and the type of the target articles, and determines corresponding target carrying equipment according to the type of the target articles; and determining the quantity information of the target carrying equipment capable of bearing all the quantity of the target objects according to the quantity of the target objects.
The server sends the identification information of the target object to the target carrying equipment so that the target carrying equipment can carry out the operation of transporting the target object. For example, the server sends identification information of a target article to be transported by the target transporting equipment to the target transporting equipment, and the target transporting equipment determines the carried target article according to the identification information; the target item identification information comprises a target item label and target item type information.
And S120, determining a main ex-warehouse path and an alternative ex-warehouse path suitable for the target carrying equipment.
Wherein, for the logistics transfer center scene, need sort the transport according to the route of parcel behind a large amount of parcels concentrated the transfer center. For sorted goods, different delivery time schedules are arranged according to the route, and the unmanned vehicle is required to complete the delivery and delivery work of a large number of packages within a short time (such as 1 hour). Therefore, in order to meet the requirement that the logistics transfer center efficiently and quickly carries a large amount of goods, the embodiment of the invention automatically plans the main delivery path and the alternative delivery path according to the attribute information of the articles to be carried and the distance to be carried.
As an optional but non-limiting implementation manner, determining the primary ex-warehouse path and the alternative ex-warehouse path suitable for the target handling equipment includes steps A1-A2:
step A1: determining the article delivery starting and ending position information of the target article; the article delivery starting and stopping position information comprises a delivery starting point position, a delivery end point position and a distance between the delivery starting point and the delivery end point.
Before planning the outbound path, the starting and ending position of the target item for outbound and the distance between the starting point and the ending point of the outbound need to be determined. For example, the target article a needs to be transported from the delivery point a to the delivery point B, and the distance from the delivery point a to the delivery point B is l 1 Then, it is necessary to determine the location information of the ex-warehouse point A, the location information of the ex-warehouse point B and the distance l between the two ex-warehouse points 1 And determining an ex-warehouse path.
Step A2: and planning and generating a main delivery path and an alternative delivery path which are suitable for the target carrying equipment to deliver the target object according to the object delivery starting and stopping position information.
The primary outbound path may be a main outbound path for carrying the target item, and a planning principle of the primary outbound path may be that the outbound path is the shortest; the alternative delivery path may be used to avoid congestion when there are many target carrying devices on the main delivery path, and the alternative delivery path may be used to transport the target items, and the planning principle of the alternative delivery path may be that the time for delivery is the shortest.
For the articles with a large quantity and the articles with a far delivery starting and stopping position, at least one main delivery path and at least one alternative delivery path can be automatically planned according to the road network. According to the weight and/or volume of the target object to be transported, the transporting distance information and the completion time, the appropriate number of target transporting devices are automatically allocated, at least one main ex-warehouse path and at least one alternative ex-warehouse path are automatically planned, and the labor is saved to the maximum extent.
As an optional but non-limiting implementation manner, planning and generating a main outbound path and an alternative outbound path suitable for target carrying equipment to carry out outbound carrying on a target item according to the item outbound starting and ending position information, including steps B1-B2:
step B1: when an expected path point of the target object for ex-warehouse transportation is detected, determining expected path attribute information of the expected path point;
and step B2: and planning and generating a main outbound path and alternative outbound paths suitable for the target carrying equipment to carry out outbound carrying on the target item according to the item outbound starting and ending position information and the expected route attribute information, so that at least part of the main outbound path and the alternative outbound paths are matched with the expected route attribute information.
The desired route path point may refer to a path point that needs to be passed through during the article handling process. For example, the desired pathway waypoints include, but are not limited to, supermarkets, gas stations, and charging stations.
When it is detected that a plurality of expected path points are set by the user and all the expected path points have the same attribute information, the optimal path can be screened according to the condition with the same attribute information. The same attribute information may mean that the plurality of desired route waypoints are all located on a long straight road and/or that the plurality of desired route waypoints each include a charging and/or refueling functional area. For example, if the outbound path a includes a long straight road and includes a charging and/or refueling functional area, and the outbound path B includes a long straight road, the outbound path a is used as the main outbound path. The optimal path is screened according to the conditions with the same attribute information, and the user expectation is better met.
As an optional but non-limiting implementation manner, determining the main ex-warehouse path and the alternative ex-warehouse path suitable for the target handling equipment includes:
selecting a main outbound path and/or an alternative outbound path adapted to an outbound path of a target article carried on the target carrying equipment from pre-stored main outbound paths and/or alternative outbound paths;
the pre-stored main outbound path and/or the alternative outbound path comprise an outbound path planned when the target carrying equipment carries out carrying and outbound before carrying out the outbound.
And the corresponding path is locked at fixed time according to the arrangement of each logistics center route to the delivery time, and is preset and stored in the server, so that vehicles executing other carrying tasks can avoid the path in the time period when planning the path.
For a fixed schedule shipment, the selection of a path to apply to prior screening may be fixed. For example, at the first time of the first cycle, an article a is carried from a delivery point a to a delivery point B, and a primary delivery path a and an alternative delivery path a are determined; at the first time of the second cycle, the article a still needs to be transported from the delivery point a to the delivery point B, and the main delivery path a and the alternative delivery path a determined in the first cycle may be selected as the delivery paths of the second cycle. And storing the information of the primary ex-warehouse path and the alternative ex-warehouse path screened in the first period in the server, and selecting the same primary ex-warehouse path and the same alternative ex-warehouse path by default in the next period, so that repeated planning of the ex-warehouse path by the target carrying equipment is avoided, the occupation of the server is reduced, and the resource overhead is saved.
As an optional but non-limiting implementation manner, the target transporting device has the usage right of the primary outbound path when transporting the target transporting device out of the warehouse, and the target transporting device shares the usage right of the alternative outbound path when transporting the target transporting device out of the warehouse together with other transporting devices meeting the preset outbound conditions.
The target carrying equipment is correspondingly arranged according to the attribute information of the target object, and determines a main outbound path and an alternative outbound path suitable for the target object, namely the main outbound path and the alternative outbound path of the target carrying equipment. The target object has the use right of the main delivery path when being transported out of the warehouse; meanwhile, when more target carrying devices exist in the main outbound path, the standby outbound path has the use permission. And sharing the use permission of the alternative ex-warehouse path when other articles meeting the preset ex-warehouse conditions are simultaneously ex-warehouse with the target article.
As an optional but non-limiting implementation manner, the outbound path of the target item is different from the outbound paths of the other items, and the preset outbound condition is used to describe a preset outbound priority that needs to be met when the alternative outbound path can be used for outbound.
In order to ensure that the temporary closing of the primary outbound path does not affect the normal traffic of other conveying equipment, priorities can be set for the conveying equipment executing other tasks, and for the conveying equipment with higher priorities, an alternative outbound path can be planned and occupied when the outbound path is planned. And when planning the outbound path, the carrying equipment with lower priority preferentially plans the primary outbound path and other outbound paths except the alternative outbound path. In the embodiment of the invention, the priorities of other carrying equipment are set, and for other carrying equipment with higher priority, alternative ex-warehouse paths can be planned and occupied; and planning other outbound paths except the main outbound path and the alternative outbound path by the vehicle with lower priority.
As an optional but non-limiting implementation manner, the primary outbound path is configured to enable exclusive use permission in a target time period to the target transporting device, the alternative outbound path is configured to enable shared use permission in the target time period to the target transporting device and other transporting devices meeting preset outbound conditions, and the target time period includes a time period during which the target transporting device transports the target item out of the warehouse.
In order to reduce resource occupation, each logistics center can lock corresponding areas of the primary outbound path and the alternative outbound path at fixed time according to the delivery time arrangement of the goods in different routes. The main warehouse-out path can limit the time interval to open and close the road authority and is only used for the target carrying equipment to run; the alternative delivery path can be used for the target conveying equipment and other conveying equipment with higher priority to travel. For example, the target article a needs to be transported from the delivery point a to the delivery point B at time C, that is, the road right of the main delivery route at time C is locked and the time is locked, and only the target transport apparatus that performs the transport task from the delivery point a to the delivery point B at time C can pass through the main delivery route. In the embodiment of the invention, the exclusive use permission is configured on the main delivery path, and the shared use permission in the target time interval of starting other carrying equipment meeting the preset delivery condition is quickly carried to the delivery point with high efficiency, so that the quick carrying is realized, and the normal running of other high-priority carrying equipment is not influenced.
And S130, carrying out ex-warehouse transportation on the target object through the target transportation equipment according to the main ex-warehouse path and the alternative ex-warehouse path.
As an optional but non-limiting implementation manner, the method for carrying out warehouse-out and transportation on the target item through the target transportation device according to the primary warehouse-out path and the alternative warehouse-out path includes steps C1 to C3:
step C1: determining reference carrying equipment distribution information on the main ex-warehouse path and the alternative ex-warehouse path; the reference carrying equipment distribution information is used for describing the distribution condition of the number of carrying equipment which adopts the main delivery path and the alternative delivery path and is in the delivery carrying state.
The reference transportation equipment distribution information may refer to information on the number of transportation equipment used for transporting the article on the main outbound path and the alternative outbound path, for example, the main outbound path includes 5 transportation equipment currently being transported, and the alternative outbound path includes 3 transportation equipment currently being transported.
And step C2: and selecting a target ex-warehouse path from the main ex-warehouse path and the alternative ex-warehouse path according to the existing distribution information of the carrying equipment.
In order to avoid congestion caused by too many conveying devices, the warehouse-out path with less conveying devices is selected from the main warehouse-out path and the alternative warehouse-out path as the target warehouse-out path. For example, if 5 transport devices currently being transported are already included in the main outbound path and 3 transport devices currently being transported are already included in the candidate outbound path, the candidate outbound path is set as the target outbound path.
And C3: and carrying out warehouse-out conveying on the target object through the target conveying equipment according to the target warehouse-out path.
The target articles are conveyed out of the warehouse according to the target warehouse-out path, congestion events are avoided, a large number of sorted target articles can be quickly and efficiently conveyed to a warehouse-out point, quick conveying is achieved, and normal running of other high-priority conveying equipment is not affected.
As an optional but non-limiting implementation manner, the warehouse-out transportation of the target item through the target transportation device according to the target warehouse-out path includes steps D1-D2:
step D1: if a preset re-planning triggering event is detected when the target article is delivered out of the warehouse at a first expected path point in a target delivery path, re-planning part of delivery paths from the first expected path point to a second expected path point in the target delivery path to obtain a re-planning detour path; the second desired pathway waypoint comprises at least one desired pathway waypoint in the target outbound pathway that is located after the first desired pathway waypoint;
step D2: and continuously carrying out ex-warehouse conveying on the target object through the target conveying equipment according to the re-planning bypass path so as to bypass a part of ex-warehouse paths corresponding to the preset re-planning trigger event.
Referring to fig. 2, when a target transport device reaches a first expected path route point, requesting a server to acquire road network road locking or opening state information, and if the locking or opening state information of the first expected path route point changes, re-planning a route to bypass the locked first expected path route point; and if the locking or opening state information of the first expected path route point is not changed, driving according to the originally selected outbound route.
In an alternative of the embodiment of the present invention, if the original state of the first expected route path point is the open state, when detecting that the state of the first expected route path point changes, that is, in the locked state, the path needs to be re-planned to bypass the locked first expected route path point.
In another alternative of the embodiment of the present invention, if the original state of the first expected path route point is a locked state, and when it is detected that the state of the first expected path route point changes, if the target item can be quickly transported to the delivery point through the first expected path route point, a route needs to be re-planned, and the target item after being largely sorted is quickly and efficiently transported to the delivery point through the first expected path route point.
As an optional but non-limiting implementation manner, the preset re-planning trigger event includes that the usage right of the outbound path where the expected path point or the outbound destination is located in the target outbound path changes; or the use authority of the main outbound path and the alternative outbound path changes.
The method comprises the steps that a user sets expected path route points of the carrying equipment as required, when the carrying equipment reaches a first expected path route point, the carrying equipment requests a server to acquire road network road change information, if the state of a road where the expected path route point and/or a destination point are/is located changes or the state of the road right of a main ex-warehouse route and an alternative ex-warehouse route is changed, the route of a road from the first expected path route point to the next expected path route point is re-planned, the weighted value of each road is adjusted in real time according to the road state information, the route which best meets the user requirement is screened, and the route planning quality is improved. When the user sets a plurality of desired pathway waypoints, the passing order of the desired pathway waypoints may be adjusted according to the real-time status of the road, rather than driving in the desired pathway waypoint order set by the user entirely.
The embodiment of the invention provides a method for planning a path of a carrying device, which comprises the steps of determining a target article carried by a target carrying device for executing article warehouse-out operation; determining a main ex-warehouse path and an alternative ex-warehouse path suitable for the target carrying equipment; and carrying out ex-warehouse conveying on the target object through the target conveying equipment according to the main ex-warehouse path and the alternative ex-warehouse path. By adopting the technical scheme of the embodiment of the invention, the proper amount of carrying equipment is automatically allocated and a plurality of main delivery paths and alternative delivery paths are automatically planned according to the weight and/or volume of the object to be carried, the carrying distance information and the completion time, so that the labor is saved to the maximum extent; for the goods delivered at the fixed schedule, the determined primary delivery path and the determined alternative delivery path before being applied can be fixedly selected, so that the occupation of a server is reduced, and the resource cost is saved; for the condition that the road state changes, replanning the path of the road from the current expected path point to the next expected path point, adjusting the weight value of each road in real time according to the road state information, screening the path which best meets the requirement of a user, and improving the path planning quality; the goods that can sort in a large number of completion high efficiency are transported to the delivery point fast, realize quick transport, and do not influence the normal driving of other high priority haulage equipment.
Fig. 3 is a schematic structural diagram of a path planning apparatus for a handling device according to an embodiment of the present invention. As shown in fig. 3, the apparatus includes: a target item determination module 210, an ex-warehouse path determination module 220 and an out-warehouse handling module 230; wherein,
a target item determining module 210, configured to determine a target item carried by a target handling device in the operation of delivering an item out of a warehouse;
the outbound path determining module 220 is configured to determine a primary outbound path and an alternative outbound path applicable to the target handling equipment; the target carrying equipment has the use authority of the main ex-warehouse path when carrying out the ex-warehouse, and the target carrying equipment and other carrying equipment meeting the preset ex-warehouse conditions share the use authority of the alternative ex-warehouse path when carrying out the ex-warehouse simultaneously;
and the target article delivery and handling module 230 is configured to deliver and handle the target article through the target handling equipment according to the primary delivery path and the alternative delivery path.
On the basis of the foregoing embodiment, optionally, the ex-warehouse path determining module includes:
determining the article delivery starting and ending position information of the target article; the article delivery starting and ending position information comprises a delivery starting point position, a delivery ending point position and a distance between the delivery starting point and the delivery ending point;
and planning and generating a main delivery path and an alternative delivery path which are suitable for the target carrying equipment to deliver and carry the target object according to the object delivery starting and ending position information.
On the basis of the foregoing embodiment, optionally, the ex-warehouse path determining module further includes:
when an expected path point for the warehouse-out and transportation of a target article is detected, determining expected path attribute information of the expected path point;
and planning and generating a main outbound path and alternative outbound paths suitable for the target carrying equipment to carry out outbound carrying on the target item according to the item outbound starting and ending position information and the expected route attribute information, so that at least part of the main outbound path and the alternative outbound paths are matched with the expected route attribute information.
On the basis of the foregoing embodiment, optionally, the ex-warehouse path determining module further includes:
selecting a main outbound path and/or an alternative outbound path adapted to an outbound path of a target article carried on the target carrying equipment from pre-stored main outbound paths and/or alternative outbound paths;
the pre-stored main outbound path and/or the alternative outbound path comprise an outbound path planned when the target carrying equipment carries out carrying and outbound before carrying out the outbound.
On the basis of the foregoing embodiment, optionally, the ex-warehouse path determining module further includes:
the outbound path of the target object is different from the outbound paths of other objects, and the preset outbound condition is used for describing a preset outbound priority which needs to be met when the alternative outbound path can be used for outbound.
On the basis of the foregoing embodiment, optionally, the ex-warehouse path determining module further includes:
the main ex-warehouse path is configured to open exclusive use permission of a target time period to the target carrying equipment, the alternative ex-warehouse path is configured to open shared use permission of the target time period to the target carrying equipment and other carrying equipment meeting preset ex-warehouse conditions, and the target time period comprises a time period for carrying out the ex-warehouse of the target goods by the target carrying equipment.
On the basis of the above embodiment, optionally, the target item warehouse-out and carrying module includes:
determining reference carrying equipment distribution information on the main ex-warehouse path and the alternative ex-warehouse paths; the reference carrying equipment distribution information is used for describing the distribution condition of the number of carrying equipment which adopts the main outbound path and the alternative outbound path and is in an outbound carrying state;
selecting a target ex-warehouse path from the main ex-warehouse path and the alternative ex-warehouse path according to the existing distribution information of the carrying equipment;
and carrying out warehouse-out conveying on the target object through the target conveying equipment according to the target warehouse-out path.
On the basis of the above embodiment, optionally, the target article warehouse-out and carrying module further includes:
if a preset re-planning trigger event is detected when the target object is delivered and carried at a first expected path point in a target delivery path, re-planning a part of delivery path from the first expected path point to a second expected path point in the target delivery path to obtain a re-planning bypass path; the second desired pathway waypoint comprises at least one desired pathway waypoint in the target outbound pathway that is located after the first desired pathway waypoint;
and continuously carrying out ex-warehouse conveying on the target object through the target conveying equipment according to the re-planning bypass path so as to bypass a part of ex-warehouse paths corresponding to the preset re-planning trigger event.
On the basis of the above embodiment, optionally, the target article warehouse-out and carrying module further includes:
the preset re-planning trigger event comprises the change of the use authority of the outbound path where a path point of a desired path or an outbound destination is located in the target outbound path; or the use permission of the main outbound path and the alternative outbound path changes.
The carrying equipment path planning device provided by the embodiment of the invention can execute the carrying equipment path planning method provided by any embodiment of the invention, has corresponding functions and beneficial effects of executing the carrying equipment path planning method, and has the detailed process referred to the related operations of the carrying equipment path planning method in the embodiment.
Fig. 4 is a block diagram of an electronic device according to an embodiment of the present invention, and referring to fig. 4, the electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as the handling apparatus path planning method.
In some embodiments, the handling apparatus path planning method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When loaded into RAM 13 and executed by processor 11, the computer program may perform one or more of the steps of the method of path planning for a handling apparatus as described above. Alternatively, in other embodiments, the processor 11 may be configured to perform the handling apparatus path planning method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
The computer program for implementing the method of path planning for a handling apparatus of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for planning a path of a handling device is characterized by comprising the following steps:
determining a target article carried by the target carrying equipment for carrying out the article warehouse-out operation;
determining a main ex-warehouse path and an alternative ex-warehouse path suitable for the target carrying equipment; the target carrying equipment has the use authority of the main ex-warehouse path when carrying out the ex-warehouse, and the target carrying equipment and other carrying equipment meeting the preset ex-warehouse conditions share the use authority of the alternative ex-warehouse path when carrying out the ex-warehouse simultaneously;
and carrying out ex-warehouse conveying on the target object through the target conveying equipment according to the main ex-warehouse path and the alternative ex-warehouse path.
2. The method of claim 1, wherein determining the primary outbound path and the alternate outbound path for the target handling equipment comprises:
determining the article delivery starting and ending position information of the target article; the article delivery starting and stopping position information comprises a delivery starting point position, a delivery end point position and a distance between the delivery starting point and the delivery end point;
and planning and generating a main delivery path and an alternative delivery path which are suitable for the target carrying equipment to deliver and carry the target object according to the object delivery starting and ending position information.
3. The method according to claim 2, wherein planning and generating a primary outbound path and an alternative outbound path suitable for the target carrying device to carry out outbound carrying on the target item according to the item outbound starting and ending position information comprises:
when an expected path point of the target object for ex-warehouse transportation is detected, determining expected path attribute information of the expected path point;
and planning and generating a main outbound path and alternative outbound paths suitable for the target carrying equipment to carry out outbound carrying on the target item according to the item outbound starting and ending position information and the expected route attribute information, so that at least part of the main outbound path and the alternative outbound paths are adapted to the expected route attribute information.
4. The method of claim 1, wherein determining the primary outbound path and the alternate outbound path for the target handling equipment comprises:
selecting a main outbound path and/or an alternative outbound path adapted to an outbound path of a target article carried on the target carrying equipment from pre-stored main outbound paths and/or alternative outbound paths;
the pre-stored main outbound path and/or the alternative outbound path comprise an outbound path planned when the target carrying equipment carries out carrying and outbound before carrying out the outbound.
5. The method according to claim 1, wherein the outbound path of the target item is different from the outbound paths of the other items, and the preset outbound condition is used to describe a preset outbound priority that needs to be satisfied when an alternative outbound path can be used for outbound.
6. The method according to any one of claims 1 to 5, wherein the primary ex-warehouse path is configured to enable exclusive use authority for a target time period to the target transporting device, the alternative ex-warehouse path is configured to enable shared use authority for the target time period to the target transporting device and other transporting devices meeting a preset ex-warehouse condition, and the target time period includes a time period for the target transporting device to transport a target item out of the warehouse.
7. The method of claim 1, wherein the step of transporting the target item out of the warehouse through the target transporting equipment according to the primary outbound path and the alternative outbound path comprises:
determining reference carrying equipment distribution information on the main ex-warehouse path and the alternative ex-warehouse path; the reference carrying equipment distribution information is used for describing the distribution condition of the number of carrying equipment which adopts the main outbound path and the alternative outbound path and is in an outbound carrying state;
selecting a target ex-warehouse path from the main ex-warehouse path and the alternative ex-warehouse path according to the existing distribution information of the carrying equipment;
and carrying out warehouse-out conveying on the target object through the target conveying equipment according to the target warehouse-out path.
8. The method of claim 7, wherein the out-of-warehouse handling of the target item by the target handling device according to a target out-of-warehouse path comprises:
if a preset re-planning trigger event is detected when the target object is delivered and carried at a first expected path point in a target delivery path, re-planning a part of delivery path from the first expected path point to a second expected path point in the target delivery path to obtain a re-planning bypass path; the second desired pathway waypoint comprises at least one desired pathway waypoint in the target outbound pathway that is located after the first desired pathway waypoint;
continuously carrying out ex-warehouse conveying on the target object through the target conveying equipment according to the re-planned detour path so as to bypass a part of ex-warehouse paths corresponding to a preset re-planned trigger event;
the preset re-planning trigger event comprises the change of the use authority of the ex-warehouse path where a desired path point or an ex-warehouse terminal point is located in the target ex-warehouse path; or the use permission of the main outbound path and the alternative outbound path changes.
9. A handling equipment path planning apparatus, the apparatus comprising:
the target article determining module is used for determining a target article carried by the target carrying equipment for carrying out the article warehouse-out operation;
the ex-warehouse path determining module is used for determining a main ex-warehouse path and an alternative ex-warehouse path applicable to the target carrying equipment; the target carrying equipment has the use authority of the main ex-warehouse path when carrying out the ex-warehouse, and the target carrying equipment and other carrying equipment meeting the preset ex-warehouse conditions share the use authority of the alternative ex-warehouse path when carrying out the ex-warehouse simultaneously;
and the target article delivery and conveying module is used for delivering and conveying the target article through the target conveying equipment according to the main delivery path and the alternative delivery path.
10. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of path planning for a handling apparatus of any of claims 1-8.
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