CN115965301A

CN115965301A - Arrival cargo distribution system based on AR space identification and distribution method thereof

Info

Publication number: CN115965301A
Application number: CN202211447529.9A
Authority: CN
Inventors: 卢志恒; 施金妹; 曾黎烽; 张潇; 周翔; 银海
Original assignee: Nanchang Institute of Technology; Gongqing Institute of Science and Technology
Current assignee: Gongqing Institute of Science and Technology
Priority date: 2022-11-18
Filing date: 2022-11-18
Publication date: 2023-04-14
Anticipated expiration: 2042-11-18
Also published as: CN115965301B

Abstract

The invention provides an arrival cargo distribution system based on AR space identification, which comprises a plurality of classified cargo rack columns with recorded position identification, an outdoor satellite, an indoor satellite signal emitter and a transmitting antenna, a carrying robot, a wearable AR device which is respectively communicated with the outdoor satellite, the indoor satellite signal emitter and the transmitting antenna to carry out outdoor and indoor positioning calculation, and a user terminal which is communicated with the carrying robot and the AR device and can calculate a multi-destination optimal path based on destination latitude and a land navigation path. The system for delivering the arrival cargoes realizes visualization of placement and distribution on the cargo racks of the same parcel to the destination in a real scene of the arrival cargoes and high efficiency and accuracy of delivery.

Description

Arrival cargo distribution system based on AR space identification and distribution method thereof

Technical Field

The invention designs a delivery system and a delivery method for goods arriving at a port, which adopt an AR space identification technology, in particular to the delivery system and the delivery method for goods arriving at the port based on the AR space identification, and belongs to the field of goods arriving at the port.

Background

The sea-land united cargo transportation of the container is a flat price and the most feasible scheme adopted worldwide, and after the container arrives, the container is opened to be integrally checked and closed, and the cargo needs to be sent to the area where the package is marked in batches. One problem arises in that, since the final land destination of the cargo to be delivered is always different, the cargo is finally manually sorted at a small number of origins and is collectively delivered by a special delivery vehicle, which is time-consuming, labor-consuming and cost-consuming.

Present land letter sorting system gets into specific transfer passage through manual sorting, perhaps stacks through the concentrated transport of robot, has solved the problem of goods and materials at this link of batch concentration, but still can't accomplish concrete classification to the ground that sends, still need artifical visual and classify to let the whole delivery of special car, consequently still do not break away from the link that artifical visual was examined, efficiency is not high, makes mistakes easily.

In container-to-port sortation, it is still impossible to sort directly after opening a container to achieve sorting and stacking due to the presence of mixed destination cargo. In earlier work, the robot carrying on the shelf with a specified route is carried out through the natural language algorithm recognition of package markers, and the problem of stacking which is centralized when arriving at a port and classified according to the destination area (province) is solved. However, considering that the classification of the large amount of goods to the spot (town) is not possible in a centralized way when they arrive at port, the goods on the goods shelf with a certain height still need to be transported and delivered from the warehouse by using the mechanical vehicle in a centralized way, and the packages which are continuously searched for the destination on the mechanical vehicle need to be manually operated to be delivered one by one, which consumes time and energy. Therefore, how to further take out the packages uniformly sent to the ground from the stacking ground efficiently for centralized distribution is an urgent problem to be solved, which is related to the efficiency and accuracy of the whole sea and land logistics distribution.

The AR identification technology can realize identification of object entities in remote pictures and field guidance, facilitates position locking of targets in visual pictures and visual identification of target information, and is mostly used for remote maintenance and remote teaching in the prior art. In the prior art, information projection on a lens is realized through a wearable projection technology, however, at the installation position of a projection device, the projection needs a complex spatial position algorithm, and the mark position can be calibrated accurately.

Disclosure of Invention

In view of the above problems, the present invention considers the following scheme, firstly, using AR representation technology, based on the advanced code spraying and the record of the placement position of the classified goods shelf, and how to visually represent the position on the goods shelf where the target is sent to the classified acquisition in real time, so as to conveniently and rapidly take down the packages directly according to the identification, and secondly, how to take down the packages at a high position without obstructing the visualization. For example, when a mechanical transport vehicle is driven, a situation that a mechanical transport mechanism blocks a picture before visual observation exists in front of the visual observation of a driver, which causes visual field blockage for identifying an AR entity mark, so that the mechanical transport vehicle cannot be used for transport conveniently; there is a problem with the optimal route for multiple town distribution.

In order to solve the above problems, according to an aspect of the present invention, there is provided an arrival cargo distribution system based on AR space identifiers, comprising a plurality of classified cargo rack columns with recorded position identifiers, an outdoor satellite, an indoor satellite signal transmitter and a transmitting antenna, at least one transfer robot, a wearable AR device communicating with the outdoor satellite, the indoor satellite signal transmitter and the transmitting antenna respectively for performing outdoor and indoor positioning calculation, and a user terminal in information communication with the transfer robot and the AR device and capable of calculating a multi-destination optimal path based on a destination latitude and a land navigation path.

Wherein each rack column is comprised of a plurality of sorted racks arranged in a column, the sorted racks being comprised of a plurality of layered separation layers.

The method for recording the position marks comprises the steps that the packages are sequentially placed from the classified goods shelf to the top in a specified order through the at least one carrying robot, the position mark number of the goods shelf is recorded when each package is placed, the mark numbers and the code spraying codes on the packages are related to form a data packet, the data packet is stored in a storage device arranged in the carrying robot, and the data packet can be called and sent to a user terminal according to a user command. Wherein the specified order is from the bottom to the top of the sorted goods shelves or from the bottom to the top of the sorted goods shelves and from one end to the other end of each separation layer.

Preferably, the identification number is in the form of SRLNW, where S denotes a region (e.g., province), R denotes a sequence number of a classification shelf located in the classification shelf row, L denotes a sequence number of a separation layer on one classification shelf, N denotes a sequence number of a package on one separation layer, W denotes an additional code indicating a left side (indicated by 1) or a right side (indicated by 0) of one classification shelf, and S denotes a physical label on a classification shelf located at an end of the classification shelf row.

Preferably, the method for recording the position identification number of one goods shelf is that when one package is placed completely, N plus 1 identifies the identification number of the next placed package, after one separation layer package is placed fully, the carrying robot lifts the trunk to place the package of the second separation layer, L plus 1 identifies the identification number of the placed goods of the next separation layer, and when one classification goods shelf is placed fully, R plus 1 identifies the identification number of the placed goods of the next classification goods shelf.

Preferably, when receiving a command issued by a user on a user terminal, the transfer robot starts to search for a destination selected by the user corresponding to the code number in a recorded data packet according to the destination selected by the user, and sends the data packet associated with the destination to the user terminal.

Wearing formula AR device is including wearing the support, transparent lens, with the transparent display screen of transparent lens coupling sets up wear to take in the support can with satellite signal communication and fix a position the chip of resolving to and spout a yard scanning equipment, wherein, transparent display screen is connected with the chip electricity, realize respectively outdoor and indoor time goods frame position identification number and with the data packet data information that goods frame position identification number corresponds is in real-time display on the transparent lens, the chip with user terminal communication realizes right real-time display's user's individual setting to and the luminance of screen, show the typeface, the regulation of colour.

Preferably, after the wearable AR device is worn, the chip performs outdoor positioning calculation according to satellite signals sent by an outdoor satellite outdoors in a first prescribed range, controls the transparent display screen to display the S field of the identification number, and horizontally arranges the S field on the transparent lens to indicate the area number of the plurality of classified goods shelf columns horizontally arranged in the current visual field range of the user, so that the user displays the area name separately or together with the S field near the position on the transparent display screen for displaying the S field through the personality setting.

Preferably, when entering the room, the user terminal performs data integration on the received data packet to form a command button, and after clicking the command button on the user terminal, the user can command the chip to control the transparent screen to display the code-spraying identifier associated with the identification number and the RLN field of the identification number, and the code-spraying identifier and the RLN field are displayed in sequence on the transparent lens according to the order that the placing sequence of the packages on the classification goods shelf is consistent, so as to guide the user to judge the position of the needed package sent to the place on the classification goods shelf according to the real-time visual field, wherein the code-spraying identifier is a representation symbol of a geometric figure representing the code-spraying, and is preferably a dot, a triangle, a rectangle, a diamond, a circle and the like. Therefore, the range of the identification code spraying can be reduced, and more physical visual field ranges are provided for users.

It can be understood that if the code spraying direct display is adopted, the code spraying area can be large, so that the visual field is occupied, the code spraying areas can be mutually overlapped on the limited lens area due to the precise arrangement of the packages, and visual position identification obstacles can be caused.

Preferably, when entering the room, the user performs indoor positioning calculation according to signals of the indoor satellite signal transmitter and the transmitting antenna within a plurality of second prescribed ranges, the chip can control the transparent display screen to display the code-sprayed identifier and the RLN field corresponding to the currently located second prescribed range on the transparent lens, when the user instructs the transfer robot to send the required data packet addressed to the location within the current second prescribed range without corresponding data packet information for display, the user does not display any code-sprayed identifier and RLN field of the identification number on the transparent lens when passing through the current second prescribed range, and at this time, the user can cancel the command through the user terminal to recover the display of the code-sprayed identifier and the RLN field corresponding to the currently located second prescribed range, wherein,

the identification method for entering one of the second specified ranges comprises the steps that when a user enters the room, the satellite signal transmitter and the transmitting antenna in the room can transmit the satellite signal to the chip, the chip calculates the real-time accurate indoor positioning according to the signal, and when the user wearing the AR device passes through one of the second specified ranges, the chip controls the transparent display screen to display the corresponding code spraying identifier and the RLN field of the identification number according to the calculated positioning.

Preferably, said second predetermined range is the range of lateral lengths (defined herein as greater than the width) on either side of each of said rows of sorted goods shelves.

Namely, as long as the coordinate of the user is in the transverse width range, the code spraying identifier and the RLN field of the identification number in the corresponding range are displayed, and as long as the data packet information corresponding to the destination parcel exists in the range.

Preferably, the user may select to display a part or a whole of the code-spraying identifier, the RLN field of the identification number, and/or the destination information through the user terminal, where the destination information is obtained by the user terminal performing code-spraying scanning recognition on the code-spraying in the received data packet.

Preferably, the user may use the user terminal to send a command, so that at least one carrying robot goes to a shelf of a classified shelf on which packages corresponding to destinations corresponding to the code-sprayed packages in the data packets received by the user terminal are placed, and the code-sprayed scanning of the carrying robot indicates that the packages have been carried off the shelf every time the packages are carried, and sends information to the user terminal.

Preferably, in the current second specified range, the user can simultaneously display the complete display status of the code-spraying identifier, the RLN field of the identification number and/or the destination information before the first package is off-shelf and the current display status through the user terminal, so as to determine how many packages are off-shelf and how many packages are not off-shelf.

It can be understood that, because the traditional scheme of accurately identifying the specific position indication of the entity is abandoned, the information arrangement with the same arrangement order is displayed on the lens of the wearable AR device by using the arrangement order of the entity determined on the goods shelf, the complex projection calculation between the real world space position and the visual field space position on the lens is avoided, the load of chip calculation is reduced, and the position of the target package is guided at will without losing efficiency. Meanwhile, the scheme of real entity identification coupling of the lens and the transparent display screen is adopted, so that the size of the AR device is greatly reduced, an additional projection device is not needed, and the cost is greatly reduced. The personalized display setting can effectively and visually indicate the off-shelf state of the current package in real time according to any second range currently passed by the user, so that the omission of the package is avoided.

The method for resolving the best multi-destination path based on the destination latitude and the land navigation path comprises the following steps:

step one, ascending and sorting the straight line distances from all towns to the origin in all regions within the distribution service range; secondly, for each region, selecting a first town group comprising at least one town, wherein the first town group comprises towns closest to the starting place and towns with ascending linear distances; continuing to select at least one other town except the first town group to form a second town group, wherein the second town group comprises the shortest town in the towns except the first town group from the initial straight line distance and other towns except the first town group, and the straight line distance is gradually increased, and forming N (N is more than 2) town groups by analogy;

thirdly, the navigation route L1 set of all towns and the origin in the first town group to the Nth town group and the navigation route between any two towns of towns in all groups are calculated in turn through outdoor satellite navigation, namely the navigation route

Set of paths L2, where M _N The number of all towns in the group with the number of K.

Because the transportation distances in the groups are not too far, the groups are divided by sequencing the linear distances in an ascending order, the transportation region division of the regions is decomposed, and towns which are not too large in range relative to the whole country and are short in distance in the same region are classified as a class as far as possible.

Another object of the present invention is to provide a method for delivering arriving cargo to a port using the system for delivering arriving cargo based on AR space identifier, which comprises the following steps:

s1, acquiring all towns corresponding to the code spraying of the warehouse, and adding the towns into the divided town groups to acquire the distribution of the towns to which the warehouse is wrapped in the town groups;

s2, arranging the town groups in sequence, counting the total number of packages in each town according to the ascending sequence of the linear distance in each group, calculating the number of the packages according to the full load of the vehicle, dividing the packages into a plurality of transportation groups, wherein each transportation group contains the packages in the same town group, and if the packages in all the same town group are not fully loaded after being added into the transportation group, sequentially adding the packages of other towns in the town group with the next sequence number, which are ordered according to the ascending sequence of the linear distance, into the transportation group; if the full load is left, adding the package into the next transportation group until all packages in the group are added into a plurality of transportation groups;

and S3, distributing a plurality of delivery vehicles, wearing AR devices by a plurality of drivers, sequentially entering a first specified range and a second specified range, determining all packages of a transportation group by matching with the user terminal and the transportation robot, carrying the packages to the vicinity of the plurality of delivery vehicles by at least one transportation robot and/or manually according to the transportation group of S2, and delivering the packages by manually loading the packages according to the optimal path.

A third object of the present invention is to provide a computer-readable non-transitory storage medium, wherein a computer-readable program that can be executed by the inbound cargo distribution system based on AR space id to implement the inbound cargo distribution method is stored.

Advantageous effects

The invention utilizes the display component coupling the AR special transparent glass and the transparent display screen, so that the entity identification technology can avoid the complex space positioning calculation and display according to the entity sequencing distribution. The positioning of indoor and outdoor satellites accurately represents the distribution position of goods shelves or packages according to the area position where a user walks. The automatic unloading of the packages is realized through the communication between the user terminal and the carrying robot. And the automatic display disappearance of the AR entity identification is realized by scanning the code by using the carrying robot or the AR device, and the real-time state of the off-shelf state is recorded. And forming town groups based on ascending sequencing of the straight-line distances of the origin and the towns, and constructing an optimal route set, thereby realizing an efficient and accurate delivery system of the goods arriving at the port.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof taken in conjunction with the accompanying drawings.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

FIG. 1 is an exploded view of the roof and walls of a warehouse in a port freight concentration site, illustrating a first defined area, a sorted cargo rack column, and portions of the inbound freight distribution system based on AR space identification,

FIG. 2 is a schematic diagram of data communication among a transfer robot, a smart phone terminal, and a wearable AR device in the inbound cargo distribution system,

figure 3 is a schematic diagram of the AR device of embodiment 2 of the present invention viewed from the back and from the back left when worn,

FIG. 4 is a schematic view of the AR device worn from a visual perspective at a location within a first defined range as shown in FIG. 1,

FIG. 5 is a schematic view of the AR device worn at a second predetermined range of points B as shown in FIG. 6,

fig. 6 is a top-view schematic diagram of the warehouse according to embodiment 1 of the present invention, which shows a plurality of second predetermined ranges, and points B and C passed by the user,

fig. 7 is a schematic diagram showing the construction of a set of navigation routes L1 and a set of navigation routes L2 in embodiment 3 of the present invention, in which the left diagram shows a straight-line path between an origin and a plurality of destinations, the right diagram shows ascending directional orderings of a plurality of town groups and town combinations thereof,

fig. 8 is a schematic diagram of a method for constructing a transportation group in the inbound cargo distribution method of the inbound cargo distribution system based on AR space identifier in embodiment 3 of the present invention,

fig. 9 is a schematic flow chart of a method for delivering inbound cargo to a port based on AR space identifiers in embodiment 3 of the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

Example 1

This embodiment will describe an arrival cargo distribution system based on AR space identification, as shown in fig. 1-2, where fig. 1 is an explosion schematic diagram of a top and a wall of a warehouse of a port cargo concentration area, where it is described that the arrival cargo distribution system includes a plurality of classified cargo rack columns with recorded position identification set in the warehouse, an outdoor satellite, an indoor satellite signal transmitter and a transmitting antenna installed at the bottom of the wall and the roof, a transfer robot shown in fig. 2, a wearable AR device communicating with the outdoor satellite, the indoor satellite signal transmitter and the transmitting antenna respectively for outdoor and indoor positioning calculation, and a smart phone communicating with the transfer robot and the AR device information and capable of calculating a plurality of best routes to the ground based on the arrival latitude and the land navigation route. Wherein each rack column is comprised of a plurality of sorted racks arranged in a column, the sorted racks being comprised of a plurality of layered separation layers.

The method for recording the position identifier includes that the at least one transfer robot sequentially places the packages from the classified goods shelf from bottom to top according to a specified sequence, a goods shelf position identifier is recorded when each package is placed, the identifier is associated with the code sprayed on the package to form a data packet, the data packet is stored in a memory arranged in the transfer robot, and the data packet can be called and sent to a smart phone according to a user command (as shown in fig. 2).

Specifically, when receiving a command sent by a user on the smart phone, the transfer robot starts to search for a destination selected by the user corresponding to the code in a recorded data packet according to the destination selected by the user, and sends the data packet associated with the destination to the smart phone.

The identification number is in the form of SRLN, where S denotes province, R denotes the sequence number of the classified shelf located in the classified shelf row, L denotes the sequence number of the partition layer on one classified shelf, and N denotes the sequence number of the package on one partition layer, where S is represented in the form of a physical label on the classified shelf where the end of the classified shelf row is located, as shown in fig. 1.

The method for recording the position identification number of the goods shelf comprises the following steps that when a parcel is placed completely, N plus 1 is used for identifying the identification number of the next placed parcel, after a separating layer parcel is placed fully, the carrying robot lifts the trunk, the parcel of the second separating layer is placed, L plus 1 of the identification number is used for identifying the identification number of the placed goods of the next separating layer, and when a classified goods shelf is placed fully, R plus 1 is used for identifying the identification number of the placed goods of the next classified goods shelf.

Example 2

This embodiment will explain the scheme of AR real-time identification. As shown in fig. 3, wearing formula AR device is including the ear frame that has the shell, the wearing telescopic band of setting on the ear frame to and the wearing support that the nose frame is constituteed, connect the ear frame shell, and the transparent lens of the integrative encapsulation of shell equally, with the transparent display screen of transparent lens coupling to and spout a yard scanning apparatus.

The multifunctional mobile phone comprises a transparent lens, a chip, a smart phone and a smart phone, wherein the transparent lens is electrically connected with the chip, the chip can be communicated with satellite signals and can be positioned and resolved, the transparent display screen is electrically connected with the chip, the position identification number of a goods shelf and data packet data information corresponding to the position identification number of the goods shelf are respectively displayed outdoors and indoors in real time, the chip is communicated with the smart phone, and the user personality of the real-time display is set, the brightness of the screen, the display font and the color are adjusted.

The right side of fig. 3 shows the AR device after being worn in a left side view, with the nose frame mounted on the nose of a person and the distal end of the ear frame mounted on the base of the ear, and with the front transparent lens visible.

As shown in fig. 2, at this time, through the individual setting and control chip of the smart phone, the S field, the RLN field formed by the three-digit arabic number of the code-spraying identifier circle and the identification number, and the destination information a city are displayed on the transparent display screen on the transparent lens as shown in fig. 4 and 5, respectively. The display location is to the left of the sorting shelf as indicated by point B in figure 6, and the user has set the display to ignore the W field in figure 5.

Specifically, after the wearable AR device is worn, when the wearable AR device enters the outdoor environment within the first predetermined range (a transverse entrance across a warehouse and a wide rectangle of 5-10 m) shown in fig. 1, the chip performs outdoor positioning calculation according to satellite signals sent by an outdoor satellite, and controls the transparent display screen to display the S field of the identification number. As shown in fig. 4, the S fields of the 9 columns of sorted pallets from A1-A9 are displayed on the transparent lens at a first distance range before entering the door of the warehouse, wherein the physical label A8 font (for example, A8 may be an abbreviation represented by a single chinese character of province, such as jing, jin, ji, etc.) on the sorted pallet at the end of the 8 th column of sorted pallets in the display scene is exemplarily shown.

When the smart phone enters a room, the data packets received by the smart phone are integrated to form a command button, and after a user clicks the command button on the smart phone, the chip can be commanded to control the transparent screen to display the code-spraying identifier associated with the identification number, the RLN field of the identification number and the destination information (figure 2), and the code-spraying identifier, the RLN field and the destination information are displayed on the transparent screen in a sequencing mode according to the consistent placing sequence of the packages on the classified goods shelf so as to guide the user to judge the position of the needed destination packages on the classified goods shelf according to the real-time visual field. If the user then deflects the head away from the field of view as illustrated in FIG. 4, the S fields from A1-A9 appear on the transparent lens as if they were still partially displayed, again indicating the distribution of the S fields.

As shown in fig. 6, the user can walk within a plurality of second prescribed ranges when entering the room. At this time, the chip performs indoor positioning calculation according to signals of the indoor satellite signal transmitter and the transmitting antenna shown in fig. 1, and can control the transparent display screen to display the code-spraying identifier, the RLN field, and the destination information (shown in fig. 5) corresponding to the second specified range where the transparent display screen is located currently on the transparent lens. The color block areas on two sides of each classified goods shelf are divided into a plurality of second specified ranges by black lines, and the black lines are used as boundaries of the second specified ranges.

When the user B walks within the second prescribed range in fig. 6, the indoor satellite signal transmitter and the transmitting antenna transmit the satellite signal to the chip, and the chip calculates the indoor real-time accurate positioning according to the signal. At this time, if the user instructs the transfer robot to send the required destination-corresponding data packet, and the corresponding data packet information is available for display in the second range where the B point shown in fig. 6 is currently located, when the user passes through the B point in the second specified range, the chip controls the transparent display screen to display the code-sprayed identifier, the RLN field of the identification number, and the destination information on the transparent lens.

As shown in fig. 5, the spatial distribution of the parcels of five cities a displayed on the transparent lens through the transparent display screen is given. The user may, based on the identification number established, instruct the transfer robot to raise the torso (fig. 2) to lower a parcel that is out of reach and higher than the shelf, such as a parcel destined for city a of the topsides shown in the text "parcel" in fig. 5. When the user goes to the next point C, if the corresponding second predetermined range does not have the corresponding data packet information of the city a, that is, the classified shelf corresponding to the second predetermined range does not have the package addressed to the city a, any code-sprayed identifier, RLN field, and address information will not be displayed on the transparent lens as shown in fig. 5. At this time, the user may resume the display of the code-sprayed identifier and the RLN field corresponding to the second predetermined range in which the point C is located by the user terminal cancel command. If all packages in city A on a classification shelf are completely off-shelf, the command of the user terminal calls the data packet and does not display any corresponding code-spraying identifier, RLN field and destination information on the transparent lens.

Or when a package on the classified goods shelf in the second specified range of the point B or C in fig. 6 goes up and down, the user may send a command on the smart phone to let the transfer robot go down, as shown in fig. 2, code-spraying scanning after the package goes down indicates that the package has been transferred down, and send information to the smart phone, and the user may let the smart phone command the chip according to the personal setting, so that the code-sprayed identifier, the RLN field of the identification number, and the destination information corresponding to the package going down are displayed on the transparent lens to disappear. When the package is manually put off the shelf, the code spraying scanning equipment on the AR device shown in fig. 3 performs code spraying scanning, so that the code spraying identifier, the RLN field of the identification number and the city A typeface corresponding to the package which is manually put off the shelf are completely displayed and disappear on the transparent lens by the command chip.

Similarly, if the user deflects the head away from the field of view illustrated in fig. 5, the spatial distribution of the package showing five cities a on the transparent lens remains unchanged, also indicating the distribution of the RLN field. So that the transparent lens displays the content whenever the user reaches the first prescribed area and any one of the second prescribed areas. No matter how the user walks in the first prescribed area and any one of the second prescribed areas. The content displayed on the transparent mirror does not change distribution. If the user is unfamiliar with the distribution of the placement positions of the sorted goods shelves, the user can walk to the center of symmetry of the goods shelves to better identify the distribution of the positions of the displayed packages.

Example 3

This embodiment will describe a method of calculating an optimal route to multiple destinations based on a destination-destination latitude and a land navigation route in embodiment 1, and a destination cargo distribution method of a destination cargo distribution system based on AR space identification in embodiment 2. As shown in fig. 7, the method for solving the best route of the multi-destination based on the latitude of the destination and the land navigation route is as follows:

step one, ascending and sequencing the straight line distances from all towns to the origin of all regions in the distribution service range; secondly, for each region, selecting a first town group containing 3 towns, wherein the first town group comprises towns closest to the origin and towns with ascending linear distances; continuing to select 3 other towns except the first town group to form a second town group, wherein the second town group comprises the shortest town among the towns except the first town group and other towns except the first town group, and the straight-line distances of the towns except the first town group are gradually increased from the initial place to form N (N is more than 2) town groups by analogy;

the left diagram of fig. 7 shows a straight-line connection description between the origin I and the origin represented by a number of circles, and the right diagram shows a first group of towns with serial numbers C1-C3 and a second group of towns with serial numbers C4-C6, such that the other groups of towns, each group of three towns, are ordered and have increasing straight-line distances, i.e. ascending directions, from top to bottom according to arrows.

Thirdly, through outdoor satellite navigation, a set L1 of navigation routes of all towns and origins from the first town group to the Nth town group (the left drawing in FIG. 7), navigation routes between any two towns in all towns in the group, namely 3 routes in each group (the right drawing in FIG. 7) and a set L2 of 3N routes in total, are sequentially calculated.

As shown in fig. 8, the inbound cargo distribution method of the inbound cargo distribution system based on AR space identifier in embodiment 2 includes the following steps:

s1, acquiring all towns corresponding to the code spraying of the warehouse, adding the towns into the divided town groups, and acquiring the distribution of the towns to which the warehouse is wrapped in the town groups;

s2, sequentially arranging the town groups according to the sequence (namely the first sequence, the second sequence and the like), counting the total number of packages in each town according to the ascending sequence of the linear distance in each group, calculating the number of the packages according to the full load of the vehicle, dividing the packages into a plurality of transportation groups, wherein each transportation group contains the packages in the same town group, and if the packages in all the same town group in the group are not fully loaded after being added into the transportation group, sequentially adding the packages in other towns in the town group with the next sequence number, which are sequenced according to the ascending sequence of the linear distance, into the transportation group; if the full load is left, adding the package into the next transportation group until all packages in the group are added into a plurality of transportation groups; as shown in fig. 9, first town group C1-C3 may be fully loaded with the transport group. For both the less loaded 1 and less loaded 2 conditions, the former is that the number of C3 parcels is insufficient to cause full loading, so that at least a portion of the C4 parcels will fill; the latter is that after C4 is completely wrapped, at least a partial wrapping of C5, which is the second longest distance from the straight line in the second town set, is still required to be filled. For the case of full load, for example, C3 has an overlapped redundant portion displayed by the color block portion, and needs to be filled in other transportation groups.

And S3, distributing a plurality of delivery vehicles, wearing the AR devices by a plurality of drivers, sequentially entering a first specified range and a second specified range, determining all packages of the transportation group by matching with the user terminal and the transportation robot, transporting the packages to the vicinity of the plurality of delivery vehicles by the transportation robot according to the transportation group of the S2, and delivering the packages by manual loading according to the optimal path.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments can be modified or some or all of the technical features can be replaced with equivalents within the spirit and principle of the present invention; such modifications or substitutions do not depart from the scope of the present invention.

Claims

1. The arrival cargo distribution system based on the AR space identification is characterized by comprising a plurality of classified cargo rack columns, outdoor satellites, indoor satellite signal transmitters, transmitting antennas and at least one transfer robot, wherein the cargo rack columns are recorded with position identification, the wearable AR device is communicated with the outdoor satellites, the indoor satellite signal transmitters and the transmitting antennas to carry out outdoor and indoor positioning calculation, and the user terminal is communicated with the AR device information and can calculate optimal routes to the ground based on the latitude to the ground and a land navigation route.

2. The system as claimed in claim 1, wherein each rack column is composed of a plurality of classified racks arranged in columns, the classified racks are composed of a plurality of separate layers, and the position indication is recorded by placing the packages in a prescribed order from the classified racks from bottom to top by the at least one transfer robot, recording a rack position identification number for each package placed, and associating the identification number with the code-sprayed code on the package to form a data packet, which is stored in a memory provided in the transfer robot and can be retrieved and transmitted to the user terminal in accordance with a user command.

3. The system of claim 2 wherein said identification number is in the form of SRLNW, wherein S represents a region, R represents a sequential number of a sorting shelf at which one of said rows of sorting shelves is located, L represents a sequential number of a separating layer on a sorting shelf, N represents a sequential number of a package on a separating layer, W represents an additional code representing a left side of a sorting shelf as indicated by 1, or a right side as indicated by 0, wherein S represents in physical label form on a sorting shelf at the end of a row of sorting shelves,

4. The system according to claim 3, wherein the transfer robot starts to search for the destination selected by the user corresponding to the code number in the recorded data packet according to the destination selected by the user when receiving a command issued by the user on the user terminal, and transmits the data packet associated with the destination to the user terminal.

5. The system according to any one of claims 1-4, wherein the wearable AR device comprises a threading support, a transparent lens, a transparent display screen coupled with the transparent lens, a chip which is arranged in the threading support and can communicate with satellite signals and perform positioning calculation, and a code spraying scanning device, wherein the transparent display screen is electrically connected with the chip to realize real-time display of a cargo rack position identification number and data packet data information corresponding to the cargo rack position identification number on the transparent lens respectively outdoors and indoors, and the chip is communicated with the user terminal to realize user personality setting of the real-time display, and adjustment of brightness, display font and color of the screen.

6. The system according to claim 5, wherein the chip performs outdoor positioning calculation based on satellite signals transmitted from outdoor satellites outdoors in a first prescribed range after wearing the wearable AR device, controls the transparent display screen to display the S field of the identification number and transversely arrange on the transparent lens to indicate the area number transversely arranged in the current visual field range of the user, and the user displays the area name by the personality setting alone or together with the S field near the position on the transparent display screen for displaying the S field,

when the user enters a room, the user terminal performs data integration on the received data packet to form a command button, and after the user clicks the command button on the user terminal, the user can command the chip to control the transparent screen to display the code spraying identifiers associated with the identification numbers and the RLN fields of the identification numbers, and the code spraying identifiers and the RLN fields are displayed on the transparent screen in a sequencing mode according to the order that the placing orders of the packages on the classification goods shelf are consistent, so that the user is guided to judge the positions of the needed packages sent to the place on the classification goods shelf according to a real-time visual field, wherein the code spraying identifiers are representing symbols of a geometric figure of the code spraying.

7. The system of claim 6, wherein the representation symbol is any one of a point, a triangle, a rectangle, a diamond, and a circle.

8. The system according to claim 6 or 7, wherein when entering the room, the user is in a plurality of second defined ranges, the chip performs indoor positioning calculation according to signals of the indoor satellite signal transmitter and the transmitting antenna, can control the transparent display screen to display the code-sprayed identifier and the RLN field corresponding to the currently located second defined range on the transparent lens, when the user instructs the transfer robot to send the required data packet addressed to the place within the current second defined range without corresponding data packet information for display, the user does not display any of the code-sprayed identifier and the RLN field of the identification number on the transparent lens when passing through the current second defined range, and the user can resume the display of the code-sprayed identifier and the RLN field corresponding to the currently located second defined range by canceling the command of the user terminal,

9. The system of claim 8 wherein said second predetermined range is a range of lateral lengths on either side of each of said rows of sorted cargo racks.

10. The system of claim 9, wherein the user terminal can select and display the code-spraying identifier, the RLN field of the identification number, and/or the part or the whole of the destination information, wherein the destination information is obtained by the user terminal performing code-spraying scanning recognition on the code-spraying in the received data packet.

11. The system according to any one of claims 6,7,9,10, wherein a user can use a user terminal to issue a command to let at least one transfer robot go to a shelf of a classified shelf on which a package corresponding to a destination corresponding to a code-sprayed in the data packet received by the user terminal is placed, and the user terminal can instruct the chip according to a personal setting to make a code-sprayed identifier, an RLN field of an identification number and/or destination information corresponding to the package on the shelf disappear when the package has been transferred by the transfer robot code-sprayed scan, and when the package is manually placed on the shelf, the code-sprayed scan equipment on the AR device can instruct the chip to make a code-sprayed identifier, an RLN field of an identification number and/or destination information corresponding to the package manually placed on the transparent mirror disappear when the package is manually placed on the shelf.

12. The system of claim 11, wherein within the second predetermined range, the user can simultaneously display the code-sprayed identifier before the first package is off-shelf, the RLN field of the identification number and/or the destination information complete display status and the current display status through the user terminal to determine how many packages are off-shelf and how many packages are not off-shelf.

13. The system of any one of claims 1,2,4,6,7,9,10,12, wherein the method of resolving the multi-destination best path based on the destination latitude and the land navigation path is as follows:

step one, ascending and sequencing the straight line distances from all towns to the origin of all regions in the distribution service range;

secondly, for each region, selecting a first town group comprising at least one town, wherein the first town group comprises towns closest to the starting place and towns with ascending linear distances; continuing to select at least one other town except the first town group to form a second town group, wherein the second town group comprises the shortest town in the towns except the first town group from the initial straight line distance and other towns except the first town group, and the straight line distance is gradually increased, and forming N & gt 2 town groups by analogy;

thirdly, sequentially calculating the navigation routes L1 set of all towns and origin places in the first town group to the Nth town group from the outdoor satellite navigation, namely the navigation routes between any two towns in all towns in the group, namely

Set of stripe paths L2, where M _N The number of all towns in the group with the serial number K.

14. Method for distribution of inbound shipments using a system according to any of the claims 1-13, comprising the steps of:

s2, sequentially arranging the town groups according to the sequence, counting the total number of packages in each town according to the ascending sequence of the linear distance in each group, calculating the full load of the vehicles according to the number of the packages, dividing the packages into a plurality of transportation groups, wherein each transportation group contains the packages in the same town group, and if the packages in all the same town group in the group are not fully loaded after being added into the transportation group, sequentially adding the packages of other towns in the town group with the next serial number, which are sequenced according to the ascending sequence of the linear distance, into the transportation group; if full load remains, add to the next shipping group until all packages in the group are added to the plurality of shipping groups;

s3, distributing a plurality of delivery vehicles, wearing the AR device by a plurality of drivers, sequentially entering the first specified range and the second specified range, determining all packages of the transportation group by matching the user terminal and the transportation robot, transporting the packages to the vicinity of the plurality of delivery vehicles by at least one transportation robot and/or manually according to the transportation group of S2, and delivering the packages by manually loading the packages according to the optimal path as claimed in claim 13.

15. A computer-readable non-transitory storage medium having stored thereon a computer-readable program executable by the system of any one of claims 1-13 to perform the method of claim 14.